NASA Scientific and Technical Aerospace Reports

perceptual-motor sequences is described. The utility of such an algorithm in robotics applications lies in its potential to
adaptively order gross and fine motor actions under sensory control.
DTIC
Adaptive Control; Robotics; Sequencing
20040073659 California State Univ., Fresno, CA
Feature Maps Based Weight Vectors for Spatiotemporal Pattern Recognition With Neural Nets
Yen, Matthew M.; Blackburn, Michael R.; Nguyen, Hoa G.; Jan. 1990; 8 pp.; In English
Report No.(s): AD-A422543; No Copyright; Avail: CASI; A02, Hardcopy
A neural network algorithm is used to generate the spatial pattern classes for Spatiotemporal Pattern Recognition (SPR).
This algorithm is known as Kohonen Feature Maps. Training vectors are presented to the network one at a time. The
connection strength between the input and output nodes are adaptively updated. The adaptation process is associated with a
decay of the adaptation rate as well as a shrinkage of the neighborhood for updating. The final values of connection strength
represent the centroid of clusters of training patterns. The algorithm was tested with hypothetical data as well as hydrophone
data. Functional forms and constants for the decay and the shrinkage were empirically determined. The algorithm performs
well with broadband data than with narrow band data. Also the algorithm works better with smaller number of pattern classes.
DTIC
Neural Nets; Pattern Recognition
20040073661 Naval Ocean Systems Center, San Diego, CA
Current Technical Research Issues of Autonomous Robots Employed in Combat
Harmon, S. Y.; Gage, D. W.; Sep. 1984; 6 pp.; In English
Report No.(s): AD-A422546; No Copyright; Avail: CASI; A02, Hardcopy
The recent upsurge in interest in autonomous robots for combat applications has focused considerable attention on several
of the obvious technical issues (e.g. target recognition, autonomous navigation, route planning) . However, several technical
issues exist which remain unapproached and, in some cases, even unacknowledged by the robotics community. This paper
explores three such issues: (1) robot fault tolerance, (2) robot security and (3) multi-robot coordination. These issues are
discussed in terms of the technology limitations and the research issues associated with those limitations. A common message
which occurs several times during this discussion denotes the importance in modular implementation and well defined
interfaces between subsystems in the development of autonomous combat robots.
DTIC
Autonomy; Combat; Robots
20040073681 Space and Naval Warfare Systems Center, San Diego, CA
Current Thrusts in Ground Robotics: Programs, Systems, Technologies, Issues
Gage, Douglas W.; Mar. 2000; 43 pp.; In English; Original contains color illustrations
Report No.(s): AD-A422580; No Copyright; Avail: CASI; A03, Hardcopy
Presentation of current military research in the application of ground robotics.
DTIC
Military Technology; Research and Development; Robotics; Thrust
20040073682 Space and Naval Warfare Systems Center, San Diego, CA
If Our Robots Are So Smart, Why Aren’t We All Rich? (The Challenges of Integrating Autonomous Robots)
Gage, Douglas W.; Nov. 1999; 43 pp.; In English; Original contains color illustrations
Report No.(s): AD-A422581; No Copyright; Avail: CASI; A03, Hardcopy
Presentation of military research efforts into the development and applications of robotic systems.
DTIC
Autonomy; Military Technology; Research and Development; Robotics; Robots
20040073753 Michigan State Univ., East Lansing, MI
Reconfigurable and Adaptable Micro-Robots
Tummala, R. L.; Mukherjee, R.; Xi, N.; Aslam, D.; Mahadevan, S.; Apr. 2004; 55 pp.; In English
Contract(s)/Grant(s): DAAN02-98-C-4025
Report No.(s): AD-A422677; NATICK/RDEC-TR-04/012; No Copyright; Avail: CASI; A04, Hardcopy
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