Agent independent task planning

Agent-Independent Planning is a technique that allows the construction of activity plans without regard to the agent that will perform them. Once generated, a plan is then validated and translated into instructions for a particular agent, whether a robot, crewmember, or software-based control system. Because Space Station Freedom (SSF) is planned for orbital operations for approximately thirty years, it will almost certainly experience numerous enhancements and upgrades, including upgrades in robotic manipulators. Agent-Independent Planning provides the capability to construct plans for SSF operations, independent of specific robotic systems, by combining techniques of object oriented modeling, nonlinear planning and temporal logic. Since a plan is validated using the physical and functional models of a particular agent, new robotic systems can be developed and integrated with existing operations in a robust manner. This technique also provides the capability to generate plans for crewmembers with varying skill levels, and later apply these same plans to more sophisticated robotic manipulators made available by evolutions in technology

Architecture for spacecraft operations planning

A system which generates plans for the dynamic environment of space operations is discussed. This system synthesizes plans by combining known operations under a set of physical, functional, and temperal constraints from various plan entities, which are modeled independently but combine in a flexible manner to suit dynamic planning needs. This independence allows the generation of a single plan source which can be compiled and applied to a variety of agents. The architecture blends elements of temperal logic, nonlinear planning, and object oriented constraint modeling to achieve its flexibility. This system was applied to the domain of the Intravehicular Activity (IVA) maintenance and repair aboard Space Station Freedom testbed

User modeling techniques for enhanced usability of OPSMODEL operations simulation software

The PC based OPSMODEL operations software for modeling and simulation of space station crew activities supports engineering and cost analyses and operations planning. Using top-down modeling, the level of detail required in the data base can be limited to being commensurate with the results required of any particular analysis. To perform a simulation, a resource environment consisting of locations, crew definition, equipment, and consumables is first defined. Activities to be simulated are then defined as operations and scheduled as desired. These operations are defined within a 1000 level priority structure. The simulation on OPSMODEL, then, consists of the following: user defined, user scheduled operations executing within an environment of user defined resource and priority constraints. Techniques for prioritizing operations to realistically model a representative daily scenario of on-orbit space station crew activities are discussed. The large number of priority levels allows priorities to be assigned commensurate with the detail necessary for a given simulation. Several techniques for realistic modeling of day-to-day work carryover are also addressed

Strong coprimality and strong irreducibility of Alexander polynomials

A polynomial f(t) with rational coefficients is strongly irreducible if f(t^k) is irreducible for all positive integers k. Likewise, two polynomials f and g are strongly coprime if f(t^k) and g(t^l) are relatively prime for all positive integers k and l. We provide some sufficient conditions for strong irreducibility and prove that the Alexander polynomials of twist knots are pairwise strongly coprime and that most of them are strongly irreducible. We apply these results to describe the structure of the subgroup of the rational knot concordance group generated by the twist knots and to provide an explicit set of knots which represent linearly independent elements deep in the solvable filtration of the knot concordance group.Comment: 16 pages, 6 figure

Exploring January Term

An inside look at three courses offered on the McMinnville Campus during January Term: Monks and Mystics, Scriptwriting, and Physics of Art and Music