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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

A Distributive, Non-Destructive, Real-Time Approach to Snowpack Monitoring

This invention is designed to ascertain the snow water equivalence (SWE) of snowpacks with better spatial and temporal resolutions than present techniques. The approach is ground-based, as opposed to some techniques that are air-based. In addition, the approach is compact, non-destructive, and can be communicated with remotely, and thus can be deployed in areas not possible with current methods. Presently there are two principal ground-based techniques for obtaining SWE measurements. The first is manual snow core measurements of the snowpack. This approach is labor-intensive, destructive, and has poor temporal resolution. The second approach is to deploy a large (e.g., 3x3 m) snowpillow, which requires significant infrastructure, is potentially hazardous [uses a approximately equal to 200-gallon (approximately equal to 760-L) antifreeze-filled bladder], and requires deployment in a large, flat area. High deployment costs necessitate few installations, thus yielding poor spatial resolution of data. Both approaches have limited usefulness in complex and/or avalanche-prone terrains. This approach is compact, non-destructive to the snowpack, provides high temporal resolution data, and due to potential low cost, can be deployed with high spatial resolution. The invention consists of three primary components: a robust wireless network and computing platform designed for harsh climates, new SWE sensing strategies, and algorithms for smart sampling, data logging, and SWE computation.

Frolik, Jeff↗
NASA NTRS1999

Continuous Risk Management: An Overview

Software risk management is important because it helps avoid disasters, rework, and overkill, but more importantly because it stimulates win-win situations. The objectives of software risk management are to identify, address, and eliminate software risk items before they become threats to success or major sources of rework. In general, good project managers are also good managers of risk. It makes good business sense for all software development projects to incorporate risk management as part of project management. The Software Assurance Technology Center (SATC) at NASA GSFC has been tasked with the responsibility for developing and teaching a systems level course for risk management that provides information on how to implement risk management. The course was developed in conjunction with the Software Engineering Institute at Carnegie Mellon University, then tailored to the NASA systems community. This is an introductory tutorial to continuous risk management based on this course. The rational for continuous risk management and how it is incorporated into project management are discussed. The risk management structure of six functions is discussed in sufficient depth for managers to understand what is involved in risk management and how it is implemented. These functions include: (1) Identify the risks in a specific format; (2) Analyze the risk probability, impact/severity, and timeframe; (3) Plan the approach; (4) Track the risk through data compilation and analysis; (5) Control and monitor the risk; (6) Communicate and document the process and decisions.

Rosenberg, Linda↗
NASA NTRS2006

X-Windows Information Sharing Protocol Widget Class

The X-Windows Information Sharing Protocol (ISP) Widget Class ("Class") is used here in the object-oriented-programming sense of the word) was devised to simplify the task of implementing ISP graphical-user-interface (GUI) computer programs. ISP programming tasks require many method calls to identify, query, and interpret the connections and messages exchanged between a client and an ISP server. Most X-Windows GUI programs use widget sets or toolkits to facilitate management of complex objects. The widget standards facilitate construction of toolkits and application programs. The X-Windows Information Sharing Protocol (ISP) Widget Class encapsulates the client side of the ISP programming libraries within the framework of an X-Windows widget. Using the widget framework, X-Windows GUI programs can interact with ISP services in an abstract way and in the same manner as that of other graphical widgets, making it easier to write ISP GUI client programs. Wrapping ISP client services inside a widget framework enables a programmer to treat an ISP server interface as though it were a GUI. Moreover, an alternate subclass could implement another communication protocol in the same sort of widget.

Barry, Matthew R.↗
NASA NTRSDate not supplied

Accounting for Point Estimate Uncertainty in Space Systems Reliability and Risk Analysis

Understanding and accounting for uncertainty in risk analysis is a critical step in the management and communication of risk in engineered systems. The component and system-level analysis to determine the probability of a negative outcome and its consequence is often quantified by a point estimate. Many Program and Enterprise decisions involving technical concerns and issues rely on reliability engineering activities to produce quantified risk analysis to inform the decision making process. At NASA, it is common to use a Probabilistic Risk Analysis (PRA) to inform the overall risk to Loss of Mission or Loss of Crew that involves integration across all spacecraft subsystem fault trees to produce an overall probability of mission failure. The point estimate is an estimate of this overall probability and is an immediate result of a fault tree model. It is the result of a model where the probability of each event is taken to be equal to its mean. The value provides an approximation of the overall mean without running any uncertainty calculations (e.g., no sampling). Using only the point estimate can lead to a false sense of precision and the point estimate may not match the resulting mean when uncertainty is taken into consideration. This paper will explore five conditions that can cause the PRA model mean to diverge from the point estimate and will provide engineers and managers insight into the importance of understanding uncertainty in the elements of PRA models.

Paul J Collier↗
NASA NTRSDate not supplied

How Autonomous Intelligent Systems Can Facilitate Earth-independent Medical Care: Going Beyond Telepresence

During the last decade, teleoperated robotic systems have extended humans’ sensorimotor competence to digitally fly beyond the physical barrier of distance and scale and thus transmit sensorimotor skills of the human through direct communication. Telepresence capabilities have enabled tele-physical remote access at small scales thanks to telerobotic mediums. Although the concept was initially motivated by space applications, such technologies quickly have expanded into the medical domain and resulted in teleoperated medical robots, including telerobotic surgical systems (such as the da Vinci surgical system). Effective telepresence fundamentally depends on an agile, reliable, and secure communication medium that can transmit real-time information between the operator and a remote device. However, direct telepresence may not be achievable for long-duration exploration spaceflight missions. Thus, autonomous systems and local intelligence represent potential solutions to the aforementioned issues. One example solution employs demonstration systems which enable learning from the pre-captured inputs of a skilled human operator. These will be computationally modeled and later probabilistically replicated toward the completion of remote physical tasks when direct telepresence is not viable - such as under communication blackout conditions. In other words, trained autonomous systems (e.g., robots) can perform remote operations that mimic the physical performance of experts during remote operations/training. Beyond learning the physics of the task, autonomous agents can also be used to conduct algorithmic decision-making that mimics the higher-level cognition of the expert. Thus, using an autonomous system, pre-trained cognitive and manipulation-based skills can be leveraged (acquired during pre-mission events) to produce digital twins of an intelligent operator. Such systems can be used for the real-time conduction of intricate tasks in complex and unstructured environments. Such systems will operationalize “cognitive digital twins” and can expand the reach of human cognition and manipulation through the power of data-driven learning from demonstration algorithms. This system category will be discussed as a fully autonomous operation in this talk. In addition to the above, we will also propose and discuss the possibility of partial-automation using remote intelligence and remote sensing. In contrast to full automation, partial automation can close the loop through a local operator equipped with augmented sensory awareness through wearable systems. Such technologies will allow the local operator to conduct delicate tasks while being guided using sensory augmentation and being monitored to gauge her/his level of cognitive focus and performance. The difference with the previous category is that a remote human will conduct the task. Further, rather than making a digital twin of human cognition, we will augment the control inputs of the local human to match those of the skilled expert operator who is not accessible in real-time. Going beyond classic telepresence and thus approaching intelligent telepresence, our vision is that autonomous agents will eventually enable the safe, consistent and efficient delivery of complex, remote and smart medical care during space exploration across operators in an Earth-independent fashion. We will discuss our collective vision from NASA and MERIIT@NYU lab in this talk.

Telepresence↗
NASA NTRS2006

Constellation Operations: Lessons Learned For Future Exploration

The Earth science community has long advocated placing numerous instruments in space to study the Earth and its environment. Space agencies from many countries have responded to this call with a wide range of orbiting satellites. Scientists also envisioned placing some satellites in constellations, to enable diverse remote sensing instruments to observe the same part of the Earth (or its atmosphere) at about the same time, thereby increasing the opportunities for coincident science observations. The Earth Science Afternoon Constellation is answering this call, but there have been unique challenges on the way to its deployment. Currently, the Afternoon Constellation is to comprise six satellites. Three are currently on orbit: NASA's Earth Observing System (EOS)-Aqua (2002) and EOS-Aura (2004), and CNES's Polarization & Anisotropy of Reflectances for Atmospheric Sciences coupled with Observations from a Lidar (PARASOL) (2004). Two more satellites, the Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) and Cloudsat, are to be jointly launched in late 2005, followed by the Orbiting Carbon Observatory (OCO) in 2008. The Afternoon Constellation is unlike most satellite constellations in that: 1) It is not a homogenous mix of identical satellites; rather it comprises several satellites with complementary observational capabilities; 2) The satellites are not spaced around the Earth to provide instantaneous, global coverage (as for a communications satellite constellation); rather they orbit in close proximity so observations occur at about the same time over approximately the same region; and 3) Lastly, the satellites are not managed and controlled by one organization; rather the list of organizations is diverse: CNES in France, NASA Centers at Goddard, Langley, and the Jet Propulsion Laboratory, and the US Air Force facility in New Mexico. The PARASOL launch and early orbit (L&EO) phase proved to be a learning experience for constellation members (including Constellation management). Prior to launch, all members signed an operations coordination document that spelled out basic requirements for keeping the constellation safe and resolving non-nominal events. Once PARASOL reached orbit and the mission teams gained experience using the newly-developed constellation monitoring tools, it became clear that some of the guidelines in the signed agreements had to be adjusted. This paper presents the L&EO lessons learned and how they were used to prepare for the next phase - the period following the CloudSat/CALIPSO launch.

Kelly, Angelita C.↗
NASA NTRS2017

Scientist-Guided Autonomy for Self-Reliant Rovers

Although Mars rover missions have been highly successful in accomplishing scientific objectives, mission productivity is limited by challenges stemming from the need for commanding ground-based targeted observations under communication constraints imposed by the large distance between Earth and Mars. With an aging fleet of sun-synchronous relay orbiters, the opportunities for regular communication with rovers may become even more limited. In addition to on-board planning, robust navigation, and health assessment, there are strategies to make future rovers more self-reliant by enabling them to perform autonomous scientific characterizations of new areas during periods without an opportunity for ground-based targeted observations. In particular, we have studied how a ”walkabout” strategy, in which an initial high-level characterization of a region is used to informed subsequent passes with specific targeted observations, was used successfully during the investigation of Pahrump Hills by the Mars Science Laboratory. Inspired by this approach, we have identified several capabilities that could allow a rover to autonomously perform some of these initial high-level characterization steps. In this paper, we describe technologies for identifying specific geologic units, regions, or features of interest, identifying areas of contact between two adjacent units, detecting and determining the orientation of layering within rock units, identifying novel and interesting features, and planning observations of regions with different sampling strategies using remote sensing instruments. The observations acquired with these approaches are driven by scientists’ guidance and can provide scientists with data to help inform their decisions about where to make more resource-intensive targeted observations.

Doran, Gary↗
NASA NTRS1998

Urban Environment Initiative

The Urban Environment Initiative (UEI), has been established as part of a Cooperative Agreement with the National Aeronautics and Space Administration (NASA). The UEI is part of NASA's overall High Performance Computing and Communications (HPCC) and the Information Infrastructure Technology Applications (IITA) programs. The goal of the UEI is to provide public access to Earth Science information and promote its use with a focus on the environment of urban areas. This goal will be accomplished through collaborative efforts of the UEI team with both community-based and local/regional governmental organizations. The UEI team is comprised of four organizations representing private industry, NASA, and universities: Prime Technologies Service Corporation, NASA's Minority University Space Interdisciplinary Network (MU-SPIN) California State University, at Los Angeles, and Central State University (Wilberforce, OH). "Urban Environment" refers to the web of environmental, economic, and social factors that combine to create the urban world in which we live. Examples of these factors are population distribution, neighborhood demographic profiles, economic resources, business activities, location and concentration of environmental hazards and various pollutants, proximity and level of urban services, which form the basis of the urban environment and ultimately affect our lives and experiences. The use of Geographic Information Systems (GIS) and remote sensing allows data to be visualized in the forms of maps and spatial images. The use of these tools allow analysis of information about urban environments. Also included are descriptions of the four query types which will assist in understanding the maps.

Source record↗
NASA NTRSDate not supplied

The Interplay of Humor and Team Cohesion Over Time

Team bonding and interpersonal relationships are increasingly important as we continue understanding the effects of the pandemic on team dynamics. Specifically, team cohesion, defined as having a sense of belonging and commitment towards the group, has been found to be important for key team outcomes such as performance, relationships, and productivity (Beal, Cohen, Burke, & McLendon, 2003; Bell & Marentette, 2011). Research has stressed the benefits of positive humor on cohesion, with humor creating positive emotions and decreasing social distance (e.g., Robert & Wilbanks, 2012; Robinson & Smith-Lovin, 2001; Romero & Pescosolido, 2008). However, research around the impact of negative humor on cohesion is scarce. This study aims to examine the impact of both positive and negative humor on cohesion for teams over time. The longitudinal design allows us to examine the interplay of humor and cohesion throughout a team’s lifecycle to guide relationship development and management (Romero & Pescosolido, 2008). Humor is defined as remarks recognized as amusing or funny (Martin, 2007). Positive humor can be categorized as good-natured aimed to create mutual agreement, while negative humor is defined as aggressive, hostile, and unreciprocated (Coan & Gottman, 2007). Research has concluded the many benefits of positive humor, showing it can increase open communication, social support, and create a pleasant environment (Martineau, 1972; Robinson & Smith-Lovin, 2001; Romero & Pescosolido, 2008). The Humor Wheel model suggests that positive humor is contagious due to the positive affect produced and mimicked (Lehmann-Willenbrock & Allen 2014). Research has suggested positive humor would increase over time based on the norm of reciprocity; those treated positively are likely to respond similarly (Gouldner, 1960). Multiple parties’ involvement in humor exchanges highlights the interpersonal nature of humor. Thus, long-term consequences on relationships should be considered, such as cohesion (Robert & Wilbanks, 2012). It would be instrumental to understand how humor interactions could weaken or strengthen group cohesion through relational and emotional bonds over time (Martineau, 1972; Romero & Pescosolido, 2008). Positive humor should fundamentally increase team cohesion (Mesmer-Magnus, Glew, & Viswesvaran, 2012; Walter & Baruch, 2008) by promoting group harmony, team member attractiveness, and ingroup identity (Holmes, 2006). Thus, it is expected there is a positive relationship between positive humor and team cohesion over time (hypothesis 1). Humor is not always beneficial, especially when it elicits negative emotions (Dikkers, Doosje, & de Lange, 2011). Negative humor can be used to humiliate, tease, or insult (Coan & Gottman, 2007; Collinson, 1988; Romero & Cruthirds, 2006). It tends to cause distress and damage relationships, and in turn, decrease organizational performance and production (Avolio, Howell, & Sosik, 1999; Janes & Olson, 2000; Yerkes, 2001). Research concludes negative humor may create subgroups and decrease cooperation (Romero & Arendt, 2011). Research has also indicated positive implications for negative humor under specific circumstances. Negative humor could help to solidify ingroup identity and strengthen bonds when directed outside the team (Terrion & Ashforth, 2002; Thomae & Pina, 2015). For example, sport teams may use negative humor towards their opponent before a game, which emphasizes their differences and lowers the status and power of their opponent, ultimately promoting solidarity and cohesion inside the group. For this study, it is anticipated that negative humor toward other teammates will decrease team cohesion over time due to the damage to relationships and negative affect produced (Duncan, Smeltzer, & Leap, 1990; Maples, Dupey, Torres‐Rivera, Phan, Vereen, & Garrett, 2001). We also predicted that negative humor focused on something or someone outside the team will increase cohesion by enhancing ingroup ties and creating a common identity (Thomae & Pina, 2015). Thus, the relationship between negative humor and cohesion will be moderated by the target of the humor. The relationship will be negative when the target is within the team and positive when the target is outside (hypothesis 2).

Melissa M. Vazquez↗
NASA NTRS2019

Extravehicular Activity Framework for Exploration - 2019

The Extravehicular Activity (EVA) Framework for Exploration describes NASA's EVASystem Goals in the broader context of ongoing human spaceflight efforts. The purpose of thisdocument is to drive integration, coordination and communication of the EVA community'sexploration development plans as crafted to meet long-term EVA needs. Inclusive in the EVAcommunity are NASA partners in academia and industry. The 2019 EVA Framework outlinesthe office's current method to answer the following questions: What product does NASA useto compare, contrast and integrate across the elements of the EVA community's perceivedgaps, risks, and unfunded work, particularly for future systems intended for use beyond LowEarth Orbit (LEO)? What product does NASA use to proactively coordinate support acrossthe EVA community's wide spectrum of exploration development work? Where can one go toobtain awareness of ongoing efforts, particularly during consideration of new-start activitiesand proposals? These questions lead to the need for a product that speaks to the distributednature of the EVA System across human spaceflight programs, concept studies and flightvehicle architectural elements. This framework can be used and evaluated by the EVAcommunity to assess the full spectrum of needs and answer the question of "what are wemissing" or "are we doing things that just do not make sense". In the end is the EVAcommunity effectively pursuing the future needs of EVA? If answers to those questions revealthe need for change or re-prioritization then actions can be taken through existing projectcontrol processes as well as revision to this document and supporting project plans.

Alpert, Brian K.↗
NASA NTRSDate not supplied

Creating a Deformation Time Series Utilizing InSAR to Assess Hazards and Detect Volcanic Unrest in Clear Lake Volcanic Field, California

According to the U.S Geological Survey, the Clear Lake Volcanic Field (CLVF) in northern California is at a high threat potential for volcanic hazards. Eruptions leading to increased seismic activity could result in silicic domes, cinder cones, and flows that would be dangerous to the residential areas near the volcanic field. Remotely sensed Earth observations can reveal volcanic processes in the subsurface, which are essential to the timely monitoring of potential volcanic activity. In particular, Sentinel-1 C-band Synthetic Aperture Radar (C-SAR) and Digital Elevation Model (DEM) data capture relative surface deformation at unprecedented high spatial and temporal resolutions. Leveraging C-SAR and DEMs, we conducted interferometric analysis from January 2016 to December 2023. Our results demonstrate 1) the mean surface displacement velocity of the Clear Lake Volcanic field is measured to undergo 5 to 10-centimeter scale deformation and shows a strong correlation with the surrounding faults, 2) apparent seasonal differences in rates of surface change, and 3) seismic activity associated with the geyser geothermal field has a strong correlation with cumulative surface displacement, with active fault zones having 2 to 5 cm of additional displacement. Results indicate that deformation is linked to deep pressure sources causing stresses on the surficial environment that should be considered in hazard mitigation. This study provides a baseline of historic deformation, aiding hazard analysts in communication efforts and streamlining decision-making for potential risks to region residents.

Ivan Tochimani-Hernandez↗
NASA NTRS2007

NASA Tech Briefs, March 2007

Topics include: Advanced Systems for Monitoring Underwater Sounds; Wireless Data-Acquisition System for Testing Rocket Engines; Processing Raw HST Data With Up-to-Date Calibration Data; Mobile Collection and Automated Interpretation of EEG Data; System for Secure Integration of Aviation Data; Servomotor and Controller Having Large Dynamic Range; Digital Multicasting of Multiple Audio Streams; Translator for Optimizing Fluid-Handling Components; AIRSAR Web-Based Data Processing; Pattern Matcher for Trees Constructed From Lists; Reducing a Knowledge-Base Search Space When Data Are Missing; Ground-Based Correction of Remote-Sensing Spectral Imagery; State-Chart Autocoder; Pointing History Engine for the Spitzer Space Telescope; Low-Friction, High-Stiffness Joint for Uniaxial Load Cell; Magnet-Based System for Docking of Miniature Spacecraft; Electromechanically Actuated Valve for Controlling Flow Rate; Plumbing Fixture for a Microfluidic Cartridge; Camera Mount for a Head-Up Display; Core-Cutoff Tool; Recirculation of Laser Power in an Atomic Fountain; Simplified Generation of High-Angular-Momentum Light Beams; Imaging Spectrometer on a Chip; Interferometric Quantum-Nondemolition Single-Photon Detectors; Ring-Down Spectroscopy for Characterizing a CW Raman Laser; Complex Type-II Interband Cascade MQW Photodetectors; Single-Point Access to Data Distributed on Many Processors; Estimating Dust and Water Ice Content of the Martian Atmosphere From THEMIS Data; Computing a Stability Spectrum by Use of the HHT; Theoretical Studies of Routes to Synthesis of Tetrahedral N4; Estimation Filter for Alignment of the Spitzer Space Telescope; Antenna for Measuring Electric Fields Within the Inner Heliosphere; Improved High-Voltage Gas Isolator for Ion Thruster; and Hybrid Mobile Communication Networks for Planetary Exploration.

Source record↗
NASA NTRS2012

Space Environments and Spacecraft Effects Organization Concept

The National Aeronautics and Space Administration (NASA) is embarking on a course to expand human presence beyond Low Earth Orbit (LEO) while also expanding its mission to explore the solar system. Destinations such as Near Earth Asteroids (NEA), Mars and its moons, and the outer planets are but a few of the mission targets. Each new destination presents an opportunity to increase our knowledge of the solar system and the unique environments for each mission target. NASA has multiple technical and science discipline areas specializing in specific space environments disciplines that will help serve to enable these missions. To complement these existing discipline areas, a concept is presented focusing on the development of a space environments and spacecraft effects (SENSE) organization. This SENSE organization includes disciplines such as space climate, space weather, natural and induced space environments, effects on spacecraft materials and systems and the transition of research information into application. This space environment and spacecraft effects organization will be composed of Technical Working Groups (TWG). These technical working groups will survey customers and users, generate products, and provide knowledge supporting four functional areas: design environments, engineering effects, operational support, and programmatic support. The four functional areas align with phases in the program mission lifecycle and are briefly described below. Design environments are used primarily in the mission concept and design phases of a program. Engineering effects focuses on the material, component, sub-system and system-level selection and the testing to verify design and operational performance. Operational support provides products based on real time or near real time space weather to mission operators to aid in real time and near-term decision-making. The programmatic support function maintains an interface with the numerous programs within NASA, other federal government agencies, and the commercial sector to ensure that communications are well established and the needs of the programs are being met. The programmatic support function also includes working in coordination with the program in anomaly resolution and generation of lessons learned documentation. The goal of this space environment and spacecraft effects organization is to develop decision-making tools and engineering products to support all mission phases from mission concept through operations by focusing on transitioning research to application. Products generated by this space environments and effects application are suitable for use in anomaly investigations. This paper will describe the scope of the TWGs and their relationship to the functional areas, and discuss an organizational structure for this space environments and spacecraft effects organization.

Edwards, David L.↗
NASA NTRS2023

A Spaceborne Demonstration of P-Band Signals-of-Opportunity (SoOp) Reflectometry

Land-reflected signals from a geosynchronous communication satellite broadcasting in P-band (367.5 MHz) were captured in low Earth orbit (LEO) using a simple dipole antenna. A delay-Doppler map (DDM) was generated through autocorrelation. Estimates of the specular point delay were obtained from the lag of the second peak in the DDM with a bias of 239.4 m and a standard deviation of 44 m (12 m over a frozen lake) with respect to a predicted orbit model. Relative magnitudes of the first and second DDM peaks fell within the range of values predicted using dielectric models for the frozen ground and lake. Finally, retrievals of surface reflection coefficient were generated using a range of realistic values for the transmitter link budget G/T , and these also fell within the range of possible values for the antenna gain pattern. Given the lack of calibration and the large uncertainties in the receiver orbit and attitude, this agreement is sufficient to conclude a successful demonstration of the fundamental principle of single-antenna reflectometry in P-band. P-band reflectometry may offer a new approach to remote sensing of sub-canopy and root-zone soil moisture.

Delays↗
NASA NTRS2000

Climate and infectious disease: use of remote sensing for detection of Vibrio cholerae by indirect measurement

It has long been known that cholera outbreaks can be initiated when Vibrio cholerae, the bacterium that causes cholera, is present in drinking water in sufficient numbers to constitute an infective dose, if ingested by humans. Outbreaks associated with drinking or bathing in unpurified river or brackish water may directly or indirectly depend on such conditions as water temperature, nutrient concentration, and plankton production that may be favorable for growth and reproduction of the bacterium. Although these environmental parameters have routinely been measured by using water samples collected aboard research ships, the available data sets are sparse and infrequent. Furthermore, shipboard data acquisition is both expensive and time-consuming. Interpolation to regional scales can also be problematic. Although the bacterium, V. cholerae, cannot be sensed directly, remotely sensed data can be used to infer its presence. In the study reported here, satellite data were used to monitor the timing and spread of cholera. Public domain remote sensing data for the Bay of Bengal were compared directly with cholera case data collected in Bangladesh from 1992-1995. The remote sensing data included sea surface temperature and sea surface height. It was discovered that sea surface temperature shows an annual cycle similar to the cholera case data. Sea surface height may be an indicator of incursion of plankton-laden water inland, e.g., tidal rivers, because it was also found to be correlated with cholera outbreaks. The extensive studies accomplished during the past 25 years, confirming the hypothesis that V. cholerae is autochthonous to the aquatic environment and is a commensal of zooplankton, i.e., copepods, when combined with the findings of the satellite data analyses, provide strong evidence that cholera epidemics are climate-linked.

Cholera/epidemiology↗
NASA NTRS2007

Bismuth Propellant Feed System Development at NASA-MSFC

NASA-MSFC has been developing liquid metal propellant feed systems capable of delivering molten bismuth at a prescribed mass flow rate to the vaporizer of an electric thruster. The first such system was delivered to NASA-JPL as part of the Very High Isp Thruster with Anode Layer (VHITAL) program. In this system, the components pictured were placed in a vacuum chamber and heated while the control electronics were located outside the chamber. The system was successfully operated at JPL in conjunction with a propellant vaporizer, and data was obtained demonstrating a new liquid bismuth flow sensing technique developed at MSFC. The present effort is aimed at producing a feed-system for use in conjunction with a bismuth-fed Hall thruster developed by Busek Co. Developing this system is more ambitious, however, in that it is designed to self-contain all the control electronics inside the same vacuum chamber as an operating bismuth-fed thruster. Consequently, the entire system, including an on-board computer, DC-output power supplies, and a gas-pressurization electro-pneumatic regulator, must be designed to survive a vacuum environment and shielded to keep bismuth plasma from intruding on the electronics and causing a shortcircuit. In addition, the hot portions of the feed system must be thermally isolated from the electronics to avoid failure due to high heat loads. This is accomplished using a thermal protection system (TPS) consisting of multiple layers of aluminum foil. The only penetrations into the vacuum chamber are an electrically isolated (floating) 48 VDC line and a fiberoptic line. The 48 VDC provides power for operation of the power supplies and electronics co-located with the system in the vacuum chamber. The fiberoptic Ethernet connection is used to communicate user-input control commands to the on-board computer and transmit real-time data back to the external computer. The partially assembled second-generation system is shown. Before testing at Busek, a more detailed flow sensor calibration will be performed to accurately quantify the flow monitoring capabilities. This effort is funded under a Technology Innovation Program (TIP) award from NASA-MSFC's Technology Transfer office and performed under SAA8-061060.

Polzin, Kurt A.↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2007

Telerobotic Surgery: An Intelligent Systems Approach to Mitigate the Adverse Effects of Communication Delay

An extremely innovative approach has been presented, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller component to enhance the safety and efficiency of a remotely conducted operation. The use of a simulator enables the surgeon to operate in a virtual environment free from the impediments of telecommunication delay. The simulator functions as a predictor and periodically the simulator state is corrected with truth data. Three major research areas must be explored in order to ensure achieving the objectives. They are: simulator as predictor, image processing, and intelligent control. Each is equally necessary for success of the project and each of these involves a significant intelligent component in it. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of our team, to ensure an integrated system. The following is a brief discussion of those areas. Simulator as a predictor: The delays encountered in remote robotic surgery will be greater than any encountered in human-machine systems analysis, with the possible exception of remote operations in space. Therefore, novel compensation techniques will be developed. Included will be the development of the real-time simulator, which is at the heart of our approach. The simulator will present real-time, stereoscopic images and artificial haptic stimuli to the surgeon. Image processing: Because of the delay and the possibility of insufficient bandwidth a high level of novel image processing is necessary. This image processing will include several innovative aspects, including image interpretation, video to graphical conversion, texture extraction, geometric processing, image compression and image generation at the surgeon station. Intelligent control: Since the approach we propose is in a sense predictor based, albeit a very sophisticated predictor, a controller, which not only optimizes end effector trajectory but also avoids error, is essential. We propose to investigate two different approaches to the controller design. One approach employs an optimal controller based on modern control theory; the other one involves soft computing techniques, i.e. fuzzy logic, neural networks, genetic algorithms and hybrids of these.

Cardullo, Frank M.↗