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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Strictly Enforcing Invertibility and Conservation in CNN-Based Super Resolution for Scientific Datasets

Abstract Recently, deep convolutional neural networks (CNNs) have revolutionized image “super resolution” (SR), dramatically outperforming past methods for enhancing image resolution. They could be a boon for the many scientific fields that involve imaging or any regularly gridded datasets: satellite remote sensing, radar meteorology, medical imaging, numerical modeling, and so on. Unfortunately, while SR-CNNs produce visually compelling results, they do not necessarily conserve physical quantities between their low-resolution inputs and high-resolution outputs when applied to scientific datasets. Here, a method for “downsampling enforcement” in SR-CNNs is proposed. A differentiable operator is derived that, when applied as the final transfer function of a CNN, ensures the high-resolution outputs exactly reproduce the low-resolution inputs under 2D-average downsampling while improving performance of the SR schemes. The method is demonstrated across seven modern CNN-based SR schemes on several benchmark image datasets, and applications to weather radar, satellite imager, and climate model data are shown. The approach improves training time and performance while ensuring physical consistency between the super-resolved and low-resolution data. Significance Statement Recent advancements in using deep learning to increase the resolution of images have substantial potential across the many scientific fields that use images and image-like data. Most image super-resolution research has focused on the visual quality of outputs, however, and is not necessarily well suited for use with scientific data where known physics constraints may need to be enforced. Here, we introduce a method to modify existing deep neural network architectures so that they strictly conserve physical quantities in the input field when “super resolving” scientific data and find that the method can improve performance across a wide range of datasets and neural networks. Integration of known physics and adherence to established physical constraints into deep neural networks will be a critical step before their potential can be fully realized in the physical sciences.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

A Functional All-Hazard Approach to Critical Infrastructure Dependency Analysis

The critical infrastructures protection landscape is a vast and varied pattern of independent, but interconnected infrastructure systems that are essential to the function of our modern society. The U.S. policy on critical infrastructure protection has been continually evolving since the “President’s Commission on Critical Infrastructure Protection” was published in 1997. In response to these policies, federal, state, and local governments, along with research institutions, have invested a substantial amount of time and effort into identifying and analyzing critical infrastructure, their functions, and dependencies/interdependencies to better understand their vulnerabilities. To date, the ability to assess vulnerabilities, resiliency, and priorities for protecting interdependent critical infrastructure systems from an all-hazards perspective remains a difficult problem. In this paper we introduce the All-Hazards Analysis (AHA) methodology, which provides an integrated functional basis across infrastructure systems, through the implementation of a common language and a scalable level of decomposition to effectively evaluate the resilience of interconnected infrastructure systems. AHA models infrastructure systems as directed multidimensional graphs, which enable the evaluation of cross-sector interdependencies prior to, during, and after disruptive events. Finally, and by design, AHA enables the cross linking of data taxonomies to enable more effective data sharing, such as the National Critical Functions (NCF) and Infrastructure Data Taxonomy (IDT).

02 PETROLEUM↗
DOE OSTI2022

Uniform Recalibration of Common Spectrophotometry Standard Stars onto the CALSPEC System Using the SuperNova Integral Field Spectrograph

Abstract We calibrate spectrophotometric optical spectra of 32 stars commonly used as standard stars, referenced to 14 stars already on the Hubble Space Telescope–based CALSPEC flux system. Observations of CALSPEC and non-CALSPEC stars were obtained with the SuperNova Integral Field Spectrograph over the wavelength range 3300–9400 Å as calibration for the Nearby Supernova Factory cosmology experiment. In total, this analysis used 4289 standard-star spectra taken on photometric nights. As a modern cosmology analysis, all presubmission methodological decisions were made with the flux scale and external comparison results blinded. The large number of spectra per star allows us to treat the wavelength-by-wavelength calibration for all nights simultaneously with a Bayesian hierarchical model, thereby enabling a consistent treatment of the Type Ia supernova cosmology analysis and the calibration on which it critically relies. We determine the typical per-observation repeatability (median 14 mmag for exposures ≳5 s), the Maunakea atmospheric transmission distribution (median dispersion of 7 mmag with uncertainty 1 mmag), and the scatter internal to our CALSPEC reference stars (median of 8 mmag). We also check our standards against literature filter photometry, finding generally good agreement over the full 12 mag range. Overall, the mean of our system is calibrated to the mean of CALSPEC at the level of ∼3 mmag. With our large number of observations, careful cross-checks, and 14 reference stars, our results are the best calibration yet achieved with an integral-field spectrograph, and among the best calibrated surveys.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2003

Automated Modeling and Simulation Using the Bond Graph Method for the Aerospace Industry

Bond graph modeling was originally developed in the late 1950s by the late Prof. Henry M. Paynter of M.I.T. Prof. Paynter acted well before his time as the main advantage of his creation, other than the modeling insight that it provides and the ability of effectively dealing with Mechatronics, came into fruition only with the recent advent of modern computer technology and the tools derived as a result of it, including symbolic manipulation, MATLAB, and SIMULINK and the Computer Aided Modeling Program (CAMPG). Thus, only recently have these tools been available allowing one to fully utilize the advantages that the bond graph method has to offer. The purpose of this paper is to help fill the knowledge void concerning its use of bond graphs in the aerospace industry. The paper first presents simple examples to serve as a tutorial on bond graphs for those not familiar with the technique. The reader is given the basic understanding needed to appreciate the applications that follow. After that, several aerospace applications are developed such as modeling of an arresting system for aircraft carrier landings, suspension models used for landing gears and multibody dynamics. The paper presents also an update on NASA's progress in modeling the International Space Station (ISS) using bond graph techniques, and an advanced actuation system utilizing shape memory alloys. The later covers the Mechatronics advantages of the bond graph method, applications that simultaneously involves mechanical, hydraulic, thermal, and electrical subsystem modeling.

Granda, Jose J.↗
NASA NTRS2015

Investigation of Benthic Foraminiferal Non-Traditional Stable Isotopes to Reconstruct Methane Fluxes in Sedimentary Environments

Methane (CH4) is an important greenhouse gas, with a global warming potential much higher than carbon dioxide (CO2) on a short time scale. Even if the residence time of CH4 in the atmosphere is relatively short (tens of years), one of the products of CH4 oxidation is CO2, a greenhouse gas with a much longer residence time in the atmosphere (tens to hundreds of years). CH4 has been proposed as one of the trigger mechanisms for rapid global climate change today and in the geological past. With regards to the geological past, numerous studies proposed the benthic foraminiferal carbon isotope ratio (Delta13C) as a tool to reconstruct the impact of marine CH4 on rapid climate changes; however, the investigation of modern benthic foraminiferal Delta13C have produced inconclusive results. CH4 has a distinctive hydrogen isotope (Delta(D)) and Delta13C signature compared to seawater, and sulfate reduction, often coupled to CH4 anaerobic oxidation in sediments, changes the sulfur isotope signature (Delta34S) of the remaining sulfate in porewater. Therefore, we hypothesize that the Delta(D) and Delta34S signature of infaunal benthic foraminiferal species can provide a complementary approach to Delta13C to study CH4 dynamics in sedimentary environments. Here, we present the preliminary results obtained analyzing Uvigerina peregrina Delta(D) and Delta34S from three different locations at Hydrate Ridge, offshore Oregon. Unfortunately, the lack of chemical data related to the moment of foraminiferal calcification makes difficult to build a robust relationship among the U. peregrina stable isotopes and the CH4 fluxes at the sampling sites. However, our results look very promising, as each site is characterized by a different Delta(D) and Delta34S signature. We emphasize that this study represents the first step in the development of new proxies (Delta(D)) and Delta34S), which may complement the more traditional benthic foraminiferal Delta13C values, to reconstruct marine CH4 fluxes in the geological past.

Borrelli, C.↗
NASA NTRS2017

The Velocity and Density Distribution of Earth-Intersecting Meteoroids: Implications for Environment Models

Meteoroids are known to damage spacecraft: they can crater or puncture components, disturb a spacecraft's attitude, and potentially create secondary electrical effects. Because the damage done depends on the speed, size, density, and direction of the impactor, accurate environment models are critical for mitigating meteoroid-related risks. Yet because meteoroid properties are derived from indirect observations such as meteors and impact craters, many characteristics of the meteoroid environment are uncertain. In this work, we present recent improvements to the meteoroid speed and density distributions. Our speed distribution is derived from observations made by the Canadian Meteor Orbit Radar. These observations are de-biased using modern descriptions of the ionization efficiency. Our approach yields a slower meteoroid population than previous analyses (see Fig. 1 for an example) and we compute the uncertainties associated with our derived distribution. We adopt a higher fidelity density distribution than that used by many older models. In our distribution, meteoroids with TJ less than 2 are assigned to a low-density population, while those with TJ greater than 2 have higher densities (see Fig. 2). This division and the distributions themselves are derived from the densities reported by Kikwaya et al. These changes have implications for the environment: for instance, the helion/antihelion sporadic sources have lower speeds than the apex and toroidal sources and originate from high-T(sub J) parent bodies. Our on-average slower and denser distributions thus imply that the helion and antihelion sources dominate the meteoroid environment even more completely than previously thought. Finally, for a given near-Earth meteoroid cratering rate, a slower meteoroid population produces a comparatively higher rate of satellite attitude disturbances.

Moorhead, A. V.↗
DOE OSTI2021

A compute-bound formulation of Galerkin model reduction for linear time-invariant dynamical systems

This work aims to advance computational methods for projection-based reduced-order models (ROMs) of linear time-invariant (LTI) dynamical systems. For such systems, current practice relies on ROM formulations expressing the state as a rank-1 tensor (i.e., a vector), leading to computational kernels that are memory bandwidth bound and, therefore, ill-suited for scalable performance on modern architectures. This weakness can be particularly limiting when tackling many-query studies, where one needs to run a large number of simulations. This work introduces a reformulation, called rank-2 Galerkin, of the Galerkin ROM for LTI dynamical systems which converts the nature of the ROM problem from memory bandwidth to compute bound. We present the details of the formulation and its implementation, and demonstrate its utility through numerical experiments using, as a test case, the simulation of elastic seismic shear waves in an axisymmetric domain. We quantify and analyze performance and scaling results for varying numbers of threads and problem sizes. In conclusion, we present an end-to-end demonstration of using the rank-2 Galerkin ROM for a Monte Carlo sampling study. We show that the rank-2 Galerkin ROM is one order of magnitude more efficient than the rank-1 Galerkin ROM (the current practice) and about 970 times more efficient than the full-order model, while maintaining accuracy in both the mean and statistics of the field.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Error field predictability and consequences for ITER

Abstract ITER coil tolerances are re-evaluated using the modern understanding of coupling to least-stable plasma modes and an updated center-line-traced model of ITER’s coil windings. This reassessment finds the tolerances to be conservative through a statistical, linear study of n = 1 error fields (EFs) due to tilted, shifted misplacements and nominal windings of central solenoid and poloidal field coils within tolerance. We also show that a model-based correction scheme remains effective even when metrology quality is sub-optimal, and compare this to projected empirical correction schemes. We begin with an analysis of the necessity of error field correction (EFC) for daily operation in ITER using scalign laws for the EF penetration threshold. We then consider the predictability of EF dominant mode overlap across early planned ITER scenarios and, as measuring EFs in high power scenarios can pose risks to the device, the potential for extrapolation to the ITER Baseline Scenario (IBS). We find that carefully designing a scenario matching currents proportionally to those of the IBS is far more important than plasma shape or profiles in accurately measuring an optimal correction current set.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2025

Bridging the Gap on Data, Metrics, and Analyses for Grid Resilience to Weather Events: Information that utilities can provide regulators, state energy offices, and other stakeholders

A growing number of states require regulated utilities to file resilience plans to improve the electric grid’s ability to anticipate, withstand, adapt to and recover from increasingly severe weather events. This report aims to help state regulators identify and request data, metrics, and analyses from utilities and use it in decisions on utility resilience plans and investments. The report reviews state requirements and utility plans focused on overall grid resilience, climate change resilience and vulnerabilities, infrastructure modernization, storm protection, and wildfire mitigation. It details types of data, metrics, and analyses across five categories--and provides examples of each from the utility plans. The first category is vulnerability assessments, or evaluations of the susceptibility of systems, communities, or assets to potential harm from identified hazards. The second is data on hazards and the exposure of utility assets and customers to these hazards. The third is attribute metrics, or system characteristics that contribute to or describe the resilience of a system. The fourth is performance metrics, which are impacts of resilience investments on system performance--typically a reduction of negative impacts from hazard events. Finally, evaluation and prioritization are analyses that utilities conduct to estimate impacts from resilience measures (evaluation) and prioritize measures based on costs and estimated impacts (prioritization). The report concludes with examples of key trends and emerging best practices for states and utilities, and identifies areas for further research.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1992

Atomic oxygen in the Martian thermosphere

Modern models of thermospheric composition and temperature and of excitation and radiative transfer processes are used to simulate the O I 130-nm emission from Mars measured by the Mariner 9 ultraviolet spectrometer. This paper uses the Mars thermospheric general circulation model calculations (MTGCM) of Bougher et al. (1988) and the Monte Carlo partial frequency redistribution multiple scattering code of Meier and Lee (1982). It is found that the decline in atomic oxygen through the daylight hours predicted by the MTGCM cannot be reconciled with the excess afternoon brightness seen in the data. Oxygen concentrations inferred from the data show a positive gradient through the day, in agreement with the original analysis by Strickland et al. (1973). In addition, the data suggest that the oxygen abundance increases toward high southerly latitudes, in contrast with the MTGCM prediction of high values in the Northern Hemisphere. It appears that solar forcing alone cannot account for the observed characteristics of the Martian thermosphere and that wave and tidal effects may profoundly affect the structure, winds, and composition.

Stewart, A. I. F.↗
NASA NTRS2013

Evidence for Extended Aqueous Alteration in CR Carbonaceous Chondrites

We are currently studying the chemical interrelationships between the main rockforming components of carbonaceous chondrites (hereafter CC), e.g. silicate chondrules, refractory inclusions and metal grains, and the surrounding meteorite matrices. It is thought that the fine-grained materials that form CC matrices are representing samples of relatively unprocessed protoplanetary disk materials [1-3]. In fact, modern non-destructive analytical techniques have shown that CC matrices host a large diversity of stellar grains from many distinguishable stellar sources [4]. Aqueous alteration has played a role in homogeneizing the isotopic content that allows the identification of presolar grains [5]. On the other hand, detailed analytical techniques have found that the aqueously-altered CR, CM and CI chondrite groups contain matrices in which the organic matter has experienced significant processing concomitant to the formation of clays and other minerals. In this sense, clays have been found to be directly associated with complex organics [6, 7]. CR chondrites are particularly relevant in this context as this chondrite group contains abundant metal grains in the interstitial matrix, and inside glassy silicate chondrules. It is important because CR are known for exhibiting a large complexity of organic compounds [8-10], and only metallic Fe is considered essential in Fischer-Tropsch catalysis of organics [11-13]. Therefore, CR chondrites can be considered primitive materials capable to provide clues on the role played by aqueous alteration in the chemical evolution of their parent asteroids.

Trigo-Rodriquez, J. M.↗
NASA NTRS2016

Atmospheric Drivers of Greenland Surface Melt Revealed by Self-Organizing Maps

Recent acceleration in surface melt on the Greenland ice sheet (GrIS) has occurred concurrently with a rapidly warming Arctic and has been connected to persistent, anomalous atmospheric circulation patterns over Greenland. To identify synoptic setups favoring enhanced GrIS surface melt and their decadal changes, we develop a summer Arctic synoptic climatology by employing self-organizing maps. These are applied to daily 500 hPa geopotential height fields obtained from the Modern Era Retrospective Analysis for Research and Applications reanalysis, 1979-2014. Particular circulation regimes are related to meteorological conditions and GrIS surface melt estimated with outputs from the Modèle Atmosphérique Régional. Our results demonstrate that the largest positive melt anomalies occur in concert with positive height anomalies near Greenland associated with wind, temperature, and humidity patterns indicative of strong meridional transport of heat and moisture. We find an increased frequency in a 500 hPa ridge over Greenland coinciding with a 63% increase in GrIS melt between the 1979-1988 and 2005-2014 periods, with 75.0% of surface melt changes attributed to thermodynamics, 17% to dynamics, and 8.0% to a combination. We also confirm that the 2007-2012 time period has the largest dynamic forcing relative of any period but also demonstrate that increased surface energy fluxes, temperature, and moisture separate from dynamic changes contributed more to melt even during this period. This implies that GrIS surface melt is likely to continue to increase in response to an ever warmer future Arctic, regardless of future atmospheric circulation patterns.

anomalies↗
NASA NTRS2018

Space-Based Infrared Interferometry to Study Exoplanetary Atmospheres

The quest for other habitable worlds and the search for life among them are major goals of modern astronomy. One way to make progress towards these goals is to obtain high-quality spectra of a large number of exoplanets over a broad range of wavelengths. While concepts currently investigated in the United States are focused on visible/NIR wavelengths, where the planets are probed in reflected light, a compelling alternative to characterize planetary atmospheres is the mid-infrared waveband (5-20 um). Indeed, mid-infrared observations provide key information on the presence of an atmosphere, the surface conditions (e.g., temperature, pressure, habitability), and the atmospheric composition in important species such as H2O,CO2, O3, CH4, and N2O. This information is essential to investigate the potential habitability of exoplanets and to make progress towards the search for life in the Universe. Obtaining high-quality mid-infrared spectra of exoplanets from the ground is however extremely challenging due to the overwhelming brightness and turbulence of the Earth's atmosphere. In this paper, we present a concept of space-based midinfrared interferometer that can tackle this observing challenge and discuss the maintechnological developments required to launch such a sophisticated instrument.

Defrère, D.↗
NASA NTRS2013

Memory-Efficient Onboard Rock Segmentation

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Burl, Michael C.↗
DOE OSTI2022

Validation of wind resource and energy production simulations for small wind turbines in the United States

Abstract. Due to financial and temporal limitations, the small wind community relies upon simplified wind speed models and energy production simulation tools to assess site suitability and produce energy generation expectations. While efficient and user-friendly, these models and tools are subject to errors that have been insufficiently quantified at small wind turbine heights. This study leverages observations from meteorological towers and sodars across the United States to validate wind speed estimates from the Wind Integration National Dataset (WIND) Toolkit, the European Centre for Medium-Range Weather Forecasts (ECMWF) Reanalysis v5 (ERA5), and the Modern-Era Retrospective Analysis for Research and Applications, version 2 (MERRA-2), revealing average biases within ±0.5 m s−1 at small wind hub heights. Observations from small wind turbines across the United States provide references for validating energy production estimates from the System Advisor Model (SAM), Wind Report, MyWindTurbine.com, and Global Wind Atlas 3 (GWA3), which are seen to overestimate actual annual capacity factors by 2.5, 4.2, 11.5, and 7.3 percentage points, respectively. In addition to quantifying the error metrics, this paper identifies sources of model and tool discrepancies, noting that interannual fluctuation in the wind resource, wind speed class, and loss assumptions produces more variability in estimates than different horizontal and vertical interpolation techniques. The results of this study provide small wind installers and owners with information about these challenges to consider when making performance estimates and thus possible adjustments accordingly. Looking to the future, recognizing these error metrics and sources of discrepancies provides model and tool researchers and developers with opportunities for product improvement that could positively impact small wind customer confidence and the ability to finance small wind projects.

17 WIND ENERGY↗
DOE OSTI2023

Interannual variability of spring and summer monsoon growing season carbon exchange at a semiarid savanna over nearly two decades

Eddy covariance measurements of land-atmosphere energy, carbon, and water exchange now span multiple decades at some sites, supporting an improved understanding of flux interannual variability (IAV) and its ecophysiological and physical controls. Most eddy covariance IAV studies have focused on temperate forest ecosystems, where carbon fluxes are large and flux records are longest – but also where IAV is much lower than in dryland regions, which have been identified as an essential driver of the trend and variability in the global terrestrial carbon sink. In this study, we leveraged 19 years of continuous micrometeorological measurements at the AmeriFlux US-SRM mesquite savanna site in southern Arizona, USA to quantify the IAV, trends, and drivers of carbon fluxes during the distinct spring and summer growing seasons. We also assessed the ability of modern satellite and land surface models to capture the IAV of seasonal water and carbon fluxes. Annual net ecosystem production (NEP) was small and highly variable (23 +/- 64 gC m –2 yr –1 ). Precipitation and associated measures of water availability determined most of the variability in NEP, largely through their influence on annual and seasonal gross ecosystem productivity (GEP) as opposed to ecosystem respiration (ER). Root-zone soil moisture captured between 73% (spring) and 85% (summer) of GEP variability and between 73% (spring) and 58% (summer) of ER variability. Throughout the study period, soil moisture and greenness increased with associated increases in GEP, ER and NEP. These trends were strongly influenced by very productive and wet summer growing seasons during the last two years, which were characterized by abundant understory grass cover. Typically, less than half of the variability in growing season GEP and evapotranspiration was captured by satellite-based estimates and land surface model simulations with local site forcing and calibration, highlighting the ongoing utility of long-term datasets to support careful model testing and improvement.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

The Ground State Electronic Energy of Benzene

We report here on the findings of a blind challenge devoted to determining the frozen-core, full configuration interaction (FCI) ground-state energy of the benzene molecule in a standard correlation-consistent basis set of double-ζ quality. As a broad international endeavor, our suite of wave function-based correlation methods collectively represents a diverse view of the high-accuracy repertoire offered by modern electronic structure theory. In our assessment, the evaluated high-level methods are all found to qualitatively agree on a final correlation energy, with most methods yielding an estimate of the FCI value around -863 mE H . However, we find the root-mean-square deviation of the energies from the studied methods to be considerable (1.3 mE H ), which in light of the acclaimed performance of each of the methods for smaller molecular systems clearly displays the challenges faced in extending reliable, near-exact correlation methods to larger systems. While the discrepancies exposed by our study thus emphasize the fact that the current state-of-the-art approaches leave room for improvement, we still expect the present assessment to provide a valuable community resource for benchmark and calibration purposes going forward.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1987

A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Michalowski, S.↗