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All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Real-World Testing of LiDAR-Inertial Based Navigation and Mapping for Precision Landing

The fusion of LiDAR and inertial measurements duringspacecraft descent and landing can be used to estimate alander’s navigation state and map the terrain below. Together,these data products can be used to enable safe and preciselanding on celestial bodies for which a priori orbital reconnaissanceis insufficient for hazard detection and avoidance.Unlike camera images used in visual terrain relative navigation,LiDAR scans are insensitive to changes in illumination; as aresult, the technique can be used to land in poorly lit areas,or at times of day when the lighting conditions are incongruentwith existing orbital imagery. In this paper, we extend previouswork in which we introduced a factor graph based smoothingapproach for LiDAR-inertial navigation and mapping. Whereasthe algorithms were previously tested on simulated data, thispaper presents testing on real-world data. Data from theAutonomous Landing Hazard Avoidance Technology (ALHAT)airplane flight tests in the Yucca Flats and Death Valley in2009 (FT3), the Morpheus vertical take off and landing flighttests at Kennedy Space Center in 2014 (FT6), and the landingof Perseverance and Ingenuity on Mars in 2021 (M2020) wereused to evaluate algorithm performance. In this paper, weextend our LiDAR-inertial technique to work with a variety ofranging technologies: single point laser altimetry (FT3), denseflash LiDAR (FT6), and six-beam radar (M2020). A thoroughperformance analysis for all three datasets is presented. Datasetpreparation, improvements in algorithm robustness, and outlierrejection, which were necessitated by the transition to realworlddata, are discussed.

Trawny, Nikolas↗
NASA NTRS2004

Adaptive Bio-Inspired Wireless Network Routing for Planetary Surface Exploration

Wireless mobile networks suffer connectivity loss when used in a terrain that has hills, and valleys when line of sight is interrupted or range is exceeded. To resolve this problem and achieve acceptable network performance, we have designed an adaptive, configurable, hybrid system to automatically route network packets along the best path between multiple geographically dispersed modules. This is very useful in planetary surface exploration, especially for ad-hoc mobile networks, where computational devices take an active part in creating a network infrastructure, and can actually be used to route data dynamically and even store data for later transmission between networks. Using inspiration from biological systems, this research proposes to use ant trail algorithms with multi-layered information maps (topographic maps, RF coverage maps) to determine the best route through ad-hoc network at real time. The determination of best route is a complex one, and requires research into the appropriate metrics, best method to identify the best path, optimizing traffic capacity, network performance, reliability, processing capabilities and cost. Real ants are capable of finding the shortest path from their nest to a food source without visual sensing through the use of pheromones. They are also able to adapt to changes in the environment using subtle clues. To use ant trail algorithms, we need to define the probability function. The artificial ant is, in this case, a software agent that moves from node to node on a network graph. The function to calculate the fitness (evaluate the better path) includes: length of the network edge, the coverage index, topology graph index, and pheromone trail left behind by other ant agents. Each agent modifies the environment in two different ways: 1) Local trail updating: As the ant moves between nodes it updates the amount of pheromone on the edge; and 2) Global trail updating: When all ants have completed a tour the ant that found the shortest route updates the edges in its path.

Alena, Richard I.↗
NASA NTRS2011

Telemetry and Science Data Software System

The Telemetry and Science Data Software System (TSDSS) was designed to validate the operational health of a spacecraft, ease test verification, assist in debugging system anomalies, and provide trending data and advanced science analysis. In doing so, the system parses, processes, and organizes raw data from the Aquarius instrument both on the ground and while in space. In addition, it provides a user-friendly telemetry viewer, and an instant pushbutton test report generator. Existing ground data systems can parse and provide simple data processing, but have limitations in advanced science analysis and instant report generation. The TSDSS functions as an offline data analysis system during I&T (integration and test) and mission operations phases. After raw data are downloaded from an instrument, TSDSS ingests the data files, parses, converts telemetry to engineering units, and applies advanced algorithms to produce science level 0, 1, and 2 data products. Meanwhile, it automatically schedules upload of the raw data to a remote server and archives all intermediate and final values in a MySQL database in time order. All data saved in the system can be straightforwardly retrieved, exported, and migrated. Using TSDSS s interactive data visualization tool, a user can conveniently choose any combination and mathematical computation of interesting telemetry points from a large range of time periods (life cycle of mission ground data and mission operations testing), and display a graphical and statistical view of the data. With this graphical user interface (GUI), the data queried graphs can be exported and saved in multiple formats. This GUI is especially useful in trending data analysis, debugging anomalies, and advanced data analysis. At the request of the user, mission-specific instrument performance assessment reports can be generated with a simple click of a button on the GUI. From instrument level to observatory level, the TSDSS has been operating supporting functional and performance tests and refining system calibration algorithms and coefficients, in sync with the Aquarius/SAC-D spacecraft. At the time of this reporting, it was prepared and set up to perform anomaly investigation for mission operations preceding the Aquarius/SAC-D spacecraft launch on June 10, 2011.

Bates, Lakesha↗
NASA NTRS2014

NASA VERVE: Interactive 3D Visualization Within Eclipse

At NASA, we develop myriad Eclipse RCP applications to provide situational awareness for remote systems. The Intelligent Robotics Group at NASA Ames Research Center has developed VERVE - a high-performance, robot user interface that provides scientists, robot operators, and mission planners with powerful, interactive 3D displays of remote environments.VERVE includes a 3D Eclipse view with an embedded Java Ardor3D scenario, including SWT and mouse controls which interact with the Ardor3D camera and objects in the scene. VERVE also includes Eclipse views for exploring and editing objects in the Ardor3D scene graph, and a HUD (Heads Up Display) framework allows Growl-style notifications and other textual information to be overlayed onto the 3D scene. We use VERVE to listen to telemetry from robots and display the robots and associated scientific data along the terrain they are exploring; VERVE can be used for any interactive 3D display of data.VERVE is now open source. VERVE derives from the prior Viz system, which was developed for Mars Polar Lander (2001) and used for the Mars Exploration Rover (2003) and the Phoenix Lander (2008). It has been used for ongoing research with IRG's K10 and KRex rovers in various locations. VERVE was used on the International Space Station during two experiments in 2013 - Surface Telerobotics, in which astronauts controlled robots on Earth from the ISS, and SPHERES, where astronauts control a free flying robot on board the ISS.We will show in detail how to code with VERVE, how to interact between SWT controls to the Ardor3D scenario, and share example code.

3D Visualization↗
NASA NTRS1991

The effect of global visual flow on simulator sickness

Simulator-induced sickness is investigated in experiments performed at the NASA Ames Army Crew Station Research Facility using the fixed-base helmet-mounted-display flight simulator described by Lypaczewski et al. (1986). The focus of the tests was on the possible roles of (1) global visual flow, as defined by Warren et al. (1982), and (2) maneuvering intensity (in the conflict hypothesis of Reason and Brand, 1975). The results, based on subjective evaluations, physiological measurements, and physical tests on 19 Army helicopter pilots performing a 40-min river-valley following task, are presented in extensive tables and graphs and discussed. The data are found to be in agreement with (1) and inconsistent with (2), indicating more sickness at lower altitude instead of with increased maneuvering. Shorter simulator sessions and postponement of low-altitude work until later in the training period are recommended.

Sharkey, Thomas J.↗
NASA NTRS2011

Link Analysis in the Mission Planning Lab

The legacy communications link analysis software currently used at Wallops Flight Facility involves processes that are different for command destruct, radar, and telemetry. There is a clear advantage to developing an easy-to-use tool that combines all the processes in one application. Link Analysis in the Mission Planning Lab (MPL) uses custom software and algorithms integrated with Analytical Graphics Inc. Satellite Toolkit (AGI STK). The MPL link analysis tool uses pre/post-mission data to conduct a dynamic link analysis between ground assets and the launch vehicle. Just as the legacy methods do, the MPL link analysis tool calculates signal strength and signal- to-noise according to the accepted processes for command destruct, radar, and telemetry assets. Graphs and other custom data are generated rapidly in formats for reports and presentations. STK is used for analysis as well as to depict plume angles and antenna gain patterns in 3D. The MPL has developed two interfaces with the STK software (see figure). The first interface is an HTML utility, which was developed in Visual Basic to enhance analysis for plume modeling and to offer a more user friendly, flexible tool. A graphical user interface (GUI) written in MATLAB (see figure upper right-hand corner) is also used to quickly depict link budget information for multiple ground assets. This new method yields a dramatic decrease in the time it takes to provide launch managers with the required link budgets to make critical pre-mission decisions. The software code used for these two custom utilities is a product of NASA's MPL.

McCarthy, Jessica A.↗
NASA NTRS1992

Measurements of Declination at the Helsinki Magnetic-meteorological Observatory 1844-1853

A project was started with the goal of putting into computer readable form all the old unpublished magnetic data at the Finnish Meteorological Institute (FMI), the successor of the Helsinki magnetic-meteorological observatory. Altogether there are available about 2.5 million visual observations of D, H and Z made during the time interval 1844-1905. The first 10 year period (1844-1853) of declination data now converted to electronic form, includes observations made at every tenth minute. The total number of observations is 489,152. We present some examples of declination observations in forms of tables and graphs showing hourly, daily, monthly, and annual means. Secular variations of the declination in 1844-1853 have been extremely linear, showing a steady eastward increase of 8 prime/year that is more than two times larger than the present annual rate of secular change in Finland. The standard deviation of the daily and monthly residuals, after removing the secular variation trend for the whole time period, is about 1 prime, demonstrating the high stability and reliability of the observations. For this reason the data may be suitable for deriving a 3-hour activity index K and daily Ak numbers, giving new information for extending the existing long series of activity characters backwards in time.

Nevanlinna, Heikki↗
NASA NTRS2009

Human-System Integration Scorecard Update to VB.Net

The purpose of this project was to create Human-System Integration (HSI) scorecard software, which could be utilized to validate that human factors have been considered early in hardware/system specifications and design. The HSI scorecard is partially based upon the revised Human Rating Requirements (HRR) intended for NASA's Constellation program. This software scorecard will allow for quick appraisal of HSI factors, by using visual aids to highlight low and rapidly changing scores. This project consisted of creating a user-friendly Visual Basic program that could be easily distributed and updated, to and by fellow colleagues. Updating the Microsoft Word version of the HSI scorecard to a computer application will allow for the addition of useful features, improved easy of use, and decreased completion time for user. One significant addition is the ability to create Microsoft Excel graphs automatically from scorecard data, to allow for clear presentation of problematic areas. The purpose of this paper is to describe the rational and benefits of creating the HSI scorecard software, the problems and goals of project, and future work that could be done.

Sanders, Blaze D.↗
DOE OSTI2024

Stanford Thermal Earth Model for the Conterminous United States

Provided here are various forms of the Stanford Thermal Earth Model, as well as the data and methods used for its creation. The predictions produced by this model were visualized in two-dimensional spatial maps across the modeled depths (0-7 km) for the conterminous United States. The thermal earth model is made available as an application programming interface (API) and as feature layers on ArcGIS, which are both provided via links below. A data-driven spatial interpolation algorithm based on physics-informed graph neural networks was used to develop these national temperature-at-depth maps. The model satisfied the three-dimensional heat conduction law by predicting subsurface temperature, surface heat flow, and rock thermal conductivity. Many physical quantities, including bottomhole temperature, depth, geographic coordinates, elevation, sediment thickness, magnetic anomaly, gravity anomaly, gamma-ray flux of radioactive elements, seismicity, and electric conductivity were used as model inputs. Surface heat flow, temperature, and thermal conductivity predictions were constructed for depths of 0-7 km at an interval of 1 km with spatial resolution of 18 km2 per grid cell. The model showed superior temperature, surface heat flow and thermal conductivity mean absolute errors of 4.8C, 8.1 mW/m2 and 0.07 W/(C-m), respectively..

15 GEOTHERMAL ENERGY↗
NASA NTRS1988

Presentation planning using an integrated knowledge base

A description is given of user interface research aimed at bringing together multiple input and output modes in a way that handles mixed mode input (commands, menus, forms, natural language), interacts with a diverse collection of underlying software utilities in a uniform way, and presents the results through a combination of output modes including natural language text, maps, charts and graphs. The system, Integrated Interfaces, derives much of its ability to interact uniformly with the user and the underlying services and to build its presentations, from the information present in a central knowledge base. This knowledge base integrates models of the application domain (Navy ships in the Pacific region, in the current demonstration version); the structure of visual displays and their graphical features; the underlying services (data bases and expert systems); and interface functions. The emphasis is on a presentation planner that uses the knowledge base to produce multi-modal output. There has been a flurry of recent work in user interface management systems. (Several recent examples are listed in the references). Existing work is characterized by an attempt to relieve the software designer of the burden of handcrafting an interface for each application. The work has generally focused on intelligently handling input. This paper deals with the other end of the pipeline - presentations.

Arens, Yigal↗
DOE OSTI2025

ARCH: Large-scale knowledge graph via aggregated narrative codified health records analysis

Objective: Electronic health record (EHR) systems contain a wealth of clinical data stored as both codified data and free-text narrative notes (NLP). The complexity of EHR presents challenges in feature representation, information extraction, and uncertainty quantification. Here, to address these challenges, we proposed an efficient Aggregated naRrative Codified Health (ARCH) records analysis to generate a large-scale knowledge graph (KG) for a comprehensive set of EHR codified and narrative features. Methods: Using data from 12.5 million Veterans Affairs patients, ARCH first derives embedding vectors and generates similarities along with associated p-values to measure the strength of relatedness between clinical features with statistical certainty quantification. Next, ARCH performs a sparse embedding regression to remove indirect linkage between features to build a sparse KG. Finally, ARCH was validated on various clinical tasks, including detecting known relationships between entity pairs, predicting drug side effects, disease phenotyping, as well as sub-typing Alzheimer’s disease patients. Results: ARCH produces high-quality clinical embeddings and KG for over 60,000 codified and narrative EHR concepts. The KG and embeddings are visualized in the R-shiny powered web-API.3 ARCH achieved high accuracy in detecting EHR concept relationships, with AUCs of 0.926 (codified) and 0.861 (NLP) for similar EHR concepts, and 0.810 (codified) and 0.843 (NLP) for related pairs. It detected drug side effects with a 0.723 AUC, which improved to 0.826 after fine-tuning. Using both codified and NLP features, the detection power increased significantly. Compared to other methods, ARCH has superior accuracy and enhances weakly supervised phenotyping algorithms’ performance. Notably, it successfully categorized Alzheimer’s patients into two subgroups with varying mortality rates. Conclusion: The proposed ARCH algorithm generates large-scale high-quality semantic representations and knowledge graph for both codified and NLP EHR features, useful for a wide range of predictive modeling tasks.

Electronic health records↗
DOE OSTI2023

Domain Adaptive Graph Neural Networks for Constraining Cosmological Parameters Across Multiple Data Sets

Deep learning models have been shown to outperform methods that rely on summary statistics, like the power spectrum, in extracting information from complex cosmological data sets. However, due to differences in the subgrid physics implementation and numerical approximations across different simulation suites, models trained on data from one cosmological simulation show a drop in performance when tested on another. Similarly, models trained on any of the simulations would also likely experience a drop in performance when applied to observational data. Training on data from two different suites of the CAMELS hydrodynamic cosmological simulations, we examine the generalization capabilities of Domain Adaptive Graph Neural Networks (DA-GNNs). By utilizing GNNs, we capitalize on their capacity to capture structured scale-free cosmological information from galaxy distributions. Moreover, by including unsupervised domain adaptation via Maximum Mean Discrepancy (MMD), we enable our models to extract domain-invariant features. We demonstrate that DA-GNN achieves higher accuracy and robustness on cross-dataset tasks. Using data visualizations, we show the effects of domain adaptation on proper latent space data alignment. This shows that DA-GNNs are a promising method for extracting domain-independent cosmological information, a vital step toward robust deep learning for real cosmic survey data.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2018

More Efficient Precipitation Rate Data Acquisition with the STORM Swath-Based Analysis Tool

A multitude of locations exist for acquiring satellite-derived precipitation rate data. Because the volume of data exceeds what can reasonably be analyzed manually, online tools have been developed to help researchers make more informed data acquisition decisions. Some interfaces provide sample images generated from prioritized variables to enable efficient visual inspection, while others include the ability to subset geographically to reduce the volume of the data to the area of interest. Building upon such value-added services is the STORM (the NASA Precipitation Processing System (PPS) data product ordering system) Swath-Based Analysis Tool (https://storm.pps.eosdis.nasa.gov/storm/Analysis.jsp). With it, users can compare overflights of multiple precipitation satellites simultaneously and from this make determinations about which swaths will best serve their research. They can preview these overflights with two distinct visualization tools. Finally, they can then download geographically subset swaths that have precipitation rate characteristics matching their research needs. A user starts by making up to six selections. They then select their date range of interest going back to 1997. Finally, they select a geographical region either by inputting latitude-longitude corners of a rectangle or drawing that rectangle on an interactive map. The system processes each file, determining aggregate statistics about the precipitation rates within the selected region as observed by each instrument. These statistical values are added to a time series graph as a "time remaining" counter is continuously updated. The chart is fully interactive, with detailed values displayed upon mouseover, and numerous options available upon clicking each point. Since the user is likely to need the relevant files for their own research, they can generate an order from their request. All files are geographically subset to the region of interest, and the user can use the statistical values to limit which files are added to the order. This flexibility helps to ensure researchers are only downloading the files they need for their work, making for a more efficient process both from a time-consumption and a storage perspective. This paper will introduce the Swath-Based Analysis Tool and explore its numerous features. It will discuss several use cases for precipitation scientists.

remote sensing↗
DOE OSTI2020

Hypergraph Analytics of Domain Name System Relationships

We report on the use of novel mathematical methods in hypergraph analytice over a large quantity of DNS data. Hypergraphs generalize graphs, as used in network science, to better model complex multiway relations in cyber data. Specifically, casting DNS data from Georgia Tech's ActiveDNS repository as hypergraphs allows us to fully represent the interactions between {\em collections} of domains and IP addresses. To facilitate large-scale analytics, we fielded an analytical pipeline of two capabilities. HyperNetX (HNX) is a Python package for the exploration and visualization of hypergraphs, acting as a frontend. For the backend, the Chapel HyperGraph Library (CHGL) is a library for high performance hypergraph analytics written in the exascale programming language Chapel. CHGL was used to process gigascale DNS data, performing compute-intensive calculations for data reduction and segmentation. Identified portions are then sent to HNX for both exploratory analysis and knowledge discovery targeting known tactics, techniques, and procedures.

Joslyn, Cliff A.↗
DOE OSTI2025

PySIDT: Subgraph Isomorphic Decision Trees for Molecular Property Prediction

Accurate molecular property prediction is important across all fields of chemistry. Deep neural networks (DNNs) have become increasingly popular due to their ability to train automatically, avoiding the incredibly tedious process of constructing and extending traditional property estimation schemes. However, DNNs require large amounts of training data, are challenging to interpret, require large amounts of memory to load even during inference, and have severe difficulties incorporating qualitative chemical knowledge, which are often desired for molecular property prediction tasks. Here, in this study, we present PySIDT (https://github.com/zadorlab/PySIDT), a software for training and running inference on Subgraph Isomorphic Decision Trees (SIDTs). SIDTs are graph-based decision trees made of nodes associated with molecular substructures. Inference is done by descending target molecular structures down the decision tree to nodes with matching subgraph isomorphic substructures and making predictions based on the final (most specific) nodes matched. SIDTs scale down well to dataset sizes much smaller than is feasible for DNNs. As trees of molecular substructures, SIDTs are inherently readable and easy to visualize, making them easy to analyze. They are also straightforward to extend and retrain, facilitate uncertainty estimation, and enable easy integration of expert knowledge. We demonstrate the SIDT approach discussing its application to a diverse range of molecular prediction tasks: rate coefficient estimation, diffusion coefficient estimation, thermochemistry estimation, transition state bond stretch prediction, p K a prediction, stability of molecular structures, stability of surface structures, and prediction of surface lateral interaction energetics. Additionally, we demonstrate the power of the SIDT algorithms in two direct learning curve vanilla comparisons with the popular DNN-based software Chemprop and the popular gradient boosted trees-based software XGBoost on enthalpy of formation and rate coefficient prediction tasks. In particular, in the enthalpy of formation case, vanilla PySIDT is able to outperform vanilla Chemprop and XGBoost across the full range of training/validation set sizes out to 11,560 data points.

Johnson, Matthew Sean [Sandia National Laboratorie↗
DOE OSTI2023

Discriminative analysis of schizophrenia patients using graph convolutional networks: A combined multimodal MRI and connectomics analysis

Introduction Recent studies in human brain connectomics with multimodal magnetic resonance imaging (MRI) data have widely reported abnormalities in brain structure, function and connectivity associated with schizophrenia (SZ). However, most previous discriminative studies of SZ patients were based on MRI features of brain regions, ignoring the complex relationships within brain networks. Methods We applied a graph convolutional network (GCN) to discriminating SZ patients using the features of brain region and connectivity derived from a combined multimodal MRI and connectomics analysis. Structural magnetic resonance imaging (sMRI) and resting-state functional magnetic resonance imaging (rs-fMRI) data were acquired from 140 SZ patients and 205 normal controls. Eighteen types of brain graphs were constructed for each subject using 3 types of node features, 3 types of edge features, and 2 brain atlases. We investigated the performance of 18 brain graphs and used the TopK pooling layers to highlight salient brain regions (nodes in the graph). Results The GCN model, which used functional connectivity as edge features and multimodal features (sMRI + fMRI) of brain regions as node features, obtained the highest average accuracy of 95.8%, and outperformed other existing classification studies in SZ patients. In the explainability analysis, we reported that the top 10 salient brain regions, predominantly distributed in the prefrontal and occipital cortices, were mainly involved in the systems of emotion and visual processing. Discussion Our findings demonstrated that GCN with a combined multimodal MRI and connectomics analysis can effectively improve the classification of SZ at an individual level, indicating a promising direction for the diagnosis of SZ patients. The code is available at https://github.com/CXY-scut/GCN-SZ.git .

Chen, Xiaoyi↗
NASA NTRS1991

High performance computing system for flight simulation at NASA Langley

The computer architecture and components used in the NASA Langley Advanced Real-Time Simulation System (ARTSS) are briefly described and illustrated with diagrams and graphs. Particular attention is given to the advanced Convex C220 processing units, the UNIX-based operating system, the software interface to the fiber-optic-linked Computer Automated Measurement and Control system, configuration-management and real-time supervisor software, ARTSS hardware modifications, and the current implementation status. Simulation applications considered include the Transport Systems Research Vehicle, the Differential Maneuvering Simulator, the General Aviation Simulator, and the Visual Motion Simulator.

Cleveland, Jeff I., II↗
NASA NTRS2009

Conversion from Tree to Graph Representation of Requirements

A procedure and software to implement the procedure have been devised to enable conversion from a tree representation to a graph representation of the requirements governing the development and design of an engineering system. The need for this procedure and software and for other requirements-management tools arises as follows: In systems-engineering circles, it is well known that requirements- management capability improves the likelihood of success in the team-based development of complex systems involving multiple technological disciplines. It is especially desirable to be able to visualize (in order to identify and manage) requirements early in the system- design process, when errors can be corrected most easily and inexpensively.

Mayank, Vimal↗