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NASA NTRSDate not supplied

Machine Learning Global Simulation of Nonlocal Gravity Wave Propagation

Global climate models typically operate at a grid resolution of hundreds of kilometers and fail to resolve atmospheric mesoscale processes, e.g., clouds, precipitation, and gravity waves (GWs).Model representation of these processes and their sources is essential to the global circulation and planetary energy budget, but subgrid scale contributions from these processes are often only approximately represented in models using parameterizations. These parameterizations are subject to approximations and idealizations, which limit their capability and accuracy. The most drastic of these approximations is the “single-column approximation” which completely neglects the horizontal evolution of these processes, resulting in key biases in current climate models. With a focus on atmospheric GWs, we present the first-ever global simulation of atmospheric GW fluxes using machine learning (ML) models trained on the WINDSET dataset to emulate global GW emulation in the atmosphere, as an alternative to traditional single-column parameterizations. Using an Attention U-Net-based architecture trained on globally resolved GW momentum fluxes, we illustrate the importance and effectiveness of global nonlocality, when simulating GWs using data-driven schemes.

Aman Gupta↗
NASA NTRSDate not supplied

Towards an Aviation Large Language Model by Fine-tuning and Evaluating Transformers

In the aviation domain, there are many applications for machine learning and artificial intelligence tools that utilize natural language. For example, there is a desire to know the commonalities in written safety reports such as voluntary post incidents reports or aerial wildfire operations reports to better understand the risks present. Another use-case is the possibility of extracting airspace procedures and constraints currently written in documents such as Letters of Agreement. These applications can benefit from the use of state-of-the-art natural language processing techniques when adapted to the language/phraseology specific to the aviation domain. This paper evaluates the viability of adaptation of NLP tools to the aviation domain by fine-tuning transformer based models using aviation data sets. In 2018, a novel language model based on neural units (also called transformers) was created and became known as “Bidirectional Encoder Representations from Transformers” or BERT. This architecture combined with large amounts of English training data and innovative semi-supervised training tasks set the standard for what would later emerge as Large Language Models. The performance of these models was further improved by hyperparameter tuning and refinement of the semi-supervised training task and resulted in “Robustly Optimized BERT Pre-training Approach through hyperparameter tuning” or RoBERTa models. These pre-trained Large Language Models proved to be useful for a wide variety of natural language processing tasks such as text classification and question answering through a process called fine-tuning. The transformer architecture with pre-trained weights served as the basis with the last few layers replaced with layers fine-tuned to perform a new task e.g., a layer that provides a label for the entire input text. This process of fine-tuning can also be used to adapt the models to new domains; e.g., BioBERT started with the pre-trained BERT model and was completed by additional fine-tuning and training on biomedical documents. Transformer-based architectures can also be used to create rich representations of text called embeddings which can serve as the input to other machine learning models. This allows simpler algorithms such as logistic regression to use context-rich representations of the text while still remaining quick to train and evaluate. In the world of aviation, there is a growing demand for natural language processing and understanding but the domain presents unique challenges. Due to the technical content (and specialized language) of most aviation documents, fine-tuning pre-trained Large Language Models to specific tasks has not met the benchmark on natural language processing tasks set by simpler models trained from scratch on the data. To address this deficiency, this paper evaluates the improvements from fine-tuning a Large Language Model on a large set of aviation documents using the original semi-supervised training tasks before performing specific natural language tasks. In fine-tuning, a domain-specific dataset is used on the original training task but with the pre-trained Large Language Model instead of starting from a random initialization. This approach allows the model to be adapted to the specific domain language without discarding the information gained from training on general English data. This paper utilized two major dataset types to train and assess the RoBERTa fine-tuning performance. The first are 7,057 Letters of Agreement which are Federal Aviation Administration (FAA) documents that formalize airspace operations across the national airspace system. They contain many examples of ‘aviation English’ using domain specific terminology and phrasing which serves as a representative basis to perform the semi-supervised fine-tuning. The second type is the 494 document classification labels to be used for evaluation. This down-stream evaluation aims to show the performance of the fine-tuned model, better understand how much data is needed for an effective fine-tuning, and how fine-tuning can be adapted for different applications in-the domain. After semi-supervised training, evaluation begins by encoding the documents for classification using the fine-tuned RoBERTa model. Then a logistic regression classifier is trained to label the document type and compared against our ground truth labels. This currently leads to a 82.8% accuracy on 10-fold cross validation showing improvement over baseline RoBERTa which achieved 81.0%. We plan to measure the improvements on additional tasks and it is expected that these improvements will lead to more robust models that can tackle the natural language processing challenges present in aviation datasets.

ATM↗
NASA NTRSDate not supplied

Increasing accessibility to deep learning-based analytics for space biology: pretrained models, transfer learning, and analytics platform development

Biological systems react in complex ways to the stressors of spaceflight, and the data capturing these relationships is concomitantly high-dimensional and complex. Deep learning and machine learning approaches are increasingly popular as an analytical approach for space biosciences, due to their ability to model complex relationships in complex data. However, such approaches often require large datasets and extensive computational resources. New approaches that minimize data sizes and computational power needed to leverage machine learning, and resources that make these approaches accessible, are needed to increase accessibility and adoption of machine learning in the space biosciences. Transfer learning, in which a pretrained model of broad utility is trained on a large dataset, and subsequently reused on downstream applications for which data is more limited, is one approach to minimizing data and computational intensity of deep learning applications. This transfer learning approach results in more performant models in high-dimensional, low-sample-size settings such as space biology, as compared to training models on limited data from scratch. This presentation will outline efforts to generate pretrained models for the space biology community, and highlight transfer learning applications modeling microbial antibiotic resistance during spaceflight. Finally, in order to increase accessibility of these models and tools, as well as others, for the broader space biology community, we present a modeling and analysis platform facilitating machine learning applications in space biology. This platform streamlines machine learning training and analysis in a notebook format, facilitates download and use of space biology data from the NASA GeneLab database, and can be utilized on NASA-hosted servers or downloaded and hosted locally. This effort, as part of the AI4LS (Artificial Intelligence for Life in Space) working group, will increase accessibility, feasibility, and performance of machine learning approaches for the space biology community.

Adrienne Hoarfrost↗
NASA NTRS2019

A Landslide Climate Indicator from Machine Learning

In order to create a Landslide Hazard Index, we accessed rain, snow, and a dozen other variables from the National Climate Assessment Land Data Assimilation System. These predictors were converted to probabilities of landslide occurrence with XGBoost, a major machine-learning tool. The model was fitted with thousands of historical landslides from the Pacific Northwest Landslide Inventory (PNLI).

Stanley, T. A.↗
NASA NTRS2021

From Low-Cost Sensors to High-Quality Data: A Review of Challenges and Summary of Best Practices for Effectively Using Low-Cost Particulate Matter Mass Sensors

Low-cost sensors for particulate matter mass (PM) enable spatially dense, high temporal resolution measurements of air quality that traditional reference monitoring cannot. Low-cost PM sensors are especially beneficial in low and middle-income countries where few, if any, reference grade measurements exist and in areas where the concentration fields of air pollutants have significant spatial gradients. Unfortunately, low-cost PM sensors also come with a number of challenges that must be addressed if their data products are to be used for anything more than a qualitative characterization of air quality. The various PM sensors used in low-cost monitors are all subject to biases and calibration dependencies, corrections for which range from relatively straightforward(e.g. meteorology, age of sensor) to complex (e.g. aerosol source, composition, refractive index). The methods for correcting and calibrating these biases and dependencies that have been used in the literature likewise range from simple linear and quadratic models to complex machine learning algorithms. Here we review the needs and challenges when trying to get high-quality data from low-cost sensors. We also present a set of best practices to follow to obtain high-quality data from these low-cost sensors.

low-cost sensors↗
NASA NTRS2021

Integrated Demand Management Techport Closeout

Over the period 2016 to 2020, Integrated Demand Management (IDM) concept, procedures, and tools have been developed - first for clear-weather and a single airport constraint and then expanded to handle a multi-constraint problem during convective weather at Newark (EWR), LaGuardia (LGA) and Philadelphia (PHL) airports. The concept was evaluated in a series of human-in-the-loop simulations to confirm concept benefits in terms of better schedule predictability, reduction of delays, and increased throughput, especially during convective weather. In addition, other conditions with mixed participation of multi-trajectories from the airlines were evaluated that showed significant benefits to the individual airlines as well as the overall traffic flow. The IDM concept was initiated in the SMART-NAS project, was completed under the ATM-X project, and was developed collaboratively with the FAA and airline partners. Over the course of IDM development, NASA researchers produced 19 conference papers and publications. Outside supporting organizations, funded by IDM, produced 20 additional conference papers and publications, in which they advanced fundamental research on topics such as better stochastic traffic demand prediction, and application of machine learning techniques for modeling traffic management initiatives. Final concept procedures and tool specifications have been transferred to the FAA Air Traffic Organization Operational Concepts, Validation, and Requirements group.

William N Chan↗
NASA NTRSDate not supplied

Human Interfaces and Management of Information (HIMI) Challenges for “In-time” Aviation Safety Management Systems (IASMS)

The envisioned transformation of the National Airspace System to integrate an In-time Aviation Safety Management System(IASMS)to assure safety in Advanced Air Mobility(AAM)brings unprecedented challenges to the design of human interfaces and management of safety information. Safety in design and operational safety assurance are critical factors for how humans will interact with increasingly autonomous systems. The IASMS Concept of Operations builds from traditional commercial operator safety management and scales in complexity to AAM. The transformative changes in future aviation systems pose potential new critical safety risks with novel types of aircraft and other vehicles having different performance capabilities, flying in increasingly complex airspace, and using adaptive contingencies to manage normal and non-normal operations. These changes compel development of new and emerging capabilities that enable innovative ways for humans to interact with data and manage information. In-creasing complexity of AAM corresponds with use of predictive modeling, data analytics, machine learning, and artificial intelligence to effectively address known hazards and emergent risks. The roles of humans will dynamically evolve in increments with this technological and operational evolution. The interfaces for how humans will interact with increasingly complex and assured systems designed to operate autonomously and how information will need to be presented are important challenges to be resolved.

Lawrence J Prinzel↗
NASA NTRS2022

Diesel Passenger Vehicle Shares Influenced Covid-19 Changes in Urban Nitrogen Dioxide Pollution

Diesel-powered vehicles emit several times more nitrogen oxides than comparable gasoline-powered vehicles, leading to ambient nitrogen dioxide (NO2) pollution and adverse health impacts. The COVID-19 pandemic and ensuing changes in emissions provide a natural experiment to test whether NO2 reductions have been starker in regions of Europe with larger diesel passenger vehicle shares. Here we use a semi-empirical approach that combines in-situ NO2 observations from urban areas and an atmospheric composition model within a machine learning algorithm to estimate business-as-usual NO2 during the first wave of the COVID-19 pandemic in 2020. These estimates account for the moderating influences of meteorology, chemistry, and traffic. Comparing the observed NO2 concentrations against business-as-usual estimates indicates that diesel passenger vehicle shares played a major role in the magnitude of NO2 reductions. European cities with the five largest shares of diesel passenger vehicles experienced NO2 reductions ∼ 2.5 times larger than cities with the five smallest diesel shares. Extending our methods to a cohort of non-European cities reveals that NO2 reductions in these cities were generally smaller than reductions in European cities, which was expected given their small diesel shares. We identify potential factors such as the deterioration of engine controls associated with older diesel vehicles to explain spread in the relationship between cities’ shares of diesel vehicles and changes in NO2 during the pandemic. Our results provide a glimpse of potential NO2 reductions that could accompany future deliberate efforts to phase out or remove passenger vehicles from cities.

Nitrogen Dioxide↗
NASA NTRS2026

List of Commercial and Advanced Developmental Niobium-Based Alloys of the Space Age

This report compiles a list of commercial and developmental niobium-based alloys developed during the Space Age (late 1950s through mid-1970s) for extreme-temperature applications, including rocket engine thrust chambers, hypersonic re-entry thermal protection systems, and space fission reactor loops. Niobium (Nb) was widely pursued because it provided the lowest density (~8.6 g/cc) among the primary refractory metals, a high melting temperature (~2470°C), exceptional low-temperature ductility, good formability, and compatibility with liquid alkali metals. An evaluation of physical metallurgy mechanisms, focusing on solid-solution strengthening via heavy refractory solutes (W, Mo, Ta), dual-purpose reactive solutes (Hf, Zr, Ti), and dispersion strengthening using carbides, nitrides, and oxides is presented. Additionally, the report compares Western and Soviet Union metallurgical approaches, explaining how supply chain factors and manufacturing infrastructure influenced element selection, interstitial chemistry, and alloy identification/naming conventions. Cataloging these historical alloy chemical compositions serves as a foundational reference for modern alloy additive manufacturing, thermodynamic CALPHAD modeling, and machine-learning discovery pipelines for next-generation extreme-environment niobium-based alloys.

Physical Metallurgy↗
NASA NTRS2023

Fine particulate concentrations over East Asia derived from aerosols measured by the Advanced Himawari Imager using machine learning

Fine particulate matter with a diameter below 2.5 μm (PM 2.5 ) is deleterious to the cardiovascular and respiratory systems. It is often difficult to assess the effects of PM 2.5 on human health over regions with limited ground monitoring sites, especially in East Asia. As an alternative, we estimated near-surface PM 2.5 concentrations by analyzing Advanced Himawari Imager (AHI) Yonsei Aerosol Retrieval (YAER) products. This study incorporates daytime data for East Asia covering the Korean Peninsula, China, Japan, Southeast Asia, and southern Mongolia. We collocated AHI YAER product pixels with meteorological, land-cover, and other ancillary data for the period from March 2018 to February 2019. To estimate PM 2.5 concentrations over wide areas spanning many countries displaying various relationships between aerosol optical depth and PM 2.5 , monthly models were developed by considering both the spatial and temporal characteristics of ground-based PM 2.5 measurements. Random forest machine learning model estimated ground-level mass concentrations of PM 2.5 ; subsequent 10-fold cross validation (CV) yielded a CV R 2 value of 0.81 and a CV root mean squared error (RMSE) of 12.3 μg m -3 . We investigated the spatial pattern of PM 2.5 concentrations over multiple countries and seasonal variation in PM 2.5 concentrations. Diurnal variation of a severe PM 2.5 event in the Korean Peninsula was investigated as a case study. The model captured the extremely heterogeneous spatial distribution of PM 2.5 concentrations peaked around local noon. To measure the capability of the developed model to estimate PM 2.5 concentrations in areas with few in-situ data, its predictive performance was evaluated using a dataset independent of the training process with an R 2 of 0.60 and RMSE of 8.18 μg m −3 . This study demonstrates the potential for satellite-based PM 2.5 estimation for areas with insufficient measuring stations.

Pm2.5↗
NASA NTRSDate not supplied

Machine-Learning-Based Adaptive Thinning of CrIS Radiances to Improve Global Tropical Cyclone Analysis and Forecasts

This work is focused on optimizing the assimilation of hyperspectral infrared (IR) radiances from the Cross-track Infrared Sounder (CrIS) with the goal of improving the representation of tropical cyclones (TCs) in global analyses and forecasts. Current operational assimilation systems rely on subsampling IR radiances on a regular thinning grid. A new and improved adaptive methodology based on machine learning (ML) recognizes TCs from geostationary satellite imagery and is implemented in the Goddard Earth Observing System (GEOS) model and data assimilation framework. The ML methodology is extensively trained on existing TC data sets and creates for each TC a dynamic mask, based on the evolving shape and life cycle of that specific event. Once a TC mask is created, a switch is then activated in the data assimilation system to alter the thinning, ingesting more CrIS radiances within the moving mask, thus increasing the TC sampling. After the TC dissipates, the assimilation of CrIS radiances reverts to normal data density. Results of TC segmentation provided by a state-of-the-art generative machine learning model known as the Denoising Diffusion Probabilistic Model (DDPM) are compared to the previously used U-Net model. The new approach surpasses the performance of the previously developed one. The methodology is applied to both clear-sky and cloud-cleared radiances. Benefits from the latter methodology, particularly in improving the structure of TCs and the intensity forecasts, are presented.

Oreste Reale↗
NASA NTRSDate not supplied

Comparison of Entry Descent and Landing Aerodynamic Databases with Uncertainty Quantification Developed Using Machine Learning Techniques

When developing the aerodynamic databases for use in trajectory simulations, it is important to develop a system of metrics to qualify which aerodynamic models are best to use. Since aerodynamics are just one input into trajectory simulations, the results of these simulations do not reflect on the quality of the aerodynamic database used. This means that aerodynamic database comparisons must be done offline. While traditional metrics that focus on mean/nominal predictions are a good first step, more robust estimates of the prediction interval become important as more focused uncertainty models are developed. We explore the limitations of evaluating aerodynamic models based purely on nominal-centered response surfaces. Before elaborating and evaluating metrics based on distributed models, the value of evaluating prediction interval and confidence interval are discussed to conclude that prediction intervals are more relevant to the use of trajectory analysis. Several metrics to evaluate the prediction interval are introduced with a focus on the standard calibration metric. Finally, we compare candidate models using both mean and distributed metrics. A finalized candidate model developed using state of the art machine learning methods is compared to a baseline model developed using traditional aerodynamic database modeling techniques.

Aerodynamic Database↗
NASA NTRSDate not supplied

Improving Access to the GEOS Composition Forecast Model with API Development and Ingestion into Google Earth Engine

The GEOS Composition Forecast (GEOS-CF) model produces forecast and historical estimates of atmospheric composition and meteorology fields, which provide useful insight into air quality issues and events. In a year for which Canadian wildfires created adverse air quality conditions in the eastern United States, access to model fields such as PM2.5 are in high demand. The GEOS-CF team at the NASA Global Modeling and Assimilation Office (GMAO) first developed in-house solutions to improve data access via the CF API, and recently partnered with Google to ingest a collated set of model diagnostics into the Google Earth Engine (GEE) data repository. GEOS-CF model output is also being ingested into AWS storage. Creating these various open access points to GEOS-CF model diagnostics provides the public with an opportunity to easily interact with air quality information. Users are able to use a temporally consistent global grid of air quality fields in machine learning applications, mapping tools, and data informatics. Hosting GEOS-CF forecasts and the historical timeseries of these chemistry and meteorology fields in GEE allows users to create dynamic JavaScript-based air quality applications in the GEE code editor. GEOS-CF users can also access the model output via the GEE Python application programming interface (API), making it easy to perform various analyses with Python. This presentation will show two examples of accessing the GEOS-CF model through GEE. The first is an example application made in the GEE code editor which allows users to view time series plots and downscaled maps of surface level NO2. The second example exhibits using the GEE Python API to create a machine learning model to temporally gap-fill between air quality observations. These examples are an introduction to the many possible benefits of having open access to the GEOS-CF model through multiple platforms.

Callum Wayman↗
NASA NTRSDate not supplied

Improving Access to the GEOS Composition Forecast Model with API Development and Ingestion into Google Earth Engine

The GEOS Composition Forecast (GEOS-CF) model produces forecast and historical estimates of atmospheric composition and meteorology fields, which provide useful insight into air quality issues and events. In a year for which Canadian wildfires created adverse air quality conditions in the eastern United States, access to model fields such as PM2.5 are in high demand. The GEOS-CF team at the NASA Global Modeling and Assimilation Office (GMAO) first developed in-house solutions to improve data access via the CF API, and recently partnered with Google to ingest a collated set of model diagnostics into the Google Earth Engine (GEE) data repository. GEOS-CF model output is also being ingested into AWS storage. Creating these various open access points to GEOS-CF model diagnostics provides the public with an opportunity to easily interact with air quality information. Users are able to use a temporally consistent global grid of air quality fields in machine learning applications, mapping tools, and data informatics. Hosting GEOS-CF forecasts and the historical timeseries of these chemistry and meteorology fields in GEE allows users to create dynamic JavaScript-based air quality applications in the GEE code editor. GEOS-CF users can also access the model output via the GEE Python application programming interface (API), making it easy to perform various analyses with Python. This presentation will show two examples of accessing the GEOS-CF model through GEE. The first is an example application made in the GEE code editor which allows users to view time series plots and downscaled maps of surface level NO 2 . The second example exhibits using the GEE Python API to create a machine learning model to temporally gap-fill between air quality observations. These examples are an introduction to the many possible benefits of having open access to the GEOS-CF model through multiple platforms.

Callum Wayman↗
NASA NTRS2026

Machine Learning for Predicting Team Functioning in HERA Missions

Team functioning is integral to success in future long term space exploration missions. Proactively detecting declines in team functioning can mitigate conflict and ensure mission success. This project developed a speech-based artificial intelligence (AI) system that unobtrusively predicts degradation in team functioning, including performance and cohesion, in the Human Exploration Research Analog (HERA) Campaigns 4 and 5. The AI system conducted automated analysis of the prosodic (tone of voice) and linguistic (language content) components of speech, modeling interpersonal dynamics at both the turn-taking and day-wide levels. We investigated team functioning via observing structured interactions (i.e., multi-mission space exploration vehicle-extra vehicular activity [MMSEV-EVA], team interaction battery [TIB]) and unstructured interactions before the MMSEV-EVA task. We developed machine learning models to predict team functioning (objective task accuracy, self reported team efficacy and self reported team cohesion) by analyzing OpenSmile acoustic features, linguistic descriptors extracted via the linguistic inquiry and word count (LIWC) dictionary, and semantic embeddings. In the TIB, static models using logistic regression and random forests were not able to predict task accuracy, but predicted team efficacy and cohesion during both the decision making and relational tasks to a moderate level (60-70%). Majority voting on the individual turns to predict day long team efficacy further increased accuracies (70-80%). Finally, long short-term memory (LSTM) models showed the best performance across all variables (80-91%), including task performance. In the MMSEV-EVA, static models achieved an accuracy of 60% with majority voting, which increased to 80% through the incorporation of mission day as a variable, accounting for the learning effect. A key finding across both tasks was the "team-dependent" nature of these interactions; models achieved much higher accuracy when trained on prior days of the same team's data rather than attempting to generalize across entirely different teams, with even 1-2 days of prior data per team achieving 5-15% improvement over team-independent models. In addition, the incorporation of pre-task data from the same team also improves model performance, e.g., incorporating data from the decision-making task of the TIB, which preceded the relational task, improved the prediction of team efficacy and cohesion during the latter. We compared model performance when trained on machine-generated data compared to data that had been further corrected by human annotators. Overall, models trained on human-corrected data exhibited a modest improvement in performance, particularly when acoustic features were used. We found no significant correlation between word error rate (WER) and model accuracy (r(55) = -0.08, p = 0.51), but model’s accuracy was significantly higher for medium/high quality transcription (0.74 (SD = 0.48)) compared to the low-quality group (0.64 (SD = 0.36)) (t(63)=2.82, p = 0.006). Based on these, several design recommendation emerge, that could inform Standards at NASA. Models predicting team functioning should incorporate at least one to two days of historical interaction data, include brief pre-task discussions, and explicitly model temporal learning effects, especially for longer operational tasks. Minimum quality standards for automated speech-processing pipelines are needed, given the performance gains observed with manually corrected acoustic data. Finally, systems should leverage both acoustic features and language embeddings in complementary ways, with modality choices and fusion strategies tailored to mission context, task demands, and data quality requirements.

Shrivatsa Mishra↗
NASA NTRS2018

Introduction to Analysis Methods for Big Earth Data

Big Earth Data are too big to be tractable to simple data inspection and require models to make sense of all the data. Useful models for Big Earth Data may be physical, statistical, or machine learning based. In many cases, hybrid models combine attributes of two or more of these types.

parallel processing (computers)↗
NASA NTRS2017

Application of Machine Learning to Rotorcraft Health Monitoring

Machine learning is a powerful tool for data exploration and model building with large data sets. This project aimed to use machine learning techniques to explore the inherent structure of data from rotorcraft gear tests, relationships between features and damage states, and to build a system for predicting gear health for future rotorcraft transmission applications. Classical machine learning techniques are difficult, if not irresponsible to apply to time series data because many make the assumption of independence between samples. To overcome this, Hidden Markov Models were used to create a binary classifier for identifying scuffing transitions and Recurrent Neural Networks were used to leverage long distance relationships in predicting discrete damage states. When combined in a workflow, where the binary classifier acted as a filter for the fatigue monitor, the system was able to demonstrate accuracy in damage state prediction and scuffing identification. The time dependent nature of the data restricted data exploration to collecting and analyzing data from the model selection process. The limited amount of available data was unable to give useful information, and the division of training and testing sets tended to heavily influence the scores of the models across combinations of features and hyper-parameters. This work built a framework for tracking scuffing and fatigue on streaming data and demonstrates that machine learning has much to offer rotorcraft health monitoring by using Bayesian learning and deep learning methods to capture the time dependent nature of the data. Suggested future work is to implement the framework developed in this project using a larger variety of data sets to test the generalization capabilities of the models and allow for data exploration.

machine learning↗
NASA NTRS2021

Mass Inferencing Model Creation And Deployment To Lunar Excavation Robot, RASSOR

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. This research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. Radio wave propagation time to the Moon and back is ~2.56 seconds. Though teleoperation is possible with this delay, autonomous capability that enables RASSOR to plan and execute excavation missions intelligently and efficiently is preferred. To teleoperate or run autonomously, it is crucial for the quantity of regolith mass ingested by RASSOR to be available as a system state for efficient operation (e.g. knowledge of whether drums are full informs the task of highest priority, whether it be continuing to dig, or returning to a processing plant to offload regolith). A configurable data reduction and analysis pipeline was created to allow for straightforward incorporation of new data, such as that from lunar excavation, to improve model performance in new environments. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All four models take in system states and output a mass prediction for each set of the robot’s bucket drums. Initial results from deployment to RASSOR and testing in a simulated lunar environment show that the models have <10% mean error during robot operation. Future work includes refinement of a model that estimates regolith mass in real-time during excavation as well as further testing of the developed models on the hardware.

ROS↗