NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
An expert system for planning and scheduling in a telerobotic environmentA knowledge based approach to assigning tasks to multi-agents working cooperatively in jobs that require a telerobot in the loop was developed. The generality of the approach allows for such a concept to be applied in a nonteleoperational domain. The planning architecture known as the task oriented planner (TOP) uses the principle of flow mechanism and the concept of planning by deliberation to preserve and use knowledge about a particular task. The TOP is an open ended architecture developed with a NEXPERT expert system shell and its knowledge organization allows for indirect consultation at various levels of task abstraction. Considering that a telerobot operates in a hostile and nonstructured environment, task scheduling should respond to environmental changes. A general heuristic was developed for scheduling jobs with the TOP system. The technique is not to optimize a given scheduling criterion as in classical job and/or flow shop problems. For a teleoperation job schedule, criteria are situation dependent. A criterion selection is fuzzily embedded in the task-skill matrix computation. However, goal achievement with minimum expected risk to the human operator is emphasized.
Document ID
19910018562
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Ntuen, Celestine A.
(North Carolina Agricultural and Technical State Univ. Greensboro, NC, United States)
Park, Eui H.
(North Carolina Agricultural and Technical State Univ. Greensboro, NC, United States)
Date Acquired
September 6, 2013
Publication Date
June 1, 1991
Subject Category
Cybernetics
Report/Patent Number
NAS 1.26:188648
NASA-CR-188648
Accession Number
91N27876
Funding Number(s)
CONTRACT_GRANT: NAG1-763
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
No Preview Available