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Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2016年第8期13卷 316-328页

作者： Burroughes, Guy Gao, Yang Univ Surrey Surrey Space Ctr Surrey Technol Autonomous Syst & Robot STAR Lab Guildford GU2 7XH Surrey England

Certain limitations exist in autonomous software and guidance, navigation, and control architectures developed for extraterrestrial planetary exploration rovers in regard to fault tolerance, changes in environment, and changes in rover capabilities. To address these limitations, this paper outlines a self-reconfiguring guidance, navigation, and control architecture, using an ontology-based rational agent to enable autonomous reconfiguration of mission goals, software architecture, software components, and the control of hardware components during the run time. This new architecture was evaluated through implementation onboard a rover and tested in challenging, Mars-like environments, both simulated and real world, and was found to be highly reliable, fault tolerant, and adaptable.

关键词： Planetary Rovers Service Oriented Architectures Planetary Exploration Fault Tolerance Robots Ground Station Simultaneous Localization and Mapping Fault Detection, Isolation, and Recovery application programming interface Feature Detection

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Flight Object Sharing Capability Using Blockchain

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2020年第10期17卷 581-590页

作者： Thomson, Duncan Bodie, Steven R. Bryson, David E. Luc, Timothy S. Korb, Joel G. Mitre Corp T8C1 Aviat Commun 7525 Colshire Dr Mclean VA 22102 USA Mitre Corp T851 Agile Engn & Innovat 7525 Colshire Dr Mclean VA 22102 USA Mitre Corp T831 Cognit Sci & Artificial Intelligence 7525 Colshire Dr Mclean VA 22102 USA

This paper describes a concept and a prototype for sharing flight information using blockchain technology. Providing all stakeholders access to complete, consistent, and up-to-date information about each flight facilitates efficient aviation operations. Existing flight information exchange methods are limited;the concept of a "flight object" that provides a complete solution for all stakeholders has yet to be realized. A complete solution requires either a centrally administered data store, which is unsuitable for an international context, or a distributed ledger. Distributed ledgers are at the heart of blockchain technology, which makes this technology a good match for implementing the flight object. The authors have proven it is possible to provide a complete flight object solution using blockchain technology by demonstrating a prototype based on Tendermint: an open-source blockchain implementation. The demonstrated solution offers additional benefits like strong integrity guarantees and role-based update permissions enforcement. Prototype performance indicates a production implementation is likely to provide sufficient speed and capacity to support global aviation operations for flight planning negotiation, as well as possible future concepts such as trajectory-based operations and international flow management. The paper's conclusion discusses steps necessary for the flight object sharing capability to be adopted as the basis for a real-world international aviation solution.

关键词： System Wide Information Management Department of Transportation Flight Operation Data Store International Civil Aviation Organization application programming interface Collaborative Decision Making Extensible Markup Language Airspace Graphical User interface

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Surface Mesh Movement Algorithm for Computer-Aided-Design-Based Aerodynamic Shape Optimization

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AIAA JOURNAL 2016年第2期54卷 542-556页

作者： Truong, Anh H. Zingg, David W. Haimes, Robert Univ Toronto Inst Aerosp Studies 4925 Dufferin Street Toronto ON M3H 5T6 Canada Univ Toronto JA Bombardier Fdn Chair Aerosp Flight 4925 Dufferin Street Toronto ON M3H 5T6 Canada Univ Toronto Computat Aerodynam & Environmentally Friendly Air Inst Aerosp Studies 4925 Dufferin Street Toronto ON M3H 5T6 Canada MIT 77 Massachusetts Ave Cambridge MA 02139 USA

This paper focuses on the development of a surface mesh movement algorithm suitable for computer-aided-design-based aerodynamic shape optimization. The algorithm interrogates the computer-aided-design system via the vendor-neutral application programming interface Computational Analysis programming interface and uses the Computational Analysis programming interface's watertight triangulation of a modified computer-aided-design geometry to guide the movement of the structured surface mesh as the geometry changes during the optimization process. A mapping procedure is introduced that not only preserves the characteristics of the original surface mesh but also guarantees that the new mesh points are on the computer-aided-design geometry. The deformed surface mesh is then smoothed in the parametric space before it is transformed back into three-dimensional space. The procedure is efficient, in that all the processing is done in the parametric space, incurring minimal computational cost. The mesh movement tool is integrated into a three-dimensional shape-optimization framework, with a linear-elasticity volume-mesh movement algorithm, a Newton-Krylov flow solver for the Euler equations, and a discrete-adjoint gradient-based optimizer. The accuracy of the computed gradients is verified through a number of examples.

关键词： Aerodynamic Shape Optimization Computer Aided Design application programming interface Shape Optimization Linear Elasticity Euler Equations Angle of Attack Multidisciplinary Design Optimization Sequential Quadratic programming Mesh Parameterization

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DPAC: An object-oriented distributed and parallel computing framework for manufacturing applications

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 2002年第4期18卷 431-443页

作者： Raghavan, NRS Waghmare, T Indian Inst Sci Bangalore 560012 Karnataka India Microsoft India Dev Ctr Hyderabad 500033 Andhra Pradesh India

Parallel and distributed computing infrastructure are increasingly being embraced in the context of manufacturing applications, including real-time scheduling. In this paper, we present the design and implementation of one such framework that can work on the Internet, with applications in manufacturing. The architecture, aliased as DPAC (Distributed and Parallel Computing framework), has the goal of harnessing the Internet's vast, growing computational capacity for ultra-large, coarse-grained parallel applications. The idea is to bring together diverse, heterogeneous, geographically distributed computing environments in order to attack large-scale computing problems. We present a scalable and fault-tolerant architecture in DPAC and the results of running performance experiments. DPAC is implemented on the interoperable, increasingly secure, and ubiquitous platform, viz, Java. The unique feature of DPAC is that it frees application developers from concerns about complex interprocess communication and fault tolerance among Internet-worked hosts and supports piecework and branch-and-bound computational models. We describe an implementation and present case studies showing the effectiveness in solving complex combinatorial optimization problems in the context of manufacturing systems.

关键词： application programming interface distributed computing fault tolerance large-scale computing manufacturing automation

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Enterprise wide application integration platform for CIMS implementation

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JOURNAL OF INTELLIGENT MANUFACTURING 1999年第6期10卷 587-601页

作者： Fan, YS Shi, W Wu, C Tsing Hua Univ Dept Automat Beijing 100084 Peoples R China

Adoption of CIMS in manufacturing enterprises requires more advanced tools for application integration. This paper presents the system architecture and services of an integration platform, CIMS application Integration Platform for Manufacturing Enterprises (MACIP). MACIP integrates a set of application software and application development tools to provide a complete system for CIMS implementation. It includes a communication system, a global information system, three domain application sub-integration platforms, an Internet interface and an operation management and control system. It is based on the Client/Server structure, and employs the object-oriented paradigm and agent technology. System openness, scalability and maintenance are ensured by conforming to international standards and by using effective system design software and management tools. MACIP can significantly reduce the complexity of CIMS implementation.

关键词： integration platform CIMS system architecture object-oriented technology application programming interface

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Long-Range Pose Estimation for Aerial Refueling Approaches Using Deep Neural Networks

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2020年第11期17卷 634-646页

作者： Lee, Andrew Dallmann, Will Nykl, Scott Taylor, Clark Borghetti, Brett US Air Force Inst Technol AFIT ENG 2950 Hobson Way Wright Patterson AFB OH 45433 USA US Air Force Inst Technol AFIT ENG Comp Sci 2950 Hobson Way Wright Patterson AFB OH 45433 USA

Automated aerial refueling (AAR) provides unique challenges for computer vision systems. Aerial refueling maneuvers require high-precision low-variance pose estimates. The performance of two stereoscopic (stereo) vision systems is quantified in ground tests specially designed to mimic AAR. In this experiment, three-dimensional (3-D) pose-estimation errors of 6 cm on a target 30 m from the current vision system are achieved. Next, a novel computer vision pipeline to efficiently generate a 3-D point cloud of the target object using stereo vision that leverages a convolutional neural network (CNN) is proposed. Using the proposed approach, a high-fidelity 3-D point cloud with ultra-high-resolution imagery 11.3 times faster than previous approaches can be generated.

关键词： Automated Aerial Refueling Convolutional Neural Network Computer Vision GPS Image Segmentation Graphics Processing Unit Kalman Filter Flight Testing IMU application programming interface

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Model Predictive Path Integral Control: From Theory to Parallel Computation

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2017年第2期40卷 344-357页

作者： Williams, Grady Aldrich, Andrew Theodorou, Evangelos A. Georgia Inst Technol Autonomous Control & Decis Syst Lab Sch Interact Comp Atlanta GA 30332 USA Georgia Inst Technol Daniel Guggenheim Sch Aerosp Engn Autonomous Control & Decis Syst Lab Atlanta GA 30332 USA

In this paper, a model predictive path integral control algorithm based on a generalized importance sampling scheme is developed and parallel optimization via sampling is performed using a graphics processing unit. The proposed generalized importance sampling scheme allows for changes in the drift and diffusion terms of stochastic diffusion processes and plays a significant role in the performance of the model predictive control algorithm. The proposed algorithm is compared in simulation with a model predictive control version of differential dynamic programming on nonlinear systems. Finally, the proposed algorithm is applied on multiple vehicles for the task of navigating through a cluttered environment. The current simulations illustrate the efficiency and robustness of the proposed approach and demonstrate the advantages of computational frameworks that incorporate concepts from statistical physics, control theory, and parallelization against more traditional approaches of optimal control theory.

关键词： Stochastic Optimal Control Hamilton Jacobi Bellman (HJB) Equations Graphics Processing Unit Nonlinear Systems Quadrotor Iterative Algorithm Probability Density Functions Nonlinear Dynamics application programming interface Feedback Control

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A lightweight, flow-based toolkit for parallel and distributed bioinformatics pipelines

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BMC BIOINFORMATICS 2011年第1期12卷 1-11页

作者： Cieslik, Marcin Mura, Cameron Univ Virginia Dept Chem Charlottesville VA 22904 USA Univ Virginia Hlth Sci Charlottesville VA 22908 USA

Background: Bioinformatic analyses typically proceed as chains of data-processing tasks. A pipeline, or 'workflow', is a well-defined protocol, with a specific structure defined by the topology of data-flow interdependencies, and a particular functionality arising from the data transformations applied at each step. In computer science, the dataflow programming (DFP) paradigm defines software systems constructed in this manner, as networks of message-passing components. Thus, bioinformatic workflows can be naturally mapped onto DFP concepts. Results: To enable the flexible creation and execution of bioinformatics dataflows, we have written a modular framework for parallel pipelines in Python ('PaPy'). A PaPy workflow is created from re-usable components connected by data-pipes into a directed acyclic graph, which together define nested higher-order map functions. The successive functional transformations of input data are evaluated on flexibly pooled compute resources, either local or remote. Input items are processed in batches of adjustable size, all flowing one to tune the trade-off between parallelism and lazy-evaluation (memory consumption). An add-on module ('NuBio') facilitates the creation of bioinformatics workflows by providing domain specific data-containers (e.g., for biomolecular sequences, alignments, structures) and functionality (e.g., to parse/write standard file formats). Conclusions: PaPy offers a modular framework for the creation and deployment of parallel and distributed data-processing workflows. Pipelines derive their functionality from user-written, data-coupled components, so PaPy also can be viewed as a lightweight toolkit for extensible, flow-based bioinformatics data-processing. The simplicity and flexibility of distributed PaPy pipelines may help users bridge the gap between traditional desktop/workstation and grid computing. PaPy is freely distributed as open-source Python code at http://***/PaPy, and includes extensive document

关键词： Data Item application programming interface Processing Node Worker Instance Dataflow programming

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The External interface for Extending WASP

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THEORY AND PRACTICE OF LOGIC programming 2020年第2期20卷 225-248页

作者： Dodaro, Carmine Ricca, Francesco Univ Genoa DIBRIS Genoa Italy Univ Calabria DEMACS Arcavacata Di Rende Italy

Answer set programming (ASP) is a successful declarative formalism for knowledge representation and reasoning. The evaluation of ASP programs is nowadays based on the conflict-driven clause learning (CDCL) backtracking search algorithm. Recent work suggested that the performance of CDCL-based implementations can be considerably improved on specific benchmarks by extending their solving capabilities with custom heuristics and propagators. However, embedding such algorithms into existing systems requires expert knowledge of the internals of ASP implementations. The development of effective solver extensions can be made easier by providing suitable programming interfaces. In this paper, we present the interface for extending the CDCL-based ASP solver wasp. The interface is bothgeneral, that is, it can be used for providing either new branching heuristics or propagators, andexternal, that is, the implementation of new algorithms requires no internal modifications of wasp. Moreover, we review the applications of the interface witnessing it can be successfully used to extend wasp for solving effectively hard instances of both real-world and synthetic problems.

关键词： knowledge representation and reasoning answer set programming application programming interface propagators choice heuristics

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Disaggregation Method for an Aggregate Traffic Flow Management Model

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2010年第3期33卷 666-676页

作者： Sun, Dengfeng Sridhar, Banavar Grabbet, Shon Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN 47907 USA NASA Ames Res Ctr Moffett Field CA 94035 USA

A linear time-varying aggregate traffic flow model can be used to develop traffic flow management strategies using optimization algorithms. However, there are few methods available in the literature to translate these aggregate solutions into practical control actions involving individual aircraft. In this paper, a computationally efficient disaggregation algorithm is proposed by employing a series of linear program and mixed integer linear program methods, which converts an aggregate (flow-based) solution to a flight-specific control action. Numerical results generated by the optimization method and the disaggregation algorithm are presented and illustrated by applying them to generate traffic flow management schedules for a typical day in the U.S. National Airspace System.

关键词： Enhanced Traffic Management System National Airspace System application programming interface Linear programming Airspace Flight Planning Center TRACON Automation System Linux Operating System Aeroplane Mixed Integer Linear programming

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