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Atrial development in the human heart: an immunohistochemical study with emphasis on the role of mesenchymal tissues

The development of the atrial chambers in the human heart was investigated immunohistochemically using a set of previously described antibodies. This set included the monoclonal antibody 249-9G9, which enabled us to discriminate the endocardial cushion-derived mesenchymal tissues from those derived from extracardiac splanchnic mesoderm, and a monoclonal antibody recognizing the B isoform of creatine kinase, which allowed us to distinguish the right atrial myocardium from the left. The expression patterns obtained with these antibodies, combined with additional histological information derived from the serial sections, permitted us to describe in detail the morphogenetic events involved in the development of the primary atrial septum (septum primum) and the pulmonary vein in human embryos from Carnegie stage 14 onward. The level of expression of creatine kinase B (CK-B) was found to be consistently higher in the left atrial myocardium than in the right, with a sharp boundary between high and low expression located between the primary septum and the left venous valve indicating that the primary septum is part of the left atrial gene-expression domain. This expression pattern of CK-B is reminiscent of that of the homeobox gene Pitx2, which has recently been shown to be important for atrial septation in the mouse. This study also demonstrates a poorly appreciated role of the dorsal mesocardium in cardiac development. From the earliest stage investigated onward, the mesenchyme of the dorsal mesocardium protrudes into the dorsal wall of the primary atrial segment. This dorsal mesenchymal protrusion is continuous with a mesenchymal cap on the leading edge of the primary atrial septum. Neither the mesenchymal tissues of the dorsal protrusion nor the mesenchymal cap on the edge of the primary septum expressed the endocardial tissue antigen recognized by 249-9G9 at any of the stages investigated. The developing pulmonary vein uses the dorsal mesocardium as a conduit to reach the primary atrial segment. Initially, the pulmonary pit, which will becomes the portal of entry for the pulmonary vein, is located along the midline, flanked by two myocardial ridges. As development progresses, tissue remodeling results in the incorporation of the portal of entry of the pulmonary vein in left atrial myocardium, which is recognized because of its high level of creatine. Closure of the primary atrial foramen by the primary atrial septum occurs as a consequence of the fusion of these mesenchymal structures. Copyright 2000 Wiley-Liss, Inc.

NASA Discipline Cardiopulmonary↗

The major nucleoside triphosphatase in pea (Pisum sativum L.) nuclei and in rat liver nuclei share common epitopes also present in nuclear lamins

The major nucleoside triphosphatase (NTPase) activities in mammalian and pea (Pisum sativum L.) nuclei are associated with enzymes that are very similar both biochemically and immunochemically. The major NTPase from rat liver nuclei appears to be a 46-kD enzyme that represents the N-terminal portion of lamins A and C, two lamina proteins that apparently arise from the same gene by alternate splicing. Monoclonal antibody (MAb) G2, raised to human lamin C, both immunoprecipitates the major (47 kD) NTPase in pea nuclei and recognizes it in western blot analyses. A polyclonal antibody preparation raised to the 47-kD pea NTPase (pc480) reacts with the same lamin bands that are recognized by MAb G2 in mammalian nuclei. The pc480 antibodies also bind to the same lamin-like bands in pea nuclear envelope-matrix preparations that are recognized by G2 and three other MAbs known to bind to mammalian lamins. In immunofluorescence assays, pc480 and anti-lamin antibodies stain both cytoplasmic and nuclear antigens in plant cells, with slightly enhanced staining along the periphery of the nuclei. These results indicate that the pea and rat liver NTPases are structurally similar and that, in pea nuclei as in rat liver nuclei, the major NTPase is probably derived from a lamin precursor by proteolysis.

Non-NASA Center↗

The monitoring system for vibratory disturbance detection in microgravity environment aboard the international space station

Scientists in the Office of Life and Microgravity Sciences and Applications within the Microgravity Research Division oversee studies in important physical, chemical, and biological processes in microgravity environment. Research is conducted in microgravity environment because of the beneficial results that come about for experiments. When research is done in normal gravity, scientists are limited to results that are affected by the gravity of Earth. Microgravity provides an environment where solid, liquid, and gas can be observed in a natural state of free fall and where many different variables are eliminated. One challenge that NASA faces is that space flight opportunities need to be used effectively and efficiently in order to ensure that some of the most scientifically promising research is conducted. Different vibratory sources are continually active aboard the International Space Station (ISS). Some of the vibratory sources include crew exercise, experiment setup, machinery startup (life support fans, pumps, freezer/compressor, centrifuge), thruster firings, and some unknown events. The Space Acceleration Measurement System (SAMs), which acts as the hardware and carefully positioned aboard the ISS, along with the Microgravity Environment Monitoring System MEMS), which acts as the software and is located here at NASA Glenn, are used to detect these vibratory sources aboard the ISS and recognize them as disturbances. The various vibratory disturbances can sometimes be harmful to the scientists different research projects. Some vibratory disturbances are recognized by the MEMS's database and some are not. Mainly, the unknown events that occur aboard the International Space Station are the ones of major concern. To better aid in the research experiments, the unknown events are identified and verified as unknown events. Features, such as frequency, acceleration level, time and date of recognition of the new patterns are stored in an Excel database. My task is to carefully synthesize frequency and acceleration patterns of unknown events within the Excel database into a new file to determine whether or not certain information that is received i s considered a real vibratory source. Once considered as a vibratory source, further analysis is carried out. The resulting information is used to retrain the MEMS to recognize them as known patterns. These different vibratory disturbances are being constantly monitored to observe if, in any way, the disturbances have an effect on the microgravity environment that research experiments are exposed to. If the disturbance has little or no effect on the experiments, then research is continued. However, if the disturbance is harmful to the experiment, scientists act accordingly by either minimizing the source or terminating the research and neither NASA's time nor money is wasted.

Laster, Rachel M.↗

Entry Abort Determination Using Non-Adaptive Neural Networks for Mars Precision Landers

The 2009 Mars Science Laboratory (MSL) will attempt the first precision landing on Mars using a modified version of the Apollo Earth entry guidance program. The guidance routine, Entry Terminal Point Controller (ETPC), commands the deployment of a supersonic parachute after converging the range to the landing target. For very dispersed cases, ETPC may not converge the range to the target and safely command parachute deployment within Mach number and dynamic pressure constraints. A full-lift up abort can save 85% of these failed trajectories while abandoning the precision landing objective. Though current MSL requirements do not call for an abort capability, an autonomous abort capability may be desired, for this mission or future Mars precision landers, to make the vehicle more robust. The application of artificial neural networks (NNs) as an abort determination technique was evaluated by personnel at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC). In order to implement an abort, a failed trajectory needs to be recognized in real time. Abort determination is dependent upon several trajectory parameters whose relationships to vehicle survival are not well understood, and yet the lander must be trained to recognize unsafe situations. Artificial neural networks (NNs) provide a way to model these parameters and can provide MSL with the artificial intelligence necessary to independently declare an abort. Using the 2009 Mars Science Laboratory (MSL) mission as a case study, a non-adaptive NN was designed, trained and tested using Monte Carlo simulations of MSL descent and incorporated into ETPC. Neural network theory, the development history of the MSL NN, and initial testing with severe dust storm entry trajectory cases are discussed in Reference 1 and will not be repeated here. That analysis demonstrated that NNs are capable of recognizing failed descent trajectories and can significantly increase the survivability of MSL for very dispersed cases. NN testing was then broadened to evaluate fully dispersed entry trajectories. The NN correctly classified 99.7% of descent trajectories as abort or nonabort and reduced the probability of an unsafe parachute deployment by 83%. This second, broader testing phase is discussed in this paper.

Graybeal, Sarah R.↗

Complex Event Recognition Architecture

Complex Event Recognition Architecture (CERA) is the name of a computational architecture, and software that implements the architecture, for recognizing complex event patterns that may be spread across multiple streams of input data. One of the main components of CERA is an intuitive event pattern language that simplifies what would otherwise be the complex, difficult tasks of creating logical descriptions of combinations of temporal events and defining rules for combining information from different sources over time. In this language, recognition patterns are defined in simple, declarative statements that combine point events from given input streams with those from other streams, using conjunction, disjunction, and negation. Patterns can be built on one another recursively to describe very rich, temporally extended combinations of events. Thereafter, a run-time matching algorithm in CERA efficiently matches these patterns against input data and signals when patterns are recognized. CERA can be used to monitor complex systems and to signal operators or initiate corrective actions when anomalous conditions are recognized. CERA can be run as a stand-alone monitoring system, or it can be integrated into a larger system to automatically trigger responses to changing environments or problematic situations.

Fitzgerald, William A.↗

Developing Signal-Pattern-Recognition Programs

Pattern Interpretation and Recognition Application Toolkit Environment (PIRATE) is a block-oriented software system that aids the development of application programs that analyze signals in real time in order to recognize signal patterns that are indicative of conditions or events of interest. PIRATE was originally intended for use in writing application programs to recognize patterns in space-shuttle telemetry signals received at Johnson Space Center's Mission Control Center: application programs were sought to (1) monitor electric currents on shuttle ac power busses to recognize activations of specific power-consuming devices, (2) monitor various pressures and infer the states of affected systems by applying a Kalman filter to the pressure signals, (3) determine fuel-leak rates from sensor data, (4) detect faults in gyroscopes through analysis of system measurements in the frequency domain, and (5) determine drift rates in inertial measurement units by regressing measurements against time. PIRATE can also be used to develop signal-pattern-recognition software for different purposes -- for example, to monitor and control manufacturing processes.

Shelton, Robert O.↗

Gesture-Controlled Interfaces for Self-Service Machines

Gesture-controlled interfaces are software- driven systems that facilitate device control by translating visual hand and body signals into commands. Such interfaces could be especially attractive for controlling self-service machines (SSMs) for example, public information kiosks, ticket dispensers, gasoline pumps, and automated teller machines (see figure). A gesture-controlled interface would include a vision subsystem comprising one or more charge-coupled-device video cameras (at least two would be needed to acquire three-dimensional images of gestures). The output of the vision system would be processed by a pure software gesture-recognition subsystem. Then a translator subsystem would convert a sequence of recognized gestures into commands for the SSM to be controlled; these could include, for example, a command to display requested information, change control settings, or actuate a ticket- or cash-dispensing mechanism. Depending on the design and operational requirements of the SSM to be controlled, the gesture-controlled interface could be designed to respond to specific static gestures, dynamic gestures, or both. Static and dynamic gestures can include stationary or moving hand signals, arm poses or motions, and/or whole-body postures or motions. Static gestures would be recognized on the basis of their shapes; dynamic gestures would be recognized on the basis of both their shapes and their motions. Because dynamic gestures include temporal as well as spatial content, this gesture- controlled interface can extract more information from dynamic than it can from static gestures.

Cohen, Charles J.↗

ISECG Mission Scenarios and Their Role in Informing Next Steps for Human Exploration Beyond Low Earth Orbit

The International Space Exploration Coordination Group (ISECG) was established in response to The Global Exploration Strategy (GES): The Framework for Coordination developed by fourteen space agencies* and released in May 2007. This GES Framework Document recognizes that preparing for human space exploration is a stepwise process, starting with basic knowledge and culminating in a sustained human presence in deep space. ISECG has developed several optional global exploration mission scenarios enabling the phased transition from human operations in Low Earth Orbit (LEO) and utilization of the International Space Station (ISS) to human missions beyond LEO leading ultimately to human missions to cis-lunar space, the Moon, Near Earth Asteroids, Mars and its environs. Mission scenarios provide the opportunity for judging various exploration approaches in a manner consistent with agreed international goals and strategies. Each ISECG notional mission scenario reflects a series of coordinated human and robotic exploration missions over a 25-year horizon. Mission scenarios are intended to provide insights into next steps for agency investments, following on the success of the ISS. They also provide a framework for advancing the definition of Design Reference Missions (DRMs) and the concepts for capabilities contained within. Each of the human missions contained in the scenarios has been characterized by a DRM which is a top level definition of mission sequence and the capabilities needed to execute that mission. While DRMs are generally destination focused, they will comprise capabilities which are reused or evolved from capabilities used at other destinations. In this way, an evolutionary approach to developing a robust set of capabilities to sustainably explore our solar system is defined. Agencies also recognize that jointly planning for our next steps, building on the accomplishments of ISS, is important to ensuring the robustness and sustainability of any human exploration plan. Developing a shared long-term vision is important, but agencies recognize this is an evolutionary process and requires consideration of many strategic factors. Strategic factors such as the implications of an emerging commercial space industry in LEO, the opportunity provided by extending ISS lifetime to at least 2020, and the importance of defining a plan which is sustainable in light of inevitable domestic policy shifts are timely for agency consideration.

Culbert, Christopher J.↗

Ring Image Analyzer

Ring Image Analyzer software analyzes images to recognize elliptical patterns. It determines the ellipse parameters (axes ratio, centroid coordinate, tilt angle). The program attempts to recognize elliptical fringes (e.g., Newton Rings) on a photograph and determine their centroid position, the short-to-long-axis ratio, and the angle of rotation of the long axis relative to the horizontal direction on the photograph. These capabilities are important in interferometric imaging and control of surfaces. In particular, this program has been developed and applied for determining the rim shape of precision-machined optical whispering gallery mode resonators. The program relies on a unique image recognition algorithm aimed at recognizing elliptical shapes, but can be easily adapted to other geometric shapes. It is robust against non-elliptical details of the image and against noise. Interferometric analysis of precision-machined surfaces remains an important technological instrument in hardware development and quality analysis. This software automates and increases the accuracy of this technique. The software has been developed for the needs of an R&TD-funded project and has become an important asset for the future research proposal to NASA as well as other agencies.

Strekalov, Dmitry V.↗

Object Oriented Modeling and Design

The Object Oriented Modeling and Design seminar is intended for software professionals and students, it covers the concepts and a language-independent graphical notation that can be used to analyze problem requirements, and design a solution to the problem. The seminar discusses the three kinds of object-oriented models class, state, and interaction. The class model represents the static structure of a system, the state model describes the aspects of a system that change over time as well as control behavior and the interaction model describes how objects collaborate to achieve overall results. Existing knowledge of object oriented programming may benefit the learning of modeling and good design. Specific expectations are: Create a class model, Read, recognize, and describe a class model, Describe association and link, Show abstract classes used with multiple inheritance, Explain metadata, reification and constraints, Group classes into a package, Read, recognize, and describe a state model, Explain states and transitions, Read, recognize, and describe interaction model, Explain Use cases and use case relationships, Show concurrency in activity diagram, Object interactions in sequence diagram.

Shaykhian, Gholam Ali↗

MatLab Script and Functional Programming

MatLab Script and Functional Programming: MatLab is one of the most widely used very high level programming languages for scientific and engineering computations. It is very user-friendly and needs practically no formal programming knowledge. Presented here are MatLab programming aspects and not just the MatLab commands for scientists and engineers who do not have formal programming training and also have no significant time to spare for learning programming to solve their real world problems. Specifically provided are programs for visualization. The MatLab seminar covers the functional and script programming aspect of MatLab language. Specific expectations are: a) Recognize MatLab commands, script and function. b) Create, and run a MatLab function. c) Read, recognize, and describe MatLab syntax. d) Recognize decisions, loops and matrix operators. e) Evaluate scope among multiple files, and multiple functions within a file. f) Declare, define and use scalar variables, vectors and matrices.

Shaykhian, Gholam Ali↗

ARES Biennial Report 2012 Final

Since the return of the first lunar samples, what is now the Astromaterials Research and Exploration Science (ARES) Directorate has had curatorial responsibility for all NASA-held extraterrestrial materials. Originating during the Apollo Program (1960s), this capability at Johnson Space Center (JSC) included scientists who were responsible for the science planning and training of astronauts for lunar surface activities as well as experts in the analysis and preservation of the precious returned samples. Today, ARES conducts research in basic and applied space and planetary science, and its scientific staff represents a broad diversity of expertise in the physical sciences (physics, chemistry, geology, astronomy), mathematics, and engineering organized into three offices (figure 1): Astromaterials Research (KR), Astromaterials Acquisition and Curation (KT), and Human Exploration Science (KX). Scientists within the Astromaterials Acquisition and Curation Office preserve, protect, document, and distribute samples of the current astromaterials collections. Since the return of the first lunar samples, ARES has been assigned curatorial responsibility for all NASA-held extraterrestrial materials (Apollo lunar samples, Antarctic meteorites - some of which have been confirmed to have originated on the Moon and on Mars - cosmic dust, solar wind samples, comet and interstellar dust particles, and space-exposed hardware). The responsibilities of curation consist not only of the longterm care of the samples, but also the support and planning for future sample collection missions and research and technology to enable new sample types. Curation provides the foundation for research into the samples. The Lunar Sample Facility and other curation clean rooms, the data center, laboratories, and associated instrumentation are unique NASA resources that, together with our staff's fundamental understanding of the entire collection, provide a service to the external research community, which relies on access to the samples. The curation efforts are greatly enhanced by a strong group of planetary scientists who conduct peerreviewed astromaterials research. Astromaterials Research Office scientists conduct peer-reviewed research as Principal or Co-Investigators in planetary science (e. g., cosmochemistry, origins of solar systems, Mars fundamental research, planetary geology and geophysics) and participate as Co-Investigators or Participating Scientists in many of NASA's robotic planetary missions. Since the last report, ARES has achieved several noteworthy milestones, some of which are documented in detail in the sections that follow. Within the Human Exploration Science Office, ARES is a world leader in orbital debris research, modeling and monitoring the debris environment, designing debris shielding, and developing policy to control and mitigate the orbital debris population. ARES has aggressively pursued refinements in knowledge of the debris environment and the hazard it presents to spacecraft. Additionally, the ARES Image Science and Analysis Group has been recognized as world class as a result of the high quality of near-real-time analysis of ascent and on-orbit inspection imagery to identify debris shedding, anomalies, and associated potential damage during Space Shuttle missions. ARES Earth scientists manage and continuously update the database of astronaut photography that is predominantly from Shuttle and ISS missions, but also includes the results of 40 years of human spaceflight. The Crew Earth Observations Web site (http://eol.jsc.nasa.gov/Education/ESS/crew.htm) continues to receive several million hits per month. ARES scientists are also influencing decisions in the development of the next generation of human and robotic spacecraft and missions through laboratory tests on the optical qualities of materials for windows, micrometeoroid/orbital debris shielding technology, and analog activities to assess surface science operations. ARES serves as host to numerous students and visiting scientists as part of the services provided to the research community and conducts a robust education and outreach program. ARES scientists are recognized nationally and internationally by virtue of their success in publishing in peer-reviewed journals and winning competitive research proposals. ARES scientists have won every major award presented by the Meteoritical Society, including the Leonard Medal, the most prestigious award in planetary science and cosmochemistry; the Barringer Medal, recognizing outstanding work in the field of impact cratering; the Nier Prize for outstanding research by a young scientist; and several recipients of the Nininger Meteorite Award. One of our scientists received the Department of Defense (DoD) Joint Meritorious Civilian Service Award (the highest civilian honor given by the DoD). ARES has established numerous partnerships with other NASA Centers, universities, and national laboratories. ARES scientists serve as journal editors, members of advisory panels and review committees, and society officers, and several scientists have been elected as Fellows in their professional societies. This biennial report summarizes a subset of the accomplishments made by each of the ARES offices and highlights participation in ongoing human and robotic missions, development of new missions, and planning for future human and robotic exploration of the solar system beyond low Earth orbit.

Stansbery, Eileen↗

Estimating Software Reliability for Space Launch Vehicles in Probabilistic Risk Assessment (PRA)

It is acutely recognized in the Probabilistic Risk assessment (PRA) field that software plays a defining role in overall system reliability for all modern systems across a wide variety of industries. Regardless if the software is embedded firmware for working components or elements, part of a Human-Machine-Interface, or automated command and control logic, the success of the software to fulfill its function under nominal and off-nominal environments will be a dominant contributor to system reliability. It is also recognized that software reliability prediction and estimation is one of the more challenging and questionable aspects of any PRA or system analyses due to the nature of software and its integration with physics based systems. Irrespective of this dichotomy, any incorporation of software reliability methods requires that the contributions are accountable, quantitative, and tractable. This paper provides a brief overview of software reliability methods, establishes some minimum requirements that the methods should incorporate for completeness, and provides a logic structure for applying software reliability. Model resolution will be discussed that supports current testing plans and trade studies. We will provide initial recommendations for use in the NASA PRA and present a future dynamic option for software and PRA. Space Launch Vehicle Software is recognized to be reliable in static conditions, yet relatively vulnerable to a set of failure modes in changing environments/flight phases. Two quantitative methods were chosen to incorporate software reliability into a Space Launch Vehicle PRA accounting for phase adjustments. One method predicts latent software failure using statistical methods, and the second provides estimates of coding errors and software operating system failures based on test and historical data, respectively. Software uncertainty will also be discussed. We determined that recommendations for PRA software reliability should be modeled at the software module level where multiple software components compose a module and combinations of the software architecture can lead to a functional failure.

Novack, Steven↗

Estimating Software Reliability for Space Launch Vehicles in Probabilistic Risk Assessment (PRA)

It is acutely recognized in the Probabilistic Risk Assessment (PRA) field that software plays a defining role in overall system reliability for all modern systems across a wide variety of industries. Regardless of whether the software is embedded firmware for working components or elements, part of a Human-Machine-Interface, or automated command and control logic, the success of the software to fulfill its function under nominal and off-nominal environments will be a dominant contributor to system reliability. It is also recognized that software reliability prediction and estimation is one of the more challenging and questionable aspects of any PRA or system analyses due to the nature of software and its integration with physics based systems. Irrespective of this dichotomy, any incorporation of software reliability methods requires that the contributions are accountable, quantitative, and tractable. This paper provides a brief overview of software reliability methods, establishes some minimum requirements that the methods should incorporate for completeness, and provides a logic structure for applying software reliability. Model resolution will be discussed that supports current testing plans and trade studies. We will provide initial recommendations for use in the National Aeronautics and Space Administration (NASA) PRA and present a future dynamic option for software and PRA. Space Launch Vehicle software is recognized to be reliable in static conditions, yet relatively vulnerable to a set of failure modes in changing environments/flight phases. Two quantitative methods were chosen to incorporate software reliability into a Space Launch Vehicle PRA accounting for phase adjustments. One method predicts latent software failure using statistical methods, and the second provides estimates of coding errors and software operating system failures based on test and historical data. Software uncertainty will also be discussed. It is determined that recommendations for PRA software reliability should be modeled at the software module level where multiple software components compose a module and combinations of the software architecture can lead to a functional failure.

Steven D. Novack↗

Initial Flight Testing of an eXternal Vision System (XVS) for the Low Boom Flight Demonstrator (LBFD)

NASA will design an eXternal Vision System (XVS) that, with other aircraft systems and subsystems, will ensure safe and efficient operations in all phases of flight for its Low Boom Flight Demonstrator vehicle. XVS is a combination of display, sensor, and computing technologies, creating an electronic means of forward visibility for the pilot. A flight test was performed evaluating a preliminary design of an XVS to quantify, by direct comparison, the ability of a pilot using an XVS to see and recognize airborne traffic compared to that of a pilot using forward-facing windows during challenging see-and-avoid scenarios. The data showed that the XVS and forward-facing windows were essentially equivalent in detecting and recognizing incurring traffic aircraft. The data also showed that the pilot using the XVS could see and recognize the incurring traffic at no less than 0.7 nm prior to the pilot using the forward-facing windows. The performance of the XVS was dependent upon the application of image contrast enhancement. Recommendations for future improvements were captured from evaluation pilot commentary.

Kramer, Lynda J↗

Lunar Rover Localization Using Craters as Landmarks

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, including radio navigation aiding from an orbiter, recognizing horizon landmarks that are known in a regional elevation map, and correlating a local elevation map created onboard the rover with a regional elevation map. These techniques all have drawbacks, including requiring an expensive extra mission element (navigation orbiter), unavailability of sufficient regional elevation map data, or limited accuracy in resulting position estimates (e.g. a few hundred meters with horizon landmarks). For the Moon, the ubiquitous craters offer another possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 10 m accuracy at all times. This paper will provide more detail on our technical approach to crater-based lunar rover localization and will present initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras and using shading cues in monocular onboard imagery.

Ono, M.↗

Analysis of MINERvA tunings of GENIE based on Hadron Multiplicity using Machine Learning

Scientists with the MINERvA neutrino interaction experiment have long studied distributions of hadrons (protons and pions) to improve the models for these reactions. Until now, most work has relied on easy to find, energetic, and well tracked hadrons. But in order to take full advantage of MINERνA data it is necessary to develop an efficient enough tool to recognize hadron tracks with lower energy, more transverse angle and more challenging patterns of activity. In this analysis, a Machine Learning tool based on Convolutional Neural Network and Transfer Learning has been developed to tackle that issue. It is found to be extremely capable of recognizing hadron activities especially when there are few and not very energetic hadrons, the accuracy is 76%. But it is also found that this network is very reluctant to classify too many hadrons. The classification is also affected by the presence of other particles in the event such photons, hadrons below a threshold or neutrons. This network is used to compare hadron multiplicity of data to the MC models and distinguish between different MC tunes. Some MINERνA tunes are explored in this analysis, but none of them described the data very well, especially not for all different hadrons multiplicities at once. Four combinations of those tunes were more successful, but none of them could be recognized as the best one. Nevertheless, this analysis develops an ML network that sets the basis of further exploration of hadron multiplicity as a tool to analyze MC tunes at MINERνA and beyond.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Integrating Mindfulness with Human Performance in High Complexity Environments - 19498

This paper includes a survey of both scientific and technical literature studies of mindfulness interventions in a variety of industries and populations and proposes potential applications in complex nuclear waste operations. Mindfulness training techniques have been utilized in various forms for decades in high consequence work in both public and private enterprise. The traditional safety nomenclature has simply used different words to describe many of the same concepts that mindfulness practice addresses. Historically, human performance improvement (HPI) has focused on task, mission and error-likely conditions. These safety programs recognize that human behavior is the source of most errors and focus on identification of specific error precursors (mind not on task, incorrect mental picture, etc.). Workers in nuclear and related industries have been trained to recognize these error precursors but have received little training on what to do about them. The techniques of mindfulness align well with HPI programs currently utilized in commercial and government nuclear operations. Indeed, Chapter 5 of the Department of Energy Human Performance Improvement Handbook (DOE-HDBK-1028-2009) includes a discussion of mindfulness with respect to human performance. Mindfulness training supplements current performance improvement efforts by giving workers the tools to not just recognize error-likely conditions within themselves, but also gives them methods to mitigate them. The mindfulness practices presented here focus on self-awareness rather than task-awareness. Workers can apply these techniques in all aspects of their lives which in turn addresses many of the distractions previously identified as error precursors (stress at home or at work, physical discomforts, mind not on task, etc.). The application of mindfulness techniques through integration with established Integrated Safety Management Systems (ISMS) has the potential to improve the safe performance of nuclear waste operations and increase the breadth of organizational safety culture. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗