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NASA NTRS1993

On structuring the rules of a fuzzy controller

Since the pioneering work of Zadeh and Mamdani and Assilian, fuzzy logic control has emerged as one of the most active and fruitful research areas. The applications of fuzzy logic control can be found in many fields such as control of stream generators, automatic train operation systems, elevator control, nuclear reactor control, automobile transmission control, etc. In this paper, two new structures of hierarchical fuzzy rule-based controller are proposed to reduce the number of rules in a complete rule set of a controller. In one approach, the overall system is split into sub-systems which are treated independently in parallel. A coordinator is then used to take into account the interactions. This is done via an iterating information exchange between the lower level and the coordinator level. From the point of view of information used, this structure is very similar to central structure in that the coordinator can have at least in principle, all the information that the local controllers have.

Zhou, Jun↗

NASA NTRS2000

Accelerating Time-Varying Hardware Volume Rendering Using TSP Trees and Color-Based Error Metrics

This paper describes a new hardware volume rendering algorithm for time-varying data. The algorithm uses the Time-Space Partitioning (TSP) tree data structure to identify regions within the data that have spatial or temporal coherence. By using this coherence, the rendering algorithm can improve performance when the volume data is larger than the texture memory capacity by decreasing the amount of textures required. This coherence can also allow improved speed by appropriately rendering flat-shaded polygons instead of textured polygons, and by not rendering transparent regions. To reduce the polygonization overhead caused by the use of the hierarchical data structure, we introduce an optimization method using polygon templates. The paper also introduces new color-based error metrics, which more accurately identify coherent regions compared to the earlier scalar-based metrics. By showing experimental results from runs using different data sets and error metrics, we demonstrate that the new methods give substantial improvements in volume rendering performance.

Ellsworth, David↗

NASA NTRS1985

ENCOMPASS: A SAGA based environment for the compositon of programs and specifications, appendix A

ENCOMPASS is an example integrated software engineering environment being constructed by the SAGA project. ENCOMPASS supports the specification, design, construction and maintenance of efficient, validated, and verified programs in a modular programming language. The life cycle paradigm, schema of software configurations, and hierarchical library structure used by ENCOMPASS is presented. In ENCOMPASS, the software life cycle is viewed as a sequence of developments, each of which reuses components from the previous ones. Each development proceeds through the phases planning, requirements definition, validation, design, implementation, and system integration. The components in a software system are modeled as entities which have relationships between them. An entity may have different versions and different views of the same project are allowed. The simple entities supported by ENCOMPASS may be combined into modules which may be collected into projects. ENCOMPASS supports multiple programmers and projects using a hierarchical library system containing a workspace for each programmer; a project library for each project, and a global library common to all projects.

Terwilliger, Robert B.↗

NASA NTRS2007

Deep Space Network Antenna Logic Controller

The Antenna Logic Controller (ALC) software controls and monitors the motion control equipment of the 4,000-metric-ton structure of the Deep Space Network 70-meter antenna. This program coordinates the control of 42 hydraulic pumps, while monitoring several interlocks for personnel and equipment safety. Remote operation of the ALC runs via the Antenna Monitor & Control (AMC) computer, which orchestrates the tracking functions of the entire antenna. This software provides a graphical user interface for local control, monitoring, and identification of faults as well as, at a high level, providing for the digital control of the axis brakes so that the servo of the AMC may control the motion of the antenna. Specific functions of the ALC also include routines for startup in cold weather, controlled shutdown for both normal and fault situations, and pump switching on failure. The increased monitoring, the ability to trend key performance characteristics, the improved fault detection and recovery, the centralization of all control at a single panel, and the simplification of the user interface have all reduced the required workforce to run 70-meter antennas. The ALC also increases the antenna availability by reducing the time required to start up the antenna, to diagnose faults, and by providing additional insight into the performance of key parameters that aid in preventive maintenance to avoid key element failure. The ALC User Display (AUD) is a graphical user interface with hierarchical display structure, which provides high-level status information to the operation of the ALC, as well as detailed information for virtually all aspects of the ALC via drill-down displays. The operational status of an item, be it a function or assembly, is shown in the higher-level display. By pressing the item on the display screen, a new screen opens to show more detail of the function/assembly. Navigation tools and the map button allow immediate access to all screens.

Ahlstrom, Harlow↗

NASA NTRS1973

On the decentralized control of large-scale systems

The decentralized control of stochastic large scale systems was considered. Particular emphasis was given to control strategies which utilize decentralized information and can be computed in a decentralized manner. The deterministic constrained optimization problem is generalized to the stochastic case when each decision variable depends on different information and the constraint is only required to be satisfied on the average. For problems with a particular structure, a hierarchical decomposition is obtained. For the stochastic control of dynamic systems with different information sets, a new kind of optimality is proposed which exploits the coupled nature of the dynamic system. The subsystems are assumed to be uncoupled and then certain constraints are required to be satisfied, either in a off-line or on-line fashion. For off-line coordination, a hierarchical approach of solving the problem is obtained. The lower level problems are all uncoupled. For on-line coordination, distinction is made between open loop feedback optimal coordination and closed loop optimal coordination.

Chong, C.↗

NASA NTRS1978

A data management system for engineering and scientific computing

Data elements and relationship definition capabilities for this data management system are explicitly tailored to the needs of engineering and scientific computing. System design was based upon studies of data management problems currently being handled through explicit programming. The system-defined data element types include real scalar numbers, vectors, arrays and special classes of arrays such as sparse arrays and triangular arrays. The data model is hierarchical (tree structured). Multiple views of data are provided at two levels. Subschemas provide multiple structural views of the total data base and multiple mappings for individual record types are supported through the use of a REDEFINES capability. The data definition language and the data manipulation language are designed as extensions to FORTRAN. Examples of the coding of real problems taken from existing practice in the data definition language and the data manipulation language are given.

Elliot, L.↗

NASA NTRS1985

Software Design Analyzer System

CRISP80 software design analyzer system a set of programs that supports top-down, hierarchic, modular structured design, and programing methodologies. CRISP80 allows for expression of design as picture of program.

Tausworthe, R. C.↗

NASA NTRS1983

A system for intelligent teleoperation research

The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.

Orlando, N. E.↗

NASA NTRS1985

Onboard near-optimal climb-dash energy management

This paper studies optimal and near-optimal trajectories of high-performance aircraft in symmetric flight. Onboard, real-time, near-optimal guidance is considered for the climb-dash mission, using some of the boundary-layer structure and hierarchical ideas from singular perturbations. In the case of symmetric flight, this resembles neighborhood-optimal guidance using energy-to-go as the running variable. However, extension to three-dimensional flight is proposed, using families of nominal paths with heading-to-go as the additional running variable. Some computational results are presented for the symmetric case.

Weston, A.↗

NASA NTRS1986

The optimal number of menu options per panel

An evaluation is made of the effects of the 'funneling' phenomenon, in an analysis of hierarchical menu structures' optimal search times which builds on the work of Lee and MacGregor (1985). Funneling is a reduction in the total number of options processed through the design of a system of greater choice 'depth' and correspondingly restricted choice 'breadth'. Both random and ordered menus are treated. The available evidence is found to support the general conclusion that randomly ordered menu panels should have only a few (4-8) options, while organized menus should contain as many options as 64.

Paap, Kenneth R.↗

NASA NTRS1989

Ground-state coding in partially connected neural networks

Patterns over (-1,0,1) define, by their outer products, partially connected neural networks, consisting of internally strongly connected, externally weakly connected subnetworks. The connectivity patterns may have highly organized structures, such as lattices and fractal trees or nests. Subpatterns over (-1,1) define the subcodes stored in the subnetwork, that agree in their common bits. It is first shown that the code words are locally stable stares of the network, provided that each of the subcodes consists of mutually orthogonal words or of, at most, two words. Then it is shown that if each of the subcodes consists of two orthogonal words, the code words are the unique ground states (absolute minima) of the Hamiltonian associated with the network. The regions of attraction associated with the code words are shown to grow with the number of subnetworks sharing each of the neurons. Depending on the particular network architecture, the code sizes of partially connected networks can be vastly greater than those of fully connected ones and their error correction capabilities can be significantly greater than those of the disconnected subnetworks. The codes associated with lattice-structured and hierarchical networks are discussed in some detail.

Baram, Yoram↗

NASA NTRS1991

Software-Design-Analyzer System

CRISP-90 software-design-analyzer system, update of CRISP-80, is set of computer programs constituting software tool for design and documentation of other software and supporting top-down, hierarchical, modular, structured methodologies for design and programming. Written in Microsoft QuickBasic.

Tausworthe, Robert C.↗

NASA NTRS1992

Distributed environmental control

We present an architecture of distributed, independent control agents designed to work with the Computer Aided System Engineering and Analysis (CASE/A) simulation tool. CASE/A simulates behavior of Environmental Control and Life Support Systems (ECLSS). We describe a lattice of agents capable of distributed sensing and overcoming certain sensor and effector failures. We address how the architecture can achieve the coordinating functions of a hierarchical command structure while maintaining the robustness and flexibility of independent agents. These agents work between the time steps of the CASE/A simulation tool to arrive at command decisions based on the state variables maintained by CASE/A. Control is evaluated according to both effectiveness (e.g., how well temperature was maintained) and resource utilization (the amount of power and materials used).

Cleveland, Gary A.↗

NASA NTRS1991

Architectures for intelligent machines

The theory of intelligent machines has been recently reformulated to incorporate new architectures that are using neural and Petri nets. The analytic functions of an intelligent machine are implemented by intelligent controls, using entropy as a measure. The resulting hierarchical control structure is based on the principle of increasing precision with decreasing intelligence. Each of the three levels of the intelligent control is using different architectures, in order to satisfy the requirements of the principle: the organization level is moduled after a Boltzmann machine for abstract reasoning, task planning and decision making; the coordination level is composed of a number of Petri net transducers supervised, for command exchange, by a dispatcher, which also serves as an interface to the organization level; the execution level, include the sensory, planning for navigation and control hardware which interacts one-to-one with the appropriate coordinators, while a VME bus provides a channel for database exchange among the several devices. This system is currently implemented on a robotic transporter, designed for space construction at the CIRSSE laboratories at the Rensselaer Polytechnic Institute. The progress of its development is reported.

Saridis, George N.↗

NASA NTRS1992

Fuzzy coordinator in control problems

In this paper a hierarchical control structure using a fuzzy system for coordination of the control actions is studied. The architecture involves two levels of control: a coordination level and an execution level. Numerical experiments will be utilized to illustrate the behavior of the controller when it is applied to a nonlinear plant.

Rueda, A.↗

NASA NTRS1993

Hierarchical Simulation of Hot Composite Structures

Computational procedures are described to simulate the thermal and mechanical behavior of high temperature metal matrix composites (HT-MMC) in the following three broad areas: (1) Behavior of HT-MMC's from micromechanics to laminate via Metal Matrix Composite Analyzer (METCAN), (2) tailoring of HT-MMC behavior for optimum specific performance via Metal Matrix Laminate Tailoring (MMLT), and (3) HT-MMC structural response for hot structural components via High Temperature Composite Analyzer (HITCAN). Representative results from each area are presented to illustrate the effectiveness of computational simulation procedures. The sample case results show that METCAN can be used to simulate material behavior such as strength, stress-strain response, and cyclic life in HTMMC's; MMLT can be used to tailor the fabrication process for optimum performance such as that for in-service load carrying capacity of HT-MMC's; and HITCAN can be used to evaluate static fracture and fatigue life of hot pressurized metal matrix composite rings.

Chamis, C. C.↗

NASA NTRS1993

Power attenuation characteristics as switch-over criterion in personal satellite mobile communications

A third generation mobile system intends to support communications in all environments (i.e., outdoors, indoors at home or office and when moving). This system will integrate services that are now available in architectures such as cellular, cordless, mobile data networks, paging, including satellite services to rural areas. One way through which service integration will be made possible is by supporting a hierarchical cellular structure based on umbrella cells, macro cells, micro and pico cells. In this type of structure, satellites are part of the giant umbrella cells allowing continuous global coverage, the other cells belong to cities, neighborhoods, and buildings respectively. This does not necessarily imply that network operation of terrestrial and satellite segments interconnect to enable roaming and spectrum sharing. However, the cell concept does imply hand-off between different cell types, which may involve change of frequency. Within this propsective, the present work uses power attenuation characteristics to determine a dynamic criterion that allows smooth transition from space to terrestrial networks. The analysis includes a hybrid channel that combines Rician, Raleigh and Log Normal fading characteristics.

Castro, Jonathan P.↗

NASA NTRS1993

The methodology of multi-viewpoint clustering analysis

One of the greatest challenges facing the software engineering community is the ability to produce large and complex computer systems, such as ground support systems for unmanned scientific missions, that are reliable and cost effective. In order to build and maintain these systems, it is important that the knowledge in the system be suitably abstracted, structured, and otherwise clustered in a manner which facilitates its understanding, manipulation, testing, and utilization. Development of complex mission-critical systems will require the ability to abstract overall concepts in the system at various levels of detail and to consider the system from different points of view. Multi-ViewPoint - Clustering Analysis MVP-CA methodology has been developed to provide multiple views of large, complicated systems. MVP-CA provides an ability to discover significant structures by providing an automated mechanism to structure both hierarchically (from detail to abstract) and orthogonally (from different perspectives). We propose to integrate MVP/CA into an overall software engineering life cycle to support the development and evolution of complex mission critical systems.

Mehrotra, Mala↗