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NASA NTRS1990

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

Chen, Alexander Y.↗

NASA NTRS1989

Reasoning about software specifications - A case study

The launch intercept condition (LIC) problem was analyzed to better understand the complexity of the automated reasoning process and the nature and role of background knowledge. An extension to resolution-based logic processing systems, called constraint logic programming, is described. Consideration is also given to a knowledge-driven incremental reasoning architecture which integrates a generic constraint logic programming system with a knowledge base of the domain.

Wild, Chris↗

NASA NTRS1990

Surrogate oracles, generalized dependency and simpler models

Software reliability models require the sequence of interfailure times from the debugging process as input. It was previously illustrated that using data from replicated debugging could greatly improve reliability predictions. However, inexpensive replication of the debugging process requires the existence of a cheap, fast error detector. Laboratory experiments can be designed around a gold version which is used as an oracle or around an n-version error detector. Unfortunately, software developers can not be expected to have an oracle or to bear the expense of n-versions. A generic technique is being investigated for approximating replicated data by using the partially debugged software as a difference detector. It is believed that the failure rate of each fault has significant dependence on the presence or absence of other faults. Thus, in order to discuss a failure rate for a known fault, the presence or absence of each of the other known faults needs to be specified. Also, in simpler models which use shorter input sequences without sacrificing accuracy are of interest. In fact, a possible gain in performance is conjectured. To investigate these propositions, NASA computers running LIC (RTI) versions are used to generate data. This data will be used to label the debugging graph associated with each version. These labeled graphs will be used to test the utility of a surrogate oracle, to analyze the dependent nature of fault failure rates and to explore the feasibility of reliability models which use the data of only the most recent failures.

Wilson, Larry↗

NASA NTRS1997

Strategies for Effectively Visualizing a 3D Flow Using Volume Line Integral Convolution

This paper discusses strategies for effectively portraying 3D flow using volume line integral convolution. Issues include defining an appropriate input texture, clarifying the distinct identities and relative depths of the advected texture elements, and selectively highlighting regions of interest in both the input and output volumes. Apart from offering insights into the greater potential of 3D LIC as a method for effectively representing flow in a volume, a principal contribution of this work is the suggestion of a technique for generating and rendering 3D visibility-impeding 'halos' that can help to intuitively indicate the presence of depth discontinuities between contiguous elements in a projection and thereby clarify the 3D spatial organization of elements in the flow. The proposed techniques are applied to the visualization of a hot, supersonic, laminar jet exiting into a colder, subsonic coflow.

Interrante, Victoria↗

NASA NTRS2003

Structure of Thin-Film Lithium Microbatteries

A process for making thin-film batteries including the steps of cleaning a glass or silicon substrate having an amorphous oxide layer several microns thick; defining with a mask the layer shape when depositing cobalt as an adhesion layer and platinum as a current collector; using the same mask as the preceding step to sputter a layer of LiC(0)O2, on the structure while rocking it back and forth; heating the substrate to 300 C. for 30 minutes; sputtering with a new mask that defines the necessary electrolyte area; evaporating lithium metal anodes using an appropriate shadow mask; and, packaging the cell in a dry-room environment by applying a continuous bead of epoxy around the active cell areas and resting a glass slide over the top thereof. The batteries produced by the above process are disclosed.

Jay F Whitacre↗

NASA NTRS2004

Boundary Conditions of the Heliosphere: Fluctuations in Nearby Interstellar Gas

We have made substantial progress in our program to understand the ionization of the Local Cloud. Our steady state photoionization models are remarkably successful in accounting for the ionization observed both by line of sight (column density) observations towards nearby stars and in situ measurements. By lifting some of the simplifying assumptions in our earlier modeling we are making further progress in this understanding. In future work on this project we will continue our exploration of photoionization models, focusing on making sense of the differences between the LIC and the BC.

Slavin, Jonathan↗

NASA NTRS2009

Proceedings of the Third International Workshop on Proof-Carrying Code and Software Certification

This NASA conference publication contains the proceedings of the Third International Workshop on Proof-Carrying Code and Software Certification, held as part of LICS in Los Angeles, CA, USA, on August 15, 2009. Software certification demonstrates the reliability, safety, or security of software systems in such a way that it can be checked by an independent authority with minimal trust in the techniques and tools used in the certification process itself. It can build on existing validation and verification (V&V) techniques but introduces the notion of explicit software certificates, Vvilich contain all the information necessary for an independent assessment of the demonstrated properties. One such example is proof-carrying code (PCC) which is an important and distinctive approach to enhancing trust in programs. It provides a practical framework for independent assurance of program behavior; especially where source code is not available, or the code author and user are unknown to each other. The workshop wiII address theoretical foundations of logic-based software certification as well as practical examples and work on alternative application domains. Here "certificate" is construed broadly, to include not just mathematical derivations and proofs but also safety and assurance cases, or any fonnal evidence that supports the semantic analysis of programs: that is, evidence about an intrinsic property of code and its behaviour that can be independently checked by any user, intermediary, or third party. These guarantees mean that software certificates raise trust in the code itself, distinct from and complementary to any existing trust in the creator of the code, the process used to produce it, or its distributor. In addition to the contributed talks, the workshop featured two invited talks, by Kelly Hayhurst and Andrew Appel. The PCC 2009 website can be found at http://ti.arc.nasa.gov /event/pcc 091.

Ewen, Denney, W.↗

NASA NTRS2014

Performance and Safety of Lithium-ion Capacitors

Lithium-ion capacitors (LIC) are a recent innovation in the area of supercapacitors and ultracapacitors. With an operating voltage range similar to that of lithium-ion batteries and a very low selfdischarge rate, these can be readily used in the place of batteries especially when large currents are required to be stored safely for use at a later time.

Jeevarajan, Judith A.↗

NASA NTRS2021

Maya Forest Water Resources I: Using NASA Earth Observations to Map Forested Inundation in the Maya Forest

As climate change increases the severity and frequency of extreme weather events in the tropics, it is vital for the safety of local communities and the health of ecosystems to monitor seasonal inundation. Forested inundation affects the ability of forested wetlands to provide ecosystem services, such as flood mitigation, water filtration, carbon storage, and erosion mitigation. While ground-based monitoring has traditionally been used to map inundation extent, those methods are costly and time-intensive. The NASA DEVELOP team focused on seasonal inundation throughout 2008 in the Maya Forest, when changes in inundation were drastic. To monitor seasonal inundation, our team used in situ field data and Earth observations from Landsat 7 Enhanced Thematic Mapper (ETM+), Advanced Land Observing Satellite (ALOS) Phased Array type L-band Synthetic Aperture Radar (PALSAR) 1, Shuttle Radar Topography Mission (SRTM), and products from the Ice, Cloud, and Land Elevation Satellite (ICESat). The team applied a Random Forest algorithm to Landsat 7 imagery, generating an object-level land cover classification with an overall accuracy of 72.1% and forest class with 100% recall and 78% precision. The team applied L-band backscatter thresholds from existing literature to forest-masked ALOS imagery and refined the thresholds in an iterative process using field data and hydrology models to delineate seasonal inundation extent. These publicly available data products help end users from Belize’s Land Information Center (LIC) and Forest Department, Guatemala’s Center for Monitoring and Evaluation (CEMEC), and Mexico’s El Colegio de la Frontera Sur (ECOSUR) to inform land management and protect community infrastructure.

Madelyn Savan↗

NASA NTRS2021

Maya Forest Water Resources II: Mapping Inundation Below the Forest Canopy in the Maya Tri-National Forest

To monitor seasonal flooding within the tri-National Maya Forest the team completed the methodology started by the Summer 2021 term to analyze changes in inundation dynamic throughout 2017. The team analyzed inundation dynamics in Google Earth Engine (GEE) using Earth observation products from the Landsat 8 Operational Land Imager (OLI), Advanced Land Observing Satellite (ALOS) Phased Array type L-band Synthetic Aperture Radar (PALSAR) 2, and International Space Station (ISS) Global Ecosystem Dynamics Investigation LiDAR (GEDI). The team improved the landcover classification using the Random Forest algorithm in GEE by adding canopy height data derived from GEDI, elevation and slope data from Copernicus, and additional multi-spectral band ratios from Landsat 8. The pixel-based land cover classification produced an overall accuracy of 88%. Experiments measuring inundation extent using L-band SAR included comparing results with a priori knowledge, topography datasets, and auxiliary datasets. We iteratively tested and found threshold values for identifying forested inundation using the ratio for HH divided by HV. The resulting methodology and products helped end users from Belize’s Land Information Center (LIC) and Forest Department, Guatemala’s Center for Monitoring and Evaluation (CEMEC), and Mexico’s El Colegio de la Frontera Sur (ECOSUR) manage land and water resources and protect communities.

Stephanie Jiménez↗