Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system

Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems

Acting on Their Own Behalf: Affiliation and Political Mobilization among Homeless People

Homeless people have been portrayed in the literature as passive, isolated, and unable to act on their own behalf. The authors discuss the findings of an ethnographic study of homeless activists which challenge the stereotypical view of homeless people as disaffiliated and disempowered. Collective social action was found to have a long term impact on access to material resources, development of social networks, and construction of positive homeless identity

Natural Variability in Acyl Moieties of Sugar Esters Produced by Certain Tobacco and Other Solanaceae Species

A unique feature of glandular trichomes of plants in the botanical family Solanaceae is that they produce sugar esters (SE), chemicals that have been shown to possess insecticidal, antifungal, and antibacterial properties. Sugar esters of tobacco (Nicotiana tabacum) provide pest resistance, and are important flavor precursors in oriental tobacco cultivars. Acyl moieties of SEs in Nicotiana spp., petunia, and tomato are shown to vary with respect to carbon length and isomer structure (2–12 carbon chain length; anteiso-, iso-, and straight-chain). Sugar esters and their acyl groups could serve as a model to explore the basis of phenotypic diversity and adaptation to natural and agricultural environments. However, information on the diversity of acyl composition among species, cultivars, and accessions is lacking. Herein, described is the analysis of SE acyl groups found in 21 accessions of Nicotiana obtusifolia (desert tobacco), six of Nicotiana occidentalis subsp. hesperis, three of Nicotiana alata, two of N. occidentalis, four modern tobacco cultivars, five petunia hybrids, and one accession each of a primitive potato (Solanum berthaultii) and tomato (Solanum pennellii). A total of 20 different acyl groups was observed that were represented differently among cultivars, species, and accessions. In Nicotiana species, acetate and iso- and anteiso-branched acids prevailed. Straight-chain groups (2–8 carbons) were prominent in petunias, while octanoic acid was prominent in N. alata and N. × sanderae. Two unexpected acyl groups, 8-methyl nonanoate and decanoate were found in N. occidentalis subsp. hesperis. Longer chain groups were found in the petunia, tomato, and potato species studied

Energy Management of the Multi-Mission Space Exploration Vehicle Using a Goal-Oriented Control System

Safe human exploration in space missions requires careful management of limited resources such as breathable air and stored electrical energy. Daily activities for astronauts must be carefully planned with respect to such resources, and usage must be monitored as activities proceed to ensure that they can be completed while maintaining safe resource margins. Such planning and monitoring can be complex because they depend on models of resource usage, the activities being planned, and uncertainties. This paper describes a system - and the technology behind it - for energy management of the NASA-Johnson Space Center's Multi-Mission Space Exploration Vehicles (SEV), that provides, in an onboard advisory mode, situational awareness to astronauts and real-time guidance to mission operators. This new capability was evaluated during this year's Desert RATS (Research and Technology Studies) planetary exploration analog test in Arizona. This software aided ground operators and crew members in modifying the day s activities based on the real-time execution of the plan and on energy data received from the rovers

Predicting Foot Positions for Manual Materials Handling Tasks

Copyright © 2005 SAE International For many industrial tasks (push, pull, lift, carry, etc.), restrictions on grip locations and visibility constrain the hand and head positions and help to define feasible postures. In contrast, often the foot locations are minimally constrained and an ergonomics analyst can choose several different stances in selecting a posture to analyze. Also, because stance can be a critical determinant of a biomechanical assessment of the work posture, the lack of a valid method for placing the feet of a manikin with respect to the task compromises the accuracy of the analysis. To address this issue, foot locations and orientations were captured in a laboratory study of sagittal plane and asymmetric manual load transfers. A pilot study with four volunteers of varying anthropometry approached a load located on one of three shelves and transferred the load to one of six shelves. The data illustrate foot placements and behaviors that depend on pickup heights, the use of one or two hands to grasp the object, and the participantsʼ body dimensions. Two distinct pickup and delivery strategies were observed. Split stance, with one foot in front of the other, was markedly more frequent than parallel stance with the feet side by side. A statistical model was developed to predict foot placements at load pickup. This study confirms the importance of this topic and provides the basis for the much more comprehensive study that is now underway

An Accounting Program Merit Pay Survey

Basing the compensation of accounting professors on merit pay in order to encourage better teaching, research and service is controversial. Before the effectiveness of merit-based salary plans can be examined empirically, it must be determined which accounting programs use such a system. In this study, the 852 accounting programs in the United States were surveyed to identify the methods in use to adjust the salaries of individual professors. Initial findings indicate that schools using a merit system usually do not also offer time in grade increases and that doctoral granting schools and AACSB accredited schools are more likely to use a merit system. &nbsp