Chapter 2-1: Learning from the Biological Viewpoint: Adaptive Control and Learning Systems - Part 2
Adaptive patterns in central nervous tissue learning process
Adey, W. R.↗
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Carbon dioxide evolution rate as a method to monitor and control an aerobic biological waste treatment system
An experimental system was developed to study the microbial growth kinetic of an undefined mixed culture in an erobic biological waste treatment process. The experimental results were used to develop a mathematical model that can predict the performance of a bioreactor. The bioreactor will be used to regeneratively treat waste material which is expected to be generated during a long term manned space mission. Since the presence of insoluble particles in the chemically undefined complex media made estimating biomass very difficult in the real system, a clean system was devised to study the microbial growth from the soluble substrate.
Lee, S. S.↗
Modelling global methane emissions from livestock: Biological and nutritional controls
The available observations of methane production from the literature have been compiled into a ruminant methane data base. This data base includes 400 treatment mean observations of methane losses from cattle and sheep, and minor numbers of measurements from other species. Methane loss varied from 2.0 to 11.6 percent of dietary gross energy. Measurements included describe the many different weights and physiological states of the animals fed and diets ranging from all forage to all concentrate diets or mixtures. An auxiliary spreadsheet lists approximately 1000 individual animal observations. Many important concepts have emerged from our query and analysis of this data set. The majority of the world's cattle, sheep, and goats under normal husbandry circumstances likely produce methane very close to 6 percent of their daily diets gross energy (2 percent of the diet by weight). Although individual animals or losses from specific dietary research circumstances can vary considerably, the average for the vast majority of groups of ruminant livestock are likely to fall between 5.5 to 6.5 percent. We must caution, however, that little experimental data is available for two-thirds of the world's ruminants in developing countries. Available evidence suggests similar percentage of emissions, but this supposition needs confirmation. More importantly, data is skimpy or unavailable to describe diet consumption, animal weight, and class distribution.
Johnson, Donald E.↗
Importance of temperature control for HEFLEX, a biological experiment for Spacelab 1
The importance of temperature control to HEFLEX, a Spacelab experiment designed to measure kinetic properties of Helianthis nutation in a low-g environment, is discussed. It is argued that the development of the HEFLEX experiment has been severely hampered by the inadequate control of ambient air temperature provided by the spacecraft module design. A worst case calculation shows that delivery of only 69% of the maximum yield of useful data from the HEFLEX system is guaranteed; significant data losses from inadequate temperature control are expected. The magnitude of the expected data losses indicates that the cost reductions associated with imprecise temperature controls may prove to be a false economy in the long term.
Chapman, D. K.↗
Controlled ecological life support system - biological problems
The general processes and controls associated with two distinct experimental paradigms are examined. Specific areas for research related to biotic production (food production) and biotic decomposition (waste management) are explored. The workshop discussions were directed toward Elemental cycles and the biological factors that affect the transformations of nutrients into food, of food material into waste, and of waste into nutrients were discussed. To focus on biological issues, the discussion assumed that (1) food production would be by biological means (thus excluding chemical synthesis), (2) energy would not be a limiting factor, and (3) engineering capacity for composition and leak rate would be adequate.
Moore, B., III↗
Design and control strategies for CELSS - Integrating mechanistic paradigms and biological complexities
Systems analysis and control theory consideration are given to simulations of both individual components and total systems, in order to develop a reliable control strategy for a Controlled Ecological Life Support System (CELSS) which includes complex biological components. Because of the numerous nonlinearities and tight coupling within the biological component, classical control theory may be inadequate and the statistical analysis of factorial experiments more useful. The range in control characteristics of particular species may simplify the overall task by providing an appropriate balance of stability and controllability to match species function in the overall design. The ultimate goal of this research is the coordination of biological and mechanical subsystems in order to achieve a self-supporting environment.
Moore, B., III↗
A Biologically Inspired Cooperative Multi-Robot Control Architecture
A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.
Howsman, Tom↗
Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles
The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control
Ippolito, Corey↗
Species biology and potential for controlling four exotic plants (Ammophila arenaria, Carpobrotus edulis, Cortaderia jubata and Gasoul crystallinum) on Vandenberg Air Force Base, California
Invasive exotic plants can displace native flora and modify community and ecosystem structure and function. Ammophila arenaria, Corpobrotus edulis, Cortaderia jubata, and Gasoul crystallinum are invasive plants present on Vandenberg Air Force Base, California, designated for study by the Environmental Task Force because of the perceived threat they represent to the native flora. Each plant's native habitat, how they came to be at Vandenberg, their propagation, and how they can be controlled is discussed.
Schmalzer, Paul A.↗
The role of the scientist in automated laboratory systems.
Scientist role in automated laboratory for remote biological exploration of planets
MISSION PLANNING↗
A controlled rate freeze/thaw system for cryopreservation of biological materials
A system which allows programmable temperature-time control for a 5 cc sample volume of an arbitrary biological material was constructed. Steady state and dynamic temperature control was obtained by supplying heat to the sample volume through resistive elements constructed as an integral part of the sample container. For cooling purposes, this container was totally immersed into a cold heat sink. Sample volume thermodynamic property data were obtained by measurements of heater power and heat flux through the container walls. Using a mixture of dry ice and alcohol at -79 C, sample volume was controlled from +40 C to -60 C at rates from steady state to + or - 65 C/min. Steady state temperature precision was better than 0.2 C while the dynamic capability depends on the temperature rate of change as well as the thermal mass of the sample and the container.
Anselmo, V. J.↗
Parametric motion control of robotic arms: A biologically based approach using neural networks
A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.
Bock, O.↗
Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes
Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.
Jacobus, Heidi↗
Dynamic modeling and control of multibody mechanical systems which are structurally flexible
This paper concerns the dynamic modeling and control of multibody, open-chained, structurally flexible, mechanical systems where the bodies are connected by revolute joints. The equations of motion are formulated based on a matrix form of Lagrange's equations for inertial quasi-coordinates. Each body is treated as a substructure of the system. For the purposes of simulation and control, the equations of motion are separated into two sets of equations using a perturbation approach: one to describe large rigid-body motions of the articulated system and the other to describe small linear motions of the bodies about the large motions. A biologically natural control strategy is used for vibration suppression and tracking the prescribed motion.
Quinn, R. D.↗
ISS and Shuttle Payload Research Development and Processing
NASA's ISS and Spacecraft Processing Directorate (UB) is charged with the performance of payload development for research originating through NASA, ISS international partners, and the National Laboratory. The Payload Development sector of the Directorate takes biological research approved for on orbit experimentation from its infancy stage and finds a way to integrate and implement that research into a payload on either a Shuttle sortie or Space Station increment. From solicitation and selection, to definition, to verification, to integration and finally to operations and analysis, Payload Development is there every step of the way. My specific work as an intern this summer has consisted of investigating data received by separate flight and ground control Advanced Biological Research Systems (ABRS) units for Advanced Plant Experiments (APEX) and Cambium research. By correlation and analysis of this data and specific logbook information I have been working to explain changes in environmental conditions on both the flight and ground control unit. I have then, compiled all of that information into a form that can be presentable to the Principal Investigator (PI). This compilation allows that PI scientist to support their findings and add merit to their research. It also allows us, as the Payload Developers, to further inspect the ABRS unit and its performance
Calhoun, Kyle A.↗
Microbial Optical Data Processing: A Key Step in the Metabolic Assessment of Lunar Explorer Instrument for Space Biology Applications (LEIA) and Biosentinel’s Payload Data
The BioSensor payload platform on BioSentinel and LEIA autonomously collects optical data from microbial model organisms in liquid culture. The BioSensor is designed to monitor metabolic activity using absorbance measurements of cell density and alamarBlue, a readily available colorimetric redox indicator dye. BioSentinel, a pioneering NASA CubeSat, uses yeast to study deep space radiation. LEIA investigates radiation and lunar gravity response. The experimental setup includes 16 wells equipped with three LEDs (570, 630, and 850 nm) and their corresponding photodetectors. One well is a calibration control without biology while the rest have desiccated cultures. Autonomous rehydration initiates the experiment. Data from the BioSensor are received from the flight and ground units, enabling comparison to uncover location-based metabolic rate variations. This study presents a Python Jupyter notebook developed for efficient data processing of multiple CSV files containing date and time columns, temperature, and well illumination data. It offers a user-friendly interface while maintaining computational power, automatically recognizing and iteratively processing data files in a user-input path. A Hampel filter with a short window eliminates outlier artifacts from sensor dropout. Because absorbance is a relative measurement, conversion from raw illumination requires defining a “blank” value, so the first data points are averaged to provide the necessary denominator. A cube-root function correction mitigates undesired drift caused by air pockets during the fluidic card filling phase, maintaining optical path length consistency. Beer-Lambert's law is applied to further convert absorbance values to cell and dye form concentrations, the desired science parameters. The processed data are saved and visualized as SVG plots. Future plans include extracting specific science parameters from the processed data like growth rate and metabolic rate, and identification of features corresponding to metabolic and phenotypic shifts such as starvation, shifts from aerobic to anaerobic growth, and osmotic stresses.
Space biology↗
Thermal stress in aviation.
Personnel comfort and protection from thermal stress, discussing clothing, environmental temperature, metabolic heat production, solar radiation, etc
VENTILATION↗
Smoke toxicity methodology
The toxicity of pyrolysis products for aircraft interior materials must be within some reasonable limit. The toxicity of pyrolysis products from five candidate aircraft materials is evaluated. The most important part of this study was to demonstrate that pyrolysis of materials could be controlled and biological endpoints are reproducible.
Dilley, J. V.↗