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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Autonomous In-space Construction, Maintenance, and Reconfiguration Using Programmable Meta-Material

NASA ARC's Coded Structures Laboratory (CSL) is developing autonomous construction, maintenance, and reconfiguration technologies to meet long-duration and deep space infrastructure needs, in accordance with long-term NASA goals of "in-space reliance" and "mass-less exploration." We seek to achieve these capabilities by utilizing a "programmable meta-material" approach that integrates emerging advances in materials (mechanical meta-materials), manufacturing (cooperative mobile robotics), and autonomy (multi-agent planning algorithms). Through the ARMADAS project, we have shown assembly of high-performance engineered cellular materials using multiple cooperating mobile robotic assemblers. In this paper, we describe how such a programmable meta-material architecture may shift the paradigm of how we design, build, manufacture, and operate future space infrastructure and assets. The core of a programmable meta-material architecture consists of 3 main technology sub-areas: the structure, the assembly agents, and the assembly algorithms. We co-design these systems to ensure an adaptable system that can create and reconfigure structures from a base set of building block components. From this core technology, we can branch out and expand the capability of the system through additional secondary component types and robotic agents to perform activities such as inspections, maintenance, repair, payload installation, or perform power and communications interconnect. As these technologies mature, future designers will be able to utilize the system to rapidly integrate and operate assets in space or on planetary surfaces from a set of well-tested part library, or create their own modules to integrate into the system. A core trait to the development of this system is the automation approach. Because of the modular and functional discrete (pixel-like) nature of the structural system, a diverse set of powerful algorithms for analysis, planning, and simulation can be adapted and leveraged to optimize construction, maintenance, and dynamic reorganization (as hardware with programmable form and function). With an ability to free the design space from launch vehicle constraints and fundamentally shift how a mission is designed and conducted, we discuss the influence of a programmable meta-material architecture on mission design, build, and operations. For the "design phase", we discuss project lifecycle effects, costs, time, and performance. For the "build phase", we discuss reusability, ISRU, manufacturing, material logistics, and scalability. And for "operations", we discuss autonomy, maintenance and upgrades, reliability, and reconfiguration. Autonomy and modularity are the primary enabling traits of this system. Engineering systems that utilize a modular and reconfiguration building block approach such as digital communication and computation systems, currently lead all other areas of technology in size and complexity scalability. NASA is extending the benefits and flexibility of digital systems to hardware systems, to optimize materials lifecycle management and expand our space exploration mission capabilities.

in space assembly↗
NASA NTRS1999

Stoichiometry of the large conductance bacterial mechanosensitive channel of E. coli. A biochemical study

MscL, a 15 kDa transmembrane protein, is the only component involved in the formation of a 3 nS channel in the inner membrane of Escherichia coli that opens in response to mechanical or osmotic stress. While previous data had suggested that the functional MscL complex might be a hexamer, a recent crystallographic study of the MscL homologue from M. tuberculosis reveals a pentameric structure. The present work further examines the stoichiometry of the E. coli MscL using a variety of biochemical approaches. Detergent-purified 6His-MscL in solution and MscL in the membrane could be chemically crosslinked with the products displaying ladderlike patterns on SDS gels. Three crosslinking agents (EDC, DMS, and DMA) used at saturating concentrations invariably generated pentamers as the largest product. DSS produced additional bands corresponding to larger complexes although the pentamer band appeared to be the predominant product at high levels of crosslinker. It is not clear whether these extra bands reflect a difference in the crosslinking chemistry of DSS or whether its spacer arm is the longest of those used, or a combination of both facts. For the detergent-solubilized 6His-MscL both sedimentation equilibrium and gel chromatography showed the presence of multiple species. Thus the longer spacer arm could permit both intra- and intercomplex linkages. Nonetheless, the patterns obtained with all agents are consistent with and strongly suggest a pentameric organization for the MscL channel. Expression of MscL as genetically engineered double or triple subunit tandems yields low numbers of functional channels as compared to expressed monomers. The double-tandem assemblies must have an even number of subunits and crosslinking in the membrane confirmed hexamerization. Gel chromatography clearly demonstrated that the channels formed from the double tandems were larger than those formed from WT MscL, consistent with the native channel being pentameric. The observation that both double and triple tandems form channels of normal conductance implies that the pentameric assembly is to some degree independent of the number of subunit repeats in the polypeptide precursor. The channel is thus a pentameric core with the 'extra' subunits left out of the functional complex. From sedimentation equilibrium and size-exclusion chromatography, we also conclude that MscL complexes are not in a dynamic equilibrium with monomers, but are pre-assembled; and thus, their gating properties must result from changes in the conformation of the entire complex induced by the mechanical stress.

NASA Discipline Cell Biology↗
NASA NTRS1998

Research and Development for an Operational Information Ecology: The User-System Interface Agent Project

The User System Interface Agent (USIA) is a special type of software agent which acts as the "middle man" between a human user and an information processing environment. USIA consists of a group of cooperating agents which are responsible for assisting users in obtaining information processing services intuitively and efficiently. Some of the main features of USIA include: (1) multiple interaction modes and (2) user-specific and stereotype modeling and adaptation. This prototype system provides us with a development platform towards the realization of an operational information ecology. In the first phase of this project we focus on the design and implementation of prototype system of the User-System Interface Agent (USIA). The second face of USIA allows user interaction via a restricted query language as well as through a taxonomy of windows. In third phase the USIA system architecture was revised.

Srivastava, Sadanand↗
NASA NTRSDate not supplied

Linking Individual Variation in Movement Behavior to Infection Dynamics in Highly Mobile Species

Animal movements are linked to infectious disease dynamics in wildlife through multiple mechanisms across various spatial and temporal scales. For example, infections can impede the movement of infected individuals, but infected hosts can also disperse infectious agents as they move. Individuals inevitably vary in their responses to infections and their roles in determining infection dynamics, which means that considering variation among individuals – whether across species, across time, or within populations – is important for understanding movement-disease relationships and their implications for epidemiology. Here, I draw on studies from multiple systems to examine how variation in movement behavior links to infectious disease epidemiology. For example, a comparative study of habitat selection across multiple waterfowl species highlights that diel behavioral patterns, rather than individual or seasonal variation, is the most important driver of the risk of overlap between waterfowl and poultry farms, and therefore for the risk of avian influenza spillover. Together, these studies show that individual traits interact with the environment to influence the roles of individuals for infectious disease ecology.

Claire Stewart Teitelbaum↗
NASA NTRS1995

A user-system interface agent

Agent-based technologies answer to several challenges posed by additional information processing requirements in today's computing environments. In particular, (1) users desire interaction with computing devices in a mode which is similar to that used between people, (2) the efficiency and successful completion of information processing tasks often require a high-level of expertise in complex and multiple domains, (3) information processing tasks often require handling of large volumes of data and, therefore, continuous and endless processing activities. The concept of an agent is an attempt to address these new challenges by introducing information processing environments in which (1) users can communicate with a system in a natural way, (2) an agent is a specialist and a self-learner and, therefore, it qualifies to be trusted to perform tasks independent of the human user, and (3) an agent is an entity that is continuously active performing tasks that are either delegated to it or self-imposed. The work described in this paper focuses on the development of an interface agent for users of a complex information processing environment (IPE). This activity is part of an on-going effort to build a model for developing agent-based information systems. Such systems will be highly applicable to environments which require a high degree of automation, such as, flight control operations and/or processing of large volumes of data in complex domains, such as the EOSDIS environment and other multidisciplinary, scientific data systems. The concept of an agent as an information processing entity is fully described with emphasis on characteristics of special interest to the User-System Interface Agent (USIA). Issues such as agent 'existence' and 'qualification' are discussed in this paper. Based on a definition of an agent and its main characteristics, we propose an architecture for the development of interface agents for users of an IPE that is agent-oriented and whose resources are likely to be distributed and heterogeneous in nature. The architecture of USIA is outlined in two main components: (1) the user interface which is concerned with issues as user dialog and interaction, user modeling, and adaptation to user profile, and (2) the system interface part which deals with identification of IPE capabilities, task understanding and feasibility assessment, and task delegation and coordination of assistant agents.

Wakim, Nagi T.↗
NASA NTRS1987

Life sciences research in space: The requirement for animal models

Use of animals in NASA space programs is reviewed. Animals are needed because life science experimentation frequently requires long-term controlled exposure to environments, statistical validation, invasive instrumentation or biological tissue sampling, tissue destruction, exposure to dangerous or unknown agents, or sacrifice of the subject. The availability and use of human subjects inflight is complicated by the multiple needs and demands upon crew time. Because only living organisms can sense, integrate and respond to the environment around them, the sole use of tissue culture and computer models is insufficient for understanding the influence of the space environment on intact organisms. Equipment for spaceborne experiments with animals is described.

Fuller, C. A.↗
NASA NTRS2010

Modeling Social Influence via Combined Centralized and Distributed Planning Control

Real world events are driven by a mixture of both centralized and distributed control of individual agents based on their situational context and internal make up. For example, some people have partial allegiances to multiple, contradictory authorities, as well as to their own goals and principles. This can create a cognitive dissonance that can be exploited by an appropriately directed psychological influence operation (PSYOP). An Autonomous Dynamic Planning and Execution (ADP&E) approach is proposed for modeling both the unperturbed context as well as its reaction to various PSYOP interventions. As an illustrative example, the unrest surrounding the Iranian elections in the summer of 2009 is described in terms applicable to an ADP&E modeling approach. Aspects of the ADP&E modeling process are discussed to illustrate its application and advantages for this example.

Vaccaro, James↗
NASA NTRS2013

Unified Simulation and Analysis Framework for Deep Space Navigation Design

As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.

Anzalone, Evan↗
NASA NTRS1976

Water hyacinths for upgrading sewage lagoons to meet advanced wastewater treatment standards, part 2

Field tests using water hyacinths as biological filtration agents were conducted in the Mississippi gulf coast region. The plants were installed in one single cell and one multiple cell sewage lagoon systems. Water hyacinths demonstrated the ability to maintain BOD5 and total suspended solid (TSS) levels within the Environmental Protection Agency's prescribed limits of 30 mg/lBOD5 and 30 mg/l TSS. A multiple cell sewage lagoon system consisting of two aerated and one water hyacinth covered cell connected in series demonstrated the ability to maintain BOD5 and TSS levels below 30 mg/l year-round. A water hyacinth covered lagoon with a surface area of 0.28 hectare containing a total volume of 6.8 million liters demonstrated the capacity to treat 437,000 to 1,893,000 liters of sewage influent from 2.65 hectares of aerated lagoons daily and produce an effluent that met or exceeded standards year-round.

Wolverton, B. C.↗
NASA NTRS1984

Inhibition of intracellular proteolysis in muscle cultures by multiplication-stimulating activity

The effects of the insulin-like growth factor, multiplication-stimulating activity (MSA), on chick myotube cultures are studied. The results indicate that MSA is an effective anabolic agent regulating protein metabolism and amino acid uptake, but not sugar transport. Similar size effects on protein metabolism and amino acid uptake in serum-free media were observed in parallel studies with insulin, although insulin levels well in excess of the normal physiological range are required to produce significant effects. It is suggested that there is a generally low insulin sensitivity in cultured chick myotubes relative to adult tissues.

Janeczko, Richard A.↗
NASA NTRS2002

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

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

Baker, James R.↗
NASA 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 NTRS2013

Monitoring Regional Forest Disturbances across the US with near Real Time MODIS NDVI Products Resident to the ForWarn Forest Threat Early Warning System

Forest threats across the US have become increasingly evident in recent years. Sometimes these have resulted in regionally evident disturbance progressions (e.g., from drought, bark beetle outbreaks, and wildfires) that can occur across multiyear durations and have resulted in extensive forest overstory mortality. In addition to stand replacement disturbances, other forests are subject to ephemeral, sometimes yearly defoliation from various insects and varying types and intensities of ephemeral damage from storms. Sometimes, after prolonged severe disturbance, signs of recovery in terms of Normalized Difference Vegetation Index (NDVI) can occur. The growing prominence and threat of forest disturbances in part have led to the formation and implementation of the 2003 Healthy Forest Restoration Act which mandated that national forest threat early warning system be developed and deployed. In response, the US Forest Service collaborated with NASA, DOE Oakridge National Laboratory, and the USGS Eros Data Center to build and roll-out the near real time ForWarn early warning system for monitoring regionally evident forest disturbances. Given the diversity of disturbance types, severities, and durations, ForWarn employs multiple historical baselines that are used with current NDVI to derive a suite of six forest change products that are refreshed every 8 days. ForWarn employs daily quarter kilometer MODIS NDVI data from the Aqua and Terra satellites, including MOD13 data for deriving historical baseline NDVIs and eMODIS 7 NDVI for compiling current NDVI. In doing so, the Time Series Product Tool and the Phenological Parameters Estimation Tool are used to temporally de-noise, fuse, and aggregate current and historical MODIS NDVIs into 24 day composites refreshed every 8 days with 46 dates of products per year. The 24 day compositing interval enables disturbances to be detected, while minimizing the frequency of residual atmospheric contamination. Forest change products are computed versus the previous 1, previous 3, and all previous years in the MODIS record for a given 24 day interval. Other "weekly" forest change products include one computed using an adaptive length compositing method for quicker detection of disturbances, two others that adjust for seasonal fluctuations in normal vegetation phenology (e.g., early versus late springs). This overall approach enables forest disturbance dynamics from a variety of regionally evident biotic and abiotic forest disturbances to be viewed and assessed through the calendar year. The change products are also being utilized for forest change trend analysis and for developing regional forest overstory mortality products. ForWarn's forest change products are used to alert forest health specialists about new forest disturbances. Such alerts are also typically based on available Landsat, aerial, and ground data as well as communications with forest health specialists and previous experience. ForWarn products have been used to detect and track many types of regional disturbances to multiple forest types, including defoliation from caterpillars and severe storms, as well as mortality from both biotic and abiotic agents (e.g., bark beetles, drought, fire, anthropogenic clearing). ForWarn offers products that could be combined with other geospatial data on forest biomass to assess forest disturbance carbon impacts within the conterminous US.

Spruce, Joseph P.↗
NASA NTRS1993

Apparatus Would Stain Microscope Slides

Proposed apparatus meters specific amounts of fluid out of containers at specific times to stain microscope slides. Intended specifically for semiautomated staining of microbiological and hematological samples in microgravity, leakproof apparatus used in other environments in which technicians have little time to allocate to staining procedures and/or exposure to toxic staining agents or to micro-organisms to be stained hazardous. Apparatus adapted to perform almost any staining procedure and accommodates multiple staining reagents, useful for small or remote clinical laboratories.

Breeding, James D.↗
NASA NTRS2004

Overview of Intelligent Systems and Operations Development

To achieve NASA's ambitious mission objectives for the future, aircraft and spacecraft will need intelligence to take the correct action in a variety of circumstances. Vehicle intelligence can be defined as the ability to "do the right thing" when faced with a complex decision-making situation. It will be necessary to implement integrated autonomous operations and low-level adaptive flight control technologies to direct actions that enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. This paper will describe the array of technologies required to meet these complex objectives. This includes the integration of high-level reasoning and autonomous capabilities with multiple subsystem controllers for robust performance. Future intelligent systems will use models of the system, its environment, and other intelligent agents with which it interacts. They will also require planners, reasoning engines, and adaptive controllers that can recommend or execute commands enabling the system to respond intelligently. The presentation will also address the development of highly dependable software, which is a key component to ensure the reliability of intelligent systems.

Pallix, Joan↗
NASA NTRS2011

Examining the Relationships Between Education, Social Networks and Democratic Support With ABM

This paper introduces an agent-based model that explores the relationships between education, social networks, and support for democratic ideals. This study examines two factors thai affect democratic support, education, and social networks. Current theory concerning these two variables suggests that positive relationships exist between education and democratic support and between social networks and the spread of ideas. The model contains multiple variables of democratic support, two of which are evaluated through experimentation. The model allows individual entities within the system to make "decisions" about their democratic support independent of one another. The agent based approach also allows entities to utilize their social networks to spread ideas. Current theory supports experimentation results. In add~ion , these results show the model is capable of reproducing real world outcomes. This paper addresses the model creation process and the experimentation procedure, as well as future research avenues and potential shortcomings of the model

Drucker, Nick↗
NASA NTRS2009

Development and Evaluation of Sensor Concepts for Ageless Aerospace Vehicles: Report 5 - Phase 2 Implementation of the Concept Demonstrator

This report describes the second phase of the implementation of the Concept Demonstrator experimental test-bed system containing sensors and processing hardware distributed throughout the structure, which uses multi-agent algorithms to characterize impacts and determine a suitable response to these impacts. This report expands and adds to the report of the first phase implementation. The current status of the system hardware is that all 192 physical cells (32 on each of the 6 hexagonal prism faces) have been constructed, although only four of these presently contain data-acquisition sub-modules to allow them to acquire sensor data. Impact detection.. location and severity have been successfully demonstrated. The software modules for simulating cells and controlling the test-bed are fully operational. although additional functionality will be added over time. The visualization workstation displays additional diagnostic information about the array of cells (both real and simulated) and additional damage information. Local agent algorithms have been developed that demonstrate emergent behavior of the complex multi-agent system, through the formation of impact damage boundaries and impact networks. The system has been shown to operate well for multiple impacts. and to demonstrate robust reconfiguration in the presence of damage to numbers of cells.

Batten, Adam↗
NASA NTRS2005

Why Moldavites are Reduced

Moldavite tektites are colored a bright bottle green by reduced Fe, despite the originating sediments being completely oxidized. The high temperature processing of silicates often results in very reduced products, such as Si-bearing Fe metal in type-1 chondrules [1], lunar regolith agglutinates [2], and multiple Si-Fe metal phases in fulgurites [3,4]. Previous work on silicate reduction has often focused on the need for reducing agents such as carbon or hydrogen; we show that for a moldavite composition these are not necessary. The isentropic cooling path is inherently reducing.

Sheffer, A.↗