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NASA NTRS2010

Envisioning Cognitive Robots for Future Space Exploration

Cognitive robots in the context of space exploration are envisioned with advanced capabilities of model building, continuous planning/re-planning, self-diagnosis, as well as the ability to exhibit a level of 'understanding' of new situations. An overview of some JPL components (e.g. CASPER, CAMPOUT) and a description of the architecture CARACaS (Control Architecture for Robotic Agent Command and Sensing) that combines these in the context of a cognitive robotic system operating in a various scenarios are presented. Finally, two examples of typical scenarios of a multi-robot construction mission and a human-robot mission, involving direct collaboration with humans is given.

robot consciousness↗

NASA NTRS1990

Assembly planning for large truss structures in space

The approach is based on a graph search algorithm. A relational data structure is used to represent a truss structure. There are four types of entities: units, faces, edges, and vertices. There are contain/contained relationships for every pair of entity types, as well as in-contact relationships between faces. A best-first algorithm constitutes the core of the planner. The cost function in the current implementation corresponds to a combination of the rigidity of the intermediate structures and the total distance to be traversed by the agent executing the assembly tasks.

Homem De Mello, L. S.↗

NASA NTRS1995

Environmentally compatible hand wipe cleaning solvents

Several solvents of environmental concern have previously been used for hand wipe cleaning of SRB surfaces, including 1,1,1-trichloroethane, perchloroethylene, toluene, xylene, and MEK. USBI determined the major types of surfaces involved, and qualification requirements of replacement cleaning agents. Nineteen environmentally compatible candidates were tested on 33 material substrates with 26 types of potential surface contaminants, involving over 7,000 individual evaluations. In addition to the cleaning performance evaluation, bonding, compatibility, and corrosion tests were conducted. Results showed that one cleaner was not optimum for all surfaces. In most instances, some of the candidates cleaned better than the 1,1,1-trichloroethane baseline control. Aqueous cleaners generally cleaned better, and were more compatible with nonmetallic materials, such as paints, plastics, and elastomers. Organic base cleaners were better on metal surfaces. Five cleaners have been qualified and are now being implemented in SRB hand wipe cleaning operations.

Clayton, Catherine P.↗

NASA NTRS2003

Principles for Integrating Mars Analog Science, Operations, and Technology Research

During the Apollo program, the scientific community and NASA used terrestrial analog sites for understanding planetary features and for training astronauts to be scientists. Human factors studies (Harrison, Clearwater, & McKay 1991; Stuster 1996) have focused on the effects of isolation in extreme environments. More recently, with the advent of wireless computing, we have prototyped advanced EVA technologies for navigation, scheduling, and science data logging (Clancey 2002b; Clancey et al., in press). Combining these interests in a single expedition enables tremendous synergy and authenticity, as pioneered by Pascal Lee's Haughton-Mars Project (Lee 2001; Clancey 2000a) and the Mars Society s research stations on a crater rim on Devon Island in the High Canadian Arctic (Clancey 2000b; 2001b) and the Morrison Formation of southeast Utah (Clancey 2002a). Based on this experience, the following principles are proposed for conducting an integrated science, operations, and technology research program at analog sites: 1) Authentic work; 2) PI-based projects; 3) Unencumbered baseline studies; 4) Closed simulations; and 5) Observation and documentation. Following these principles, we have been integrating field science, operations research, and technology development at analog sites on Devon Island and in Utah over the past five years. Analytic methods include work practice simulation (Clancey 2002c; Sierhuis et a]., 2000a;b), by which the interaction of human behavior, facilities, geography, tools, and procedures are formalized in computer models. These models are then converted into the runtime EVA system we call mobile agents (Clancey 2002b; Clancey et al., in press). Furthermore, we have found that the Apollo Lunar Surface Journal (Jones, 1999) provides a vast repository or understanding astronaut and CapCom interactions, serving as a baseline for Mars operations and quickly highlighting opportunities for computer automation (Clancey, in press).

Clancey, William J.↗

NASA NTRS2006

Proteomic Retrieval from Nucleic Acid Depleted Space-Flown Human Cells

Compared to experiments utilizing humans in microgravity, cell-based approaches to questions about subsystems of the human system afford multiple advantages, such as crew safety and the ability to achieve statistical significance. To maximize the science return from flight samples, an optimized method was developed to recover protein from samples depleted of nucleic acid. This technique allows multiple analyses on a single cellular sample and when applied to future cellular investigations could accelerate solutions to significant biomedical barriers to human space exploration. Cell cultures grown in American Fluoroseal bags were treated with an RNA stabilizing agent (RNAlater - Ambion), which enabled both RNA and immunoreactive protein analyses. RNA was purified using an RNAqueous(registered TradeMark) kit (Ambion) and the remaining RNA free supernatant was precipitated with 5% trichloroacetic acid. The precipitate was dissolved in SDS running buffer and tested for protein content using a bicinchoninic acid assay (1) (Sigma). Equal loads of protein were placed on SDS-PAGE gels and either stained with CyproOrange (Amersham) or transferred using Western Blotting techniques (2,3,4). Protein recovered from RNAlater-treated cells and stained with protein stain, was measured using Imagequant volume measurements for rectangles of equal size. BSA treated in this way gave quantitative data over the protein range used (Fig 1). Human renal cortical epithelial (HRCE) cells (5,6,7) grown onboard the International Space Station (ISS) during Increment 3 and in ground control cultures exhibited similar immunoreactivity profiles for antibodies to the Vitamin D receptor (VDR) (Fig 2), the beta isoform of protein kinase C (PKC ) (Fig 3), and glyceraldehyde-3-phosphate dehydrogenase (GAPDH) (Fig 4). Parallel immunohistochemical studies on formalin-fixed flight and ground control cultures also showed positive immunostaining for VDR and other biomarkers (Fig 5). These results are consistent with data from additional antigenic recovery experiments performed on human Mullerian tumor cells cultured in microgravity (8).

Hammond, D. K.↗

NASA NTRS1997

Team play with a powerful and independent agent: operational experiences and automation surprises on the Airbus A-320

Research and operational experience have shown that one of the major problems with pilot-automation interaction is a lack of mode awareness (i.e., the current and future status and behavior of the automation). As a result, pilots sometimes experience so-called automation surprises when the automation takes an unexpected action or fails to behave as anticipated. A lack of mode awareness and automation surprises can he viewed as symptoms of a mismatch between human and machine properties and capabilities. Changes in automation design can therefore he expected to affect the likelihood and nature of problems encountered by pilots. Previous studies have focused exclusively on early generation "glass cockpit" aircraft that were designed based on a similar automation philosophy. To find out whether similar difficulties with maintaining mode awareness are encountered on more advanced aircraft, a corpus of automation surprises was gathered from pilots of the Airbus A-320, an aircraft characterized by high levels of autonomy, authority, and complexity. To understand the underlying reasons for reported breakdowns in human-automation coordination, we also asked pilots about their monitoring strategies and their experiences with and attitude toward the unique design of flight controls on this aircraft.

NASA Discipline Space Human Factors↗

NASA NTRS2012

Molecular Technique to Reduce PCR Bias for Deeper Understanding of Microbial Diversity

Current planetary protection policies require that spacecraft targeted to sensitive solar system bodies be assembled and readied for launch in controlled cleanroom environments. A better understanding of the distribution and frequency at which high-risk contaminant microbes are encountered on spacecraft surfaces would significantly aid in assessing the threat of forward contamination. However, despite a growing understanding of the diverse microbial populations present in cleanrooms, less abundant microbial populations are probably not adequately taken into account due to technological limitations. This novel approach encompasses a wide spectrum of microbial species and will represent the true picture of spacecraft cleanroom-associated microbial diversity. All of the current microbial diversity assessment techniques are based on an initial PCR amplification step. However, a number of factors are known to bias PCR amplification and jeopardize the true representation of bacterial diversity. PCR amplification of a minor template appears to be suppressed by the amplification of a more abundant template. It is widely acknowledged among environmental molecular microbiologists that genetic biosignatures identified from an environment only represent the most dominant populations. The technological bottleneck overlooks the presence of the less abundant minority population and may underestimate their role in the ecosystem maintenance. DNA intercalating agents such as propidium monoazide (PMA) covalently bind with DNA molecules upon photolysis using visible light, and make it unavailable for DNA polymerase enzyme during polymerase chain reaction (PCR). Environmental DNA samples will be treated with suboptimum PMA concentration, enough to intercalate with 90 99% of the total DNA. The probability of PMA binding with DNA from abundant bacterial species will be much higher than binding with DNA from less abundant species. This will increase the relative DNA concentration of previously "shadowed" less abundant species available for PCR amplification. These PCR products obtained with and without PMA treatment will then be subjected to downstream diversity analyses such as sequencing and DNA microarray. It is expected that PMA-coupled PCR will amplify the "minority population" and help in understanding microbial diversity spectrum of an environmental sample at a much deeper level. This new protocol aims to overcome the major potential biases faced when analyzing microbial 16S rRNA gene diversity. This study will lead to a technological advancement and a commercial product that will aid microbial ecologists in understanding microbial diversity from various environmental niches. Implementation of this technique may lead to discoveries of novel microbes and their functions in sustenance of the ecosystem.

Vaishampayan, Parag A.↗

NASA NTRS2014

An Automated Approach to Map the History of Forest Disturbance from Insect Mortality and Harvest with Landsat Time-Series Data

Forests contain a majority of the aboveground carbon (C) found in ecosystems, and understanding biomass lost from disturbance is essential to improve our C-cycle knowledge. Our study region in the Wisconsin and Minnesota Laurentian Forest had a strong decline in Normalized Difference Vegetation Index (NDVI) from 1982 to 2007, observed with the National Ocean and Atmospheric Administration's (NOAA) series of Advanced Very High Resolution Radiometer (AVHRR). To understand the potential role of disturbances in the terrestrial C-cycle, we developed an algorithm to map forest disturbances from either harvest or insect outbreak for Landsat time-series stacks. We merged two image analysis approaches into one algorithm to monitor forest change that included: (1) multiple disturbance index thresholds to capture clear-cut harvest; and (2) a spectral trajectory-based image analysis with multiple confidence interval thresholds to map insect outbreak. We produced 20 maps and evaluated classification accuracy with air-photos and insect air-survey data to understand the performance of our algorithm. We achieved overall accuracies ranging from 65% to 75%, with an average accuracy of 72%. The producer's and user's accuracy ranged from a maximum of 32% to 70% for insect disturbance, 60% to 76% for insect mortality and 82% to 88% for harvested forest, which was the dominant disturbance agent. Forest disturbances accounted for 22% of total forested area (7349 km2). Our algorithm provides a basic approach to map disturbance history where large impacts to forest stands have occurred and highlights the limited spectral sensitivity of Landsat time-series to outbreaks of defoliating insects. We found that only harvest and insect mortality events can be mapped with adequate accuracy with a non-annual Landsat time-series. This limited our land cover understanding of NDVI decline drivers. We demonstrate that to capture more subtle disturbances with spectral trajectories, future observations must be temporally dense to distinguish between type and frequency in heterogeneous landscapes.

Forest↗

NASA NTRSDate not supplied

Developing A Dependable Multi-Agent Rover Swarm Using cFS

The future of space exploration lies in cooperative autonomous systems. Ensuring their high integrity remains a challenge. The Robust Software Engineering group at NASA Ames Research Center has been developing the Troupe project to explore the challenges with developing and assuring high integrity of cooperative autonomous robotic systems. In particular, Troupe aims to develop a swarm of autonomous rovers capable of mapping unknown terrain and assure their high integrity using the advanced V&V tools developed in the group. In this paper, we present the evolution of the design of Troupe. We focus on the lessons learned in developing and assuring the rover swarm using core Flight System (cFS). In particular, we discuss the benefits and challenges in applying model-based development to develop the rover swarm.

space systems↗

NASA NTRSDate not supplied

Developing A Dependable Multi-Agent Rover Swarm Using cFS

space systems↗

NASA NTRS2004

Design of Hybrid Mobile Communication Networks for Planetary Exploration

The Mobile Exploration System Project (MEX) at NASA Ames Research Center has been conducting studies into hybrid communication networks for future planetary missions. These networks consist of space-based communication assets connected to ground-based Internets and planetary surface-based mobile wireless networks. These hybrid mobile networks have been deployed in rugged field locations in the American desert and the Canadian arctic for support of science and simulation activities on at least six occasions. This work has been conducted over the past five years resulting in evolving architectural complexity, improved component characteristics and better analysis and test methods. A rich set of data and techniques have resulted from the development and field testing of the communication network during field expeditions such as the Haughton Mars Project and NASA Mobile Agents Project.

Alena, Richard L.↗

NASA NTRS2025

Localization of Ad-Hoc Lunar Constellations in Communication Failure Modes for Distributed Spacecraft Autonomy

As Lunar missions increase in complexity, inspired by NASA’s Artemis Program, they will require reliable and sufficient Position, Navigation, and Timing (PNT) capability to support the upcoming Lunar users. The navigation service should also be compatible with the smaller platforms, like CubeSats, being sent by the public and private sectors. A non-dedicated, ad-hoc Lunar navigation constellation can provide PNT services on-demand using the non-dedicated swarm assets. Swarm members cooperatively and autonomously localize themselves with minimal interaction from Earth, freeing up valuable bandwidth and ground segment resources. The autonomous localization of Lunar constellations utilizes neighbor two-way intersatellite link (ISL) measurements in a distributed extended Kalman filter (DEKF) system to minimize operating costs. Because the decentralized Lunar PNT system relies on relay communication amongst the agents, network failures or loss of assets among ad-hoc Lunar constellations may impact localization performance. This study presents an evaluation of localization performance under increasing levels of network degradation. A simulation of an ad-hoc Lunar PNT swarm is augmented to include system faults and the impacts of intermittent and permanent failures on localization performance are evaluated. We investigate three potential causes of network degradation: single spacecraft loss, multiple spacecraft loss, and antenna failure. The numerical assessments from the simulation show that the LPNT system under study, based on an autonomous decentralized concept of operation, is highly robust and resilient to communication failures. Minor faults, such as single spacecraft loss, solar interference, technical malfunctions, message delays, and antenna outages, have minimal impact on state estimation, with only a 4.47% and 3.75% degradation in median position error for assets and a representative ground user, respectively, compared to an ideal communication scenario. However, major faults, such as hardware failures or meteor strikes leading to the loss of multiple spacecrafts, are more concerning. The permanent loss of three spacecraft results in a more severe performance degradation, with median position error increasing by 23.3% for assets and 11.7% for a representative ground user, despite the Lunar PNT system remaining functional.

Yeji Kim↗

NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗

NASA NTRS2003

Macromolecular Expression and Function: A New Paradigm for NASA Risk Assessment

Predicting risks in humans of either acute effects such as bone loss or muscle wasting, or late effects such as cancer, is challenging. To an approximation, this is because uncertainties of exposure to stress factors or toxic agents and the uniformity of processing subsequent damage at the cellular level within a complex set of biological variables degrade the confidence of predicting pathologic outcome. A cellular biodosimeter that simultaneously reports 1) the type of damage due to that exposure, 2) the quantity of damage incurred by that exposure, and 3) the dataset used to assess risk of developing pathologic outcome caused by that exposure would therefore be useful for predicting ultimate risks faced by an individual, such as an astronaut. It is suggested that such a biodosimeter can be based upon analyses of gene-expression and protein expression whereby large datasets of cellular response to damage are obtained and analyzed for expression-profiles correlated with established end points and molecular markers predictive for risks being assessed. The usefulness of multiparametric cellular biodosimeters could be realized by quantitatively profiling these datasets using techniques of bioinformatics. Such an approach contributes to the foundation of molecular epidemiology as a new scientific discipline, and represents a new paradigm of risk assessment.

Richmond, Robert↗

NASA NTRSDate not supplied

Modeling Distributed Situation Awareness in Resilience-based Design of Complex Systems

Human operators play a major role in the resilience of complex systems–while human error is one of the biggest contributors to hazardous events, operators additionally play a critical role in mitigating hazardous events. A key factor underlying this operator resilience is situation awareness–the ability of operators to understand their environment and each other to achieve desired system functions. In contrast to situation awareness-related accident models in the literature, which are largely conceptual in nature, this work proposes the use of a dynamic simulation framework to concretely model both the effects of situation awareness-related human errors and situation awareness-related hazard-mitigating properties using the distributed situation awareness theory. This work then presents specialized model constructs to enable agents’ individual perceptions of the system state and transactions with other agents (and thus distributed situation awareness) to be represented in simulation. To demonstrate this framework, it is then adapted to an aircraft taxiway case study, where it is used to model aircraft conflicts due to lack of vision and poor communications from the air traffic controller. This demonstration shows the potential of using simulation models to rigorously understand situation awareness-related human errors and thus inform the design of resilience.

Resilience Modeling↗

NASA NTRSDate not supplied

Modeling Distributed Situation Awareness in Resilience-Based Design of Complex Engineered Systems

Resilience Modeling↗

NASA NTRS1996

Significance of Plant Root Microorganisms in Reclaiming Water in CELSS

Since many microorganisms demonstrate the ability to quickly break down complex mixtures of waste and environmental contaminants, examining their potential use for water recycling in a closed environment is appealing. Water contributes approximately 90 percent of the life sustaining provisions in a human space habitat. Nearly half of the daily water requirements will be used for personal hygiene and dish washing. The primary contaminants of the used "gray" water will be the cleansing agents or soaps used to carry out these functions. Reclaiming water from the gray water waste streams is one goal of the NASA program, Controlled Ecological Life Support Systems (CELSS). The microorganisms of plane roots are well documented to be of a beneficial effect to promote plant growth. Most plants exhibit a range of bacteria and fungi which can be highly plant-specific. In our investigations with lettuce grown in hydroponic culture, we identified a microflora of normal rhizosphere. When the roots were exposed to an anionic surfactant, the species diversity changed, based on morphological characteristics, with the numbers of species being reduced from 7 to 2 after 48 hours of exposure. In addition, the species that became dominant in the presence of the anionic surfactant also demonstrated a dramatic increase in population density which corresponded to the degradation of the surfactant in the root zone. The potential for using these or other rhizosphere bacteria as a primary or secondary waste processor is promising, but a number of issues still warrant investigation; these include but are not limited to: (1) the full identification of the microbes, (2) the classes of surfactants the microbes will degrade, (3) the environmental conditions required for optimal processing efficiency and (4) the ability of transferring the microbes to a non-living solid matrix such as a bioreactor.

Bubenheim, David L.↗

NASA NTRS2000

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

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

Non-NASA Center↗