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All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Lessons Learned from Autonomous Sciencecraft Experiment

An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in routine use to fly the EO-l mission. In this paper we briefly review the agent architecture and discuss lessons learned from this multi-year flight effort pertinent to deployment of software agents to critical applications.

Autonomous Sciencecraft Experiment (ASE)↗
NASA NTRS2009

Assessment of Composite Delamination Self-Healing Under Cyclic Loading

Recently, the promise of self-healing materials for enhanced autonomous durability has been introduced using a micro-encapsulation technique where a polymer based healing agent is encapsulated in thin walled spheres and embedded into a base polymer along with a catalyst phase. For this study, composite skin-stiffener flange debonding specimens were manufactured from composite prepreg containing interleaf layers with a polymer based healing agent encapsulated in thin-walled spheres. Constant amplitude fatigue tests in three-point bending showed the effect of self-healing on the fatigue response of the skin-stiffener flange coupons. After the cycling that created debonding, fatigue tests were held at the mean load for 24 hours. For roughly half the specimens tested, when the cyclic loading was resumed a decrease in compliance (increase in stiffness) was observed, indicating that some healing had occurred. However, with continued cycling, the specimen compliance eventually increased to the original level before the hold, indicating that the damage had returned to its original state. As was noted in a prevoius study conducted with specimens tested under monotonically increasing loads to failure, healing achieved via the micro-encapsulation technique may be limited to the volume of healing agent available relative to the crack volume.

O'Brien, T. Kevin↗
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 NTRS2010

Fine-Water-Mist Multiple-Orientation-Discharge Fire Extinguisher

A fine-water-mist fire-suppression device has been designed so that it can be discharged uniformly in any orientation via a high-pressure gas propellant. Standard fire extinguishers used while slightly tilted or on their side will not discharge all of their contents. Thanks to the new design, this extinguisher can be used in multiple environments such as aboard low-gravity spacecraft, airplanes, and aboard vehicles that may become overturned prior to or during a fire emergency. Research in recent years has shown that fine water mist can be an effective alternative to Halons now banned from manufacture. Currently, NASA uses carbon dioxide for fire suppression on the International Space Station (ISS) and Halon chemical extinguishers on the space shuttle. While each of these agents is effective, they have drawbacks. The toxicity of carbon dioxide requires that the crew don breathing apparatus when the extinguishers are deployed on the ISS, and Halon use in future spacecraft has been eliminated because of international protocols on substances that destroy atmospheric ozone. A major advantage to the new system on occupied spacecraft is that the discharged system is locally rechargeable. Since the only fluids used are water and nitrogen, the system can be recharged from stores of both carried aboard the ISS or spacecraft. The only support requirement would be a pump to fill the water and a compressor to pressurize the nitrogen propellant gas. This system uses a gaseous agent to pressurize the storage container as well as to assist in the generation of the fine water mist. The portable fire extinguisher hardware works like a standard fire extinguisher with a single storage container for the agents (water and nitrogen), a control valve assembly for manual actuation, and a discharge nozzle. The design implemented in the proof-of-concept experiment successfully extinguished both open fires and fires in baffled enclosures.

Butz, James R.↗
NASA NTRS2009

From Goal-Oriented Requirements to Event-B Specifications

In goal-oriented requirements engineering methodologies, goals are structured into refinement trees from high-level system-wide goals down to fine-grained requirements assigned to specific software/ hardware/human agents that can realise them. Functional goals assigned to software agents need to be operationalised into specification of services that the agent should provide to realise those requirements. In this paper, we propose an approach for operationalising requirements into specifications expressed in the Event-B formalism. Our approach has the benefit of aiding software designers by bridging the gap between declarative requirements and operational system specifications in a rigorous manner, enabling powerful correctness proofs and allowing further refinements down to the implementation level. Our solution is based on verifying that a consistent Event-B machine exhibits properties corresponding to requirements.

Aziz, Benjamin↗
NASA NTRS2010

Process to Selectively Distinguish Viable from Non-Viable Bacterial Cells

The combination of ethidium monoazide (EMA) and post-fragmentation, randomly primed DNA amplification technologies will enhance the analytical capability to discern viable from non-viable bacterial cells in spacecraft-related samples. Intercalating agents have been widely used since the inception of molecular biology to stain and visualize nucleic acids. Only recently, intercalating agents such as EMA have been exploited to selectively distinguish viable from dead bacterial cells. Intercalating dyes can only penetrate the membranes of dead cells. Once through the membrane and actually inside the cell, they intercalate DNA and, upon photolysis with visible light, produce stable DNA monoadducts. Once the DNA is crosslinked, it becomes insoluble and unable to be fragmented for post-fragmentation, randomly primed DNA library formation. Viable organisms DNA remains unaffected by the intercalating agents, allowing for amplification via post-fragmentation, randomly primed technologies. This results in the ability to carry out downstream nucleic acid-based analyses on viable microbes to the exclusion of all non-viable cells.

LaDuc, Myron T.↗
NASA NTRS2010

DF-1, A Nontoxic Carbon Fullerene Based Antioxidant, is Effective as a Biomedical Countermeasure Against Radiation

A long-term goal of radiation research is the mitigation of inherent risks of radiation exposure. Thus the study and development of safe agents, whether biomedical or dietary, that act as effective radioprotectors is an important step in accomplishing this long-term goal. Some of the most effective agents to date have been aminothiols and their derivatives. Unfortunately, most of these agents have side effects such as nausea, vomiting, hypotension, weakness, and fatigability. For example, nausea and emesis occur in most patients treated with WR-2721 (Amifostine), requiring the use of effective antiemetics, with hypotension being the dose-limiting side effect in patients treated. Clearly, the need for a radioprotector that is both effective and safe still exists. Development of biocompatible nano-materials for radioprotection is a promising emerging technology that could be exploited to address the need to minimize biological effects when exposure is unavoidable. Testing free radical scavenging nanoparticles for potential use in radioprotection is exciting and highly relevant. Initial investigations presented here demonstrate the ability of a particular functionalized carbon fullerene nanoparticle, (DF-1), to act as an effective radioprotector. DF-1 was first identified as the most promising candidate in a screen of several functionalized carbon fullerenes based on lack of toxicity and antioxidant therapeutic potential against oxidative injuries (i.e. organ reperfusion and ionizing radiation). Subsequently, DF-1 has been shown to reduce chromosome aberration yield and cell death, as well as overall ROS levels in human lymphocytes and fibroblasts after exposure to gamma radiation and energetic protons while demonstrating no associated toxicity. The dose-reducing factor of DF-1 at LD50 is nearly 2.0 for gamma radiation. In addition, DF-1 treatment also significantly prevented cell cycle arrest after exposure. Finally, DF-1 markedly attenuated COX2 upregulation in cell culture after irradiation thus preventing an inflammatory response to irradiation. Taken together, these results suggest that DF-1 provides potent protection against several deleterious cellular consequences of irradiation in mammalian systems including oxidative stress, DNA damage, inflammation and cell death.

Theriot, Corey A.↗
NASA NTRS2011

Synthesis of Elongated Microcapsules

One of the factors that influence the effectiveness of self-healing in functional materials is the amount of liquid healing agents that can be delivered to the damaged area. The use of hollow tubes or fibers and the more sophisticated micro-vascular networks has been proposed as a way to increase the amount of healing agents that can be released when damage is inflicted. Although these systems might be effective in some specific applications, they are not practical for coatings applications. One possible practical way to increase the healing efficiency is to use microcapsules with high-aspect-ratios, or elongated microcapsules. It is understood that elongated microcapsules will be more efficient because they can release more healing agent than a spherical microcapsule when a crack is initiated in the coating. Although the potential advantage of using elongated microcapsules for self healing applications is clear, it is very difficult to make elongated microcapsules from an emulsion system because spherical microcapsules are normally formed due to the interfacial tension between the dispersed phase and the continuous phase. This paper describes the two methods that have been developed by the authors to synthesize elongated microcapsules. The first method involves the use of an emulsion with intermediate stability and the second involves the application of mechanical shear conditions to the emulsion.

Li, Wenyan↗
NASA NTRS2011

Methods of Antimicrobial Coating of Diverse Materials

Methods of coating diverse substrate materials with antimicrobial agents have been developed. Originally intended to reduce health risks to astronauts posed by pathogenic microorganisms that can grow on surfaces in spacecraft, these methods could also be used on Earth for example, to ensure sterility of surgical inserts and other medical equipment. The methods involve, generally, chemical preparation of substrate surfaces to enable attachment of antimicrobial molecules to the substrate surfaces via covalent bonds. Substrate materials that have been treated successfully include aluminum, glass, a corrosion-resistant nickel alloy, stainless steel, titanium, and poly(tetrafluoroethylene). Antimicrobial agents that have been successfully immobilized include antibiotics, enzymes, bacteriocins, bactericides, and fungicides. A variety of linkage chem istries were employed. Activity of antimicrobial coatings against gram-positive bacteria, gram-negative bacteria, and fungi was demonstrated. Results of investigations indicate that the most suitable combination of antimicrobial agent, substrate, and coating method depends upon the intended application.

Akse, James R.↗
NASA NTRS2004

Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration

Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.

Thakoor, Sarita↗
NASA NTRS2004

An Architecture for Controlling Multiple Robots

The Control Architecture for Multirobot Outpost (CAMPOUT) is a distributed-control architecture for coordinating the activities of multiple robots. In the CAMPOUT, multiple-agent activities and sensor-based controls are derived as group compositions and involve coordination of more basic controllers denoted, for present purposes, as behaviors. The CAMPOUT provides basic mechanistic concepts for representation and execution of distributed group activities. One considers a network of nodes that comprise behaviors (self-contained controllers) augmented with hyper-links, which are used to exchange information between the nodes to achieve coordinated activities. Group behavior is guided by a scripted plan, which encodes a conditional sequence of single-agent activities. Thus, higher-level functionality is composed by coordination of more basic behaviors under the downward task decomposition of a multi-agent planner

Aghazarian, Hrand↗
NASA NTRS2004

Activity-Centric Approach to Distributed Programming

The first phase of an effort to develop a NASA version of the Cybele software system has been completed. To give meaning to even a highly abbreviated summary of the modifications to be embodied in the NASA version, it is necessary to present the following background information on Cybele: Cybele is a proprietary software infrastructure for use by programmers in developing agent-based application programs [complex application programs that contain autonomous, interacting components (agents)]. Cybele provides support for event handling from multiple sources, multithreading, concurrency control, migration, and load balancing. A Cybele agent follows a programming paradigm, called activity-centric programming, that enables an abstraction over system-level thread mechanisms. Activity centric programming relieves application programmers of the complex tasks of thread management, concurrency control, and event management. In order to provide such functionality, activity-centric programming demands support of other layers of software. This concludes the background information. In the first phase of the present development, a new architecture for Cybele was defined. In this architecture, Cybele follows a modular service-based approach to coupling of the programming and service layers of software architecture. In a service-based approach, the functionalities supported by activity-centric programming are apportioned, according to their characteristics, among several groups called services. A well-defined interface among all such services serves as a path that facilitates the maintenance and enhancement of such services without adverse effect on the whole software framework. The activity-centric application-program interface (API) is part of a kernel. The kernel API calls the services by use of their published interface. This approach makes it possible for any application code written exclusively under the API to be portable for any configuration of Cybele.

Levy, Renato↗
NASA NTRS2003

Using Diffusion Bonding in Making Piezoelectric Actuators

A technique for the fabrication of piezoelectric actuators that generate acceptably large forces and deflections at relatively low applied voltages involves the stacking and diffusion bonding of multiple thin piezoelectric layers coated with film electrodes. The present technique stands in contrast to an older technique in which the layers are bonded chemically, by use of urethane or epoxy agents. The older chemical-bonding technique entails several disadvantages, including the following: It is difficult to apply the bonding agents to the piezoelectric layers. It is difficult to position the layers accurately and without making mistakes. There is a problem of disposal of hazardous urethane and epoxy wastes. The urethane and epoxy agents are nonpiezoelectric materials. As such, they contribute to the thickness of a piezoelectric laminate without contributing to its performance; conversely, for a given total thickness, the performance of the laminate is below that of a unitary piezoelectric plate of the same thickness. The figure depicts some aspects of the fabrication of a laminated piezoelectric actuator by the present diffusion- bonding technique. First, stock sheets of the piezoelectric material are inspected and tested. Next, the hole pattern shown in the figure is punched into the sheets. Alternatively, if the piezoelectric material is not a polymer, then the holes are punched in thermoplastic films. Then both faces of each punched piezoelectric sheet or thermoplastic film are coated with a silver-ink electrode material by use of a silkscreen printer. The electrode and hole patterns are designed for minimal complexity and minimal waste of material. After a final electrical test, all the coated piezoelectric layers (or piezoelectric layers and coated thermoplastic films) are stacked in an alignment jig, which, in turn, is placed in a curved press for the diffusion-bonding process. In this process, the stack is pressed and heated at a specified curing temperature and pressure for a specified curing time. The pressure, temperature, and time depend on the piezoelectric material selected. At the end of the diffusion-bonding process, the resulting laminated piezoelectric actuator is tested to verify the adequacy of the mechanical output as a function of an applied DC voltage.

Sager, Frank E.↗
NASA NTRS2012

Methodology to Support Dynamic Function Allocation Policies Between Humans and Flight Deck Automation

Function allocation assigns work functions to all agents in a team, both human and automation. Efforts to guide function allocation systematically have been studied in many fields such as engineering, human factors, team and organization design, management science, cognitive systems engineering. Each field focuses on certain aspects of function allocation, but not all; thus, an independent discussion of each does not address all necessary aspects of function allocation. Four distinctive perspectives have emerged from this comprehensive review of literature on those fields: the technology-centered, human-centered, team-oriented, and work-oriented perspectives. Each perspective focuses on different aspects of function allocation: capabilities and characteristics of agents (automation or human), structure and strategy of a team, and work structure and environment. This report offers eight issues with function allocation that can be used to assess the extent to which each of issues exist on a given function allocation. A modeling framework using formal models and simulation was developed to model work as described by the environment, agents, their inherent dynamics, and relationships among them. Finally, to validate the framework and metrics, a case study modeled four different function allocations between a pilot and flight deck automation during the arrival and approach phases of flight.

Johnson, Eric N.↗
NASA NTRS2012

Applying Biomimetic Algorithms for Extra-Terrestrial Habitat Generation

The objective is to simulate and optimize distributed cooperation among a network of robots tasked with cooperative excavation on an extra-terrestrial surface. Additionally to examine the concept of directed Emergence among a group of limited artificially intelligent agents. Emergence is the concept of achieving complex results from very simple rules or interactions. For example, in a termite mound each individual termite does not carry a blueprint of how to make their home in a global sense, but their interactions based strictly on local desires create a complex superstructure. Leveraging this Emergence concept applied to a simulation of cooperative agents (robots) will allow an examination of the success of non-directed group strategy achieving specific results. Specifically the simulation will be a testbed to evaluate population based robotic exploration and cooperative strategies while leveraging the evolutionary teamwork approach in the face of uncertainty about the environment and partial loss of sensors. Checking against a cost function and 'social' constraints will optimize cooperation when excavating a simulated tunnel. Agents will act locally with non-local results. The rules by which the simulated robots interact will be optimized to the simplest possible for the desired result, leveraging Emergence. Sensor malfunction and line of sight issues will be incorporated into the simulation. This approach falls under Swarm Robotics, a subset of robot control concerned with finding ways to control large groups of robots. Swarm Robotics often contains biologically inspired approaches, research comes from social insect observation but also data from among groups of herding, schooling, and flocking animals. Biomimetic algorithms applied to manned space exploration is the method under consideration for further study.

Birge, Brian↗
NASA NTRS2012

Cognitive Network Modeling as a Basis for Characterizing Human Communication Dynamics and Belief Contagion in Technology Adoption

Societal level macro models of social behavior do not sufficiently capture nuances needed to adequately represent the dynamics of person-to-person interactions. Likewise, individual agent level micro models have limited scalability - even minute parameter changes can drastically affect a model's response characteristics. This work presents an approach that uses agent-based modeling to represent detailed intra- and inter-personal interactions, as well as a system dynamics model to integrate societal-level influences via reciprocating functions. A Cognitive Network Model (CNM) is proposed as a method of quantitatively characterizing cognitive mechanisms at the intra-individual level. To capture the rich dynamics of interpersonal communication for the propagation of beliefs and attitudes, a Socio-Cognitive Network Model (SCNM) is presented. The SCNM uses socio-cognitive tie strength to regulate how agents influence--and are influenced by--one another's beliefs during social interactions. We then present experimental results which support the use of this network analytical approach, and we discuss its applicability towards characterizing and understanding human information processing.

Hutto, Clayton↗
NASA NTRS2013

The Space Microbe Invasion: To Eat or Not to Eat

Objective: To investigate how different cleaning agents sanitize an assortment of vegetables and fruits for ~nsumption on board the International Space Station (ISS). -Description: This laboratory investigation will have students testing different cleaning agents on a variety of vegetables and fruits that can be grown on board the ISS. Students will determine which cleaning agent most effectively lowers the number of bacteria on a variety of vegetables and fruits. This lab will also lend itself to investigations dealing with pH and its' role in lowering bacterial counts. In addition, students will figure out the correct balance between plant architecture and effectiveness of sanitizing these surfaces to achieve lower bacteria counts. This will be determined based on swabbed bacteria samples later grown on a Petri dish.

Munoz, Angela↗
NASA NTRS2014

Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms

Dynamic flight environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal flight paths. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance

Experimentation↗