Laboratory testing of candidate robotic applications for space

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized

Investigation of refracting flows for acoustic suppression

An experimental investigation to determine the possibility of using refracting flows for the suppression of aircraft inlet noise is described. Observations of wave refraction in duct flows and measurements of the increase in effectiveness of acoustic linings due to refraction have suggested methods for the design of engine inlet ducts which can either suppress noise internally or direct it to where it causes less annoyance

Foundation: Transforming data bases into knowledge bases

One approach to transforming information stored in relational data bases into knowledge based representations and back again is described. This system, called Foundation, allows knowledge bases to take advantage of vast amounts of pre-existing data. A benefit of this approach is inspection, and even population, of data bases through an intelligent knowledge-based front-end

Methodology for testing and validating knowledge bases

A test and validation toolset developed for artificial intelligence programs is described. The basic premises of this method are: (1) knowledge bases have a strongly declarative character and represent mostly structural information about different domains, (2) the conditions for integrity, consistency, and correctness can be transformed into structural properties of knowledge bases, and (3) structural information and structural properties can be uniformly represented by graphs and checked by graph algorithms. The interactive test and validation environment have been implemented on a SUN workstation

Design Knowledge Capture: Preserving Engineering Knowledge For Future Applications

A new problem beginning to challenge the artificial intelligence community is design knowledge capture. There has been an increased desire to construct systems with inherent built-in evolvability toward more advanced technologies and machine intelligence. Success in this evolution process depends on being able to capture as-built design knowledge from the outset. Requirements and objectives for such systems are reviewed and an application to capture design knowledge within a combined data and knowledge environment is presented. Design knowledge and rationale are implemented as design objects. Knowledge represented within an object can be physical, conceptual, functional, or structural. Storage and retrieval of rationale is achieved through a network of design objects and a model of the design process. The context, as well as the content, of captured knowledge is described within the process network of requirements, trades, and analyses. Design knowledge applications include, for example, traceability to requirements, standards, and specifications. It can be used to describe attributes of a part, or for input to further analyses, and trade studies. Other uses include verification, simulation, and maintenance activities

Phenolic compounds profiling in zero-tannin and tannin-containing lentil seeds

Non-Peer Reviewe

Graphical explanation in an expert system for Space Station Freedom rack integration

The rationale and methodology used to incorporate graphics into explanations provided by an expert system for Space Station Freedom rack integration is examined. The rack integration task is typical of a class of constraint satisfaction problems for large programs where expertise from several areas is required. Graphically oriented approaches are used to explain the conclusions made by the system, the knowledge base content, and even at more abstract levels the control strategies employed by the system. The implemented architecture combines hypermedia and inference engine capabilities. The advantages of this architecture include: closer integration of user interface, explanation system, and knowledge base; the ability to embed links to deeper knowledge underlying the compiled knowledge used in the knowledge base; and allowing for more direct control of explanation depth and duration by the user. The graphical techniques employed range from simple statis presentation of schematics to dynamic creation of a series of pictures presented motion picture style. User models control the type, amount, and order of information presented

Modeling Checkpoint-Based Movement with the Earth Mover's Distance

Movement data comes in various forms, including trajectory data and checkpoint data. While trajectories give detailed information about the movement of individual entities, checkpoint data in its simplest form does not give identities, just counts at checkpoints. However, checkpoint data is of increasing interest since it is readily available due to privacy reasons and as a by-product of other data collection. In this paper we propose to use the Earth Mover’s Distance as a versatile tool to reconstruct individual movements or flow based on checkpoint counts at different times. We analyze the modeling possibilities and provide experiments that validate model predictions, based on coarse-grained aggregations of data about actual movements of couriers in London, UK. While we cannot expect to reconstruct precise individual movements from highly granular checkpoint data, the evaluation does show that the approach can generate meaningful estimates of object movements. B. Speckmann and K. Verbeek are supported by the Netherlands Organisation for Scientific Research (NWO) under project nos. 639.023.208 and 639.021.541, respectively. This paper arose from work initiated at Dagstuhl seminar 12512 “Representation, analysis and visualization of moving objects”, December 2012. The authors gratefully acknowledge Schloss Dagstuhl for their support

Extracting stability increases the SNP heritability of emotional problems in young people

Twin studies have shown that emotional problems (anxiety and depression) in childhood and adolescence are moderately heritable (~20–50%). In contrast, DNA-based ‘SNP heritability’ estimates are generally <15% and non-significant. One notable feature of emotional problems is that they can be somewhat transient, but the moderate stability seen across time and across raters is predominantly influenced by stable genetic influences. This suggests that by capturing what is in common across time and across raters, we might be more likely to tap into any underlying genetic vulnerability. We therefore hypothesised that a phenotype capturing the pervasive stability of emotional problems would show higher heritability. We fitted single-factor latent trait models using 12 emotional problems measures across ages 7, 12 and 16, rated by parents, teachers and children themselves in the Twins Early Development Study sample. Twin and SNP heritability estimates for stable emotional problems (N = 6110 pairs and 6110 unrelated individuals, respectively) were compared to those for individual measures. Twin heritability increased from 45% on average for individual measures to 76% (se = 0.023) by focusing on stable trait variance. SNP heritability rose from 5% on average (n.s.) to 14% (se = 0.049; p = 0.002). Heritability was also higher for stable within-rater composites. Polygenic scores for both adult anxiety and depression significantly explained variance in stable emotional problems (0.4%; p = 0.0001). The variance explained was more than in most individual measures. Stable emotional problems also showed significant genetic correlation with adult depression and anxiety (average = 52%). These results demonstrate the value of examining stable emotional problems in gene-finding and prediction studies