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NASA NTRS1990

AND/OR graph representation of assembly plans

A compact representation of all possible assembly plans of a product using AND/OR graphs is presented as a basis for efficient planning algorithms that allow an intelligent robot to pick a course of action according to instantaneous conditions. The AND/OR graph is equivalent to a state transition graph but requires fewer nodes and simplifies the search for feasible plans. Three applications are discussed: (1) the preselection of the best assembly plan, (2) the recovery from execution errors, and (3) the opportunistic scheduling of tasks. An example of an assembly with four parts illustrates the use of the AND/OR graph representation in assembly-plan preselection, based on the weighting of operations according to complexity of manipulation and stability of subassemblies. A hypothetical error situation is discussed to show how a bottom-up search of the AND/OR graph leads to an efficient recovery.

Homem De Mello, Luiz S.↗

NASA NTRS1990

Survival of pathogenic bacteria under nutrient starvation conditions

The survival of opportunistic pathogenic microorganisms in water, under nutrient-limiting conditions, has been investigated in order to ascertain whether human pathogens can survive within a water-distribution system of the kind proposed for the NASA Space Station. Cultures of a strain of pseudomonas aeruginosa and two strains of staphylococcus aureus were incubated at 10, 25, or 37 C, and samples at 1 day, 1 week, 1 month, and six weeks. While neither of the staphylococcus strains tested were detected after 1 week of starvation, the pseudomonas strain can survive in deionized water at all three temperatures.

Boyle, Michael↗

NASA NTRS1990

An endorsement-based approach to student modeling for planner-controlled intelligent tutoring systems

An approach is described to student modeling for intelligent tutoring systems based on an explicit representation of the tutor's beliefs about the student and the arguments for and against those beliefs (called endorsements). A lexicographic comparison of arguments, sorted according to evidence reliability, provides a principled means of determining those beliefs that are considered true, false, or uncertain. Each of these beliefs is ultimately justified by underlying assessment data. The endorsement-based approach to student modeling is particularly appropriate for tutors controlled by instructional planners. These tutors place greater demands on a student model than opportunistic tutors. Numerical calculi approaches are less well-suited because it is difficult to correctly assign numbers for evidence reliability and rule plausibility. It may also be difficult to interpret final results and provide suitable combining functions. When numeric measures of uncertainty are used, arbitrary numeric thresholds are often required for planning decisions. Such an approach is inappropriate when robust context-sensitive planning decisions must be made. A TMS-based implementation of the endorsement-based approach to student modeling is presented, this approach is compared to alternatives, and a project history is provided describing the evolution of this approach.

Murray, William R.↗

NASA NTRS1991

Balancing antagonistic time and resource utilization constraints in over-subscribed scheduling problems

In this paper, we report work aimed at applying concepts of constraint-based problem structuring and multi-perspective scheduling to an over-subscribed scheduling problem. Previous research has demonstrated the utility of these concepts as a means for effectively balancing conflicting objectives in constraint-relaxable scheduling problems, and our goal here is to provide evidence of their similar potential in the context of HST observation scheduling. To this end, we define and experimentally assess the performance of two time-bounded heuristic scheduling strategies in balancing the tradeoff between resource setup time minimization and satisfaction of absolute time constraints. The first strategy considered is motivated by dispatch-based manufacturing scheduling research, and employs a problem decomposition that concentrates local search on minimizing resource idle time due to setup activities. The second is motivated by research in opportunistic scheduling and advocates a problem decomposition that focuses attention on the goal activities that have the tightest temporal constraints. Analysis of experimental results gives evidence of differential superiority on the part of each strategy in different problem solving circumstances. A composite strategy based on recognition of characteristics of the current problem solving state is then defined and tested to illustrate the potential benefits of constraint-based problem structuring and multi-perspective scheduling in over-subscribe scheduling problems.

Smith, Stephen F.↗

NASA NTRS1993

Rapid susceptibility testing of mycobacterium avium complex and mycobacterium tuberculosis isolated from AIDS patients

In ominous projections issued by both U.S. Public Health Service and the World Health Organization, the epidemic of the Human Immunodeficiency Virus (HIV) infection will continue to rise more rapidly worldwide than predicted earlier. The Acquired Immunodeficiency Syndrome (AIDS) patients are susceptible to diseases called opportunistic infections of which tuberculosis and M. avium Complex (MAC) infection are most common. This has created an urgent need to uncover new drugs for the treatment of these infections. In the seventies, NASA scientists at Goddard Space Flight Center, Greenbelt, Maryland, had adopted a biochemical indicator, adenosine triphosphate (ATP), to detect presence of life in extraterrestrial space. Therefore, we proposed to develop ATP assay technique to determine sensitivity of antibacterial compounds against MAC and M. tuberculosis. The work was initiated in June 1992. In the last report, we described our efforts in developing ATP assay method using MAC. Studies were continued further, and during the period of this report, we established the relationship between colony forming units and ATP levels of these organisms during the growth cycle. Also, we evaluated the effects of standard antimycobacterial drugs using ATP assay technique and compared the results with those obtained with conventional tube dilution proportional method.

Dhople, Arvind M.↗

NASA NTRS1993

Cytokines and immune surveillance in humans

Sonnenfeld, Gerald↗

NASA NTRS1992

Altered immunological response in mice subjected to stress and exposed to fungal spores

Space flight and related factors such as stress appear to have an adverse effect on astronauts' immune systems. The presence of potentially pathogenic microbes including several genera of fungi reported from spacecraft environment may be a cause of concern in such situations. In order to study the role of such organisms in causing opportunistic or allergic diseases in crewmembers, we have tried to develop an animal model. BALB/c mice were suspended upside down for varying periods of time to induce stress, and their lymphocyte functions were evaluated. These studies indicate that the stress resulted in lowered mitogen induced lymphocyte stimulation as represented by 3H-thymidine uptake. We have also studied the ability of these animals to respond to Aspergillus fumigatus spores. The results of the study clearly demonstrate a definite down-regulation in T-cell proliferation and a higher incidence of infection with A. fumigatus.

Kurup, Viswanath P.↗

NASA NTRS1994

Cytokines and immune surveillance in humans

Evidence from both human and rodent studies has indicated that alterations in immunological parameters occur after space flight. Among the parameters shown, by us and others, to be affected is the production of interferons. Interferons are a family of cytokines that are antiviral and play a major role in regulating immune responses that control resistance to infection. Alterations in interferon and other cytokine production and activity could result in changes in immunity and a possible compromise of host defenses against both opportunistic and external infections. The purpose of the present study is to explore further the effects of space flight on cyotokines and cytokine-directed immunological function. Among the tests carried out are interferon-alpha production, interferon-gamma production, interleukin-1 and -2 production, signal transduction in neutrophils, signal transduction in monocytes, and monocyte phagocytic activity. The experiments will be performed using peripheral blood obtained from human subjects. It is our intent to eventually carry out these experiments using astronauts as subjects to determine the effects of space flight on cytokine production and activity. However, these subjects are not currently available. Until they become available, we will carry out these experiments using subjects maintained in the bed-rest model for microgravity.

Sonnenfeld, Gerald↗

NASA NTRS1994

Automated analysis of complex data

We have examined some of the issues involved in automating exploratory data analysis, in particular the tradeoff between control and opportunism. We have proposed an opportunistic planning solution for this tradeoff, and we have implemented a prototype, Igor, to test the approach. Our experience in developing Igor was surprisingly smooth. In contrast to earlier versions that relied on rule representation, it was straightforward to increment Igor's knowledge base without causing the search space to explode. The planning representation appears to be both general and powerful, with high level strategic knowledge provided by goals and plans, and the hooks for domain-specific knowledge are provided by monitors and focusing heuristics.

Saintamant, Robert↗

NASA NTRS1994

Rapid susceptibility testing of Mycobacterium avium complex and Mycobacterium tuberculosis isolated from AIDS patients

In ominous projections issued by both U.S. Public Health Service and the World Health Organization, the epidemic of HIV infection will continue to rise more rapidly worldwide than predicted earlier. The AIDS patients are susceptible to diseases called opportunistic infections of which tuberculosis and Mycobacterium avium complex (MAC) infection are most common. This has created an urgent need to uncover new drugs for the treatment of these infections. In the seventies, NASA scientists at Goddard Space Flight Center, Greenbelt, MD, had adopted a biochemical indicator, adenosine triphosphate (ATP), to detect presence of life in extraterrestrial space. We proposed to develop ATP assay technique to determine sensitivity of antibacterial compounds against MAC and M. tuberculosis.

Dhople, Arvind M.↗

NASA NTRS1994

High performance techniques for space mission scheduling

In this paper, we summarize current research at Carnegie Mellon University aimed at development of high performance techniques and tools for space mission scheduling. Similar to prior research in opportunistic scheduling, our approach assumes the use of dynamic analysis of problem constraints as a basis for heuristic focusing of problem solving search. This methodology, however, is grounded in representational assumptions more akin to those adopted in recent temporal planning research, and in a problem solving framework which similarly emphasizes constraint posting in an explicitly maintained solution constraint network. These more general representational assumptions are necessitated by the predominance of state-dependent constraints in space mission planning domains, and the consequent need to integrate resource allocation and plan synthesis processes. First, we review the space mission problems we have considered to date and indicate the results obtained in these application domains. Next, we summarize recent work in constraint posting scheduling procedures, which offer the promise of better future solutions to this class of problems.

Smith, Stephen F.↗

NASA NTRS1997

The Challenges of Field Testing the Traffic Management Advisor (TMA) in an Operational Air Traffic Control Facility

The Traffic Management Advisor (TMA), the sequence and schedule tool of the Center/TRACON Automation System (CTAS), was evaluated at the Fort Worth Center (ZFW) in the summer of 1996. This paper describes the challenges encountered during the various phases of the TMA field evaluation, which included system (hardware and software) installation, personnel training, and data collection. Operational procedures were developed and applied to the evaluation process that would ensure air safety. The five weeks of field evaluation imposed minimal impact on the hosting facility and provided valuable engineering and human factors data. The collection of data was very much an opportunistic affair, due to dynamic traffic conditions. One measure of the success of the TMA evaluation is that, rather than remove TMA after the evaluation until it could be fully implemented, the prototype TMA is in continual use at ZFW as the fully operational version is readied for implementation.

Hoang, Ty↗

NASA NTRS1999

Study Design to Test the Hypothesis That Long-Term Space Travel Harms the Human and Animal Immune Systems

The potential threat of immunosuppression and abnormal inflammatory responses in long-term space travel, leading to unusual predilection for opportunistic infections, malignancy, and death, is of ma or concern to the National Aeronautics and Space Administration (NASA) Program. This application has been devised to seek answers to questions of altered immunity in space travel raised by previous investigations spanning 30-plus years. We propose to do this with the help of knowledge gained by the discovery of the molecular basis of many primary and secondary immunodeficiency diseases and by application of molecular and genetic technology not previously available. Two areas of immunity that previously received little attention in space travel research will be emphasized: specific antibody responses and non-specific inflammation and adhesion. Both of these areas of research will not only add to the growing body of information on the potential effects of space travel on the immune system, but be able to delineate any functional alterations in systems important for antigen presentation, specific immune memory, and cell:cell and cell:endothelium interactions. By more precisely defining molecular dysfunction of components of the immune system, it is hoped that targeted methods of prevention of immune damage in space could be devised.

Shearer, William T.↗

NASA NTRS1997

Impact Crises, Mass Extinctions, and Galactic Dynamics: A Unified Theory

A general hypothesis linking mass extinctions of life with impacts of large asteroids and comets is based on astronomical data, impact dynamics, and geological information. The waiting times of large-body impacts on the Earth, derived from the flux of Earth-crossing asteroids and comets, and the estimated size of impacts capable of causing large-scale environmental disasters predict that impacts of objects (sup 3)5 km in diameter ((sup 3)10(exp 7) Mt TNT equivalent) could be sufficient to explain the record of about 25 extinction pulses in the last 540 m.y., with the five recorded major mass extinctions related to the impacts of the largest objects of (sup 3)10 km in diameter ( (sup 3)10(exp 8) Mt events). Smaller impacts (about 10(exp 6)-10(exp 7) Mt), with significant regional and even global environmental effects, could be responsible for the lesser boundaries in the geologic record. Tests of the "kill curve" relationship for impact-induced extinctions based on new data on extinction intensities and several well-dated large impact craters suggest that major mass extinctions require large impacts, and that a step in the kill curve may exist at impacts that produce craters of -100 km diameter, with smaller impacts capable of only relatively weak extinction pulses. Single impact craters < about 60 km in diameter should not be associated with global extinction pulses detectable in the Sepkoski database (although they may explain stage and zone boundaries marked by lesser faunal turnover), but multiple impacts in that size range may produce significant stepped extinction pulses. Statistical tests of the last occurrences of species at mass-extinction boundaries are generally consistent with predictions for abrupt or stepped extinctions, and several boundaries are known to show "catastrophic" signatures of environmental disasters and biomass crash, impoverished postextinction fauna and flora dominated by stress-tolerant and opportunistic species, and gradual ecological recovery and radiation of new taxa. Isotopic and other geochemical signatures are also generally consistent with the expected after-effects of catastrophic impacts. Seven of the recognized extinction pulses are associated with concurrent (in some cases multiple) stratigraphic impact markers (e.g., layers with high Ir, shocked minerals, microtektites), and/or large, dated impact craters. Other less-well-studied crisis intervals show elevated Ir, still well below that of the K/T spike, which might be explained by low-Ir impactors, ejecta blowoff, or the sedimentary reworking and dilution of impact signatures. The best explanation for a possible periodic component of about 30 m.y. in mass extinctions and clusters of impacts is the modulation of the comet flux associated with the solar system's periodic passage through the plane of the Milky Way Galaxy. The quantitative agreement among paleontological, geological, and astronomical data suggests an important underlying unification of the processes involved.

Rampino, M.R.↗

NASA NTRS2001

Findings from the X-33 Hydrogen Tank Failure Investigation

The X-33 Hydrogen tank failed during test in November of 1999 at MSFC. The tank completed the structural loading phase of the test successfully and was drained of hydrogen prior to the failure. The failure initiated in the acreage of Lobe 1 and was instantaneous, peeling the outer skin and core away from the inner skin. It was determined there were several factors that provided the opportunity for the tank to fail in this way. The factor giving life to these opportunistic circumstances was hydrogen infiltration into the core of the tank. The mechanism for this phenomenon will be discussed in this presentation.

Niedermeyer, Melinda↗

NASA NTRS1999

Autonomous Rovers for Mars Exploration

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin↗

NASA NTRS2003

Science Goal Driven Automation for NASA Missions: The Science Goal Monitor

Infusion of automation technologies into NASA s future missions will be essential not only to achieve substantial reduction in mission operations staff and costs, but also in order to both effectively handle an exponentially increasing volume of scientific data and to successfully meet dynamic, opportunistic scientific goals and objectives. Current spacecraft operations cannot respond to science driven events, such as intrinsically variable or short-lived phenomena in a timely manner. For such investigations, we must teach our platforms to dynamically understand, recognize, and react to the scientists goals. While much effort has gone into automating routine spacecraft operations to reduce human workload and hence costs, applying intelligent automation to the science side, i.e., science data acquisition, data analysis and reactions to that data analysis in a timely and still scientifically valid manner, has been relatively under-emphasized.

Korathkar, Anuradha↗

NASA NTRS2003

Toll-like receptor 4-positive macrophages protect mice from Pasteurella pneumotropica-induced pneumonia

This study investigates Toll-like receptor 4 (TLR4)-positive macrophages in early recognition and clearance of pulmonary bacteria. TLR4 is a trans-membrane receptor that is the primary recognition molecule for lipopolysaccharide of gram-negative bacteria. The TLR4(Lps-del) mouse strains C57BL10/ScN (B10) and STOCK Abb(tm1) TLR4(Lps-del) Slc11a1(s)(B10 x C2D) are susceptible to pulmonary infections and develop pneumonia when naturally or experimentally infected by the opportunistic bacterium Pasteurella pneumotropica. Since these mice have the TLR4(Lps-del) genotype, we hypothesized that reconstitution of mice with TLR4-positive macrophages would provide resistance to this bacterium. A cultured macrophage cell line (C2D macrophages) and bone marrow cells from C2D mice were adoptively transferred to B10 and B10 x C2D mice by intraperitoneal injection. C2D macrophages increased B10 and B10 x C2D mouse resistance to P. pneumotropica. In C2D-recipient mice there was earlier transcription of tumor necrosis factor alpha and chemokines JE and macrophage inflammatory protein 2 (MIP-2) in the lungs of B10 and B10 x C2D mice, and there was earlier transcription of KC and MIP-1alpha in B10 x C2D mice. In addition, the course of inflammation following experimental Pasteurella challenge was altered in C2D recipients. C2D macrophages also protected B10 x C2D mice, which lack CD4(+) T cells. These data indicate that macrophages are critical for pulmonary immunity and can provide host resistance to P. pneumotropica. This study indicates that TLR4-positive macrophages are important for early recognition and clearance of pulmonary bacterial infections.

Non-NASA Center↗