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NASA NTRS1990

Enhanced vasomotion of cerebral arterioles in spontaneously hypertensive rats

Intrinsic rhythmic changes in the diameter of pial cerebral arterioles (30-70 microns) in anesthetized normotensive and hypertensive rats were assessed in vivo to determine if any significant differences exist between the two strains. All diameter measurements were analyzed using a traditional graphic analysis technique and a new frequency spectrum analysis technique known as the Prony Spectral Line Estimator. Graphic analysis of the data revealed that spontaneously hypertensive rats (SHR) possess a significantly greater fundamental frequency (5.57 +/- 0.28 cycles/min) of vasomotion compared to the control Wistar-Kyoto normotensive rats (WKY) (1.95 +/- 0.37 cycles/min). Furthermore, the SHR cerebral arterioles exhibited a significantly greater amplitude of vasomotion (10.07 +/- 0.70 microns) when compared to the WKY cerebral arterioles of the same diameter (8.10 +/- 0.70 microns). Diameter measurements processed with the Prony technique revealed that the fundamental frequency of vasomotion in SHR cerebral arterioles (6.14 +/- 0.39 cycles/min) was also significantly greater than that of the WKY cerebral arterioles (2.99 +/- 0.42 cycles/min). The mean amplitudes of vasomotion in the SHR and WKY strains obtained by the Prony analysis were found not to be statistically significant in contrast to the graphic analysis of the vasomotion amplitude of the arterioles. In addition, the Prony system was able to consistently uncover a very low frequency of vasomotion in both strains of rats that was typically less than 1 cycle/min and was not significantly different between the two strains. The amplitude of this slow frequency was also not significantly different between the two strains. The amplitude of the slow frequency of vasomotion (less than 1 cycle/min) was not different from the amplitude of the higher frequency (2-6 cycles/min) vasomotion by Prony or graphic analysis. These data suggest that a fundamental intrinsic defect exists in the spontaneously hypertensive rat that may contribute to the pathogenesis of hypertension in these animals.

NASA Discipline Cardiopulmonary↗
NASA NTRS1989

Stable carbon and sulfur isotopes as records of the early biosphere

The abundance ratios of the stable isotopes of light elements such as carbon and sulfur can differ between various naturally-occurring chemical compounds. If coexisting compounds have achieved mutual chemical and isotopic equilibrium, then the relative isotopic composition can record the conditions at which equilibrium was last maintained. If coexisting chemical compounds indeed formed simultaneously but had not achieved mutual equilibrium, then their relative isotopic compositions often reflect the conditions and mechanisms associated with the kinetically controlled reactions responsible for their production. In the context of Mars, the stable isotopic compositions of various minerals might record not only the earlier environmental conditions of the planet, but also whether or not the chemistry of life ever occurred there. Two major geochemical reservoirs occur in Earth's crust, both for carbon and sulfur. In rocks formed in low temperature sedimentary environments, the oxidized forms of these elements tend to be enriched in the isotope having the larger mass, relative to the reduced forms. In sediments where the organics and sulfides were formed by biological processes, these isotopic contrasts were caused by the processes of biological CO2 fixation and dissimilatory sulfate reduction. Such isotopic contrasts between oxidized and reduced forms of carbon and sulfur are permitted by thermodynamics at ambient temperatures. However, nonbiological chemical reactions associated with the production of organic matter and the reduction of organics and sulfides are extremely slow at ambient temperatures. Thus the synthesis of organics and sulfides under ambient conditions illustrates life's profound role as a chemical catalyst that has altered the chemistry of Earth's crust. Because the stable isotopes of carbon and sulfur can reflect their chemistry, they are useful probes of the Martian surface.

Desmarais, David J.↗
NASA NTRS2006

Boom Rendezvous Alternative Docking Approach

Space rendezvous and docking has always been attempted with primarily one philosophic methodology. The slow matching of one vehicle's orbit by a second vehicle and then a final closing sequence that ends in matching the orbits with perfect precision and with near zero relative velocities. The task is time consuming, propellant intensive, risk inherent (plume impingement, collisions, fuel depletion, etc.) and requires substantial hardware mass. The historical background and rationale as to why this approach is used is discussed in terms of the path-not-taken and in light of an alternate methodology. Rendezvous and docking by boom extension is suggested to have inherent advantages that today s technology can readily exploit. Extension from the primary spacecraft, beyond its inherent large inertia, allows low inertia connections to be made rapidly and safely. Plume contamination issues are eliminated as well as the extra propellant mass and risk required for the final thruster (docking) operations. Space vehicle connection hardware can be significantly lightened. Also, docking sensors and controls require less fidelity; allowing them to be more robust and less sensitive. It is the potential safety advantage and mission risk reduction that makes this approach attractive, besides the prospect of nominal time and mass savings.

Bonometti, Joseph A.↗
NASA NTRS2001

Growth and Morphology of Supercritical Fluids, a Fluid Physics Experiment Conducted on Mir, Complete

The Growth and Morphology of Supercritical Fluids (GMSF) is an international experiment facilitated by the NASA Glenn Research Center and under the guidance of U.S. principal investor Professor Hegseth of the University of New Orleans and three French coinvestigators: Daniel Beysens, Yves Garrabos, and Carole Chabot. The GMSF experiments were concluded in early 1999 on the Russian space station Mir. The experiments spanned the three science themes of near-critical phase separation rates, interface dynamics in near-critical boiling, and measurement of the spectrum of density fluctuation length scales very close to the critical point. The fluids used were pure CO2 or SF6. Three of the five thermostats used could adjust the sample volume with the scheduled crew time. Such a volume adjustment enabled variable sample densities around the critical density as well as pressure steps (as distinct from the usual temperature steps) applied to the sample. The French-built ALICE II facility was used for these experiments. It allows tightly thermostated (left photograph) samples (right photograph) to be controlled and viewed/measured. Its diagnostics include interferometry, shadowgraph, high-speed pressure measurements, and microscopy. Data were logged on DAT tapes, and PCMCIA cards and were returned to Earth only after the mission was over. The ground-breaking near critical boiling experiment has yielded the most results with a paper published in Physical Review Letters (ref. 1). The boiling work also received press in Science Magazine (ref. 2). This work showed that, in very compressible near-critical two-phase pure fluids, a vapor bubble was induced to temporarily overheat during a rapid heating of the sample wall. The temperature rise in the vapor was 23-percent higher than the rise in the driving container wall. The effect is due to adiabatic compression of the vapor bubble by the rapid expansion of fluid near the boundary during heatup. Thermal diffusivity is low near the critical point, so getting heat out of the compressed bubble is observably slow. This gives the appearance of a backward heat flow, or heat flow from a cold surface to a warm fluid.

Wilkinson, R. Allen↗
NASA NTRS2019

A Delay Tolerant Networking-Based Approach to a High Data Rate Architecture for Spacecraft

Historically, it has been the case that SWaP placed such severe constraints on radios that the links between spacecraft and the ground were relatively slow. This meant that the radio link was normally a significant bottleneck in returning scientific data. Over recent years, however, a combination of more efficient radio design, intelligent waveforms, and highly directed, high-frequency RF / optical systems have led to a rapid increase in the amount of data that can be pushed through radio and optical links. This has led to some cases where the radio links are capable of moving data much more quickly than the spacecraft and instruments are capable of actually generating it! In some instances, scientific data can therefore be lost not because the downlink is too slow to support the data rate, but instead because the spacecraft was not designed in a way that would let it fully utilize both the radio and the networking services available to it.The High Data Rate Architecture (HiDRA) project describes a packet-based approach to building modern, distributed spacecraft systems. It presents a means for spacecraft and other assets to participate in both present and future Delay Tolerant Networks (DTN), while simultaneously ensuring that the asset is able to fully utilize the new, high-speed links that have been seeing more widespread development and deployment in recent years. With this in mind, this paper begins with a discussion regarding HiDRA's evolution. Next, it discusses the capabilities and limitations of NASA's present DTN-enabled networks. Of particular note is the way in which principles of network design at the terrestrial level (e.g. use of programmable networks / software-defined networks, separation between data and control plane, infusion of COTS Ethernet switch chips, etc.) can all be translated into the space environment as well. After this, the paper discusses the design and implementation of a present prototype reference implementation of High-Rate DTN (HDTN), which is intended to demonstrate future high-rate networking concepts as part of a coherent demonstration on the International Space Station (ISS). The goal, of both the research and of this implementation, is to help develop a ready-made toolbox of ideas, approaches, and examples from which mission designers can draw when putting together new missions. Assuming all goes as planned, this should not only work to reduce the cost of individual mission design, but also improve the rate at which science data can be returned for mission participants to review.

Hylton, Alan↗
NASA NTRS2019

A Delay Tolerant Networking-Based Approach to a High Data Rate Architecture for Spacecraft

Historically, it has been the case that SWaP (Size, Weigh a lot, And consume Power) placed such severe constraints on radios that the links between spacecraft and the ground were relatively slow. This meant that the radio link was normally a significant bottleneck in returning scientific data. Over recent years, however, a combination of more efficient radio design, intelligent waveforms, and highly directed, high-frequency RF / optical systems have led to a rapid increase in the amount of data that can be pushed through radio and optical links. This has led to some cases where the radio links are capable of moving data much more quickly than the spacecraft and instruments are capable of actually generating it! In some instances, scientific data can therefore be lost not because the downlink is too slow to support the data rate, but instead because the spacecraft was not designed in a way that would let it fully utilize both the radio and the networking services available to it. The High Data Rate Architecture (HiDRA) project describes a packet-based approach to building modern, distributed spacecraft systems. It presents a means for spacecraft and other assets to participate in both present and future Delay Tolerant Networks (DTN), while simultaneously ensuring that the asset is able to fully utilize the new, high-speed links that have been seeing more widespread development and deployment in recent years. With this in mind, this paper begins with a discussion regarding HiDRA's evolution. Next, it discusses the capabilities and limitations of NASA's present DTN-enabled networks. Of particular note is the way in which principles of network designate the terrestrial level (e.g., use of programmable networks / software-defined networks, separation between data and control plane, infusion of COTS (Commercial Off-The-Shelf) Ethernet switch chips, etc.) can all be translated into the space environment as well. After this, the paper discusses the design and implementation of a present prototype reference implementation of High-Rate DTN (HDTN),which is intended to demonstrate future high-rate networking concepts as part of a coherent demonstration on the International Space Station (ISS). The goal, of both the research and of this implementation, is to help develop a ready-made toolbox of ideas, approaches, and examples from which mission designers can draw when putting together new missions. Assuming all goes as planned, this should not only work to reduce the cost of individual mission design, but also improve the rate at which science data can be returned for mission participants to review.

Hylton, Alan↗
NASA NTRS1999

Characterization of ionic currents of cells of the subfornical organ that project to the supraoptic nuclei

The subfornical organ (SFO) is a forebrain structure that converts peripheral blood-borne signals reflecting the hydrational state of the body to neural signals and then through efferent fibers conveys this information to several central nervous system structures. One of the forebrain areas receiving input from the SFO is the supraoptic nucleus (SON), a source of vasopressin synthesis and control of release from the posterior pituitary. Little is known of the transduction and transmission processes by which this conversion of systemic information to brain input occurs. As a step in elucidating these mechanisms, the present study characterized the ionic currents of dissociated cells of the SFO that were identified as neurons that send efferents to the SON. A retrograde tracer was injected into the SON area in eleven-day-old rats. After three days for retrograde transport of the label, the SFOs of these animals were dissociated and plated for tissue culture. The retrograde tracer was used to identify the soma of SFO cells projecting to the SON so that voltage-dependent ionic currents using whole-cell voltage clamp methods could be studied. The three types of currents in labeled SFO neurons were characterized as a 1) rapid, transient inward current that can be blocked by tetrodotoxin (TTX) characteristic of a sodium current; 2) slow-onset sustained outward current that can be blocked by tetraethylammonium (TEA) characteristic of a delayed rectifier potassium current; and 3) remaining outward current that has a rapid-onset and transient characteristic of a potassium A-type current. Copyright 1999 Elsevier Science B.V.

Non-NASA Center↗
NASA NTRS2013

Surface Inspection Tool for Optical Detection of Surface Defects

The Space Shuttle Orbiter windows were damaged both by micrometeor impacts and by handling, and required careful inspection before they could be reused. The launch commit criteria required that no defect be deeper than a critical depth. The shuttle program used a refocus microscope to perform a quick pass/fail determination, and then followed up with mold impressions to better quantify any defect. However, the refocus microscope is slow and tedious to use due to its limited field of view, only focusing on one small area of glass at a time. Additionally, the unit is bulky and unable to be used in areas with tight access, such as defects near the window frame or on the glass inside the Orbiter due to interference with the dashboard. The surface inspection tool is a low-profile handheld instrument that provides two digital video images on a computer for monitoring surface defects. The first image is a wide-angle view to assist the user in locating defects. The second provides an enlarged view of a defect centered in the window of the first image. The focus is adjustable for each of the images. However, the enlarged view was designed to have a focal plane with a short depth. This allows the user to get a feel for the depth of different parts of the defect under inspection as the focus control is varied. A light source is also provided to illuminate the defect, precluding the need for separate lighting tools. The software provides many controls to adjust image quality, along with the ability to zoom digitally the images and to capture and store them for later processing.

Nurge, Mark↗
NASA NTRS1992

Glucose transporters and maximal transport are increased in endurance-trained rat soleus

Voluntary wheel running induces an increase in the concentration of the regulatable glucose transporter (GLUT4) in rat plantaris muscle but not in soleus muscle (K. J. Rodnick, J. O. Holloszy, C. E. Mondon, and D. E. James. Diabetes 39: 1425-1429, 1990). Wheel running also causes hypertrophy of the soleus in rats. This study was undertaken to ascertain whether endurance training that induces enzymatic adaptations but no hypertrophy results in an increase in the concentration of GLUT4 protein in rat soleus (slow-twitch red) muscle and, if it does, to determine whether there is a concomitant increase in maximal glucose transport activity. Female rats were trained by treadmill running at 25 m/min up a 15% grade, 90 min/day, 6 days/wk for 3 wk. This training program induced increases of 52% in citrate synthase activity, 66% in hexokinase activity, and 47% in immunoreactive GLUT4 protein concentration in soleus muscles without causing hypertrophy. Glucose transport activity stimulated maximally with insulin plus contractile activity was increased to roughly the same extent (44%) as GLUT4 protein content in soleus muscle by the treadmill exercise training. In a second set of experiments, we examined whether a swim-training program increases glucose transport activity in the soleus in the presence of a maximally effective concentration of insulin. The swimming program induced a 44% increase in immunoreactive GLUT4 protein concentration. Glucose transport activity maximally stimulated with insulin was 62% greater in soleus muscle of the swimmers than in untrained controls. Training did not alter the basal rate of 2-deoxyglucose uptake.(ABSTRACT TRUNCATED AT 250 WORDS).

Non-NASA Center↗
NASA NTRS2015

Enhanced Weathering Strategies for Stabilizing Climate and Averting Ocean Acidification

Chemical breakdown of rocks, weathering, is an important but very slow part of the carbon cycle that ultimately leads to CO2 being locked up in carbonates on the ocean floor. Artificial acceleration of this carbon sink via distribution of pulverized silicate rocks across terrestrial landscapes may help offset anthropogenic CO2 emissions. We show that idealized enhanced weathering scenarios over less than a third of tropical land could cause significant drawdown of atmospheric CO2 and ameliorate ocean acidification by 2100. Global carbon cycle modelling driven by ensemble Representative Concentration Pathway (RCP) projections of twenty-first-century climate change (RCP8.5, business-as-usual; RCP4.5, medium-level mitigation) indicates that enhanced weathering could lower atmospheric CO2 by 30-300 ppm by 2100, depending mainly on silicate rock application rate (1 kg or 5 kg m(exp -2) yr (exp -1)) and composition. At the higher application rate, end-of-century ocean acidification is reversed under RCP4.5 and reduced by about two-thirds under RCP8.5. Additionally, surface ocean aragonite saturation state, a key control on coral calcification rates, is maintained above 3.5 throughout the low latitudes, thereby helping maintain the viability of tropical coral reef ecosystems. However, we highlight major issues of cost, social acceptability, and potential unanticipated consequences that will limit utilization and emphasize the need for urgent efforts to phase down fossil fuel emissions.

Taylor, Lyla L.↗
NASA NTRS2015

Enhanced Weathering Strategies for Stabilizing Climate and Averting Ocean Acidification - Supplementary Information

Chemical breakdown of rocks, weathering, is an important but very slow part of the carbon cycle that ultimately leads to CO2 being locked up in carbonates on the ocean floor. Artificial acceleration of this carbon sink via distribution of pulverized silicate rocks across terrestrial landscapes may help offset anthropogenic CO2 emissions. We show that idealized enhanced weathering scenarios over less than a third of tropical land could cause significant drawdown of atmospheric CO2 and ameliorate ocean acidification by 2100. Global carbon cycle modelling driven by ensemble Representative Concentration Pathway (RCP) projections of twenty-first-century climate change (RCP8.5, business-as-usual; RCP4.5, medium-level mitigation) indicates that enhanced weathering could lower atmospheric CO2 by 30-300 ppm by 2100, depending mainly on silicate rock application rate (1 kg or 5 kg m(exp. -2) yr (exp -1)) and composition. At the higher application rate, end-of-century ocean acidification is reversed under RCP4.5 and reduced by about two-thirds under RCP8.5. Additionally, surface ocean aragonite saturation state, a key control on coral calcification rates, is maintained above 3.5 throughout the low latitudes, thereby helping maintain the viability of tropical coral reef ecosystems. However, we highlight major issues of cost, social acceptability, and potential unanticipated consequences that will limit utilization and emphasize the need for urgent efforts to phase down fossil fuel emissions.

Taylor, Lyla L.↗
NASA NTRS2017

Physical Processes Controlling the Spatial Distributions of Relative Humidity in the Tropical Tropopause Layer over the Pacific

The spatial distribution of relative humidity with respect to ice (RHI) in the boreal wintertime tropical tropopause layer (TTL, is asymptotically Equal to 14-18 km) over the Pacific is examined with the measurements provided by the NASA Airborne Tropical TRopopause EXperiment. We also compare the measured RHI distributions with results from a transport and microphysical model driven by meteorological analysis fields. Notable features in the distribution of RHI versus temperature and longitude include (1) the common occurrence of RHI values near ice saturation over the western Pacific in the lower to middle TTL; (2) low RHI values in the lower TTL over the central and eastern Pacific; (3) common occurrence of RHI values following a constant mixing ratio in the middle to upper TTL (temperatures between 190 and 200 K); (4) RHI values typically near ice saturation in the coldest airmasses sampled; and (5) RHI values typically near 100% across the TTL temperature range in air parcels with ozone mixing ratios less than 50 ppbv. We suggest that the typically saturated air in the lower TTL over the western Pacific is likely driven by a combination of the frequent occurrence of deep convection and the predominance of rising motion in this region. The nearly constant water vapor mixing ratios in the middle to upper TTL likely result from the combination of slow ascent (resulting in long residence times) and wave-driven temperature variability. The numerical simulations generally reproduce the observed RHI distribution features, and sensitivity tests further emphasize the strong influence of convective input and vertical motions on TTL relative humidity.

Jensen, Eric J.↗
NASA NTRS2000

Nonprotective Alumina Growth in Sulfur-Doped NiAl(Zr)

The 1200 C oxidation behavior of NiAl was examined at various levels of sulfur and zirconium dopants to test the possibility of a critical S/Zr ratio required for adhesion. Cyclic furnace testing for 200 1 -hr cycles and interrupted testing for 500 hr were used as screening tests. Pure NiAl and NiAl(Zr) with 0. 14 at.% Zr were chosen as model base compositions; they exhibited normal, slow-growing scales (3 Mg/sq cm) with excellent adhesion for the Zr-doped alloys. NiAl with about 120 ppma S exhibited a substantial weight loss (-20 Mg/sq cm) in cyclic tests and a very large weight gain (+60 Mg/sq cm) in interrupted tests. The major surface phase remained as alpha -Al2O3. Sulfur doping the NiAl(Zr) alloy caused massive weight gains of 80 - 100 Mg/sq cm, swelling, cracking, and nearly complete conversion into NiAl2O4, and alpha- Al2O3. The initial objective of determining critical S/Zr ratios for adhesion was therefore unattainable. Initiation of the catastrophic attack was examined after a 10 hr exposure, revealing a few sites of broad, raised, and cracked ridges. In cross-section, the ridges appeared as modular intrusions, with a complex, fractal, oxide-metal interface. They were primarily alumina (with occasional entrapped islands of NiAl2O4 or pure Ni metal). They possessed a unique microstructure consisting of 0.3 microns lamellae, separated by 0.1 microns open channels. This allowed for rapid growth controlled by gaseous diffusion. The microstructure is discussed in terms of SO2 evolution and a sulfur-driven de-passivation process.

Smialek, James L.↗
NASA NTRS1989

Characteristics and Preliminary Observations of the Influence of Electromyostimulation on the Size and Function of Human Skeletal Muscle During 30 Days of Simulated Microgravity

During 30 days (d) of bedrest, the practicality of using Elec- troMyoStimulation (EMS) as a deterrent to atrophy and strength loss of lower limb musculature was examined. An EMS system was developed that provided variable but quantifiable levels of EMS, and measured torque. The dominant log of three male subjects was stimulated twice daily in a 3-d on/1-d off cycle during bedrest. The non-dominant leg of each subject acted as a control. A stimulator, using a 0.3 ms monophasic 60 Hz pulse waveform, activated muscle tissue for 4 s. The output waveform from the stimulator was sequenced to the Knee Extensors (KE), Knee Flex- ors (KF), Ankle Extensors (AE), and Ankle Flexors (AF), and caused three isometric contractions of each muscle group per minute. Subject tolerance determined EMS Intensity. Each muscle group received four 5-min bouts of EMS each session with a 10 -min rest between bouts. EMS and torque levels for each muscle action were recorded directly an a computer. Overall average EMS Intensity was 197, 197, 195, and 188 mA for the KE, KF, AF, and AE, respectively. Overall average torque development for these muscle groups was 70, 16, 12, and 27 Nm, respectively. EMS intensity doubled during the study, and average torque increased 2.5 times. Average maximum torque throughout a session reached 54% of maximal voluntary for the KE and 29% for the KF. Reductions in leg volume, muscle compartment size, cross-sectional area of slow and fast-twitch fibers, strength, and aerobic enzyme activities, and increased log compliance were attenuated in the legs which received EMS during bedrest. These results indicate that similar EMS levels induce different torques among different muscle groups and that repeated exposure to EMS increases tolerance and torque development. Longer orien- tation periods, therefore, may enhance its effectiveness. Our preliminary data suggest that the efficacy of EMS as an effective countermeasure for muscle atrophy and strength loss during long duration space travel warrants further investigation.

Duvoisin, Marc R.↗
NASA NTRS2001

Expression of heat shock protein 72 in atrophied rat skeletal muscles

Changes in the expression of heat shock protein 72 (HSP72) in response to atrophic-inducing perturbations of muscle involving chronic mechanical unloading and denervation were determined. Adult male Wistar rats were assigned randomly to a sedentary cage control (CON), hind limb unloading (HU, via tail suspension), HU plus tenotomy (HU + TEN), HU plus denervation (HU + DEN), or HU + TEN + DEN group. Tenotomy and DEN involved cutting the Achilles tendon and removing a segment of the sciatic nerve, respectively. After 5 days, HSP72 levels in the soleus of the HU + DEN and HU + TEN + DEN groups were 42 (P < 0.05) and 53% (P < 0.01) less than CON, respectively. Soleus weight decreased in both groups. Heat shock protein 72 levels in the plantaris of the HU + TEN, HU + DEN, and HU + TEN + DEN groups were 31, 25, and 30% lower than CON, respectively (P < 0.05). Plantaris weight decreased in the HU + DEN and HU + TEN + DEN, but not in the HU + TEN group. Hind limb unloading alone had little effect on the HSP72 level in either muscle. Reduced levels of HSP72 were associated with a decreased soleus (r=0.62, P < 0.01) and plantaris (r=0.78, P < 0.001) weight. These results indicate that the levels of HSP72 in both a slow and a fast rat plantarflexor are responsive to a chronic decrease in the levels of loading and/or activation and suggest that the neuromuscular activity level and the presence of innervation of a muscle are important factors that induce HSP72 expression.

NASA Discipline Musculoskeletal↗
NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗
NASA NTRS1989

Development of a software interface for optical disk archival storage for a new life sciences flight experiments computer

The current Life Sciences Laboratory Equipment (LSLE) microcomputer for life sciences experiment data acquisition is now obsolete. Among the weaknesses of the current microcomputer are small memory size, relatively slow analog data sampling rates, and the lack of a bulk data storage device. While life science investigators normally prefer data to be transmitted to Earth as it is taken, this is not always possible. No down-link exists for experiments performed in the Shuttle middeck region. One important aspect of a replacement microcomputer is provision for in-flight storage of experimental data. The Write Once, Read Many (WORM) optical disk was studied because of its high storage density, data integrity, and the availability of a space-qualified unit. In keeping with the goals for a replacement microcomputer based upon commercially available components and standard interfaces, the system studied includes a Small Computer System Interface (SCSI) for interfacing the WORM drive. The system itself is designed around the STD bus, using readily available boards. Configurations examined were: (1) master processor board and slave processor board with the SCSI interface; (2) master processor with SCSI interface; (3) master processor with SCSI and Direct Memory Access (DMA); (4) master processor controlling a separate STD bus SCSI board; and (5) master processor controlling a separate STD bus SCSI board with DMA.

Bartram, Peter N.↗
NASA NTRS2000

Interpreting Assemblages with Titanite (Sphene): It Does not have to be Greek to You.

Assemblages with titanite, pyroxene(s), olivine, ilmenite, magnetite, and quartz can be used to constrain the intensive and compositional variables that operate during crystallization. Such assemblages are relatively rare in metamorphic rocks, but they are more common in igneous rocks and more frequently reported in plutonic than volcanic rocks. We used the program QUILF, enhanced with thermodynamic data for titanite, to compute stable reactions among titanite (CaTiOSiO4), Fe-Mg-Ti ilmenite and magnetite (hereafter ilmenite and magnetite), Ca-Mg-Fe pyroxenes and olivine, and quartz, and to evaluate some of the factors that control titanite stability. Calculations at 1, 3, and 6 Kbar and 650, 850, 1100 0 C, in the system CaO - MgO - FeO Fe2O3 - TiO2 - SiO2, suggest that the reactions: Augitc + Ilmenite = Titanite + Magnetite + Quartz and Augite + Ilmenite + Quartz = Titanite + Orthopyroxene, impose well defined fugacity of O2, alpha(sub SiO2), , and compositional restrictions to the assemblages: (1) Titanite + Magnetite + Quartz, (2) Titanite + Orthopyroxene, (3) Augite + Ilmenite, and consequently titanite stability. From our calculations in this system we can draw the following general conclusions: (1) The assemblage Titanite + Magnetite + Quartz is always a good indicator of relatively high fugacity of O2, and it is likely more common in relatively iron-rich bulk compositions and for decreasing temperature and pressure conditions. (2) At high temperatures (>= 650 C) titanite is not stable in quartz-saturated rocks that contain the assemblage Orthopyroxene + Augite + Ilmenite + Magnetite. (3) In quartz-saturated rocks the coexistence of titanite and magnetite with either orthopyroxene or olivine requires a confluence of conditions relating bulk composition, fugacity of O2, and slow cooling. Thus, such assemblages must be rare. (4) Regardless of T and fugacity of O2 conditions, and bulk-composition, titanite is not stable in quartz-absent rocks that contain Olivine + Orthopyroxene + Augite + Ilmenite + Magnetite. Decreasing temperature and pressure conditions appear to favor titanite crystallization, thus, it is not unsurprising that titanite is frequently observed in slowly cooled rocks, albeit, in association with amphibole. We argue that the titanite + amphibole association is likely favored by high water activity, regardless of oxygen fugacity. Because water activity increases during crystallization of a pluton, the association titanite + amphibole, and consequently titanite, is likely to be more common in plutonic rocks than in volcanic rocks.

Xirouchakis, Dimitrios M.↗