A Study of Qualitative and Geometric Knowledge in Reasoning about Motion

Reasoning about motion is an important part of our commonsense knowledge, involving fluent spatial reasoning. This work studies the qualitative and geometric knowledge required to reason in a world that consists of balls moving through space constrained by collisions with surfaces, including dissipative forces and multiple moving objects. An analog geometry representation serves the program as a diagram, allowing many spatial questions to be answered by numeric calculation. It also provides the foundation for the construction and use of place vocabulary, the symbolic descriptions of space required to do qualitative reasoning about motion in the domain. The actual motion of a ball is described as a network consisting of descriptions of qualitatively distinct types of motion. Implementing the elements of these networks in a constraint language allows the same elements to be used for both analysis and simulation of motion. A qualitative description of the actual motion is also used to check the consistency of assumptions about motion. A process of qualitative simulation is used to describe the kinds of motion possible from some state. The ambiguity inherent in such a description can be reduced by assumptions about physical properties of the ball or assumptions about its motion. Each assumption directly rules out some kinds of motion, but other knowledge is required to determine the indirect consequences of making these assumptions. Some of this knowledge is domain dependent and relies heavily on spatial descriptions.

Minimizing Residual Vibrations in Flexible Systems

Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator.

Heuristics for Job-Shop Scheduling

Two methods of obtaining approximate solutions to the classic General Job-shop Scheduling Program are investigated. The first method is iterative. A sampling of the solution space is used to decide which of a collection of space pruning constraints are consistent with "good" schedules. The selected space pruning constraints are then used to reduce the search space and the sampling is repeated. This approach can be used either to verify whether some set of space pruning constraints can prune with discrimination or to generate solutions directly. Schedules can be represented as trajectories through a Cartesian space. Under the objective criteria of Minimum maximum Lateness family of "good" schedules (trajectories) are geometric neighbors (reside with some "tube") in this space. This second method of generating solutions takes advantage of this adjacency by pruning the space from the outside in thus converging gradually upon this "tube." One the average this methods significantly outperforms an array of the Priority Dispatch rules when the object criteria is that of Minimum Maximum Lateness. It also compares favorably with a recent relaxation procedure.