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NASA NTRS2000

A Unified Approach to Model-Based Planning and Execution

Writing autonomous software is complex, requiring the coordination of functionally and technologically diverse software modules. System and mission engineers must rely on specialists familiar with the different software modules to translate requirements into application software. Also, each module often encodes the same requirement in different forms. The results are high costs and reduced reliability due to the difficulty of tracking discrepancies in these encodings. In this paper we describe a unified approach to planning and execution that we believe provides a unified representational and computational framework for an autonomous agent. We identify the four main components whose interplay provides the basis for the agent's autonomous behavior: the domain model, the plan database, the plan running module, and the planner modules. This representational and problem solving approach can be applied at all levels of the architecture of a complex agent, such as Remote Agent. In the rest of the paper we briefly describe the Remote Agent architecture. The new agent architecture proposed here aims at achieving the full Remote Agent functionality. We then give the fundamental ideas behind the new agent architecture and point out some implication of the structure of the architecture, mainly in the area of reactivity and interaction between reactive and deliberative decision making. We conclude with related work and current status.

Muscettola, Nicola↗

NASA NTRS1990

The atmospheric structure and dynamical properties of Neptune derived from ground-based and IUE spectrophotometry

A wide range of recent full-disk spectral observations is used to constrain the atmospheric structure and dynamical properties of Neptune; analytical determinations are made of the abundances of such spectrally active gas species as the deep-atmosphere CH4 molar fraction and the mean ortho/para hydrogen ratio in the visible atmosphere, as well as stratospheric and tropospheric aerosol properties. Compared to Uranus, the greater abundance and shorter lifetimes of Neptunian particulates in the stratospheric region irradiated by the solar UV flux indicate that such radiation is the darkening agent of stratospheric aerosols on both planets.

Baines, Kevin H.↗

NASA NTRS1989

Production of oxygen from lunar ilmenite

The overall objective of this project was to develop a novel carbothermal reduction process for production of oxygen from lunar ilmenite. The specific objective was to use a reaction sequence in which a wide variety of carbonaceous compounds (including carbonaceous wastes) can be used as reducing agents. During the first phase, two reactor systems were designed, constructed, and operated to study the reaction fundamental important in this process. One system is a small fluidized bed, and the other is a thermo-gravimetric reactor system. Preliminary experiments on synthetic ilmenite are conducted to study the effect of carbon type, carbon loading, temperature, and gas flow rate. Results indicate that a reaction path based on carbon gasification can be used to promote the overall kinetics. A unique temperature and concentration-programmed reaction procedure was being developed for rapid parametric study of the process.

Shadman, F.↗

NASA NTRS2002

Biosensors for Real-Time Monitoring of Radiation-Induced Biologic Effects in Space

This work seeks to develop cellular biosensors based on dendritic polymers. Nanoscale polymer structures less than 20 nm in diameter will be used as the basis of the biosensors. The structures will be designed to target into specific cells of an astronaut and be able to monitor health issues such as exposure to radiation. Multiple components can be assembled on the polymers including target directors, analytical devices (such as molecular probes), and reporting agents. The reporting will be accomplished through fluorescence signal monitoring, with the use of multispectral analysis for signal interpretation. These nanosensors could facilitate the success and increase the safety of extended space flight. The design and assembly of these devices has been pioneered at the Center for Biologic Nanotechnology in the University of Michigan. This period, synthesis of the test-bed biosensors continued. Studies were performed on the candidate fluorescent dyes to determine which might be suitable for the biosensor under development. Development continued on producing an artificial capillary bed as a tool for the use in the production of the fluorescence signal monitor. Work was also done on the in vitro multispectral analysis system, which uses the robotic microscope.

Baker, James R.↗

NASA NTRS2004

Human-Centric Teaming in a Multi-Agent EVA Assembly Task

NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower.An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of human astronauts with the survivability and physical capabilities of highly dexterous space robots is proposed. A 1-g test featuring two NASA/DARPA Robonaut systems working side-by-side with a suited human subject is conducted to evaluate human-robot teaming strategies in the context of a simulated EVA assembly task based on the STS-61B ACCESS flight experiment.

Rehnmark, Fredrik↗

NASA NTRS2009

From Goal-Oriented Requirements to Event-B Specifications

In goal-oriented requirements engineering methodologies, goals are structured into refinement trees from high-level system-wide goals down to fine-grained requirements assigned to specific software/ hardware/human agents that can realise them. Functional goals assigned to software agents need to be operationalised into specification of services that the agent should provide to realise those requirements. In this paper, we propose an approach for operationalising requirements into specifications expressed in the Event-B formalism. Our approach has the benefit of aiding software designers by bridging the gap between declarative requirements and operational system specifications in a rigorous manner, enabling powerful correctness proofs and allowing further refinements down to the implementation level. Our solution is based on verifying that a consistent Event-B machine exhibits properties corresponding to requirements.

Aziz, Benjamin↗

NASA NTRS1999

High-Resolution Mapping of Lunar Crustal Magnetic Fields: Correlations with Albedo Markings of the Reiner Gamma Class

During the last eight months of the Lunar Prospector mission (December 1999-July 1999), the spacecraft was placed in a relatively low-altitude (15-30-km perapsis), near-polar orbit that allowed high-resolution mapping of crustal magnetic fields. We report here initial studies of the correlation of locally strong magnetic anomalies with unusual, swirl-like albedo markings of the Reiner Gamma class. Based on this correlation, which is known from earlier studies of Apollo subsatellite magnetometer data, it has been proposed that the swirls represent regions whose higher albedos have been preserved via deflection of the solar-wind ion bombardment by strong crustal fields. This model in turn depends on the hypothesis that solar-wind implanted H is at least one component of the process that optically matures exposed silicate surfaces in the inner solar system . Specifically, it is hypothesized that implanted H acts as an effective reducing agent to enhance the rate of production of nanophase metallic Fe particles from preexisting silicates during micrometeoroid impacts. According to the model, the curvilinear shapes of these albedo markings are caused, at least in part, by the geometry of ion deflections in a magnetic field. The improved resolution and coverage of the Prospector data allow more detailed mapping of the fields, especially on the lunar farside. This permits a more quantitative test of whether all albedo markings of this class are associated with strong local magnetic fields.Only if the latter condition is met can the solar-wind deflection hypothesis he valid. The basic procedure for mapping crustal magnetic fields using Lunar Prospector magnetometer data follows that developed for analysis of Apollo subsatellite magnetometer data. The specific mapping steps are (1) selection of mission time intervals suitable for mapping crustal fields; these are limited essentially either to times when the Moon is in a lobe of the geomagnetic tail or to times when the Moon is in the solar wind but the spacecraft is in the lunar wake; the data are transformed to a radial, east, and north coordinate system with measurements given as a function of spacecraft latitude, longitude, and altitude; (2) visual editing of individual orbit segments selected for minimal external field disturbances; (3) minimization of remaining low-frequency external fields for individual orbit data segments by quadratic detrending; and (4) two-dimensional filtering of individual orbit segments to produce a vector field map along the slightly curved surface defined by the spacecraft altitude; maps of the three field components (radial, east, and north), the field magnitude, and the spacecraft altitude are constructed. For data obtained at low to middle latitudes, the horizontal resolution of the field maps is limited by the orbit-track separation (about 30 km at the equator). Maps of the field magnitude have been constructed within limited selenographic regions based mainly on data acquired in March, April, and May of 1999. This was a time period when the orbit plane was nearly aligned with the Sun-Moon line so that field mapping was possible at times when the Moon was in the solar wind as well as when the Moon was in the geomagnetic tail. Most of the coverage is across the lunar farside. However, a shows an example of a field map produced from solar-wind wake data for a region including Reiner Gamm on western Oceanus Procellarum (location: 58.5W, 7.5N). The contour interval is 3 nT and the mean spacecraft altitude is 18 km to within the accuracy allowed by the resolution of the map (30 km or about 1 deg.); strong magnetic anomalies correlate closely with swirl locations. Individual orbit profiles (whose resolution along the orbit track is comparable to the spacecraft altitude of 18 km) also demonstrate a good correlation of field magnitude with surface albedo. In order to investigate the correlation of magnetic fields with the location of swirl features, we have reexamined available lunar imagery (Lunar Orbiter, Apollo, and Clementine) to identify and map swirl locations within regions where swirls have previously been mapped. In these images, swirls were distinguished from other high-albedo features such as crater rays by their curvilinear shapes and increased visibility in forward-scattered light. Digital maps of swirls identified by all available imagery were then superposed on maps of the field magnitude at the spacecraft altitude. Based upon analysis of these composite magnetic/geologic maps, we draw the preliminary conclusion that swirl features are associated with magnetic anomalies revealed by Lunar Prospector. Detailed maps of these swirl features are currently being constructed for the magnetically strong regions antipodal to the Imbrium, Serenitatis, and Crisium Basins. Additional information contained in the original,

Hood, L. L.↗

NASA NTRS1998

Preliminary Work for Examining the Scalability of Reinforcement Learning

Researchers began studying automated agents that learn to perform multiple-step tasks early in the history of artificial intelligence (Samuel, 1963; Samuel, 1967; Waterman, 1970; Fikes, Hart & Nilsonn, 1972). Multiple-step tasks are tasks that can only be solved via a sequence of decisions, such as control problems, robotics problems, classic problem-solving, and game-playing. The objective of agents attempting to learn such tasks is to use the resources they have available in order to become more proficient at the tasks. In particular, each agent attempts to develop a good policy, a mapping from states to actions, that allows it to select actions that optimize a measure of its performance on the task; for example, reducing the number of steps necessary to complete the task successfully. Our study focuses on reinforcement learning, a set of learning techniques where the learner performs trial-and-error experiments in the task and adapts its policy based on the outcome of those experiments. Much of the work in reinforcement learning has focused on a particular, simple representation, where every problem state is represented explicitly in a table, and associated with each state are the actions that can be chosen in that state. A major advantage of this table lookup representation is that one can prove that certain reinforcement learning techniques will develop an optimal policy for the current task. The drawback is that the representation limits the application of reinforcement learning to multiple-step tasks with relatively small state-spaces. There has been a little theoretical work that proves that convergence to optimal solutions can be obtained when using generalization structures, but the structures are quite simple. The theory says little about complex structures, such as multi-layer, feedforward artificial neural networks (Rumelhart & McClelland, 1986), but empirical results indicate that the use of reinforcement learning with such structures is promising. These empirical results make no theoretical claims, nor compare the policies produced to optimal policies. A goal of our work is to be able to make the comparison between an optimal policy and one stored in an artificial neural network. A difficulty of performing such a study is finding a multiple-step task that is small enough that one can find an optimal policy using table lookup, yet large enough that, for practical purposes, an artificial neural network is really required. We have identified a limited form of the game OTHELLO as satisfying these requirements. The work we report here is in the very preliminary stages of research, but this paper provides background for the problem being studied and a description of our initial approach to examining the problem. In the remainder of this paper, we first describe reinforcement learning in more detail. Next, we present the game OTHELLO. Finally we argue that a restricted form of the game meets the requirements of our study, and describe our preliminary approach to finding an optimal solution to the problem.

Clouse, Jeff↗

NASA NTRS2003

Self-Propagating Frontal Polymerization in Water at Ambient Pressure

Advances in polymer chemistry have led to the development of monomers and initiation agents that enable propagating free-radical polymerization fronts to exist. These fronts are driven by the exothermicity of the polymerization reaction and the transport of heat from the polymerized product to the reactant monomer/solvent/initiator solution. The thermal energy transported to the reactant solution causes the initiator to decompose, yielding free radicals, which start the free radical polymerization process as discussed in recent reviews. The use of polymerization processes based on propagating fronts has numerous applications. Perhaps the most important of these is that it enables rapid curing of polymers without external heating since the polymerization process itself provides the high temperatures necessary to initiate and sustain polymerization. This process also enables more uniform curing of arbitrarily thick samples since it does not rely on heat transfer from an external source, which will necessarily cause the temperature history of the sample to vary with distance from the surface according to a diffusion-like process. Frontal polymerization also enables filling and sealing of structures having cavities of arbitrary shape without having to externally heat the structure. Water at atmospheric pressure is most convenient solvent to employ and the most important for practical applications (because of the cost and environmental issues associated with DMSO and other solvents). Nevertheless, to our knowledge, steady, self-propagating polymerization fronts have not been reported in water at atmospheric pressure. Currently, polymerization fronts require a high boiling point solvent (either water at high pressures or an alternative solvent such as dimethyl sulfoxide (DMSO) (boiling point 189 C at atmospheric pressure.) Early work on frontal polymerization, employed pressures up to 5000 atm in order to avoid boiling of the monomer/solvent/initiator solution. High boiling point solutions are needed because in order to produce a propagating front, a high front temperature is needed to produce sufficiently rapid decomposition of the free radical initiator and subsequent free radical polymerization and heat release at a rate faster than heat losses remove thermal energy from the system. (While the conduction heat loss rate increases linearly with temperature, the free radical initiator decomposition is a high activation energy process whose rate increases much more rapidly than linearly with temperature, thus as the temperature decreases, the ratio of heat loss to heat generation increases, eventually leading to extinction of the front if the temperature is too low.) In order to obtain atmospheric pressure frontal polymerization in water, it is necessary to identify a monomer/initiator combination that is water soluble and will not extinguish even when the peak temperature (T*) is less than 100 C. In this work acrylic acid (AA) was chosen as the monomer because is it one of the most reactive monomers and can polymerize readily at low temperatures even without initiators. Ammonium persulfate (AP) was chosen as the initiator because it decomposes readily at low temperatures, produces relatively few bubbles and is commercially available. The propagation rates and extinction conditions of the fronts are studied for a range of AA and AP concentrations. Small amounts of fumed silica powder (Cab-o-sil, Cabot Corporation) were added to the solutions to inhibit buoyancy induced convection in the solutions; future studies will investigate the effects of buoyant convection within the solutions.

Olten, Nesrin↗

NASA NTRS2003

Surface Treatment

A simple surface treatment process is provided which offers a high performance surface for a variety of applications at low cost. This novel surface treatment, which is particularly useful for Ti-6Al-4V alloys, is achieved by forming oxides on the surface with a two-step chemical process and without mechanical abrasion. First, after solvent degreasing, sulfuric acid is used to generate a fresh titanium surface. Next, an alkaline perborate solution is used to form an oxide on the surface. This acid-followed-by-base treatment is cost effective and relatively safe to use in commercial applications. In addition, it is chromium-free, and has been successfully used with a sol-gel coating to afford a strong adhesive bond that exhibits excellent durability after the bonded specimens have been subjected to a harsh 72 hour water boil immersion. Phenylethynyl containing adhesives were used to evaluate this surface treatment with a novel coupling agent containing both trialkoxysilane and phenylethynyl groups. 8 Claims, 16 Drawing Sheets

Park, Cheol↗

NASA NTRS2004

Improving Search Algorithms by Using Intelligent Coordinates

We consider algorithms that maximize a global function G in a distributed manner, using a different adaptive computational agent to set each variable of the underlying space. Each agent eta is self-interested; it sets its variable to maximize its own function g (sub eta). Three factors govern such a distributed algorithm's performance, related to exploration/exploitation, game theory, and machine learning. We demonstrate how to exploit alI three factors by modifying a search algorithm's exploration stage: rather than random exploration, each coordinate of the search space is now controlled by a separate machine-learning-based player engaged in a noncooperative game. Experiments demonstrate that this modification improves simulated annealing (SA) by up to an order of magnitude for bin packing and for a model of an economic process run over an underlying network. These experiments also reveal interesting small-world phenomena.

Wolpert, David H.↗

NASA NTRS2002

Fc-receptor-mediated phagocytosis is regulated by mechanical properties of the target

Phagocytosis is an actin-based process used by macrophages to clear particles greater than 0.5 microm in diameter. In addition to its role in immunological responses, phagocytosis is also necessary for tissue remodeling and repair. To prevent catastrophic autoimmune reactions, phagocytosis must be tightly regulated. It is commonly assumed that the recognition/selection of phagocytic targets is based solely upon receptor-ligand binding. Here we report an important new criterion, that mechanical parameters of the target can dramatically affect the efficiency of phagocytosis. When presented with particles of identical chemical properties but different rigidity, macrophages showed a strong preference to engulf rigid objects. Furthermore, phagocytosis of soft particles can be stimulated with the microinjection of constitutively active Rac1 but not RhoA, and with lysophosphatidic acid, an agent known to activate the small GTP-binding proteins of the Rho family. These data suggest a Rac1-dependent mechanosensory mechanism for phagocytosis, which probably plays an important role in a number of physiological and pathological processes from embryonic development to autoimmune diseases.

NASA Program Fundamental Space Biology↗

NASA NTRS2002

Mobile Router Developed and Tested

The NASA Glenn Research Center, under a NASA Space Act Agreement with Cisco Systems, has been performing joint networking research to apply Internet-based technologies and protocols to space-based communications. As a result of this research, NASA performed stringent performance testing of the mobile router, including the interaction of routing and the transport-level protocol. In addition, Cisco Systems developed the mobile router for both commercial and Government markets. The code has become part of the Cisco Systems Internetworking Operating System (IOS) as of release 12.2 (4) T--which will make this capability available to the community at large. The mobile router is software code that resides in a network router and enables entire networks to roam while maintaining connectivity to the Internet. This router code is pertinent to a myriad of applications for both Government and commercial sectors, including the "wireless battlefield." NASA and the Department of Defense will utilize this technology for near-planetary observation and sensing spacecraft. It is also a key enabling technology for aviation-based information applications. Mobile routing will make it possible for information such as weather, air traffic control, voice, and video to be transmitted to aircraft using Internet-based protocols. This technology shows great promise in reducing congested airways and mitigating aviation disasters due to bad weather. The mobile router can also be incorporated into emergency vehicles (such as ambulances and life-flight aircraft) to provide real-time connectivity back to the hospital and health-care experts, enabling the timely application of emergency care. Commercial applications include entertainment services, Internet protocol (IP) telephone, and Internet connectivity for cruise ships, commercial shipping, tour buses, aircraft, and eventually cars. A mobile router, which is based on mobile IP, allows hosts (mobile nodes) to seamlessly "roam" among various IP subnetworks. This is essential in many wireless networks. A mobile router, unlike a mobile IP node, allows entire networks to roam. Hence, a device connected to the mobile router does not need to be a mobile node because the mobile router provides the roaming capabilities. There are three basic elements in the mobile IP: the home agent, the foreign agent, and the mobile node. The home agent is a router on a mobile node's home network that tunnels datagrams for delivery to the mobile node when it is away from home. The foreign agent is a router on a remote network that provides routing services to a registered mobile node. The mobile node is a host or router that changes its point of attachment from one network or subnetwork to another. In mobile routing, virtual communications are maintained by the home agent, which forwards all packets for the mobile networks to the foreign agent. The foreign agent passes the packets to the mobile router, which then forwards the packets to the devices on its networks. As the mobile router moves, it will register with its home agent on its whereabouts via the foreign agent to assure continuous connectivity.

Ivancic, William D.↗

NASA NTRS1989

A layered abduction model of perception: Integrating bottom-up and top-down processing in a multi-sense agent

A layered-abduction model of perception is presented which unifies bottom-up and top-down processing in a single logical and information-processing framework. The process of interpreting the input from each sense is broken down into discrete layers of interpretation, where at each layer a best explanation hypothesis is formed of the data presented by the layer or layers below, with the help of information available laterally and from above. The formation of this hypothesis is treated as a problem of abductive inference, similar to diagnosis and theory formation. Thus this model brings a knowledge-based problem-solving approach to the analysis of perception, treating perception as a kind of compiled cognition. The bottom-up passing of information from layer to layer defines channels of information flow, which separate and converge in a specific way for any specific sense modality. Multi-modal perception occurs where channels converge from more than one sense. This model has not yet been implemented, though it is based on systems which have been successful in medical and mechanical diagnosis and medical test interpretation.

Josephson, John R.↗

NASA NTRS1990

Production of oxygen from lunar ilmenite

The following subjects are addressed: (1) the mechanism and kinetics of carbothermal reduction of simulated lunar ilmenite using carbon and, particularly, CO as reducing agents; (2) the determination of the rate-limiting steps; (3) the investigation of the effect of impurities, particularly magnesium; (4) the search for catalysts suitable for enhancement of the rate-limiting step; (5) the comparison of the kinetics of carbothermal reduction with those of hydrogen reduction; (6) the study of the combined use of CO and hydrogen as products of gasification of carbonaceous solids; (7) the development of reduction methods based on the use of waste carbonaceous compounds for the process; (8) the development of a carbothermal reaction path that utilizes gasification of carbonaceous solids to reducing gaseous species (hydrocarbons and carbon monoxide) to facilitate the reduction reaction kinetics and make the process more flexible in using various forms of carbonaceous feeds; (9) the development of advanced gas separation techniques, including the use of high-temperature ceramic membranes; (10) the development of an optimum process flow sheet for carbothermal reduction, and comparison of this process with the hydrogen reduction scheme, as well as a general comparison with other leading oxygen production schemes; and (11) the use of new and advanced material processing and separation techniques.

Zhao, Y.↗

NASA NTRS2015

Potential Cement Phases in Sedimentary Rocks Drilled by Curiosity at Gale Crater, Mars

The Mars Science Laboratory rover Curiosity has encountered a variety of sedimentary rocks in Gale crater with different grain sizes, diagenetic features, sedimentary structures, and varying degrees of resistance to erosion. Curiosity has drilled three rocks to date and has analyzed the mineralogy, chemical composition, and textures of the samples with the science payload. The drilled rocks are the Sheepbed mudstone at Yellowknife Bay on the plains of Gale crater (John Klein and Cumberland targets), the Dillinger sandstone at the Kimberley on the plains of Gale crater (Windjana target), and a sedimentary unit in the Pahrump Hills in the lowermost rocks at the base of Mt. Sharp (Confidence Hills target). CheMin is the Xray diffractometer on Curiosity, and its data are used to identify and determine the abundance of mineral phases. Secondary phases can tell us about aqueous alteration processes and, thus, can help to elucidate past aqueous environments. Here, we present the secondary mineralogy of the rocks drilled to date as seen by CheMin and discuss past aqueous environments in Gale crater, the potential cementing agents in each rock, and how amorphous materials may play a role in cementing the sediments.

Rampe, E. B.↗

NASA NTRSDate not supplied

AI Curation Methods for NASA Scientific Data

The NASA Open Science Data Repository (OSDR) serves as a central hub for sharing and accessing NASA's vast collection of scientific data, supporting researchers across diverse fields. To enhance the efficiency, accuracy, and accessibility of this data, we are leveraging advanced artificial intelligence (AI) techniques as part of the AI for Curation project. By integrating large language models (LLMs) into our data curation workflow, we aim to streamline the entire process—from data submission to user interaction. This initiative focuses on improving key areas, including data ingestion, curation, and user engagement with curated datasets, impacting multiple domains and a wide user base. First, we are developing tools that can automatically parse data in various formats, using LLMs to convert unstructured data into structured, standardized formats. This reduces the manual effort required for curation, allowing curators to focus on more critical scientific analyses. Additionally, AI and machine learning (ML) models are being implemented to automate data validation and verification, ensuring the highest standards of data quality and reliability. Finally, we are creating a conversational AI agent to interact with the curated scientific studies in OSDR, helping users easily navigate the repository and access relevant data. By enhancing data discoverability and accessibility, these advancements will foster new research opportunities and promote the principles of open science.

Walter Alvarado↗

NASA NTRS1994

Adaptation of an Ammonia Detecting Paint to Commerical Applications

An ammonia-sensitive coating was developed in feasibility studies sponsored by Lockheed Engineering. The paint comprised a cellulosic binder, a dye, a family of solvents, and plasticizer. The resulting coating formulation proved to be very sensitive to trace levels of Lewis-bases and/or nucleophiles, but was limited to concentrations of approximately 1 ppm and higher. In the months following completion of this Lockheed project, efforts to perfect and optimize the paint formulation continued with internal funding. A unique sensitivity enhancing additive was identified and patented which when applied at concentrations of approximately 10% by weight, transcended the 1 ppm sensitivity barrier to fractional ppb. The paint composition was modified by the addition of certain proprietary agents, which promoted a much more intense yellow color in the coating and enhanced its durability in high-vacuum. Paint preparation is a simple one day procedure that can be completed using conventional equipment. Most of the materials are easily obtained.

Graef, Renee C.↗