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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Adaptivity in Agent-Based Routing for Data Networks

Adaptivity, both of the individual agents and of the interaction structure among the agents, seems indispensable for scaling up multi-agent systems (MAS s) in noisy environments. One important consideration in designing adaptive agents is choosing their action spaces to be as amenable as possible to machine learning techniques, especially to reinforcement learning (RL) techniques. One important way to have the interaction structure connecting agents itself be adaptive is to have the intentions and/or actions of the agents be in the input spaces of the other agents, much as in Stackelberg games. We consider both kinds of adaptivity in the design of a MAS to control network packet routing. We demonstrate on the OPNET event-driven network simulator the perhaps surprising fact that simply changing the action space of the agents to be better suited to RL can result in very large improvements in their potential performance: at their best settings, our learning-amenable router agents achieve throughputs up to three and one half times better than that of the standard Bellman-Ford routing algorithm, even when the Bellman-Ford protocol traffic is maintained. We then demonstrate that much of that potential improvement can be realized by having the agents learn their settings when the agent interaction structure is itself adaptive.

Wolpert, David H.↗
NASA NTRS1999

Adaptive Mesh Refinement for Microelectronic Device Design

Finite element and finite volume methods are used in a variety of design simulations when it is necessary to compute fields throughout regions that contain varying materials or geometry. Convergence of the simulation can be assessed by uniformly increasing the mesh density until an observable quantity stabilizes. Depending on the electrical size of the problem, uniform refinement of the mesh may be computationally infeasible due to memory limitations. Similarly, depending on the geometric complexity of the object being modeled, uniform refinement can be inefficient since regions that do not need refinement add to the computational expense. In either case, convergence to the correct (measured) solution is not guaranteed. Adaptive mesh refinement methods attempt to selectively refine the region of the mesh that is estimated to contain proportionally higher solution errors. The refinement may be obtained by decreasing the element size (h-refinement), by increasing the order of the element (p-refinement) or by a combination of the two (h-p refinement). A successful adaptive strategy refines the mesh to produce an accurate solution measured against the correct fields without undue computational expense. This is accomplished by the use of a) reliable a posteriori error estimates, b) hierarchal elements, and c) automatic adaptive mesh generation. Adaptive methods are also useful when problems with multi-scale field variations are encountered. These occur in active electronic devices that have thin doped layers and also when mixed physics is used in the calculation. The mesh needs to be fine at and near the thin layer to capture rapid field or charge variations, but can coarsen away from these layers where field variations smoothen and charge densities are uniform. This poster will present an adaptive mesh refinement package that runs on parallel computers and is applied to specific microelectronic device simulations. Passive sensors that operate in the infrared portion of the spectrum as well as active device simulations that model charge transport and Maxwell's equations will be presented.

Cwik, Tom↗
NASA NTRS2000

Adaptive Management of Computing and Network Resources for Spacecraft Systems

It is likely that NASA's future spacecraft systems will consist of distributed processes which will handle dynamically varying workloads in response to perceived scientific events, the spacecraft environment, spacecraft anomalies and user commands. Since all situations and possible uses of sensors cannot be anticipated during pre-deployment phases, an approach for dynamically adapting the allocation of distributed computational and communication resources is needed. To address this, we are evolving the DeSiDeRaTa adaptive resource management approach to enable reconfigurable ground and space information systems. The DeSiDeRaTa approach embodies a set of middleware mechanisms for adapting resource allocations, and a framework for reasoning about the real-time performance of distributed application systems. The framework and middleware will be extended to accommodate (1) the dynamic aspects of intra-constellation network topologies, and (2) the complete real-time path from the instrument to the user. We are developing a ground-based testbed that will enable NASA to perform early evaluation of adaptive resource management techniques without the expense of first deploying them in space. The benefits of the proposed effort are numerous, including the ability to use sensors in new ways not anticipated at design time; the production of information technology that ties the sensor web together; the accommodation of greater numbers of missions with fewer resources; and the opportunity to leverage the DeSiDeRaTa project's expertise, infrastructure and models for adaptive resource management for distributed real-time systems.

Pfarr, Barbara↗
NASA NTRS1999

Parallel Tetrahedral Mesh Adaptation with Dynamic Load Balancing

The ability to dynamically adapt an unstructured grid is a powerful tool for efficiently solving computational problems with evolving physical features. In this paper, we report on our experience parallelizing an edge-based adaptation scheme, called 3D_TAG. using message passing. Results show excellent speedup when a realistic helicopter rotor mesh is randomly refined. However. performance deteriorates when the mesh is refined using a solution-based error indicator since mesh adaptation for practical problems occurs in a localized region., creating a severe load imbalance. To address this problem, we have developed PLUM, a global dynamic load balancing framework for adaptive numerical computations. Even though PLUM primarily balances processor workloads for the solution phase, it reduces the load imbalance problem within mesh adaptation by repartitioning the mesh after targeting edges for refinement but before the actual subdivision. This dramatically improves the performance of parallel 3D_TAG since refinement occurs in a more load balanced fashion. We also present optimal and heuristic algorithms that, when applied to the default mapping of a parallel repartitioner, significantly reduce the data redistribution overhead. Finally, portability is examined by comparing performance on three state-of-the-art parallel machines.

Oliker, Leonid↗
NASA NTRS2001

The Efficacy of Psychophysiological Measures for Implementing Adaptive Technology

Adaptive automation refers to technology that can change its mode of operation dynamically. Further, both the technology and the operator can initiate changes in the level or mode of automation. The present paper reviews research on adaptive technology. It is divided into three primary sections. In the first section, issues surrounding the development and implementation of adaptive automation are presented. Because physiological-based measures show much promise for implementing adaptive automation, the second section is devoted to examining candidate indices. In the final section, those techniques that show the greatest promise for adaptive automation as well as issues that still need to be resolved are discussed.

Scerbo, Mark W.↗
NASA NTRS1996

User-Centered Indexing for Adaptive Information Access

We are focusing on information access tasks characterized by large volume of hypermedia connected technical documents, a need for rapid and effective access to familiar information, and long-term interaction with evolving information. The problem for technical users is to build and maintain a personalized task-oriented model of the information to quickly access relevant information. We propose a solution which provides user-centered adaptive information retrieval and navigation. This solution supports users in customizing information access over time. It is complementary to information discovery methods which provide access to new information, since it lets users customize future access to previously found information. It relies on a technique, called Adaptive Relevance Network, which creates and maintains a complex indexing structure to represent personal user's information access maps organized by concepts. This technique is integrated within the Adaptive HyperMan system, which helps NASA Space Shuttle flight controllers organize and access large amount of information. It allows users to select and mark any part of a document as interesting, and to index that part with user-defined concepts. Users can then do subsequent retrieval of marked portions of documents. This functionality allows users to define and access personal collections of information, which are dynamically computed. The system also supports collaborative review by letting users share group access maps. The adaptive relevance network provides long-term adaptation based both on usage and on explicit user input. The indexing structure is dynamic and evolves over time. Leading and generalization support flexible retrieval of information under similar concepts. The network is geared towards more recent information access, and automatically manages its size in order to maintain rapid access when scaling up to large hypermedia space. We present results of simulated learning experiments.

Chen, James R.↗
NASA NTRS2005

Application of Adaptive Autopilot Designs for an Unmanned Aerial Vehicle

This paper summarizes the application of two adaptive approaches to autopilot design, and presents an evaluation and comparison of the two approaches in simulation for an unmanned aerial vehicle. One approach employs two-stage dynamic inversion and the other employs feedback dynamic inversions based on a command augmentation system. Both are augmented with neural network based adaptive elements. The approaches permit adaptation to both parametric uncertainty and unmodeled dynamics, and incorporate a method that permits adaptation during periods of control saturation. Simulation results for an FQM-117B radio controlled miniature aerial vehicle are presented to illustrate the performance of the neural network based adaptation.

Shin, Yoonghyun↗
NASA NTRS2007

Physiological Self-Regulation and Adaptive Automation

Adaptive automation has been proposed as a solution to current problems of human-automation interaction. Past research has shown the potential of this advanced form of automation to enhance pilot engagement and lower cognitive workload. However, there have been concerns voiced regarding issues, such as automation surprises, associated with the use of adaptive automation. This study examined the use of psychophysiological self-regulation training with adaptive automation that may help pilots deal with these problems through the enhancement of cognitive resource management skills. Eighteen participants were assigned to 3 groups (self-regulation training, false feedback, and control) and performed resource management, monitoring, and tracking tasks from the Multiple Attribute Task Battery. The tracking task was cycled between 3 levels of task difficulty (automatic, adaptive aiding, manual) on the basis of the electroencephalogram-derived engagement index. The other two tasks remained in automatic mode that had a single automation failure. Those participants who had received self-regulation training performed significantly better and reported lower National Aeronautics and Space Administration Task Load Index scores than participants in the false feedback and control groups. The theoretical and practical implications of these results for adaptive automation are discussed.

Prinzell, Lawrence J.↗
NASA NTRS2006

Adaptive Changes In Postural Equilibrium And Motion Sickness Following Repeated Exposures To Virtual Environments

Virtual environments offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Two unresolved human factors issues in virtual reality (VR) systems are: 1) potential "cybersickness", and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Changes in the environmental sensory stimulus conditions and the way we interact with the new stimuli may result in motion sickness, and perceptual, spatial orientation and sensorimotor disturbances. Initial interpretation of novel sensory information may be inappropriate and result in perceptual errors. Active exploratory behavior in a new environment, with resulting feedback and the formation of new associations between sensory inputs and response outputs, promotes appropriate perception and motor control in the new environment. Thus, people adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, unilateral labyrinthectomy and experimentally produced stimulus rearrangements. Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays, and to examine the effects of exposure duration, and repeated exposures to VR systems. Forty-one subjects (21 men, 20 women) participated in the study with an age range of 21-49 years old. One training session was completed in order to achieve stable performance on the posture and VR tasks before participating in the experimental sessions. Three experimental sessions were performed each separated by one day. The subjects performed a navigation and pick and place task in either a dome or head-mounted display (HMD) VR system for either 30 or 60 min. The environment was a square room with 15 pedestals on two opposite walls. The objects appeared on one set of pedestals and the subject s objective was to move the objects to the other set of pedestals. After the subject picked up an object, a pathway appeared and they were required to follow the pathway to the other side of the room. The subject was instructed to perform the task as quickly and accurately as possible, avoiding hitting walls and other any obstacles and placing the object on the center of the pedestal. Postural equilibrium was measured (using the Equitest CDP balance system, Neurocom, International) before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. Postural equilibrium was measured during quiet stance with eyes open, eyes closed and vision and/or ankle proprioceptive inputs selectively altered by servo-controlling the visual surround and/or support surface to the subject s center of mass sway. Posture data was normalized using a log transformation and motion sickness data were normalized using the square root. In general, we found that exposure to VR resulted in decrements in postural stability. The largest decrements were observed in the tests performed immediately following exposure to VR and showed a fairly rapid recovery across the remaining test sessions. In addition, subjects generally showed improvement across days. We found significant main effects for day and time for the composite equilibrium score and for sensory organization tests (SOT) 1, 2 and 6. Significant main effects were observed for day for SOT 3 and 5. Although we found no significant main effects for gender (when center of gravity was used as a covariate), we did observe significant gender X time interaction effects for composite equilibrium and for SOT 1, 3, 4 and 5. Women appeared to show larger decrements in postural stability immediately after exposure to VR than men, but recover more quickly than n. Finally, we found no significant main effects for type of VR device or for exposure duration, however, these factors did interact with other factors during some of the SOTs. Subjects exhibited rapid recovery of motion sickness symptoms across time following exposure to VR and significantly less severe symptoms across days. We did not observe main effects for gender, type of device or duration of exposure. Individuals recovered from the detrimental effects of exposure to virtual reality on postural control and motion sickness within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight.

Harm, D. L.↗
NASA NTRS2008

L1 Adaptive Control Law for Flexible Space Launch Vehicle and Proposed Plan for Flight Test Validation

This paper explores application of the L1 adaptive control architecture to a generic flexible Crew Launch Vehicle (CLV). Adaptive control has the potential to improve performance and enhance safety of space vehicles that often operate in very unforgiving and occasionally highly uncertain environments. NASA s development of the next generation space launch vehicles presents an opportunity for adaptive control to contribute to improved performance of this statically unstable vehicle with low damping and low bending frequency flexible dynamics. In this paper, we consider the L1 adaptive output feedback controller to control the low frequency structural modes and propose steps to validate the adaptive controller performance utilizing one of the experimental test flights for the CLV Ares-I Program.

Kharisov, Evgeny↗
NASA NTRS2009

Spaceflight Sensorimotor Analogs: Simulating Acute and Adaptive Effects

Adaptive changes in sensorimotor function during spaceflight are reflected by spatial disorientation, motion sickness, gaze destabilization and decrements in balance, locomotion and eye-hand coordination that occur during and following transitions between different gravitational states. The purpose of this study was to conduct a meta-synthesis of data from spaceflight analogs to evaluate their effectiveness in simulating adaptive changes in sensorimotor function. METHODS. The analogs under review were categorized as either acute analogs used to simulate performance decrements accompanied with transient changes, or adaptive analogs used to drive sensorimotor learning to altered sensory feedback. The effectiveness of each analog was evaluated in terms of mechanisms of action, magnitude and time course of observed deficits compared to spaceflight data, and the effects of amplitude and exposure duration. RESULTS. Parabolic flight has been used extensively to examine effects of acute variation in gravitational loads, ranging from hypergravity to microgravity. More recently, galvanic vestibular stimulation has been used to elicit acute postural, locomotor and gaze dysfunction by disrupting vestibular afferents. Patient populations, e.g., with bilateral vestibular loss or cerebellar dysfunction, have been proposed to model acute sensorimotor dysfunction. Early research sponsored by NASA involved living onboard rotating rooms, which appeared to approximate the time course of adaptation and post-exposure recovery observed in astronauts following spaceflight. Exposure to different bed-rest paradigms (6 deg head down, dry immersion) result in similar motor deficits to that observed following spaceflight. Shorter adaptive analogs have incorporated virtual reality environments, visual distortion paradigms, exposure to conflicting tilt-translation cues, and exposure to 3Gx centrifugation. As with spaceflight, there is considerable variability in responses to most of the analogs reviewed. DISCUSSION. A true ground-based flight analog for sensorimotor function is not feasible. A combination of flight analogs; however, can be used to selectively mimic different aspects of the spaceflight-induced sensorimotor performance decrements.

Taylor, Laura C.↗
NASA NTRS2009

Spatial Cognitive Performance During Adaptation to Conflicting Tilt-Translation Stimuli as a Sensorimotor Spaceflight Analog

The need to resolve new patterns of sensory feedback in altered gravitoinertial environments requires cognitive processes to develop appropriate reference frames for spatial orientation awareness. The purpose of this study was to examine deficits in spatial cognitive performance during adaptation to conflicting tilt-translation stimuli. Fourteen subjects were tilted within a lighted enclosure that simultaneously translated at one of 3 frequencies. Tilt and translation motion was synchronized to maintain the resultant gravitoinertial force aligned with the longitudinal body axis, resulting in a mismatch analogous to spaceflight in which the canals and vision signal tilt while the otoliths do not. Changes in performance on different spatial cognitive tasks were compared 1) without motion, 2) with tilt motion alone (pitch at 0.15, 0.3 and 0.6 Hz or roll at 0.3 Hz), and 3) with conflicting tilt-translation motion. The adaptation paradigm was continued for up to 30 min or until the onset of nausea. The order of the adaptation conditions were counter-balanced across 4 different test sessions. There was a significant effect of stimulus frequency on both motion sickness and spatial cognitive performance. Only 3 of 14 were able to complete the full 30 min protocol at 0.15 Hz, while 7 of 14 completed 0.3 Hz and 13 of 14 completed 0.6 Hz. There were no changes in simple visual-spatial cognitive tests, e.g., mental rotation or match-to-sample. There were significant deficits during 0.15 Hz adaptation in both accuracy and reaction time during a spatial reference task in which subjects are asked to identify a match of a 3D reoriented cube assemblage. Our results are consistent with antidotal reports of cognitive impairment that are common during sensorimotor adaptation with G-transitions. We conclude that these cognitive deficits stem from the ambiguity of spatial reference frames for central processing of inertial motion cues.

Kayanickupuram, A. J.↗
NASA NTRS2009

Adaptive Control of Small Outboard-Powered Boats for Survey Applications

Four autopilot controllers have been developed in this work that can both hold a desired heading and follow a straight line. These PID, adaptive PID, neuro-adaptive, and adaptive augmenting control algorithms have all been implemented into a numerical simulation of a 33-foot center console vessel with wind, waves, and current disturbances acting in the perpendicular (across-track) direction of the boat s desired trajectory. Each controller is tested for its ability to follow a desired heading in the presence of these disturbances and then to follow a straight line at two different throttle settings for the same disturbances. These controllers were tuned for an input thrust of 2000 N and all four controllers showed good performance with none of the controllers significantly outperforming the others when holding a constant heading and following a straight line at this engine thrust. Each controller was then tested for a reduced engine thrust of 1200 N per engine where each of the three adaptive controllers reduced heading error and across-track error by approximately 50% after a 300 second tuning period when compared to the fixed gain PID, showing that significant robustness to changes in throttle setting was gained by using an adaptive algorithm.

VanZwieten, T.S.↗
NASA NTRS2010

Modified Adaptive Control for Region 3 Operation in the Presence of Wind Turbine Structural Modes

Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

Frost, Susan Alane↗
NASA NTRS2009

Pilot Evaluation of Adaptive Control in Motion-Based Flight Simulator

The objective of this work is to assess the strengths, weaknesses, and robustness characteristics of several MRAC (Model-Reference Adaptive Control) based adaptive control technologies garnering interest from the community as a whole. To facilitate this, a control study using piloted and unpiloted simulations to evaluate sensitivities and handling qualities was conducted. The adaptive control technologies under consideration were ALR (Adaptive Loop Recovery), BLS (Bounded Linear Stability), Hybrid Adaptive Control, L1, OCM (Optimal Control Modification), PMRAC (Predictor-based MRAC), and traditional MRAC

Kaneshige, John T.↗
NASA NTRS2010

Projection Operator: A Step Towards Certification of Adaptive Controllers

One of the major barriers to wider use of adaptive controllers in commercial aviation is the lack of appropriate certification procedures. In order to be certified by the Federal Aviation Administration (FAA), an aircraft controller is expected to meet a set of guidelines on functionality and reliability while not negatively impacting other systems or safety of aircraft operations. Due to their inherent time-variant and non-linear behavior, adaptive controllers cannot be certified via the metrics used for linear conventional controllers, such as gain and phase margin. Projection Operator is a robustness augmentation technique that bounds the output of a non-linear adaptive controller while conforming to the Lyapunov stability rules. It can also be used to limit the control authority of the adaptive component so that the said control authority can be arbitrarily close to that of a linear controller. In this paper we will present the results of applying the Projection Operator to a Model-Reference Adaptive Controller (MRAC), varying the amount of control authority, and comparing controller s performance and stability characteristics with those of a linear controller. We will also show how adjusting Projection Operator parameters can make it easier for the controller to satisfy the certification guidelines by enabling a tradeoff between controller s performance and robustness.

Larchev, Gregory V.↗
NASA NTRS2010

Augmented Adaptive Control of a Wind Turbine in the Presence of Structural Modes

Wind turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, potentially causing component fatigue and failure. Two key technology drivers for turbine manufacturers are increasing turbine up time and reducing maintenance costs. Since the trend in wind turbine design is towards larger, more flexible turbines with lower frequency structural modes, manufacturers will want to develop methods to operate in the presence of these modes. Accurate models of the dynamic characteristics of new wind turbines are often not available due to the complexity and expense of the modeling task, making wind turbines ideally suited to adaptive control. In this paper, we develop theory for adaptive control with rejection of disturbances in the presence of modes that inhibit the controller. We use this method to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the interference of certain structural modes in feedback. The control objective is accomplished by collectively pitching the turbine blades. The adaptive pitch controller for Region 3 is compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller.

Frost, Susan A.↗
NASA NTRS2010

Training Enhances Both Locomotor and Cognitive Adaptability to a Novel Sensory Environment

During adaptation to novel gravitational environments, sensorimotor disturbances have the potential to disrupt the ability of astronauts to perform required mission tasks. The goal of this project is to develop a sensorimotor adaptability (SA) training program to facilitate rapid adaptation. We have developed a unique training system comprised of a treadmill placed on a motion-base facing a virtual visual scene that provides an unstable walking surface combined with incongruent visual flow designed to enhance sensorimotor adaptability. The goal of our present study was to determine if SA training improved both the locomotor and cognitive responses to a novel sensory environment and to quantify the extent to which training would be retained. Methods: Twenty subjects (10 training, 10 control) completed three, 30-minute training sessions during which they walked on the treadmill while receiving discordant support surface and visual input. Control subjects walked on the treadmill but did not receive any support surface or visual alterations. To determine the efficacy of training all subjects performed the Transfer Test upon completion of training. For this test, subjects were exposed to novel visual flow and support surface movement, not previously experienced during training. The Transfer Test was performed 20 minutes, 1 week, 1, 3 and 6 months after the final training session. Stride frequency, auditory reaction time, and heart rate data were collected as measures of postural stability, cognitive effort and anxiety, respectively. Results: Using mixed effects regression methods we determined that subjects who received SA training showed less alterations in stride frequency, auditory reaction time and heart rate compared to controls. Conclusion: Subjects who received SA training improved performance across a number of modalities including enhanced locomotor function, increased multi-tasking capability and reduced anxiety during adaptation to novel discordant sensory information. Trained subjects maintained their level of performance over six months.

Bloomberg, J. J.↗