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1

Autonomous Underwater Vehicle Thermoelectric Power Generation  

NASA Astrophysics Data System (ADS)

Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

2013-07-01

2

Analysis of series compensated self excited induction generators for autonomous power generation  

Microsoft Academic Search

The paper presents an analytical technique to predict the steady state performance of a 3-phase self excited induction generator for autonomous power generation which employs both shunt and series capacitors for voltage regulation. The system is modeled using an equivalent circuit which interconnects the machine, capacitor and the load. Simplifying appropriate loop equations of the circuit leads to two nonlinear

S. S. Murthy; C. Prabhu; A. K. Tandon; M. O. Vaishya

1996-01-01

3

Advanced Video Guidance Sensor and Next Generation Autonomous Docking Sensors  

NASA Technical Reports Server (NTRS)

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Granade, Stephen R.

2004-01-01

4

Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control  

E-print Network

Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control Carlo for semi-autonomous path plan- ning for mobile robots that extends the classical paradigm of bilateral in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i

Paris-Sud XI, Université de

5

Automated Generation and Assessment of Autonomous Systems Test Cases  

NASA Technical Reports Server (NTRS)

This slide presentation reviews some of the issues concerning verification and validation testing of autonomous spacecraft routinely culminates in the exploration of anomalous or faulted mission-like scenarios using the work involved during the Dawn mission's tests as examples. Prioritizing which scenarios to develop usually comes down to focusing on the most vulnerable areas and ensuring the best return on investment of test time. Rules-of-thumb strategies often come into play, such as injecting applicable anomalies prior to, during, and after system state changes; or, creating cases that ensure good safety-net algorithm coverage. Although experience and judgment in test selection can lead to high levels of confidence about the majority of a system's autonomy, it's likely that important test cases are overlooked. One method to fill in potential test coverage gaps is to automatically generate and execute test cases using algorithms that ensure desirable properties about the coverage. For example, generate cases for all possible fault monitors, and across all state change boundaries. Of course, the scope of coverage is determined by the test environment capabilities, where a faster-than-real-time, high-fidelity, software-only simulation would allow the broadest coverage. Even real-time systems that can be replicated and run in parallel, and that have reliable set-up and operations features provide an excellent resource for automated testing. Making detailed predictions for the outcome of such tests can be difficult, and when algorithmic means are employed to produce hundreds or even thousands of cases, generating predicts individually is impractical, and generating predicts with tools requires executable models of the design and environment that themselves require a complete test program. Therefore, evaluating the results of large number of mission scenario tests poses special challenges. A good approach to address this problem is to automatically score the results based on a range of metrics. Although the specific means of scoring depends highly on the application, the use of formal scoring - metrics has high value in identifying and prioritizing anomalies, and in presenting an overall picture of the state of the test program. In this paper we present a case study based on automatic generation and assessment of faulted test runs for the Dawn mission, and discuss its role in optimizing the allocation of resources for completing the test program.

Barltrop, Kevin J.; Friberg, Kenneth H.; Horvath, Gregory A.

2008-01-01

6

Analysis of series compensated self excited induction generators for autonomous power generation  

SciTech Connect

The paper presents an analytical technique to predict the steady state performance of a 3-phase self excited induction generator for autonomous power generation which employs both shunt and series capacitors for voltage regulation. The system is modeled using an equivalent circuit which interconnects the machine, capacitor and the load. Simplifying appropriate loop equations of the circuit leads to two non-linear equations in the unknown quantities namely the saturated magnetizing reactance and the generated per unit frequency for the given machine parameters, speed, capacitors and load. A numerical method based on newton Raphson technique is developed to solve these equations to predict the performance. The validity of the method is evaluated by computing predicted and experimental results on a laboratory machine. Performance results under different operating conditions are detailed, to study the effect of series compensation in practical realization of such systems.

Murthy, S.S.; Vaishya, M.O. [Indian Inst. of Tech., New Delhi (India); Prabhu, C. [Karnataka Power Corp., Bangalore (India); Tandon, A.K. [Delhi Coll. of Engineering (India)

1995-12-31

7

CLASSIFICATION OF NON-HEAT GENERATING OUTDOOR OBJECTS IN THERMAL SCENES FOR AUTONOMOUS ROBOTS  

E-print Network

CLASSIFICATION OF NON-HEAT GENERATING OUTDOOR OBJECTS IN THERMAL SCENES FOR AUTONOMOUS ROBOTS environments for mobile robots. In the context of this research, non-heat generating objects are defined as objects that are not a source for their own emission of thermal energy, and so exclude people, animals

Shaw, Leah B.

8

Autonomous Robots, to appear Jan., 2003. Generating Multi-Level Linguistic Spatial Descriptions from Range Sensor  

E-print Network

Autonomous Robots, to appear Jan., 2003. 1 Generating Multi-Level Linguistic Spatial Descriptions expressions can be generated to describe the spatial relations between a mobile robot and its environment, using readings from a ring of sonar sensors. Our work is motivated by the study of human-robot

Skubic, Marjorie

9

Towards Autonomic Service Control in Next Generation Networks  

Microsoft Academic Search

Current standardization efforts aim towards a unifying platform for fixed and mobile telecommunication services. The IP multimedia subsystem is advocated as the candidate for building next generation networks (NGNs). However the direction taken in standardization is towards a rather static architecture with centralized features. The downside is an expected increase in service management complexity and the need for highly specialized

Andreas Klenk; Michael Kleis; Benoit Radier; Sanaa Elmoumouhi; Georg Carle; Mikaël Salaün

2008-01-01

10

An Autonomous Mobile Robot Guided by a Chaotic True Random Bits Generator  

NASA Astrophysics Data System (ADS)

In this work a robot's controller, which ensures chaotic motion to an autonomous mobile robot, is presented. This new strategy, which is very useful in many robotic missions, generates an unpredictable trajectory by using a chaotic path planning generator. The proposed generator produces a trajectory, which is the result of a sequence of planned target locations. In contrary with other similar works, this one is based on a new chaotic true random bits generator, which has as a basic feature the coexistence of two different synchronization phenomena between mutually coupled identical nonlinear circuits. Simulation tests confirm that the whole robot's workplace is covered with unpredictable way in a very satisfactory time.

Volos, Ch. K.; Kyprianidis, I. M.; Stouboulos, I. N.; Stavrinides, S. G.; Anagnostopoulos, A. N.

11

Systems, methods and apparatus for generation and verification of policies in autonomic computing systems  

NASA Technical Reports Server (NTRS)

Described herein is a method that produces fully (mathematically) tractable development of policies for autonomic systems from requirements through to code generation. This method is illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming method described provides faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.Further, the systems, methods and apparatus described herein provide a way of analyzing policies for autonomic systems and facilities the generation of provably correct implementations automatically, which in turn provides reduced development time, reduced testing requirements, guarantees of correctness of the implementation with respect to the policies specified at the outset, and provides a higher degree of confidence that the policies are both complete and reasonable. The ability to specify the policy for the management of a system and then automatically generate an equivalent implementation greatly improves the quality of software, the survivability of future missions, in particular when the system will operate untended in very remote environments, and greatly reduces development lead times and costs.

Hinchey, Michael G. (Inventor); Rash, James L. (Inventor); Truszkowski, Walter F. (Inventor); Rouff, Christopher A. (Inventor); Sterritt, Roy (Inventor); Gracanin, Denis (Inventor)

2011-01-01

12

The Next Generation of Mars-GRAM and Its Role in the Autonomous Aerobraking Development Plan  

NASA Technical Reports Server (NTRS)

The Mars Global Reference Atmospheric Model (Mars-GRAM) is an engineering-level atmospheric model widely used for diverse mission applications. Mars-GRAM 2010 is currently being used to develop the onboard atmospheric density estimator that is part of the Autonomous Aerobraking Development Plan. In previous versions, Mars-GRAM was less than realistic when used for sensitivity studies for Thermal Emission Spectrometer (TES) MapYear=0 and large optical depth values, such as tau=3. A comparison analysis has been completed between Mars-GRAM, TES and data from the Planetary Data System (PDS) resulting in updated coefficients for the functions relating density, latitude, and longitude of the sun. The adjustment factors are expressed as a function of height (z), Latitude (Lat) and areocentric solar longitude (Ls). The latest release of Mars-GRAM 2010 includes these adjustment factors that alter the in-put data from MGCM and MTGCM for the Mapping Year 0 (user-controlled dust) case. The greatest adjustment occurs at large optical depths such as tau greater than 1. The addition of the adjustment factors has led to better correspondence to TES Limb data from 0-60 km as well as better agreement with MGS, ODY and MRO data at approximately 90-135 km. Improved simulations utilizing Mars-GRAM 2010 are vital to developing the onboard atmospheric density estimator for the Autonomous Aerobraking Development Plan. Mars-GRAM 2010 was not the only planetary GRAM utilized during phase 1 of this plan; Titan-GRAM and Venus-GRAM were used to generate density data sets for Aerobraking Design Reference Missions. These data sets included altitude profiles (both vertical and along a trajectory), GRAM perturbations (tides, gravity waves, etc.) and provided density and scale height values for analysis by other Autonomous Aero-braking team members.

Justh, Hilary L.; Justus, Carl G.; Ramey, Holly S.

2011-01-01

13

Automated generation of discrete event controllers for dynamic reconfiguration of autonomous sensor networks  

NASA Astrophysics Data System (ADS)

Autonomous Sensor Networks have the potential for broad applicability to national security, intelligent transportation, industrial production and environmental and hazardous process control. Distributed sensors may be used for detecting bio-terrorist attacks, for contraband interdiction, border patrol, monitoring building safety and security, battlefield surveillance, or may be embedded in complex dynamic systems for enabling fault tolerant operations. In this paper we present algorithms and automation tools for constructing discrete event controllers for complex networked systems that restrict the dynamic behavior of the system according to given specifications. In our previous work we have modeled dynamic system as a discrete event automation whose open loop behavior is represented as a language L of strings generated with the alphabet 'Elipson' of all possible atomic events that cause state transitions in the network. The controlled behavior is represented by a sublanguage K, contained in L, that restricts the behavior of the system according to the specifications of the controller. We have developed the algebraic structure of controllable sublanguages as perfect right partial ideals that satisfy a precontrollability condition. In this paper we develop an iterative algorithm to take an ad hoc specification described using a natural language, and to formulate a complete specification that results in a controllable sublanguage. A supervisory controller modeled as an automaton that runs synchronously with the open loop system in the sense of Ramadge and Wonham is automatically generated to restrict the behavior of the open loop system to the controllable sublanguage. A battlefield surveillance scenario illustrates the iterative evolution of ad hoc specifications for controlling an autonomous sensor network and the generation of a controller that reconfigures the sensor network to dynamically adapt to environmental perturbations.

Damiani, Sarah; Griffin, Christopher; Phoha, Shashi

2003-12-01

14

A low-cost wireless system for autonomous generation of road safety alerts  

NASA Astrophysics Data System (ADS)

This paper describes an autonomous wireless system that generates road safety alerts, in the form of SMS and email messages, and sends them to motorists subscribed to the service. Drivers who regularly traverse a particular route are the main beneficiaries of the proposed system, which is intended for sparsely populated rural areas, where information available to drivers about road safety, especially bridge conditions, is very limited. At the heart of this system is the SmartBrick, a wireless system for remote structural health monitoring that has been presented in our previous work. Sensors on the SmartBrick network regularly collect data on water level, temperature, strain, and other parameters important to safety of a bridge. This information is stored on the device, and reported to a remote server over the GSM cellular infrastructure. The system generates alerts indicating hazardous road conditions when the data exceeds thresholds that can be remotely changed. The remote server and any number of designated authorities can be notified by email, FTP, and SMS. Drivers can view road conditions and subscribe to SMS and/or email alerts through a web page. The subscription-only form of alert generation has been deliberately selected to mitigate privacy concerns. The proposed system can significantly increase the safety of travel through rural areas. Real-time availability of information to transportation authorities and law enforcement officials facilitates early or proactive reaction to road hazards. Direct notification of drivers further increases the utility of the system in increasing the safety of the traveling public.

Banks, B.; Harms, T.; Sedigh Sarvestani, S.; Bastianini, F.

2009-03-01

15

Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors  

NASA Astrophysics Data System (ADS)

A software prototype for autonomous 3D scanning of uncooperatively rotating orbital debris using a point cloud sensor is designed and tested. The software successfully generated 3D models under conditions that simulate some on-orbit orbit challenges including relative motion between observer and target, inconsistent target visibility and a target with more than one plane of symmetry. The model scanning software performed well against an irregular object with one plane of symmetry but was weak against objects with 2 planes of symmetry. The suitability of point cloud sensors and algorithms for space is examined. Terrestrial Graph SLAM is adapted for an uncooperatively rotating orbital debris scanning scenario. A joint EKF attitude estimate and shape similiarity loop closure heuristic for orbital debris is derived and experimentally tested. The binary Extended Fast Point Feature Histogram (EFPFH) is defined and analyzed as a binary quantization of the floating point EFPFH. Both the binary and floating point EPFH are experimentally tested and compared as part of the joint loop closure heuristic.

Trowbridge, Michael Aaron

16

Design of a hybrid energy-generation system for autonomous kayaks  

E-print Network

The goal of this research is to design and analyze a series-hybrid energy-production system for an autonomous kayak. Currently these vehicles have limited range due to energy storage in lead acid batteries. Extending the ...

Plumer, Kevin E. (Kevin Edward)

2010-01-01

17

Welding torch trajectory generation for hull joining using autonomous welding mobile robot  

NASA Astrophysics Data System (ADS)

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

18

Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic  

NASA Astrophysics Data System (ADS)

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

2002-07-01

19

AutoNav Mark3: Engineering the Next Generation of Autonomous Onboard Navigation and Guidance  

NASA Technical Reports Server (NTRS)

The success of JPL's AutoNav system at comet Tempel-1 on July 4, 2005, demonstrated the power of autonomous navigation technology for the Deep Impact Mission. This software is being planned for use as the onboard navigation, tracking and rendezvous system for a Mars Sample Return Mission technology demonstration, and several mission proposals are evaluating its use for rendezvous with, and landing on asteroids. Before this however, extensive re-engineering of AutoNav will take place. This paper describes the AutoNav systems-engineering effort in several areas: extending the capabilities, improving operability, utilizing new hardware elements, and demonstrating the new possibilities of AutoNav in simulations.

Riedel, Joseph Ed; Bhaskaran, Shyam; Eldred, Dan B.; Gaskell, Robert A.; Grasso, Christopher A.; Kennedy, Brian; Kubitscheck, Daniel; Mastrodemos, Nickolaos; Synnott, Stephen. P.; Vaughan, Andrew; Werner, Robert A.

2006-01-01

20

Autonomous and Autonomic Swarms  

NASA Technical Reports Server (NTRS)

A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

2005-01-01

21

Autonomous Decentralized Control of Supply and Demand by Inverter Based Distributed Generations in Isolated Microgrid  

Microsoft Academic Search

Recently, because of the environmental burden mitigation, energy conservations, energy security, and cost reductions, distributed generations are attracting our strong attention. These distributed generations (DGs) have been already installed to the distribution system, and much more DGs will be expected to be connected in the future. On the other hand, a new concept called ``Microgrid'' which is a small power

Akira Shiki; Akihiko Yokoyama; Jyunpei Baba; Tomihiro Takano; Takahiro Gouda; Yoshio Izui

2007-01-01

22

Autonomously generating operations sequences for a Mars Rover using AI-based planning  

NASA Technical Reports Server (NTRS)

This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from highlevel science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This Artificial Intelligence (AI) based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules.

Sherwood, Rob; Mishkin, Andrew; Estlin, Tara; Chien, Steve; Backes, Paul; Cooper, Brian; Maxwell, Scott; Rabideau, Gregg

2001-01-01

23

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks  

NASA Astrophysics Data System (ADS)

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

Da?larli, Evren; Temelta?, Hakan

2008-04-01

24

Photo-driven autonomous hydrogen generation system based on hierarchically shelled ZnO nanostructures  

SciTech Connect

A quantum dot semiconductor sensitized hierarchically shelled one-dimensional ZnO nanostructure has been applied as a quasi-artificial leaf for hydrogen generation. The optimized ZnO nanostructure consists of one dimensional nanowire as a core and two-dimensional nanosheet on the nanowire surface. Furthermore, the quantum dot semiconductors deposited on the ZnO nanostructures provide visible light harvesting properties. To realize the artificial leaf, we applied the ZnO based nanostructure as a photoelectrode with non-wired Z-scheme system. The demonstrated un-assisted photoelectrochemical system showed the hydrogen generation properties under 1 sun condition irradiation. In addition, the quantum dot modified photoelectrode showed 2 mA/cm{sup 2} current density at the un-assisted condition.

Kim, Heejin; Yong, Kijung [Surface Chemistry Laboratory of Electronic Materials, Department of Chemical Engineering, Pohang University of Science and Technology (POSTECH), Pohang 790-784 (Korea, Republic of)] [Surface Chemistry Laboratory of Electronic Materials, Department of Chemical Engineering, Pohang University of Science and Technology (POSTECH), Pohang 790-784 (Korea, Republic of)

2013-11-25

25

Photo-driven autonomous hydrogen generation system based on hierarchically shelled ZnO nanostructures  

NASA Astrophysics Data System (ADS)

A quantum dot semiconductor sensitized hierarchically shelled one-dimensional ZnO nanostructure has been applied as a quasi-artificial leaf for hydrogen generation. The optimized ZnO nanostructure consists of one dimensional nanowire as a core and two-dimensional nanosheet on the nanowire surface. Furthermore, the quantum dot semiconductors deposited on the ZnO nanostructures provide visible light harvesting properties. To realize the artificial leaf, we applied the ZnO based nanostructure as a photoelectrode with non-wired Z-scheme system. The demonstrated un-assisted photoelectrochemical system showed the hydrogen generation properties under 1 sun condition irradiation. In addition, the quantum dot modified photoelectrode showed 2 mA/cm2 current density at the un-assisted condition.

Kim, Heejin; Yong, Kijung

2013-11-01

26

An architecture for the autonomous generation of preference-based trajectories  

NASA Astrophysics Data System (ADS)

Numerous techniques exist to optimize aircraft and spacecraft trajectories over cost functions that include terms such as fuel, time, and separation from obstacles. Relative weighting factors can dramatically alter solution characteristics, and engineers often must manually adjust either cost weights or the trajectory itself to obtain desirable solutions. Further, when humans and robots work together, or when humans task robots, they may express their performance expectations in a "fuzzy" natural language fashion, or else as an uncertain range of more or less acceptable values. This work describes a software architecture which accepts both fuzzy linguistic and hard numeric constraints on trajectory performance and, using a trajectory generator provided by the user, automatically constructs trajectories to meet these specifications as closely as possible. The system respects hard constraints imposed by system dynamics or by the user, and will not let the user's preferences interfere with the system and user needs. The architecture's evaluation agent translates these requirements into cost functional weights expected to produce the desired motion characteristics. The quality of the resulting full-state trajectory is then evaluated based on a set of computed trajectory features compared to the specified constraints. If constraints are not met, the cost functional weights are adjusted according to precomputed heuristic equations. Heuristics are not generated in an ad hoc fashion, but are instead the result of a systematic testing of the simulated system under a range of simple conditions. The system is tested in a 2DOF linear and a 6DOF nonlinear domain with a variety of constraints and in the presence of obstacles. Results show that the system consistently meets all hard numeric constraints placed on the trajectory. Desired characteristics are often attainable or else, in those cases where they are discounted in favor of the hard constraints, failed by small margins. Results are discussed as a function of obstacles and of constraints.

Lennon, Jamie

27

Preprint version, final version at http://ieeexplore.ieee.org/ 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China Semi-autonomous Trajectory Generation for Mobile Robots  

E-print Network

Preprint version, final version at http://ieeexplore.ieee.org/ 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic-- A new framework for semi-autonomous path plan- ning for mobile robots that extends the classical

28

PARISROC, an autonomous front-end ASIC for triggerless acquisition in next generation neutrino experiments  

NASA Astrophysics Data System (ADS)

PARISROC (Photomultiplier ARray Integrated in SiGe ReadOut Chip) is a complete readout chip in AustriaMicroSystems (AMS) SiGe 0.35 ?m technology designed to read array of 16 Photomultipliers (PMTs). The ASIC is realized in the context of the PMm2 (square meter PhotoMultiplier) project that has proposed a new system of “smart photo-detectors” composed by sensor and read-out electronics dedicated to next generation neutrino experiments. The future water Cherenkov detectors will take place in megaton size water tanks then with a large surface of photo-detection. We propose to segment the large surface in arrays with a single front-end electronics and only the useful data send in surface to be stocked and analyzed. This paper describes the second version of the ASIC and illustrates the chip principle of operation and the main characteristics thank to a series of measurements. It is a 16-channel ASIC with channels that work independently, in triggerless mode and all managed by a common digital part. Then main innovation is that all the channels are handled independently by the digital part so that only channels that have triggered are digitized. Then the data are transferred to the internal memory and sent out in a data driven way. The ASIC allows charge and time measurement. We measured a charge measurement range starting from 160 fC (1 photoelectron-p.e., at PMT gain of 106) to 100 pC (around 600 p.e.) at 1% of linearity; time tagging at 1 ns thanks to a 24-bit counter at 10 MHz and a Time to Digital Converter (TDC) on a 100 ns ramp.

Conforti Di Lorenzo, S.; Campagne, J. E.; Drouet, S.; Dulucq, F.; El Berni, M.; Genolini, B.; de La Taille, C.; Martin-Chassard, G.; Seguin Moreau, N.; Wanlin, E.; Xiangbo, Y.

2012-12-01

29

Delayed dendritic development in newly generated dentate granule cells by cell-autonomous expression of the amyloid precursor protein.  

PubMed

Neuronal connectivity and synaptic remodeling are fundamental substrates for higher brain functions. Understanding their dynamics in the mammalian allocortex emerges as a critical step to tackle the cellular basis of cognitive decline that occurs during normal aging and in neurodegenerative disorders. In this work we have designed a novel approach to assess alterations in the dynamics of functional and structural connectivity elicited by chronic cell-autonomous overexpression of the human amyloid precursor protein (hAPP). We have taken advantage of the fact that the hippocampus continuously generates new dentate granule cells (GCs) to probe morphofunctional development of GCs expressing different variants of hAPP in a healthy background. hAPP was expressed together with a fluorescent reporter in neural progenitor cells of the dentate gyrus of juvenile mice by retroviral delivery. Neuronal progeny was analyzed several days post infection (dpi). Amyloidogenic cleavage products of hAPP such as the ?-C terminal fragment (?-CTF) induced a substantial reduction in glutamatergic connectivity at 21 dpi, at which time new GCs undergo active growth and synaptogenesis. Interestingly, this effect was transient, since the strength of glutamatergic inputs was normal by 35 dpi. This delay in glutamatergic synaptogenesis was paralleled by a decrease in dendritic length with no changes in spine density, consistent with a protracted dendritic development without alterations in synapse formation. Finally, similar defects in newborn GC development were observed by overexpression of ?-CTF, a non-amyloidogenic cleavage product of hAPP. These results indicate that hAPP can elicit protracted dendritic development independently of the amyloidogenic processing pathway. PMID:23851186

Morgenstern, Nicolás A; Giacomini, Damiana; Lombardi, Gabriela; Castaño, Eduardo M; Schinder, Alejandro F

2013-09-01

30

Autonomic neuropathies  

NASA Technical Reports Server (NTRS)

A limited autonomic neuropathy may underlie some unusual clinical syndromes, including the postural tachycardia syndrome, pseudo-obstruction syndrome, heat intolerance, and perhaps chronic fatigue syndrome. Antibodies to autonomic structures are common in diabetes, but their specificity is unknown. The presence of autonomic failure worsens prognosis in the diabetic state. Some autonomic neuropathies are treatable. Familial amyloid polyneuropathy may respond to liver transplantation. There are anecdotal reports of acute panautonomic neuropathy responding to intravenous gamma globulin. Orthostatic hypotension may respond to erythropoietin or midodrine.

Low, P. A.

1998-01-01

31

Towards an Autonomic Wisdom Grid  

Microsoft Academic Search

Multi agent systems, Grid technology, Semantic Web, Autonomic Com- puting, and Web Intelligence paradigms are modern approaches in information technologies, which we put together in our research effort described in this pa- per to create a new-generation infrastructure called the Autonomic Wisdom Grid (AWG) with the mission to maintain, share, discover, and expand knowledge in geographically distributed environments. This paper

Peter Brezany; Ivan Janciak; Andrzej Goscinski; A. Min Tjoa

32

Autonomous Landing Guidance Systems  

Microsoft Academic Search

All weather tactical aircraft recovery and high sortie generation rates from forward, possibly battle damaged landing areas will reqire autonomous landing guidance systems which are independent of ground-based cooperative aids. A recently completed study has examined the operational requirements and assessed current and near term technology for an answer to this need. The Landing Systems Requirements\\/Synthesis Study has defined the

Edmond F. Roy; John W. Davison

1986-01-01

33

Autonomous data transmission apparatus  

DOEpatents

A autonomous borehole data transmission apparatus is described for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters. 4 figs.

Kotlyar, O.M.

1997-03-25

34

Autonomous data transmission apparatus  

DOEpatents

A autonomous borehole data transmission apparatus for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters.

Kotlyar, Oleg M. (4675 W. 3825 S, Salt Lake City, UT 84120)

1997-01-01

35

Autonomous Soaring  

NASA Technical Reports Server (NTRS)

This viewgraph presentation reviews the autonomous soaring flight of unmanned aerial vehicles (UAV). It reviews energy sources for UAVs, and two examples of UAV's that used alternative energy sources, and thermal currents for soaring. Examples of flight tests, plans, and results are given. Ultimately, the concept of a UAV harvesting energy from the atmosphere has been shown to be feasible with existing technology.

Lin, Victor P.

2007-01-01

36

Autonomous pedestrians  

Microsoft Academic Search

We address the difficult open problem of emulating the rich complexity of real pedestrians in urban environments. Our artificial life approach integrates motor, perceptual, behavioral, and cognitive components within a model of pedestrians as individuals. Our comprehensive model features innovations in these components, as well as in their combination, yielding results of unprecedented fidelity and complexity for fully autonomous multi-human

Wei Shao; Demetri Terzopoulos

2007-01-01

37

Autonomous pedestrians  

Microsoft Academic Search

We address the difficult open problem of emulating the rich complexity of real pedestrians in urban environments. Our artificial life approach integrates motor, perceptual, behavioral, and cognitive components within a model of pedestrians as individuals. Our comprehensive model feature innovations in these components, as well as in their combination, yielding results of unprecedented fidelity and complexity for fully autonomous multi-human

Wei Shao; Demetri Terzopoulos

2005-01-01

38

A U.S. Air Force Predator is ready for a night flight from Kandahar Airfield in Afghanistan. Aero-Astro researchers are developing next-generation UAVs featuring flight and autonomous operational capabilities far beyond those of current aircraft.  

E-print Network

-Astro researchers are developing next-generation UAVs featuring flight and autonomous operational capabilities far that are comparable to the abilities of the best radio-controlled airplane pilots. We have invented methods for model and EECS, where a fully au- tonomous car will race against other cars in an urban environment. We

Peraire, Jaime

39

Autonomous vehicles  

SciTech Connect

There are various kinds of autonomous vehicles (AV`s) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground, and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further, this paper deals with AV`s as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. The authors provide a survey of the technological progress that has been made in AV`s, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV`s depending on whether the focus is on vehicles underwater, on the ground, or in the air. The authors have separated the discussion into sections treating each of these categories.

Meyrowitz, A.L. [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States)] [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States); Blidberg, D.R. [Autonomous Undersea Systems Inst., Lee, NH (United States)] [Autonomous Undersea Systems Inst., Lee, NH (United States); Michelson, R.C. [Georgia Tech Research Inst., Smyrna, GA (United States)] [Georgia Tech Research Inst., Smyrna, GA (United States); [International Association for Unmanned Vehicle Systems, Smyrna, GA (United States)

1996-08-01

40

Efficient method to generate collision free paths for an autonomous mobile robot based on new free space structuring approach  

Microsoft Academic Search

A technique is developed based on free link concept to construct the available free space between obstacles within robot's environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex

Maki K. HABIB; Hajime ASAMA

1991-01-01

41

Autonomous control  

NASA Technical Reports Server (NTRS)

KSC has been developing the Knowledge-Based Autonomous Test Engineer (KATE), which is a tool for performing automated monitoring, diagnosis, and control of electromechanical devices. KATE employs artificial intelligence computing techniques to perform these functions. The KATE system consists of a generic shell and a knowledge base. The KATE shell is the portion of the system which performs the monitoring, diagnosis, and control functions. It is generic in the sense that it is application independent. This means that the monitoring activity, for instance, will be performed with the same algorithms regardless of the particular physical device being used. The knowledge base is the portion of the system which contains specific functional and behavorial information about the physical device KATE is working with. Work is nearing completion on a project at KSC to interface a Texas Instruments Explorer running a LISP version of KATE with a Generic Checkout System (GCS) test-bed to control a physical simulation of a shuttle tanking system (humorously called the Red Wagon because of its color and mobility). The Autonomous Control System (ACS) project supplements and extends the KATE/GCS project by adding three other major activities. The activities include: porting KATE from the Texas Instruments Explorer machine to an Intel 80386-based UNIX workstation in the LISP language; rewriting KATE as necessary to run on the same 80386 workstation but in the Ada language; and investigating software and techniques to translate ANSI Standard Common LISP to Mil Standard Ada. Primary goals of this task are as follows: (1) establish the advantages of using expert systems to provide intelligent autonomous software for Space Station Freedom applications; (2) determine the feasibility of using Ada as the run-time environment for model-based expert systems; (3) provide insight into the advantages and disadvantagesof using LISP or Ada in the run-time environment for expert systems; and (4) compare the performance of the 80386 processor to a symbolic processor as a delivery vehicle for expert systems.

Brown, Barbara

1990-01-01

42

Autonomic Function in Infancy.  

ERIC Educational Resources Information Center

Reviews research that uses autonomic responses of human infants as dependent measures. Focuses on the history of research on the autonomic nervous system, measurement issues, and autonomic correlates of infant behavior and systems. (RJC)

Fox, Nathan A.; Fitzgerald, Hiram E.

1990-01-01

43

Note: Utilizing Pb(Zr0.95Ti0.05)O3 ferroelectric ceramics to scale down autonomous explosive-driven shock-wave ferroelectric generators  

NASA Astrophysics Data System (ADS)

Further miniaturization of recently designed autonomous ferroelectric generators (FEGs) [S. I. Shkuratov, J. Baird, and E. F. Talantsev, Rev. Sci. Instrum. 82, 086107 (2011)], 10.1063/1.3625276, which are based on the effect of explosive-shock-wave depolarization of poled ferroelectrics is achieved. The key miniaturization factor was the utilization of high-energy density Pb(Zr0.95Ti0.05)O3 (PZT 95/5) ferroelectric ceramics as energy-carrying elements of FEGs instead of the previously used Pb(Zr0.52Ti0.48)O3 (PZT 52/48). A series of experiments demonstrated that FEGs based on smaller PZT 95/5 ferroelectric elements are capable of producing the same output voltage as those based on PZT 52/48 elements twice as large. It follows from the experimental results that the FEG output voltage is directly proportional to the thickness of PZT 95/5 samples. A comparison of the operation of FEGs based on PZT 95/5 and on PZT 52/48 ferroelectrics is presented.

Shkuratov, Sergey I.; Baird, Jason; Talantsev, Evgueni F.

2012-07-01

44

Autonomous magnetocumulative power supply  

NASA Astrophysics Data System (ADS)

Helical magnetocumulative generators (MCGs) fed from explosive piezo generators (EPGs) are the most compact power supplies with an output energy of 1-10 kJ. EPGs are successfully coupled with MCGs in the operation mode and in structural parameters; these generators are easy to operate and do not require transformers or commutators. We report on the results of designing an autonomous small-size power supply based on EPGs and MCGs. Owing to bidirectional impact loading of the piezoceramic block of an EPG, the energy at the piezo generator output attains values of ˜25 J and is transferred to the helical MCG with an initial inductance of ˜1000 ?H. The power supply is constructed in the form of a monoblock with a volume of ˜2 dm3 or in the form of two separate devices connected by a high-voltage cable.

Demidov, V. A.; Sadunov, V. D.; Kazakov, S. A.; Boriskin, A. S.; Golosov, S. N.; Vlasov, Yu. V.; Utenkov, A. A.; Antipov, M. V.; Blinov, A. V.

2013-08-01

45

Achieving an acceptable design model for autonomic systems Simon Dobson  

E-print Network

Achieving an acceptable design model for autonomic systems Simon Dobson Systems Research Group School of Computer Science and Informatics UCD Dublin IE simon.dobson@ucd.ie Abstract Autonomic systems-generation design methods. 1 Introduction Autonomic systems present unique opportunities and unique challenges

Dobson, Simon

46

Nemesis Autonomous Test System  

NASA Technical Reports Server (NTRS)

A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

2012-01-01

47

Controlled manipulation using autonomous aerial systems  

E-print Network

The main focus of the thesis is to design and control Autonomous Aerial Systems, also referred to as Unmanned Aerial Vehicles (UAVs). UAVs are able to hover and navigate in space using the thrust forces generated by the ...

Srikanth, Manohar B. (Manohar Balagatte)

2013-01-01

48

Autonomous Soaring Flight Results  

NASA Technical Reports Server (NTRS)

A viewgraph presentation on autonomous soaring flight results for Unmanned Aerial Vehicles (UAV)'s is shown. The topics include: 1) Background; 2) Thermal Soaring Flight Results; 3) Autonomous Dolphin Soaring; and 4) Future Plans.

Allen, Michael J.

2006-01-01

49

Autonomic failure in hydrencephaly  

PubMed Central

Autonomic functions were studied in three patients with hydrencephalus and five with hydrocephalus. Autonomic failure of central origin was found in the patients with hydrencephalus; whereas, those suffering from hydrocephalus had essentially normal autonomic function. In two patients with hydrencephalus, the hypothalamus was markedly abnormal but the rest of the autonomic nervous system was histologically normal. From this it is concluded that in some patients with mental and motor retardation, autonomic failure may be of cerebral origin but that this is not a feature of patients with hydrocephalus. Images PMID:5505683

Appenzeller, Otto; Snyder, Russell; Kornfeld, Mario

1970-01-01

50

The autonomic laboratory  

NASA Technical Reports Server (NTRS)

The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

Low, P. A.; Opfer-Gehrking, T. L.

1999-01-01

51

Discerning non-autonomous dynamics  

NASA Astrophysics Data System (ADS)

Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale-from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems-their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous the Poincaré oscillator with quasi-periodic forcing. In this way we not only discuss and review each method, but also present properties which help to clearly distinguish the three classes of systems when analysed in an inverse approach-from measured, or numerically generated data. In particular, this review provides a framework to tackle inverse problems in these areas and clearly distinguish non-autonomous dynamics from chaos or stochasticity.

Clemson, Philip T.; Stefanovska, Aneta

2014-09-01

52

Reconsideration of the autonomous view of language  

NASA Astrophysics Data System (ADS)

This paper aims to provide a critical examination of the autonomous view of language espoused in current generative grammar that attributes modular status to the faculty of language which is itself taken to comprise autonomous modular components. Several pieces of supposed evidence for the autonomous thesis are discussed, along with some other related topics, and shown to be critically flawed. It is suggested in conclusion that the status of language as a product of the processes of natural selection and syntacticization should be given more recognition in order to obtain a more realistic and integrating framework for natural language.

Tsuboi, Eijiro

1993-06-01

53

Autonomic Communications for Space: The Next Frontier?  

NASA Technical Reports Server (NTRS)

Autonomic communications has been gaining ground as a vision for next generation communications. The success and flexibility of the Internet has lead to evaluations of utilizing IP for communications in space. The limitations of today's Internet ultimately also imply limitations for an IP deployment in space. Issues affecting the design of a future self-directing and self-managing data communications network for future space missions based on autonomic communications concepts are described and examined.

Rash, James L.; Sterritt, Roy; Hinchey, Michael G.

2006-01-01

54

Precision autonomous underwater navigation  

E-print Network

Deep-sea archaeology, an emerging application of autonomous underwater vehicle (AUV) technology, requires precise navigation and guidance. As science requirements and engineering capabilities converge, navigating in the ...

Bingham, Brian S. (Brian Steven), 1973-

2003-01-01

55

Autonomous photovoltaic-diesel power system design  

Microsoft Academic Search

A methodology for designing an autonomous photovoltaic power system in conjunction with a diesel-fueled electric generator and a battery has been developed. Any photovoltaic array energy not utilized immediately by the load is stored in the battery bank. The diesel generator set is operated periodically at 14-day intervals to ensure its availability and occasionally as needed during winter to supplement

T. M. Calloway

1985-01-01

56

The MDS autonomous control architecture  

NASA Technical Reports Server (NTRS)

We describe the autonomous control architecture for the JPL Mission Data System (MDS). MDS is a comprehensive new software infrastructure for supporting unmanned space exploration. The autonomous control architecture is one component of MDS designed to enable autonomous operations.

Gat, E.

2000-01-01

57

Learning for Autonomous Navigation  

Microsoft Academic Search

Autonomous navigation by a mobile robot through L natural, unstructured terrain is one of the premier k challenges in field robotics. Tremendous advances V in autonomous navigation have been made recently in field robotics. Machine learning has played an increasingly important role in these advances. The Defense Advanced Research Projects Agency (DARPA) UGCV-Perceptor Integration (UPI) program was conceived to take

James Bagnell; David Bradley; David Silver; Boris Sofman; Anthony Stentz

2010-01-01

58

Asteroid Exploration with Autonomic Systems  

Microsoft Academic Search

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including \\

Walt Truszkowski; James L. Rash; Christopher Rouff; Michael G. Hinchey

2004-01-01

59

Explicit Substitution Internal Languages for Autonomous and *Autonomous Categories  

Microsoft Academic Search

We introduce a family of explicit substitution type theories as internal languagesfor autonomous (or symmetric monoidal closed) and -autonomous categories, inthe same sense that the simply-typed -calculus with surjective pairing is the internallanguage for cartesian closed categories. We show that the eight equalityand three commutation congruence axioms of the -autonomous type theory characterise -autonomous categories exactly. The associated rewrite systems

T. W. Koh; C. h L. Ong

1999-01-01

60

Negotiation Among Autonomous Agents: Experimental Evaluation of Integrative Strategies  

Microsoft Academic Search

Autonomous agents generate plans towards the achievement of their goals and, over time, situations arise in which their plans conflict with the plans of other agents. Negotiation is the predominant process for resolving conflicts. This paper presents the key features of a negotiation model for autonomous agents. The model is generic, handles multi-party and multi-issue negotiation, acknowledges the role of

Fernando Lopes; A. Q. Novais; N. Mamede; H. Coelho

2005-01-01

61

Path Planning and Flight Controller Scheduling for an Autonomous Helicopter  

E-print Network

Path Planning and Flight Controller Scheduling for an Autonomous Helicopter M. Egerstedt1 , T.J. Koo2 , F. Hoffmann2 , and S. Sastry2 1 Optimization and Systems Theory, Royal Inst. of Technology SE to generate flight trajecto- ries for an autonomous helicopter. The planning strategy that we propose reflects

Egerstedt, Magnus

62

Autonomic Determinism: The Modes of Autonomic Control, the Doctrine of Autonomic Space, and the Laws of Autonomic Constraint.  

ERIC Educational Resources Information Center

It is proposed that the doctrine of autonomic reciprocity be subsumed by a notion of autonomic space, with elements that include principles of autonomic organization and control consistent with a two-dimensional autonomic space. A quantitative model is derived that describes translation of the model into a functional output surface. (SLD)

Berntson, Gary G.; And Others

1991-01-01

63

Inherited autonomic neuropathies.  

PubMed

Inherited autonomic neuropathies are a rare group of disorders associated with sensory dysfunction. As a group they are termed the "hereditary sensory and autonomic neuropathies" (HSAN). Classification of the various autonomic and sensory disorders is ongoing. In addition to the numerical classification of four distinct forms proposed by Dyck and Ohta (1975), additional entities have been described. The best known and most intensively studied of the HSANs are familial dysautonomia (Riley-Day syndrome or HSAN type III) and congenital insensitivity to pain with anhidrosis (HSAN type IV). Diagnosis of the HSANs depends primarily on clinical examinations and specific sensory and autonomic assessments. Pathologic examinations are helpful in confirming the diagnosis and in differentiating between the different disorders. In recent years identification of specific genetic mutations for some disorders has aided diagnosis. Replacement or definitive therapies are not available for any of the disorders so that treatment remains supportive and directed toward specific symptoms. PMID:15088259

Axelrod, Felicia B; Hilz, Max J

2003-12-01

64

Highly Autonomous Systems Workshop  

NASA Technical Reports Server (NTRS)

It is our aim by launching a series of workshops on the topic of highly autonomous systems to reach out to the larger community interested in technology development for remotely deployed systems, particularly those for exploration.

Doyle, R.; Rasmussen, R.; Man, G.; Patel, K.

1998-01-01

65

Autonomous Rovers for Human Exploration of Mars  

Microsoft Academic Search

Abstract Autonomous rovers are a critical element for the success of human exploration of Mars The robotic tasks required for human presence on Mars are beyond the ability of current rovers; these tasks include landing - site scouting and mining, as well as emplacement and maintenance of a habitat, fuel production facility, and power generator These tasks are required before

David E. Smith; Gregory A. Dorais; John Bresina; Keith Golden; Richard Washington

1998-01-01

66

Diabetic autonomic neuropathy.  

PubMed

Autonomic neuropathy, once considered to be the Cinderella of diabetes complications, has come of age. The autonomic nervous system innervates the entire human body, and is involved in the regulation of every single organ in the body. Thus, perturbations in autonomic function account for everything from abnormalities in pupillary function to gastroparesis, intestinal dysmotility, diabetic diarrhea, genitourinary dysfunction, amongst others. "Know autonomic function and one knows the whole of medicine!" It is now becoming apparent that before the advent of severe pathological damage to the autonomic nervous system there may be an imbalance between the two major arms, namely the sympathetic and parasympathetic nerve fibers that innervate the heart and blood vessels, resulting in abnormalities in heart rate control and vascular dynamics. Cardiac autonomic neuropathy (CAN) has been linked to resting tachycardia, postural hypotension, orthostatic bradycardia and orthostatic tachycardia (POTTS), exercise intolerance, decreased hypoxia-induced respiratory drive, loss of baroreceptor sensitivity, enhanced intraoperative or perioperative cardiovascular lability, increased incidence of asymptomatic ischemia, myocardial infarction, and decreased rate of survival after myocardial infarction and congestive heart failure. Autonomic dysfunction can affect daily activities of individuals with diabetes and may invoke potentially life-threatening outcomes. Intensification of glycemic control in the presence of autonomic dysfunction (more so if combined with peripheral neuropathy) increases the likelihood of sudden death and is a caveat for aggressive glycemic control. Advances in technology, built on decades of research and clinical testing, now make it possible to objectively identify early stages of CAN with the use of careful measurement of time and frequency domain analyses of autonomic function. Fifteen studies using different end points report prevalence rates of 1% to 90%. CAN may be present at diagnosis, and prevalence increases with age, duration of diabetes, obesity, smoking, and poor glycemic control. CAN also cosegregates with distal symmetric polyneuropathy, microangiopathy, and macroangiopathy. It now appears that autonomic imbalance may precede the development of the inflammatory cascade in type 2 diabetes and there is a role for central loss of dopaminergic restraint on sympathetic overactivity. Restoration of dopaminergic tone suppresses the sympathetic dominance and reduces cardiovascular events and mortality by close to 50%. Cinderella's slipper can now be worn! PMID:24095132

Vinik, Aaron I; Erbas, Tomris

2013-01-01

67

A Case for Real-World Smart Environments: The Development of a Remote Autonomous Energy Aware Monitoring System Using Next Generation Technologies  

Microsoft Academic Search

Much work is underway on issues associated with the development of tools and services to reduce worldwide energy consumption. Current trends in energy consumption show clear evidence that it is increasing whilst reserves of carbon based energy are reducing and green technologies for energy generation are yet to prove themselves. In industry, numerous instrument manufacturers support the MODBUS protocol as

Nicholas McLauchlan; Nik Bessis

2011-01-01

68

Thinking Ahead: Autonomic Buildings  

SciTech Connect

The time has come for the commercial buildings industries to reconsider the very nature of the systems installed in facilities today and to establish a vision for future buildings that differs from anything in the history of human shelter. Drivers for this examination include reductions in building operation staffs; uncertain costs and reliability of electric power; growing interest in energy-efficient and resource-conserving?green? and?high-performance? commercial buildings; and a dramatic increase in security concerns since the tragic events of September 11. This paper introduces a new paradigm? autonomic buildings? which parallels the concept of autonomic computing, introduced by IBM as a fundamental change in the way computer networks work. Modeled after the human nervous system,?autonomic systems? themselves take responsibility for a large portion of their own operation and even maintenance. For commercial buildings, autonomic systems could provide environments that afford occupants greater opportunity to focus on the things we do in buildings rather than on operation of the building itself, while achieving higher performance levels, increased security, and better use of energy and other natural resources. The author uses the human body and computer networking to introduce and illustrate this new paradigm for high-performance commercial buildings. He provides a vision for the future of commercial buildings based on autonomicity, identifies current research that could contribute to this future, and highlights research and technological gaps. The paper concludes with a set of issues and needs that are key to converting this idealized future into reality.

Brambley, Michael R. (BATTELLE (PACIFIC NW LAB))

2002-08-31

69

Multi-agent-based anticipatory control for enhancing the safety and performance of Generation-IV nuclear power plants during long-term semi-autonomous operation  

Microsoft Academic Search

The use of multi-agents and anticipatory control to improve the performance and safety of nuclear power plants is discussed. The propose program seeks to advance and test via simulation a new control approach for the long-term semiautonomous and economically competitive operation of Generation-IV nuclear power plants. The approach exploits a simple but potentially powerfull idea: In order to regulate themselves

Robert E. Uhrig; Lefteri H. Tsoukalas

2003-01-01

70

Architecture of autonomous systems  

NASA Technical Reports Server (NTRS)

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1986-01-01

71

Architecture of autonomous systems  

NASA Technical Reports Server (NTRS)

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1989-01-01

72

Autonomous Aerobraking for Mars Orbiters  

NASA Astrophysics Data System (ADS)

Autonomous Aerobraking is a developing technology that will reduce cost and increase flexibility of an aerobraking orbiter around Mars. Currently in its second phase of development, autonomous aerobraking could be implemented for a 2018 Mars orbiter.

Prince, J. L.

2012-06-01

73

Notch Signaling Activates Yorkie Non-Cell Autonomously in Drosophila  

PubMed Central

In Drosophila imaginal epithelia, cells mutant for the endocytic neoplastic tumor suppressor gene vps25 stimulate nearby untransformed cells to express Drosophila Inhibitor-of-Apoptosis-Protein-1 (DIAP-1), conferring resistance to apoptosis non-cell autonomously. Here, we show that the non-cell autonomous induction of DIAP-1 is mediated by Yorkie, the conserved downstream effector of Hippo signaling. The non-cell autonomous induction of Yorkie is due to Notch signaling from vps25 mutant cells. Moreover, activated Notch in normal cells is sufficient to induce non-cell autonomous Yorkie activity in wing imaginal discs. Our data identify a novel mechanism by which Notch promotes cell survival non-cell autonomously and by which neoplastic tumor cells generate a supportive microenvironment for tumor growth. PMID:22679484

Graves, Hillary K.; Woodfield, Sarah E.; Yang, Chih-Chao; Halder, Georg; Bergmann, Andreas

2012-01-01

74

Swarm autonomic agents with self-destruct capability  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2009-01-01

75

Swarm autonomic agents with self-destruct capability  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

76

An Autonomous Spacecraft Agent Prototype  

Microsoft Academic Search

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

Barney Pell; Douglas E. Bernard; Steve A. Chien; Erann Gat; Nicola Muscettola; P. Pandurang Nayak; Michael D. Wagner; Brian C. Williams

1998-01-01

77

Autonomous System Confederations for BGP  

Microsoft Academic Search

Border Gateway Protocol (1) is an inter-autonomous system routing protocol designed for TCP\\/IP networks. This document describes an extension to BGP which may be used to create a confederation of autonomous systems which is represented as one single autonomous system to BGP peers external to the confederation. The intention of this extension is to aid in policy administration and reduce

P. Traina

1996-01-01

78

An Autonomous Spacecraft Agent Prototype  

Microsoft Academic Search

. 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

Barney Pell; Douglas E. Bernard; Steve A. Chien; Erann Gat; Nicola Muscettola; P. Pandurang Nayak; Michael D. Wagner; Brian C. Williams

1998-01-01

79

Autonomous Interface Agents Henry Lieberman  

E-print Network

, autonomous agents, Web, browsing, search, learning. I NTRODUCT I ON The definition of an agent is the subjectAutonomous Interface Agents Henry Lieberman Media Laboratory Massachusetts Institute of Technology in operating an interactive interface, and autonomous agents, software that takes action without user

80

An Autonomous Gliding Micro  

E-print Network

An Autonomous Palm-Sized Gliding Micro Air Vehicle 1070-9932/07/$25.00©2007 IEEEIEEE Robotics micro air vehicle (MAV) with the final goal of locating and flying toward a target while avoiding composite microstructures, high performance microactuators, low power biomimetic sen- sors, and efficient

Sanders, Seth

81

Universiteit IASintelligent autonomous systems  

E-print Network

-02 Rodent behavior annotation from video J.J. Verbeek Intelligent Systems Laboratory Amsterdam, University 11 Intelligent Autonomous Systems Informatics Institute, Faculty of Science University of Amsterdam in an arena with the behaviors exhibited by the animal throughout the video. Automatic annotation is desirable

Paris-Sud XI, Université de

82

Diabetic autonomic neuropathy  

Microsoft Academic Search

Summary  This review attempts to outline the present understanding of diabetic autonomic neuropathy. The clinical features have been increasingly recognised but knowledge of the localization and morphology of the lesions and their pathogenesis remains fragmentary. A metabolic causation as postulated in somatic nerves accords best with clinical observations. Most bodily systems, particularly the cardiovascular, gastrointestinal and urogenital, are involved with added

B. F. Clarke; D. J. Ewing; I. W. Campbell

1979-01-01

83

Mobile Autonomous Humanoid Assistant  

NASA Technical Reports Server (NTRS)

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

84

The autonomous sciencecraft constellations  

NASA Technical Reports Server (NTRS)

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we discuss how these AI technologies are synergistically integrated in a hybrid multi-layer control architecture to enable a virtual spacecraft science agent. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2003-01-01

85

Autonomic Nervous System  

Microsoft Academic Search

\\u000a The autonomic nervous system and the role it plays in governing the behavior of the cardiovascular system is immense in both\\u000a its complexity and importance to life. The antagonistic nature of the parasympathetic and sympathetic branches of this system\\u000a allows rapid and essential changes in cardiac parameters such as heart rate, contractility, and stroke volume in order to\\u000a deliver metabolites

Kevin Fitzgerald; Robert F. Wilson; Paul A. Iaizzo

86

Autonomy of Autonomous Agents  

Microsoft Academic Search

Autonomy is one of the most notable attributes of agency, and this paper presents a formal framework for modelling it. By\\u000a representing the mental states of agents, we provide an analysis of some attributes of autonomy. In particular, we define\\u000a three sorts of autonomous agents and examine their structure. We also outline features of higher autonomy. Our framework can\\u000a be

Dongmo Zhang; Norman Y. Foo

2000-01-01

87

Autonomous power expert system  

NASA Technical Reports Server (NTRS)

The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control technologies to the Space Station Freedom Electrical Power Systems (SSF/EPS). The objectives of the program are to establish artificial intelligence/expert system technology paths, to create knowledge based tools with advanced human-operator interfaces, and to integrate and interface knowledge-based and conventional control schemes. This program is being developed at the NASA-Lewis. The APS Brassboard represents a subset of a 20 KHz Space Station Power Management And Distribution (PMAD) testbed. A distributed control scheme is used to manage multiple levels of computers and switchgear. The brassboard is comprised of a set of intelligent switchgear used to effectively switch power from the sources to the loads. The Autonomous Power Expert System (APEX) portion of the APS program integrates a knowledge based fault diagnostic system, a power resource scheduler, and an interface to the APS Brassboard. The system includes knowledge bases for system diagnostics, fault detection and isolation, and recommended actions. The scheduler autonomously assigns start times to the attached loads based on temporal and power constraints. The scheduler is able to work in a near real time environment for both scheduling and dynamic replanning.

Ringer, Mark J.; Quinn, Todd M.

1990-01-01

88

Pharmacotherapy of autonomic failure  

PubMed Central

The clinical picture of autonomic failure is characterized by severe and disabling orthostatic hypotension. These disorders can develop as a result of damage of central neural pathways or peripheral autonomic nerves, caused either by a primary autonomic neurodegenerative disorder or secondary to systemic illness. Treatment should be focused on decreasing presyncopal symptoms instead of achieving blood pressure goals. Non-pharmacologic strategies such as physical counter-maneuvers, dietary changes (i.e. high salt diet, rapid water drinking or compression garments) are the first line therapy. Affected patients should be screened for co-morbid conditions such as post-prandial hypotension and supine hypertension that can worsen orthostatic hypotension if not treated. If symptoms are not controlled with these conservative measures the next step is to start pharmacological agents; these interventions should be aimed at increasing intravascular volume either by promoting water and salt retention (fludrocortisone) or by increasing red blood cell mass when anemia is present (recombinant erythropoietin). When pressor agents are needed, direct pressor agents (midodrine) or agents that potentiate sympathetic activity (atomoxetine, yohimbine, pyridostigmine) can be used. It is preferable to use short-acting pressor agents that can be taken on as needed basis in preparation for upright activities. PMID:21664375

Shibao, Cyndya; Okamoto, Luis; Biaggioni, Italo

2012-01-01

89

Autonomic Disorders in Multiple Sclerosis  

PubMed Central

Multiple sclerosis is an inflammatory disease leading to disseminated lesions of the central nervous system resulting in both somatomotor and autonomic disturbances. These involve the central centers of the autonomic nervous system, as well as the automatic control and pathway systems. All autonomic functions may be disordered individually or in combined form. There is no other disease with a clinical picture so multifaceted. Besides cardiovascular dysfunctions disorders of bladder and rectum have become apparent. Somatomotor and autonomic disturbances occur with similar frequency; however the focused exam often heavily favors somatomotor symptoms. Autonomic disturbances should primarily be taken into account on history taking and clinical examination. Individual diagnosis and treatment is a secondary feature. Impairments of the autonomic nervous systems in multiple sclerosis are frequently overlooked. PMID:21603189

Lensch, E.; Jost, W. H.

2011-01-01

90

Clockwork: A new movement in autonomic systems  

Microsoft Academic Search

Statically tuned computing systems may perform poorly when running time-varying workloads. Current work on autonomic tuning largely involves reactive autonomicity, based on feedback control. This paper identifies a new way of thinking about autonomic tuning, that is, predictive autonomicity, based on feedforward control. A general method, called Clockwork, for constructing predictive autonomic systems is proposed. The method is based on

Lance W. Russell; Stephen P. Morgan; Edward G. Chron

2003-01-01

91

Cardiovascular manifestations of autonomic epilepsy  

Microsoft Academic Search

\\u000a Abstract\\u000a   Cardiovascular autonomic manifestations of seizures occur frequently in the epileptic population. Common manifestations include\\u000a alterations in heart rate and rhythm, blood pressure, ECG changes and chest pain. The neuroanatomical and neurophysiological\\u000a underpinnings of these autonomic manifestations are not been fully elucidated. Diagnostic confusion may arise when ictal symptoms\\u000a are confined to the autonomic nervous system; conversely, such symptoms in

Roy Freeman

2006-01-01

92

Air Force Phillips Laboratory autonomous space navigation experiment  

NASA Astrophysics Data System (ADS)

The Air Force Phillips Laboratory's Technology for Autonomous Operational Survivability (TAOS) space experiment is scheduled for launch in early 1993. The mission will test and evaluate two navigation systems that support autonomous satellite navigation. They are the Microcosm Autonomous Navigation System (MANS) and the six-channel GPS receiver. MANS is a true autonomous system that uses horizon scanners, modified for sun and moon detection, as primary measurement devices to determine position, velocity, and attitude and estimate position and velocity using a Kalman filter. The Rockwell GPS miniature receiver is a semiautonomous system which accesses the GPS network to determine spacecraft position and velocity. Position and velocity reference data will be generated using direct measurements from Air Force Satellite Control Network tracking stations, orbit reconstruction based on on-board beaconry, and postprocessed GPS data and solutions. Attitude reference will be provided by an on-board inertial measurement unit.

Anthony, Jack

1992-03-01

93

Morally autonomous practice?  

PubMed

The structures and contexts within which nurses work results in the moral agency and moral autonomy of the nurse being compromised. This claim results from a confusion of (1) the concept of autonomy with those of freedom and independence; and (2) a confusion of the notion of moral autonomy with that of autonomous professional practice. The drawing of appropriate distinctions allows clarification of the relevant concepts. It also underlines the responsibility of practitioners to recognize the moral dimension of their practice, and the moral implications of their actions, as they attempt to meet the health care needs of their patients and develop practice professionally. PMID:9845488

Scott, P A

1998-12-01

94

Autonomous Phase Retrieval Calibration  

NASA Technical Reports Server (NTRS)

The Palomar Adaptive Optics System actively corrects for changing aberrations in light due to atmospheric turbulence. However, the underlying internal static error is unknown and uncorrected by this process. The dedicated wavefront sensor device necessarily lies along a different path than the science camera, and, therefore, doesn't measure the true errors along the path leading to the final detected imagery. This is a standard problem in adaptive optics (AO) called "non-common path error." The Autonomous Phase Retrieval Calibration (APRC) software suite performs automated sensing and correction iterations to calibrate the Palomar AO system to levels that were previously unreachable.

Estlin, Tara A.; Chien, Steve A.; Castano, Rebecca; Gaines, Daniel M.; Doubleday, Joshua R.; Schoolcraft, Josua B.; Oyake, Amalaye; Vaughs, Ashton G.; Torgerson, Jordan L.

2011-01-01

95

Cooperative Autonomous Online Learning  

E-print Network

Online learning is becoming increasingly popular for training on large datasets. However, the sequential nature of online learning requires a centralized learner to store data and update parameters. In this paper, we consider a fully decentralized setting, cooperative autonomous online learning, with a distributed data source. The learners perform learning with local parameters while periodically communicating with a small subset of neighbors to exchange information. We define the regret in terms of an implicit aggregated parameter of the learners for such a setting and prove regret bounds similar to the classical sequential online learning.

Yan, Feng; Qi, Yuan

2010-01-01

96

AUTONOMOUS VEHICLE TECHNOLOGIES FOR SMALL FIXED WING UAVS  

Microsoft Academic Search

Autonomous unmanned air vehicle ?ight con- trol systems require robust path generation to ac- count for terrain obstructions, weather, and moving threats such as radar, jammers, and unfriendly air- craft. In this paper, we outline a feasible, hierarchal approach for real-time motion planning of small au- tonomous flxed-wing UAVs. The approach divides the trajectory generation into four tasks: waypoint path

Derek Kingston; Randal Beard; Timothy McLain; Michael Larsen; Wei Ren

2003-01-01

97

Adaptive Flight Control for an Autonomous Unmanned Helicopter  

Microsoft Academic Search

For autonomous helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. The outerloop generates attitude commands that orient the main ro- tor forces appropriately to generate required translational accelerations. Recent work in Neural Network based adaptive flight control may be applied to

Eric N. Johnson; Suresh K. Kannany

98

KEYNOTEADDRESS Towards Autonomous Intelligent Control Systems  

E-print Network

KEYNOTEADDRESS Towards Autonomous Intelligent Control Systems Panos J. Antsaklis Dept. of ElectricalEngineering Universityof Notre Dame Notre Dame, IN 46556 Autonomous intelligent control systems and concepts of conventional Control Systems Theory, certain important issues in Autonomous Intelligent Control

Antsaklis, Panos

99

Autonomous Formation Flight  

NASA Technical Reports Server (NTRS)

NASA's Strategic Plan for the Aerospace Technology Enterprise includes ambitious objectives focused on affordable air travel, reduced emissions, and expanded aviation-system capacity. NASA Dryden Flight Research Center, in cooperation with NASA Ames Research Center, the Boeing Company, and the University of California, Los Angeles, has embarked on an autonomous-formation-flight project that promises to make significant strides towards these goals. For millions of years, birds have taken advantage of the aerodynamic benefit of flying in formation. The traditional "V" formation flown by many species of birds (including gulls, pelicans, and geese) enables each of the trailing birds to fly in the upwash flow field that exists just outboard of the bird immediately ahead in the formation. The result for each trailing bird is a decrease in induced drag and thus a reduction in the energy needed to maintain a given speed. Hence, for migratory birds, formation flight extends the range of the system of birds over the range of birds flying solo. The Autonomous Formation Flight (AFF) Project is seeking to extend this symbiotic relationship to aircraft.

Schkolnik, Gerard S.; Cobleigh, Brent

2004-01-01

100

UVOT autonomous operations  

NASA Astrophysics Data System (ADS)

The SWIFT/UVOT has a requirement for on-board autonomous control of exposures, health and safety. It is anticipated that the optimal form of control may not emerge until after launch and may change during the course of the mission. A flexible and readily re-configurable system is therefore required. Two schemes have been adopted. As well as the more usual approach of tables of experimental configurations, action tables mapping command sequences to key events have been implemented. The command sequences, consisting of a series of command words located in EEPROM, are executed using a stack-based software 'virtual CPU.' Each command word, analogous to hardware CPU assembler instructions, results in the execution of well-checked Ada code fragments. As well as implementing the UVOT commands, the code includes functionality such as delaying a specified time, awaiting action completion, 'subroutine' calls and simple flow control. These permit the construction of complex control sequences. A C-like language is used to describe the required sequences. A translator converts them to the required command word sequence that is then validated on a simulator. Reloading the command sequence or the tables referring to it alters the autonomous behavior of the instrument.

Huckle, Howard E.; Smith, Philip J.

2004-02-01

101

Autonomic Responses to Microgravity  

NASA Technical Reports Server (NTRS)

The purpose of this report is to describe how changes in autonomic nervous system responses may be used as an index of individual differences in adaptational capacity to space flight. During two separate Spacelab missions, six crewmembers wore an ambulatory monitoring system which enabled continuous recording of their physiological responses for up to twelve hours a day for 3 to 5 mission days. The responses recorded were electrocardiography, respiration wave form, skin conductance level, hand temperature, blood flow to the hands and triaxial accelerations of the head and upper body. Three of these subjects had been given training, before the mission, in voluntary control of these autonomic responses as a means of facilitating adaptation to space. Three of these subjects served as Controls, i.e., did not receive this training but took anti-motion sickness medication. Nearly 300 hours of flight data are summarized. These data were examined using time-series analyses, spectral analyses of heart rate variability, and analyses of variance. Information was obtained on responses to space motion sickness, inflight medications, circadian rhythm, workload and fatigue. Preliminary assessment was made on the effectiveness of self-regulation training as a means of facilitating adaptation, with recommendations for future flights.

Toscano, W. B.; Cowings, P. S.; Miller, N. E.

1994-01-01

102

Autonomous Flight Safety System  

NASA Technical Reports Server (NTRS)

Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.

Ferrell, Bob; Santuro, Steve; Simpson, James; Zoerner, Roger; Bull, Barton; Lanzi, Jim

2004-01-01

103

Autonomous Navigation for Airborne Applications  

E-print Network

of inertial navigation techniques are required in order to allow for prediction of state information, whichAutonomous Navigation for Airborne Applications Jonghyuk Kim A thesis submitted in fulfillment Navigation for Airborne Applications Autonomous navigation (or localisation) is the process of determining

Kim, Jonghyuk "Jon"

104

Autonomous Navigation for Forest Machines  

E-print Network

Inertial navigation system (INS) ..............................................................19 WheelAutonomous Navigation for Forest Machines a Pre-Study by Thomas Hellström Department of Computing Science Umeå University Umeå, Sweden 2002-10-18 #12;Autonomous Navigation for Forest Machines ­ a Pre

Hellström, Thomas

105

Engineering autonomously controlled logistic systems  

Microsoft Academic Search

Today enterprises are exposed to an increasingly dynamic environment. Last but not least increasing competition caused by globalization more and more requires gaining competitive advantages by improved process control, within and beyond an enterprise. Autonomous control of logistic processes is proposed as a means to better face dynamics and complexity. Autonomous control means the ability of logistic objects to process

B. Scholz-Reiter; J. Kolditz; T. Hildebrandt

2009-01-01

106

Autonomous Gaussian Decomposition  

E-print Network

We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21cm absorption spectra from the 21cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the HI line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the up...

Lindner, Robert R; Murray, Claire E; Stanimirovi?, Snežana; Babler, Brian L; Heiles, Carl; Hennebelle, Patrick; Goss, W M; Dickey, John

2014-01-01

107

Diagnosing faults in autonomous robot plan execution  

NASA Technical Reports Server (NTRS)

A major requirement for an autonomous robot is the capability to diagnose faults during plan execution in an uncertain environment. Many diagnostic researches concentrate only on hardware failures within an autonomous robot. Taking a different approach, the implementation of a Telerobot Diagnostic System that addresses, in addition to the hardware failures, failures caused by unexpected event changes in the environment or failures due to plan errors, is described. One feature of the system is the utilization of task-plan knowledge and context information to deduce fault symptoms. This forward deduction provides valuable information on past activities and the current expectations of a robotic event, both of which can guide the plan-execution inference process. The inference process adopts a model-based technique to recreate the plan-execution process and to confirm fault-source hypotheses. This technique allows the system to diagnose multiple faults due to either unexpected plan failures or hardware errors. This research initiates a major effort to investigate relationships between hardware faults and plan errors, relationships which were not addressed in the past. The results of this research will provide a clear understanding of how to generate a better task planner for an autonomous robot and how to recover the robot from faults in a critical environment.

Lam, Raymond K.; Doshi, Rajkumar S.; Atkinson, David J.; Lawson, Denise M.

1988-01-01

108

Generations.  

PubMed

Groups naturally promote their strengths and prefer values and rules that give them an identity and an advantage. This shows up as generational tensions across cohorts who share common experiences, including common elders. Dramatic cultural events in America since 1925 can help create an understanding of the differing value structures of the Silents, the Boomers, Gen Xers, and the Millennials. Differences in how these generations see motivation and values, fundamental reality, relations with others, and work are presented, as are some applications of these differences to the dental profession. PMID:16623137

Chambers, David W

2005-01-01

109

Autonomous Navigation Using Celestial Objects  

NASA Technical Reports Server (NTRS)

In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

1999-01-01

110

Autonomous software: Myth or magic?  

E-print Network

We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

Alasdair Allan; Tim Naylor; Eric S. Saunders

2008-02-04

111

Autonomous Robotic Monitoring of Underground Cable Systems  

E-print Network

Autonomous Robotic Monitoring of Underground Cable Systems Bing Jiang, Student Member, IEEE, and autonomous operation. This paper describes the electromechanical and sensing system design of the autonomous-bed for the autonomous mobile platform designed for periodic measurement of system parameters. This project is supported

Mamishev, Alexander

112

Parametrized maneuvers for autonomous vehicles  

E-print Network

This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a ...

Dever, Christopher W. (Christopher Walden), 1972-

2004-01-01

113

State discovery for autonomous learning  

E-print Network

This thesis is devoted to the study of algorithms for early perceptual learning for an autonomous agent in the presence of feedback. In the framework of associative perceptual learning with indirect supervision, three ...

Ivanov, Yuri A., 1967-

2002-01-01

114

Autonomic disorders predicting Parkinson disease  

PubMed Central

It is now well recognized that there is a premotor phase of Parkinson disease with hyposmia and REM sleep behavior disorder caused by degeneration of specific CNS neurons. Most patients with PD describe autonomic symptoms at the time of diagnosis suggesting that these features may have potential sensitivity as clinical biomarkers of the premotor phase. The recognition that damage to peripheral autonomic neurons is present in the early stages of Parkinson disease has led to a search for specific abnormalities in autonomic function that could serve as predictive biomarkers. There is evidence that constipation, urinary and sexual dysfunction and more recently decreased cardiac chronotropic response during exercise, are part of the premotor parkinsonian phenotype. The sensitivity and specificity of these features has yet to be accurately assessed. We briefly review the evidence for autonomic dysfunction as biomarkers of premotor PD. PMID:24262198

Palma, Jose-Alberto; Kaufmann, Horacio

2014-01-01

115

Autonomous adaptive acoustic relay positioning  

E-print Network

We consider the problem of maximizing underwater acoustic data transmission by adaptively positioning an autonomous mobile relay so as to learn and exploit spatial variations in channel performance. The acoustic channel ...

Cheung, Mei Yi, S.M. Massachusetts Institute of Technology

2013-01-01

116

Autonomous power system brassboard  

NASA Technical Reports Server (NTRS)

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

Merolla, Anthony

1992-01-01

117

Autonomous System Confederations for BGP  

Microsoft Academic Search

The Border Gateway Protocol (BGP) is an inter-autonomous system routing protocol designed for Transmission Control Protocol\\/Internet Protocol (TCP\\/IP) networks. BGP requires that all BGP speakers within a single autonomous system (AS) must be fully meshed. This represents a serious scaling problem that has been well documented in a number of proposals. This document describes an extension to BGP that may

D. McPherson; J. Scudder

2001-01-01

118

Autonomic control of the swimbladder.  

PubMed

The swimbladder of teleost fishes is the primary organ for controlling whole-body density, and thus buoyancy. The volume of gas in the swimbladder is adjusted to bring the organism to near neutral buoyancy at a particular depth. Swimbladder morphology varies widely among teleosts, but all species are capable of inflating and deflating this organ under reflex control by the autonomic nervous system, to achieve neutral buoyancy. Here we review the control of effectors within the swimbladder, including acid-secreting cells, vasculature and musculature, that are involved in determining gas volume. This control system is complex. It incorporates the "classical" efferent elements of the autonomic nervous system, the spinal autonomic and cranial autonomic limbs and their neurotransmitters (typically noradrenaline (NA)/adrenaline (ADR), and acetylcholine, respectively), but also non-adrenergic, non-cholinergic neurotransmitters such as peptides, purines and nitric oxide. The detailed patterns of autonomic innervation of swimbladder effectors are not well understood, nor are the relationships of terminals releasing non-adrenergic, non-cholinergic neurotransmitters onto these effectors. Furthermore, in most cases the complement of postjunctional receptor subtypes activated by adrenergic, cholinergic and other neurotransmitters, and the biological effects of these neurochemicals, have not been completely established. In order to clarify some of these issues and to provide insight into basic principles underlying autonomic control of swimbladder function, we propose the zebrafish as a potentially useful model teleost. PMID:20817620

Smith, Frank M; Croll, Roger P

2011-11-16

119

Simple autonomous Mars walker  

NASA Technical Reports Server (NTRS)

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1989-01-01

120

Autonomous Aerobraking at Mars  

NASA Technical Reports Server (NTRS)

Aerobraking has become a proven approach for orbital missions at Mars. A launch of a 1000 kg class spacecraft on a Delta class booster saves 90% of the post-MOI fuel otherwise required to circularize the orbit. In 1997, Mars Global Surveyor demonstrated the feasibility and Mars 2001 Odyssey completed a nearly trouble free aerobraking phase in January 2002. In 2006, Mars Reconnaissance Orbiter will also utilize aerobraking. From the flight operations standpoint, however, aerobraking is labor intensive and high risk due to the large density variability in the Mars thermosphere. The maximum rate of aerobraking is typically limited by the maximum allowable temperature of the solar array which is the primary drag surface. Prior missions have used a surrogate variable, usually maximum free stream heat flux, as a basis for performing periapsis altitude corridor control maneuvers. This paper provides an adaptive sequential method for operationally relating measured temperatures to heat flux profile characteristics and performing maneuvers based directly on measured temperatures and atmospheric properties derived from the heat flux profiles. Simulations of autonomous aerobraking are performed using Odyssey mission data.

Hanna, Jill L.; Tolson, Robert; Cianciolo, Alicia Dwyer; Dec, John

2002-01-01

121

Autonomous mission operations  

NASA Astrophysics Data System (ADS)

NASA's Advanced Exploration Systems Autonomous Mission Operations (AMO) project conducted an empirical investigation of the impact of time delay on today's mission operations, and of the effect of processes and mission support tools designed to mitigate time-delay related impacts. Mission operation scenarios were designed for NASA's Deep Space Habitat (DSH), an analog spacecraft habitat, covering a range of activities including nominal objectives, DSH system failures, and crew medical emergencies. The scenarios were simulated at time delay values representative of Lunar (1.2-5 sec), Near Earth Object (NEO) (50 sec) and Mars (300 sec) missions. Each combination of operational scenario and time delay was tested in a Baseline configuration, designed to reflect present-day operations of the International Space Station, and a Mitigation configuration in which a variety of software tools, information displays, and crew-ground communications protocols were employed to assist both crews and Flight Control Team (FCT) members with the long-delay conditions. Preliminary findings indicate: 1) Workload of both crewmembers and FCT members generally increased along with increasing time delay. 2) Advanced procedure execution viewers, caution and warning tools, and communications protocols such as text messaging decreased the workload of both flight controllers and crew, and decreased the difficulty of coordinating activities. 3) Whereas crew workload ratings increased between 50 sec and 300 sec of time delay in the Baseline configuration, workload ratings decreased (or remained flat) in the Mitigation configuration.

Frank, J.; Spirkovska, L.; McCann, R.; Wang, Lui; Pohlkamp, K.; Morin, L.

122

Autonomous spherical mobile robot for child-development studies  

Microsoft Academic Search

This paper presents the design process of a spherical robot capable of autonomous motion, and demonstrates how it can become a tool in child development studies. The robot, named Roball, is capable of intentional self- propelled movements and can generate various interplay situations using motion, messages, sounds, illuminated parts and other sensors. Such capabilities allow Roball to interact with young

François Michaud; Jean-françois Laplante; Hélène Larouche; Audrey Duquette; Serge Caron; Dominic Létourneau; Patrice Masson

2005-01-01

123

Cooperative control for multiple autonomous UAV's searching for targets  

Microsoft Academic Search

The work presented here is in the area of decision and control for autonomous unmanned aerial vehicles (UAVs). Specifically, we formulate the problem of generating near-optimal trajectories to follow in order for several UAVs to cooperatively search for targets in a given area for which some a priori data about target distribution is available. An algorithm that utilizes a model

Flint Marios; M. Polycarpou; E. Fernandez-Gaucherand

2002-01-01

124

Model-Based Autonomous Systems in the New Millenium  

Microsoft Academic Search

A new generation of sensor rich, massively distributed, autonomous systems is being developed that has the potential for unprecedented performance, such as net- works of smart buildings, reconfigurable factories, spacecraft constellations and remote earth ecosystem monitoring. To achieve high performance these im- mobile robots will need to use their sensors to accu- rately model themselves and their environment on a

Brian C. Williams

1996-01-01

125

An Intelligent World Model for Autonomous Off Road Driving  

Microsoft Academic Search

This paper describes a world model designed to act as a bridge between multiple sensory inputs and a behavior generation (path planning) subsystem for off- road autonomous driving. It describes how the world model map is built and how the objects and features of the world are represented. The functions used to maintain the model are explained and the sensors

Tsai Hong Hong; Marilyn Abrams; Tommy Chang; Michael Shneier

2000-01-01

126

Social Capabilities for Autonomous Virtual Characters Christopher Peters1  

E-print Network

for enhancing the autonomous behaviour of humanoid virtual agents for populating game worlds. We foresee generation of computer games as they become increasingly sophisticated. Although virtual humans have a human to their utterances and other events in the world. Virtual characters populate video games, chat rooms, and have been

Pelachaud, Catherine

127

Onboard Processing and Autonomous Operations on the IPEX Cubesat  

NASA Technical Reports Server (NTRS)

IPEX is a 1u Cubesat sponsored by NASA Earth Science Technology Office (ESTO), the goals or which are: (1) Flight validate high performance flight computing, (2) Flight validate onboard instrument data processing product generation software, (3) flight validate autonomous operations for instrument processing, (4) enhance NASA outreach and university ties.

Chien, Steve; Doubleday, Joshua; Ortega, Kevin; Flatley, Tom; Crum, Gary; Geist, Alessandro; Lin, Michael; Williams, Austin; Bellardo, John; Puig-Suari, Jordi; Stanton, Eric; Yee, Edmond

2012-01-01

128

Autonomous Mobile Robot: Path Planning Using Backward Chaining  

Microsoft Academic Search

This project concerns the design and fabrication of the autonomous mobile robot (AMR) prototype, utilizing backward chaining as a mainframe in helping the robot to generate a self-understanding of the area of work and mobilization to a destination desired by the user. Further explanation of backward chaining is included. The main objective of this project is to create and develop

Illani Mohd Nawi; M. Rahim

2008-01-01

129

Randomized Testing for Robotic Plan Execution for Autonomous Systems  

E-print Network

is that the power of the system to generate different behaviors makes it hard to test in simulation, and failuresRandomized Testing for Robotic Plan Execution for Autonomous Systems Zeyn Saigol, Fr´ed´eric Py-planned oceanographic surveys, but there is increasing interest in optimizing these surveys by performing onboard re

Yao, Xin

130

Database Scalabilty, Elasticity, and Autonomic Control in the  

E-print Network

investment DASFAA'2011 Keynote Address 5/20/2011 #12;Cloud Reality Facebook Generation of Application Elasticity Autonomic Control DASFAA'2011 Keynote Address 5/20/2011 #12;Apache + App Server Apache + App Server Apache + App Server Scaling in the Cloud HAProxy (Load Balancer) Apache + App Server MySQL Master

Xu, Jianliang

131

Autonomous Control and Diagnostics of Space Reactor Systems  

SciTech Connect

This paper describes three key features of the development of an autonomous control strategy for space reactor systems. These include the development of a reactor simulation model for transient analysis, development of model-predictive control as part of the autonomous control strategy, and a fault detection and isolation module. The latter is interfaced with the control supervisor as part of a hierarchical control system. The approach has been applied to the nodal model of the SP-100 reactor with a thermo-electric generator. The results of application demonstrate the effectiveness of the control approach and its ability to reconfigure the control mode under fault conditions. (authors)

Upadhyaya, B.R.; Xu, X.; Perillo, S.R.P. [The University of Tennessee, Nuclear Engineering Department, Knoxville, TN 37996-2300 (United States); Na, M.G. [Chosun University, Nuclear Engineering Department, Gwangju 501-759 (Korea, Republic of)

2006-07-01

132

Secure, Transportable, Autonomous Reactor (STAR) Concept  

SciTech Connect

The Secure, Transportable, Autonomous Reactor (STAR), is a concept for a small, highly proliferation resistant, sealed-core nuclear power system with unique design features that make it appropriate for a variety of applications. STAR features include: Long lifetime sealed core installed at construction; 10 to 30 year core life, depending on design and size; No capability for on-site refueling, no user access to the fuel, no need for user to have fuel cycle technology; Reactor transported intact to the user site; Reactor core is replaced by vendor at end of life, spent fuel returns intact to supplier; Useable in remote areas for local power; Modular design for factory production to minimize cost; Simple operation with reliance on autonomous control and remote monitoring; and Robust, simple design with inherent safety features, high reliability and reduced maintenance. These features permit STAR to address a variety of potential applications, including: Deployment in developing countries with limited infrastructure; Remote/isolated location deployment (islands, oil fields, military installations, etc.); Central generation on small electric grids; Multi-unit central station use or distributed generation on large electric grids; and Alternative energy products (process heat, space heat, fresh water, hydrogen, etc.) in addition to electricity.

Chou, C K; Smith, C F; Brown, N W; Hassberger, J A; Halsey

2002-07-01

133

Autonomous Navigation by a Mobile Robot  

NASA Technical Reports Server (NTRS)

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

134

Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity  

NASA Technical Reports Server (NTRS)

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

2005-01-01

135

Innovative thermal energy harvesting for future autonomous applications  

NASA Astrophysics Data System (ADS)

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power ?-processors, ?-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Monfray, Stephane

2013-12-01

136

Resource-Optimal Planning For An Autonomous Planetary Vehicle  

E-print Network

Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with narrow energy/time/movement constraints and, typically, small computational resources that limit the complexity of on-line planning and scheduling, thus they represent a great challenge in the field of autonomous vehicles. Indeed, formal models for such vehicles usually involve hybrid systems with nonlinear dynamics, which are difficult to handle by most of the current planning algorithms and tools. Therefore, when offline planning of the vehicle activities is required, for example for rovers that operate without a continuous Earth supervision, such planning is often performed on simplified models that are not completely realistic. In this paper we show how the UPMurphi model checking based planning tool can be used to generate resource-optimal plans to control the engine of ...

Della Penna, Giuseppe; Magazzeni, Daniele; Mercorio, Fabio; 10.5121/ijaia.2010.1302

2010-01-01

137

Autonomous UAV persistent surveillance using bio-inspired strategies  

NASA Astrophysics Data System (ADS)

A team consisting of Teledyne Scientific Company, the University of California at Santa Barbara, the Army Research Laboratory, the Engineer Research and Development Center, and IBM UK is developing technologies in support of automated data exfiltration from heterogeneous battlefield sensor networks to enhance situational awareness for dismounts and command echelons. Unmanned aerial vehicles (UAV) provide an effective means to autonomously collect data from a sparse network of unattended ground sensors (UGSs) that cannot communicate with each other. UAVs are used to reduce the system reaction time by generating autonomous collection routes that are data-driven. Bioinspired techniques for autonomous search provide a novel strategy to detect, capture and fuse data from heterogeneous sensor networks. The bio-inspired algorithm is based on chemotaxis or the motion of bacteria seeking nutrients in their environment. Field tests of a bio-inspired system that routed UAVs were conducted in June 2011 at Camp Roberts, CA. The field test results showed that such a system can autonomously detect and locate the source of terrestrial events with very high accuracy and visually verify the event. In June 2011, field tests of the system were completed and include the use of multiple autonomously controlled UAVs, detection and disambiguation of multiple acoustic events occurring in short time frames, optimal sensor placement based on local phenomenology and the use of the International Technology Alliance (ITA) Sensor Network Fabric. The system demonstrated TRL 6 performance in the field at Camp Roberts.

Burman, Jerry; Hespanha, Joao; Madhow, Upamanyu; Isaacs, Jason; Venkateswaran, Sriram; Pham, Tien

2012-06-01

138

Development of Methodology for Programming Autonomous Agents  

NASA Technical Reports Server (NTRS)

A brief report discusses the rationale for, and the development of, a methodology for generating computer code for autonomous-agent-based systems. The methodology is characterized as enabling an increase in the reusability of the generated code among and within such systems, thereby making it possible to reduce the time and cost of development of the systems. The methodology is also characterized as enabling reduction of the incidence of those software errors that are attributable to the human failure to anticipate distributed behaviors caused by the software. A major conceptual problem said to be addressed in the development of the methodology was that of how to efficiently describe the interfaces between several layers of agent composition by use of a language that is both familiar to engineers and descriptive enough to describe such interfaces unambivalently

Erol, Kutluhan; Levy, Renato; Lang, Lun

2004-01-01

139

Autonomous hazard detection and avoidance  

NASA Technical Reports Server (NTRS)

During GFY 91, Draper Laboratory was awarded a task by NASA-JSC under contract number NAS9-18426 to study and evaluate the potential for achieving safe autonomous landings on Mars using an on-board autonomous hazard detection and avoidance (AHDA) system. This report describes the results of that study. The AHDA task had four objectives: to demonstrate, via a closed-loop simulation, the ability to autonomously select safe landing sites and the ability to maneuver to the selected site; to identify key issues in the development of AHDA systems; to produce strawman designs for AHDA sensors and algorithms; and to perform initial trade studies leading to better understanding of the effect of sensor/terrain/viewing parameters on AHDA algorithm performance. This report summarizes the progress made during the first year, with primary emphasis on describing the tools developed for simulating a closed-loop AHDA landing. Some cursory performance evaluation results are also presented.

Pien, Homer

1992-01-01

140

Intelligent, autonomous systems in space  

NASA Technical Reports Server (NTRS)

The Space Station is expected to be equipped with intelligent, autonomous capabilities; to achieve and incorporate these capabilities, the required technologies need to be identitifed, developed and validated within realistic application scenarios. The critical technologies for the development of intelligent, autonomous systems are discussed in the context of a generalized functional architecture. The present state of this technology implies that it be introduced and applied in an evolutionary process which must start during the Space Station design phase. An approach is proposed to accomplish design information acquisition and management for knowledge-base development.

Lum, H.; Heer, E.

1988-01-01

141

Progress towards autonomous, intelligent systems  

NASA Technical Reports Server (NTRS)

An aggressive program has been initiated to develop, integrate, and implement autonomous systems technologies starting with today's expert systems and evolving to autonomous, intelligent systems by the end of the 1990s. This program includes core technology developments and demonstration projects for technology evaluation and validation. This paper discusses key operational frameworks in the content of systems autonomy applications and then identifies major technological challenges, primarily in artificial intelligence areas. Program content and progress made towards critical technologies and demonstrations that have been initiated to achieve the required future capabilities in the year 2000 era are discussed.

Lum, Henry; Heer, Ewald

1987-01-01

142

Contingency Software in Autonomous Systems  

NASA Technical Reports Server (NTRS)

This viewgraph presentation reviews the development of contingency software for autonomous systems. Autonomous vehicles currently have a limited capacity to diagnose and mitigate failures. There is a need to be able to handle a broader range of contingencies. The goals of the project are: 1. Speed up diagnosis and mitigation of anomalous situations.2.Automatically handle contingencies, not just failures.3.Enable projects to select a degree of autonomy consistent with their needs and to incrementally introduce more autonomy.4.Augment on-board fault protection with verified contingency scripts

Lutz, Robyn; Patterson-Hine, Ann

2006-01-01

143

Autonomic Modulation of Olfactory Signaling  

NSDL National Science Digital Library

The olfactory epithelium is extensively innervated by sympathetic nerve endings, which release norepinephrine, and parasympathetic nerve endings, which release acetylcholine. Because olfactory sensory neurons have adrenergic and muscarinic receptors in addition to odorant receptors, autonomic stimulation can modulate the responses of olfactory sensory neurons to odorants. Recent studies have shed light on the molecular mechanisms that underlie crosstalk between muscarinic and odorant receptor signaling. The emerging view is that the stimulation of odorant receptor signaling by odorants, which is the earliest step in olfaction, can be substantially regulated by the autonomic nervous system.

Randy A. Hall (Emory University School of Medicine;Department of Pharmacology REV)

2011-01-11

144

Adaptive sampling in autonomous marine sensor networks  

E-print Network

In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. ...

Eickstedt, Donald Patrick

2006-01-01

145

Continuous observation planning for autonomous exploration  

E-print Network

Many applications of autonomous robots depend on the robot being able to navigate in real world environments. In order to navigate or path plan, the robot often needs to consult a map of its surroundings. A truly autonomous ...

Hasegawa, Bradley R

2004-01-01

146

A Robust Compositional Architecture for Autonomous Systems  

NASA Technical Reports Server (NTRS)

Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

2006-01-01

147

Autonomous decentralized systems: Concept, data field architecture and future trends  

Microsoft Academic Search

The concept of autonomous decentralized systems (ADSs) and their data field (DF) architecture are presented. An autonomous subsystem is defined as having autonomous controllability and autonomous coordinability, and a system is understood as the result of integration of autonomous subsystems. Autonomous subsystems are mutually connected through the DF, where all of the data are broadcast, and each subsystem independently elects

Kinji Mori

1993-01-01

148

Selection of Business Process for Autonomic Automation  

Microsoft Academic Search

Autonomic automation is viewed as a new approach to business process automation. In this work, we propose a method to identify the best-suited business processes as candidates for an autonomic automation. Generally, this decision is made by process automation experts or inspired by management preferences. Moreover, the best candidate to an autonomic automation is possibly different from a candidate to

Luciano D. Terres; José A. Rodrigues Nt; Jano Moreira de Souza

2010-01-01

149

Designing autonomic management systems for cloud computing  

Microsoft Academic Search

Autonomic Computing Systems are systems which are capable of adapting themselves to changes in their working environment in order to maintain required service level agreements, protect the execution of the system from external attacks or prevent and recover from failures. Within the field of autonomic computing, autonomic systems are developed as control loops which monitor and analyze the execution of

Bogdan Solomon; Dan Ionescu; Marin Litoiu; Gabriel Iszlai

2010-01-01

150

AUTONOMOUS CONTROL SYSTEMS: ARCHITECTURE AND FUNDAMENTAL ISSUES  

E-print Network

WP7 2:00 AUTONOMOUS CONTROL SYSTEMS: ARCHITECTURE AND FUNDAMENTAL ISSUES PJ. Antsaklis, KLM Passin Autonomous control systems must perform well under signifit uncertainties in te plant and the envionment. Such autonomous behavior is a very desirable characterisic of advanced systems. An antnommous contoller provides

Antsaklis, Panos

151

NON-AUTONOMOUS CONFORMAL ITERATED FUNCTION SYSTEMS  

E-print Network

NON-AUTONOMOUS CONFORMAL ITERATED FUNCTION SYSTEMS AND MORAN-SET CONSTRUCTIONS LASSE REMPE-GILLEN AND MARIUSZ URBA´NSKI Abstract. We study non-autonomous conformal iterated function systems, with finite or countable infinite alphabet alike. These differ from the usual (autonomous) iterated function systems

Urbanski, Mariusz

152

The EO1 autonomous science agent  

Microsoft Academic Search

An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent

Steve Chien; Rob Sherwood; Daniel Tran; Benjamin Cichy; Gregg Rabideau; Rebecca Castano; Ashley Davies; Rachel Lee; Dan Mandl; Stuart Frye; Bruce Trout; Jerry Hengemihle; J. D'Agostino; S. Shulman; S. Ungar; T. Brakke; D. Boyer; J. Van Gaasbeck; R. Greeley; T. Doggett; V. Baker; J. Dohm; F. Ip

2004-01-01

153

The EO1 Autonomous Science Agent  

Microsoft Academic Search

An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent

Steve A. Chien; Rob Sherwood; Daniel Tran; Benjamin Cichy; Gregg Rabideau; Rebecca Castano; Ashley Davies; Rachel Lee; Dan Mandl; Stuart Frye; Bruce Trout; Jerry Hengemihle; Jeff D'Agostino; Seth Shulman; Stephen Ungar; Thomas Brakke; Darrell Boyer; Jim Van Gaasbeck; Ronald Greeley; Thomas Doggett; Victor R. Baker; James M. Dohm; Felipe Ip

2004-01-01

154

Autonomous artificial nanomotor powered by sunlight  

NASA Astrophysics Data System (ADS)

Light excitation powers the reversible shuttling movement of the ring component of a rotaxane between two stations located at a 1.3-nm distance on its dumbbell-shaped component. The photoinduced shuttling movement, which occurs in solution, is based on a "four-stroke" synchronized sequence of electronic and nuclear processes. At room temperature the deactivation time of the high-energy charge-transfer state obtained by light excitation is 10 ?s, and the time period required for the ring-displacement process is on the order of 100 ?s. The rotaxane behaves as an autonomous linear motor and operates with a quantum efficiency up to 12%. The investigated system is a unique example of an artificial linear nanomotor because it gathers together the following features: (i) it is powered by visible light (e.g., sunlight); (ii) it exhibits autonomous behavior, like motor proteins; (iii) it does not generate waste products; (iv) its operation can rely only on intramolecular processes, allowing in principle operation at the single-molecule level; (v) it can be driven at a frequency of 1 kHz; (vi) it works in mild environmental conditions (i.e., fluid solution at ambient temperature); and (vii) it is stable for at least 103 cycles. molecular machine | nanoscience | photochemistry | rotaxane | supramolecular chemistry


Balzani, Vincenzo; Clemente-León, Miguel; Credi, Alberto; Ferrer, Belén; Venturi, Margherita; Flood, Amar H.; Fraser Stoddart, J.

2006-01-01

155

Autonomous artificial nanomotor powered by sunlight.  

PubMed

Light excitation powers the reversible shuttling movement of the ring component of a rotaxane between two stations located at a 1.3-nm distance on its dumbbell-shaped component. The photoinduced shuttling movement, which occurs in solution, is based on a "four-stroke" synchronized sequence of electronic and nuclear processes. At room temperature the deactivation time of the high-energy charge-transfer state obtained by light excitation is approximately 10 micros, and the time period required for the ring-displacement process is on the order of 100 micros. The rotaxane behaves as an autonomous linear motor and operates with a quantum efficiency up to approximately 12%. The investigated system is a unique example of an artificial linear nanomotor because it gathers together the following features: (i) it is powered by visible light (e.g., sunlight); (ii) it exhibits autonomous behavior, like motor proteins; (iii) it does not generate waste products; (iv) its operation can rely only on intramolecular processes, allowing in principle operation at the single-molecule level; (v) it can be driven at a frequency of 1 kHz; (vi) it works in mild environmental conditions (i.e., fluid solution at ambient temperature); and (vii) it is stable for at least 10(3) cycles. PMID:16432207

Balzani, Vincenzo; Clemente-León, Miguel; Credi, Alberto; Ferrer, Belén; Venturi, Margherita; Flood, Amar H; Stoddart, J Fraser

2006-01-31

156

Programmable autonomous micromixers and micropumps  

Microsoft Academic Search

Programmable autonomous micromixers and micropumps have been designed and realized via a merger between MEMS and microfluidic tectonics (?FT). Advantages leveraged from both fabrication platforms allow for relatively simple and rapid fabrication of these microfluidic components. Nickel (Ni) microstructures, driven by an external rotating magnetic field, are patterned in situ and serve as the microactuators in the devices. ?FT permits

Abhishek K. Agarwal; Sudheer S. Sridharamurthy; David J. Beebe; Hongrui Jiang

2005-01-01

157

Algorithms for autonomous star identification  

NASA Technical Reports Server (NTRS)

Algorithms for onboard autonomous star identification are presented. The algorithms are applicable to two types of spacecraft missions, those flown with nearly inertially fixed attitude (solar maximum mission type); and those flown with smoothly time varying attitude (LANDSAT-D type).

1980-01-01

158

Representation and purposeful autonomous agents  

Microsoft Academic Search

Although many researchers feel that an autonomous system, capable of behaving appropriately in an uncertain environment, must have an internal representation (world model) of entities, events and situations it perceives in the world, research into active vision, inattentional amnesia has implications for our views on the content of represented knowledge and raises issues concerning coupling knowledge held in the longer

Sharon Wood

2004-01-01

159

Smart Executives for Autonomous Spacecraft  

NASA Technical Reports Server (NTRS)

In this article we explore the design of an executive for an autonomous spacecraft. The executive is responsible for translating high-level commands, whether they come from the ground or from an on-board planner, into the low-level commands understood directly by the spacecraft hardware.

Gat, E.; Pell, B.

1998-01-01

160

Interoperability of multiple autonomous databases  

Microsoft Academic Search

Database systems were a solution to the problem of shared access to heterogeneous files created by multiple autonomous applications in a centralized environment. To make data usage easier, the files were replaced by a globally integrated database. To a large extent, the idea was successful, and many databases are now accessible through local and long-haul networks. Unavoidably, users now need

Witold Litwin; Leo Mark; Nick Roussopoulos

1990-01-01

161

Electrical Engineering for Autonomousfor Autonomous  

E-print Network

Electrical Engineering for Autonomousfor Autonomous Exploration Robots Minor EE-Mi-109-11 Electrical Engineering Do you want to know more about EE? is all around us Electrical Engineering enables an introduction to Electrical Engineering for (mainly) students in Physics and in the constructive sciences

162

World Modeling for Autonomous Systems  

Microsoft Academic Search

This contribution proposes a universal, intelligent information storage and management system for autonomous systems, e. g., robots. The proposed system uses a three pillar information architecture consisting of three distinct components: prior knowledge, environment model, and real world. In the center of the architecture, the environment model is situated, which constitutes the fusion target for prior knowledge and sensory information

Ioana Gheta; Michael Heizmann; Andrey Belkin; Jurgen Beyerer

2010-01-01

163

An Autonomous Spacecraft Agent Prototype  

NASA Technical Reports Server (NTRS)

This paper describes the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. This architecture integrates traditional real-time monitoring and control with constraint-based planning and scheduling, robust multi-threaded execution, and model-based diagnosis and reconfiguration.

Pell, Barney; Bernard, Douglas E.; Chien, Steve A.; Gat, Erann; Muscettola, Nicola; Nayak, P. Pandurang; Wagner, Michael D.; Williams, Brian C.

1997-01-01

164

Autonomic control of the swimbladder  

Microsoft Academic Search

The swimbladder of teleost fishes is the primary organ for controlling whole-body density, and thus buoyancy. The volume of gas in the swimbladder is adjusted to bring the organism to near neutral buoyancy at a particular depth. Swimbladder morphology varies widely among teleosts, but all species are capable of inflating and deflating this organ under reflex control by the autonomic

Frank M. Smith; Roger P. Croll

2011-01-01

165

Lernmethoden fur autonome mobile Roboter  

E-print Network

. . . . . . . . . . . . . . . . . . . . . 11 1.2 Industrie- und Dienstleistungs-Roboter . . . . . . . . . . . . . . . 12 1.3 Robotik als Benchmark 17 2.1 Warum Roboter-Fu�ball? . . . . . . . . . . . . . . . . . . . . . . 18 2.2 Geschichte vonLernmethoden f¨ur autonome mobile Roboter 1234567891011 A B C D E F G State Changes Date Name Date

Förster, Alexander

166

The autonomic phenotype of rumination.  

PubMed

Recent studies suggest that ruminative thoughts may be mediators of the prolonged physiological effects of stress. We hypothesized that autonomic dysregulation plays a role in the relation between rumination and health. Rumination was induced by an anger-recall task in 45 healthy subjects. Heart rate variability (HRV), baroreflex sensitivity (BRS), and baroreflex effectiveness index (BEI) change scores were evaluated to obtain the autonomic phenotype of rumination. Personality traits and endothelial activation were examined for their relation to autonomic responses during rumination. Degree of endothelial activation was assessed by circulating soluble intercellular adhesion molecule-1 (sICAM-1). Vagal withdrawal during rumination was greater for women than men. Larger decreases in the high frequency component of HRV were associated with higher levels of anger-in, depression, and sICAM-1 levels. BRS reactivity was negatively related to trait anxiety. BEI reactivity was positively related to anger-in, hostility, anxiety, and depression. Lower BEI and BRS recovery were associated with lower social desirability and higher anger-out, anxiety, and depression. Findings suggest that the autonomic dysregulation that characterizes rumination plays a role in the relationships between personality and cardiovascular health. PMID:19272312

Ottaviani, Cristina; Shapiro, David; Davydov, Dmitry M; Goldstein, Iris B; Mills, Paul J

2009-06-01

167

An Autonomous Reliabilit Cloud Comput  

E-print Network

An Autonomous Reliabilit Ami Cloud Comput Department of Computing and Informa Abstract--Cloud computing paradigm allo based access to computing and storages s Internet. Since with advances of Cloud. Keywords- Cloud computing; SLA negotiat I. INTRODUCTION Cloud computing has transferred the services

Buyya, Rajkumar

168

Security in an autonomic computing  

E-print Network

and administering them have grown at a steadily increasing rate. As the costs of system hard- ware and software have obey privacy policies required by national laws and business ethics. Successful autonomic systems portions, of this paper may be copied or distributed royalty free without further permission by computer

Ramkumar, Mahalingam

169

The Functioning of Autonomous Colleges  

ERIC Educational Resources Information Center

The college gets separated from the university, though not completely, when it is an autonomous college, which is practice in India. Academic package will become flexible and the decision-making is internalized, changes and updating could be easily carried out, depending on the need as reflected from the feedback taken from alumni, user sectors,…

Rao, V. Pala Prasada; Rao, Digumarti Bhaskara

2012-01-01

170

Acetylsalicylic acid and autonomic modulation.  

PubMed

Loss of autonomic balance characterized by increased sympathetic activity and decreased vagal activity has been implicated as a major cardiovascular risk factor. Aspirin's cardioprotective abilities involve a multitude of physiologic processes. However, the effects of aspirin on cardiac autonomic activity are unknown. In a double-blind crossover study, 22 subjects randomly received either aspirin or placebo in the amounts of 325 mg with each meal (three times per day) over a 2.5-day period. The total amount of aspirin ingested was 2,275 mg, which resulted in plasma levels of 3.3 mg/dl. At the conclusion of each treatment, subjects were evaluated for autonomic physiology activity using standard autonomic tests. Power spectral analyses of the electrocardiograms were used to delineate autonomic function. A 2 x 4 repeated measures analysis of variance revealed significant and favorable changes in autonomic activity after the use of aspirin. Specifically, at rest high-frequency (HF) power was significantly higher (mean, 1,090 + 1,463.5 msec2) compared with the placebo (mean, 692 742 msec2) (p <0.05). Low-frequency (LF) power was significantly reduced (mean, 963 745 msec2) after aspirin compared with placebo (mean, 1,100 906 msec2). After the aspirin treatment, a significantly lower LF-to-HF power ratio (mean, 1.7 2 msec2) was noted at rest when compared with the placebo (mean, 2.5 2.7 msec2) (p <0.05). Similar significant trends were seen during the sustained isometric contraction after aspirin therapy for HF power (mean 210 2.15 msec2) compared with placebo (mean, 213 184 msec2) (p <0.05). Accordingly, the LF-to-HF power ratio was lower as well when compared to placebo treatment (mean, 2.3 3.5 msec2) (mean, 5.3 8.4 msec2) (p <0.05). No differences were found in breathing rates for hemodynamic variables between any of the protocols. The significant reduction of LF-to-HF ratio, a marker of sympathovagal balance, for both protocols appeared to be largely due to a withdrawal of LF modulation and concomitant but lesser increase in HF modulation. Favorable alterations in autonomic outflow through prostaglandin inhibition may be one of the mechanisms by which low therapeutic amounts of aspirin provide prophylactic cardioprotection. PMID:11029017

De Meersman, R E; Zion, A S; Lieberman, J S; Downey, J A

2000-08-01

171

Trojans, Agents and Tags: The Next Generation of Investigators  

Microsoft Academic Search

Recent developments in Artificial Intelligence and Computer Science have influenced the way police forces and law enforcement agencies are operating and combating crime. The evolvement of autonomous and semi-autonomous technologies has led to the adoption of new investigating and evidence gathering methods. This new generation of technologies, such as Trojans, RFID tags and autonomous software agents, features unique abilities which

Wiebke Abel

172

Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

Wehner, Walter S., Jr.

2013-01-01

173

Autonomous magnetic node for wireless sensor networks  

NASA Astrophysics Data System (ADS)

Quantum Magnetics has developed an autonomous battery-powered magnetic sensor node for distributed wireless sensor networks. The device digitizes the sensor output signals and transmits data over an RF link using a ZigBee 802.15.4 protocol. The prototype node incorporates Magneto-Resistive (MR) chips configured to measure all three components of the magnetic field, a logic device, analog-to-digital converters, a two-axis tilt sensor, a wireless transceiver, and a set of batteries. For use in outdoor environments, the sensor node is also GPS-ready. At present, the unit measures approximately 4 inches on a side, with about 40% of the volume occupied by the batteries. Using battery power, the node can operate for about 10 hours in a continuous mode and up to 40 hours with a 10% duty cycle. Efforts are underway to develop the next-generation magnetic node with significant reduction in size and part count.

Dalichaouch, Yacine; Shelby, Richard A.; Trammell, Hoke S.; Mathis, Kevin

2004-11-01

174

Emergent Aerospace Designs Using Negotiating Autonomous Agents  

NASA Technical Reports Server (NTRS)

This paper presents a distributed design methodology where designs emerge as a result of the negotiations between different stake holders in the process, such as cost, performance, reliability, etc. The proposed methodology uses autonomous agents to represent design decision makers. Each agent influences specific design parameters in order to maximize their utility. Since the design parameters depend on the aggregate demand of all the agents in the system, design agents need to negotiate with others in the market economy in order to reach an acceptable utility value. This paper addresses several interesting research issues related to distributed design architectures. First, we present a flexible framework which facilitates decomposition of the design problem. Second, we present overview of a market mechanism for generating acceptable design configurations. Finally, we integrate learning mechanisms in the design process to reduce the computational overhead.

Deshmukh, Abhijit; Middelkoop, Timothy; Krothapalli, Anjaneyulu; Smith, Charles

2000-01-01

175

Cardiac autonomic nerve distribution and arrhythmia?  

PubMed Central

OBJECTIVE: To analyze the distribution characteristics of cardiac autonomic nerves and to explore the correlation between cardiac autonomic nerve distribution and arrhythmia. DATA RETRIEVAL: A computer-based retrieval was performed for papers examining the distribution of cardiac autonomic nerves, using heart, autonomic nerve, sympathetic nerve, vagus nerve, nerve distribution, rhythm and atrial fibrillation as the key words. SELECTION CRITERIA: A total of 165 studies examining the distribution of cardiac autonomic nerve were screened, and 46 of them were eventually included. MAIN OUTCOME MEASURES: The distribution and characteristics of cardiac autonomic nerves were observed, and immunohistochemical staining was applied to determine the levels of tyrosine hydroxylase and acetylcholine transferase (main markers of cardiac autonomic nerve distribution). In addition, the correlation between cardiac autonomic nerve distribution and cardiac arrhythmia was investigated. RESULTS: Cardiac autonomic nerves were reported to exhibit a disordered distribution in different sites, mainly at the surface of the cardiac atrium and pulmonary vein, forming a ganglia plexus. The distribution of the pulmonary vein autonomic nerve was prominent at the proximal end rather than the distal end, at the upper left rather than the lower right, at the epicardial membrane rather than the endocardial membrane, at the left atrium rather than the right atrium, and at the posterior wall rather than the anterior wall. The main markers used for cardiac autonomic nerves were tyrosine hydroxylase and acetylcholine transferase. Protein gene product 9.5 was used to label the immunoreactive nerve distribution, and the distribution density of autonomic nerves was determined using a computer-aided morphometric analysis system. CONCLUSION: The uneven distribution of the cardiac autonomic nerves is the leading cause of the occurrence of arrhythmia, and the cardiac autonomic nerves play an important role in the occurrence, maintenance, and symptoms of arrhythmia.

Liu, Quan; Chen, Dongmei; Wang, Yonggang; Zhao, Xin; Zheng, Yang

2012-01-01

176

Inet: Internet Topology Generator  

Microsoft Academic Search

Network research often involves the evaluation of new application designs, system architectures, and protocol implementations. Due to the immense scale of the Internet, deploying an Internet-wide system for the purpose of experimental study is nearly impossible. Instead, researchers evaluate their designs using generated random network topologies. In this report, we present a topology generator that is based on Autonomous System

Cheng Jin; Qian Chen; Sugih Jamin

2000-01-01

177

Autonomous spacecraft maintenance study group  

NASA Technical Reports Server (NTRS)

A plan to incorporate autonomous spacecraft maintenance (ASM) capabilities into Air Force spacecraft by 1989 is outlined. It includes the successful operation of the spacecraft without ground operator intervention for extended periods of time. Mechanisms, along with a fault tolerant data processing system (including a nonvolatile backup memory) and an autonomous navigation capability, are needed to replace the routine servicing that is presently performed by the ground system. The state of the art fault handling capabilities of various spacecraft and computers are described, and a set conceptual design requirements needed to achieve ASM is established. Implementations for near term technology development needed for an ASM proof of concept demonstration by 1985, and a research agenda addressing long range academic research for an advanced ASM system for 1990s are established.

Marshall, M. H.; Low, G. D.

1981-01-01

178

Creating adaptive affective autonomous NPCs  

Microsoft Academic Search

The paper reports work to create believable autonomous Non Player Characters in Video games in general and educational role\\u000a play games in particular. It aims to increase their ability to respond appropriately to the player’s actions both cognitively\\u000a and emotionally by integrating two models: the cognitive appraisal-based FAtiMA architecture, and the drives-based PSI model.\\u000a We discuss the modelling of adaptive

Mei Yii Lim; João Dias; Ruth Aylett; Ana Paiva

179

Representation and purposeful autonomous agents  

Microsoft Academic Search

Abstract Although many researchers feel that an autonomous system, capable,of,behaving,appropriately,in an,uncertain environment, must have an internal representation (world model) of entities, events and situations it perceives in the world, research into active vision, inattentional amnesia (Rensink, 2000b; Wolfe, 1999) and change blindness (Rensink, 2000a; Hayhoe, 2003; Tatler, Gilchrist and Rusted, 2003) has implications for our views on the content of

Sharon Wood

2005-01-01

180

Utility Functions in Autonomic Systems  

Microsoft Academic Search

Abstract Utility functions provide a natural and advantageous framework,for achieving self-optimization in distributedautonomic,computing,systems. We present a distributed architecture, implemented in a realistic prototype data cent er, that demonstrates,how utility functions can enable a collec - tion of autonomic,elements to continually optimize the use of computational resources in a dynamic, heterogeneous environment. Broadly, the architecture is a two-level struct ure of

William E. Walsh; Gerald Tesauro; Jeffrey O. Kephart; Rajarshi Das

2004-01-01

181

Integrated Microsensors for Autonomous Microrobots  

SciTech Connect

This report describes the development of a miniature mobile microrobot device and several microsystems needed to create a miniature microsensor delivery platform. This work was funded under LDRD No.10785, entitled, ''Integrated Microsensors for Autonomous Microrobots''. The approach adopted in this project was to develop a mobile platform, to which would be attached wireless RF remote control and data acquisition in addition to various microsensors. A modular approach was used to produce a versatile microrobot platform and reduce power consumption and physical size.

ADKINS, DOUGLAS R.; BYRNE, RAYMOND H.; HELLER, EDWIN J.; WOLF, JIMMIE V.

2003-02-01

182

A Cognitive Model for Autonomous Agents Based on Bayesian Programming  

Microsoft Academic Search

\\u000a This paper presents a cognitive model for an autonomous agent based on emotional psychology and Bayesian programming. A robot\\u000a with emotional responses allows us to plan behaviour in a different way than present robotic architectures and provides us\\u000a with a method of generating a new interface for human\\/robot interaction. The use of emotional modules means that the emotional\\u000a state of

F. Aznar; M. Sempere; M. Pujol; R. Rizo

183

3-D laser radar simulation for autonomous spacecraft landing  

NASA Astrophysics Data System (ADS)

A sophisticated 3D laser radar sensor simulation, developed and applied to the task of autonomous hazard detection and avoidance, is presented. This simulation includes a backward ray trace to sensor subpixels, incoherent subpixel integration, range dependent noise, sensor point spread function effects, digitization noise, and AM-CW modulation. Specific sensor parameters, spacecraft lander trajectory, and terrain type have been selected to generate simulated sensor data.

Reiley, Michael F.; Carmer, Dwayne C.; Pont, W. F.

1991-08-01

184

Autonomic Computing: Panacea or Poppycock?  

NASA Technical Reports Server (NTRS)

Autonomic Computing arose out of a need for a means to cope with rapidly growing complexity of integrating, managing, and operating computer-based systems as well as a need to reduce the total cost of ownership of today's systems. Autonomic Computing (AC) as a discipline was proposed by IBM in 2001, with the vision to develop self-managing systems. As the name implies, the influence for the new paradigm is the human body's autonomic system, which regulates vital bodily functions such as the control of heart rate, the body's temperature and blood flow-all without conscious effort. The vision is to create selfivare through self-* properties. The initial set of properties, in terms of objectives, were self-configuring, self-healing, self-optimizing and self-protecting, along with attributes of self-awareness, self-monitoring and self-adjusting. This self-* list has grown: self-anticipating, self-critical, self-defining, self-destructing, self-diagnosis, self-governing, self-organized, self-reflecting, and self-simulation, for instance.

Sterritt, Roy; Hinchey, Mike

2005-01-01

185

Semi autonomous mine detection system  

SciTech Connect

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

Douglas Few; Roelof Versteeg; Herman Herman

2010-04-01

186

Integrated System for Autonomous Science  

NASA Technical Reports Server (NTRS)

The New Millennium Program Space Technology 6 Project Autonomous Sciencecraft software implements an integrated system for autonomous planning and execution of scientific, engineering, and spacecraft-coordination actions. A prior version of this software was reported in "The TechSat 21 Autonomous Sciencecraft Experiment" (NPO-30784), NASA Tech Briefs, Vol. 28, No. 3 (March 2004), page 33. This software is now in continuous use aboard the Earth Orbiter 1 (EO-1) spacecraft mission and is being adapted for use in the Mars Odyssey and Mars Exploration Rovers missions. This software enables EO-1 to detect and respond to such events of scientific interest as volcanic activity, flooding, and freezing and thawing of water. It uses classification algorithms to analyze imagery onboard to detect changes, including events of scientific interest. Detection of such events triggers acquisition of follow-up imagery. The mission-planning component of the software develops a response plan that accounts for visibility of targets and operational constraints. The plan is then executed under control by a task-execution component of the software that is capable of responding to anomalies.

Chien, Steve; Sherwood, Robert; Tran, Daniel; Cichy, Benjamin; Davies, Ashley; Castano, Rebecca; Rabideau, Gregg; Frye, Stuart; Trout, Bruce; Shulman, Seth; Doggett, Thomas; Ip, Felipe; Greeley, Ron; Baker, Victor; Dohn, James; Boyer, Darrell

2006-01-01

187

Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

Shrading, Nicholas J.

2012-01-01

188

Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

Schrading, J. Nicolas

2013-01-01

189

Mechanoreceptors and autonomic responses to movement in humans  

Microsoft Academic Search

Mechanoreceptor contribution to efferent autonomic outflow is incompletely understood. To determine the effects of mechanorceptor stimulation on autonomic reflexes, we compared autonomic responses in 34 subjects using a cross-over, counterbalanced design, in which hemodynamic, electromyographic, metabolic, and autonomic data were gathered during rest, passive, and active movement protocols. Because metaboreceptors and ventilatory responses influence autonomic outflow we verified and controlled

Ronald E. De Meersman; Adrienne S. Zion; Joseph P. Weir; James S. Lieberman; John A. Downey

1998-01-01

190

Autonomic Networking in Wireless Sensor Networks  

Microsoft Academic Search

In this chapter, we address autonomic networking in termsof wireless sensor networks (WSNs), a typical example of wirelessnetworks\\u000a in pervasive computing. In order to investigate the stateof the art of autonomic networking in sensor networks and its futureprospects,\\u000a we start with a short summary of autonomic networking andSensor networks. It follows the discussion of the appliance ofautonomic\\u000a networking in WSNs

Mengjie Yu; Hala Mokhtar; Madjid Merabti

191

The EO-1 Autonomous Science Agent Architecture  

NASA Technical Reports Server (NTRS)

An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent constraints of autonomy, reliability, and limited computing resources. We describe these constraints and how they are reflected in our agent architecture.

Chien, Steve; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Lee, Rachel; Mandl, Dan; Frye, Stuart; Trout, Bruce; Hengemihle, Jerry; D'Agostino, Jeff; Shulman, Seth; Ungar, Stephen; Brakke, Thomas; Boyer, Darrell; Van Gaasbeck, Jim; Greeley, Ronald; Doggett, Thomas; Baker, Victor; Dohm, James; Ip, Felipe

2004-01-01

192

Self-Optimization in Autonomic Systems  

Microsoft Academic Search

Autonomic computing is a research area that ex- tends to numerous different fields of science. We describe ho w autonomic computing can be used to overcome many problems the IT industry is facing today. Autonomic computing systems are, by definition, self-configuring, self-healing, self-o ptimizing and self-protecting. We show some examples of existing systems that have these self-* capabilities. We look

Marko Kankaanniemi

193

Information for Successful Interaction with Autonomous Systems  

NASA Technical Reports Server (NTRS)

Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

Malin, Jane T.; Johnson, Kathy A.

2003-01-01

194

General autonomic components of motion sickness  

NASA Technical Reports Server (NTRS)

This report refers to a body of investigations directed toward the examination of autonomic nervous system responses to motion sickness. Heart rate, respiration rate, finger pulse volume, and basal skin resistance were measured on 127 men and women before, during, and after exposure to a nauseogenic rotating chair test. Significant changes in all autonomic responses were observed across the tests (p less than .05). Significant differences in autonomic responses among groups divided according to motion sickness susceptibility were also observed (p less than .05). Results suggest that the examination of autonomic responses as an objective indicator of motion sickness malaise is warranted and may contribute to the overall understanding of the syndrome.

Cowings, Patricia S.; Suter, Steve; Toscano, William B.; Kamiya, Joe; Naifeh, Karen

1986-01-01

195

Autonomic Computing for Spacecraft Ground Systems  

NASA Technical Reports Server (NTRS)

Autonomic computing for spacecraft ground systems increases the system reliability and reduces the cost of spacecraft operations and software maintenance. In this paper, we present an autonomic computing solution for spacecraft ground systems at NASA Goddard Space Flight Center (GSFC), which consists of an open standard for a message oriented architecture referred to as the GMSEC architecture (Goddard Mission Services Evolution Center), and an autonomic computing tool, the Criteria Action Table (CAT). This solution has been used in many upgraded ground systems for NASA 's missions, and provides a framework for developing solutions with higher autonomic maturity.

Li, Zhenping; Savkli, Cetin; Jones, Lori

2007-01-01

196

1Centre for Autonomous Marine Operations and Systems -AMOSwww.ntnu.edu/amos Autonomous Marine Operations  

E-print Network

06.06.2013 1 1Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos Centre for Autonomous Marine Operations and Systems AMOS 2013-2022 Cost: NOK 566 million AMOS Funding: NOK 240 million Research Council 2Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos Greener

Nørvåg, Kjetil

197

Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array  

E-print Network

Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array Michael R), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array on autonomous control and communications with a single AUV fitted with a vector sensor array (Fig. 1) operating

Schmidt, Henrik

198

Autonomous brains and autonomous robots: The search for a working hypothesis  

E-print Network

Autonomous Brain: A Neural Theory of Attention and Learning" by P. M. Milner #3; J. Michael Herrmann MaxAutonomous brains and autonomous robots: The search for a working hypothesis Notes on "The, that the importance of the information processing aspect is not diminished by the emphasis on behavioral autonomy

Herrmann, Michael

199

Anti-coherence and coherence resonance induced by nonlinear time delay in autonomous stochastic system  

NASA Astrophysics Data System (ADS)

An autonomous stochastic system with nonlinear time-delayed feedback is investigated employing the stochastic simulation method. In the autonomous stochastic system with quadratic time-delayed feedback or under positive feedback, the nonlinear delay time fails to possess the role improving the noisy state of the system. In the autonomous stochastic system with cubic time-delayed feedback and under negative feedback, the nonlinear delay time can improve the noisy state, tuning the signal output, and generating incoherence and coherence maximization. We reveal a new kind of anti-coherence and coherence resonance phenomena induced by the nonlinear time delay in the autonomous stochastic system without external periodic force, discussing further the effects of the noise strength, the control parameter, and the feedback strength on anti-coherence and coherence resonance.

Zhu, Ping; Mei, Dong Cheng

2014-05-01

200

Autonomous Real Time Requirements Tracing  

NASA Technical Reports Server (NTRS)

One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders.

Plattsmier, George; Stetson, Howard

2014-01-01

201

Autonomous Real Time Requirements Tracing  

NASA Technical Reports Server (NTRS)

One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto-Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner- TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders

Plattsmier, George I.; Stetson, Howard K.

2014-01-01

202

Knowledge acquisition for autonomous systems  

NASA Technical Reports Server (NTRS)

Knowledge-based capabilities for autonomous aerospace systems, such as the NASA Space Station, must encompass conflict-resolution functions comparable to those of human operators, with all elements of the system working toward system goals in a concurrent, asynchronous-but-coordinated fashion. Knowledge extracted from a design database will support robotic systems by furnishing geometric, structural, and causal descriptions required for repair, disassembly, and assembly. The factual knowledge for these databases will be obtained from a master database through a technical management information system, and it will in many cases have to be augmented by domain-specific heuristic knowledge acquired from domain experts.

Lum, Henry; Heer, Ewald

1988-01-01

203

The TechSat 21 Autonomous Sciencecraft Experiment  

NASA Technical Reports Server (NTRS)

Software has been developed to perform a number of functions essential to autonomous operation in the Autonomous Sciencecraft Experiment (ASE), which is scheduled to be demonstrated aboard a constellation of three spacecraft, denoted TechSat 21, to be launched by the Air Force into orbit around the Earth in January 2006. A prior version of this software was reported in Software for an Autonomous Constellation of Satellites (NPO-30355), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 44. The software includes the following components: Algorithms to analyze image data, generate scientific data products, and detect conditions, features, and events of potential scientific interest; A program that uses component-based computational models of hardware to analyze anomalous situations and to generate novel command sequences, including (when possible) commands to repair components diagnosed as faulty; A robust-execution-management component that uses the Spacecraft Command Language (SCL) software to enable event-driven processing and low-level autonomy; and The Continuous Activity Scheduling, Planning, Execution, and Replanning (CASPER) program for replanning activities, including downlink sessions, on the basis of scientific observations performed during previous orbit cycles.

Sherwood, Robert; Knight, Russell; Rabideau, Gregg; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Stough, Timothy; Davies, Ashley

2004-01-01

204

A cloud-assisted design for autonomous driving  

E-print Network

This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous ...

Suresh Kumar, Swarun

205

Collaborative Remediation of Configuration Vulnerabilities in Autonomic Networks and Systems  

E-print Network

Collaborative Remediation of Configuration Vulnerabilities in Autonomic Networks and Systems Mart vulnerabilities in autonomic networks and systems. We put forward a mathematical formulation of vulnerability systems capable of managing themselves in an autonomous manner [17], [16]. Nevertheless, when self

Paris-Sud XI, Université de

206

AUTONOMOUS UNDERSEA SYSTEMS NETWORK (AUSNET) Development Status Update  

E-print Network

1 AUTONOMOUS UNDERSEA SYSTEMS NETWORK (AUSNET) Development Status Update Charles Benton and James Kenney Technology Systems, Inc. (TSI), Wiscassett, ME Steven G. Chappell and D.R. Blidberg Autonomous called AUSNET (Autonomous Undersea Systems Network). AUSNET addresses the requirements imposed

207

Sensitivity analysis of autonomous oscillations: application to biochemical systems  

E-print Network

Sensitivity analysis of autonomous oscillations: application to biochemical systems Brian P satisfactory descriptions, namely autonomously oscillating systems. Such system underly many of the periodic in [4] which address sensitivity of Fourier coefficients. Autonomously oscillating systems were treated

Ingalls, Brian

208

Autonomous onboard crew operations: A review and developmental approach  

NASA Technical Reports Server (NTRS)

A review of the literature generated by an intercenter mission approach and consolidation team and their contractors was performed to obtain background information on the development of autonomous operations concepts for future space shuttle and space platform missions. The Boeing 757/767 flight management system was examined to determine the relevance for transfer of the developmental approach and technology to the performance of the crew operations function. In specific, the engine indications and crew alerting system was studied to determine the relevance of this display for the performance of crew operations onboard the vehicle. It was concluded that the developmental approach and technology utilized in the aeronautics industry would be appropriate for development of an autonomous operations concept for the space platform.

Rogers, J. G.

1982-01-01

209

Autonomous and Adaptive Voltage Control using Multiple Distributed Energy Resources  

SciTech Connect

Voltage regulation using distributed energy resources (DE) or distributed generators (DG) with power electronics interfaces and logic control has drawn increasing interests. This paper addresses the challenges of controlling multiple DEs to regulate voltages in distribution systems using an autonomous and adaptive control approach. Theoretical analysis shows that there exists a corresponding formulation of the dynamic control parameters with multiple DEs. Hence, the proposed control method is theoretically solid. Simulation results confirm that this method is capable of satisfying the fast response requirement for operational use without causing oscillation or inefficiency. This method is autonomous based on local information and the other DEs input without the instructions from any control center, is widely adaptive to variable power system operational situations, and has a high tolerance to data shortage of systems parameter. Hence, it is suitable for broad utility application

Li, Huijuan [ORNL; Li, Fangxing [ORNL; Xu, Yan [ORNL; Rizy, D Tom [ORNL

2012-01-01

210

Lower cost offshore field development utilizing autonomous vehicles  

SciTech Connect

The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable or improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.

Frisbie, F.R.; Vie, K.J.; Welch, D.W.

1996-12-31

211

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations  

NASA Technical Reports Server (NTRS)

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

2006-01-01

212

Autonomous perturbations of LISA orbits  

NASA Astrophysics Data System (ADS)

We investigate autonomous perturbations on the orbits of LISA, namely the effects produced by gravitational fields that can be expressed only in terms of the position, but not of time in the Hill frame. This first step in the study of the LISA orbits has been the subject of recent papers which implement analytical techniques based on a 'post-epicyclic' approximation in the Hill frame to find optimal unperturbed orbits. The natural step forward is to analyze the perturbations to purely Keplerian orbits. In this work, a particular emphasis is put on the tidal field of the Earth assumed to be stationary in the Hill frame. Other relevant classes of autonomous perturbations are those given by the corrections to the solar field responsible for a slow precession and a global stationary field, associated with sources such as the interplanetary dust or a local dark matter component. The inclusion of simple linear contributions in the expansion of these fields produces secular solutions that can be compared with the measurements and possibly used to evaluate some morphological property of the perturbing components.

Pucacco, G.; Bassan, M.; Visco, M.

2010-12-01

213

Multi-agent autonomous system  

NASA Technical Reports Server (NTRS)

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

214

Thermoelectric-Driven Autonomous Sensors for a Biomass Power Plant  

NASA Astrophysics Data System (ADS)

This work presents the design and development of a thermoelectric generator intended to harness waste heat in a biomass power plant, and generate electric power to operate sensors and the required electronics for wireless communication. The first objective of the work is to design the optimum thermoelectric generator to harness heat from a hot surface, and generate electric power to operate a flowmeter and a wireless transmitter. The process is conducted by using a computational model, presented in previous papers, to determine the final design that meets the requirements of electric power consumption and number of transmissions per minute. Finally, the thermoelectric generator is simulated to evaluate its performance. The final device transmits information every 5 s. Moreover, it is completely autonomous and can be easily installed, since no electric wires are required.

Rodríguez, A.; Astrain, D.; Martínez, A.; Gubía, E.; Sorbet, F. J.

2013-07-01

215

A SUPERVISED AUTONOMOUS SECURITY RESPONSE ROBOT  

Microsoft Academic Search

Autonomous mobile robots typically require a preconceived and very detailed navigational model (map) of their intended operating environment, but most law enforcement and urban warfare response scenarios preclude the availability of such a priori information. ROBART III is an advanced demonstration platform for non-lethal robotic response measures, incorporating a supervised autonomous navigation system specifically configured to support minimally attended operation

Donny A. Ciccimaro; H. R. Everett; Michael H. Bruch; Clifton B. Phillips

1999-01-01

216

Autonomous Systems Lab Prof. Roland Siegwart  

E-print Network

of written work in its final form. #12;#12;Abstract At the Autonomous Systems Lab, various unmanned aerial vehicle (UAV) are being developed which are able to autonomously collect data such as videos and maps Strength Tracking . . . . . . . . . . . . . . . . . . . . . 9 2.4 Antenna design

Daraio, Chiara

217

Autonomous Self-assembly in Mobile Robotics  

Microsoft Academic Search

Abstract— In this paper, we present a comprehensive study on autonomous self-assembly. In particular, we discuss the selfassembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective an d selfreconfigurable robotics. A swarm-bot comprises autonomous

Michael Bonani; Francesco Mondada; Marco Dorigo

2005-01-01

218

A self-testing autonomic job scheduler  

Microsoft Academic Search

Although researchers have been exchanging ideas on the de- sign and development of autonomic systems, there has been little emphasis on validation. In an eort to stimulate inter- est in the area of testing these self-managing systems, some researchers have developed lightweight prototypical applica- tions to show the feasibility of dynamically validating run- time changes to autonomic systems. However, in

Alain E. Ramirez; Barbara Quinones-morales; Tariq M. King

2008-01-01

219

Autonomous Motivation, Controlled Motivation, and Goal Progress  

Microsoft Academic Search

Although the self-concordance of goals has been repeat- edly shown to predict better goal progress, recent research suggests potential problems with aggregating autonomous and controlled moti- vations to form a summary index of self-concordance ( Judge, Bono, Erez, & Locke, 2005). The purpose of the present investigation was to further examine the relations among autonomous motivation, controlled motivation, and goal

Richard Koestner; Nancy Otis; Theodore A. Powers; Luc Pelletier; Hugo Gagnon

2008-01-01

220

Autonomous Mobile Robot System for Long Distance  

E-print Network

Autonomous Mobile Robot System for Long Distance Outdoor Navigation in University Campus Shoichi:maeyama@roboken.is.tsukuba.ac.jp Keywords : Development of an autonomous mobile robot, Outdoor navigation and Execution monitor. Abstract We for outdoor navigation. Then, we report our mobile robot \\YAMABICO NAVI", which is integrated many functions

Ohya, Akihisa

221

Defining Autonomic Computing: A Software Engineering Perspective  

Microsoft Academic Search

As a rapidly growing field, autonomic computing is a promising new approach for developing large scale distributed systems. However, while the vision of achieving self-management in computing systems is well established, the field still lacks a commonly accepted definition of 'what' an autonomic computing system is. Without a common definition to dictate the direction of development, it is not possible

Paul Lin; Alexander Macarthur; John Leaney

2005-01-01

222

Autonomous Control of Space Reactor Systems  

SciTech Connect

Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

2007-11-30

223

Autonomous Helicopter Flight via Reinforcement Learning  

Microsoft Academic Search

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We then use the model to learn to hover in place, and to fly a number of maneuvers taken from an RC

Andrew Y. Ng; H. Jin Kim; Michael I. Jordan; Shankar Sastry

2003-01-01

224

Autonomous Computing Systems: A Proposed Roadmap  

Microsoft Academic Search

An autonomous computing system is a system that func- tions with a large degree of independence, and assumes a large amount of responsibility for its own resources and op- eration. As a counterpart to ongoing research in the software domain, this work proposes a forward-looking roadmap for systems that are able to autonomously modify their hard- ware, and considers what

Neil Steiner; Peter Athanas

2007-01-01

225

Smart Cars as Autonomous Intelligent Agents  

Microsoft Academic Search

This paper presents a study on the behavior of smart cars by considering them as autonomous intelligent agents. In particular, a smart car could behave as autonomous agent by extracting information from the surrounding environment (road, highway) and determining its position in it, detecting the motion and tracking the behavioral patterns of other moving objects (automobiles) in its own surrounding

Nikolaos G. Bourbakis; Michael Findler

2001-01-01

226

Autonomous buoyancy-driven underwater gliders  

Microsoft Academic Search

A class of small (50 kg, 2 m length), reusable autonomous underwater vehicles capable of operating at speeds of 20-30 cm\\/s with ranges several thousand kilometers and durations of months has been developed and tested. The vehicles, essentially autonomous profiling floats with wings, execute sawtooth patterns between the surface, where they are located and communicate to shore, and depths of

Russ E. Davis; Charles C. Eriksen; Clayton P. Jones

2002-01-01

227

A cognitive system for autonomous robotic welding  

Microsoft Academic Search

Currently, there is a high demand for autonomous industrial production systems. This paper outlines the development of a cognitive system for autonomous robotic welding. This system is based on dimensionality reduction techniques and Support Vector Machines, allowing the system to learn to separate between acceptable and unacceptable welding results within one batch, and to transfer this ability to a batch

Georg Schroth; Ingo Stork; Klaus Diepold

2009-01-01

228

Digital Libraries and Autonomous Citation Indexing  

Microsoft Academic Search

The World Wide Web is revolutionizing the way that researchers access scientific information. Articles are increasingly being made available on the homepages of authors or institutions, at journal Web sites, or in online archives. However, scientific information on the Web is largely disorganized. This article introduces the creation of digital libraries incorporating Autonomous Citation Indexing (ACI). ACI autonomously creates citation

Steve Lawrence; C. Lee Giles; Kurt D. Bollacker

1999-01-01

229

Lessons learned from autonomous sciencecraft experiment  

Microsoft Academic Search

An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in

Steve A. Chien; Rob Sherwood; Daniel Tran; Benjamin Cichy; Gregg Rabideau; Rebecca Castaño; Ashley Davies; Dan Mandl; Stuart Frye; Bruce Trout; Jeff D'Agostino; Seth Shulman; Darrell Boyer; Sandra C. Hayden; Adam Sweet; Scott Christa

2005-01-01

230

The Techsat-21 Autonomous Sciencecraft Constellation  

Microsoft Academic Search

The Autonomous Sciencecraft Constellation flight demonstration (ASC) will fly onboard the Air Force's TechSat-21 constellation (an unclassified mission scheduled for launch in 2004). ASC will use onboard science analysis, replanning, robust execution, model- based estimation and control, and formation flying to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight

Steve Chien; Rob Sherwood; Michael Burl; Russell Knight; Gregg Rabideau

2005-01-01

231

The autonomous sciencecraft embedded systems architecture  

Microsoft Academic Search

An Autonomous Science Agent has been flying onboard the Earth Observing One spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. This agent includes artificial intelligence software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is

Steve Chien; Rob Sherwood; Daniel Tran; Benjamin Cichy; Gregg Rabideau; Rebecca Castaño; Ashley Davies; Stuart Frye; Bruce Trout; Jeff D'Agostino; Seth Shulman; Dan Mandl; Darrell Boyer; Sandra Hayden; S. Sweet; Scott Christa

2005-01-01

232

Designs of Autonomous Unidirectional Walking DNA Devices  

E-print Network

, Oxford OX 1 3PU, UK. a.turberfield@physics.ox.ac.uk Abstract. Imagine a host of nanoscale DNA robots move basis to meet the above challenge. The missing link is a DNA walker that can autonomously move along of autonomous DNA walking devices in which a walker moves along a linear track unidirectionally. The track

Reif, John H.

233

Rover: Autonomous concepts for Mars exploration  

Microsoft Academic Search

The development of a mobile, autonomous vehicle that will be launched towards an unknown planet is considered. The rover significant constraints are: Ariane 5 compatibility, Earth\\/Mars transfer capability, 1000 km autonomous moving in Mars environment, on board localization, and maximum science capability. Two different types of subsystem were considered: classical subsystems (mechanical and mechanisms, thermal, telecommunications, power, onboard data processing)

A. Baiget; B. Castets; H. Chochon; M. Hayard; H. Lamarre; A. Lamothe

1993-01-01

234

Gastric emptying in diabetic autonomic neuropathy  

Microsoft Academic Search

Gastric emptying was studied in 12 diabetic patients, six with and six without objective evidence of autonomic neuropathy and in 20 non-diabetic controls, using a double isotope scinti-scanning technique which differentiated between solid and liquid emptying. Three patients with autonomic neuropathy exhibited gastric stasis, although this was detected by conventional radiology in only one. Neither the patients with stasis nor

I W Campbell; R C Heading; P Tothill; T A Buist; D J Ewing; B F Clarke

1977-01-01

235

Adaptive Trajectory Control for Autonomous Helicopters  

E-print Network

Adaptive Trajectory Control for Autonomous Helicopters Eric N. Johnson and Suresh K. Kannan School of Aerospace Engineering, 270 Ferst Drive, Georgia Institute of Technology, Atlanta, GA 30332-0150 For autonomous helicopter flight, it is common to separate the flight control problem into an inner loop

Johnson, Eric N.

236

Autonomous Deep-Space Optical Navigation Project.  

National Technical Information Service (NTIS)

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limit...

C. D'Souza

2014-01-01

237

DEMO: The autonomous sciencecraft experiment onboard the EO-1 spacecraft  

NASA Technical Reports Server (NTRS)

The Autonomous Sciencecraft Experiment (ASE), currently flying onboard the Earth Observing-1 (EO-1) spacecraft, integrates several autonomy software technologies enabling autonomous science analysis and mission planning.

Tran, Daniel; Chien, Steve; Sherwood, Rob; Castano, Rebecca; Cichy, Benjamin; Davies, Ashley; Rabideau, Gregg

2005-01-01

238

Autonomous power system intelligent diagnosis and control  

NASA Technical Reports Server (NTRS)

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

1991-01-01

239

Autonomic dysfunction in chronic inflammatory demyelinating polyradiculoneuropathy  

PubMed Central

Objectives: Autonomic deficits in chronic inflammatory demyelinating polyradiculoneuropathy (CIDP) have not been adequately quantitated. The Composite Autonomic Severity Score (CASS) is a validated instrument for laboratory quantitation of autonomic failure derived from standard autonomic reflex tests. We characterized dysautonomia in CIDP using CASS. Methods: Autonomic function was retrospectively analyzed in 47 patients meeting CIDP criteria. CASS ranges from 0 (normal) to 10 (pandysautonomia), reflecting summation of sudomotor (0–3), cardiovagal (0–3), and adrenergic (0–4) subscores. Severity of neurologic deficits was measured with Neuropathy Impairment Score (NIS). Degree of small fiber involvement was assessed with quantitative sensation testing. Thermoregulatory sweat test (TST) was available in 8 patients. Results: Patients (25 men) were middle-aged (45.0 ± 14.9 years) with longstanding CIDP (3.5 ± 4.3 years) of moderate severity (NIS, 46.5 ± 32.7). Autonomic symptoms were uncommon, mainly gastrointestinal (9/47; 19%) and genitourinary (8/47; 17%). Autonomic deficits (CASS ?1) were frequent (22/47; 47%) but very mild (CASS, 0.8 ± 0.9; CASS ?3, all cases). Deficits were predominantly sudomotor (16/47; 34%) and cardiovagal (10/47; 21%) with relative adrenergic sparing (4/47; 9%). TST was abnormal in 5 of 8 patients (anhidrosis range, 2%–59%). Sudomotor impairment was predominantly distal and postganglionic. Somatic deficits (disease duration, severity, small fiber deficits) did not predict presence of autonomic deficits. Conclusion: Our data characterize the autonomic involvement in classic CIDP as mild, cholinergic, and predominantly sudomotor mainly as a result of lesions at the distal postganglionic axon. Extensive or severe autonomic involvement (CASS ?4) in suspected CIDP should raise concern for an alternative diagnosis. PMID:22357716

Figueroa, J.J.; Dyck, P.J.B.; Laughlin, R.S.; Mercado, J.A.; Massie, R.; Sandroni, P.; Dyck, P.J.

2012-01-01

240

APDS: Autonomous Pathogen Detection System  

SciTech Connect

An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

2002-02-14

241

Testbed for an autonomous system  

NASA Technical Reports Server (NTRS)

In previous works we have defined a general architectural model for autonomous systems, which can easily be mapped to describe the functions of any automated system (SDAG-86-01), and we illustrated that model by applying it to the thermal management system of a space station (SDAG-87-01). In this note, we will further develop that application and design the detail of the implementation of such a model. First we present the environment of our application by describing the thermal management problem and an abstraction, which was called TESTBED, that includes a specific function for each module in the architecture, and the nature of the interfaces between each pair of blocks.

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok K.; Larsen, Ronald L.

1989-01-01

242

Autonomous power management and distribution  

NASA Technical Reports Server (NTRS)

The goal of the Autonomous Power System program is to develop and apply intelligent problem solving and control to the Space Station Freedom's electric power testbed being developed at NASA's Lewis Research Center. Objectives are to establish artificial intelligence technology paths, craft knowledge-based tools and products for power systems, and integrate knowledge-based and conventional controllers. This program represents a joint effort between the Space Station and Office of Aeronautics and Space Technology to develop and demonstrate space electric power automation technology capable of: (1) detection and classification of system operating status, (2) diagnosis of failure causes, and (3) cooperative problem solving for power scheduling and failure recovery. Program details, status, and plans will be presented.

Dolce, Jim; Kish, Jim

1990-01-01

243

Full autonomous microline trace robot  

NASA Astrophysics Data System (ADS)

Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

2000-10-01

244

Autonomous Spacecraft Navigation With Pulsars  

NASA Astrophysics Data System (ADS)

An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. We will describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

Becker, Werner

2014-08-01

245

Autonomous navigation system and method  

DOEpatents

A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

Bruemmer, David J. (Idaho Falls, ID) [Idaho Falls, ID; Few, Douglas A. (Idaho Falls, ID) [Idaho Falls, ID

2009-09-08

246

Autonomous Infrastructure for Observatory Operations  

NASA Astrophysics Data System (ADS)

This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

Seaman, R.

247

Autonomous caregiver following robotic wheelchair  

NASA Astrophysics Data System (ADS)

In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

2011-12-01

248

Three-dimensional vision sensors for autonomous robots  

NASA Astrophysics Data System (ADS)

A three dimensional measurement system, which is important for developing autonomous robots is described. Industrial robots used in today's plants are of the preprogrammed teaching playback type. It is necessary to develop autonomous robots which can work based on sensor information for intelligent manufacturing systems. Moreover, practical use of robots which work in unstructured environments such as outdoors and in space is expected. To realize this, a function to measure objects and the environment three-dimensionally is a key technology. Additional important requirements for robotic sensors are real-time processing and compactness. We have developed smart 3-D vision sensors for the purpose of realizing autonomous robots. These are two kinds of sensors with different functions corresponding to the application. One is a slitted light range finder ( SLRF ) to measure stationary objects. The other is a real-time tracking vision ( RTTV ) which can measure moving objects at high speed. SLRF uses multiple slitted lights which are generated by a semiconductor laser through an interference filter and a cylindrical lens. Furthermore, we developed a liquid crystal shutter with multiple electrodes. We devised a technique to make coded slitted light by putting this shutter in front of the light source. As a result, using the principle of triangulation, objects can be measured in three dimensions. In addition, high-speed image input was enabled by projecting multiple slitted light at the same time. We have confirmed the effectiveness of the SLRF applied to a hand-eye system using a robot.

Uchiyama, Takashi; Okabayashi, Keizyu; Wakitani, Jun

1993-09-01

249

Compact, autonomous, multi-mission synthetic aperture radar  

NASA Astrophysics Data System (ADS)

The utilization of unmanned aerial systems (UASs) for intelligence, surveillance and reconnaissance (ISR) applications continues to increase and unmanned systems have become a critical asset in current and future battlespaces. With the development of medium-to-low altitude, rapidly deployable aircraft platforms, the ISR community has seen an increasing push to develop ISR sensors and systems with real-time mission support capabilities. This paper describes the design and development of the RASAR (Real-time, Autonomous, Synthetic Aperture Radar) sensor system and presents demonstration flight test results. RASAR is a modular, multi-band (L and X) synthetic aperture radar (SAR) imaging sensor designed for self-contained, autonomous, real-time operation with mission flexibility to support a wide range of ISR needs within the size, weight and power constraints of Group III UASs. SAR waveforms are generated through direct digital synthesis enabling arbitrary waveform notching to enable operations in cluttered RF environments. RASAR is capable of simultaneous dual-channel receive to enable polarization based target discrimination. The sensor command and control and real-time image formation processing are designed to enable integration of RASAR into larger, multi-intelligence system of systems. The multi-intelligence architecture and a demonstration of real-time autonomous cross-cueing of a separate optical sensor will be presented.

Walls, Thomas J.; Wilson, Michael L.; Madsen, David; Knight, Chad; Jensen, Mark D.; Partridge, Darin C.; Addario, Mike

2013-05-01

250

An autonomous rendezvous and docking system using cruise missile technologies  

NASA Astrophysics Data System (ADS)

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

Jones, Ruel Edwin

251

Autonomous Control Capabilities for Space Reactor Power Systems  

SciTech Connect

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A. [Oak Ridge National Laboratory. P.O. Box 2008, Oak Ridge, TN 37831-6010 (United States)

2004-02-04

252

Autonomous Control Capabilities for Space Reactor Power Systems  

NASA Astrophysics Data System (ADS)

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

2004-02-01

253

An autonomous rendezvous and docking system using cruise missile technologies  

NASA Technical Reports Server (NTRS)

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

Jones, Ruel Edwin

1991-01-01

254

Management Approaches to Hypertension in Autonomic Failure  

PubMed Central

Purpose of Review Supine hypertension is a common finding in autonomic failure that can worsen orthostatic hypotension and predispose to end-organ damage. This review focuses on non-pharmacologic and pharmacologic approaches to manage hypertension in these patients, in the face of disabling orthostatic hypotension. Recent Findings The hypertension of autonomic failure can be driven by sympathetic dependent or independent mechanisms, depending on the site of autonomic lesions. Management of supine hypertension should include simple non-pharmacologic approaches including avoiding the supine position during the daytime and head-up tilt at night. Most patients, however, require pharmacologic treatment. Several antihypertensive therapies lower night-time pressure in autonomic failure, but none improve nocturnal volume depletion or morning orthostatic tolerance. Regardless, treatment may still be beneficial in some patients but must be determined on an individual basis, considering disease type and overnight monitoring. Further, doses must be carefully titrated as these patients are hypersensitive to depressor agents due to loss of baroreceptor reflexes. Summary Autonomic failure provides a unique opportunity to study blood pressure regulation independent of autonomic influences. Understanding mechanisms driving supine hypertension will have important implications for the treatment of autonomic failure and will improve our knowledge of cardiovascular regulation in other populations, including essential hypertension and elderly hypertensives with comorbid orthostatic hypotension. PMID:22801444

Arnold, Amy C.; Biaggioni, Italo

2013-01-01

255

Neurons generated from APP/APLP1/APLP2 triple knockout embryonic stem cells behave normally in vitro and in vivo: lack of evidence for a cell autonomous role of the amyloid precursor protein in neuronal differentiation.  

PubMed

Alzheimer's disease amyloid precursor protein (APP) has been implicated in many neurobiologic processes, but supporting evidence remains indirect. Studies are confounded by the existence of two partially redundant APP homologues, APLP1 and APLP2. APP/APLP1/APLP2 triple knockout (APP tKO) mice display cobblestone lissencephaly and are perinatally lethal. To circumvent this problem, we generated APP triple knockout embryonic stem (ES) cells and differentiated these to APP triple knockout neurons in vitro and in vivo. In comparison with wild-type (WT) ES cell-derived neurons, APP tKO neurons formed equally pure neuronal cultures, had unaltered in vitro migratory capacities, had a similar acquisition of polarity, and were capable of extending long neurites and forming active excitatory synapses. These data were confirmed in vivo in chimeric mice with APP tKO neurons expressing the enhanced green fluorescent protein (eGFP) present in a WT background brain. The results suggest that the loss of the APP family of proteins has no major effect on these critical neuronal processes and that the apparent multitude of functions in which APP has been implicated might be characterized by molecular redundancy. Our stem cell culture provides an excellent tool to circumvent the problem of lack of viability of APP/APLP triple knockout mice and will help to explore the function of this intriguing protein further in vitro and in vivo. PMID:20049903

Bergmans, Bruno A; Shariati, S Ali M; Habets, Ron L P; Verstreken, Patrik; Schoonjans, Luc; Müller, Ulrike; Dotti, Carlos G; De Strooper, Bart

2010-03-31

256

Flight Control System Development for the BURRO Autonomous UAV  

NASA Technical Reports Server (NTRS)

Developing autonomous flying vehicles has been a growing field in aeronautical research within the last decade and will continue into the next century. With concerns about safety, size, and cost of manned aircraft, several autonomous vehicle projects are currently being developed; uninhabited rotorcraft offer solutions to requirements for hover, vertical take-off and landing, as well as slung load transportation capabilities. The newness of the technology requires flight control engineers to question what design approaches, control law architectures, and performance criteria apply to control law development and handling quality evaluation. To help answer these questions, this paper documents the control law design process for Kaman Aerospace BURRO project. This paper will describe the approach taken to design control laws and develop math models which will be used to convert the manned K-MAX into the BURRO autonomous rotorcraft. With the ability of the K-MAX to lift its own weight (6000 lb) the load significantly affects the dynamics of the system; the paper addresses the additional design requirements for slung load autonomous flight. The approach taken in this design was to: 1) generate accurate math models of the K-MAX helicopter with and without slung loads, 2) select design specifications that would deliver good performance as well as satisfy mission criteria, and 3) develop and tune the control system architecture to meet the design specs and mission criteria. An accurate math model was desired for control system development. The Comprehensive Identification from Frequency Responses (CIFER(R)) software package was used to identify a linear math model for unloaded and loaded flight at hover, 50 kts, and 100 kts. The results of an eight degree-of-freedom CIFER(R)-identified linear model for the unloaded hover flight condition are presented herein, and the identification of the two-body slung-load configuration is in progress.

Colbourne, Jason D.; Frost, Chad R.; Tischler, Mark B.; Ciolani, Luigi; Sahai, Ranjana; Tomoshofski, Chris; LaMontagne, Troy; Rutkowski, Michael (Technical Monitor)

2000-01-01

257

The latest generation WhegsTM robot features a passive-compliant body joint  

Microsoft Academic Search

Current autonomous and semi-autonomous robotic platforms are limited to functioning in highly structured environments such as buildings and roads. Autonomous robots that could explore and navigate rugged terrain and highly unstructured environments such as collapsed buildings would have large dividends in civilian and military applications. In this work, we present the next generation of Whegstrade robots, DAGSI Whegstrade, which has

Alexander S. Boxerbaum; Julio Oro; Gilbert Peterson; Roger D. Quinn

2008-01-01

258

Autonomous observatories for the Antarctic plateau  

NASA Astrophysics Data System (ADS)

Antarctic astronomical site-testing has been conducted using autonomous self-powered observatories for more than a decade (the AASTO at South Pole, the AASTINO at Dome C, and PLATO at Dome A/Dome F). More recently autonomous (PLATO) observatories have been developed and deployed to support small-scale scientific instruments, such as HEAT, a 0.6 m aperture terahertz telescope at Ridge A, and AST3, a 0.5 m optical telescope array at Dome A. This paper reviews the evolution of autonomous Antarctic astronomical observatories, and discusses the requirements and implications for observatories that will be needed for future larger-scale facilities.

Lawrence, J. S.; Ashley, M. C. B.; Storey, J. W. V.

2013-01-01

259

The NASA/Army Autonomous Rotorcraft Project  

NASA Technical Reports Server (NTRS)

An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

2002-01-01

260

Development of Autonomous Aerobraking - Phase 2  

NASA Technical Reports Server (NTRS)

Phase 1 of the Development of Autonomous Aerobraking (AA) Assessment investigated the technical capability of transferring the processes of aerobraking maneuver (ABM) decision-making (currently performed on the ground by an extensive workforce and communicated to the spacecraft via the deep space network) to an efficient flight software algorithm onboard the spacecraft. This document describes Phase 2 of this study, which was a 12-month effort to improve and rigorously test the AA Development Software developed in Phase 1. Aerobraking maneuver; Autonomous Aerobraking; Autonomous Aerobraking Development Software; Deep Space Network; NASA Engineering and Safety Center

Murri, Daniel G.

2013-01-01

261

Autonomous underwater pipeline monitoring navigation system  

NASA Astrophysics Data System (ADS)

This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

2014-06-01

262

Autonomous Demand Response for Primary Frequency Regulation  

SciTech Connect

The research documented within this report examines the use of autonomous demand response to provide primary frequency response in an interconnected power grid. The work builds on previous studies in several key areas: it uses a large realistic model (i.e., the interconnection of the western United States and Canada); it establishes a set of metrics that can be used to assess the effectiveness of autonomous demand response; and it independently adjusts various parameters associated with using autonomous demand response to assess effectiveness and to examine possible threats or vulnerabilities associated with the technology.

Donnelly, Matt; Trudnowski, Daniel J.; Mattix, S.; Dagle, Jeffery E.

2012-02-28

263

Scalable autonomous operations of unmanned assets  

NASA Astrophysics Data System (ADS)

Although there have been great theoretical advances in the region of Unmanned Aerial Vehicle (UAV) autonomy, applications of those theories into real world are still hesitated due to unexpected disturbances. Most of UAVs which are currently used are mainly, strictly speaking, Remotely Piloted Vehicles (RPA) since most works related with the flight control, sensor data analysis, and decision makings are done by human operators. To increase the degree of autonomy, many researches are focused on developing Unmanned Autonomous Aerial Vehicle (UAAV) which can takeoff, fly to the interested area by avoiding unexpected obstacles, perform various missions with decision makings, come back to the base station, and land on by itself without any human operators. To improve the performance of UAVs, the accuracies of position and orientation sensors are enhanced by integrating a Unmanned Ground Vehicle (UGV) or a solar compass to a UAV; Position sensor accuracy of a GPS sensor on a UAV is improved by referencing the position of a UGV which is calculated by using three GPS sensors and Weighted Centroid Localization (WCL) method; Orientation sensor accuracy is improved as well by using Three Pixel Theorem (TPT) and integrating a solar compass which composed of nine light sensors to a magnetic compass. Also, improved health management of a UAV is fulfilled by developing a wireless autonomous charging station which uses four pairs of transmitter and receiver magnetic loops with four robotic arms. For the software aspect, I also analyze the error propagation of the proposed mission planning hierarchy to achieve the safest size of the buffer zone. In addition, among seven future research areas regarding UAV, this paper mainly focuses on developing algorithms of path planning, trajectory generation, and cooperative tactics for the operations of multiple UAVs using GA based multiple Traveling Salesman Problem (mTSP) which is solved by dividing into m number of Traveling Salesman Problems (TSP) using two region division methods such as Uniform Region Division (URD) and K-means Voronoi Region Division (KVRD). The topic of the maximum fuel efficiency is also dealt to ensure the minimum amount fuel consumption to perform surveillance on a given region using multiple UAVs. Last but not least, I present an application example of cattle roundup with two UAVs and two animals using the feedback linearization controller.

Jung, Sunghun

264

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control  

NASA Technical Reports Server (NTRS)

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

265

REM sleep behaviour disorder differentiates pure autonomic failure from multiple system atrophy with autonomic failure  

PubMed Central

Ten patients with primary autonomic failure, followed up in a prospective clinical and laboratory study, were finally diagnosed as pure autonomic failure or multiple system atrophy with autonomic failure. Polysomnographic studies were performed in all patients. Whereas all four patients with multiple system atrophy complained of sleep related episodes suggesting REM sleep behaviour disorder (RBD) confirmed by polysomnography, RBD remained absent in the remaining six patients with pure autonomic failure. The data indicate that RBD is an important clinical feature, often heralding multiple system atrophy, but which is absent throughout the course of pure autonomic failure; its recognition can thus be useful in the prognostic evaluation of early primary autonomic failure syndromes.?? PMID:9598693

Plazzi, G.; Cortelli, P.; Montagna, P.; De Monte, A.; Corsini, R.; Contin, M.; Provini, F.; Pierangeli, G.; Lugaresi, E.

1998-01-01

266

Adjustable Autonomy for Human-Centered Autonomous Systems on Mars  

E-print Network

Adjustable Autonomy for Human-Centered Autonomous Systems on Mars Gregory A. Dorais [gadorais expect a variety of autonomous systems, from rovers to life-support systems, to play a critical role such autonomous systems human-centered in contrast with traditional Ã?black-boxÃ? autonomous systems. Our goal

Kortenkamp, David

267

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?  

Microsoft Academic Search

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides

Roy Sterritt; Michael G. Hinchey

2004-01-01

268

Dynamical systems for the behavioral organization of autonomous robot navigation  

NASA Astrophysics Data System (ADS)

We present an architecture for the behavioral organization of autonomous robots. For the example of navigation, we describe how complex behavior can be broken up into multiple elementary behaviors. The overall behavior is generated by activating and deactivating the elementary behaviors dependent on both the sensor input and the intrinsic logics of the behavioral plan needed to fulfill the task. The elementary behaviors as well as their organization into behavioral sequences are achieved by appropriately designed nonlinear dynamical systems. We show how intrinsicly discrete functionalities like counting and decision making can be realized by nonlinear dynamical systems and how these dynamics can be coupled stably and flexibly.

Steinhage, Axel; Schoener, Gregor

1998-10-01

269

A flexible design framework for autonomous mowing  

E-print Network

This work outlines the creation of a flexible design framework for autonomous mowing to meet changing customer needs and functionality across a spectrum of applications from residential areas to sport complexes. The thesis ...

Kraft, Justin (Justin A.)

2011-01-01

270

Autonomous aerobatic maneuvering of miniature helicopters  

E-print Network

In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature ...

Gavrilets, Vladislav, 1975-

2003-01-01

271

6 Natural Resources Contested in Autonomous Councils  

E-print Network

efforts at decentralisa- tion of powers to Autonomous Councils, violence between different ethnic groups and the Council are the theme of section 6.5, while section 6.6 provides some explanations for the com- plex

Richner, Heinz

272

Design considerations for engineering Autonomous Underwater Vehicles  

E-print Network

Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and ...

Shah, Vikrant P. (Vikrant Pankaj)

2007-01-01

273

Advancing Autonomous Operations Technologies for NASA Missions  

NASA Technical Reports Server (NTRS)

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce operations cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing operations cost, ameliorating inefficiencies, and mitigating catastrophic anomalies.

Cruzen, Craig; Thompson, Jerry Todd

2013-01-01

274

Autonomous Flight in Unknown Indoor Environments  

E-print Network

This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are ...

Bachrach, Abraham Galton

275

Autonomously replicating sequences in Saccharomyces cerevisiae.  

PubMed Central

A method is presented for isolating DNA segments capable of autonomous replication from Saccharomyces cerevisiae chromosomal DNA based on the differential transforming ability of autonomously replicating plasmids and nonreplicating plasmids. DNA plasmids that are capable of self-replication in yeast transform yeast spheroplasts at about 1000-fold higher frequency than nonreplicating plasmids. We have cloned from total yeast DNA a number of DNA segments that permit the pBR322 plasmid carrying the yeast LEU2 gene to replicate autonomously. These plasmid clones are characterized by their ability to transform Leu- spheroplasts to Leu+ at a high frequency and their ability to replicate autonomously. Analysis of the insert DNAs carried in some of these self-replicating plasmids divides them into two categories: those that are unique in the yeast genome and those that are repetitive. Images PMID:7005897

Chan, C S; Tye, B K

1980-01-01

276

Local autonomic failure affecting a limb.  

PubMed Central

Three patients are described who presented with autonomic failure affecting predominantly one limb. Physiological studies revealed that there was sweating loss in the limb which appeared to be due to a preganglionic autonomic lesion and not to a sweat gland abnormality. In all three patients there was also evidence of failure of vasomotor control. There was no evidence of more generalised autonomic failure or neurological deficit. In two patients the condition appeared to be static and, according to the patients' accounts was life long. In the third the sweating loss was present for three years prior to pain loss becoming evident from C2/3 to T1 on the same side as the sweating loss. These patients, together with two recent case reports, indicate that isolated local autonomic failure, probably from a discrete cord lesion, can be a cause of presenting symptoms related to sweating loss or to change in temperature in a limb. PMID:3612155

Johnson, R H; Robinson, B J

1987-01-01

277

Advancing Autonomous Operations Technologies for NASA Missions  

NASA Technical Reports Server (NTRS)

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing cost, ameliorating inefficiencies, and mitigating catastrophic anomalies

Cruzen, Craig; Thompson, Jerry T.

2013-01-01

278

An introduction to autonomous control systems  

NASA Technical Reports Server (NTRS)

The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

Antsaklis, Panos J.; Passino, Kevin M.; Wang, S. J.

1991-01-01

279

Cooperative Autonomic Management in Dynamic Distributed Systems  

NASA Astrophysics Data System (ADS)

The centralized management of large distributed systems is often impractical, particularly when the both the topology and status of the system change dynamically. This paper proposes an approach to application-centric self-management in large distributed systems consisting of a collection of autonomic components that join and leave the system dynamically. Cooperative autonomic components self-organize into a dynamically created overlay network. Through local information sharing with neighbors, each component gains access to global information as needed for optimizing performance of applications. The approach has been validated and evaluated by developing a decentralized autonomic system consisting of multiple autonomic application managers previously developed for the In-VIGO grid-computing system. Using analytical results from complex random network and measurements done in a prototype system, we demonstrate the robustness, self-organization and adaptability of our approach, both theoretically and experimentally.

Xu, Jing; Zhao, Ming; Fortes, José A. B.

280

Acupuncture Effect and Central Autonomic Regulation  

PubMed Central

Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM). Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS) and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS) functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects. PMID:23762116

Li, Qian-Qian; Shi, Guang-Xia; Xu, Qian; Wang, Jing; Liu, Cun-Zhi; Wang, Lin-Peng

2013-01-01

281

Path planning methods for Autonomous Underwater Vehicles  

E-print Network

From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the ...

Yi?it, Konuralp

2011-01-01

282

Achieving Autonomous Power Management Using Reinforcement Learning  

E-print Network

Additional Key Words and Phrases: Power management, thermal management, machine learning, computer ACM24 Achieving Autonomous Power Management Using Reinforcement Learning HAO SHEN, Syracuse University University System level power management must consider the uncertainty and variability that come from

Qiu, Qinru

283

Human inspiration for autonomous vehicle tactics  

E-print Network

Tactical control is needed in environments characterized by uncertainty and continuous, dynamic change. Given the likelihood of time constraints and high risks associated with poor tactical choices, current autonomous ...

Beaton, Jonathan Scott

2006-01-01

284

Orexin links emotional stress to autonomic functions.  

PubMed

We studied autonomic functions in orexin-deficient mice and found abnormalities in the emotional state-dependent adjustment of the central autonomic regulation on circulation and respiration. These are summarized as follows. 1) Orexin-deficient mice exposed to a stressor exhibited an attenuated fight-or-flight response, including increases in respiration and blood pressure and stress-induced analgesia. 2) Stimulation to the amygdala (AMG) or the bed nucleus of the stria terminalis (BNST), both of which are implicated in the stress-induced autonomic responses, induced long-lasting cardiorespiratory excitation in wild-type mice but not in the orexin neuron-ablated mice. Hence, it is likely that the orexin system is one of the essential modulators required for orchestrating the neural circuits controlling autonomic functions and emotional behaviors. PMID:20813590

Kuwaki, Tomoyuki

2011-04-26

285

XAUV : modular high maneuverability autonomous underwater vehicle  

E-print Network

The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power ...

Walker, Daniel G. (Daniel George)

2009-01-01

286

Autonomous Distant Visual Surveillance of Satellites (PREPRINT).  

National Technical Information Service (NTIS)

This paper develops three new, interconnected techniques useful for the autonomous distant visual inspection of satellites. First, silhouetting of man made, erratically illuminated satellites is performed. Illumination cases include full sun from an arbit...

J. E. McInroy, L. M. Robertson, R. S. Erwin

2006-01-01

287

Autonomous thruster failure recovery for underactuated spacecraft  

E-print Network

Thruster failures historically account for a large percentage of failures that have occurred on orbit. Therefore, autonomous thruster failure detection, isolation, and recovery (FDIR) is an essential component to any robust ...

Pong, Christopher Masaru

2010-01-01

288

System Engineering of Autonomous Space Vehicles  

NASA Technical Reports Server (NTRS)

Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

2014-01-01

289

An integrated architecture for autonomous vehicles simulation  

Microsoft Academic Search

Modeling and simulation tools are being increasingly acclaimed in the research field of autonomous vehicles systems, as they provide suitable test beds for the development and evaluation of such complex systems. However, these tools still do not account for some integration capabilities amongst several state-of-the-art Intelligent Transportation Systems, e.g. to study autonomous driving behaviors in human-steered urban traffic scenarios, which

José L. F. Pereira; Rosaldo J. F. Rossetti

2012-01-01

290

Tele-robotic/autonomous control using controlshell  

SciTech Connect

A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.

Wilhelmsen, K.C.; Hurd, R.L.; Couture, S.

1996-12-10

291

AUTONOMOUS OPERATIONS THROUGH ONBOARD ARTIFICIAL INTELLIGENCE  

Microsoft Academic Search

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learn- ing and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of

Rob Sherwood; Steve Chien; Rebecca Castano; Gregg Rabideau

2006-01-01

292

The Techsat-21 autonomous space science agent  

Microsoft Academic Search

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat-21 constellation of three spacecraft scheduled for launch in 2004. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we

Steve A. Chien; Rob Sherwood; Gregg Rabideau; Rebecca Castano; Ashley Davies; Michael C. Burl; Russell Knight; Timothy M. Stough; Joseph Roden; Paul Zetocha; Ross Wainwright; Pete Klupar; Jim Van Gaasbeck; Pat Cappelaere; Dean Oswald

2002-01-01

293

Semantic Interpretation in Generative Grammar.  

ERIC Educational Resources Information Center

The author finds Katz and Postal's 1964 generative semantic theories concerning the organization of grammar incorrect and proposes an interpretive approach to semantics in which syntactic structures are given interpretations by an autonomous semantic component. The research reported leads the author to describe a generative grammar consisting of…

Jackendoff, Ray S.

294

Advancing Autonomous Operations for Deep Space Vehicles  

NASA Technical Reports Server (NTRS)

Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

Haddock, Angie T.; Stetson, Howard K.

2014-01-01

295

Autonomous control systems - Architecture and fundamental issues  

NASA Technical Reports Server (NTRS)

A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

1988-01-01

296

The role of autonomic testing in syncope.  

PubMed

Syncope is a common presenting complaint in both the inpatient and outpatient settings. The main goals in the clinical evaluation of syncope are to identify an underlying etiology, to stratify risk and to guide plans for therapeutic intervention. Testing begins with an initial electrocardiogram to screen for any cardiac rhythm abnormalities. Heart rate variability to paced breathing provides a standard measure of cardiac parasympathetic function and offers clues towards an autonomic cause of syncope. A Valsalva maneuver is used to evaluate for parasympathetic dysfunction through the Valsalva ratio. In addition, sympathetic adrenergic function is assessed through evaluation of blood pressure response during the Valsalva maneuver. Abnormalities to the Valsalva maneuver can suggest clues towards an autonomic cause of syncope. Head-up tilt table testing is an important part of the autonomic evaluation of patients with syncope, and can be diagnostic for many disorders that result in syncope including orthostatic hypotension, neurally mediated syncope, postural tachycardia syndrome or delayed orthostatic hypotension. Autonomic function testing provides a safe and controlled environment for evaluation of patients, and plays a pivotal role in the diagnosis of syncope, particularly in challenging cases. While the initial clinical evaluation of syncope involves a detailed history and physical examination; in situations where the diagnosis is unknown, the addition of autonomic testing is complementary and can lead to identification of autonomic causes of syncope. PMID:24948113

Jones, Pearl K; Gibbons, Christopher H

2014-09-01

297

Fast autonomous holographic adaptive optics  

NASA Astrophysics Data System (ADS)

We present an adaptive optics system incorporating a holographic wavefront sensor with the autonomous closed-loop control of a MEMS deformable mirror. HALOS incorporates a multiplexed holographic recording of the response functions of each actuator in a deformable mirror. On reconstruction with an arbitrary input beam, multiple focal spots are produced. By measuring the relative intensities of these spots a full measurement of the absolute phase can be constructed. Using fast photodiodes, direct feedback correction can be applied to the actuators.In this talk we will present the results from an all-optical, ultra-compact system that runs in closed-loop without the need for a computer. The 32-actuator HALOS runs at a 100kHz bandwidth, but the speed is independent of the number of actuators and should run equally fast with 32 million. Additionally, the system is largely insensitive to obscuration unlike the more conventional Shack-Hartmann WFS. We will present information on how HALOS can be used for image correction and beam propagation as well as several other novel applications.

Andersen, Geoff; Ghebremichael, Fassil; Gelsinger-Austin, Paul; MacDonald, Ken; Gaddipati, Ravi; Gaddipati, Phani

2013-12-01

298

Is acting on delusions autonomous?  

PubMed Central

In this paper the question of autonomy in delusional disorders is investigated using a phenomenological approach. I refer to the distinction between freedom of intentional action, and freedom of the will, and develop phenomenological descriptions of lived autonomy, taking into account the distinction between a pre-reflective and a reflective type. Drawing on a case report, I deliver finely-grained phenomenological descriptions of lived autonomy and experienced self-determination when acting on delusions. This analysis seeks to demonstrate that a person with delusions can be described as responsible for her behaviour on a ‘framed’ level (level of freedom of intentional action), even though she is not autonomous on a higher (‘framing’) level (level of freedom of the will), if, and only if, the goods of agency for herself and others are respected. In these cases the person with delusions is very nearly comparable to people in love, who are also not free to choose their convictions, and who could also be rightly held responsible for the behaviour flowing from their convictions. PMID:24125114

2013-01-01

299

Autonomous negotiation of freeway traffic  

NASA Astrophysics Data System (ADS)

This paper presents a new approach for autonomously negotiating freeway traffic. It is based on the concept of Velocity Obstacle (VO) which maps the set of vehicle's velocities that would result in a collision with the other moving vehicles. The Velocity Obstacle is computed by measuring the relative velocities and positions of the neighboring vehicles. The vehicle then negotiates through the moving traffic by selecting velocities that are out of that set, but are directed towards the intermediate goal, which may be an exit ramp or another lane. The computation of the VO and the feasible velocity is repeated at regular time intervals, to account for the time evolution of the freeway traffic. This representation can be used to automatically plan the vehicle's motion, or to advise the driver of potential unsafe maneuvers. For automatic planning, we developed heuristics that select the safe velocity based on the location of the goal and the acceptable risk level of the maneuvering vehicle. For advisory purposes, we developed a graphic representation of the VO which clearly shows the unsafe velocities to be avoided at all times. Attempting to drive at an unsafe velocity may sound an alarm and suggest a corrective maneuver. This representation is computationally efficient, and is applicable for on-line planning and warning. The method is demonstrated in simulations for planning the trajectory of an automated vehicle in an Intelligent vehicle Highway System (IVHS) scenario.

Shiller, Zvi; Fiorini, Paolo

1995-12-01

300

Approach for autonomous control of unmanned aerial vehicle using intelligent agents for knowledge creation  

Microsoft Academic Search

This paper describes the development of a planned approach for autonomous operation of an unmanned aerial vehicle (UAV). A hybrid approach seeks to provide knowledge generation through the application of artificial intelligence (AI) and intelligent agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration

2004-01-01

301

Carbon Footprint of Energy Consumption and Environmental Impact in Autonomous Regions of China  

Microsoft Academic Search

The research of the relationship between carbon footprint generated by energy consumption and environmental quality could provide scientific basis for the coordinated development of energy, environment and economy. This paper calculated the carbon footprint energy consumption in China's autonomous regions from the perspective of carbon cycle. Meanwhile, it adopts principal component method to make comprehensive evaluation of environmental quality in

Hua Honglian; Tong Yan; Pan Yujun; Zhang Qianduo

2012-01-01

302

DAYTIME WATER DETECTION AND LOCALIZATION FOR UNMANNED GROUND VEHICLE AUTONOMOUS NAVIGATION  

Microsoft Academic Search

Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting and localizing water bodies during the daytime using a stereo pair of color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of terrain reflections in stereo data. A ground

A. L. Rankin; L. H. Matthies

303

Autonomous and continuous adaptation of a bihormonal bionic pancreas in adults and adolescents  

E-print Network

Autonomous and continuous adaptation of a bihormonal bionic pancreas in adults and adolescents at different times in their lives. Objectives: To test the ability of a third-generation bihormonal bionic monitoring (CGM) technology with insulin pumps and a control algorithm to create a bionic endocrine pancreas

304

Facilitating Autonomic Management for Service Provisioning using Ontology-Based Functions & Semantic Control  

Microsoft Academic Search

Management of broadband convergence networks (BcN) and next generation services demands new organizational aspects also new descriptions of operations and management functions for supporting communications systems. The new organizational aspects are being engendered and supported simultaneously by the emerging information technologies and communications (ITC). This paper presents research challenges for facilitating autonomic management, defining aspects in the organizational view of

J. M. Serrano; J. Serrat; J. Strassner; M. O Foghlu

2008-01-01

305

A Double-Blind Atropine Trial for Active Learning of Autonomic Function  

ERIC Educational Resources Information Center

Here, we describe a human physiology laboratory class measuring changes in autonomic function over time in response to atropine. Students use themselves as subjects, generating ownership and self-interest in the learning as well as directly experiencing the active link between physiology and pharmacology in people. The class is designed to…

Fry, Jeffrey R.; Burr, Steven A.

2011-01-01

306

A methodology for optimal sizing of autonomous hybrid PV/wind system  

E-print Network

system reliability requirements, with the lowest value of levelised cost of energy. Modelling a hybrid PV is obtained for a system comprising a 125 W photovoltaic modules, one wind generator (600 W) and storageA methodology for optimal sizing of autonomous hybrid PV/wind system S. Diaf 1* , D. Diaf2 , M

Boyer, Edmond

307

Assessment and evaluation of hereditary sensory and autonomic neuropathies with autonomic and neurophysiological examinations  

Microsoft Academic Search

The five different types of the rare hereditary sensory and autonomic neuropathies (HSAN) are classified by their mode of inheritance, pathology, natural history, biochemical, neurophysiologic and autonomic abnormalities. Clinically, the different types of HSANs can be identified by a detailed history and examination and 'bedside' tests of sympathetic or parasympathetic function such as active standing, metronomic breathing or the Valsalva

Max J. Hilz

2002-01-01

308

Low altitude threat evasive trajectory generation for autonomous aerial vehicles  

E-print Network

In recent years, high altitude unmanned aerial vehicles have been used to great success in combat operations, providing both reconnaissance as well as weapon launch platforms for time critical targets. Interest is now ...

Pettit, Ryan L. (Ryan Louis), 1978-

2004-01-01

309

Implementing autonomous crowds in a computer generated feature film  

E-print Network

designated lead wildebeests as their goals. The animators com- bined different gallops, head tosses and leaps to produce a varied look. The industry standard for agent based software packages is MassiveTM, which was written specifically for the ?Lord... designated lead wildebeests as their goals. The animators com- bined different gallops, head tosses and leaps to produce a varied look. The industry standard for agent based software packages is MassiveTM, which was written specifically for the ?Lord...

Patterson, John Andre

2006-04-12

310

Autonomous Soaring Using Reinforcement Learning for Trajectory Generation  

E-print Network

endurance to solar-powered4 Payload/performance flexibility 3 Image: Glider Flying Handbook, Chapter 10 Dunn, JohnValasek January 15, 2014 #12;Outline � Introduction � Control policy � Aircraft modeling) � Most flight test implementations detect or estimate thermal locations by measuring aircraft energy

Valasek, John

311

Autonomous Rovers for Mars Exploration  

NASA Technical Reports Server (NTRS)

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin; Bresina, John; Golden, Keith; Smith, David E.; Smith, Trey; Washington, Richard; Koga, Dennis (Technical Monitor)

1999-01-01

312

Compact Autonomous Hemispheric Vision System  

NASA Technical Reports Server (NTRS)

Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

2012-01-01

313

Autonomous planetary rover at Carnegie Mellon  

NASA Technical Reports Server (NTRS)

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Whittaker, William; Kanade, Takeo; Mitchell, Tom

1990-01-01

314

Autonomous Rovers for Human Exploration of Mars  

NASA Technical Reports Server (NTRS)

Autonomous rovers are a critical element for the success of human exploration of Mars. The robotic tasks required for human presence on Mars are beyond the ability of current rovers; these tasks include emplacement and maintenance of a habitat, fuel production facility, and power generator, landing-site scouting, and mining. These tasks are required before and also during human presence; the ability of rovers to offload work from the human explorers will enable the humans to accomplish their mission. The capacity for these tasks will be realized by significant advancement toward full rover autonomy and, in particular, by overcoming current rover mission limitations in the areas of robust operation, resource utilization, and failure recovery. The Pathfinder mission demonstrated the potential for robotic Mars exploration, but at the same time indicated clearly the need for more rover autonomy. The highly interactive, ground-intensive control with significant downtime limited the effectiveness of the Sojourner rover. Advances in rover offer increased rover productivity without risk to rover safety. We are developing an integrated on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. This work draws from our experience with the architecture for the Deep Space One autonomy experiment, with enhancements in the area of ensuring robust operation in the face of unpredictable, complex environments, such as what a rover encounters on Mars. Our ultimate goal is to provide a complete agent architecture for rover autonomy. The complete architecture will include long-range mission and path planning, self-diagnosis and fault recovery, and continual monitoring and adjustment of execution resources. The architecture will enable robust operation over long ranges of time and distance, performing complex tasks in a planned and opportunistic manner, and serving as an intelligent, capable tool for human explorers.

Bresina, John; Dorais, Gregory; Golden, Keith; Washington, Richard; Lau, Sonie (Technical Monitor)

1998-01-01

315

Induction of electromotive force by an autonomously moving magnetic bot.  

PubMed

We report the observation of the induction of electromotive force (emf) into a Faraday coil by an autonomously moving composite magnetic particle in aqueous medium. The particle consisted of a micron-sized polymer sphere, which was decorated with catalytic Pd nanoparticles (NPs) and attached to a micron-scale (N-42 grade) rare-earth magnet. The Pd NPs catalytically decomposed H2 O2 to generate O2 , resulting in buoyancy-driven vertical motion of the particle, while the micromagnet induced emf during the flight. Because a small volume of ethanol was layered on top of the liquid, the bubble burst when the particle ascended to the top and thus nearly continuous vertical motion was achieved. Spikes of alternating electrical signal could be observed up to 20?times per minute. The signal was sufficiently strong to illuminate light-emitting diodes following appropriate amplification. This distinctive approach is expected to pave the way to developing synthetic bots which are autonomously propelled, generating their own signal for running complex circuitry. PMID:24492970

Sailapu, Sunil Kumar; Chattopadhyay, Arun

2014-02-01

316

System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy  

NASA Technical Reports Server (NTRS)

We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

Mukkamala, R.; Mathias, J. M.; Mullen, T. J.; Cohen, R. J.; Freeman, R.

1999-01-01

317

Autonomic dysfunction in muscular dystrophy: a theoretical framework for muscle reflex involvement  

PubMed Central

Muscular dystrophies are a heterogeneous group of genetically inherited disorders whose most prominent clinical feature is progressive degeneration of skeletal muscle. In several forms of the disease, the function of cardiac muscle is likewise affected. The primary defect in this group of diseases is caused by mutations in myocyte proteins important to cellular structure and/or performance. That being stated, a growing body of evidence suggests that the development of autonomic dysfunction may secondarily contribute to the generation of skeletal and cardio-myopathy in muscular dystrophy. Indeed, abnormalities in the regulation of both sympathetic and parasympathetic nerve activity have been reported in a number of muscular dystrophy variants. However, the mechanisms mediating this autonomic dysfunction remain relatively unknown. An autonomic reflex originating in skeletal muscle, the exercise pressor reflex, is known to contribute significantly to the control of sympathetic and parasympathetic activity when stimulated. Given the skeletal myopathy that develops with muscular dystrophy, it is logical to suggest that the function of this reflex might also be abnormal with the pathogenesis of disease. As such, it may contribute to or exacerbate the autonomic dysfunction that manifests. This possibility along with a basic description of exercise pressor reflex function in health and disease are reviewed. A better understanding of the mechanisms that possibly underlie autonomic dysfunction in muscular dystrophy may not only facilitate further research but could also lead to the identification of new therapeutic targets for the treatment of muscular dystrophy. PMID:24600397

Smith, Scott A.; Downey, Ryan M.; Williamson, Jon W.; Mizuno, Masaki

2014-01-01

318

An effective trace-guided wavefront navigation and map-building approach for autonomous mobile robots  

NASA Astrophysics Data System (ADS)

This paper aims to address a trace-guided real-time navigation and map building approach of an autonomous mobile robot. Wave-front based global path planner is developed to generate a global trajectory for an autonomous mobile robot. Modified Vector Field Histogram (M-VFH) is employed based on the LIDAR sensor information to guide the robot locally to be autonomously traversed with obstacle avoidance by following traces provided by the global path planner. A local map composed of square grids is created through the local navigator while the robot traverses with limited LIDAR sensory information. From the measured sensory information, a map of the robot's immediate limited surroundings is dynamically built for the robot navigation. The real-time wave-front based navigation and map building methodology has been successfully demonstrated in a Player/Stage simulation environment. With the wave-front-based global path planner and M-VFH local navigator, a safe, short, and reasonable trajectory is successfully planned in a majority of situations without any templates, without explicitly optimizing any global cost functions, and without any learning procedures. Its effectiveness, feasibility, efficiency and simplicity of the proposed real-time navigation and map building of an autonomous mobile robot have been successfully validated by simulation and comparison studies. Comparison studies of the proposed approach with the other path planning approaches demonstrate that the proposed method is capable of planning more reasonable and shorter collision-free trajectories autonomously.

Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Jan, Gene Eu

2013-12-01

319

Advanced avionics concepts: Autonomous spacecraft control  

NASA Technical Reports Server (NTRS)

A large increase in space operations activities is expected because of Space Station Freedom (SSF) and long range Lunar base missions and Mars exploration. Space operations will also increase as a result of space commercialization (especially the increase in satellite networks). It is anticipated that the level of satellite servicing operations will grow tenfold from the current level within the next 20 years. This growth can be sustained only if the cost effectiveness of space operations is improved. Cost effectiveness is operational efficiency with proper effectiveness. A concept is presented of advanced avionics, autonomous spacecraft control, that will enable the desired growth, as well as maintain the cost effectiveness (operational efficiency) in satellite servicing operations. The concept of advanced avionics that allows autonomous spacecraft control is described along with a brief description of each component. Some of the benefits of autonomous operations are also described. A technology utilization breakdown is provided in terms of applications.

1990-01-01

320

An Expert System for Autonomous Spacecraft Control  

NASA Technical Reports Server (NTRS)

The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.

Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

2005-01-01

321

Self-healing for Autonomic Pervasive Computing  

NASA Astrophysics Data System (ADS)

To ensure smooth functioning of numerous handheld devices anywhere anytime, the importance of a self-healing mechanism cannot be overlooked. This is one of the main challenges to growing autonomic pervasive computing. Incorporation of efficient fault detection and recovery in the device itself is the ultimate quest but there is no existing selfhealing scheme for devices running in autonomic pervasive computing environments that can be claimed as the ultimate solution. Moreover, the highest degree of transparency, security and privacy should also be maintained. In this book chapter, an approach to develop a self-healing service for autonomic pervasive computing is presented. The self-healing service has been developed and integrated into the middleware named MARKS+ (Middleware Adaptability for Resource discovery, Knowledge usability, and Self-healing). The self-healing approach has been evaluated on a test bed of PDAs. An application has been developed by using the service. The evaluation results are also presented in this book chapter.

Ahmed, Shameem; Ahamed, Sheikh I.; Sharmin, Moushumi; Hasan, Chowdhury S.

322

An Autonomous Reference Frame for Relativistic GNSS  

E-print Network

Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by giving to the constellation of satellites the possibility of constituting by itself a primary and autonomous positioning system, without any a priori realization of a terrestrial reference frame. Our work shows that it is possible to construct such a system, an Autonomous Basis of Coordinates, via emission coordinates. Here we present the idea of the Autonomous Basis of Coordinates and its implementation in the perturbed space-time of Earth, where the motion of satellites, light propagation, and gravitational perturbations are treated in the formalism of general relativity.

Uroš Kosti?; Martin Horvat; Sante Carloni; Pacôme Delva; Andreja Gomboc

2014-01-19

323

An Autonomous Reference Frame for Relativistic GNSS  

E-print Network

Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by giving to the constellation of satellites the possibility of constituting by itself a primary and autonomous positioning system, without any a priori realization of a terrestrial reference frame. Our work shows that it is possible to construct such a system, an Autonomous Basis of Coordinates, via emission coordinates. Here we present the idea of the Autonomous Basis of Coordinates and its implementation in the perturbed space-time of Earth, where the motion of satellites, light propagation, and gravitational perturbations are treated in the formalism of general relativity.

Kosti?, Uroš; Carloni, Sante; Delva, Pacôme; Gomboc, Andreja

2014-01-01

324

Functional organization of autonomic neural pathways  

PubMed Central

There is now abundant functional and anatomical evidence that autonomic motor pathways represent a highly organized output of the central nervous system. Simplistic notions of antagonistic all-or-none activation of sympathetic or parasympathetic pathways are clearly wrong. Sympathetic or parasympathetic pathways to specific target tissues generally can be activated tonically or phasically, depending on current physiological requirements. For example, at rest, many sympathetic pathways are tonically active, such as those limiting blood flow to the skin, inhibiting gastrointestinal tract motility and secretion, or allowing continence in the urinary bladder. Phasic parasympathetic activity can be seen in lacrimation, salivation or urination. Activity in autonomic motor pathways can be modulated by diverse sensory inputs, including the visual, auditory and vestibular systems, in addition to various functional populations of visceral afferents. Identifying the central pathways responsible for coordinated autonomic activity has made considerable progress, but much more needs to be done. PMID:23872517

Gibbins, Ian

2013-01-01

325

Autonomous Multi-sensor Coordination: The Science Goal Monitor  

NASA Technical Reports Server (NTRS)

Next-generation science and exploration systems will employ new observation strategies that will use multiple sensors in a dynamic environment to provide high quality monitoring, self-consistent analyses and informed decision making. The Science Goal Monitor (SGM) is a prototype software tool being developed to explore the nature of automation necessary to enable dynamic observing of earth phenomenon. The tools being developed in SGM improve our ability to autonomously monitor multiple independent sensors and coordinate reactions to better observe the dynamic phenomena. The SGM system enables users to specify events of interest and how to react when an event is detected. The system monitors streams of data to identify occurrences of the key events previously specified by the scientist/user. When an event occurs, the system autonomously coordinates the execution of the users desired reactions between different sensors. The information can be used to rapidly respond to a variety of fast temporal events. Investigators will no longer have to rely on after-the-fact data analysis to determine what happened. Our paper describes a series of prototype demonstrations that we have developed using SGM and NASA's Earth Observing-1 (EO-1) satellite and Earth Observing Systems Aqua/Terra spacecrafts MODIS instrument. Our demonstrations show the promise of coordinating data from different sources, analyzing the data for a relevant event, autonomously updating and rapidly obtaining a follow-on relevant image. SGM is being used to investigate forest fires, floods and volcanic eruptions. We are now identifying new earth science scenarios that will have more complex SGM reasoning. By developing and testing a prototype in an operational environment, we are also establishing and gathering metrics to gauge the success of automating science campaigns.

Koratkar, Anuradha; Jung, John; Geiger, Jenny; Grosvenor, Sandy

2004-01-01

326

Magnetocardiographic QT dispersion during cardiovascular autonomic function tests.  

PubMed

QT dispersion is considered to reflect nonhomogeneity of ventricular repolarization. The autonomic nervous system modulates QT interval duration, but the effect may not be spatially homogenous. Magnetocardiography (MCG) registers the weak magnetic fields generated by myocardial electric currents with high localizing accuracy. We studied the effects of rapid cardiovascular autonomic nervous adjustment on QT dispersion in MCG. Ten healthy male volunteers were monitored during deep breathing, the Valsalva maneuver, sustained handgrip, hyperventilation, the cold pressor test and mental stress. 67 MCG channels and 12 ECG leads were recorded simultaneously. A computer algorithm was used for QT interval measurements. QT dispersion was defined as maximum - minimum or standard deviation of the QTpeak and QTend intervals. In MCG the QT(end) dispersion increased during deep inspiration compared with deep expiration (96+/-19 ms v. 73+/-27 ms, p = 0.05). Magnetic QT dispersion tended to increase during the bradycardia phase of the Valsalva maneuver, but the change was obvious only for QT(end) (55+/-26 ms v. 76+/-29 ms, p<0.05). Other tests had no significant effect on QT dispersion, not even the cold pressor test, although it causes strong sympathetic activation. Magnetic and electric QT(peak) and QT(end) intervals correlated closely (r = 0.93 and 0.91), whereas the QT dispersion measures showed no correlation. In conclusion, magnetic QT dispersion is not modified by rapid changes in autonomic tone, but maneuvers involving deep respiratory efforts and changes in ventricular loading affect QT dispersion measurements. PMID:11099171

Haapalahti, P; Mäkijärvi, M; Korhonen, P; Takala, P; Montonen, J; Salorinne, Y; Oikarinen, L; Viitasalo, M; Toivonen, L

2000-10-01

327

Spatial Mapping System For Autonomous Underwater Vehicles  

NASA Astrophysics Data System (ADS)

As part of the Multiple Autonomous Underwater Vehicle (MAUV) project at the National Bureau of Standards, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multi-resolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. This paper describes the struc-ture of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar.

Oskard, David N.; Hong, Tsai-Hong; Shaffer, Clifford A.

1989-01-01

328

Autonomous Landing and Hazard Avoidance Technology (ALHAT)  

NASA Technical Reports Server (NTRS)

This viewgraph presentation reviews the work towards technology that will result in an autonomous landing on the lunar surface, that will avoid the hazards of lunar landing. In October 2005, the Exploration Systems Mission Directorate at NASA Headquarters assigned the development of new technologies to support the return to the moon. One of these was Autonomous Precision Landing and Hazard Detection and Avoidance Technology now known as ALHAT ALHAT is a lunar descent and landing GNC technology development project led by Johnson Space Center (JSC) with team members from Langley Research Center (LaRC), Jet Propulsion Laboratory (JPL), Draper Laboratories (CSDL) and the Applied Physics Laboratory (APL)

Epp, Chirold

2007-01-01

329

Lessons Learned from Autonomous Sciencecraft Experiment  

NASA Technical Reports Server (NTRS)

An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in routine use to fly the EO-l mission. In this paper we briefly review the agent architecture and discuss lessons learned from this multi-year flight effort pertinent to deployment of software agents to critical applications.

Chien, Steve A.; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Mandl, Dan; Frye, Stuart; Trout, Bruce; D'Agostino, Jeff; Shulman, Seth; Boyer, Darrell; Hayden, Sandra; Sweet, Adam; Christa, Scott

2005-01-01

330

NEURON: Enabling Autonomicity in Wireless Sensor Networks  

PubMed Central

Future Wireless Sensor Networks (WSNs) will be ubiquitous, large-scale networks interconnected with the existing IP infrastructure. Autonomic functionalities have to be designed in order to reduce the complexity of their operation and management, and support the dissemination of knowledge within a WSN. In this paper a novel protocol for energy efficient deployment, clustering and routing in WSNs is proposed that focuses on the incorporation of autonomic functionalities in the existing approaches. The design of the protocol facilitates the design of innovative applications and services that are based on overlay topologies created through cooperation among the sensor nodes. PMID:22399931

Zafeiropoulos, Anastasios; Gouvas, Panagiotis; Liakopoulos, Athanassios; Mentzas, Gregoris; Mitrou, Nikolas

2010-01-01

331

Service Oriented Approach for Autonomous Exception Management in Supply Chains  

E-print Network

Service Oriented Approach for Autonomous Exception Management in Supply Chains Armando Business Process to support Autonomous Exception Management in Supply chains. Keywords: Supply Chain and consequently this triggers a rescheduling task. Current Supply Chain Management Systems lack of systematic

Paris-Sud XI, Université de

332

Sensor modeling for the virtual autonomous navigation environment  

E-print Network

The Virtual Autonomous Navigation Environment (VANE) is a high fidelity, physics-based simulation process that produces realistic simulated sensor output for use in the development and testing of Autonomous Mobility Systems ...

Liu, Linda Y.

333

Interception algorithm for autonomous vehicles with imperfect information  

E-print Network

Autonomous vehicles often operate in environments with imperfect information. This thesis addresses the case of a system of autonomous vehicles and sensors attempting to intercept a moving object of interest that arrives ...

Hickman, Randal E

2005-01-01

334

Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics  

E-print Network

Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics Francesco Amigoni and Viola Schiaffonati Artificial Intelligence and Robotics Laboratory, Dipartimento di Elettronica e to characterize analytically, as it is often the case in autonomous mobile robotics. Although their importance

Amigoni, Francesco

335

Sympathetic skin responses and autonomic dysfunction in spinal cord injury.  

PubMed

Abstract Sympathetic skin responses (SSRs), a measure of sympathetic cholinergic sudomotor function, have been used in the assessment of autonomic dysfunction in patients with spinal cord injury (SCI). This review highlights the basic mechanisms underlying SSRs as well as their application to the SCI population. We address the utility of SSRs in assessing autonomic function, the relationship between autonomic and sensorimotor impairment, and the association between SSRs and the sequelae of autonomic dysfunction in SCI, particularly autonomic dysreflexia and orthostatic hypotension. Overall, SSRs are a rapid, convenient and non-invasive method illustrating that the severity of autonomic impairment can be independent from sensorimotor impairment. We suggest that SSRs be used in conjunction with other validated autonomic tests in order to predict or document autonomic dysfunction in SCI. PMID:24874269

Berger, Michael J; Hubli, Michèle; Krassioukov, Andrei V

2014-09-15

336

Robust distributed planning strategies for autonomous multi-agent teams  

E-print Network

The increased use of autonomous robotic agents, such as unmanned aerial vehicles (UAVs) and ground rovers, for complex missions has motivated the development of autonomous task allocation and planning methods that ensure ...

Ponda, Sameera S

2012-01-01

337

Advances in autonomous systems for space exploration missions  

NASA Technical Reports Server (NTRS)

This paper focuses on new and innovative software for remote, autonomous, space systems flight operation, including distributed autonomous systems, flight test results, and implications and directions for future systems.

Smith, B. D.; Gross, A. R.; Clancy, D. J.; Cannon, H. N.; Barrett, A.; Mjolssness, E.; Muscettola, N.; Chien, S.; Johnson, A.

2001-01-01

338

Implementation of GPS based trajectory control of an autonomous sailboat  

E-print Network

Autonomous robotic systems are increasingly becoming a major component of modern society. In order to gain a better understanding of the capabilities of these autonomous systems, experimentation was conducted using a ...

Wirekoh, Jackson O

2013-01-01

339

Multiserver queueing in supervisory control of autonomous unmanned vehicles  

E-print Network

Multiserver queueing in supervisory control of autonomous unmanned vehicles Nathan D. Powel control of autonomous unmanned vehicles Nathan D. Powel Chair of the Supervisory Committee: Associate Professor Kristi Morgansen Aeronautics & Astronautics Widespread adoption of unmanned aerial vehicles has

Morgansen, Kristi

340

Why Computer-Based Systems Should be Autonomic  

NASA Technical Reports Server (NTRS)

The objective of this paper is to discuss why computer-based systems should be autonomic, where autonomicity implies self-managing, often conceptualized in terms of being self-configuring, self-healing, self-optimizing, self-protecting and self-aware. We look at motivations for autonomicity, examine how more and more systems are exhibiting autonomic behavior, and finally look at future directions.

Sterritt, Roy; Hinchey, Mike

2005-01-01

341

Self-Management Framework for Mobile Autonomous Systems  

Microsoft Academic Search

The advent of mobile and ubiquitous systems has enabled the development of autonomous systems such as wireless-sensors for\\u000a environmental data collection and teams of collaborating Unmanned Autonomous Vehicles (UAVs) used in missions unsuitable for\\u000a humans. However, with these range of new application-domains comes a new challenge—enabling self-management in mobile autonomous\\u000a systems. Autonomous systems have to be able to manage themselves

Eskindir Asmare; Anandha Gopalan; Morris Sloman; Naranker Dulay; Emil Lupu

342

Automated knowledge generation  

NASA Technical Reports Server (NTRS)

The general objectives of the NASA/UCF Automated Knowledge Generation Project were the development of an intelligent software system that could access CAD design data bases, interpret them, and generate a diagnostic knowledge base in the form of a system model. The initial area of concentration is in the diagnosis of the process control system using the Knowledge-based Autonomous Test Engineer (KATE) diagnostic system. A secondary objective was the study of general problems of automated knowledge generation. A prototype was developed, based on object-oriented language (Flavors).

Myler, Harley R.; Gonzalez, Avelino J.

1988-01-01

343

A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways  

E-print Network

A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways Alain Girault a aInria Rh of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do driving in a single-lane highway must never collide with its leading vehicle; and a vehicle entering

Girault, Alain

344

Research issues in autonomous control of tactical UAVs  

Microsoft Academic Search

This paper summarizes the enabling technologies for an autonomous tactical unmanned aerial vehicle (UAV). Current technologies are adequate for semi-autonomous UAVs that operate in a relatively structured environment. For tactical UAVs in a rapidly changing uncertain environment the present techniques are inadequate. The essence of autonomous control is rapid in-flight replanning under uncertainty. This is cast as a large optimization

P. R. Chandler; M. Pachter

1998-01-01

345

Multifunctional Intelligent Autonomous Parking Controllers for Carlike Mobile Robots  

Microsoft Academic Search

An increasing number of carlike mobile robot (CLMR) studies have addressed the issues of autonomous parking and obstacle avoidance. An autonomous parking controller can provide convenience to a novice driver. However, if the controller is not designed adequately, it may endanger the car and the driver. Therefore, this paper presents a novel multifunctional intelligent autonomous parking controller that is capable

Tzuu-Hseng S. Li; Ying-Chieh Yeh; Jyun-Da Wu; Ming-Ying Hsiao; Chih-Yang Chen

2010-01-01

346

Autonomous Robot Calibration for Hand-Eye Coordination  

Microsoft Academic Search

Autonomous robot calibration is defined as the process of determining a robot's model by using only its internal sen sors. It is shown that autonomous calibration of a manip ulator and stereo camera system is possible. The pro posed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, only

David J. Bennett; Davi Geiger; John M. Hollerbach

1991-01-01

347

An Integrated Self-Testing Framework for Autonomic Computing Systems  

Microsoft Academic Search

As the technologies of autonomic computing be- come more prevalent, it is essential to develop methodolo- gies for testing their dynamic self-management operations. Self-management features in autonomic systems induce structural and behavioral changes to the system during its execution, which need to be validated to avoid costly system failures. The high level of automation in autonomic systems also means that

Tariq M. King; Alain E. Ramirez; Rodolfo Cruz; Peter J. Clarke

2007-01-01

348

Worry and heart rate variables: autonomic rigidity under challenge  

Microsoft Academic Search

[Borkovec, T. D. (1994). Worrying: perspectives on theory, assessment and treatment (pp. 5-34). West Sussex: Wiley] proposes that the cognitive activity of worry restricts autonomic nervous system activity, producing autonomic rigidity. Autonomic rigidity affects both sympathetic nervous system [Behav. Res. Ther. 28 (1990) 69.] and parasympathetic nervous system activity [Behav. Ther. 26 (1995) 457.]. Three experiments investigated the relationship between

Maryanne Davis; Iain Montgomery; George Wilson

2002-01-01

349

Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements  

E-print Network

Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements (Extended abstract. The common theoretical model adopted in recent studies on algorithms for systems of autonomous mobile robots and calculation errors. 1 Introduction Background. Distributed systems consisting of autonomous mobile robots (a

Cohen, Reuven

350

Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements  

E-print Network

Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements Reuven Cohen David and coordination in systems of autonomous mobile robots. The common theoretical model adopted in these studies that humans may find extremely boring or tiresome. Subsequently, studies of autonomous mobile robot systems

Cohen, Reuven

351

Intelligent Systems for the Autonomous Exploration of Titan and Enceladus  

E-print Network

Intelligent Systems for the Autonomous Exploration of Titan and Enceladus Roberto Furfaro System will require higher levels of onboard automation, including autonomous determination of sites systems for onboard-based, autonomous science to be performed in the course of outer satellites

Arizona, University of

352

Systems/Circuits The Autonomic Brain: An Activation Likelihood Estimation  

E-print Network

Systems/Circuits The Autonomic Brain: An Activation Likelihood Estimation Meta-Analysis for Central, Massachusetts General Hospital, Charlestown, Massachusetts 02129 The autonomic nervous system (ANS The autonomic nervous system (ANS) is involved in virtually every aspect of our daily life. The motor arm

Napadow, Vitaly

353

Towards a systematic approach for designing autonomic systems1  

E-print Network

Towards a systematic approach for designing autonomic systems1 Walamitien H. Oyenan and Scott A. De 66506, USA E-mail: {oyenan, sdeloach}@ksu.edu Abstract. An autonomic system is a system capable of managing itself and adjusting its actions in the face of environmental changes. Autonomic systems

Deloach, Scott A.

354

Situated vs. Global Aggregation Schemes for Autonomous Management Systems  

E-print Network

Situated vs. Global Aggregation Schemes for Autonomous Management Systems Rafik Makhloufi to ensure the efficiency of an autonomous management system. Thus, in this paper, we perform an exhaustive Managers (AMs) of an autonomous management system need to collect management information from the network

Paris-Sud XI, Université de

355

THE 1996 MIT / BOSTON UNIVERSITY / DRAPER LABORATORY AUTONOMOUS HELICOPTER SYSTEM  

E-print Network

THE 1996 MIT / BOSTON UNIVERSITY / DRAPER LABORATORY AUTONOMOUS HELICOPTER SYSTEM E. N. Johnson, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems an autonomous vehicle system with many of the same features, components, and potential pitfalls as fielded

Johnson, Eric N.

356

Case studies in discrete control for autonomic system administration  

E-print Network

Case studies in discrete control for autonomic system administration Fabienne Boyer, Noël De Palma of autonomic system admin- istration issues that can be addressed and solved as dis- crete control problems problems in autonomic systems belonging to the class of logical, discrete systems, and illustrate how

Paris-Sud XI, Université de

357

Component-Based Autonomic Management System Jeremy Philippe  

E-print Network

Component-Based Autonomic Management System Jeremy Philippe , Sylvain Sicard ,Christophe Taton INP is to implement administration as an autonomic software. Such a software can be used to deploy and configure such as failures or overloads and reconfigure applications accordingly and autonomously. The main advantages

Pous, Damien

358

IBM Systems Journal Q3 2002 Comparing Autonomic & Proactive Computing  

E-print Network

IBM Systems Journal Q3 2002 Comparing Autonomic & Proactive Computing Roy Want , Trevor Pering between proactive computing and autonomic computing, considering the design of systems that are beyond The Relationship of Computing Paradigms At Intel Research we enthusiastically support the aims of autonomic systems

Somayaji, Anil

359

BEHAVIOR PREDICTION FOR DECISION AND CONTROL IN COGNITIVE AUTONOMOUS SYSTEMS  

E-print Network

BEHAVIOR PREDICTION FOR DECISION AND CONTROL IN COGNITIVE AUTONOMOUS SYSTEMS ASOK RAY*, SHASHI for decision and control in cognitive autonomous systems. The objective is to coordinate human­machine collaboration such that human operators can assess and enable autonomous systems to utilize their experi- ential

Ray, Asok

360

Non-Autonomous Systems: Asymptotic Behaviour and Weak Invariance Principles *  

E-print Network

Non-Autonomous Systems: Asymptotic Behaviour and Weak Invariance Principles * H Logemann & E P Ryan asymptotically autonomous systems and adaptively controlled systems are highlighted. Key Words: adaptive control, nonlinear systems, stability. 1. INTRODUCTION The initial-value problem for a non-autonomous ordinary di#11

Bath, University of

361

DEVELOPMENT OF AN AUTONOMOUS AERIAL RECONNAISSANCE SYSTEM AT GEORGIA TECH  

E-print Network

1 DEVELOPMENT OF AN AUTONOMOUS AERIAL RECONNAISSANCE SYSTEM AT GEORGIA TECH Eric N. Johnson for a distance of 3 kilometers. Level 2 requires an autonomous system to identify a building and open portals. Level 3 requires an autonomous system to enter a building and return a picture. Level 4 requires all

Johnson, Eric N.

362

The autonomic nervous system and Dretske on phenomenal consciousness  

E-print Network

1 The autonomic nervous system and Dretske on phenomenal consciousness Dan Ryder1 and C.B. Martin2, the autonomic nervous system (ANS) ought to be conscious - but of course it's not. In this paper, we'll describe a counterexample - the autonomic nervous system - which shows at least that representationalists have a lot of work

Ryder, Dan

363

A Model Function for NonAutonomous Bifurcations of Maps  

E-print Network

A Model Function for Non­Autonomous Bifurcations of Maps Thorsten HË?uls # FakultË?at fË?ur Mathematik for analyzing various notions of non­autonomous transcritical and pitchfork bifurcations that have been recently developed in the literature. Keywords: Non­autonomous bifurcation theory, Transcritical bifurcation, Pitch

Bielefeld, Universität

364

NSF/NASA Workshop on Autonomous Mobile Manipulation (AMM)  

E-print Network

NSF/NASA Workshop on Autonomous Mobile Manipulation (AMM) Houston, Texas, March 10/11, 2005 Final University of Massachusetts Amherst #12;Executive Summary Research in Autonomous Mobile Manipulation (AMM management. Many countries have initiated well-funded and focused research programs in Autonomous Mo- bile

Massachusetts at Amherst, University of

365

Autonomous Science Target Identification and Acquisition (ASTIA) for planetary exploration  

Microsoft Academic Search

We introduce an autonomous planetary explo- ration software architecture being developed for the purpose of autonomous science target identification and surface sample acquisition. Our motivation is to maximise planetary science data return whilst minimising the need for ground-based human intervention during long duration planetary robotic exploration missions. Our Autonomous Science Target Identification and Acquisition (ASTIA) architecture incorporates a number of

David Preston Barnes; Stephen Medwyn Pugh; Laurence Gethyn Tyler

2009-01-01

366

Robust Hybrid Control for Autonomous Vehicle Motion Planning  

E-print Network

Eric Feron 3 Abstract The operation of an autonomous vehicle in an unknown, dynamic environment the vehicle's dynamics. Even though our main focus is con- trol of autonomous vehicles, the concepts that weRobust Hybrid Control for Autonomous Vehicle Motion Planning Emilio Frazzoli 1 Munther A. Dahleh 2

Sontag, Eduardo

367

Dealing with ghosts: Managing the user experience of autonomic computing  

Microsoft Academic Search

Although the goal of autonomic computing is to make systems that work continuously, robustly, and simply, no one imagines that people can be excluded entirely. Whether it is end users getting their jobs done by interacting with autonomic systems or system administrators maintaining, monitoring, and debugging large-scale systems with autonomic components, humans will always be part of the computational process.

Daniel M. Russell; Paul P. Maglio; Rowan Dordick; Chalapathy Neti

2003-01-01

368

Dynamic risk assessment in autonomous vehicles motion planning  

Microsoft Academic Search

Arguing that an autonomous mobile system is sufficiently safe to operate in presence of other vehicles and objects is an important element in development of such systems. Traditional approach to assure safety is to distinguish between safe and unsafe area and prevent the autonomous vehicle from entering the unsafe area. The paper presents a model of autonomous vehicle control system

A. Wardzinski

2008-01-01

369

A Comprehensive Evaluation on China's EFL Learners' Autonomous Learning Competence  

Microsoft Academic Search

There have been numerous studies on autonomous learning competence, but most of them deal principally with the introduction and analysis of the theoretical background, application, strategy implementation and course design principles for autonomous language learning. So far no effort has been made to construct an evaluation index system and evaluation model to evaluate EFL learners' autonomous English learning competence in

Weiping Wu; Jinfen Xu

2010-01-01

370

Probing into autonomous learning in college English instruction  

Microsoft Academic Search

In order to encourage autonomy of college students in their studies and help them develop towards autonomy in their life-long learning, it is vital to study autonomous learning in college English instruction. After analysis of definitions of autonomous learning and a series of college English textbooks as well as based on the autonomous factors of Gardner and Miller, this paper

Yi Luo

2010-01-01

371

Autonomous Navigation and Sign Detector Learning Liam Ellis1  

E-print Network

Autonomous Navigation and Sign Detector Learning Liam Ellis1 , Nicolas Pugeault2 , Kristoffer ¨Ofj This article presents an autonomous robotic platform that learns to navigate on a track and discovers¨oping, Sweden 2 CVSSP, University of Surrey, Guildford, UK Abstract This paper presents an autonomous robotic

Bowden, Richard

372

Lessons Learned from Autonomous Sciencecraft Experiment Steve Chien, Rob Sherwood,  

E-print Network

Lessons Learned from Autonomous Sciencecraft Experiment Steve Chien, Rob Sherwood, Daniel Tran [19]. This software uses several integrated autonomy technologies to enable autonomous science Christa6 NASA Ames Research Center Abstract. An Autonomous Science Agent has been flying onboard the Earth

Schaffer, Steven

373

Enhancing Autonomous Agents Evolution with Learning by Imitation Elhanan Borenstein  

E-print Network

Enhancing Autonomous Agents Evolution with Learning by Imitation Elhanan Borenstein School of autonomous agents, when other forms of learning are not possible. 1 Introduction A large body of work@post.tau.ac.il Abstract This paper presents a new mechanism to enhance the evolutionary process of autonomous agents

Borenstein, Elhanan

374

Peripheral autonomic neuropathy: diagnostic contribution of skin biopsy.  

PubMed

Skin biopsy has gained widespread use for the diagnosis of somatic small-fiber neuropathy, but it also provides information on sympathetic fiber morphology. We aimed to ascertain the diagnostic accuracy of skin biopsy in disclosing sympathetic nerve abnormalities in patients with autonomic neuropathy. Peripheral nerve fiber autonomic involvement was confirmed by routine autonomic laboratory test abnormalities. Punch skin biopsies were taken from the thigh and lower leg of 28 patients with various types of autonomic neuropathy for quantitative evaluation of skin autonomic innervation. Results were compared with scores obtained from 32 age-matched healthy controls and 25 patients with somatic neuropathy. The autonomic cutoff score was calculated using the receiver operating characteristic curve analysis. Skin biopsy disclosed a significant autonomic innervation decrease in autonomic neuropathy patients versus controls and somatic neuropathy patients. Autonomic innervation density was abnormal in 96% of patients in the lower leg and in 79% of patients in the thigh. The abnormal findings disclosed by routine autonomic tests ranged from 48% to 82%. These data indicate the high sensitivity and specificity of skin biopsy in detecting sympathetic abnormalities; this method should be useful for the diagnosis of autonomic neuropathy, together with currently available routine autonomic testing. PMID:23037327

Donadio, Vincenzo; Incensi, Alex; Giannoccaro, Maria Pia; Cortelli, Pietro; Di Stasi, Vitantonio; Pizza, Fabio; Jaber, Masen Abdel; Baruzzi, Agostino; Liguori, Rocco

2012-11-01

375

Neuro-Fuzzy Dynamic Obstacle Avoidance for Autonomous Robot Manipulators  

NASA Astrophysics Data System (ADS)

This paper presents an integration of fuzzy local planner and modified Elman neural networks (MENN) approximation-based computed-torque controller for motion control of autonomous manipulators in dynamic and partially known environments containing moving obstacles. The navigation is based on fuzzy technique for the idea of artificial potential fields (APF) using analytic harmonic functions. Unlike fuzzy technique, the development of APF is computationally intensive operation. The MENN controller can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics of the robot arm. The MENN weights are tuned on-line, with no off-line learning phase required. The stability of the closed-loop system is guaranteed by the Lyapunov theory. The purpose of the controller, which is designed as a Neuro-fuzzy controller, is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. The proposed scheme has been successfully tested. The controller also demonstrates remarkable performance in adaptation to changes in manipulator dynamics. Sensor-based motion control is an essential feature for dealing with model uncertainties and unexpected obstacles in real-time world systems.

Mbede, Jean Bosco; Ele, Pierre; Xinhan, Huang

376

Autonomous buoy for offshore well control and monitoring  

SciTech Connect

Conventional subsea control systems require expensive electrohydraulic umbilicals that limit the maximum distance between platform and well. A proposed control-buoy concept is a hybrid well-control system with the reliability of conventional umbilical-based systems and the long-distance cost advantages of umbilical-free systems. Well 4-ALS-39 is a marginal gas well off-shore the state of Alagoas, northeast Brazil, in 25-m-deep water. Its production development became economically feasible with the use of an autonomous control buoy for well control and monitoring. A control and data-acquisition system installed on the buoy monitors wellhead pressure and temperature and controls the wet-Christmas-tree valves and production choke through a conventional electrohydraulic umbilical. A radio link between the buoy and shore ensures permanent supervision and interlock with the onshore pipeline valves and metering station. Because the onshore plant is normally unmanned, a dialed cellular-telephone line allows remote well monitoring and operation. The small buoy is completely autonomous in terms of energy. All energy required to power the system is generated locally by solar panels and a low-power, electrically driven hydraulic-power unit.

NONE

1998-08-01

377

Robust and Opportunistic Autonomous Science for a Potential Titan Aerobot  

NASA Technical Reports Server (NTRS)

We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a potential Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncertain and changing environmental conditions, maneuverability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a potential Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapting the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.

Gaines, Daniel M.; Estlin, Tara; Schaffer, Steve; Castano, Rebecca; Elfes, Alberto

2010-01-01

378

Autonomous Satellite Operations Via Secure Virtual Mission Operations Center  

NASA Technical Reports Server (NTRS)

The science community is interested in improving their ability to respond to rapidly evolving, transient phenomena via autonomous rapid reconfiguration, which derives from the ability to assemble separate but collaborating sensors and data forecasting systems to meet a broad range of research and application needs. Current satellite systems typically require human intervention to respond to triggers from dissimilar sensor systems. Additionally, satellite ground services often need to be coordinated days or weeks in advance. Finally, the boundaries between the various sensor systems that make up such a Sensor Web are defined by such things as link delay and connectivity, data and error rate asymmetry, data reliability, quality of service provisions, and trust, complicating autonomous operations. Over the past ten years, researchers from the NASA Glenn Research Center (GRC), General Dynamics, Surrey Satellite Technology Limited (SSTL), Cisco, Universal Space Networks (USN), the U.S. Geological Survey (USGS), the Naval Research Laboratory, the DoD Operationally Responsive Space (ORS) Office, and others have worked collaboratively to develop a virtual mission operations capability. Called VMOC (Virtual Mission Operations Center), this new capability allows cross-system queuing of dissimilar mission unique systems through the use of a common security scheme and published application programming interfaces (APIs). Collaborative VMOC demonstrations over the last several years have supported the standardization of spacecraft to ground interfaces needed to reduce costs, maximize space effects to the user, and allow the generation of new tactics, techniques and procedures that lead to responsive space employment.

Miller, Eric; Paulsen, Phillip E.; Pasciuto, Michael

2011-01-01

379

Autonomous self-organizing resource manager for multiple networked platforms  

NASA Astrophysics Data System (ADS)

A fuzzy logic based expert system for resource management has been developed that automatically allocates electronic attack (EA) resources in real-time over many dissimilar autonomous naval platforms defending their group against attackers. The platforms can be very general, e.g., ships, planes, robots, land based facilities, etc. Potential foes the platforms deal with can also be general. This paper provides an overview of the resource manager including the four fuzzy decision trees that make up the resource manager; the fuzzy EA model; genetic algorithm based optimization; co-evolutionary data mining through gaming; and mathematical, computational and hardware based validation. Methods of automatically designing new multi-platform EA techniques are considered. The expert system runs on each defending platform rendering it an autonomous system requiring no human intervention. There is no commanding platform. Instead the platforms work cooperatively as a function of battlespace geometry; sensor data such as range, bearing, ID, uncertainty measures for sensor output; intelligence reports; etc. Computational experiments will show the defending networked platform's ability to self- organize. The platforms' ability to self-organize is illustrated through the output of the scenario generator, a software package that automates the underlying data mining problem and creates a computer movie of the platforms' interaction for evaluation.

Smith, James F., III

2002-08-01

380

On commuting Tonelli Hamiltonians: Autonomous case  

NASA Astrophysics Data System (ADS)

We show that the Aubry sets, the Mañé sets and the barrier functions are the same for two commuting autonomous Tonelli Hamiltonians. We also show the quasi-linearity of ?-functions from the viewpoint of dynamics and the existence of common C critical subsolution for their associated Hamilton-Jacobi equations.

Cui, Xiaojun; Li, Ji

2011-06-01

381

Autonomous Soaring: The Montague Cross Country Challenge  

NASA Astrophysics Data System (ADS)

A novel method was developed for locating and allowing gliders to stay in thermals (convective updrafts). The method was applied to a 5 kg, glider, called ALOFT (autonomous locator of thermals), that was entered in the 2008 Montague Cross-Country Challenge held on 13-15 June 2008 in Montague, California. In this competition, RC (remote controlled) gliders in the 5 kg class competed on the basis of speed and distance. ALOFT was the first known autonomously soaring aircraft to enter a soaring competition and its entry provided a valuable comparison between the effectiveness of manual soaring and autonomous soaring. ALOFT placed third in the competition in overall points, outperforming manually-flown aircraft in its ability to center and utilize updrafts, especially at higher altitudes and in the presence of wind, to fly more optimal airspeeds, and to fly directly between turn points. The results confirm that autonomous soaring is a bona fide engineering sub-discipline, which is expected to be of interest to engineers who might find this has some utility in the aviation industry.

Edwards, Daniel J.

382

Resource deployment based on autonomous system clustering  

Microsoft Academic Search

Effective placement of resources used to support distributed services in the Internet depends on an accurate representation of Internet topology and routing. Representations of autonomous system (AS) level topology derived solely from BGP tables show only a subset of the connections that actually get used. However, in many cases, missing connections can be discovered by simple traceroutes. In addition, the

Jim Gast; Paul Barford

2002-01-01

383

Autonomous biomorphic robots as platforms for sensors  

SciTech Connect

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

1996-10-01

384

[Autonomic neuropathy of the gastrointestinal tract].  

PubMed

The paper focuses on the issues of diabetic autonomic neuropathy in the gastrointestinal tract. It describes the aethiopathogenesis of diabetic polyneuropathy. More detailed discussion is then provided with respect to gastrointestinal tract. The clinical picture and options available for the diagnosis and treatment when various parts of the gastrointestinal tract are involvement are examined. PMID:21612065

Olsovský, J

2011-04-01

385

An intelligent robot vision for autonomous navigation  

Microsoft Academic Search

The vision system for an autonomous robotic vehicle is described in detail. The vision system utilizes fuzzy logic and artificial neural network technologies. This go-cart sized vehicle guided itself through an obstacle course in an international competition held at Disney World mid-July of 1996. A brief history of the competition an overview of the vehicle itself and the vision system's

K. Ashenayi

1997-01-01

386

Multifunctional Coating for Autonomous Corrosion Control.  

National Technical Information Service (NTIS)

This slide presentation reviews the effects of corrosion on various structures at the Kennedy Space Center, and the work to discover a corrosion control coating that will be autonomous and will indicate corrosion at an early point in the process. Kennedy ...

J. W. Buhrow, L. M. Calle, P. E. Hintze, S. T. Jolley, W. Li

2011-01-01

387

MANAGING CHANGE IN HETEROGENEOUS AUTONOMOUS DATABASES  

E-print Network

MANAGING CHANGE IN HETEROGENEOUS AUTONOMOUS DATABASES a dissertation submitted to the department of Philosophy. Serge Abiteboul Approved for the University Committee on Graduate Studies: iii #12;iv #12 of databases operated by several competing enti- ties. Making e ective use of such collections of heterogeneous

Chawathe, Sudarshan S.

388

Control algorithms for autonomous robot navigation  

SciTech Connect

This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

Jorgensen, C.C.

1985-09-20

389

Infant autonomic functioning and neonatal abstinence syndrome  

Microsoft Academic Search

BackgroundNeonatal abstinence syndrome (NAS) expression is widely variable among affected infants and the reasons for this variability are largely unknown; mechanisms that predispose infants to NAS expression are not understood. It has been postulated that the regulatory problems of prenatally drug exposed infants are manifested in dysfunctional vagal regulation of autonomic processes. The current study examines whether cardiac vagal tone,

Lauren M. Jansson; Janet A. DiPietro; Andrea Elko; Martha Velez

2010-01-01

390

Autonomous Mobile Robot Global Self-Localization  

E-print Network

requires a priori knowledge of a sensor data a mobile robot as an optical character recognition pointAutonomous Mobile Robot Global Self-Localization Using Kohonen and Region-Feature Neural Networks Jason A. Jane ´ t* Ricardo Gutierrez Troy A. Chase Mark W. White John C. Sutton, III Center for Robotics

Gutierrez-Osuna, Ricardo

391

Scene Understanding through Autonomous Interactive Perception  

E-print Network

Scene Understanding through Autonomous Interactive Perception Niklas Bergstr¨om, Carl Henrik Ek, M°arten Bj¨orkman, and Danica Kragic Computer Vision and Active Perception Laboratory Royal Institute scenarios, based on visual appear- ance and depth information. Using a robotic manipulator that interacts

Kragic, Danica

392

AUTONOMOUS REGULATION OF FREE CA2+ CONCENTRATIONS  

E-print Network

, modelling Abbreviations: ER, endoplasmic reticulum; NE, nuclear envelope; INM, inner nuclear membrane; NPC with the endoplasmic reticulum [16]. Recent experimental evidence, in both animals and plants, show that nuclearAUTONOMOUS REGULATION OF FREE CA2+ CONCENTRATIONS IN ISOLATED PLANT CELL NUCLEI: A MATHEMATICAL

Paris-Sud XI, Université de

393

Online Identification and Stochastic Control for Autonomous  

E-print Network

Online Identification and Stochastic Control for Autonomous Internal Combustion Engines Andreas A Advanced internal combustion engine technologies have afforded an increase in the number of controllable and investment in advanced internal combustion en- gine technologies. These technologies, such as fuel injection

Papalambros, Panos

394

Autonomous Help in Distributed Work Environments  

Microsoft Academic Search

This work tries to contribute from a multi-agent systems perspective to the studies aimed at describing and designing environments for cooperative work. In particular, it is aimed at specifying cognitive principles for a basic kind of behavior among autonomous members of organizations: helping behavior. Once introduced the main assumptions of our model of a cognitive and social agent, a basic

Maria Miceli; Amedeo Cesta; Paola Rizzo

1994-01-01

395

Self-configuration in Autonomic Electronic Institutions  

E-print Network

of self-* systems is represented by the vision of autonomic computing [11], which constitutes of regulating open agent societies. EIs define the rules of the game in agent societies by fixing what agents complexity of advanced information systems in the recent years, characterized by being distributed, open

López-Sánchez, Maite

396

Towards an autonomic distributed computing environment  

Microsoft Academic Search

Increasing hardware performance of desktop computers accounts for a low-cost computing potential that is waiting to be efficiently used. However, the complexity of installation and maintenance of a large number of distributed heterogeneous computers is limiting the use of such systems on a large scale. Systems which are autonomic, capable of managing themselves are required. The architecture of QADPZ (Quite

Z. Constantinescu

2003-01-01

397

Fully autonomous mobile mini-robot  

NASA Astrophysics Data System (ADS)

In recent years, many new designs of micro robots have been developed. Miniaturization is a challenge and most mechanisms designed up to now are not autonomous, i.e. they don't have their intelligence and/or power supply on board. A new fully autonomous miniature mobile robot has been designed in our lab in a final year project. It has been programmed to follow a black line printed on the ground. An autonomous mechatronic system consists at least of a sensor, an actuator, a microprocessor to provide intelligence and a power supply. In our case, the robot's intelligence is based on a PIC16C71 microcontroller that controls its movement. To follow a black line, an infrared emitter and two receivers are placed at the front of the robot. As actuators, two watch motors are used. The gears of the watch's second hand are directly used as wheels to move the system. Two small batteries supply the energy to the motors and the microprocessor as well. The technical details of the mini mobile robot are as follows: dimensions: 20 mm * 8 mm * 15 mm; velocity: 40 mm/s; power consumption: 6 mW. This low power consumption allows the system to move autonomous for about 8 - 10 hours.

Buechi, Roland; Rohrer, Daniel; Schmid, Christian; Siegwart, Roland Y.

1995-12-01

398

Autonomous teams and new product development  

Microsoft Academic Search

How should a company organize a project team to develop new products? This study examined the relative effectiveness of four types of team structures by comparing the performance of 559 development projects in terms of development cost, new product development speed, and product commercial success. The results indicate that in general, autonomous team structure is superior to other team structures,

Peerasit Patanakul; Jiyao Chen; Gary S. Lynn

2008-01-01

399

Intrinsic Motivation Systems for Autonomous Mental Development  

E-print Network

Intrinsic Motivation Systems for Autonomous Mental Development Pierre-Yves Oudeyer, Fr with such an intrinsic motivation system? This is the question we study in this paper, presenting a number of computational systems that try to capture this drive towards novel or curious situations. After discussing

Paris-Sud XI, Université de

400

Non-autonomous second order Hamiltonian systems  

NASA Astrophysics Data System (ADS)

We study the existence of periodic solutions for a second order non-autonomous dynamical system containing variable kinetic energy terms. Our assumptions balance the interaction between the kinetic energy and the potential energy with neither one dominating the other. We study sublinear problems and the existence of non-constant solutions.

Pipan, John; Schechter, Martin

2014-07-01

401

Generalized synchronization of chaos in autonomous systems  

E-print Network

We extend the concept of generalized synchronization of chaos, a phenomenon that occurs in driven dynamical systems, to the context of autonomous spatiotemporal systems. It means a situation where the chaotic state variables in an autonomous system can be synchronized to each other but not to a coupling function defined from them. The form of the coupling function is not crucial; it may not depend on all the state variables nor it needs to be active for all times for achieving generalized synchronization. The procedure is based on the analogy between a response map subject to an external drive acting with a probability p and an autonomous system of coupled maps where a global interaction between the maps takes place with this same probability. It is shown that, under some circumstances, the conditions for stability of generalized synchronized states are equivalent in both types of systems. Our results reveal the existence of similar minimal conditions for the emergence of generalized synchronization of chaos in driven and in autonomous spatiotemporal systems.

O. Alvarez-Llamoza; M. G. Cosenza

2008-06-10

402

Optimal control of switched autonomous linear systems  

Microsoft Academic Search

The paper deals with the optimal control of switched piecewise linear autonomous systems, where the objective is that of minimizing a quadratic performance index over an infinite time horizon. We assume that the switching sequence and the corresponding jump matrix sequence is known, while the unknown switching times are the optimization parameters. The optimal control for this class of systems,

Alessandro Giua; Carla Seatzu; Cornelis Van Der Mee

2001-01-01

403

Underwater autonomous manipulation for intervention missions AUVs  

Microsoft Academic Search

Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems

Giacomo Marani; Song K. Choi; Junku Yuh

2009-01-01

404

Autonomous indoor aerial gripping using a quadrotor  

Microsoft Academic Search

This paper presents an implementation of autonomous indoor aerial gripping using a low-cost, custom-built quadrotor. Such research extends the typical functionality of micro air vehicles (MAV) from passive observation and sensing to dynamic interaction with the environment. To achieve this, three major challenges are overcome: precise positioning, sensing and manipulation of the object, and stabilization in the presence of disturbance

Vaibhav Ghadiok; Jeremy Goldin; Wei Ren

2011-01-01

405

TINYPHOON A Tiny Autonomous Mobile Robot  

Microsoft Academic Search

In this paper the system architecture of a tiny autonomous mobile robot, called Tinyphoon, is described. The robot is a two wheeled differentially driven (2WDD) robot, which fits with all its components into a cube with an edge length of only 75mm. An outstanding feature is its high-speed onboard vision system comprising a small digital CMOS camera and a very

G. Novak; S. Mahlknecht

2005-01-01

406

Onboard Locating System Of Autonomous Vehicle  

Microsoft Academic Search

This paper presents a new onboard locating system of an autonomous vehicle using signposts put along routes. The locating system estimates location and direction of the vehicle on the basis of the observa- tion of signposts and revolution counts of main wheels. The Kalman filter is employed to estimate the loca- tion and direction of the vehicle on real time

Satoshi MURATA; Takeshi HIROSE

1989-01-01

407

Autonomous surveillance in the visual spectral region  

Microsoft Academic Search

An autonomous surveillance system is one which is capable of detection, identification, and tracking of fast targets in real time. The equipment needed to carry out these operations includes a TV camera, digitizer and a digital computer. The design of the computer hardware and the development of the software are very difficult because several Mbits of data must be processed

B. E. Furby; B. D. Roney

1984-01-01

408

Autonomous Lighting Agents in Photon Mapping  

Microsoft Academic Search

In computer graphics, global illumination algorithms such as photon mapping require to gather large volumes of data which\\u000a can be heavily redundant. We propose a new characterization of useful data and a new optimization method for the photon mapping\\u000a algorithm using structures borrowed from Artificial Intelligence such as autonomous agents.

Adrien Herubel; Venceslas Biri; S. Deverly

2009-01-01

409

New fungus eater experiments [autonomous agents  

Microsoft Academic Search

Although there seems to be a high agreement among researchers that the concept of autonomous agents should also be applied in psychology, especially in emotion psychology, most work has not yet exceed the theoretical level. One reason is the lack of adequate tools for applying and exploring this concept. This paper describes, on the basis of an implemented software package,

T. Wehrle

1994-01-01

410

Complex Behavior Specification for Autonomous Systems  

E-print Network

) is the 2 #12; starting point, and the design of a system can be seen as the anal­ ysis problem. Of course focuses on one of the problems of design of an autonomous reactive system, namely, specification of its behavior with respect to (often unpredictable) changes occurring in the real world. Several ``behavior

Malec, Jacek

411

The Utility of Pollination for Autonomic Computing  

E-print Network

The Utility of Pollination for Autonomic Computing Holger Kasinger and Bernhard Bauer University. From the biology's point of view, pollination is an important step in the reproduction of seed plants the pollination process between plants and insects im- plies inherently. To utilize pollination as a paradigm

Bauer, Bernhard

412

The spectrum of autoimmune autonomic neuropathies.  

PubMed

We analyzed the clinical characteristics of 18 patients (13 female, 5 male) who had autoimmune autonomic neuropathy (AAN) and ganglionic acetylcholine receptor (AChR) autoantibodies. Mean age was 61.4 years (standard deviation, 12.0 years). Ten patients had subacute symptom onset, six with an antecedent event. Eight patients had chronic AAN, characterized by insidious symptom onset, without antecedent event, and gradual progression. A majority of patients with high antibody values (>1.00 nmol/L) had a combination of sicca complex (marked dry eyes and dry mouth), abnormal pupillary light response, upper gastrointestinal symptoms, and neurogenic bladder. Chronic AAN segregated into two subgroups. One subgroup (N = 4) had low antibody titer (0.09 +/- 0.01 nmol/L) and a paucity of cholinergic symptoms. It was indistinguishable from pure autonomic failure. The other subgroup (N = 4) had high antibody titer (11.6 +/- 2.08 nmol/L), sicca complex, abnormal pupils, and neurogenic bladder; three had severe upper gastrointestinal dysfunction. Higher antibody titers correlated with greater autonomic dysfunction and more frequent cholinergic dysautonomia. These observations expand the clinical spectrum of AAN to include chronic cases, some being indistinguishable from pure autonomic failure, and support the concept that ganglionic AChR antibodies are important diagnostically and pathophysiologically in acquired dysautonomia. PMID:12783421

Klein, Caroline M; Vernino, Steven; Lennon, Vanda A; Sandroni, Paola; Fealey, Robert D; Benrud-Larson, Lisa; Sletten, David; Low, Phillip A

2003-06-01

413

Autonomous refresh of floating body cell (FBC)  

Microsoft Academic Search

Physics of autonomous refresh of FBC is presented. Current input to the floating body by impact ionization and output by charge pumping can balance to make FBC refresh by itself without sense amplifier operation. Thanks to this feature, multiple cells on a BL can be refreshed simultaneously, leading to a drastic reduction of BL charging current compared to the conventional

Takashi Ohsawa; Ryo Fukuda; Tomoki Higashi; Katsuyuki Fujita; Fumiyoshi Matsuoka; Tomoaki Shino; Hironobu Furuhashi; Yoshihiro Minami; Hiroomi Nakajima; Takeshi Hamamoto; Yohji Watanabe; Akihiro Nitayama; Tohru Furuyama

2008-01-01

414

The CASCADAS Framework for Autonomic Communications  

NASA Astrophysics Data System (ADS)

An interesting approach to the design and development of the future Internet foresees a networked service eco-system capable of seamlessly offering services for human-to-human, human-to-machine and machine-to-machine interactions. This chapter builds in this direction by describing a distributed component-ware framework for autonomic and situation-aware communication developed within the CASCADAS project. The core of this framework is the Autonomic Communication Element (ACE), an innovative software abstraction capable of providing dynamically adaptable services that can be built, composed, and let evolve according to autonomic principles. Services are capable of adapting their logic to the dynamically changing context they operate in without human intervention. As a result, whenever the need arises, ACEs can be federated autonomously and produce new services on a situation-aware basis. Systems and, in particular, eco-systems can thus be conceived as collections of ACEs. The chapter introduces the concept of ACE and its different facets. It also presents the architecture of a prototype ACE-based platform and exemplifies the different concepts through a future Pervasive Behavioral Advertisement scenario.

Baresi, Luciano; Ferdinando, Antonio Di; Manzalini, Antonio; Zambonelli, Franco

415

Configuration of Autonomous Walkers for Extreme Terrain  

Microsoft Academic Search

Robots that can competently, efficiently, and autonomously operate in extreme terrain do not exist. Although walking locomotion offers unique advantages, existing walking mech anisms are not suited to the comprehensive requirements of extreme terrain autonomy. This work synthesizes and ana lyzes candidate walker configurations, implements and tests a walker of unprecedented capability and design, and devel ops insights regarding walker

John E. Bares; William L. Whittaker

1993-01-01

416

Autonomous Virtual Actors Based on Virtual Sensors  

Microsoft Academic Search

In this paper, we present current research developments in the Virtual Life of autonomous synthetic actors. After a brief description of the perception action principles with a few simple examples, we emphasize the concept of virtual sensors for virtual humans. In particular, we describe in details our experiences in implementing virtual vision, tactile and audition. We then describe perception-based locomotion,

Daniel Thalmann; Hansrudi Noser; Zhiyong Huang

1997-01-01

417

ODYSSEUS: An Autonomous Mobile Robot (extended abstract)  

E-print Network

ODYSSEUS: An Autonomous Mobile Robot (extended abstract) R. Simmons, S. Thrun, C. Athanassiou, J Pittsburgh, PA 15213 INTRODUCTION Odysseus 1 is a small wheeled robot equipped with an arm, sonar sensors emphasise in the software implementation of Odysseus' control is the ability to act and react in real

Thrun, Sebastian

418

Pupillary signs in diabetic autonomic neuropathy  

Microsoft Academic Search

Pupillary function was investigated in 36 insulin-dependent diabetics and 36 controls matched for age and sex. About half of the diabetics had evidence of peripheral somatic or autonomic neuropathy, or both. The diabetic patients had abnormally small pupil diameters in the dark and less fluctuation in pupil size (hippus) during continuous illumination than the controls. They also had reduced reflex

S E Smith; S A Smith; P M Brown; C Fox; P H Sönksen

1978-01-01

419

Autonomous Learning from a Social Cognitive Perspective  

ERIC Educational Resources Information Center

The current perspective of autonomous learning defines it as the agentive exhibition of resourcefulness, initiative, and persistence in self-directed learning. As a form of human agency, it has been argued in the literature that this perspective should be consistent with Bandura's (1986) Social Cognitive Theory (SCT). The purpose of this article…

Ponton, Michael K.; Rhea, Nancy E.

2006-01-01

420

Autonomous Language Learning: The Teachers' Perspectives.  

ERIC Educational Resources Information Center

Reports on a large-scale study on learner autonomy in language learning carried out with students and English teachers at the Hong Kong Polytechnic University. Examines the teachers' views of their roles and responsibilities, their assessment of their students'decision-making abilities and the autonomous language learning activities that they have…

Chan, Victoria

2003-01-01

421

Autonomous Language Learning: The teachers' perspectives  

Microsoft Academic Search

This paper reports on a large-scale study on learner autonomy in language learning carried out with students and English teachers at the Hong Kong Polytechnic University in Hong Kong. It focuses on the teachers' views of their roles and responsibilities, their assessment of their students' decision-making abilities and the autonomous language learning activities that they have encouraged their students to

Victoria Chan

2003-01-01

422

Interactive image tools for autonomous spelling robot  

Microsoft Academic Search

This research proposes a simple but reliable command card encoding system, image recognition, and interpretation techniques for reading the command cards and a letter cube image recognition system for a two-armed autonomous spelling and cube-stacking robot. The command cards are used for issuing commands to the robot so that people can ask the robot to execute specific actions. By using

Chyi-Yeu Lin; Po-Chia Jo; Chia-Lun Hsueh; Chang-Kuo Tseng

2012-01-01

423

Autonomous Helicopter Formation using Model Predictive Control  

E-print Network

) capability). With recent advances in technology, such as aerial refuelling and night vision, helicopters haveAutonomous Helicopter Formation using Model Predictive Control Hoam Chung and S. Shankar Sastry for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams

Sastry, S. Shankar

424

Robotany : autonomous vehicles that care for houseplants  

E-print Network

Robotany is a system of autonomous robots that act on behalf of houseplants that rest on top of their chassis. Their duty is to do what plants would if they had the gift of mobility - namely to seek out sunlight or water ...

Cinnamon, Sara Elizabeth, 1979-

2004-01-01

425

Multimodal interaction with an autonomous forklift  

Microsoft Academic Search

We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift using speech and sketch. Most current sketch interfaces treat the canvas as a blank slate. In contrast, our interface uses live and synthesized camera images from the forklift

Andrew Correa; Matthew R. Walter; Luke Fletcher; Jim Glass; Seth Teller; Randall Davis

2010-01-01

426

An Algorithm for Autonomous Formation Obstacle Avoidance  

NASA Astrophysics Data System (ADS)

The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.

Cruz, Yunior I.

427

Exercise and the autonomic nervous system.  

PubMed

The autonomic nervous system plays a crucial role in the cardiovascular response to acute (dynamic) exercise in animals and humans. During exercise, oxygen uptake is a function of the triple-product of heart rate and stroke volume (i.e., cardiac output) and arterial-mixed venous oxygen difference (the Fick principle). The degree to which each of the variables can increase determines maximal oxygen uptake (V?O2max). Both "central command" and "the exercise pressor reflex" are important in determining the cardiovascular response and the resetting of the arterial baroreflex during exercise to precisely match systemic oxygen delivery with metabolic demand. In general, patients with autonomic disorders have low levels of V?O2max, indicating reduced physical fitness and exercise capacity. Moreover, the vast majority of the patients have blunted or abnormal cardiovascular response to exercise, especially during maximal exercise. There is now convincing evidence that some of the protective and therapeutic effects of chronic exercise training are related to the impact on the autonomic nervous system. Additionally, training induced improvement in vascular function, blood volume expansion, cardiac remodeling, insulin resistance and renal-adrenal function may also contribute to the protection and treatment of cardiovascular, metabolic and autonomic disorders. Exercise training also improves mental health, helps to prevent depression, and promotes or maintains positive self-esteem. Moderate-intensity exercise at least 30 minutes per day and at least 5 days per week is recommended for the vast majority of people. Supervised exercise training is preferable to maximize function capacity, and may be particularly important for patients with autonomic disorders. PMID:24095123

Fu, Qi; Levine, Benjamin D

2013-01-01

428

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?  

NASA Technical Reports Server (NTRS)

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

Sterritt, Roy; Hinchey, Mike

2004-01-01

429

Robust chaos in autonomous time-delay system  

E-print Network

We consider an autonomous system constructed as modification of the logistic differential equation with delay that generates successive trains of oscillations with phases evolving according to chaotic maps. The system contains two feedback loops characterized by two generally distinct retarding time parameters. In the case of their equality, chaotic dynamics is associated with the Smale-Williams attractor that corresponds to the double-expanding circle map for the phases of the carrier of the oscillatory trains. Alternatively, at appropriately chosen two different delays attractor is close to torus with Anosov dynamics on it as the phases are governed by the Fibonacci map. In both cases the attractors manifest robustness (absence of regularity windows under variation of parameters) and presumably relate to the class of structurally stable hyperbolic attractors.

D. S. Arzhanukhina; S. P. Kuznetsov

2014-04-16

430

Navigation strategies for multiple autonomous mobile robots moving in formation  

NASA Technical Reports Server (NTRS)

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Wang, P. K. C.

1991-01-01

431

Characterization of autonomous thyroid adenoma: metabolism, gene expression, and pathology.  

PubMed

Fifty-one in vivo characterized autonomous single adenomas have been studied for functional parameters in vitro, for gene and protein expression and for pathology, and have been systematically compared to the corresponding extratumoral quiescent tissue. The adenomas were characterized by a high level of iodide trapping that corresponds to a high level of Na+ /iodide symporter gene expression, a high thyroperoxidase mRNA and protein content, and a low H2O2 generation. This explains the iodide metabolism characteristics demonstrated before, ie, the main cause of the "hot" character of the adenomas is their increased iodide transport. The adenomas spontaneously secreted higher amounts of thyroid hormone than the quiescent tissue and in agreement with previous in vivo data, this secretion could be further enhanced by thyrotropin (TSH). Inositol uptake was also increased but there was no spontaneous increase of the generation of inositol phosphates and this metabolism could be further activated by TSH. These positive responses to TSH are in agreement with the properties of TSH-stimulated thyroid cells in vitro and in vivo. They are compatible with the characteristics of mutated TSH receptors whose constitutive activation accounts for the majority of autonomous thyroid adenomas in Europe. The number of cycling cells, as evaluated by MIB-1 immunolabeling was low but increased in comparison with the corresponding quiescent tissue or normal tissue. The cycling cells are observed mainly at the periphery; there was very little apoptosis. Both findings account for the slow growth of these established adenomas. On the other hand, by thyroperoxidase immunohistochemistry, the whole lesion appeared hyperfunctional, which demonstrates a dissociation of mitogenic and functional stimulations. Thyroglobulin, TSH receptor, and E-cadherin mRNA accumulations were not modified in a consistent way, which confirms the near-constitutive expression of the corresponding genes in normal differentiated tissue. On the contrary, early immediate genes expressions (c-myc, NGF1B, egr 1, genes of the fos and jun families) were decreased. This may be explained by the proliferative heterogeneity of the lesion and the previously described short, biphasic expression of these genes when induced by mitogenic agents. All the characteristics of the autonomous adenomas can therefore be explained by the effect of the known activating mutations of genes coding for proteins of the TSH cyclic adenosine monophosphate (cAMP) cascade, all cells being functionally activated while only those at the periphery multiply. The reason of this heterogeneity is unknown. PMID:10718549

Deleu, S; Allory, Y; Radulescu, A; Pirson, I; Carrasco, N; Corvilain, B; Salmon, I; Franc, B; Dumont, J E; Van Sande, J; Maenhaut, C

2000-02-01

432

An architectural approach to create self organizing control systems for practical autonomous robots  

NASA Technical Reports Server (NTRS)

For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

Greiner, Helen

1991-01-01

433

Autonomous Self-Control is Less Depleting  

PubMed Central

Autonomously motivated self-control may be less depleting than extrinsically motivated self-control. Participants were asked to not eat cookies and their motivation orientation for resisting that temptation was assessed. Their self-control performance was assessed immediately before and after fighting the temptation. As compared to their baseline performance, participants who avoided eating the cookies for more autonomous performed better at the second measure relative to participants who did not eat for more extrinsic reasons. Mood, arousal, and demographic factors were not related to self-control performance and feelings of autonomy. Overall, it appears that feeling compelled to exert self-control may deplete more strength than having more freedom when exerting self-control. The results may increase our understanding of how self-control strength and feelings of autonomy interact. PMID:18704202

Muraven, Mark

2008-01-01

434

Auditory stimulation and cardiac autonomic regulation  

PubMed Central

Previous studies have already demonstrated that auditory stimulation with music influences the cardiovascular system. In this study, we described the relationship between musical auditory stimulation and heart rate variability. Searches were performed with the Medline, SciELO, Lilacs and Cochrane databases using the following keywords: “auditory stimulation”, “autonomic nervous system”, “music” and “heart rate variability”. The selected studies indicated that there is a strong correlation between noise intensity and vagal-sympathetic balance. Additionally, it was reported that music therapy improved heart rate variability in anthracycline-treated breast cancer patients. It was hypothesized that dopamine release in the striatal system induced by pleasurable songs is involved in cardiac autonomic regulation. Musical auditory stimulation influences heart rate variability through a neural mechanism that is not well understood. Further studies are necessary to develop new therapies to treat cardiovascular disorders. PMID:22948465

Valenti, Vitor E.; Guida, Heraldo L.; Frizzo, Ana C. F.; Cardoso, Ana C. V.; Vanderlei, Luiz Carlos M.; de Abreu, Luiz Carlos

2012-01-01

435

Autonomous microexplosives subsurface tracing system final report.  

SciTech Connect

The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

2004-04-01

436

Autonomous Flight Safety System Road Test  

NASA Technical Reports Server (NTRS)

On February 3, 2005, Kennedy Space Center (KSC) conducted the first Autonomous Flight Safety System (AFSS) test on a moving vehicle -- a van driven around the KSC industrial area. A subset of the Phase III design was used consisting of a single computer, GPS receiver, and UPS antenna. The description and results of this road test are described in this report.AFSS is a joint KSC and Wallops Flight Facility project that is in its third phase of development. AFSS is an independent subsystem intended for use with Expendable Launch Vehicles that uses tracking data from redundant onboard sensors to autonomously make flight termination decisions using software-based rules implemented on redundant flight processors. The goals of this project are to increase capabilities by allowing launches from locations that do not have or cannot afford extensive ground-based range safety assets, to decrease range costs, and to decrease reaction time for special situations.

Simpson, James C.; Zoemer, Roger D.; Forney, Chris S.

2005-01-01

437

Isolated sympathetic failure with autoimmune autonomic ganglionopathy.  

PubMed

A 16-year-old boy had a gradual onset of post-exercise myalgia with progressive fatigue and dizziness. He had bradycardia (37 beats/minute) with low supine and normal standing norepinephrine levels (56 and 311 pg/mL, respectively). He had absent sympathetically mediated vasoconstrictor responses during Valsalva maneuver testing. Circulating ganglionic acetylcholine receptor antibodies were identified. Response was gradual to treatment with intravenous immunoglobulin combined with aggressive symptomatic interventions (permanent pacemaker implantation and treatment with pyridostigmine, midodrine, and modafinil). After the intravenous immunoglobulin treatment, his autoantibody levels decreased and the autonomic abnormalities resolved. After a reconditioning exercise program and eventually undetectable antibody titers, he achieved complete recovery. The patient continued to do well after his pacemaker was removed and his medications were discontinued. Thus, severe isolated sympathetic nervous system failure can occur in adolescents with autoimmune autonomic ganglionopathy, and multifaceted treatment can be effective. PMID:20837310

Fischer, Philip R; Sandroni, Paola; Pittock, Sean J; Porter, Co-burn J; Lehwald, Lenora M; Raj, Satish R

2010-10-01

438

The autonomic nervous system and renal physiology  

PubMed Central

Research in resistant hypertension has again focused on autonomic nervous system denervation – 50 years after it had been stopped due to postural hypotension and availability of newer drugs. These (ganglionic blockers) drugs have all been similarly stopped, due to postural hypotension and yet newer antihypertensive agents. Recent demonstration of the feasibility of limited regional transcatheter sympathetic denervation has excited clinicians due to potential therapeutic implications. Standard use of ambulatory blood pressure recording equipment may alter our understanding of the diagnosis, potential treatment strategies, and health care outcomes – when faced with patients whose office blood pressure remains in the hypertensive range – while under treatment with three antihypertensive drugs at the highest tolerable doses, plus a diuretic. We review herein clinical relationships between autonomic function, resistant hypertension, current treatment strategies, and reflect upon the possibility of changes in our approach to resistant hypertension. PMID:24039445

D'Elia, John A; Weinrauch, Larry A

2013-01-01

439

Autonomous Instrument Placement for Mars Exploration Rovers  

NASA Technical Reports Server (NTRS)

Autonomous Instrument Placement (AutoPlace) is onboard software that enables a Mars Exploration Rover to act autonomously in using its manipulator to place scientific instruments on or near designated rock and soil targets. Prior to the development of AutoPlace, it was necessary for human operators on Earth to plan every motion of the manipulator arm in a time-consuming process that included downlinking of images from the rover, analysis of images and creation of commands, and uplinking of commands to the rover. AutoPlace incorporates image analysis and planning algorithms into the onboard rover software, eliminating the need for the downlink/uplink command cycle. Many of these algorithms are derived from the existing groundbased image analysis and planning algorithms, with modifications and augmentations for onboard use.

Leger, P. Chris; Maimone, Mark

2009-01-01

440

Autonomous Exploration for Gathering Increased Science  

NASA Technical Reports Server (NTRS)

The Autonomous Exploration for Gathering Increased Science System (AEGIS) provides automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which at the time of this reporting has had two rovers exploring the surface of Mars (see figure). Currently, targets for rover remote-sensing instruments must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In particular, this technology will be used to automatically acquire sub-framed, high-resolution, targeted images taken with the MER panoramic cameras. This software provides: 1) Automatic detection of terrain features in rover camera images, 2) Feature extraction for detected terrain targets, 3) Prioritization of terrain targets based on a scientist target feature set, and 4) Automated re-targeting of rover remote-sensing instruments at the highest priority target.

Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.; Judd, Michele A.

2010-01-01

441

Autonomous Interaction Model in Ubiquitous Learning Systems  

E-print Network

ICT based learning has become the talk of the time, but they somehow restrain user to think independently. This dependent learning environment should be wisely transformed into selfcreated, self-organized and self-governed. A vibrant presence of independent think tanks would be a hall mark of learning environments. Ubiquitous or always on learning systems provide the users with an opportunity to learn anytime and anywhere. However a forward looking autonomous mechanism with an active feedback system will create true personalization of learning experience. This paper explores various interactions involved in learning and it aims to design a holistic interaction model governed by context aware, adaptive and intelligent systems for Autonomous Ubiquitous Learning.

Abhinav Garg; Sonam Goel

442

Children's Autonomous Food Acquisition in Mexican Shantytowns  

Microsoft Academic Search

Children's independent food-acquisition behaviors have been rarely studied outside of hunter–gatherer contexts, yet millions of children worldwide search, work, trade, or beg for food. This study uses observational, anthropometric, dietary, and ethnographic data to understand preliminarily the nutritive and possible social contexts of autonomous middle childhood food-gaining behaviors in Mexican shantytowns. While we find children forage, work for, and share

Sarah Lee; Alexandra Brewis

2009-01-01

443

The Emerging Infrastructure of Autonomous Astronomy  

Microsoft Academic Search

Advances in the understanding of cosmic processes demand that sky transient events be confronted with statistical techniques honed on static phenomena. Time domain data sets require vast surveys such as LSST {http:\\/\\/www.lsst.org\\/lsst_home.shtml} and Pan-STARRS {http:\\/\\/www.pan-starrs.ifa.hawaii.edu}. A new autonomous infrastructure must close the loop from the scheduling of survey observations, through data archiving and pipeline processing, to the publication of transient

R. Seaman; A. Allan; T. Axelrod; K. Cook; R. White; R. Williams

2007-01-01

444

Design of Design Methodology for Autonomous Robots  

Microsoft Academic Search

We present a methodology for deriving design methodology for autonomous robots. We designed this methodology in the context\\u000a of a robotics course in high schools. The motivation for designing this new methodology was improving the robots’ robustness\\u000a and reliability and preparing students for becoming better designers. The new methodology proved to be highly successful in\\u000a designing top quality robots. In

Eli Kolberg; Yoram Reich; Ilya Levin

2007-01-01

445

Architecture of an Autonomous Radio Receiver  

NASA Technical Reports Server (NTRS)

A program to develop an autonomous radio receiver compatible with a variety of digital communication schemes is underway. The proposed receiver, to be implemented largely in software, would configure itself to receive an incoming signal without much a priori knowledge of defining characteristics of the signal. The proposed receiver would include estimating and classifying modules that would analyze the incoming signal to determine its defining characteristics and would then configure itself on the basis of the outputs of these modules.

Hamkins, Jon; Simon, Marvin; Divsalar, Dariush; Dolinar, Samuel

2007-01-01

446

Autonomous models on a Cayley tree  

E-print Network

The most general single species autonomous reaction-diffusion model on a Cayley tree with nearest-neighbor interactions is introduced. The stationary solutions of such models, as well as their dynamics, are discussed. To study dynamics of the system, directionally-symmetric Green function for evolution equation of average number density is obtained. In some limiting cases the Green function is studied. Some examples are worked out in more detail.

Mohammad Khorrami; Amir Aghamohammadi

2014-07-21

447

Self-Motivated Behaviour of Autonomous Agents  

Microsoft Academic Search

autonomous agents. These agents can be represented by simulated animals-animats or by physical robots. The analysis of the agent's control architecture will be focused mainly on to general aspects of the self-motivated behavior. We briefly introduce basic concept of our behavior control mechanism and describe elementary phases in process of sensor-action assessment. Based on observation in ethology and biology was

M. Petrus; P. Nahodil

448

Flocking algorithm for autonomous flying robots.  

PubMed

Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks. PMID:24852272

Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gerg?; Nepusz, Tamás; Vicsek, Tamás

2014-06-01

449

Autonomous Bursting in a Homoclinic System  

E-print Network

A continuous train of irregularly spaced spikes, peculiar of homoclinic chaos, transforms into clusters of regularly spaced spikes, with quiescent periods in between (bursting regime), by feeding back a low frequency portion of the dynamical output. Such autonomous bursting results to be extremely robust against noise; we provide experimental evidence of it in a CO2 laser with feedback. The phenomen here presented display qualitative analogies with bursting phenomena in neurons.

R. Meucci; A. Di Garbo; E. Allaria; F. T. Arecchi

2001-09-18

450

RFID-based autonomous mobile car  

Microsoft Academic Search

Radio Frequency Identification (RFID) system is looked upon as one of the top ten important technologies in the 20th century. Industrial automation application is one of the key issues in developing RFID. Therefore, this paper designs and implements a RFID-based autonomous mobile car for more extensively application of RFID systems. The microcontroller of Microchip PIC18F4550 is used to control the

Jen-Hao Teng; Kuo-Yi Hsiao; Shang-Wen Luan; Rong-Ceng Leou; Shun-Yu Chan

2010-01-01

451

Family boundary curves for autonomous dynamical systems  

NASA Astrophysics Data System (ADS)

The notion of the family boundary curves (FBC), introduced recently for two-dimensional conservative systems, is extended to account for, generally, nonconservative autonomous systems of two degrees of freedom. Formulae are found for the force components X(x,y), Y(x,y) which produce a preassigned family of orbits f(x,y) = c lying inside a preassigned, open or closed, region B(x,y) greater than or equal to 0 of the xy plane.

Bozis, George

1994-09-01

452

Automatic learning by an autonomous mobile robot  

SciTech Connect

This paper describes recent research in automatic learning by the autonomous mobile robot HERMIES-IIB at the Center for Engineering Systems Advanced Research (CESAR). By acting on the environment and observing the consequences during a set of training examples, the robot learns a sequence of successful manipulations on a simulated control panel. The robot learns to classify panel configurations in order to deal with new configurations that are not part of the original training set. 5 refs., 2 figs.

de Saussure, G.; Spelt, P.F.; Killough, S.M.; Pin, F.G.; Weisbin, C.R.

1989-01-01

453

General Aspects of Intelligent Autonomous Systems  

Microsoft Academic Search

\\u000a The chapter motivates the study of intelligent autonomous systems (or agents) and illustrates the state of the art in this\\u000a area both conceptually as well as with representative examples (like Stanley, the vehicle robot). It outlines promising areas\\u000a of research that will not only lead to more intelligent systems in the near future, but also sets up five challenges, which

Wolfgang Bibel

2010-01-01

454

Cell-Autonomous Recognition of the Rust Pathogen Determines Rp1Specified Resistance in Maize  

Microsoft Academic Search

The Rp1 gene of maize determines resistance to the leaf rust pathogen Puccinia sorghi. X-ray treatment of heterozygous (Rp1 Oy\\/rp1 oy) maize embryos generated seedlings with yellow sectors lacking Rp1. Yellow sectored seedlings inoculated with rust spores gave rust pustule formation in yellow (Rp1-lacking) sectors and hypersensitive resistance in green tissues, thereby demonstrating that the Rp1 gene product is cell-autonomous

Jeffrey L. Bennetzen; William E. Blevins; Albert H. Ellingboe

1988-01-01

455

Characterization of autonomic receptors in the rat sublingual gland by biochemical and radioligand assays  

Microsoft Academic Search

The autonomic receptors of the rat sublingual gland were characterized by radioligand binding and by specific functional responses involving the release of K+ and the generation of cyclic AMP in vitro. Both muscarinic cholinergic and alpha2-adrenergic receptors were present in moderately high density in the sublingual gland, as judged by the binding of the specific radioligands 3H-QNB and 3H-clonidine (Bmax

J. Ricardo Martinez; David B. Bylund; Jean Camden

1982-01-01

456

An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle  

Microsoft Academic Search

Ionic polymer-metal composite (IPMC) which is a flexible polymer actuator can work in water by applying low voltage (at most about 3(V)). By aligning IPMCs (16 strips for two fins) as the muscles we developed a ray-like swimming robot. A simple traveling wave input generates propulsion of the fins. For autonomous operation, miniaturization of the system is performed by developing

Masanori Yamamura; Kentaro Takagi; Zhi-Wei Luo; Kinji Asaka; Yoshikazu Hayakawa; Masaki Onishi; Shinya Hirano

457

VTube: Towards the media rich city life with autonomous vehicular content distribution  

Microsoft Academic Search

The copious social and user generated contents, like Facebook and Youtube, are re-shaping the way people share, access, and digest information. Although flourishing in Internet, content sharing services are still considered expensive and not ready for mobile users of vehicular networks. In this paper, we propose VTube, an autonomous and cost-effective infrastructure, to facilitate the localized content publish\\/subscribe in an

Tom H. Luan; Lin X. Cai; Jiming Chen; Fan Bai

2011-01-01

458

Markov game for autonomic joint radio resource management in a multi-operator scenario  

Microsoft Academic Search

This article addresses the autonomy of joint radio resource management (JRRM) between heterogeneous radio access technologies (RATs) owned by multiple operators. By modeling the inter-operator competition as a general-sum Markov game, correlated-Q learning (CE-Q) is introduced to generate the operators' pricing and admission policies at the correlated equilibrium autonomically. The heterogeneity in terms of coverage, service suitability, and cell capacity

Yong-jing ZHANG; Yue-wei LIN

2007-01-01

459

Autonomous and Autonomic Systems: A Paradigm for Future Space Exploration Missions  

NASA Technical Reports Server (NTRS)

NASA increasingly will rely on autonomous systems concepts, not only in the mission control centers on the ground, but also on spacecraft and on rovers and other assets on extraterrestrial bodies. Automomy enables not only reduced operations costs, But also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While autonomy cost-effectively supports accomplishment of mission goals, autonomicity supports survivability of remote mission assets, especially when human tending is not feasible. Autonomic system properties (which ensure self-configuring, self-optimizing self-healing, and self-protecting behavior) conceptually may enable space missions of a higher order into any previously flown. Analysis of two NASA agent-based systems previously prototyped, and of a proposed future mission involving numerous cooperating spacecraft, illustrates how autonomous and autonomic system concepts may be brought to bear on future space missions.

Truszkowski, Walter F.; Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

2004-01-01

460

Erythromycin induces supranormal gall bladder contraction in diabetic autonomic neuropathy.  

PubMed Central

Gall bladder motor function is impaired in some patients with diabetes. It has been suggested that the abnormalities of gall bladder motility are confined to those patients with autonomic neuropathy. Erythromycin, a motilin receptor agonist, causes gall bladder contraction in both normal subjects and patients with gall stones with impaired gall bladder emptying. The effect of erythromycin on gall bladder motility in seven patients with diabetes with an autonomic neuropathy, six patients with diabetes without autonomic neuropathy, and 17 normal subjects was studied using ultrasound. There was no significant difference in gall bladder fasting volume between the three groups, but the patients with diabetes with autonomic neuropathy had impaired postprandial gall bladder emptying compared with normal subjects (percentage emptied (SEM) 40 (10.3)% v 64 (2.8)%, p < 0.01) and those with autonomic neuropathy (48 (7.7)%, NS). Erythromycin produced a dramatic reduction in gall bladder fasting volume in patients with diabetes with an autonomic neuropathy, compared with either normal subjects or patients with diabetes without autonomic neuropathy (percentage reduction 62 (4.6)% in patients with autonomic neuropathy, v 37 (17.6)% in those without autonomic neuropathy, and 26 (7.3)% in the normal subjects, (p < 0.02) and returned gall bladder emptying to normal in all patients with impaired emptying. The pronounced effect of erythromycin in diabetic autonomic neuropathy suggests denervation supersensitivity and that the action of erythromycin on the gall bladder is neurally modulated. PMID:8174966

Catnach, S M; Ballinger, A B; Stevens, M; Fairclough, P D; Trembath, R C; Drury, P L; Watkins, P J

1993-01-01

461

Infant autonomic functioning and neonatal abstinence syndrome  

PubMed Central

Background Neonatal abstinence syndrome (NAS) expression is widely variable among affected infants and the reasons for this variability are largely unknown; mechanisms that predispose infants to NAS expression are not understood. It has been postulated that the regulatory problems of prenatally drug exposed infants are manifested in dysfunctional vagal regulation of autonomic processes. The current study examines whether cardiac vagal tone, an indicator of parasympathetic neuroregulation, provides a marker for autonomic dysregulation subsequently expressed as NAS in prenatally opioid-exposed newborns. Methods Heart period (HP) and cardiac vagal tone (V) were derived from electrocardiogram data collected from 64 methadone-exposed infants on postnatal days 1 and 3. The postpartum NAS course was assessed serially. Results Infants with lower V on day 1 had significantly higher NAS symptomatology on day 3. Boys had more severe NAS symptoms than girls through the first 4 days of life and, among infants receiving pharmacologic treatment for NAS, boys required longer treatment course and hospitalizations. Greater poly-drug exposure, detected through toxicology screening throughout pregnancy, and cocaine use in particular, were associated with lower V and shorter HP (faster heart rate) in newborns. Multiple regression models accounted for 25 to 35% of the variance in NAS symptoms and duration of hospitalization in methadone-exposed infants. Significant predictors included infant sex, SSRI/SNRI use, and cigarette smoking. Conclusions Results support the hypothesis of a biologic vulnerability of autonomic regulatory functioning in methadone-exposed infants and greater male infant vulnerability to maternal methadone use. PMID:20189732

Jansson, Lauren M.; DiPietro, Janet A.; Elko, Andrea; Velez, Martha

2010-01-01

462

Autonomous navigation for structured exterior environments  

SciTech Connect

The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major feature of the system is its capability to perform autonomous patrols of the security site`s network of roads. Perimeter security sites are well known, structured environments; the locations of the roads, buildings, and fences are relatively static. A security robot has the advantage of being able to learn its new environment prior to autonomous travel. The TMSS robot combines information from a microwave beacon system and on-board dead reckoning sensors to determine its location within the site. The operator is required to teleoperate the robot in a teach mode over all desired paths before autonomous operations can commence. During this teach phase, TMSS stores points from its position location system at two meter intervals. This map data base is used for planning paths and for reference during path following. Details of the position location and path following systems will be described along with system performance and recommendations for future enhancements.

Pletta, J B

1993-12-01

463

Multi-mission, autonomous, synthetic aperture radar  

NASA Astrophysics Data System (ADS)

Unmanned aerial systems (UASs) have become a critical asset in current battlespaces and continue to play an increasing role for intelligence, surveillance and reconnaissance (ISR) missions. With the development of medium-to-low altitude, rapidly deployable aircraft platforms, the ISR community has seen an increasing push to develop ISR sensors and systems with real-time mission support capabilities. This paper describes recent flight demonstrations and test results of the RASAR (Real-time, Autonomous, Synthetic Aperture Radar) sensor system. RASAR is a modular, multi-band (L and X) synthetic aperture radar (SAR) imaging sensor designed for self-contained, autonomous, real-time operation with mission flexibility to support a wide range of ISR needs within the size, weight and power constraints of Group III UASs. The sensor command and control and real-time image formation processing are designed to allow integration of RASAR into a larger, multi-intelligence system of systems. The multi-intelligence architecture and a demonstration of real-time autonomous cross-cueing of a separate optical sensor will be presented.

Walls, Thomas J.; Wilson, Michael L.; Madsen, David; Jensen, Mark; Sullivan, Stephanie; Addario, Michael; Hally, Iain

2014-05-01

464

Autonomic correlates of physical and moral disgust.  

PubMed

Given that the hypothesis of a common origin of physical and moral disgust has received sparse empirical support, this study aimed to shed light on the subjective and autonomic signatures of these two facets of the same emotional response. Participants (20 men, 20 women) were randomly assigned to physical or moral disgust induction by the use of audio scripts while their electrocardiogram was continuously recorded. Affect ratings were obtained before and after the induction. Time and frequency domain heart rate variability (HRV) measures were obtained. After controlling for disgust sensitivity (DS-R) and obsessive-compulsive (OCI-R) tendencies, both scripts elicited disgust but whereas the physical script elicited a feeling of dirtiness, the moral script evoked more indignation and contempt. The disgust-induced subjective responses were associated with opposite patterns of autonomic reactivity: enhanced activity of the parasympathetic nervous system without concurrent changes in heart rate (HR) for physical disgust and decreased vagal tone and increased HR and autonomic imbalance for moral disgust. Results suggest that immorality relies on the same biological root of physical disgust only in subjects with obsessive compulsive tendencies. Disgust appears to be a heterogeneous response that varies based on the individuals' contamination-based appraisal. PMID:23684734

Ottaviani, Cristina; Mancini, Francesco; Petrocchi, Nicola; Medea, Barbara; Couyoumdjian, Alessandro

2013-07-01

465

Gastrointestinal autonomic nerve tumor of the stomach  

PubMed Central

Patient: Female, 32 Final Diagnosis: Gastrintestinal Autonomic Nerve Tumor (GANT) Symptoms: anemia • anorexia • fatigue • fever • hearburn • nausea • weight loss Medication: — Clinical Procedure: — Specialty: Gastroenterology and Hepatology Objective: Rare disease Background: Gastrointestinal autonomic nerve tumors (GANT) are extremely rare tumors that are related to gastrointestinal autonomic nervous plexuses. They are distinguished from stromal tumors by their unique ultrastructural features. Hence, their diagnosis is usually made on electron microscopy and immunohistochemical analyses. Although they are apparently slow-growing tumors, they run an aggressive clinical course and often associated with poor prognosis which eventually leads to death. Case Report: We report on a case of gastric GANT in a young female who was treated surgically by total gastrectomy. The disease, however ran an aggressive course with the development of distant (nodal, liver, lung, adrenal and musculo-skeletal) metastases two months after the radical resection. Conclusions: We believe this could be the first reported case of adrenal and musculo-skeletal metastases from gastric GANT soon after the radical gastric resection. PMID:24454975

Meshikhes, Abdul-Wahed N.; Al-Garni, Ayed A.; Al-Momen, Sami A.; Al-Nahawi, Mamdouh; Abu Subaih, Jawad

2014-01-01

466

SOLON: An autonomous vehicle mission planner  

NASA Technical Reports Server (NTRS)

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Dudziak, M. J.

1987-01-01

467

Autonomic dysfunction in reversible cerebral vasoconstriction syndromes  

PubMed Central

Background Autonomic imbalance may play an important role in the pathogenesis of reversible cerebral vasoconstriction syndromes (RCVS). This study aimed to assess the autonomic function by analyzing heart rate variability (HRV) in patients with RCVS. Methods Patients with RCVS and age- and gender-matched controls were consecutively recruited. All patients (both ictal and remission stage) and controls underwent 24-hour ambulatory electrocardiographic (ECG) recordings. HRV measures covering time and frequency domains were used to assess autonomic functioning. Results Thirty-nine patients with RCVS and 39 controls completed the study. Compared to the controls, RCVS patients during the ictal stage showed reductions in parasympathetic-related indices, including the root mean square of difference of consecutive interbeat intervals (RMSSD) (22.1?±?7.0 vs. 35.2?±?14.2, p

2013-01-01

468

Optimized Autonomous Space In-situ Sensorweb  

NASA Astrophysics Data System (ADS)

A multidisciplinary team of computer scientists (WSU), earth (USGS) and space (JPL) scientists are collaborating to develop a sensor web system optimized for rapid deployment at restless volcanoes. The primary goals of this Optimized Autonomous Space In-situ Sensorweb (OASIS) are: 1) integrate complementary space and in-situ (ground-based) elements into an interactive, autonomous sensorweb; 2) advance sensorweb power and communication resource management technology; and 3) enable scalability for seamless infusion of future space and in-situ assets into the sensorweb. This three year project started with a rigorous multi-disciplinary interchange that resulted in a system requirements document aimed to guide the design of OASIS and future networks and to achieve the project stated goals. Based on those guidelines, we have developed fully self-contained in-situ nodes that integrate GPS, seismic, infrasonic and ash detection sensors. The nodes in the wireless sensor network are linked to the ground control center through a highly optimized mesh network for remote geophysical monitoring operation. OASIS also features an autonomous bidirectional interaction between ground nodes and instruments on the EO-1 space platform through a database with alarming capabilities at the command and control center. We have successfully completed two field deployments in the crater of Mount St. Helens, Washington on October 14, 2008 and July 14th, 2009 respectively, and demonstrated that sensor web technology provides unprecedented fine-scale real-time continuous data acquisition and interaction for earth science community.

Song, W.; Shirazi, B. A.; Lahusen, R.; Kedar, S.; Chien, S.; Webb, F.

2009-12-01

469

Surveillance sensor for autonomous wildfire detection  

NASA Astrophysics Data System (ADS)

Autonomous wildfire detection systems may help to reduce hazards resulting from large wildland fires. In many situations wildfires start in the duff below trees and shrubs, which are hidden from direct view by groundbased sensors overlooking forests and wildlands. Mid- and thermal infrared measurements only detect wildfires when the fire has become a crownfire, and, by then, it usually has developed into a large wildfire. Therefore, the early discovery of wildfires using groundbased, autonomous sensors should be performed by detecting smoke clouds rather than the heat of the fire, since smoke becomes earlier visible above the trees as a result of convection than the heat of the fire. A demonstration sensor is being developed to show the feasibility of an affordable system for autonomous wildland fire detection. The system is designed to minimize false alarms by simultaneously analyzing the temporal, spatial and spectral information in the acquired imagery. The groundbased sensor will be horizon scanning and will employ linear CCD's for better contrast sensitivity in three different spectral bands.

de Vries, Jan S.; Kemp, Rob A. W.

1993-11-01

470

Self-priming dielectric elastomer generators  

Microsoft Academic Search

Dielectric elastomer generators (DEG) in their present form are not suitable for autonomous power generation; they simply increase the amount of power that an electrical energy source can supply. They require a priming charge for each cycle, normally provided by an auxiliary power source but, due to charges being transferred to a load or depleted by system losses, the energy

Thomas McKay; Benjamin O’Brien; Emilio Calius; Iain Anderson

2010-01-01

471

Economic evaluation of the dual mode CAES solution for increased wind energy contribution in autonomous island networks  

Microsoft Academic Search

Wind parks operating in autonomous island grids, such as those encountered in the Aegean Archipelago, face considerable wind energy curtailments, owed to the inability of local electricity networks to absorb the entire wind energy production. On the other hand, plans promoting the natural gas-based electricity generation in big islands (such as Crete) question the future of wind energy. To recover

D. Zafirakis; J. K. Kaldellis

2009-01-01

472

Autonomous micromotor based on catalytically pneumatic behavior of balloon-like MnO(x)-graphene crumples.  

PubMed

A novel autonomous micromotor, based on catalytically pneumatic behaviour of balloon-like MnOx-graphene crumples, has been synthesized via an ultrasonic spray pyrolysis method. Through catalytic decomposition of H2O2 into O2, the gas accumulated in a confined space and was released to generate a strong force to push the micromotor. PMID:24854005

Chen, Xueli; Wu, Guan; Lan, Tian; Chen, Wei

2014-07-11

473

Frontal midline theta rhythm is correlated with cardiac autonomic activities during the performance of an attention demanding meditation procedure  

Microsoft Academic Search

Frontal midline theta rhythm (Fm theta), recognized as distinct theta activity on EEG in the frontal midline area, reflects mental concentration as well as meditative state or relief from anxiety. Attentional network in anterior frontal lobes including anterior cingulate cortex is suspected to be the generator of this activity, and the regulative function of the frontal neural network over autonomic

Yasutaka Kubota; Wataru Sato; Motomi Toichi; Toshiya Murai; Takashi Okada; Akiko Hayashi; Akira Sengoku

2001-01-01

474

A Wind-Hydro-Pumped Storage Station Leading to High RES Penetration in the Autonomous Island System of Ikaria  

Microsoft Academic Search

Pumped storage is generally viewed as the most promising technology to increase renewable energy source penetration levels in power systems and particularly in small autonomous island grids, where technical limitations are imposed by the conventional generating units. The Hybrid Power Station (HPS) of Ikaria Island, Greece, which is currently in the construction stage, will be one of the first wind-hydro-pumped-storage

Stefanos V. Papaefthymiou; Eleni G. Karamanou; Stavros A. Papathanassiou; Michael P. Papadopoulos

2010-01-01

475

The nature of the autonomic dysfunction in multiple system atrophy  

NASA Technical Reports Server (NTRS)

The concept that multiple system atrophy (MSA, Shy-Drager syndrome) is a disorder of the autonomic nervous system is several decades old. While there has been renewed interest in the movement disorder associated with MSA, two recent consensus statements confirm the centrality of the autonomic disorder to the diagnosis. Here, we reexamine the autonomic pathophysiology in MSA. Whereas MSA is often thought of as "autonomic failure", new evidence indicates substantial persistence of functioning sympathetic and parasympathetic nerves even in clinically advanced disease. These findings help explain some of the previously poorly understood features of MSA. Recognition that MSA entails persistent, constitutive autonomic tone requires a significant revision of our concepts of its diagnosis and therapy. We will review recent evidence bearing on autonomic tone in MSA and discuss their therapeutic implications, particularly in terms of the possible development of a bionic baroreflex for better control of blood pressure.

Parikh, Samir M.; Diedrich, Andre; Biaggioni, Italo; Robertson, David

2002-01-01

476

Autonomous CaMKII requires further stimulation by Ca2+/calmodulin for enhancing synaptic strength.  

PubMed

A hallmark feature of Ca(2+)/calmodulin (CaM)-dependent protein kinase II (CaMKII) is generation of autonomous (Ca(2+)-independent) activity by T286 autophosphorylation. Biochemical studies have shown that "autonomous" CaMKII is ?5-fold further stimulated by Ca(2+)/CaM, but demonstration of a physiological function for such regulation within cells has remained elusive. In this study, CaMKII-induced enhancement of synaptic strength in rat hippocampal neurons required both autonomous activity and further stimulation. Synaptic strength was decreased by CaMKII? knockdown and rescued by reexpression, but not by mutants impaired for autonomy (T286A) or binding to NMDA-type glutamate receptor subunit 2B (GluN2B; formerly NR2B; I205K). Full rescue was seen with constitutively autonomous mutants (T286D), but only if they could be further stimulated (additional T305/306A mutation), and not with two other mutations that additionally impair Ca(2+)/CaM binding. Compared to rescue with wild-type CaMKII, the CaM-binding-impaired mutants even had reduced synaptic strength. One of these mutants (T305/306D) mimicked an inhibitory autophosphorylation of CaMKII, whereas the other one (?stim) abolished CaM binding without introducing charged residues. Inhibitory T305/306 autophosphorylation also reduced GluN2B binding, but this effect was independent of reduced Ca(2+)/CaM binding and was not mimicked by T305/306D mutation. Thus, even autonomous CaMKII activity must be further stimulated by Ca(2+)/CaM for enhancement of synaptic strength. PMID:24843070

Barcomb, Kelsey; Buard, Isabelle; Coultrap, Steven J; Kulbe, Jacqueline R; O'Leary, Heather; Benke, Timothy A; Bayer, K Ulrich

2014-08-01

477

Autonomic nervous system dysfunction in Parkinson’s disease  

Microsoft Academic Search

Opinion statement  Autonomic nervous system (ANS) dysfunction is common in Parkinson’s disease (PD), affects 70% to 80% of patients, and causes\\u000a significant morbidity and discomfort. Autonomic nervous system dysfunction symptoms in PD include sexual dysfunction, swallowing\\u000a and gastrointestinal disorders, bowel and bladder abnormalities, sleep disturbances, and derangements of cardiovascular regulation,\\u000a particularly, orthostatic hypotension. Autonomic nervous system dysfunction in PD may be

Theresa A. Zesiewicz; Matthew J. Baker; Mervat Wahba; Robert A. Hauser

2003-01-01

478

A Proposal of Autonomous Robotic Systems Educative Environment  

NASA Astrophysics Data System (ADS)

This work presents our experiences in the implementation of a laboratory of autonomous robotic systems applied to the training of beginner and advanced students doing a degree course in Computer Engineering., taking into account the specific technologies, robots, autonomous toys, and programming languages. They provide a strategic opportunity for human resources formation by involving different aspects which range from the specification elaboration, modeling, software development and implementation and testing of an autonomous robotic system.

Ierache, Jorge; Garcia-Martinez, Ramón; de Giusti, Armando

479

Safe Agents in Space: Lessons from the Autonomous Sciencecraft Experiment  

NASA Technical Reports Server (NTRS)

An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent constraints of autonomy, reliability, and limited computing resources. We describe these constraints and how they are reflected in our agent architecture.

Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

2004-01-01

480

Neuromodulatory approaches to the treatment of trigeminal autonomic cephalalgias  

Microsoft Academic Search

The trigeminal autonomic cephalalgias (TACs) are a group of primary headache syndromes characterised by intense pain and associated\\u000a activation of cranial parasympathetic autonomic outflow pathways out of proportion to the pain. The TACs include cluster headache,\\u000a paroxysmal hemicrania and SUNCT (short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing).\\u000a The pathophysiology of these syndromes involves activation of the trigeminal-autonomic

Peter J. Goadsby

481

Autonomic dysfunction in Lambert-Eaton myasthenic syndrome  

Microsoft Academic Search

Lambert-Eaton myasthenic syndrome (LEMS) is an autoimmune disorder characterized by muscle wakness and autonomic dysfunction.\\u000a Recentex vivo andin vitro studies demonstrate that autoantibodies to the P\\/Q-subtype of voltage-gated calcium channel inhibit transmitter release from\\u000a parasympathetic, sympathetic, and enteric neurons, a mechanism likely to underlie the widespread autonomic dysfunction in\\u000a LEMS. This review summarizes clinical studies characterizing the autonomic symptoms and

Sally A. Waterman

2001-01-01

482

Task analysis of autonomous on-road driving  

NASA Astrophysics Data System (ADS)

The Real-time Control System (RCS) Methodology has evolved over a number of years as a technique to capture task knowledge and organize it into a framework conducive to implementation in computer control systems. The fundamental premise of this methodology is that the present state of the task activities sets the context that identifies the requirements for all of the support processing. In particular, the task context at any time determines what is to be sensed in the world, what world model states are to be evaluated, which situations are to be analyzed, what plans should be invoked, and which behavior generation knowledge is to be accessed. This methodology concentrates on the task behaviors explored through scenario examples to define a task decomposition tree that clearly represents the branching of tasks into layers of simpler and simpler subtask activities. There is a named branching condition/situation identified for every fork of this task tree. These become the input conditions of the if-then rules of the knowledge set that define how the task is to respond to input state changes. Detailed analysis of each branching condition/situation is used to identify antecedent world states and these, in turn, are further analyzed to identify all of the entities, objects, and attributes that have to be sensed to determine if any of these world states exist. This paper explores the use of this 4D/RCS methodology in some detail for the particular task of autonomous on-road driving, which work was funded under the Defense Advanced Research Project Agency (DARPA) Mobile Autonomous Robot Software (MARS) effort (Doug Gage, Program Manager).

Barbera, Anthony J.; Horst, John A.; Schlenoff, Craig I.; Aha, David W.

2004-12-01

483