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NASA NTRS1999

A Survey of Collective Intelligence

This chapter presents the science of "COllective INtelligence" (COIN). A COIN is a large multi-agent systems where: i) the agents each run reinforcement learning (RL) algorithms; ii) there is little to no centralized communication or control; iii) there is a provided world utility function that, rates the possible histories of tile full system. Tile conventional approach to designing large distributed systems to optimize a world utility does not use agents running RL algorithms. Rather that approach begins with explicit modeling of the overall system's dynamics, followed by detailed hand-tuning of the interactions between the components to ensure that they "cooperate" as far as the world utility is concerned. This approach is labor-intensive, often results in highly non-robust systems, and usually results in design techniques that, have limited applicability. In contrast, with COINs we wish to solve the system design problems implicitly, via the 'adaptive' character of the RL algorithms of each of the agents. This COIN approach introduces an entirely new, profound design problem: Assuming the RL algorithms are able to achieve high rewards, what reward functions for the individual agents will, when pursued by those agents, result in high world utility? In other words, what reward functions will best ensure that we do not have phenomena like the tragedy of the commons, or Braess's paradox? Although still very young, the science of COINs has already resulted in successes in artificial domains, in particular in packet-routing, the leader-follower problem, and in variants of Arthur's "El Farol bar problem". It is expected that as it matures not only will COIN science expand greatly the range of tasks addressable by human engineers, but it will also provide much insight into already established scientific fields, such as economics, game theory, or population biology.

Wolpert, David H.↗

NASA NTRS2000

Alternative Architectures for Distributed Work in the National Airspace System

The architecture for the National Airspace System (NAS) in the United States has evolved over time to rely heavily on the distribution of tasks and control authority in order to keep cognitive complexity manageable for any one individual. This paper characterizes a number of different subsystems that have been recently incorporated in the NAS. The goal of this discussion is to begin to identify the critical parameters defining the differences among alternative architectures in terms of the locus of control and in terms of access to relevant data and knowledge. At an abstract level, this analysis can be described as an effort to describe alternative "rules of the game" for the NAS.

Smith, Philip J.↗

NASA NTRS1999

Workshop on Extraterrestrial Materials from Cold and Hot Deserts

The workshop was held July 6-8, 1999 before the Meteoritical Society meeting in Johannesburg, South Africa. The venue was Kwa Maritane Resort in the Pilanesburg Game Reserve. Conveners were Ludolf Schultz (Chair, MPI fur Chemie), Ian Franchi (Open University), Arch Reid (University of Houston), and Mike Zolensky (NASA JSC). Extended abstracts will be published as an LPI Technical Report. In the first session, Marvin discussed three African iron meteorites: Cape of Good Hope, Gibeon, and Hoba. Grady presented a statistical analysis of meteorites from hot and cold deserts. Wasson discussed types of Antarctic iron meteorites. Several presentations characterized populations of meteorites from individual desert areas: Libyan Desert (Weber et al.), Nullarbor Region (Bevan et al.), and Mojave Desert (Kring et al. and Verish et al). Pairing among EET87503-group howardites was discussed by Buchanan et al. Based on 14C terrestrial ages of Allan Hills ordinary chondrites, Bland et al. suggested that ice flow may be the principal sink for Antarctic meteorites. The effects of preterrestrial and terrestrial alteration were considered in the second session. Nakamura et al. and Lipschutz discussed asteroidal metamorphism of carbonaceous chondrites. Zolensky presented evidence for preterrestrial halide and sulfide in meteorites. Crozaz and Wadhwa described terrestrial alteration of Dar al Gani 476. Welten and Nishiizumi discussed terrestrial weathering of chondrites from Frontier Mountain, Antarctica. Most of the third session dealt with terrestrial meteorite ages. Based on 14C-10Be ages, Jull et al. discussed the exponential decay in numbers of meteorites with increased age. Nishiizumi et al. concluded that some Allan Hills meteorites have much older terrestrial ages than any meteorites from Lewis Cliffs. Welten et al. discussed terrestrial ages determined by 41Ca/36CI of metal separates from hot desert meteorites. Based on a comparison with large IDPs, Flynn et al. suggested that polar micrometeorites, lost a water-soluble sulfate phase by terrestrial alteration. Nyquist suggested that Type I cosmic spheres from deep sea sediments and polar ice were derived from carbonaceous chondrite-like asteroidal sources. The final session considered noble gases, cosmic ray effects, and thermoluminescence. Calculations presented by Reedy indicate that cosmic ray-produced nuclides are more likely to be preserved in small objects than in larger objects. Murty and Mohapatra. reported that trapped gas in Dar al Gani 476 includes a Martian atmospheric component. Wieler et al. and Scherer et al. reported noble gas abundances in different types of desert meteorites. Patzer and Schultz discussed the influence of terrestrial weathering on cosmic ray exposure ages of enstatite chondrites. Franchi et al. suggested that it is difficult to discriminate whether differences in gas release profiles of lunar meteorites from hot deserts and returned lunar samples are the result of terrestrial weathering or shock metamorphism. Benoit and Sears surveyed natural and induced thermoluminescence of Antarctic ordinary chondrites. Merchel et al. analyzed Saharan meteorites with short or complex exposure histories.

Buchanan, Paul C.↗

NASA NTRS1999

Dynamical Signatures of Living Systems

One of the main challenges in modeling living systems is to distinguish a random walk of physical origin (for instance, Brownian motions) from those of biological origin and that will constitute the starting point of the proposed approach. As conjectured, the biological random walk must be nonlinear. Indeed, any stochastic Markov process can be described by linear Fokker-Planck equation (or its discretized version), only that type of process has been observed in the inanimate world. However, all such processes always converge to a stable (ergodic or periodic) state, i.e., to the states of a lower complexity and high entropy. At the same time, the evolution of living systems directed toward a higher level of complexity if complexity is associated with a number of structural variations. The simplest way to mimic such a tendency is to incorporate a nonlinearity into the random walk; then the probability evolution will attain the features of diffusion equation: the formation and dissipation of shock waves initiated by small shallow wave disturbances. As a result, the evolution never "dies:" it produces new different configurations which are accompanied by an increase or decrease of entropy (the decrease takes place during formation of shock waves, the increase-during their dissipation). In other words, the evolution can be directed "against the second law of thermodynamics" by forming patterns outside of equilibrium in the probability space. Due to that, a specie is not locked up in a certain pattern of behavior: it still can perform a variety of motions, and only the statistics of these motions is constrained by this pattern. It should be emphasized that such a "twist" is based upon the concept of reflection, i.e., the existence of the self-image (adopted from psychology). The model consists of a generator of stochastic processes which represents the motor dynamics in the form of nonlinear random walks, and a simulator of the nonlinear version of the diffusion equation which represents the mental dynamics. It has been demonstrated that coupled mental-motor dynamics can simulate emerging self-organization, prey-predator games, collaboration and competition, "collective brain," etc.

Zak, M.↗

NASA NTRS1996

Operation Heli-STAR - Atlanta Communications Experiment (ACE)

Operation Heli-STAR (Helicopter Short-Haul Transportation and Aviation Research) was established and operated in Atlanta, Georgia, during the period of the 1996 Centennial Olympic Games. Heli-STAR had three major thrusts: (1) the establishment and operation of a helicopter-based cargo transportation system, (2) the management of low-altitude air traffic in the airspace of an urban area, and (3) the collection and analysis of research and development data associated with items 1 and 2. Heli-STAR was a cooperative industry/government program that included parcel package shippers and couriers in the Atlanta area, the helicopter industry, aviation electronics manufacturers, the Federal Aviation Administration (FAA), the National Aeronautics and Space Administration (NASA), and support contractors. Several detailed reports have been produced as a result of Operation Heli-STAR. These include four reports on acoustic measurements and associated analyses, and reports on the Heli-STAR tracking data including the data processing and retrieval system, the Heli-STAR cargo simulation, and the community response system. In addition, NASA's Advanced General Aviation Transport Experiments (AGATE) program has produced a report describing the Atlanta Communications Experiment (ACE) which produced the avionics and ground equipment using automatic dependent surveillance-broadcast (ADS-B) technology. This latter report is restricted to organizations belonging to NASA's AGATE industry consortium. A complete list of these reports is shown on the following page.

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NASA NTRS2001

X-traktor: A Rookie Robot, Simple, Yet Complex, Impeccably Designed, a Very Innovative Multidisciplinary Engineering Masterpiece

FIRST is the acronym of For Inspiration and Recognition of Science and Technology. FIRST is a 501.C.3 non-profit organization whose mission is to generate an interest in science and engineering among today's young adults and youth. This mission is accomplished through a robot competition held annually in the spring of each year. NASAs Marshall Space Flight Center, Education Programs Department, awarded a grant to Lee High School, the sole engineering magnet school in Huntsville, Alabama. MSFC awarded the grant in hopes of fulfilling its goal of giving back invaluable resources to its community and engineers, as well as educating tomorrow's work force in the high-tech area of science and technology. Marshall engineers, Lee High School students and teachers, and a host of other volunteers and parents officially initiated this robot design process and competitive strategic game plan. The FIRST Robotics Competition is a national engineering contest, which immerses high school students in the exciting world of science and engineering. Teaming with engineers from government agencies, businesses, and universities enables the students to learn about the engineering profession. The students and engineers have six weeks to work together to brainstorm, design, procure, construct, and test their robot. The team then competes in a spirited, 'no-holds barred' tournament, complete with referees, other FIRST-designed robots, cheerleaders, and time clocks. The partnerships developed between schools, government agencies, businesses, and universities provide an exchange of resources and talent that build cooperation and expose students to new and rewarding career options. The result is a fun, exciting, and stimulating environment in which all participants discover the important connections between classroom experiences and real-world applications. This paper will highlight the story, engineering development, and evolutionary design of Xtraktor, the rookie robot, a manufacturing marvel and engineering achievement.

Henderson, A. J., Jr.↗

NASA NTRS2001

Bargaining for Open Skies

In this paper we analyze the bargaining problem between countries when negotiating bilateral air service agreements. To do so, we use the methods of bargaining and game theory. We give special attention to the case where a liberal minded country is trying to convince a less liberal country to agree to bilateral open skies, and the liberal country might also unilaterally open up its market. The following analysis is positive in the sense that the results help explain and predict the outcome of negotiations under different payoffs and structures of the bargaining process. They are normative in the sense that adequate manipulation of the bargaining conditions can ensure a desired outcome.

Wojahn, Oliver W.↗

NASA NTRS1995

Helicopter Human Factors

Even under optimal conditions, helicopter flight is a most demanding form of human-machine interaction, imposing continuous manual, visual, communications, and mental demands on pilots. It is made even more challenging by small margins for error created by the close proximity of terrain in NOE flight and missions flown at night and in low visibility. Although technology advances have satisfied some current and proposed requirements, hardware solutions alone are not sufficient to ensure acceptable system performance and pilot workload. However, human factors data needed to improve the design and use of helicopters lag behind advances in sensor, display, and control technology. Thus, it is difficult for designers to consider human capabilities and limitations when making design decisions. This results in costly accidents, design mistakes, unrealistic mission requirements, excessive training costs, and challenge human adaptability. NASA, in collaboration with DOD, industry, and academia, has initiated a program of research to develop scientific data bases and design principles to improve the pilot/vehicle interface, optimize training time and cost, and maintain pilot workload and system performance at an acceptable level. Work performed at Ames, and by other research laboratories, will be reviewed to summarize the most critical helicopter human factors problems and the results of research that has been performed to: (1) Quantify/model pilots use of visual cues for vehicle control; (2) Improve pilots' performance with helmet displays of thermal imagery and night vision goggles for situation awareness and vehicle control; (3) Model the processes by which pilots encode maps and compare them to the visual scene to develop perceptually and cognitively compatible electronic map formats; (4) Evaluate the use of spatially localized auditory displays for geographical orientation, target localization, radio frequency separation; (5) Develop and flight test control/display concepts; (6) Quantify, model, predict, and improve pilots, workload-management strategies; and (7) Design computer-game trainers to reduce training time and cost.

Hart, Sandra G.↗

NASA NTRS1999

The Effect of Shared Information on Pilot/Controller And Controller/Controller Interactions

In order to respond to the increasing demand on limited airspace system resources, a number of applications of information technology have been proposed, or are under investigation, to improve the efficiency, capacity and reliability of ATM (Asynchronous Transfer Mode) operations. Much of the attention in advanced ATM technology has focused on advanced automation systems or decision aiding systems to improve the performance of individual Pilots or Controllers. However, the most significant overall potential for information technology appears to he in increasing the shared information between human agents such as Pilots, Controllers or between interacting Controllers or traffic flow managers. Examples of proposed shared information systems in the US include; Controller Pilot Databank Communication (CPDLC), Traffic Management Advisor (TMA); Automatic Dependent Surveillance (ADS); Collaborative Decision Making (CDM) and NAS Level Common Information Exchange. Air Traffic Management is fundamentally a human centered process consisting of the negotiation, execution and monitoring of contracts between human agents for the allocation of limited airspace, runway and airport surface resources. The decision processes within ATM tend to be Semistructured. Many of the routine elements in ATM decision making on the part of the Controllers or Pilots are well Structured and can be represented by well defined rules or procedures. However in disrupted conditions, the ATM decision processes are often Unstructured and cannot be reduced to a set of discrete rules. As a consequence, the ability to automate ATM processes will be limited and ATM will continue to be a human centric process where the responsibility and the authority for the negotiation will continue to rest with human Controllers and Pilots. The use of information technology to support the human decision process will therefore be an important aspect of ATM modernization. The premise of many of the proposed shared information systems is that the performance of ATM operations will improve with an increase in Shared Situation Awareness between agents (Pilots, Controller, Dispatchers). This will allow better informed control decisions and an improved ability to negotiate between agents. A common information basis may reduce communication load and may increase the level of collaboration in the decision process. In general, information sharing is expected to have advantages for all agents within the system. However there are important questions which remain to be,addressed. For example: What shared information is most important for developing effective Shared Situation Awareness? Are there issues of information saturation? Does information parity create ambiguity in control authority? Will information sharing induce undesirable or unstable gaming behavior between agents? This paper will explore the effect of current and proposed information sharing between different ATM agents. The paper will primarily concentrate on bilateral tactical interactions between specific agents (Pilot/Controller; Controller/Controller; Pilot/Dispatcher; Controller/Dispatcher) however it will also briefly discuss multilateral interaction and more strategic interactions.

Hansman, R. John↗

NASA NTRS2001

Dynamic Response Assessment for the MEMS Accelerometer Under Severe Shock Loads

NASA Goddard Space Flight Center (GSFC) has evaluated the dynamic response of a commercial-off-the-shelf (COTS) microelectromechanical systems (MEMS) device made by Analog Device, Inc. The device is designated as ADXL250 and is designed mainly for sensing dynamic acceleration. It is also used to measure the tilting angle of any system or component from its original level position. The device has been in commercial use (e.g., in automobile airbag deployment system as a dual-axial accelerometer and in the electronic game play-station as a tilting sensor) with success, but NASA needs an in-depth assessment of its performance under severe dynamic shock environments. It was realized while planning this evaluation task that two assessments would be beneficial to NASA's missions: (1) severe dynamic shock response under nominal thermal environments; and (2) general dynamic performance under cryogenic environments. The first evaluation aims at obtaining a good understanding of its micromachined structure within a framework of brittle fracture dynamics, while the second evaluation focuses on the structure integrity under cryogenic temperature conditions. The information we gathered from the manufacturer indicated that the environmental stresses under NASA's evaluation program have been far beyond what the device has experienced with commercial applications, for which the device was designed. Thus NASA needs the outcome of this evaluation in order to make the selection for possible use for its missions. This paper provides details of the first evaluation the dynamic response under severe multi-axial single-pulse shock load. It was performed using finite element tools with nonlinear dynamics procedures.

Fan, Mark S.↗

NASA NTRS1997

An Introduction to 3-D Sound

This talk will overview the basic technologies related to the creation of virtual acoustic images, and the potential of including spatial auditory displays in human-machine interfaces. Research into the perceptual error inherent in both natural and virtual spatial hearing is reviewed, since the formation of improved technologies is tied to psychoacoustic research. This includes a discussion of Head Related Transfer Function (HRTF) measurement techniques (the HRTF provides important perceptual cues within a virtual acoustic display). Many commercial applications of virtual acoustics have so far focused on games and entertainment ; in this review, other types of applications are examined, including aeronautic safety, voice communications, virtual reality, and room acoustic simulation. In particular, the notion that realistic simulation is optimized within a virtual acoustic display when head motion and reverberation cues are included within a perceptual model.

Begault, Durand R.↗

NASA NTRS2001

Learning Sequences of Actions in Collectives of Autonomous Agents

In this paper we focus on the problem of designing a collective of autonomous agents that individually learn sequences of actions such that the resultant sequence of joint actions achieves a predetermined global objective. We are particularly interested in instances of this problem where centralized control is either impossible or impractical. For single agent systems in similar domains, machine learning methods (e.g., reinforcement learners) have been successfully used. However, applying such solutions directly to multi-agent systems often proves problematic, as agents may work at cross-purposes, or have difficulty in evaluating their contribution to achievement of the global objective, or both. Accordingly, the crucial design step in multiagent systems centers on determining the private objectives of each agent so that as the agents strive for those objectives, the system reaches a good global solution. In this work we consider a version of this problem involving multiple autonomous agents in a grid world. We use concepts from collective intelligence to design goals for the agents that are 'aligned' with the global goal, and are 'learnable' in that agents can readily see how their behavior affects their utility. We show that reinforcement learning agents using those goals outperform both 'natural' extensions of single agent algorithms and global reinforcement, learning solutions based on 'team games'.

Turner, Kagan↗

NASA NTRS2001

Innovative Solution to Video Enhancement

Through a licensing agreement, Intergraph Government Solutions adapted a technology originally developed at NASA's Marshall Space Flight Center for enhanced video imaging by developing its Video Analyst(TM) System. Marshall's scientists developed the Video Image Stabilization and Registration (VISAR) technology to help FBI agents analyze video footage of the deadly 1996 Olympic Summer Games bombing in Atlanta, Georgia. VISAR technology enhanced nighttime videotapes made with hand-held camcorders, revealing important details about the explosion. Intergraph's Video Analyst System is a simple, effective, and affordable tool for video enhancement and analysis. The benefits associated with the Video Analyst System include support of full-resolution digital video, frame-by-frame analysis, and the ability to store analog video in digital format. Up to 12 hours of digital video can be stored and maintained for reliable footage analysis. The system also includes state-of-the-art features such as stabilization, image enhancement, and convolution to help improve the visibility of subjects in the video without altering underlying footage. Adaptable to many uses, Intergraph#s Video Analyst System meets the stringent demands of the law enforcement industry in the areas of surveillance, crime scene footage, sting operations, and dash-mounted video cameras.

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NASA NTRS1998

Real World Audio

Crystal River Engineering was originally featured in Spinoff 1992 with the Convolvotron, a high speed digital audio processing system that delivers three-dimensional sound over headphones. The Convolvotron was developed for Ames' research on virtual acoustic displays. Crystal River is a now a subsidiary of Aureal Semiconductor, Inc. and they together develop and market the technology, which is a 3-D (three dimensional) audio technology known commercially today as Aureal 3D (A-3D). The technology has been incorporated into video games, surround sound systems, and sound cards.

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NASA NTRS2002

Willpower

I am struck by how often failure is blamed on a lack of discipline. You often hear losing coaches cite this as the reason for a big loss. I don't recall the last time I heard one say that his team lost a game because of his players' lack of skill. I think a breakdown in discipline is also one of the key reasons why program and project management teams fail to meet expectations. The first program I ever managed had a clear set of priorities. I understood the mandate, and so did everyone else on the team. We set an ambitious schedule and started to work fervently. Not too long into the program the customer wanted to know what performance he was going to get. I replied by categorizing the performance parameters into three bins: 1. Performance you will get. 2. Performance you may get. 3. Performance that there's no way you will get. Did that cause an uproar. The customer demanded everything in the second bin be moved to the first, and most everything in the third bin moved to the second. My immediate impulse was to agree, but I managed to overcome that. In my heart, I knew that we would never meet the already ambitious schedule if we had to deliver more performance. No was my answer. The program turned out to be a huge success, but the result would have been largely different had senior management or I failed to maintain discipline.

Little, Terry↗

NASA NTRS2002

Propulsion System Modeling and Simulation

The Aerospace Systems Design Laboratory at the School of Aerospace Engineering in Georgia Institute of Technology has developed a core competency that enables propulsion technology managers to make technology investment decisions substantiated by propulsion and airframe technology system studies. This method assists the designer/manager in selecting appropriate technology concepts while accounting for the presence of risk and uncertainty as well as interactions between disciplines. This capability is incorporated into a single design simulation system that is described in this paper. This propulsion system design environment is created with a commercially available software called iSIGHT, which is a generic computational framework, and with analysis programs for engine cycle, engine flowpath, mission, and economic analyses. iSIGHT is used to integrate these analysis tools within a single computer platform and facilitate information transfer amongst the various codes. The resulting modeling and simulation (M&S) environment in conjunction with the response surface method provides the designer/decision-maker an analytical means to examine the entire design space from either a subsystem and/or system perspective. The results of this paper will enable managers to analytically play what-if games to gain insight in to the benefits (and/or degradation) of changing engine cycle design parameters. Furthermore, the propulsion design space will be explored probabilistically to show the feasibility and viability of the propulsion system integrated with a vehicle.

Tai, Jimmy C. M.↗

NASA NTRS1997

Force Feedback Joystick

I-FORCE, a computer peripheral from Immersion Corporation, was derived from virtual environment and human factors research at the Advanced Displays and Spatial Perception Laboratory at Ames Research Center in collaboration with Stanford University Center for Design Research. Entrepreneur Louis Rosenberg, a former Stanford researcher, now president of Immersion, collaborated with Dr. Bernard Adelstein at Ames on studies of perception in virtual reality. The result was an inexpensive way to incorporate motors and a sophisticated microprocessor into joysticks and other game controllers. These devices can emulate the feel of a car on the skid, a crashing plane, the bounce of a ball, compressed springs, or other physical phenomenon. The first products incorporating I-FORCE technology include CH- Products' line of FlightStick and CombatStick controllers.

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NASA NTRS2002

The New Realm of 3-D Vision

Dimension Technologies Inc., developed a line of 2-D/3-D Liquid Crystal Display (LCD) screens, including a 15-inch model priced at consumer levels. DTI's family of flat panel LCD displays, called the Virtual Window(TM), provide real-time 3-D images without the use of glasses, head trackers, helmets, or other viewing aids. Most of the company initial 3-D display research was funded through NASA's Small Business Innovation Research (SBIR) program. The images on DTI's displays appear to leap off the screen and hang in space. The display accepts input from computers or stereo video sources, and can be switched from 3-D to full-resolution 2-D viewing with the push of a button. The Virtual Window displays have applications in data visualization, medicine, architecture, business, real estate, entertainment, and other research, design, military, and consumer applications. Displays are currently used for computer games, protein analysis, and surgical imaging. The technology greatly benefits the medical field, as surgical simulators are helping to increase the skills of surgical residents. Virtual Window(TM) is a trademark of Dimension Technologies Inc.

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