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At least 577 records · Page 32

Deep Multitask Learning Models for Radiation Estimation at High Energy Accelerator Facility

Controlling the dose of radiation exposure in potential radioactive facilities is critical for ensuring the safety of staff and the public. Here, in this paper, we developed machine learning models to estimate radiation exposure efficiently at the Thomas Jefferson National Accelerator Facility (JLab), aiming to enhance safety in both accelerator facilities and public areas. Multiple sensors were deployed around the three experimental halls at JLab. Data on single-beam currents, energy levels, and radiation values at the sensor locations were collected during accelerator operation. We proposed a multi-task learning model for radiation estimation, utilizing either one-dimensional convolutional neural networks (1-D CNNs) or long short-term memory networks (LSTMs) as the backbone. The proposed model was trained to simultaneously estimate radiation levels at the sensor locations. Experimental results demonstrated that the proposed model with LSTM backbone achieved the best estimation performance, with an average R 2 score of 0.7557 for estimation within the same year and 0.7157 for estimation across different years. These results significantly surpassed those of competing models.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Temporal versus spatial variation in leaf reflectance under changing water stress conditions

Leaf reflectance changes associated with changes in water stress were analyzed in two separate experiments. Results indicate that the variation in reflectance among collections of leaves of a given species all at the same level of water stress is at least as great as the variation in reflectance associated with changes in water stress for a given leaf collection of that species. The implications is that results from leaf reflectance-water stress studies have only limited applicability to the remote sensing of plant canopy water stress.

Cohen, Warren B.↗

Sensitivity of Marine Warm Cloud Retrieval Statistics to Algorithm Choices: Examples from MODIS Collection 6

The optical and microphysical structure of warm boundary layer marine clouds is of fundamental importance for understanding a variety of cloud radiation and precipitation processes. With the advent of MODIS (Moderate Resolution Imaging Spectroradiometer) on the NASA EOS Terra and Aqua platforms, simultaneous global/daily 1km retrievals of cloud optical thickness and effective particle size are provided, as well as the derived water path. In addition, the cloud product (MOD06/MYD06 for MODIS Terra and Aqua, respectively) provides separate effective radii results using the l.6, 2.1, and 3.7 ~m spectral channels. Cloud retrieval statistics are highly sensitive to how a pixel identified as being "notclear" by a cloud mask (e.g., the MOD35/MYD35 product) is determined to be useful for an optical retrieval based on a 1-D cloud model. The Collection 5 MODIS retrieval algorithm removed pixels associated with cloud'edges as well as ocean pixels with partly cloudy elements in the 250m MODIS cloud mask - part of the so-called Clear Sky Restoral (CSR) algorithm. Collection 6 attempts retrievals for those two pixel populations, but allows a user to isolate or filter out the populations via CSR pixel-level Quality Assessment (QA) assignments. In this paper, using the preliminary Collection 6 MOD06 product, we present global and regional statistical results of marine warm cloud retrieval sensitivities to the cloud edge and 250m partly cloudy pixel populations. As expected, retrievals for these pixels are generally consistent with a breakdown of the ID cloud model. While optical thickness for these suspect pixel populations may have some utility for radiative studies, the retrievals should be used with extreme caution for process and microphysical studies.

Platnick, Steven↗

Coalescence of DNA Double Strand Breaks Induced by Galactic Cosmic Radiation is Modulated by Genetics in 15 Inbred Strains of Mice

In this manuscript we address the challenges associated with the ability to predict radiation sensitivity associated with exposure to either cosmic radiation or X-rays in a population study, by monitoring DNA damage sensing protein 53BP1 forming small nuclear radiation-induced foci (RIF) as a surrogate biomarker of DNA double strand breaks (DSB). 76 primary skin fibroblasts were isolated from 10 collaborative cross strains and five reference inbred mice (C57Bl/6, BALB/CByJ, B6C3, C3H and CBA/CaJ) and exposed to three different charged nuclei of increasing LET (350 MeV/n Si, 350 MeV/n Ar and 600 MeV/n Fe) and X-ray. Our data brings strong evidence against the classic "contact-first" model where DSBs are assumed to be immobile and repaired at the lesion site. In contrast, our model suggests nearby DSBs move into single repair unit characterized by large RIF before the repair machinery kicks in. Such model has the advantage of being much more efficient molecularly but is poorly suited to deal with cosmic radiation, where energy is concentrated along the particle trajectory, inducing a large density of DSBs along each particle track. In accordance with this model, RIF quantification after X-ray exposition showed a saturated dose response for early time points post-irradiation for all strains. Similarly, the high-LET response showed that RIF number matched the number of track per cell, not the number of expected DSB per cell (1). At the temporal level, we noted that the percentage of unrepaired high-LET tracks over a 48 hour time-course increased with LET, confirming that the DNA repair process becomes more difficult as more DSB coalesce into single RIF. There was also good agreement between persistent RIF levels measured in-vitro in the primary skin cultures and survival levels of T-cells and B-cells collected in blood samples from 10 CC strains 24 hours after 0.1 Gy whole-body dose of X-ray. This suggests that persistent RIF 24 hour post-IR is a good surrogate in-vitro biomarker for in-vivo radiation toxicity. Finally, at the genomic level, large differences in repair rates between strains for high-LET allowed us to identify suggestive genetic loci associated with radiation sensitivity. Interestingly, the two highest LETs provided the most strain variation with a common locus on Chromosome 10 highly enriched for DNA repair associated genes we discussed in detail.

Radiation-Induced Foci↗

MemGaze: Rapid and Effective Load-Level Memory Trace Analysis

A major challenge of memory analysis tools is combining high-resolution analysis and low overhead measurement. Currently, hardware/software-based analysis of load-level sequences incurs time slowdowns of O(100×). We present MemGaze, a tool for low-overhead, high-resolution memory analysis. MemGaze uses Intel’s Processor Tracing (PT) instruction ptwrite to collect sampled and compressed memory address traces for load-level, sequence-aware analysis of data reuse. We describe multi-resolution analysis for locations vs. operations, accesses vs. spatio-temporal reuse, and reuse (distance, rate, volume) vs. access patterns. Both trace size and resolution are controllable. We use MemGaze to elucidate the memory effects of different data structures and algorithms. For sampled traces that are ˜1% of a full one, analysis metrics have 1-25% MAPE for histograms of varying dynamic sequence lengths. With current suboptimal kernel support (PT runs continuously), MemGaze’s time overhead is typically 10–95%; 7× at worst. However, when PT runs only during samples, overhead is 10–35% on memory intensive regions and correlates with executed ptwrites.

Kilic, Ozgur O.↗

Electrospray Collection of Lunar Dust

A report describes ElectroSpray Ionization based Electrostatic Precipitation (ESIEP) for collecting lunar dust particles. While some HEPA filtration processes may remove a higher fraction (>99.9 percent) of the particles, the high efficiency may not be appropriate from an overall system standpoint, especially in light of the relatively large power requirement that such systems demand. The new electrospray particle capture technology is described as a variant of electrostatic precipitation that eliminates the current drawbacks of electrostatic precipitation. The new approach replaces corona prone field with a mist of highly charged micro-droplets generated by electrospray ionization (ESI) as the mechanism by which incoming particles are attracted and captured. In electrospray, a miniscule flow rate (microliters/minute) of liquid (typically water and a small amount of salt to enhance conductivity) is fed from the tip of a needle held at a high voltage potential relative to an opposite counter electrode. At sufficient field strength, a sharp liquid meniscus forms , which emits a jet of highly charged droplets that drift through the surrounding gas and are collected on the walls of a conductive tube. Particles in the gas have a high probability of contact with the droplets either by adhering to the droplets or otherwise acquiring a high level of charge, causing them to be captured on the collecting electrode as well. The spray acts as a filtration material that is continuously introduced and removed from the gas flow, and thus can never become clogged.

Dziekan, Michael↗

Estradiol associations with brain functional connectivity in postmenopausal women

Abstract Objective Previous studies have found that estrogens play a role in functional connectivity in the brain; however, little research has been done regarding how estradiol is associated with functional connectivity in postmenopausal women. The purpose of this study was to examine the relationship between estradiol and functional connectivity in postmenopausal women. Methods Structural and blood oxygenation level–dependent resting-state magnetic resonance imaging scans of 88 cognitively healthy postmenopausal individuals were obtained along with blood samples collected the same day as the magnetic resonance imaging to assess hormone levels. We generated connectivity values in CONN toolbox version 20.b, an SPM-based software. Results A regression analysis was run using estradiol level and regions of interest (ROI), including the hippocampus, parahippocampus, dorsolateral prefrontal cortex, and precuneus. Estradiol level was found to enhance parahippocampal gyrus anterior division left functional connectivity during ROI-to-ROI regression analysis. Estradiol enhanced functional connectivity between the parahippocampal gyrus anterior division left and the precuneus as well as the parahippocampal gyrus anterior division left and parahippocampal gyrus posterior division right. An exploratory analysis showed that years since the final menstrual period was related to enhanced connectivity between regions within the frontoparietal network. Conclusions These results illustrated the relationship between estradiol level and functional connectivity in postmenopausal women. They have implications for understanding how the functioning of the brain changes for individuals after menopause that may eventually lead to changes in cognition and behavior in older ages.

Obstetrics & Gynecology↗

Tethered balloon system and High-Resolution Mass Spectrometry Reveal Increased Organonitrates Aloft Compared to the Ground Level

Atmospheric particles play critical roles in climate. However, significant knowledge gaps remain regarding the vertically resolved organic molecular-level composition of atmospheric particles due to aloft sampling challenges. To address this, we use a tethered balloon system at the Southern Great Plains Observatory and high-resolution mass spectrometry to, respectively, collect and characterize organic molecular formulas (MF) in the ground level and aloft (up to 750 m) samples. We show that organic MF uniquely detected aloft were dominated by organonitrates (139 MF; 54% of all uniquely detected aloft MF). Organonitrates that were uniquely detected aloft featured elevated O/C ratios (0.73 ± 0.23) compared to aloft organonitrates that were commonly observed at the ground level (0.63 ± 0.22). Unique aloft organic molecular composition was positively associated with increased cloud coverage, increased aloft relative humidity (~40% increase compared to ground level), and decreased vertical wind variance. Furthermore, 29% of extremely low volatility organic compounds in the aloft sample were truly unique to the aloft sample compared to the ground level, emphasizing potential oligomer formation at higher altitudes. Overall, this study highlights the importance of considering vertically resolved organic molecular composition (particularly for organonitrates) and hypothesizes that aqueous phase transformations and vertical wind variance may be key variables affecting the molecular composition of aloft organic aerosol.

54 ENVIRONMENTAL SCIENCES↗

Interactions between microbial diversity and substrate chemistry determine the fate of carbon in soil.

Microbial decomposition drives the transformation of plant-derived substrates into microbial products that form stable soil organic matter (SOM). Recent theories have posited that decomposition depends on an interaction between SOM chemistry with microbial diversity and resulting function. Here, we explicitly test these theories by coupling quantitative stable isotope probing and metabolomics to track the fate of 13C enriched substrates that vary in chemical composition as they are assimilated by microbes and transformed into new metabolic products in soil. We found that mycorrhizal-driven differences in forest nutrient economies (e.g., nutrient cycling, microbial competition) led to arbuscular mycorrhizal (AM) soils harboring greater micro8ial diversity than ectomycorrhizal (ECM) soils. When incubated with 13C enriched substrates, substrate type drove shifts in the identity of active decomposers and their metabolic products in the highly diverse AM soils. The decomposition pathways were more static in the less diverse, ECM soil. Importantly, the majority of these shifts were driven by taxa only present in the AM soil suggesting a strong link between microbial identity and specialized function. Collectively, these results highlight an important interaction between ecosystem-level processes and microbial diversity; whereby the identity and function of active decomposers impacts the composition of decomposition products that can form stable SOM.

Raczka, Nanette↗

Energy Prediction Impact of the Space Level Occupancy Schedule for a Primary School

By using the same occupant schedule for all spaces, a building level occupancy schedule in building energy modelling can reduce the cost and time of data collection, especially for large-scale simulations or when detailed occupancy data cannot be obtained. However, by describing the unique occupancy status in each space, a space level schedule can better reflect real-world scenarios. This research investigates the energy prediction impact of a space level occupancy schedule for primary school modelling in 16 ASHRAE climate zones. The results show that when switched from a building level to a space level occupancy schedule, the energy prediction difference is between -1.0% and 0.8%. Generally, the predicted building energy consumption using a space level occupancy schedule is higher than when using a building level occupancy schedule in hot and warm climate zones, but lower in other climate zones.

building energy model↗

Heterogeneous energetic material damage simulator (HEDS): A deep learning approach to simulate damage–sensitivity linkages

Damage in the microstructures of energetic materials (EMs), such as propellants and plastic bonded explosives (PBXs), can significantly alter their response to external loads. Both sensitization and desensitization can occur, causing concerns with safety and performance in the field; predictive models that connect damage and the sensitivity of EMs can enable design and provide confidence in their robustness and reliability. However, modeling of damage evolution is challenging for real microstructures of EMs; samples of damaged EMs are difficult to obtain, thereby hindering experiments and direct numerical simulations to determine the sensitivity of EMs at various stages of damage. Here, we develop an approach to generate synthetic, i.e., in silico produced, damaged microstructures for use in simulations to connect damage levels to sensitivity. The development of the present workflow to generate and impose varying levels of damage in microstructures, known as HEDS (Heterogeneous Energetic Material Damage Simulator), begins with a small set of images of damaged PBXs and combines a collection of deep neural network techniques to generate microstructures with varying levels of damage. By making the synthetic microstructures conform closely to those observed in available real, imaged microstructures, we develop an ensemble of damaged microstructures that can be used for in silico shock experiments. HEDS develops these microstructure ensembles as level set fields, which are directly employed in a sharp interface Eulerian hydrocode where shock simulations are performed to quantify the energy release rate from hotspot fields generated in the microstructure. These capabilities can be useful for the analysis and assessment of changes in the sensitivity of EMs and to design formulations that are less susceptible to damage-induced changes in sensitivity and performance.

Fang, Irene (ORCID:0009000844557122)↗

Microscopic-macroscopic level densities for low excitation energies

Level density ρ(E,Q) is derived within the micro-macroscopic approximation (MMA) for a system of strongly interacting Fermi particles with the energy E and additional integrals of motion Q , in line with several topics of the universal and fruitful activity of A. S. Davydov. Within the extended Thomas Fermi and semiclassical periodic orbit theory beyond the Fermi-gas saddle-point method, we obtain ρ ∝ I ν (S)/S ν , where I ν (S) is the modified Bessel function of the entropy S . For small shell-structure contribution, one finds ν = κ/2 + 1, where κ is the number of additional integrals of motion. This integer number is a dimension of Q, Q = { N, Z , …} for the case of two-component atomic nuclei, where N and Z are the numbers of neutrons and protons, respectively. For much larger shell structure contributions, one obtains ν = κ /2 + 2. The MMA level density ρ reaches the well-known Fermi gas asymptote for large excitation energies and the finite micro-canonical combinatoric limit for low excitation energies. Further, the additional integrals of motion can also be the projection of the angular momentum of a nuclear system for nuclear rotations of deformed nuclei, number of excitons for collective dynamics, and so on. Fitting the MMA total level density ρ( E , Q) for a set of the integrals of motion Q = { N, Z }, to experimental data on a long nuclear isotope chain for low excitation energies, one obtains the results for the inverse level-density parameter K , which differs significantly from those of neutron resonances due to shell, isotopic asymmetry, and pairing effects.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

MODIS TEB Electronic Crosstalk Correction Update and Impact on L1B Product Uncertainty

The MODIS instruments onboard the Terra and Aqua satellites have been in operation for over22 and 20 years, respectively. The instruments’ calibration accuracy has been maintained, even with instrument degradation. Electronic crosstalk in the thermal emissive bands (TEB) is a known issue with an increasing impact on the calibration and product. The Terra MODIS photovoltaic (PV) longwave infrared (LWIR) bands crosstalk corrections have been applied in Collection 6.1 (C6.1). However, the electronic crosstalk contamination for some detectors in the mid-wave infrared (MWIR) bands and the Aqua PVLWIR bands affect the Level-1B (L1B) product’s measurement accuracy and image quality. In Collection 7 (C7), crosstalk corrections for select detectors in the Terra and Aqua MWIR and Aqua PV LWIR bands are applied. The entire mission crosstalk coefficients for the select detectors and bands are derived from scheduled lunar observations and populated in the form of look-up tables (LUTs). The Aqua PV-LWIR bands exhibit similar downward crosstalk trends as the Terra PV-LWIR bands, especially in recent years. The crosstalk coefficients and their trends provide a guideline for the correction application. Earth measurement analyses before and after the correction provide contamination and correction assessments. It has been shown that the product quality is enhanced with the crosstalk correction applied in C7. For C7, the crosstalk coefficient uncertainty is derived from the fit residuals between the measured values and a linear fit over a three-year sliding window. The uncertainty propagation is modeled and applied in the total uncertainty calculation intheL1B product. The TEB electronic crosstalk LUTs have been processed over the entire Terra and Aqua MODIS missions. This paper presents the C7 crosstalk correction, as well as its assessment and uncertainty propagation algorithm to the TEB uncertainty.

Tiejun Chang↗

Modis TEB Electronic Crosstalk Correction Update and Impact on L1B Product Uncertainty

The MODIS instruments on board the Terra and Aqua satellites have been in operation for over 22 and 20 years, respectively. The instruments’ calibration accuracy has been maintained, even with instrument degradation. Electronic crosstalk in the thermal emissive bands (TEB) is a known issue with an increasing impact on the calibration and product. The Terra MODIS photovoltaic (PV) longwave infrared (LWIR) bands crosstalk corrections have been applied in Collection 6.1 (C6.1). However, the electronic crosstalk contamination for some detectors in the mid-wave infrared(MWIR) bands and the Aqua PVLWIR bands affect the Level-1B(L1B) product’s measurement accuracy and image quality. In Collection 7 (C7), crosstalk corrections for select detectors in the Terra and Aqua MWIR and Aqua PV LWIR bands are applied. The entire mission crosstalk coefficients for the select detectors and bands are derived from scheduled lunar observations and populated in the form of look-up tables (LUTs). The Aqua PV-LWIR bands exhibit similar downward crosstalk trends as the Terra PV-LWIR bands, especially in recent years. The crosstalk coefficients and their trends provide a guideline for the correction application. Earth measurement analyses before and after the correction provide contamination and correction assessments. It has been shown that the product quality is enhanced with the crosstalk correction applied in C7. For C7, the crosstalk coefficient uncertainty is derived from the fit residuals between the measured values and a linear fit over a three-year sliding window. The uncertainty propagation is modeled and applied in the total uncertainty calculation intheL1B product. The TEB electronic cross talk LUT shave been processed over the entire Terra and Aqua MODIS missions. This paper presents the C7 crosstalk correction, as well as its assessment and uncertainty propagation algorithm to the TEB uncertainty.

Tiejun Chang↗

IoT-based retrofit information diffusion in future smart communities

Community-scale building retrofits are not merely scaled-up versions of single-building retrofits. They involve complex challenges, such as reconciling individual interests with collective goals and managing the dynamic interplay between buildings through mechanisms like power grids and social connections. Internet of Things (IoT) connectivity holds the potential to leverage these interplays to balance individual and collective interests effectively in smart communities. One critical aspect of this interplay is information diffusion, which shapes how retrofit decisions spread among neighbors, influencing individual choices and ultimately impacting community-level retrofit outcomes. In other words, IoT-based smart devices automatically push tailored retrofit notifications to homeowners, which completely changes the format of information diffusion in the future. To investigate this influence by such information diffusion, the study used CityBES to simulate energy performance for different retrofits and applied an information diffusion model to analyze how decisions spread in a networked community of 192 buildings. The diffusion process was modeled on a weighted, directed network, capturing the dynamics of information flow and decision-making across 16 scenarios. Individual retrofit benefits were evaluated through payback years, while community-level retrofit outcomes were assessed using greenhouse gas (GHG) emission reductions. The results demonstrate that easier information diffusion among neighbors encourages households to prioritize retrofit measures that align with the majority’s optimal choices, even at the expense of individual financial benefits. In this case, such collective prioritization enhanced community-level retrofit performance, increasing GHG emission reductions by up to 29.4 %. However, this improvement came with trade-offs, as the average payback period for households extended by approximately 1.74 years. These findings highlight the potential of IoT-based information diffusion in future smart communities to coordinate individual interests with collective goals, ultimately accelerating community-level building retrofits.

Shu, Lei↗

A Population Pharmacokinetic Model for Disposition in Plasma, Saliva and Urine of Scopolamine after Intranasal Administration to Healthy Human Subjects

An intranasal gel formulation of scopolamine (INSCOP) was developed for the treatment of Space Motion Sickness. The bioavailability and pharmacokinetics (PK) were evaluated under the Food and Drug Administration guidelines for clinical trials with an Investigative New Drug (IND) protocol. The aim of this project was to develop a PK model that can predict the relationship between plasma, saliva and urinary scopolamine concentrations using data collected from the IND clinical trials with INSCOP. Methods: Twelve healthy human subjects were administered three dose levels (0.1, 0.2 and 0.4 mg) of INSCOP. Serial blood, saliva and urine samples were collected between 5 min and 24 h after dosing and scopolamine concentrations were measured by using a validated LC‐MS‐MS assay. Pharmacokinetic Compartmental models, using actual dosing and sampling times, were built using Phoenix (version 1.2). Model selection was based on the likelihood ratio test on the difference of criteria (‐2LL) and comparison of the quality of fit plots. Results: The best structural model for INSCOP (minimal ‐2LL= 502.8) was established. It consisted of one compartment each for plasma, saliva and urine, respectively, which were connected with linear transport processes except the nonlinear PK process from plasma to saliva compartment. The best‐fit estimates of PK parameters from individual PK compartmental analysis and Population PK model analysis were shown in Tables 1 and 2, respectively. Conclusion: A population PK model that could predict population and individual PK of scopolamine in plasma, saliva and urine after dosing was developed and validated. Incorporating a non‐linear transfer from plasma to saliva compartments resulted in a significantly improved model fitting. The model could be used to predict scopolamine plasma concentrations from salivary and urinary drug levels, allowing non‐invasive therapeutic monitoring of scopolamine in space and other remote environments.

Wu, L.↗

Data-driven Community-centered Resilient Assessment and Planning Toolkit for Nexus of Energy and Water (DCRAPT-NEW)

Urban areas, including Detroit and Pittsburgh, have suffered significant dual outages of the electrical and water infrastructure in the past decade due, in part, to the increasing number of extreme weather events. With increasing temperatures and rainfall intensity, these regions need to prepare for increasing extreme events through community-based energy and water resilience analysis, planning, and enhancement. This project developed a suite of open-source, open-access, community-centered, data-driven assessment and distributed energy resource (DER) and planning tools for energy and water resilience enhancement in urban areas. Through establishing a multi-level community awareness and engagement mechanism and a comprehensive collection of power outage and flooding data, an innovative group of community energy and water resilience assessment and planning tools have been developed for a wide range of users with differing and variable sets of data available to them. The developed tools include (1) DOE EAGLE-I data-driven, deep-learning assisted resilience assessment and DER planning tools at the county level with socioeconomic factors incorporated; (2) Utility annual power outage data-driven tools for long term resilience assessment and DER planning and 15-min power outage data-driven tools for short term resilience assessment and planning; (3) Detailed engineering tools for energy and water systems resilience assessment and planning when the system topology and component fragility curves are available; (4) Alternative Resiliency Metric Calculation that extracts and separates outage and restoration processes; and (5) Co-optimization tools that evaluate the resilience of the power and sewage system and allow users to conduct joint planning with energy and wastewater systems. The developed tools provide planners, decision-makers, and stakeholders with powerful capabilities to systematically evaluate system/community resilience and optimal and actionable guidance for enhancing resilience while prioritizing DER investments. The tools have been used and validated in Detroit and Pittsburgh and can be used in other areas of the nation. In addition, this project will (1) advance the knowledge and applications of machine-learning methods in analyzing and fusing different layers of information and generating meaningful data points such as generating rare weather events; (2) significantly improve the energy and water resilience of the identified communities in Detroit and Pittsburgh and prepare for more frequent and severe weather conditions; (3) help communities assess extreme weather event impacts and address short-term and long-term resilience-related issues The developed tools have been made public via GitHub and demonstrated to community stakeholders and utility companies via the two annual workshops and numerous community engagement meetings. The project outcomes are also disseminated through publications in various journals and conference proceedings, and presentations at top conferences.

13 HYDRO ENERGY↗

A situated reasoning architecture for space-based repair and replace tasks

Space-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.

Bloom, Ben↗