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At least 1,045 records · Page 58
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

ICE-RASSOR: Intelligent Capabilities Enhanced Regolith Advanced Surface Systems Operations Robot

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU)processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We apply supervised learning using real data to estimate the soil mass collected without the need for mass flow rate monitors or other explicate sensing techniques. We also create a reduced-order simulation environment to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. Our initial results suggest that excavated regolith mass can be inferred within 2.9% RMS error of full scale, and reinforcement learning for autonomous operations has learned viable trenching strategies and helped identify desirable sensing capabilities, arrangements, and considerations. Future work includes regolith mass estimation during dynamic operation, expanding our simulation to more complex environments, and transfer learning from simulation to hardware.

machine learning↗
NASA NTRSDate not supplied

ICE-RASSOR: Intelligent Capabilities Enhanced

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RAS-SOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar sur-face, RASSOR software and sensory systems need to be robust and maximize the information extracted from on-board sensing. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We apply supervised learning using real data to estimate the soil mass collected without the need for mass flow rate monitors or other explicate sensing techniques. We also create a reduced-order simulation environment to develop autonomous trenching controllers via reinforcement learning and proto-type state estimation architectures. Our initial results suggest that excavated regolith mass can be inferred within 2.9% RMS error of full scale, and reinforcement learning for autonomous operations has learned viable trenching strategies and helped identify desirable sensing capabilities, arrangements, and considerations. Future work includes regolith mass estimation during dynamic operation, expanding our simulation to more complex environments, and transfer learning from simulation to hardware.

machine learning↗
NASA NTRSDate not supplied

ICE-RASSOR: Intelligent Capabilities Enhanced Regolith Advanced Surface Systems Operations Robot

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from on-board sensory. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We apply supervised learning using real data to estimate the soil mass collected without the need for mass flow rate monitors or other explicate sensing techniques. We also create a reduced-order simulation environment to develop autonomous trenching controllers via reinforcement learning and proto-type state estimation architectures. Our initial results suggest that excavated regolith mass can be inferred within 2.9% RMS error of full scale, and reinforcement learning for autonomous operations has learned viable trenching strategies and helped identify desirable sensing capabilities, arrangements, and considerations. Future work includes regolith mass estimation during dynamic operation, expanding our simulation to more complex environments, and transfer learning from simulation to hardware.

machine learning↗
DOE OSTI2022

Self-Sensing, Stretchable, Active Circuit Arrays: Liquid Metal Paste as a Combination Interconnect and Strain Sensor

Stretchable electrical interconnects and substrate materials are increasingly used to create flexible and con-formable electronic systems for soft robotics, smart textiles, and wearable devices. Wires fabricated using composite or liquid conductive inks encapsulated in silicone enable high strain and are mechanically robust. The resistance of these inter-connects increases with strain, which can present challenges for power delivery and signaling among electronic components. However, this effect can be used directly to estimate strain within a stretchable circuit without the need for additional sensor components. In this work, we present an approach for fabricating fully-stretchable, multi-layer active circuit arrays in silicone using liquid metal paste interconnects, in which power and data wires are re-purposed as strain sensors to estimate substrate deformation. As a proof-of-principle, we demonstrate a 3×3 active circuit array that self-senses relative voltage supply at each node to estimate deformation and consumes less than 10 mA per node. Each node is digitally addressable and performs both analog measurement and digital conversion. All interconnects are fabricated using liquid metal paste, and power, data, and sensing are performed over a shared, four-wire interface in this multi-layer stretchable printed circuit board.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2021

Tuning Multigrid Methods with Robust Optimization and Local Fourier Analysis

Local Fourier analysis is a useful tool for predicting and analyzing the performance of many efficient algorithms for the solution of discretized PDEs, such as multigrid and domain decomposition methods. The crucial aspect of local Fourier analysis is that it can be used to minimize an estimate of the spectral radius of a stationary iteration, or the condition number of a preconditioned system, in terms of a symbol representation of the algorithm. In practice, this is a “minimax” problem, minimizing with respect to solver parameters the appropriate measure of work, which involves maximizing over the Fourier frequency. Often, several algorithmic parameters may be determined by local Fourier analysis in order to obtain efficient algorithms. Analytical solutions to minimax problems are rarely possible beyond simple problems; the status quo in local Fourier analysis involves grid sampling, which is prohibitively expensive in high dimensions. In this paper, we propose and explore optimization algorithms to solve these problems efficiently. Finally, several examples, with known and unknown analytical solutions, are presented to show the effectiveness of these approaches.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1985

Compensator development and examination of performance and robustness

This research focuses on the development of compensators to control the mean square surface error of a wraprib antenna. The methodology is as follows: A model of appropriate size and structure is developed by looking at the convergence of functional gains for control and estimation. Then an LQG compensator is designed using this model. Finally, the compensator is simplified using balanced realization theory. In the conventional approach for compensator design, there is no mechanism for ensuring that the model is adequate for designing a compensator which will achieve the desired level of performance. It is shown here that both the model order and compensator order are directly related to the closed loop performance requirements for the system.

Source record↗
NASA NTRS1986

Modified LTR robust control for flexible structures

A procedure is developed for dealing with performance and robustness issues in the design of multi-input multi-output compensators for lightly damped flexible structures. The procedure is based upon representing errors in the plant design model as structured uncertainties, and applying a modified version of the Loop Transfer Recovery (LTR) design method. Real parameter errors, such as frequency errors, damping errors or modal displacement errors can be treated. The approach involves adjusting the cost function in the regulator problem and the process noise model in the estimator problem in a particular manner which reflects the assumed structure of the modeling errors. Numerical examples dealing with the control of a large flexible space antenna with uncertain frequencies demonstrate a considerable improvement over standard LTR methods. Convenient design parameters can be varied until a satisfactory compromise is achieved between performance and robustness.

Blelloch, P. A.↗
DOE OSTI2020

Estimating rates and patterns of diversification with incomplete sampling: a case study in the rosids

Premise Recent advances in generating large‐scale phylogenies enable broad‐scale estimation of species diversification. These now common approaches typically are characterized by (1) incomplete species coverage without explicit sampling methodologies and/or (2) sparse backbone representation, and usually rely on presumed phylogenetic placements to account for species without molecular data. We used empirical examples to examine the effects of incomplete sampling on diversification estimation and provide constructive suggestions to ecologists and evolutionary biologists based on those results. Methods We used a supermatrix for rosids and one well‐sampled subclade (Cucurbitaceae) as empirical case studies. We compared results using these large phylogenies with those based on a previously inferred, smaller supermatrix and on a synthetic tree resource with complete taxonomic coverage. Finally, we simulated random and representative taxon sampling and explored the impact of sampling on three commonly used methods, both parametric (RPANDA and BAMM) and semiparametric (DR). Results We found that the impact of sampling on diversification estimates was idiosyncratic and often strong. Compared to full empirical sampling, representative and random sampling schemes either depressed or inflated speciation rates, depending on methods and sampling schemes. No method was entirely robust to poor sampling, but BAMM was least sensitive to moderate levels of missing taxa. Conclusions We suggest caution against uncritical modeling of missing taxa using taxonomic data for poorly sampled trees and in the use of summary backbone trees and other data sets with high representative bias, and we stress the importance of explicit sampling methodologies in macroevolutionary studies.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

The impact of neutrino-nucleus interaction modeling on new physics searches

Accurate neutrino-nucleus interaction modeling is an essential requirement for the success of the accelerator-based neutrino program. As no satisfactory description of cross sections exists, experiments tune neutrino-nucleus interactions to data to mitigate mis-modeling. In this work, we study how the interplay between near detector tuning and cross section mis-modeling affects new physics searches. We perform a realistic simulation of neutrino events and closely follow NOvA’s tuning, the first published of such procedures in a neutrino experiment. We analyze two illustrative new physics scenarios, sterile neutrinos and light neutrinophilic scalars, presenting the relevant experimental signatures and the sensitivity regions with and without tuning. While the tuning does not wash out sterile neutrino oscillation patterns, cross section mis-modeling can bias the experimental sensitivity. In the case of light neutrinophilic scalars, variations in cross section models completely dominate the sensitivity regardless of any tuning. Our findings reveal the critical need to improve our theoretical understanding of neutrino-nucleus interactions, and to estimate the impact of tuning on new physics searches. We urge neutrino experiments to follow NOvA’s example and publish the details of their tuning procedure, and to develop strategies to more robustly account for cross section uncertainties, which will expand the scope of their physics program.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2022

Kinetics-Informed Neural Networks

Chemical kinetics and reaction engineering consists of the phenomenological framework for the disentanglement of reaction mechanisms, optimization of reaction performance and the rational design of chemical processes. Here, we utilize feed-forward artificial neural networks as basis functions to solve ordinary differential equations (ODEs) constrained by differential algebraic equations (DAEs) that describe microkinetic models (MKMs). We present an algebraic framework for the mathematical description and classification of reaction networks, types of elementary reaction, and chemical species. Under this framework, we demonstrate that the simultaneous training of neural nets and kinetic model parameters in a regularized multi-objective optimization setting leads to the solution of the inverse problem through the estimation of kinetic parameters from synthetic experimental data. We analyze a set of scenarios to establish the extent to which kinetic parameters can be retrieved from transient kinetic data, and assess the robustness of the methodology with respect to statistical noise. Furthermore, this approach to inverse kinetic ODEs can assist in the elucidation of reaction mechanisms based on transient data.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Post-Release Survivorship in a New Population of Blanding's Turtles Established Using Headstarted and Directly Released Turtles

Blanding’s Turtles are facing a variety of anthropogenic threats that decrease population viability. We initiated a project to establish a new population of Blanding’s Turtles on a National Wildlife Refuge in Massachusetts using hatchlings obtained from a nearby robust donor population. We released 440 head-started individuals and 401 directly-released hatchlings between 2007–2013 and conducted multiple years of post-release monitoring via aquatic trapping to estimate survival. Between 2014–2021 we released an additional 824 head-started and 433 directly-released individuals and conducted one year of aquatic trapping in 2021 to estimate population size. First year post-release survival of head-started turtles was six times that of directly-released hatchlings (0.72 vs. 0.12, respectively), but annual survival of both groups was 0.78–0.90 in subsequent years. Only 19% of turtles released at <60 mm carapace length (CL) were subsequently recaptured compared to 60% of those released at ≥60 mm CL, supporting 60 mm CL as a target minimum release size. The mean population estimates using two different study designs were 164 and 202, with 91 individuals encountered. Now that turtles released early in the project are approaching reproductive maturity, we recommend resampling and expanding trapping efforts to include more wetlands to assess long-term survival, abundance, and distribution of Blanding’s Turtles in this newly established population. Furthermore, our results, combined with other evaluations of head-starting across the species’ range, add credence to the use of head-starting as a population recovery tool for Blanding’s Turtles.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1989

A survey on the structured singular value

The structured singular value, U, is an important linear algebra tool to study a class of matrix perturbation problems. It is useful for analyzing the robustness of stability and performance of uncertain, (nominally) linear systems. Computation of (M) is difficult, and usually, upper and lower bounds are all that can be reliably computed. Upper bounds give conservative estimates of the sizes of allowable perturbations. The maximum singular value of a matrix M is an upper bound for (M). As an upper bound, it can be improved by finding a transformations to the data (i.e. M) which do not change the structured singular value, but do reduce the maximum singular value. Typically, upper bound algorithms involve searches over sets of transformations to yield the tightest bound. Lower bound algorithms are intelligent searches for minimum-norm solutions to multivariable polynomial equations, and are based on various optimality conditions that hold at the global (and, unfortunately, some local) minima. The current methods to compute both of these types of bounds are reviewed. Theoretical justification and extensive numerical experience with the various algorithms are covered.

Packard, Andy↗
NASA NTRS1996

Kalman Filtering USNO's GPS Observations for Improved Time Transfer Predictions

The Global Positioning System (GPS) Master Control Station (MCS) performs the Coordinated Universal Time (UTC) time transfer mission by uploading and broadcasting predictions of the GPS-UTC offset in subframe 4 of the GS navigation message. These predictions are based on only two successive daily data points obtained from the US Naval Observatory (USNO). USNO produces these daily smoothed data points by performing a least-squares fit on roughly 38 hours worth of data from roughly 160 successive 13-minute tracks of GPS satellites. Though sufficient for helping to maintain a time transfer error specification of 28 ns (1 Sigma), the MCS's prediction algorithm does not make the best use of the available data from from USNO, and produces data that can degrade quickly over extended prediction spans. This paper investigates how, by applying Kalman filtering to the same available tracking data, the MCS could improve its estimate of GPS-UTC, and in particular, the GPS-UTC A(sub 1) term. By refining the A(sub 1) (frequency) estimate for GPS-UTC predictions, error in GPS time transfer could drop significantly. Additional, the risk of future spikes in GPS's time transfer error could similarly be minimized, by employing robust Kalman filtering for GPS-UTC predictions.

Hutsell, Steven T.↗
DOE OSTI2021

Deep Learning Based Approach to Integrate MyShake's Trigger Data with ShakeAlert for Faster and Robust EEW Alerts

Earthquake Early Warning (EEW) systems depend on the dense seismic network to make fast and accurate earthquake detections to issue useful early alerts. The recent development and implementation of the ShakeAlert system is relying on the west coast seismic network to detect and estimate the earthquake parameters in real-time. While working on making improvements on the current system, one potential approach is to include more seismic recordings from various sources, such as the low-cost smartphone seismic network, such as the MyShake network, or the Google Android smartphones, since these smartphone seismic networks have much more portable stations (phones) to potentially provide useful data to the system. This report summarizes the initial exploration of using a deep learning approach to combine the data from both traditional seismic stations and the smartphone data in California. Due to the heterogeneity nature of the data, we aggregate data from the phones (using simulation data), as well as that from traditional seismic stations to grid cells. By generating real-time triggering ratio grid cell maps, the designed deep learning algorithm can process the data from multiple sources and detect the earthquake faster than only using that from a traditional seismic network.

58 GEOSCIENCES↗
NASA NTRS2020

Regional Tropical Aboveground Biomass Mapping with L-Band Repeat-Pass Interferometric Radar, Sparse Lidar, and Multiscale Superpixels

We introduce a multiscale superpixel approach that leverages repeat-pass interferometric coherence and sparse AGB estimates from a simulated spaceborne lidar in order to extend the NISAR mission’s applicable range of aboveground biomass (AGB) in tropical forests. Airborne and spaceborne L-band radar and full-waveform airborne lidar data are used to simulate the NISAR and GEDI mission, respectively. In addition to UAVSAR data, we use spaceborneALOS-2/PALSAR-2 imagery with 14-day temporal baseline, which is comparable to NISAR’s 12-daybaseline. Our reference AGB maps are derived from the airborne LVIS data during the AfriSAR campaign for three sites (Mondah, Ogooue, and Lope). Each tropical site has mean AGB of at least 125 Mg/ha in addition to areas with AGB exceeding 700 Mg/ha. Spatially sampling from these LVIS-derived AGB reference maps, we approximate GEDI AGB estimates. To evaluate our methodology, we perform several different analyses. First, we partition each study site into low(≤100 Mg/ha) and high (>100 Mg/ha) AGB areas, in conformity with the NISAR mission requirement to provide AGB estimates for forests between 0 and 100 Mg/ha with a RMSE below 20 Mg/ha. In the low AGB areas, this RMSE requirement is satisfied in Lope and Mondah and it fell short of the requirement in Ogooue by less 3 Mg/ha with UAVSAR and 6 Mg/ha with PALSAR-2. We note that our maps have finer spatial resolution (50 m) than NISAR requires (1 hectare). In the high AGB areas, the normalized RMSE increases to 51% (i.e.,<90 Mg/ha), but with negligible bias for all three sites. Second, we train a single model to estimate AGB across both high and low AGB regimes simultaneously and obtain a normalized RMSE that is<60% (or<100 Mg/ha). Lastly, we show the use of both (a) multiscale superpixels and (b) interferometric coherence significantly improves the accuracy of the AGB estimates. The InSAR coherence improved the RMSE by approximately 8% at Mondah with both sensors, lowering the RMSE from 59 Mg/ha to 47.4 Mg/h with UAVSAR and from 57.1 Mg/ha to 46 Mg/ha. This work illustrates one of the numerous synergistic relationships between the spaceborne lidars, such as GEDI, with L-band SAR, such as PALSAR-2 and NISAR, in order to produce robust regional AGB in high biomass tropical regions.

NISAR↗
DOE OSTI2022

BOSS DR12 full-shape cosmology: Λ CDM constraints from the large-scale galaxy power spectrum and bispectrum monopole

Here, we present a full Λ CDM analysis of the BOSS DR12 dataset, including information from the power spectrum multipoles, the real-space power spectrum, the reconstructed power spectrum and the bispectrum monopole. This is the first analysis to feature a complete treatment of the galaxy bispectrum, including a consistent theoretical model and without large-scale cuts. Unlike previous works, the statistics are measured using window-free estimators: this greatly reduces computational costs by removing the need to window-convolve the theory model. Our pipeline is tested using a suite of high-resolution mocks and shown to be robust and precise, with systematic errors far below the statistical thresholds. Inclusion of the bispectrum yields consistent parameter constraints and shrinks the σ 8 posterior by 13% to reach < 5 % precision; less conservative analysis choices would reduce the error bars further. Our constraints are broadly consistent with Planck: in particular, we find H 0 = 69.6$^{+1.1}_{–1.3}$ km s –1 Mpc –1 , σ 8 = 0.692$^{+0.035}_{–0.041}$ and n s = 0.870$^{+0.067}_{–0.064}$, including a BBN prior on the baryon density. When n s is set by Planck, we find H 0 = 68.31$^{+0.83}_{–0.86}$ km s –1 Mpc –1 and σ 8 = 0.722$^{+0.032}_{–0.036}$. Our S 8 posterior, 0.751 ± 0.039, is consistent with weak lensing studies, but lower than Planck. Constraints on the higher-order bias parameters are significantly strengthened from the inclusion of the bispectrum, and we find no evidence for deviation from the dark matter halo bias relations. These results represent the most complete full-shape analysis of BOSS DR12 to-date, and the corresponding spectra will enable a variety of beyond-Λ CDM analyses, probing phenomena such as the neutrino mass and primordial non-Gaussianity.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

The Radius of PSR J0740+6620 from NICER with NICER Background Estimates

We report a revised analysis for the radius, mass, and hot surface regions of the massive millisecond pulsar PSR J0740+6620, studied previously with joint fits to NICER and XMM-Newton data by Riley et al. (2021) and Miller et al. (2021). We perform a similar Bayesian estimation for the pulse-profile model parameters, except that instead of fitting simultaneously the XMM-Newton data, we use the best available NICER background estimates to constrain the number of photons detected from the source. This approach eliminates any potential issues in the cross-calibration between these two instruments, providing thus an independent check of the robustness of the analysis. The obtained neutron star parameter constraints are compatible with the already published results, with a slight dependence on how conservative the imposed background limits are. A tighter lower limit causes the inferred radius to increase, and a tighter upper limit causes it to decrease. We also extend the study of the inferred emission geometry to examine the degree of deviation from antipodality of the hot regions. We show that there is a significant offset to an antipodal spot configuration, mainly due to the non-half-cycle azimuthal separation of the two emitting spots. The offset angle from the antipode is inferred to be above 25° with 84% probability. This seems to exclude a centered-dipolar magnetic field in PSR J0740+6620.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1988

Modelling the slow climatic attractor

Attempts to model the evolution of the slow-response parts of the climatic system such as the global ice mass are reviewed, and the fundamental laws governing the complete complex multidomain slow system, called the slow climatic attractor, are analyzed. The uses of paleoclimatic records are discussed, and a low-order model for the late Quaternary variations that constitutes a credible global representation of the slow climatic attractor is presented. It is shown that although according to the model the climatic system is centered on an unstable equilibrium, the points of the limit cycle attractor are quite stable and robust. It is also noted that one major deficiency of the model is its inability to portray the geographic spatial variability of climatic mean states. However, at least with regard to atmospheric CO2, estimates of the geographic fields of all significant atmospheric and surface boundary layer climate variables are deducible.

Saltzman, Barry↗