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A Cognitive Resource Management Framework for Autonomous Ground Vehicle Sensing

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A Cognitive Resource Management Framework for Autonomous Ground Vehicle Sensing A COGNITIVE RESOURCE MANAGEMENT FRAMEWORK FOR AUTONOMOUS GROUND VEHICLE SENSING By GREGORY A. GARCIA A DISSERTATION PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY UNIVERSITY OF FLORIDA 2010 © 2010 Gregory Anthony Garcia 2 To Rachael, Gregorio, Miriam, and Rosemarie 3 ACKNOWLEDGMENTS I would like to start by thanking my family for their continued support over these last nine years as I have pursued both undergraduate and graduate degrees while attending the University of Florida. They have encouraged me to strive for the very best, and they have always led by example. I thank my wife Rachael for her patience and understanding, for putting everything on- hold so I could further my education. She was my source of motivation when the tasks seemed most daunting. She is my biggest fan and best friend. I would also like to express my gratitude to Dr. Carl Crane for inspiring me to pursue a career in robotics and for affording me all the opportunities I have received while being a graduate student at the Center for Intelligent Machines and Robotics. His guidance has helped me navigate my way through my undergraduate and graduate education. Similarly, I would like to thank my committee members, Dr. Antonio Arroyo, Dr. Douglas Dankel, Dr. John Schueller, and Dr. Gloria Wiens for their valuable guidance over the years. This research would not have been possible without the support of the Air Force Research Laboratory at Tyndall Air Force Base in Panama City, Florida. I offer a sincere thank you to their staff for allowing me to work on-site in collaboration with them over the years. Lastly, I would like to thank my co-workers whom I am proud to call my friends. As colleagues you have been a source of knowledge from which I have learned a great deal; more importantly, as friends we have shared experiences and created memories which I will never forget. I thank them for transforming the work days into memorable days. 4 TABLE OF CONTENTS page ACKNOWLEDGMENTS ...............................................................................................................4 LIST OF TABLES ...........................................................................................................................8 LIST OF FIGURES .........................................................................................................................9 LIST OF OBJECTS .......................................................................................................................13 LIST OF ABBREVIATIONS ........................................................................................................14 ABSTRACT ...................................................................................................................................17 CHAPTER 1 INTRODUCTION ..................................................................................................................19 Background .............................................................................................................................19 Focus .......................................................................................................................................23 Problem Statement ..................................................................................................................25 Motivation ...............................................................................................................................26 Statement of Purpose ..............................................................................................................30 Research Solution ...................................................................................................................30 2 REVIEW OF LITERATURE .................................................................................................33 Standards Compatibility .........................................................................................................33 JAUS Reference Architecture .........................................................................................33 SAE AS-4 ........................................................................................................................35 STANAG 4586 ................................................................................................................36 NIST 4D/RCS ..................................................................................................................37 ISO 11783 ........................................................................................................................39 APF ..................................................................................................................................40 Resource Management in Computer Science .........................................................................43 GRIDS .............................................................................................................................43 Service Availability Forum and Distributed Object Based Programming Systems ........48 Resource Management within Business/ Operations Research ..............................................49 Scheduling Theory ...........................................................................................................49 Human Oriented Solutions ..............................................................................................51 Computer Based Solutions and Decision Support Systems ............................................53 Robotics Related Resource Management Approaches ...........................................................56 Architectures ....................................................................................................................57 Control/Management Approaches ...................................................................................60 Resource Modeling ..........................................................................................................63 5 3 THE COGNITIVE RESOURCE MANAGEMENT FRAMEWORK ...................................78 Framework Architecture and Representation Scheme ...........................................................78 Resource Virtualization ...................................................................................................79 Framework Architecture ..................................................................................................80 Resource Object ...............................................................................................................81 Job Request ......................................................................................................................84 Meta-Knowledge .............................................................................................................86 Resource Analyst .............................................................................................................87 Application Analyst .........................................................................................................89 Resource Appraiser Analyst ............................................................................................90 Diagnostician/Systemizer Analyst ...................................................................................91 Communicator Analyst ....................................................................................................92 Plant Engineer .................................................................................................................93 Concept of Operation ..............................................................................................................96 Operational Setting ..........................................................................................................96 Framework Environment .................................................................................................97 Information Transmission ...............................................................................................98 Reasoning Mechanism .....................................................................................................99 Control Strategy .............................................................................................................100 Framework Tools ..................................................................................................................102 Terminology ..................................................................................................................102 Knowledge Representation Tools ..................................................................................103 Resource Attribute Definition Worksheet ..............................................................103 Job Request Attribute Definition Worksheet .........................................................104 Meta-Knowledge Element Definition Worksheet ..................................................105 Framework Component Tools .......................................................................................105 Resource Description Overview Worksheet ..........................................................105 Job Request Definition Worksheet .........................................................................106 Resource Appraiser Analyst Performance Monitoring Worksheet ........................106
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