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NASA NTRSDate not supplied

Multi-Agent Search and Rescue Applied to a Swarm of Ground Vehicles

This paper presents an algorithm for efficient search and rescue using a multi-agent system of vehicles. The algorithm uses an artificial potential field combined with a time-varying reward function for visiting various points within the search area. The reward function is used as a weight for the attractiveness of these points in the potential field. The reward value increases while the point is not being observed, and decreases while the point is observed. Collision avoidance terms are used to repel vehicles from each other, which has the additional effect of reducing duplication of searching efforts. Gradient descent of the potential field results in persistent surveillance of the search area. The algorithm generates position commands in real-time based on communication with the other vehicles. This framework allows vehicles to react in a dynamic environment, which is a significant advantage to simply following a-priori defined trajectories. The algorithm is applied to a swarm of ground robots, and experimental data is presented showing that the swarm effectively searches the entire area and self-allocates search regions to individual vehicles.

multi-agent↗

NASA NTRS2005

Consequences of cardiovascular adaptation to spaceflight: implications for the use of pharmacological countermeasures

There is little evidence obtained from space flight to support the notion that occurrence of cardiac dysrhythmias, impaired cardiac and vascular function, and manifestation of asymptomatic cardiovascular disease represent serious risks during space flight. Therefore, the development of orthostatic hypotension and instability immediately after return from spaceflight probably reflect the most significant operational risks associated with the cardiovascular system of astronauts. Significant reductions in stroke volume and lower reserve for increasing peripheral vascular resistance contribute to ineffective maintenance of systemic arterial blood pressure during standing after spaceflight despite compensatory elevations in heart rate. The primary mechanism underlying reduced stroke volume appears to be a reduction in preload associated with less circulating blood volume while inadequate peripheral vasoconstriction may be caused partly by hyporeactivity of receptors that control arterial smooth muscle function. A focus for development of future countermeasures for hemodynamic responses to central hypovolemia includes the potential application of pharmacological agents that specifically target and restore blood volume (e.g., fludrocortisone, electrolyte-containing beverages) and reserve for vasoconstriction (e.g., midodrine, vasopressin). Based on systematic evaluations, acute physical exercise designed to elicit maximal effort or inspiratory resistance have shown promise as successful countermeasures that provide protection against development of orthostatic hypotension and intolerance without potential risks and side effects associated with specific pharmacological interventions.

Non-NASA Center↗

NASA NTRS2018

Dynamical Response of Mediterranean Precipitation to Greenhouse Gases and Aerosols

Atmospheric aerosols and greenhouse gases affect cloud properties, radiative balance and, thus, the hydrological cycle. Observations show that precipitation has decreased in the Mediterranean since the beginning of the 20th century, and many studies have investigated possible mechanisms. So far, however, the effects of aerosol forcing on Mediterranean precipitation remain largely unknown. Here we compare the modeled dynamical response of Mediterranean precipitation to individual forcing agents in a set of global climate models (GCMs). Our analyses show that both greenhouse gases and aerosols can cause drying in the Mediterranean and that precipitation is more sensitive to black carbon (BC) forcing than to well-mixed greenhouse gases (WMGHGs) or sulfate aerosol. In addition to local heating, BC appears to reduce precipitation by causing an enhanced positive sea level pressure (SLP) pattern similar to the North Atlantic Oscillation-Arctic Oscillation, characterized by higher SLP at midlatitudes and lower SLP at high latitudes. WMGHGs cause a similar SLP change, and both are associated with a northward diversion of the jet stream and storm tracks, reducing precipitation in the Mediterranean while increasing precipitation in northern Europe. Though the applied forcings were much larger, if forcings are scaled to those of the historical period of 1901-2010, roughly one-third (31+/-17%) of the precipitation decrease would be attributable to global BC forcing with the remainder largely attributable to WMGHGs, whereas global scattering sulfate aerosols would have negligible impacts. Aerosol-cloud interactions appear to have minimal impacts on Mediterranean precipitation in these models, at least in part because many simulations did not fully include such processes; these merit further study. The findings from this study suggest that future BC and WMGHG emissions may significantly affect regional water resources, agricultural practices, ecosystems and the economy in the Mediterranean region.

Tang, Tao↗

NASA NTRS2019

Mitigation of Silver Ion Loss from Solution by Polymer Coating of Metal Surfaces

Spacecraft potable water systems require a biocidal agent that effectively provides both immediate and residual disinfection over long periods of time. Ionic silver (Ag+) is a leading candidate for this application, but suffers from rapid concentration loss due interactions with the metal storage containers and tubing. In order to maintain biocidal efficacy in systems with long periods of dormancy and to reduce the required rate of Ag+ injection, it is necessary to develop alternative materials and coatings for certified metal alloys that significantly reduce the Ag+ loss. In this work, we investigate the performance of two unusual polymers, Teflon AF 2400 and parylene-AF4, as barrier coatings under immersion in 400 ppb Ag+. We show that 25 m-thick parylene-AF4 is a promising coating with Ag+ losses similar to PTFE. Key challenges with this material include maintenance of adhesion under long-term immersion and control of deposition during the internal coating of high-aspect ratio tubing. Solutions to these problems may including surface structuring of substrates for mechanical anchoring or an alternative parylene-C chemistry (with more stable adhesion), and dynamic spatio-temporal control of substrate temperature, respectively.

water↗

NASA NTRS2020

Mitigation of Silver Ion Loss from Solution by Polymer Coating of Metal Surfaces, Part II

Silver↗

NASA NTRSDate not supplied

Mitigation of Silver Ion Loss from Solution by Polymer Coating of Metal Surfaces, Part IV

“Spacecraft potable water systems require a biocidal agent that effectively provides both immediate and residual disinfection over long periods of time. Ionic silver (Ag+) is a leading candidate for this application, but suffers from rapid concentration loss due to interactions with the metallic storage containers and tubing. In order to maintain biocidal efficacy in systems with long periods of dormancy and to reduce the required rate of Ag+ injection, it is necessary to develop alternative materials and coatings for certified metal alloys that significantly reduce the Ag+ loss.” In previous reports, we have described our investigations addressing Ag+ loss mitigation and adhesion performance of parylene barrier coatings on coupons of several metal alloys and 316L tubing under static immersion. In such conditions, parylene-C and AF4 coatings have shown excellent Ag+ loss mitigation performance, and mixed long-term adhesion performance, depending on parylene species and substrate surface chemistry/structure. In Part IV of this series, we begin to address the performance of parylene-C barrier coatings under more challenging and realistic conditions, in order to evaluate potential suitability in flight systems. Using two testbeds, we characterized coating performance under dynamic mechanical operation. In the Flow/Pressure Testbed System, Ag+ solution is pumped through internally coated 316L tubing, with optional pressure cycling. In the Bellows Tank Testbed System, an internally coated edge-welded 316L bellows containing Ag+ solution is cyclically extended and compressed, analogous to the operation of bellows tanks used for potable water storage and delivery on the International Space Station. Periodic determinations of Ag+ loss with testbed cycling/time and visual observation of the parylene-C coatings were conducted. In addition, we characterized parylene-C coating resilience and Ag+ loss with 316L tubing and multiple fitting types under long-term immersion and repeated fitting dis/reassembly.

Lance Dean Delzeit↗

NASA NTRS1990

Additives to reduce susceptibility of thermosets and thermoplastics to erosion from atomic oxygen

Polymeric materials have many attractive features such as light weight, high strength, and broad applicability in the form of films, fibers, and molded objects. In low earth orbit (LEO), these materials, when exposed on the exterior of the spacecraft, have the serious disadvantage of being susceptible to erosion by atomic oxygen (AO). AO is the most common chemical species at LEO altitudes. AO can be an extremely efficient oxidizing agent as was apparent from the extensive erosion of organic films exposed in STS missions. The mechanism for erosion involves the reaction of oxygen atoms at the surface of the substrate to form small molecular species. The susceptibility of polymeric materials varies with their chemical composition. Films with silicon atoms incorporated in the molecular structures have large coefficients of thermal expansion. This limits their utility. In an alternative approach additives were sought that mix physically and form a protective oxide layer when the film is exposed to AO. A large number of organic compounds containing silicon, germanium, or tin atoms were screened. Most were found to have very limited solubility in the polyetherimide (Ultem) films that were being protected from AO. However, one, bis(triphenyl tin) oxide, (BTO), is miscible in Ultem up to about 25 percent. Films of Ultem polyimide containing up to 25 wt percent BTO were prepared by evaporation of solvent from a solution of Ultem and BTO. The effects of AO on these films were simulated in the oxygen atmosphere of a radio frequency glow-discharge chamber. In the second part of this study, atoms were incorporated in epoxy resins. Experiments are in progress to measure the resistance of films of the cured epoxy to AO in the discharge chamber.

Orwoll, Robert A.↗

NASA NTRS2016

Nanochanneled Device and Related Methods

A nanochannel delivery device and method of manufacturing and use. The nanochannel delivery device comprises an inlet, an outlet, and a nanochannel. The nanochannel may be oriented parallel to the primary plane of the nanochannel delivery device. The inlet and outlet may be in direct fluid communication with the nanochannel. Considerable advances have been made in the field oftherapeutic agent (e.g. drug) delivery technology over thelast three decades, resulting in many breakthroughs in clinicalmedicine. The creation of therapeutic agent deliverydevices that are capable of delivering therapeutic agents incontrolled ways is still a challenge. One of the majorrequirements for an implantable drug delivery device iscontrolled release of therapeutic agents, ranging from smalldrug molecules to larger biological molecules. It is particularlydesirable to achieve a continuous passive drug releaseprofile consistent with zero order kinetics whereby theconcentration of drug in the bloodstream remains constantthroughout an extended delivery period.These devices have the potential to improve therapeuticefficacy, diminish potentially life-threatening side effects,improve patient compliance, minimize the intervention ofhealthcare personnel, reduce the duration of hospital stays,and decrease the diversion of regulated drugs to abusiveuses.Nanochannel delivery devices may be used in drug deliveryproducts for the effective administration of drugs. Inaddition, nanochannel delivery devices can be used in otherapplications where controlled release of a substance overtime is needed. Embodiments of this invention comprise a nanochanneldelivery device having nanochannels within a structureconfigured to yield high mechanical strength and high flowrates. Various fabrication protocols may be used to form thenanochannel delivery device. Embodiments of the fabricateddevices feature horizontal nanochannel lay-out (e.g., thenanochannel is parallel to the primary plane of the device),high molecule transport rate, high mechanical strength,optional multilayered lay-out, amenability to select channellining materials, and possible transparent top cover. Basedon silicon microfabrication technology, the dimensions ofthe nanochannel area as well as concomitant microchannelareas can be precisely controlled, thus providing a predictable,reliable, constant release rate of drug (or other) moleculesover an extended time period. In certain embodiments,the nanochannel delivery device can be used to builda multilayered nanochannel structure.

Ferrari, Mauro↗

NASA NTRS2017

Measuring the Effectiveness of Human Autonomy Teaming

Human-Automation Teaming (HAT), is now recognized as a promising solution to the problems of humans managing increasingly complex work systems. A human-automation team can be defined as the interdependent coupling between one or more human operators and one or more autonomous systems requiring collaboration and coordination to accomplish system and task goals (e.g., Langan-Fox et al., 2009). In this conception, automated agents are considered team members that can operate at various levels of automation, be focused on one or more human-information-processing stages, and the interactions with human operators may be adaptable, adjustable or mixed initiative. We investigated some metrics for assessing HAT effectiveness in a demonstration of a HAT tool used by ground station operators in a Reduced Crew Operations project that was conducted at NASA Ames Human Automation Teaming Laboratory. In this paper, we focus on operator metrics of HAT effectiveness, specifically workload and operator behaviors.

measurements↗

NASA NTRS1987

Experimental geochemistry of Pu and Sm and the thermodynamics of trace element partitioning

An experimental study of the partitioning of Pu and Sm between diopside/liquid and whitlockite/liquid supports the hypothesis that Pu behaves as a light rare earth element during igneous processes in reducing environments. D-Pu/D-Sm is found to be about 2 for both diopsidic pyroxene and whitlockite, and the amount of fractionation would be decreased further if Pu were compared to Ce or Nd. Data indicate that temperature, rather than melt composition, is the most important control on elemental partitioning, and that P2O5 in aluminosilicate melts serves as a complexing agent for the actinides and lanthanides.

Jones, John H.↗

NASA NTRS2003

Method for the control of NOx emissions in long-range space travel

The wheat straw, an inedible biomass that can be continuously produced in a space vehicle has been used to produce activated carbon for effective control of NOx emissions from the incineration of wastes. The optimal carbonization temperature of wheat straw was found to be around 600 degrees C when a burnoff of 67% was observed. The BET surface area of the activated carbon produced from the wheat straw reached as high as 300 m2/g. The presence of oxygen in flue gas is essential for effective adsorption of NO by activated carbon. On the contrary, water vapor inhibits the adsorption efficiency of NO. Consequently, water vapor in flue gas should be removed by drying agents before adsorption to ensure high NO adsorption efficiency. All of the NO in the flue gas was removed for more than 2 h by the activated carbons when 10% oxygen was present and the ratio of carbon weight to the flue gas flow rate (W/F) was 30 g min/L, with a contact time of 10.2 s. All of NO was reduced to N2 by the activated carbon at 450 degrees C with a W/F ratio of 15 g min/L and a contact time of 5.1 s. Reduction of the adsorbed NO also regenerated the activated carbon, and the regenerated activated carbon exhibited an improved NO adsorption efficiency. However, the reduction of the adsorbed NO resulted in a loss of carbon which was determined to be about 0.99% of the activated carbon per cycle of regeneration. The sufficiency of the amount of wheat straw in providing the activated carbon based on a six-person crew, such as the mission planned for Mars, has been determined. This novel approach for the control of NOx emissions is sustainable in a closed system such as the case in space travel. It is simple to operate and is functional under microgravity environment.

NASA Discipline Life Support Systems↗

NASA NTRS2020

Optimal Multi-Agent Search and Rescue Using Potential Field Theory

This paper presents an algorithm for efficient search and rescue using a multi-agent system of vehicles. The algorithm uses an artificial potential field combined with a time-varying reward function for visiting various points within the search area. The reward function is used to weight the attractiveness of these points in the potential field, and collision avoidance terms are used to repel vehicles from each other, which has the additional effect of reducing duplication of searching efforts. The algorithm generates velocity commands in real-time based on communication with the other vehicles. This framework allows vehicles to react in a dynamic environment, which is a significant advantage to simply following a-priori defined trajectories. Simulation results are presented to demonstrate the ability of the algorithm to cover the search area effectively. The algorithm is also compared to an exhaustive lawn-mower search pattern. This comparison is done via a Monte Carlo simulation with randomized target initial conditions and trajectories. The time to find the target improved by 16 and 30% in the mean and median, respectively. Additionally, this paper presents a method for analyzing the upper bound for time to find a target under the potential field guidance algorithm assuming a radially expanding search area.

John R Cooper↗

NASA NTRS1990

Douglas flight deck design philosophy

The systems experience gained from 17 years of DC-10 operation was used during the design of the MD-11 to automate system operation and reduce crew workload. All functions, from preflight to shutdown at the termination of flight, require little input from the crew. The MD-11 aircraft systems are monitored for proper operation by the Aircraft Systems Controllers (ASC). In most cases, system reconfiguration as a result of a malfunction is automated. Manual input is required for irreversible actions such as engine shutdown, fuel dump, fire agent discharge, or Integrated Drive Generator (IDG) disconnect. During normal operations, when the cockpit is configured for flight, all annunciators on the overhead panel will be extinguished. This Dark Cockpit immediately confirms to the crew that the panels are correctly configured and that no abnormalities are present. Primary systems annunciations are shown in text on the Alert Area of the Engine and Alert Display (EAD). This eliminates the need to scan the overhead. The MD-11 aircraft systems can be manually controlled from the overhead area of the cockpit. The center portion of the overhead panel is composed of the primary aircraft systems panels, which include FUEL, AIR, Electrical (ELEC) and Hydraulic (HYD) systems, which are easily accessible from both flight crew positions. Each Aircraft Systems Controller (ASC) has two automatic channels and a manual mode. All rectangular lights are annunciators. All square lights are combined switches and annunciators called switch/lights. Red switch/lights on the overhead (Level 3 alerts) are for conditions requiring immediate crew action. Amber (Level 2 or Level 1 alerts) indicates a fault or switch out of position requiring awareness or crew interaction. Overhead switches used in normal operating conditions will illuminate blue when in use (Level 0 alerts) such as WING ANTI-ICE - ON. An overhead switch/light with BLACK LETTERING on an amber or red background indicates a system failure and that crew interaction is required. A switch/light with blue or amber lettering and a BLACK BACKGROUND indicates a switch out of normal position and that crew action is necessary only if the system is in manual operation.

Oldale, Paul↗

NASA NTRS2000

The actin cytoskeleton may control the polar distribution of an auxin transport protein

The gravitropic bending of plants has long been linked to the changes in the transport of the plant hormone auxin. To understand the mechanism by which gravity alters auxin movement, it is critical to know how polar auxin transport is initially established. In shoots, polar auxin transport is basipetal (i.e., from the shoot apex toward the base). It is driven by the basal localization of the auxin efflux carrier complex. One mechanism for localizing this efflux carrier complex to the basal membrane may be through attachment to the actin cytoskeleton. The efflux carrier protein complex is believed to consist of several polypeptides, including a regulatory subunit that binds auxin transport inhibitors, such as naphthylphthalamic acid (NPA). Several lines of experimentation have been used to determine if the NPA binding protein interacts with actin filaments. The NPA binding protein has been shown to partition with the actin cytoskeleton during detergent extraction. Agents that specifically alter the polymerization state of the actin cytoskeleton change the amount of NPA binding protein and actin recovered in these cytoskeletal pellets. Actin-affinity columns were prepared with polymers of actin purified from zucchini hypocotyl tissue. NPA binding activity was eluted in a single peak from the actin filament column. Cytochalasin D, which fragments the actin cytoskeleton, was shown to reduce polar auxin transport in zucchini hypocotyls. The interaction of the NPA binding protein with the actin cytoskeleton may localize it in one plane of the plasma membrane, and thereby control the polarity of auxin transport.

Non-NASA Center↗

NASA NTRS2017

Single-Step, Solvent-Free, Catalyst-Free Preparation of Holey Carbon Allotropes

Methods for forming holey carbon allotropes and graphene nanomeshes are provided by the various embodiments. The various embodiments may be applicable to a variety of carbon allotropes, such as graphene, graphene oxide, reduced graphene oxide, thermal exfoliated graphene, graphene nanoribbons, graphite, exfoliated graphite, expanded graphite, carbon nanotubes (e.g., single-walled carbon nanotubes, double-walled carbon nanotubes, few-walled carbon nanotubes, multi-walled carbon nanotubes, etc.), carbon nanofibers, carbon fibers, carbon black, amorphous carbon, fullerenes, etc. The methods may produce holey carbon allotropes without the use of solvents, catalysts, flammable gas, additional chemical agents, or electrolysis to produce the pores (e.g., holes, etc.) in the carbon allotropes. In an embodiment, a carbon allotrope may be heated at a working window temperature for a working period of time to create holes in the carbon allotrope.

Lin, Yi↗

NASA NTRS1991

Single-agent parallel window search

Parallel window search is applied to single-agent problems by having different processes simultaneously perform iterations of Iterative-Deepening-A(asterisk) (IDA-asterisk) on the same problem but with different cost thresholds. This approach is limited by the time to perform the goal iteration. To overcome this disadvantage, the authors consider node ordering. They discuss how global node ordering by minimum h among nodes with equal f = g + h values can reduce the time complexity of serial IDA-asterisk by reducing the time to perform the iterations prior to the goal iteration. Finally, the two ideas of parallel window search and node ordering are combined to eliminate the weaknesses of each approach while retaining the strengths. The resulting approach, called simply parallel window search, can be used to find a near-optimal solution quickly, improve the solution until it is optimal, and then finally guarantee optimality, depending on the amount of time available.

Powley, Curt↗

NASA NTRS2000

Emergent Aerospace Designs Using Negotiating Autonomous Agents

This paper presents a distributed design methodology where designs emerge as a result of the negotiations between different stake holders in the process, such as cost, performance, reliability, etc. The proposed methodology uses autonomous agents to represent design decision makers. Each agent influences specific design parameters in order to maximize their utility. Since the design parameters depend on the aggregate demand of all the agents in the system, design agents need to negotiate with others in the market economy in order to reach an acceptable utility value. This paper addresses several interesting research issues related to distributed design architectures. First, we present a flexible framework which facilitates decomposition of the design problem. Second, we present overview of a market mechanism for generating acceptable design configurations. Finally, we integrate learning mechanisms in the design process to reduce the computational overhead.

Deshmukh, Abhijit↗

NASA NTRS2013

Bounding the Role of Black Carbon in the Climate System: a Scientific Assessment

Black carbon aerosol plays a unique and important role in Earth's climate system. Black carbon is a type of carbonaceous material with a unique combination of physical properties. This assessment provides an evaluation of black-carbon climate forcing that is comprehensive in its inclusion of all known and relevant processes and that is quantitative in providing best estimates and uncertainties of the main forcing terms: direct solar absorption; influence on liquid, mixed phase, and ice clouds; and deposition on snow and ice. These effects are calculated with climate models, but when possible, they are evaluated with both microphysical measurements and field observations. Predominant sources are combustion related, namely, fossil fuels for transportation, solid fuels for industrial and residential uses, and open burning of biomass. Total global emissions of black carbon using bottom-up inventory methods are 7500 Gg/yr in the year 2000 with an uncertainty range of 2000 to 29000. However, global atmospheric absorption attributable to black carbon is too low in many models and should be increased by a factor of almost 3. After this scaling, the best estimate for the industrial-era (1750 to 2005) direct radiative forcing of atmospheric black carbon is +0.71 W/sq m with 90% uncertainty bounds of (+0.08, +1.27)W/sq m. Total direct forcing by all black carbon sources, without subtracting the preindustrial background, is estimated as +0.88 (+0.17, +1.48) W/sq m. Direct radiative forcing alone does not capture important rapid adjustment mechanisms. A framework is described and used for quantifying climate forcings, including rapid adjustments. The best estimate of industrial-era climate forcing of black carbon through all forcing mechanisms, including clouds and cryosphere forcing, is +1.1 W/sq m with 90% uncertainty bounds of +0.17 to +2.1 W/sq m. Thus, there is a very high probability that black carbon emissions, independent of co-emitted species, have a positive forcing and warm the climate. We estimate that black carbon, with a total climate forcing of +1.1 W/sq m, is the second most important human emission in terms of its climate forcing in the present-day atmosphere; only carbon dioxide is estimated to have a greater forcing. Sources that emit black carbon also emit other short-lived species that may either cool or warm climate. Climate forcings from co-emitted species are estimated and used in the framework described herein. When the principal effects of short-lived co-emissions, including cooling agents such as sulfur dioxide, are included in net forcing, energy-related sources (fossil fuel and biofuel) have an industrial-era climate forcing of +0.22 (0.50 to +1.08) W/sq m during the first year after emission. For a few of these sources, such as diesel engines and possibly residential biofuels, warming is strong enough that eliminating all short-lived emissions from these sources would reduce net climate forcing (i.e., produce cooling). When open burning emissions, which emit high levels of organic matter, are included in the total, the best estimate of net industrial-era climate forcing by all short-lived species from black-carbon-rich sources becomes slightly negative (0.06 W/sq m with 90% uncertainty bounds of 1.45 to +1.29 W/sq m). The uncertainties in net climate forcing from black-carbon-rich sources are substantial, largely due to lack of knowledge about cloud interactions with both black carbon and co-emitted organic carbon. In prioritizing potential black-carbon mitigation actions, non-science factors, such as technical feasibility, costs, policy design, and implementation feasibility play important roles. The major sources of black carbon are presently in different stages with regard to the feasibility for near-term mitigation. This assessment, by evaluating the large number and complexity of the associated physical and radiative processes in black-carbon climate forcing, sets a baseline from which to improve future climate forcing estimates.

black carbon↗