Adaptive servo control for umbilical mating

Robotic applications at Kennedy Space Center are unique and in many cases require the fime positioning of heavy loads in dynamic environments. Performing such operations is beyond the capabilities of an off-the-shelf industrial robot. Therefore Robotics Applications Development Laboratory at Kennedy Space Center has put together an integrated system that coordinates state of the art robotic system providing an excellent easy to use testbed for NASA sensor integration experiments. This paper reviews the ways of improving the dynamic response of the robot operating under force feedback with varying dynamic internal perturbations in order to provide continuous stable operations under variable load conditions. The goal is to improve the stability of the system with force feedback using the adaptive control feature of existing system over a wide range of random motions. The effect of load variations on the dynamics and the transfer function (order or values of the parameters) of the system has been investigated, more accurate models of the system have been determined and analyzed

Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics

On the control aspect of laser frequency stabilization

Realization of frequency stable lasers is viewed as key to progress in many areas of research; therefore, the search for more effective techniques of frequency stabilization has intensified significantly in recent years. Investigating and validating the fundamental linewidth and frequency stability limits of a Nd:YAG laser oscillator, locked to a high finesse reference cavity in the microgravity and vibration-free environment of space, is the objective of a NASA project called SUNLITE at LaRC. The objective of this paper is to further investigate the application of feedback control theory in active frequency control as a frequency stabilization technique and determine the most appropriate control strategy to be used in general and particularly in the SUNLITE Project

Improvement in the control aspect of laser frequency stabilization for SUNLITE project

Flight Electronics Division of Langley Research Center is developing a spaceflight experiment called the Stanford University and NASA Laser In-Space Technology (SUNLITE). The objective of the project is to explore the fundamental limits on frequency stability using an FM laser locking technique on a Nd:YAG non-planar ring (free-running linewidth of 5 KHz) oscillator in the vibration free, microgravity environment of space. Compact and automated actively stabilized terahertz laser oscillators will operate in space with an expected linewidth of less than 3 Hz. To implement and verify this experiment, NASA engineers have designed and built a state of the art, space qualified high speed data acquisition system for measuring the linewidth and stability limits of a laser oscillator. In order to achieve greater stability and better performance, an active frequency control scheme requiring the use of a feedback control loop has been applied. In the summer of 1991, the application of control theory in active frequency control as a frequency stabilization technique was investigated. The results and findings were presented in 1992 at the American Control Conference in Chicago, and have been published in Conference Proceedings. The main focus was to seek further improvement in the overall performance of the system by replacing the analogue controller by a digital algorithm

Towards multi-criteria cloud service selection

Cloud computing despite being in an early stage of adoption is becoming a popular choice for businesses to replace in-house IT infrastructure due to its technological advantages such as elastic computing and cost benefits resulting from pay-as-you-go pricing and economy of scale. These factors have led to a rapid increase in both the number of cloud vendors and services on offer. Given that cloud services could be characterized using multiple criteria (cost, pricing policy, performance etc.) it is important to have a methodology for selecting cloud services based on multiple criteria. Additionally, the end user requirements might map to different criteria of the cloud services. This diversity in services and the number of available options have complicated the process of service and vendor selection for prospective cloud users and there is a need for a comprehensive methodology for cloud service selection. The existing research literature in cloud service selection is mostly concerned with comparison between similar services based on cost or performance benchmarks. In this paper we discuss and formalize the issue of cloud service selection in general and propose a multi-criteria cloud service selection methodology

Policy Explanation and Model Refinement in Decision-Theoretic Planning

Decision-theoretic systems, such as Markov Decision Processes (MDPs), are used for sequential decision-making under uncertainty. MDPs provide a generic framework that can be applied in various domains to compute optimal policies. This thesis presents techniques that offer explanations of optimal policies for MDPs and then refine decision theoretic models (Bayesian networks and MDPs) based on feedback from experts. Explaining policies for sequential decision-making problems is difficult due to the presence of stochastic effects, multiple possibly competing objectives and long-range effects of actions. However, explanations are needed to assist experts in validating that the policy is correct and to help users in developing trust in the choices recommended by the policy. A set of domain-independent templates to justify a policy recommendation is presented along with a process to identify the minimum possible number of templates that need to be populated to completely justify the policy. The rejection of an explanation by a domain expert indicates a deficiency in the model which led to the generation of the rejected policy. Techniques to refine the model parameters such that the optimal policy calculated using the refined parameters would conform with the expert feedback are presented in this thesis. The expert feedback is translated into constraints on the model parameters that are used during refinement. These constraints are non-convex for both Bayesian networks and MDPs. For Bayesian networks, the refinement approach is based on Gibbs sampling and stochastic hill climbing, and it learns a model that obeys expert constraints. For MDPs, the parameter space is partitioned such that alternating linear optimization can be applied to learn model parameters that lead to a policy in accordance with expert feedback. In practice, the state space of MDPs can often be very large, which can be an issue for real-world problems. Factored MDPs are often used to deal with this issue. In Factored MDPs, state variables represent the state space and dynamic Bayesian networks model the transition functions. This helps to avoid the exponential growth in the state space associated with large and complex problems. The approaches for explanation and refinement presented in this thesis are also extended for the factored case to demonstrate their use in real-world applications. The domains of course advising to undergraduate students, assisted hand-washing for people with dementia and diagnostics for manufacturing are used to present empirical evaluations

Making Personal Digital Assistants Aware of What They Do Not Know

Abstract Personal digital assistants (PDAs) are spoken (and typed) dialog systems that are expected to assist users without being constrained to a particular domain. Typically, it is possible to construct deep multi-domain dialog systems focused on a narrow set of head domains. For the long tail (or when the speech recognition is not correct) the PDA does not know what to do. Two common fallback approaches are to either acknowledge its limitation or show web search results. Either approach can severely undermine the user's trust in the PDA's intelligence if invoked at the wrong time. In this paper, we propose features that are helpful in predicting the right fallback response. We then use these features to construct dialog policies such that the PDA is able to correctly decide between invoking web search or acknowledging its limitation. We evaluate these dialog policies on real user logs gathered from a PDA, deployed to millions of users, using both offline (judged) and online (user-click) metrics. We demonstrate that our hybrid dialog policy significantly increases the accuracy of choosing the correct response, measured by analyzing click-rate in logs, and also enhances user satisfaction, measured by human evaluations of the replayed experience

Integrating Summarization and Retrieval for Enhanced Personalization via Large Language Models

Personalization, the ability to tailor a system to individual users, is an essential factor in user experience with natural language processing (NLP) systems. With the emergence of Large Language Models (LLMs), a key question is how to leverage these models to better personalize user experiences. To personalize a language model's output, a straightforward approach is to incorporate past user data into the language model prompt, but this approach can result in lengthy inputs exceeding limitations on input length and incurring latency and cost issues. Existing approaches tackle such challenges by selectively extracting relevant user data (i.e. selective retrieval) to construct a prompt for downstream tasks. However, retrieval-based methods are limited by potential information loss, lack of more profound user understanding, and cold-start challenges. To overcome these limitations, we propose a novel summary-augmented approach by extending retrieval-augmented personalization with task-aware user summaries generated by LLMs. The summaries can be generated and stored offline, enabling real-world systems with runtime constraints like voice assistants to leverage the power of LLMs. Experiments show our method with 75% less of retrieved user data is on-par or outperforms retrieval augmentation on most tasks in the LaMP personalization benchmark. We demonstrate that offline summarization via LLMs and runtime retrieval enables better performance for personalization on a range of tasks under practical constraints.Comment: 4 pages, International Workshop on Personalized Generative AI (@CIKM 2023

Improving the Resilience of Wireless Sensor Networks Against Security Threats: A Survey and Open Research Issues

Wireless Sensor Network (WSN) technology has gained importance in recent years due to its various benefits, practicability and extensive utilization in diverse applications. The innovation helps to make real-time automation, monitoring, detecting and tracking much easier and more effective than previous technologies. However, as well as their benefits and enormous potential, WSNs are vulnerable to cyber-attacks. This paper is a systematic literature review of the security-related threats and vulnerabilities in WSNs. We review the safety of and threats to each WSN communication layer and then highlight the importance of trust and reputation, and the features related to these, to address the safety vulnerabilities. Finally, we highlight the open research areas which need to be addressed in WSNs to increase their flexibility against security threats

Efficacy of Green Cerium Oxide Nanoparticles for Potential Therapeutic Applications : Circumstantial Insight on Mechanistic Aspects

© 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).Green synthesized cerium oxide nanoparticles (GS-CeO 2 NPs) have a unique size, shape, and biofunctional properties and are decorated with potential biocompatible agents to perform various therapeutic actions, such as antimicrobial, anticancer, antidiabetic, and antioxidant effects and drug delivery, by acquiring various mechanistic approaches at the molecular level. In this review article, we provide a detailed overview of some of these critical mechanisms, including DNA fragmentation, disruption of the electron transport chain, degradation of chromosomal assemblage, mitochondrial damage, inhibition of ATP synthase activity, inhibition of enzyme catalytic sites, disorganization, disruption, and lipid peroxidation of the cell membrane, and inhibition of various cellular pathways. This review article also provides up-to-date information about the future applications of GS-CeONPs to make breakthroughs in medical sectors for the advancement and precision of medicine and to effectively inform the disease diagnosis and treatment strategies.Peer reviewe