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NASA NTRS2005

Training Software in Artificial-Intelligence Computing Techniques

The Artificial Intelligence (AI) Toolkit is a computer program for training scientists, engineers, and university students in three soft-computing techniques (fuzzy logic, neural networks, and genetic algorithms) used in artificial-intelligence applications. The program promotes an easily understandable tutorial interface, including an interactive graphical component through which the user can gain hands-on experience in soft-computing techniques applied to realistic example problems. The tutorial provides step-by-step instructions on the workings of soft-computing technology, whereas the hands-on examples allow interaction and reinforcement of the techniques explained throughout the tutorial. In the fuzzy-logic example, a user can interact with a robot and an obstacle course to verify how fuzzy logic is used to command a rover traverse from an arbitrary start to the goal location. For the genetic algorithm example, the problem is to determine the minimum-length path for visiting a user-chosen set of planets in the solar system. For the neural-network example, the problem is to decide, on the basis of input data on physical characteristics, whether a person is a man, woman, or child. The AI Toolkit is compatible with the Windows 95,98, ME, NT 4.0, 2000, and XP operating systems. A computer having a processor speed of at least 300 MHz, and random-access memory of at least 56MB is recommended for optimal performance. The program can be run on a slower computer having less memory, but some functions may not be executed properly.

Howard, Ayanna↗
NASA NTRS2016

An Invited Preface for the Following Book: Astrobiologia, Uma Ciencia Emergente

Since the dawn of civilization, we have beheld at the beauty and wonder of the natural world around us and wondered how it came to be. We have pondered the past, and have been intrigued about the future. For this we are unique. Our ancestors looked to the vastness of space and thought surely there are others out there. We are now at a new time in human history where we can address these age-old questions with a scientific approach and study rigorously the three big questions of astrobiology: Where do we come from? Where are we going? and Are we alone? These fundamental questions of astrobiology correspond to those of humanity, and arguably, what makes us human. And so we cannot help but be drawn to the field. Unlike other scientific disciplines, Astrobiology draws on the latest advances in a multitude of fields, from evolutionary and molecular biology, to prebiotic and interstellar chemistry, from astrophysics to astronomy, with a healthy dose of earth and planetary science. Astrobiology is in reality a "metadiscipline" drawing on useful science wherever it is to be found. From a practical point of view, this endeavor requires the interaction of scientists who might not normally meet each other, much less work on a common research project. And, unlike most other scientific disciplines, Astrobiology has implications for how we see ourselves, and how we interact with the earth and beyond. "Where do we come from" touches on the "why" questions that have intrigued not just scientists but philosophers and theologians. "Where are we going" adds to these an economic and political involvement that is currently being played out with discussions of climate change. "And are we alone" will someday force us to face the fact that we as living creatures are not unique, or perhaps that we are utterly alone in the universe, the result of a chemical history that was so improbable as to result in a sample size of one. Either result will force ethical considerations of either "the other" and their relationship to us, or our solitude and thus responsibility as the only life form in our cosmos. So what is Astrobiology? Let's start with the "Where do we come from?" A biologist will approach this looking at the evolution of life on earth, using such traditional tools as comparative anatomy and paleontology and newer tools such as molecular techniques. But this doesn't address why this happened the way it did without a comprehensive understanding of the environment. What was the temperature at such and such a time? Was the earth in a snowball phase or being bombarded by meteorites -- or even just a single large, well-placed one such as struck off the Yucatan peninsula 65 million years ago. This event could not have been predicted by population genetics alone, yet it had the most profound influence on our evolution as without it, we could still be in a world dominated by dinosaurs with the mammals cowering under cover. But it is not enough to go back to LUCA, the Last Universal Common Ancestor of all extant life. One must go back to the dawn of life. How did life arise? What was the environmental backdrop that allowed it to happen? How did we happen to end up with a habitable planet? Indeed, what is the origin and evolution of our solar system, galaxy, biogenic elements all the way back to the Big Bang. The "Where are we going?" tends to be ignored in many astrobiology programs, but in fact this is of the most immediate importance to us. Whereas the past was dominated by physical and chemical processes, and organismal interactions, the future has a new major player: us. While we probably don't have the power (yet) to stop our galaxy passing through another, or even reset the sun or stop the movement of the moon away from the earth, all of these things will influence the future of life on earth. We are already proving that we have the power to visit other bodies in our solar system, either with humans or our robotic surrogates. We are changing our atmospheric composition and thus our climate. We have the power to render species extinct, including our own. But we also have the power to use these tools for the common good, to extend our lifetimes and reclaim our rivers and forests. Which will it be? And then there is the question where science fiction becomes a reality: "Are we alone?" While many people are anxious to find signs of intelligent life out there, such a creature may not share either our curiosity or values. But what if there was a beneficent alien civilization that could communicate with us, perhaps forging a mutual understanding? More likely in the forseeable future is finding a small life, less evolved, life form. Note I did not use the word "simple" as there is nothing "simple" about life, ever. Which brings us back to the question: what is life? So where does Brazil come in? For nearly a decade there has been interest in a Brazilian astrobiology program, from a small side meeting held by the Brazilian Exobiology Program (BEP) of the Brazilian National Research Council, held in Rio de Janeiro, Brazil, on August 12, 2009, in association with the IAU Assembly to subsequent workshops held in several locations and membership of the Brazilian program in the NASA Astrobiology Institute (NAI). Each time I go to Brazil, I am impressed by the enthusiasm of the community, both scientific and student, the latter an excellent omen for the future of astrobiology in Brazil. Facilities are being built to supplement the natural laboratories that Brazil is blessed to have. In my own lab I have been privileged to have a wonderful Brazilian postdoctoral fellow, Dr. Ivan Paulino-Lima, resulting in a daily reminder of the program. I am honored to have been part of the development of astrobiology in Brazil, and hope that this relationship will continue to flourish. Clearly to advance astrobiology needs new knowledge, a reorganization of that which is known, and space missions. To help the reader join on this quest, what follows is a buffet of topics that will allow the reader to nibble on the richness that is Astrobiology. And, like a fabulous meal, it should make you want more. Welcome to Astrobiology.

Are we alone?↗
NASA NTRS1998

Expert System Architecture for Rocket Engine Numerical Simulators: A Vision

Simulation of any complex physical system like rocket engines involves modeling the behavior of their different components using mostly numerical equations. Typically a simulation package would contain a set of subroutines for these modeling purposes and some other ones for supporting jobs. A user would create an input file configuring a system (part or whole of a rocket engine to be simulated) in appropriate format understandable by the package and run it to create an executable module corresponding to the simulated system. This module would then be run on a given set of input parameters in another file. Simulation jobs are mostly done for performance measurements of a designed system, but could be utilized for failure analysis or a design job such as inverse problems. In order to use any such package the user needs to understand and learn a lot about the software architecture of the package, apart from being knowledgeable in the target domain. We are currently involved in a project in designing an intelligent executive module for the rocket engine simulation packages, which would free any user from this burden of acquiring knowledge on a particular software system. The extended abstract presented here will describe the vision, methodology and the problems encountered in the project. We are employing object-oriented technology in designing the executive module. The problem is connected to the areas like the reverse engineering of any simulation software, and the intelligent systems for simulation.

Mitra, D.↗
NASA NTRS2011

Virtual Sensor Test Instrumentation

Virtual Sensor Test Instrumentation is based on the concept of smart sensor technology for testing with intelligence needed to perform sell-diagnosis of health, and to participate in a hierarchy of health determination at sensor, process, and system levels. A virtual sensor test instrumentation consists of five elements: (1) a common sensor interface, (2) microprocessor, (3) wireless interface, (4) signal conditioning and ADC/DAC (analog-to-digital conversion/ digital-to-analog conversion), and (5) onboard EEPROM (electrically erasable programmable read-only memory) for metadata storage and executable software to create powerful, scalable, reconfigurable, and reliable embedded and distributed test instruments. In order to maximize the efficient data conversion through the smart sensor node, plug-and-play functionality is required to interface with traditional sensors to enhance their identity and capabilities for data processing and communications. Virtual sensor test instrumentation can be accessible wirelessly via a Network Capable Application Processor (NCAP) or a Smart Transducer Interlace Module (STIM) that may be managed under real-time rule engines for mission-critical applications. The transducer senses the physical quantity being measured and converts it into an electrical signal. The signal is fed to an A/D converter, and is ready for use by the processor to execute functional transformation based on the sensor characteristics stored in a Transducer Electronic Data Sheet (TEDS). Virtual sensor test instrumentation is built upon an open-system architecture with standardized protocol modules/stacks to interface with industry standards and commonly used software. One major benefit for deploying the virtual sensor test instrumentation is the ability, through a plug-and-play common interface, to convert raw sensor data in either analog or digital form, to an IEEE 1451 standard-based smart sensor, which has instructions to program sensors for a wide variety of functions. The sensor data is processed in a distributed fashion across the network, providing a large pool of resources in real time to meet stringent latency requirements.

Wang, Roy↗
NASA NTRS2005

Sensor Webs: Autonomous Rapid Response to Monitor Transient Science Events

To better understand how physical phenomena, such as volcanic eruptions, evolve over time, multiple sensor observations over the duration of the event are required. Using sensor web approaches that integrate original detections by in-situ sensors and global-coverage, lower-resolution, on-orbit assets with automated rapid response observations from high resolution sensors, more observations of significant events can be made with increased temporal, spatial, and spectral resolution. This paper describes experiments using Earth Observing 1 (EO-1) along with other space and ground assets to implement progressive mission autonomy to identify, locate and image with high resolution instruments phenomena such as wildfires, volcanoes, floods and ice breakup. The software that plans, schedules and controls the various satellite assets are used to form ad hoc constellations which enable collaborative autonomous image collections triggered by transient phenomena. This software is both flight and ground based and works in concert to run all of the required assets cohesively and includes software that is model-based, artificial intelligence software.

Mandl, Dan↗
NASA NTRS2005

Modeling Leadership Styles in Human-Robot Team Dynamics

The recent proliferation of robotic systems in our society has placed questions regarding interaction between humans and intelligent machines at the forefront of robotics research. In response, our research attempts to understand the context in which particular types of interaction optimize efficiency in tasks undertaken by human-robot teams. It is our conjecture that applying previous research results regarding leadership paradigms in human organizations will lead us to a greater understanding of the human-robot interaction space. In doing so, we adapt four leadership styles prevalent in human organizations to human-robot teams. By noting which leadership style is more appropriately suited to what situation, as given by previous research, a mapping is created between the adapted leadership styles and human-robot interaction scenarios-a mapping which will presumably maximize efficiency in task completion for a human-robot team. In this research we test this mapping with two adapted leadership styles: directive and transactional. For testing, we have taken a virtual 3D interface and integrated it with a genetic algorithm for use in &le-operation of a physical robot. By developing team efficiency metrics, we can determine whether this mapping indeed prescribes interaction styles that will maximize efficiency in the teleoperation of a robot.

Cruz, Gerardo E.↗
NASA NTRS1994

Robotic vision techniques for space operations

Automation and robotics for space applications are being pursued for increased productivity, enhanced reliability, increased flexibility, higher safety, and for the automation of time-consuming tasks and those activities which are beyond the capacity of the crew. One of the key functional elements of an automated robotic system is sensing and perception. As the robotics era dawns in space, vision systems will be required to provide the key sensory data needed for multifaceted intelligent operations. In general, the three-dimensional scene/object description, along with location, orientation, and motion parameters will be needed. In space, the absence of diffused lighting due to a lack of atmosphere gives rise to: (a) high dynamic range (10(exp 8)) of scattered sunlight intensities, resulting in very high contrast between shadowed and specular portions of the scene; (b) intense specular reflections causing target/scene bloom; and (c) loss of portions of the image due to shadowing and presence of stars, Earth, Moon, and other space objects in the scene. In this work, developments for combating the adverse effects described earlier and for enhancing scene definition are discussed. Both active and passive sensors are used. The algorithm for selecting appropriate wavelength, polarization, look angle of vision sensors is based on environmental factors as well as the properties of the target/scene which are to be perceived. The environment is characterized on the basis of sunlight and other illumination incident on the target/scene and the temperature profiles estimated on the basis of the incident illumination. The unknown geometrical and physical parameters are then derived from the fusion of the active and passive microwave, infrared, laser, and optical data.

Krishen, Kumar↗
NASA NTRS1990

Automated eddy current analysis of materials

This research effort focused on the use of eddy current techniques for characterizing flaws in graphite-based filament-wound cylindrical structures. A major emphasis was on incorporating artificial intelligence techniques into the signal analysis portion of the inspection process. Developing an eddy current scanning system using a commercial robot for inspecting graphite structures (and others) has been a goal in the overall concept and is essential for the final implementation for expert system interpretation. Manual scans, as performed in the preliminary work here, do not provide sufficiently reproducible eddy current signatures to be easily built into a real time expert system. The expert systems approach to eddy current signal analysis requires that a suitable knowledge base exist in which correct decisions as to the nature of the flaw can be performed. In eddy current or any other expert systems used to analyze signals in real time in a production environment, it is important to simplify computational procedures as much as possible. For that reason, we have chosen to use the measured resistance and reactance values for the preliminary aspects of this work. A simple computation, such as phase angle of the signal, is certainly within the real time processing capability of the computer system. In the work described here, there is a balance between physical measurements and finite element calculations of those measurements. The goal is to evolve into the most cost effective procedures for maintaining the correctness of the knowledge base.

Workman, Gary L.↗
NASA NTRS2024

Intelligent Devices/Equipment/Instruments (IDEI) for Enabling Crew Health and Performance on Mars

The Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2024 Academic Innovation Challenge features a project titled “Intelligent Devices/Equipment/Instruments (IDEI) for Enabling Crew Health and Performance on Mars”. The project calls for the development of prototype IDEIs “that could be used for implementing integrated system health management for Crew Health and Performance (CHP) required for crew living on Mars for extended periods of time”. Thus, the deliverable for the project is not only a prototype exercise device, but also an ontology that provides insight into the best ways to exercise on Mars. To that end, we on the BLiSS team, supported by advisors from industry and academia, set out to ideate an exercise ontology and demonstrate its effectiveness through a functional prototype. To achieve the stakeholders’ requests, the device must operate semi-autonomously, must be an analog for an extant exercise device on Earth, and must provide quantitative information about the exercise and the device’s own state of health. Here, we define “semi-autonomous” as referring to the fact that while the system should be as autonomous as possible, there are some processes that the system cannot fulfill on its own. These include, but are not limited to, user identification, physical exercise reconfiguration, and wearable sensor placement.

llyana Smith↗
NASA NTRS2001

Acoustic Issues in Human Spaceflight

NASA is concerned about acute effect of sound on crew performance on International Space Station (ISS), and is developing strategies to assess and reduce acute, chronic, and delayed effects of sound. High noise levels can cause headaches, irritation, fatigue, impaired sleep, headache, and tinnitus and have resulted in an inability to hear alarms. Speech intelligibility may be more impaired for crew understanding non-native language in a noisy environment. No hearing loss occurred, but significant effects on crew performance and communication occurred. Permanent Threshold Shifts (PTS) have not been observed in the US shuttle program. Russian specification for noise in spacecraft is 60 dBA (awake) and 50 dBA (asleep) while the U.S. noise specification on ISS is NC 50 (awake) and NC 40 (asleep) with a 85 dBA hazard limit. Background noise levels of ISS modules have measured 56-69 dBA. Treadmill exercise operations measure 77 dBA. Alarms are required to be 20 dBA above ambient. Hearing protection is recommended when noise exceeds 60 dB 24 hour Leq. Countermeasures include hearing protection and design/ engineering controls. Advanced composite materials with excellent low frequency attenuation properties could be applied as a barrier protection around noisy equipment, or used on personal protective equipment worn by the crew. Hearing protection countermeasures include foam ear inserts, passive muff headsets, and active noise reduction headsets. Oto-acoustic emissions (OAE) could be used to monitor effectiveness of hearing protection countermeasures and tailor hearing protection countermeasures to individual crewmembers. Micro-gravity, vibration, toxic fumes, air quality/composition, stress, temperature, physical exertion or some combination of the above factors may have interacted with moderate long-term noise exposure to cause significant hearing loss. Longitudinal studies will need to address what co-morbidity factors, such as radiation, toxicology, microgravity effects (fluid shift), aging, are involved with hearing loss.

Clark, Jonathan B.↗
NASA NTRSDate not supplied

Enabling Interoperability in Earth System Digital Twins (ESDT): Integrating Observations, Models, and AI for Actionable Insights Through NASA'S Intelligent Systems Technology Program

NASA’s Intelligent Systems Technology Program (IST) is driving a paradigm shift in Earth science through the development of Earth System Digital Twins (ESDT). These integrated information systems create a dynamic "digital replica" of the Earth by harmonizing continuous, multi-source observations with high-fidelity models and state-of-the-art artificial intelligence (AI) that enable “What now?”, “What next?”, and “What if?” scenario building. These scenarios are reflected in NASA IST’s series of ESDTs, from the Coastal Zone Digital Twin that integrates complex data on the current state of the Chesapeake Bay to the Terrestrial Environmental Rapid-Replication and Assimilation Hydrometeorological (TerraHydro) AI-based ESDT that forecasts water movement across Earth’s surface, to the Agriculture Land Information System (AgLIS) which can be used to assess optimal planting dates and crop yield estimates. By bridging the gap between vast data archives and actionable insights, these projects enable a system-of-systems approach to understanding complex, interacting Earth processes. This poster will highlight recent innovations and future directions from NASA’s ESDT initiatives: Continuous Data Assimilation & Multi-Source Fusion. A core requirement of the ESDT work is the transition from static models to dynamic "living" replicas. This involves creating frameworks for the continual assimilation of near-real-time data from uncoordinated, heterogeneous sources, including satellite observations and airborne assets, and ground-based Internet of Things (IoT) sensors. These systems link design, operational status, and environmental data, ensuring the digital twin accurately reflects the current state of the physical Earth system. High-Fidelity Hybrid Modeling & Computational Acceleration to enable interactive "what-if" explorations, programs are moving beyond traditional, slow physical solvers by developing fast surrogate machine learning models and Deep Generative Models (DGMs). These hybrid approaches use neural networks to emulate complex physics, such as cloud feedback or ocean dynamics, at a fraction of the original computing cost, often leveraging advanced hardware like Graphics Processing Units (GPUs) to achieve the necessary scale. Federated Ecosystems & Interoperable Frameworks rather than building isolated tools, NASA IST is moving toward federated ESDTs and reusable analytic collaborative frameworks. This theme focuses on interoperability standards and common ontologies that allow specialized digital twins to interact and share data. This system-of-systems architecture supports multi-discipline investigations, such as analyzing how upstream watershed changes impact downstream urban flooding or how wildfire emissions affect regional air quality. By leveraging these advancements, ESDTs empower researchers and decision-makers to conduct real-time analysis and run complex hypothetical scenarios, ultimately improving our understanding of Earth’s evolving systems and informing critical real-world applications.

Earth System↗
NASA NTRSDate not supplied

Parametric Optimization of Rigid Wheels for Planetary Surface Mobility Applications

Design-Build-Test approaches for spaceflight hardware are time and cost intensive, which can result in suboptimal mechanism designs. Optimization-based approaches that utilize high-fidelity models and physics simulation could overcome these limitations while simultaneously speeding up the mechanical design process and reducing cost. In this work, we present a toolchain that enables the multi-objective optimization of rigid rover wheels for planetary surface mobility applications. The toolchain uses Chrono’s Continuous Representation Model (CRM) functionality to simulate granular soil and performs multi-objective parametric optimization on candidate rover wheels to meet a desired performance criterion. The resulting wheel design is then evaluated experimentally using a single-wheel testbed. We end with a discussion of how the toolchain can be extended to simultaneously co-optimize other system parameters, such as system power consumption and feedback control gains.

Optimization↗
NASA NTRS2013

Mapping Impervious Surfaces Globally at 30m Resolution Using Global Land Survey Data

Impervious surfaces, mainly artificial structures and roads, cover less than 1% of the world's land surface (1.3% over USA). Regardless of the relatively small coverage, impervious surfaces have a significant impact on the environment. They are the main source of the urban heat island effect, and affect not only the energy balance, but also hydrology and carbon cycling, and both land and aquatic ecosystem services. In the last several decades, the pace of converting natural land surface to impervious surfaces has increased. Quantitatively monitoring the growth of impervious surface expansion and associated urbanization has become a priority topic across both the physical and social sciences. The recent availability of consistent, global scale data sets at 30m resolution such as the Global Land Survey from the Landsat satellites provides an unprecedented opportunity to map global impervious cover and urbanization at this resolution for the first time, with unprecedented detail and accuracy. Moreover, the spatial resolution of Landsat is absolutely essential to accurately resolve urban targets such a buildings, roads and parking lots. With long term GLS data now available for the 1975, 1990, 2000, 2005 and 2010 time periods, the land cover/use changes due to urbanization can now be quantified at this spatial scale as well. In the Global Land Survey - Imperviousness Mapping Project (GLS-IMP), we are producing the first global 30 m spatial resolution impervious cover data set. We have processed the GLS 2010 data set to surface reflectance (8500+ TM and ETM+ scenes) and are using a supervised classification method using a regression tree to produce continental scale impervious cover data sets. A very large set of accurate training samples is the key to the supervised classifications and is being derived through the interpretation of high spatial resolution (approx. 2 m or less) commercial satellite data (Quickbird and Worldview2) available to us through the unclassified archive of the National Geospatial Intelligence Agency (NGA). For each continental area several million training pixels are derived by analysts using image segmentation algorithms and tools and then aggregated to the 30m resolution of Landsat. Here we will discuss the production/testing of this massive data set for Europe, North and South America and Africa, including assessments of the 2010 surface reflectance data. This type of analysis is only possible because of the availability of long term 30m data sets from GLS and shows much promise for integration of Landsat 8 data in the future.

global land survey↗
NASA NTRS2015

Field Testing Near-IR and Neutron Spectrometer Prospecting: Applications to Resource Prospector on the Moon

While we know there are volatiles sequestered at the poles of the Moon, the detailed 3-D distribution, abundance, and physical and chemical form are largely unknown. The next giant leap, Resource Prospector (RP), will use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is required. Near real-time operation of surface assets is desirable, with a concept of operations very different from that of rovers on Mars. For RP, new operational approaches are required to carry out real-time robotic exploration. The Mojave Volatiles Project (MVP) is a Moon- Mars Analog Mission Activities (MMAMA) program effort aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. Here we describe some results from the first such test, carried out in the Mojave Desert between 16 and 24 October, 2014. The test site was an alluvial fan just E of the Soda Mountains, SW of Baker, California. This site contains desert pavements, ranging from the late Pleistocene to early-Holocene in age. These pavements are dissected by the ongoing development of washes. A principal objective was to determine the hydration state of different types of desert pavement and bare ground features. The mobility element of the test was the KREX-2 rover, designed and operated by the Intelligent Robotics Group at NASA Ames Research Center.

Mojave Volatiles Project (MVP)↗
NASA NTRS2009

Complexity for Survival of Living Systems

A logical connection between the survivability of living systems and the complexity of their behavior (equivalently, mental complexity) has been established. This connection is an important intermediate result of continuing research on mathematical models that could constitute a unified representation of the evolution of both living and non-living systems. Earlier results of this research were reported in several prior NASA Tech Briefs articles, the two most relevant being Characteristics of Dynamics of Intelligent Systems (NPO- 21037), NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 48; and Self-Supervised Dynamical Systems (NPO- 30634) NASA Tech Briefs, Vol. 27, No. 3 (March 2003), page 72. As used here, living systems is synonymous with active systems and intelligent systems. The quoted terms can signify artificial agents (e.g., suitably programmed computers) or natural biological systems ranging from single-cell organisms at one extreme to the whole of human society at the other extreme. One of the requirements that must be satisfied in mathematical modeling of living systems is reconciliation of evolution of life with the second law of thermodynamics. In the approach followed in this research, this reconciliation is effected by means of a model, inspired partly by quantum mechanics, in which the quantum potential is replaced with an information potential. The model captures the most fundamental property of life - the ability to evolve from disorder to order without any external interference. The model incorporates the equations of classical dynamics, including Newton s equations of motion and equations for random components caused by uncertainties in initial conditions and by Langevin forces. The equations of classical dynamics are coupled with corresponding Liouville or Fokker-Planck equations that describe the evolutions of probability densities that represent the uncertainties. The coupling is effected by fictitious information-based forces that are gradients of the information potential, which, in turn, is a function of the probability densities. The probability densities are associated with mental images both self-image and nonself images (images of external objects that can include other agents). The evolution of the probability densities represents mental dynamics. Then the interaction between the physical and metal aspects of behavior is implemented by feedback from mental to motor dynamics, as represented by the aforementioned fictitious forces. The interaction of a system with its self and nonself images affords unlimited capacity for increase of complexity. There is a biological basis for this model of mental dynamics in the discovery of mirror neurons that learn by imitation. The levels of complexity attained by use of this model match those observed in living systems. To establish a mechanism for increasing the complexity of dynamics of an active system, the model enables exploitation of a chain of reflections exemplified by questions of the form, "What do you think that I think that you think...?" Mathematically, each level of reflection is represented in the form of an attractor performing the corresponding level of abstraction with more details removed from higher levels. The model can be used to describe the behaviors, not only of biological systems, but also of ecological, social, and economics ones.

Zak, Michail↗
NASA NTRS2015

IYL Blog: Astronomers travel in time and space with light

As an astronomer, I use light to travel through the universe, and to look back in time to when the universe was young. So do you! All of us see things as they were when the light was emitted, not as they are now. The farthest thing you can easily see without a telescope is the Andromeda Nebula, which is a galaxy like the Milky Way, about 2.5 million light years away. You see it as it was 2.5 million years ago, and we really don't know what it looks like today; the disk will have rotated a bit, new stars will have been born, there could have been all kinds of exploding stars, and the black hole in the middle could be lighting up. People may be skeptical of the Big Bang theory, even though we have a TV show named for it, but we (I should say Penzias and Wilson) measured its heat radiation 51 years ago at Bell Telephone Labs in New Jersey. Their discovery marks the beginning of the era of cosmology as a measurement science rather than speculation. Penzias and Wilson received the Nobel Prize in 1978 for their finding, which had been predicted in 1948 by Alpher and Herman. By the way, heat radiation is just another form of light - we call it radiation because we can't see it, but it's exactly the same phenomenon of electromagnetic waves, and the only difference is the wavelength. In the old days of analog television, if you tuned your TV in between channels, about 1% of the snow that you could see came from the Big Bang. So when we look at the heat radiation of the early universe, we really are gazing right at what seems to us a cosmic fireball, which surrounds us completely. It's a bit of an illusion; if you can imagine what astronomers in other galaxies would see, they would also feel surrounded by the fireball, and they would also think they were in the middle. So from a mathematical version of imagination, we conclude that there is no observable center and no edge of our universe, and that the heat of the fireball fills the entire universe uniformly. Astronomers are also using light to find out whether we are alone in the universe. The Kepler observatory showed that thousands of stars blink a little when their orbiting planets pass between us and them, and other observatories use light to measure the wobble of stars as their planets pull on them. Eventually, we will find out whether planets like Earth have atmospheres like Earth's too - with water, carbon dioxide, oxygen, methane, and other gases that would be evidence of photosynthetic life. I think in a few decades we will have evidence that some planets do have life, and it will be done using light for remote chemical analysis. Also, astronomers at the SETI project are using light (long wavelength light we can pick up with radio telescopes) to look for signals from intelligent civilizations. That's a harder project because we don't know what to look for. But if we wanted to send signals all the way across the Milky Way, we could do it with laser beams, and if somebody over there knew what to look for, he or she could decode the message. On with the search! Dr. John C. Mather is a Senior Astrophysicist and is the Senior Project Scientist for the James Webb Space Telescope at NASA's Goddard Space Flight Center in Greenbelt, MD. His research centers on infrared astronomy and cosmology. With the Cosmic Background Explorer (COBE) team, he showed that the cosmic microwave background radiation has a blackbody spectrum within 50 parts per million, confirming the expanding universe model (aka the Big Bang Theory) to extraordinary accuracy, and initiating the study of cosmology as a precision science. The COBE team also made the first map of the hot and cold spots in the background radiation. The COBE maps have been confirmed and improved by two succeeding space missions, the Wilkinson Microwave Anisotropy Probe (WMAP, built by GSFC with Princeton University), and the Planck mission built by ESA. Based on these maps, astronomers have now developed a "standard model" of cosmology and have built detailed numerical simulations that begin to match Hubble observations, and require the existence of both "dark matter" and "dark energy", neither of which has been detected or deduced in laboratory experiments. Dr. Mather is the recipient of numerous awards, including the Nobel Prize in Physics (2006) with George Smoot, for the COBE work, and the NASA Distinguished Service Medal (2007). He is a member of many professional societies including the National Academy of Sciences and the American Academy of Arts and Sciences. Dr. Mather is now working with teams and committees to develop plans for a future great telescope capable of observing signs of life on planets orbiting other stars.

telescopes↗
NASA NTRS2015

Neutron Spectrometer Prospecting During the Mojave Volatiles Project Analog Field Test

We know there are volatiles sequestered at the poles of the Moon. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most important next step is to use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is needed. Because of the proximity of the Moon, near real-time operation of the surface assets is possible, with an associated reduction in risk and cost. This concept of operations is very different from that of rovers on Mars, and new operational approaches are required to carry out such real-time robotic exploration. The Mojave Volatiles Project (MVP) is a Moon- Mars Analog Mission Activities (MMAMA) program effort aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. We know there are volatiles sequestered at the poles of the Moon. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most important next step is to use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is needed. Because of the proximity of the Moon, near real-time operation of the surface assets is possible, with an associated reduction in risk and cost. This concept of operations is very different from that of rovers on Mars, and new operational approaches are required to carry out such robotic exploration. The Mojave Volatiles Project (MVP) is a Moon- Mars Analog Mission Activities (MMAMA) program effort aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. Here we describe some results from the first such test, carried out in the Mojave Desert between 16 and 24 October, 2014. The test site was an alluvial fan just E of the Soda Mountains, SW of Baker, California. This site contains desert pavements, ranging from the late Pleistocene to early-Holocene in age. These pavements are undergoing dissection by the ongoing development of washes. A principal objective was to determine the hydration state of different types of desert pavement and bare ground features. The mobility element of the test was provided by the KREX-2 rover, designed and operated by the Intelligent Robotics Group at NASA Ames Research Center.

Moon- Mars Analog Mission Activities (MMAMA)↗
NASA NTRS2015

Neutron Spectrometer Prospecting in the Mojave Volatiles Project Analog Field Test

We know that volatiles are sequestered at the poles of the Moon. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most important next step is to use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is needed. Because of the proximity of the Moon, near real-time operation of the surface assets is possible, with an associated reduction in risk and cost. This concept of operations is very different from that of rovers on Mars, and new operational approaches are required to carry out such real-time robotic exploration. The Mojave Volatiles Project (MVP) was a Moon-Mars Analog Mission Activities (MMAMA) program project aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. Here we describe some results from the first such test, carried out in the Mojave Desert between 16 and 24 October, 2014. The test site was an alluvial fan just E of the Soda Mountains, SW of Baker, California. This site contains desert pavements, ranging from the late Pleistocene to early-Holocene in age. These pavements are undergoing dissection by the ongoing development of washes. A principal objective was to determine the hydration state of different types of desert pavement and bare ground features. The mobility element of the test was provided by the KREX-2 rover, designed and operated by the Intelligent Robotics Group at NASA Ames Research Center. The rover-borne neutron spectrometer measured the neutron albedo at both thermal and epithermal energies. Assuming uniform geochemistry and material bulk density, hydrogen as either hydroxyl/water in mineral assemblages or as moisture will significantly enhance the return of thermalized neutrons. However, in the Mojave test setting there is little uniformity, especially in bulk material density. We find that lighter toned materials (immature pavements, bar and swale, and wash materials) have lower thermal neutron flux, while mature, darker pavements with the greatest desert varnish development have higher neutron fluxes. Preliminary analysis of samples from the various terrain types in the test area indicates a prevailing moisture content of 2-3 wt% H2O. However, soil mineralogy suggests that the welldeveloped Av1 soil horizon beneath the topmost dark pavement clast layer contains the highest clay content. Structural water (including hydroxyl) in these clays may explain the enhanced neutron albedo over dark pavements. On the other hand, surface and subsurface bulk density can also play a role in neutron albedo - lower density of materials found in washes, for example, can result in a reduction in neutron flux. Analysis is ongoing.

rover-borne neutron spectrometer↗