An Autonomous Spacecraft Agent Prototype

This paper describes the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. The architecture supports challenging requirements of the autonomous spacecraft domain not usually addressed in mobile robot architectures, including highly reliable autonomous operations over extended time periods in the presence of tight resource constraints, hard deadlines, limited observability, and concurrent activity. A hybrid architecture, NMRA integrates traditional real-time monitoring and control with heterogeneous components for constraint-based planning and scheduling, robust multi-threaded execution, and model-based diagnosis and reconfiguration. Novel features of this integrated architecture include support for robust closed-loop generation and execution of concurrent temporal plans and a hybrid procedural/deductive executive.We implemented a prototype autonomous spacecraft agent within the architecture and successfully demonstrated the prototype in the context of a challenging autonomous mission scenario on a simulated spacecraft. As a result of this success, the integrated architecture has been selected to fly as an autonomy experiment on Deep Space One (DS-1), the first flight of NASA';s New Millennium Program (NMP), which will launch in 1998. It will be the first AI system to autonomously control an actual spacecraft.     

Probabilistic Type-2 Operators and “Almost”-Classes

We define and examine several probabilistic operators ranging over sets (i.e., operators of type 2), among them the formerly studied ALMOST-operator. We compare their power and prove that they all coincide for a wide variety of classes. As a consequence, we characterize the ALMOST-operator which ranges over infinite objects (sets) by a bounded-error probabilistic operator which ranges over strings, i.e., finite objects. This leads to a number of consequences about complexity classes of current interest. As applications, we obtain (a) a criterion for measure 1 inclusions of complexity classes, (b) a criterion for inclusions of complexity classes relative to a random oracle, (c) a new upper time bound for ALMOST-PSPACE, and (d) a characterization of ALMOST-PSPACE in terms of checking stack automata. Finally, a connection between the power of ALMOST-PSPACE and that of probabilistic circuits is given. Received: 16 April 1996     

Design of a Medical Non‐Linear Drilling Device: The Influence of Twist and Wear on the Fatigue Behaviour of NiTi Wires Subjected to Bending Rotation

This paper considers fundamental and experimental aspects associated with the engineering design of a medical, non‐linear drilling device which exploits shape memory pseudoelasticity of NiTi wires. For this application it is important that the NiTi wires have a good fatigue resistance. This is why the present authors have previously determined the influence of various parameters on cyclic life, crack growth and stress state of pseudoelastic wires subjected to bending rotation fatigue. The actual drilling device has to withstand twist in addition to bending rotation because the free rotation is constrained by friction between the drill head and the bone material. In addition, friction between the wire and a NiTi guiding tube results in wear and this may well promote fatigue crack nucleation. In this paper, we explain the function of the medical drill. We then report results on the effect of the additional parameters (1) twist and (2) wear on the fatigue life of thin pseudoelastic NiTi wires. We finally discuss the implications of our experimental results for the design process of the medical drilling device.     

A Longitudinal Examination of Causal Attributions and Depression Symptomatology in Rheumatoid Arthritis.

Objective: Examine longitudinal relationships between causal attributions and depression symptoms in adults with rheumatoid arthritis (RA). Study Design: Cross-lagged panel correlations tested the temporal precedence of attributions relative to depression symptoms over 1 year. Participants: Forty-two participants completed self-report instruments on 2 occasions. Main Outcome Measures: The Inventory to Diagnose Depression and the Attributional Style Questionnaire. Results: Time 1 attributions predicted increased levels of depression symptoms at Time 2 after perceived pain and disability were controlled: Time 1 depression symptoms were unrelated to Time 2 attributions. Cross-lagged correlation comparisons revealed statistical dominance for attribution-depression relationships relative to depression-attribution relationships. Conclusions: Results support cognitive diathesis conceptualizations of depression and support cognitive-behavioral treatments for depression in RA. (PsycINFO Database Record (c) 2011 APA, all rights reserved)     

An analysis of the parametrization by data driven local coordinates for multivariable linear systems

In this paper, we study a novel parametrization for state-space systems, namely data driven local coordinates (DDLC) which have recently been introduced and applied. Even though DDLC has meanwhile become the default parametrization used in the system identification toolbox of the software package MATLAB, an analysis of properties of DDLC, which are relevant to identification, has not been performed up to now. In this paper, we provide insights into the geometry and topology of the DDLC construction and show a number of results which are important for actual identification such as maximum likelihood-type estimation.     

Navigation Aided Image Processing in UAV Surveillance: Preliminary Results and Design of an Airborne Experimental System

This paper describes an airborne reconfigurable measurement system being developed at Swedish Defence Research Agency (FOI), Sensor Technology, Sweden. An image processing oriented sensor management architecture for UAV (unmanned aerial vehicles) IR/EO-surveillance is presented. Some preliminary results of navigation aided image processing in UAV applications are demonstrated, such as SLAM (simultaneous localization and mapping), structure from motion and geolocation, target tracking, and detection of moving objects. The design goal of the measurement system is to emulate a UAV-mounted sensor gimbal using a stand-alone system. The minimal configuration of the system consists of a gyro-stabilized gimbal with IR and CCD sensors and an integrated high-performance navigation system. The navigation system combines dGPS real-time kinematics (RTK) data with data from an inertial measurement unit (IMU) mounted with reference to the optical sensors. The gimbal is to be used as an experimental georeferenced sensor platform, using a choice of carriers, to produce military relevant image sequences for studies of image processing and sensor control on moving surveillance and reconnaissance platforms. Furthermore, a high resolution synthetic environment, developed for sensor simulations in the visual and infrared wavelengths, is presented. © 2004 Wiley Periodicals, Inc.     

The Internal Pressure Test in Experiment and Simulation—Influence of the Wall Thickness Variation and the Change of the Packaging Behavior after the Impact of Standard Liquids

The effect of the wall thickness variation of blow‐moulded bodies made of high‐density polyethylene on an internal pressure test after prestoring the packaging with standard liquids was evaluated in experiments and simulations. The objects of the investigation were jerrycans used for the transportation and storage of dangerous goods. The wall thickness was determined using two alternative methods to the magnetostatic measurement. These alternative methods are used for research purpose to get a volumetric model of the jerrycan wall as a geometric model for the simulation. The comparison of the experiments and the simulations of the internal pressure test were performed using the digital image correlation method. The integral strain and deformation of the whole jerrycan was detected by measuring the total mass of the jerrycan being filled with water during the internal pressure test. This is a suitable alternative to the optical measurements of local deformation by the digital image correlation method. Prestorage at 40 °C without the influence of chemicals strengthens the jerrycan, whereas the swelling effect of butyl acetate and hydrocarbon mixture softens the jerrycan. The comparison with the experiment is necessary to verify the accuracy of the simulation. It shows that the deformation can be simulated more precisely by using the actual measured geometry. The weakening of the high‐density polyethylene caused by a hydrocarbon mixture can be simulated using the Arrhenius equation. The aim of the simulation was to discover whether it is possible to use specimens to predict the behaviour of a packaging both after the influence of standard liquids. Copyright © 2012 John Wiley & Sons, Ltd.     

Finite multidimensional behaviors

We study finitely generated and finite systems defined by linear partial difference equations with constant coefficients in a Noetherian ring. The two notions coincide for finite rings, and we show that all finite systems exhibit certain periodicity properties. For the particular case of systems over the ring of integers modulo m?>?1, which is important in coding theory, a method is given for determining the number of trajectories, using Gr?bner basis techniques.