A parallel expert system for the control of a robotic air vehicle

Expert systems can be used to govern the intelligent control of vehicles, for example the Robotic Air Vehicle (RAV). Due to the nature of the RAV system the associated expert system needs to perform in a demanding real-time environment. The use of a parallel processing capability to support the associated expert system's computational requirement is critical in this application. Thus, algorithms for parallel real-time expert systems must be designed, analyzed, and synthesized. The design process incorporates a consideration of the rule-set/face-set size along with representation issues. These issues are looked at in reference to information movement and various inference mechanisms. Also examined is the process involved with transporting the RAV expert system functions from the TI Explorer, where they are implemented in the Automated Reasoning Tool (ART), to the iPSC Hypercube, where the system is synthesized using Concurrent Common LISP (CCLISP). The transformation process for the ART to CCLISP conversion is described. The performance characteristics of the parallel implementation of these expert systems on the iPSC Hypercube are compared to the TI Explorer implementation

A LISP-Ada connection

The prototype demonstrates the feasibility of using Ada for expert systems and the implementation of an expert-friendly interface which supports knowledge entry. In the Ford LISP-Ada Connection (FLAC) system LISP and Ada are used in ways which complement their respective capabilities. Future investigation will concentrate on the enhancement of the expert knowledge entry/debugging interface and on the issues associated with multitasking and real-time expert systems implementation in Ada

DeMAID: A Design Manager's Aide for Intelligent Decomposition user's guide

A design problem is viewed as a complex system divisible into modules. Before the design of a complex system can begin, the couplings among modules and the presence of iterative loops is determined. This is important because the design manager must know how to group the modules into subsystems and how to assign subsystems to design teams so that changes in one subsystem will have predictable effects on other subsystems. Determining these subsystems is not an easy, straightforward process and often important couplings are overlooked. Moreover, the planning task must be repeated as new information become available or as the design specifications change. The purpose of this research is to develop a knowledge-based tool called the Design Manager's Aide for Intelligent Decomposition (DeMAID) to act as an intelligent advisor for the design manager. DeMaid identifies the subsystems of a complex design problem, orders them into a well-structured format, and marks the couplings among the subsystems to facilitate the use of multilevel tools. DeMAID also provides the design manager with the capability of examining the trade-offs between sequential and parallel processing. This type of approach could lead to a substantial savings or organizing and displaying a complex problem as a sequence of subsystems easily divisible among design teams. This report serves as a User's Guide for the program

Modular Design of Adaptive Analog CMOS Fuzzy Controller Chips

Analog circuits are natural candidates to design fuzzy chips with optimum speed/power figures for precision up to about 1%. This paper presents a methodology and circuit blocks to realize fuzzy controllers in the form of analog CMOS chips. These chips can be made to adapt their function through electrical control. The proposed design methodology emphasizes modularity and simplicity at the circuit level -- prerequisites to increasing processor complexity and operation speed. The paper include measurements from a silicon prototype of a fuzzy controller chip in CMOS 1.5μm single-poly technology

A distributed agent architecture for real-time knowledge-based systems: Real-time expert systems project, phase 1

We propose a distributed agent architecture (DAA) that can support a variety of paradigms based on both traditional real-time computing and artificial intelligence. DAA consists of distributed agents that are classified into two categories: reactive and cognitive. Reactive agents can be implemented directly in Ada to meet hard real-time requirements and be deployed on on-board embedded processors. A traditional real-time computing methodology under consideration is the rate monotonic theory that can guarantee schedulability based on analytical methods. AI techniques under consideration for reactive agents are approximate or anytime reasoning that can be implemented using Bayesian belief networks as in Guardian. Cognitive agents are traditional expert systems that can be implemented in ART-Ada to meet soft real-time requirements. During the initial design of cognitive agents, it is critical to consider the migration path that would allow initial deployment on ground-based workstations with eventual deployment on on-board processors. ART-Ada technology enables this migration while Lisp-based technologies make it difficult if not impossible. In addition to reactive and cognitive agents, a meta-level agent would be needed to coordinate multiple agents and to provide meta-level control

Spacecraft attitude control using a smart control system

Traditionally, spacecraft attitude control has been implemented using control loops written in native code for a space hardened processor. The Naval Research Lab has taken this approach during the development of the Attitude Control Electronics (ACE) package. After the system was developed and delivered, NRL decided to explore alternate technologies to accomplish this same task more efficiently. The approach taken by NRL was to implement the ACE control loops using systems technologies. The purpose of this effort was to: (1) research capabilities required of an expert system in processing a classic closed-loop control algorithm; (2) research the development environment required to design and test an embedded expert systems environment; (3) research the complexity of design and development of expert systems versus a conventional approach; and (4) test the resulting systems against the flight acceptance test software for both response and accuracy. Two expert systems were selected to implement the control loops. Criteria used for the selection of the expert systems included that they had to run in both embedded systems and ground based environments. Using two different expert systems allowed a comparison of the real-time capabilities, inferencing capabilities, and the ground-based development environment. The two expert systems chosen for the evaluation were Spacecraft Command Language (SCL), and NEXTPERT Object. SCL is a smart control system produced for the NRL by Interface and Control Systems (ICS). SCL was developed to be used for real-time command, control, and monitoring of a new generation of spacecraft. NEXPERT Object is a commercially available product developed by Neuron Data. Results of the effort were evaluated using the ACE test bed. The ACE test bed had been developed and used to test the original flight hardware and software using simulators and flight-like interfaces. The test bed was used for testing the expert systems in a 'near-flight' environment. The technical approach, the system architecture, the development environments, knowledge base development, and results of this effort are detailed

Deploying expert systems in Ada

As the Department of Defense Ada mandate begins to be enforced actively, interest in deploying expert systems in Ada has increased. A prototype Ada based expert system tool is introduced called ART/Ada. This prototype was built to support research into the language and operational issues of expert systems in Ada. ART/Ada allows applications of a conventional expert system tool called ART-IM (Automated Reasoning Tool for Information Management) to be deployed in various Ada environments with efficient use of time and space. ART-IM, a C-based expert system tool, is used to generate Ada source code which is compiled and linked with an Ada base inference engine to produce an Ada executable image. ART/Ada will be used to implement several prototype expert systems for the Space Station Freedom Program testbeds