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NASA NTRS1992

Self-organization via active exploration in robotic applications

We describe a neural network based robotic system. Unlike traditional robotic systems, our approach focussed on non-stationary problems. We indicate that self-organization capability is necessary for any system to operate successfully in a non-stationary environment. We suggest that self-organization should be based on an active exploration process. We investigated neural architectures having novelty sensitivity, selective attention, reinforcement learning, habit formation, flexible criteria categorization properties and analyzed the resulting behavior (consisting of an intelligent initiation of exploration) by computer simulations. While various computer vision researchers acknowledged recently the importance of active processes (Swain and Stricker, 1991), the proposed approaches within the new framework still suffer from a lack of self-organization (Aloimonos and Bandyopadhyay, 1987; Bajcsy, 1988). A self-organizing, neural network based robot (MAVIN) has been recently proposed (Baloch and Waxman, 1991). This robot has the capability of position, size rotation invariant pattern categorization, recognition and pavlovian conditioning. Our robot does not have initially invariant processing properties. The reason for this is the emphasis we put on active exploration. We maintain the point of view that such invariant properties emerge from an internalization of exploratory sensory-motor activity. Rather than coding the equilibria of such mental capabilities, we are seeking to capture its dynamics to understand on the one hand how the emergence of such invariances is possible and on the other hand the dynamics that lead to these invariances. The second point is crucial for an adaptive robot to acquire new invariances in non-stationary environments, as demonstrated by the inverting glass experiments of Helmholtz. We will introduce Pavlovian conditioning circuits in our future work for the precise objective of achieving the generation, coordination, and internalization of sequence of actions.

Ogmen, H.↗

NASA NTRS1987

Using bibliographic databases in technology transfer

When technology developed for a specific purpose is used in another application, the process is called technology transfer--the application of an existing technology to a new use or user for purposes other than those for which the technology was originally intended. Using Bibliographical Databases in Technology Transfer deals with demand-pull transfer, technology transfer that arises from need recognition, and is a guide for conducting demand-pull technology transfer studies. It can be used by a researcher as a self-teaching manual or by an instructor as a classroom text. A major problem of technology transfer is finding applicable technology to transfer. Described in detail is the solution to this problem, the use of computerized, bibliographic databases, which currently contain virtually all documented technology of the past 15 years. A general framework for locating technology is described. NASA technology organizations and private technology transfer firms are listed for consultation.

Huffman, G. David↗

NASA NTRS1996

Visualization of Real-Time Data

In this project we explored various approaches to presenting real-time data from the numerous systems monitored on the space shuttle to computer users. We examined the approach that several projects at the Kennedy Space Center (KSC) used to accomplish this. We undertook to build a prototype system to demonstrate that the Internet and the Java programming language could be used to present the real-time data conveniently. Several Java programs were developed that presented real-time data in different forms including one form that emulated the display screens of the PC GOAL system which is familiar to many at KSC. Also, we developed several communications programs to supply the data continuously. Furthermore, a framework was created using the World Wide Web (WWW) to organize the collection and presentation of the real-time data. We believe our demonstration project shows the great flexibility of the approach. We had no particular use of the data in mind, instead we wanted the most general and the least complex framework possible. People who wish to view data need only know how to use a WWW browser and the address (the URL). People wanting to build WWW documents containing real-time data need only know the values of a few parameters, they do not need to program in Java or any other language. These are stunning advantages over more monolithic systems.

Stansifer, Ryan↗

NASA NTRS2026

The Contaminant Footprint of Landed Spacecraft: Toward an Inventory and Modelling Framework

All spacecraft generate and carry contaminants, i.e., unwanted and potentially harmful material. When a spacecraft lands and operates in near-vacuum, as onto Earth’s Moon, it introduces contaminants into its environment that may compromise mission science objectives and engineering performance. Contamination of solar system bodies may irrevocably degrade targets of unique value to planetary scientists, for instance, as lunar landed spacecraft introduce propellant effluents into the otherwise pristine ice of the Moon’s permanently shadowed regions. NASA’s planetary protection discipline seeks to ensure that solar system bodies are not contaminated, for scientific purposes, by terrestrial material (i.e., forward contamination). This interest aligns with planetary science interest in mitigating the transport of terrestrial contaminants onto solar system bodies and in controlling types of contamination that could compromise the scientific value of samples or measurements. NASA, and other entities that practice planetary science, have compelling and multidisciplinary interests in the preservation of special regions and sampling sites of high scientific value – including lunar permanently shadowed regions (PSRs) – from inadvertent contamination by any spacecraft, and in understanding the contamination of such regions by all spacecraft. Organic molecular contamination here represents a primary threat. Organic molecules will be introduced to solar system bodies by nominal landed spacecraft and crew processes – including by the action of descent and ascent engines; natural materials outgassing; and crew environmental and life support system sources. Molecular contaminants can also travel in the free-molecular sense at global scale across near-vacuum bodies, including into regions where they may be permanently trapped. This presentation will address a high-level study to identify sources of contaminants – in particular, organic material – generated by landed spacecraft along with the transport vectors by which these contaminants can reach sites of scientific interest on bodies like the Moon. A vision for an integrated modeling framework for the organic contamination footprint of spacecraft missions, individually and collectively, will also be described and presented along with initial conclusions related to organic molecular transport.

Gas Dynamics↗

NASA NTRS2023

A Performance Analysis on Soil Dielectric Models Over Organic Soils in Alaska for Passive Microwave Remote Sensing of Soil Moisture

Passive microwave remote sensing of soil moisture (SM) requires a physically based dielectric model that quantitatively converts the volumetric SM into the soil bulk dielectric constant. Mironov 2009 is the dielectric model used in the operational SM retrieval algorithms of the NASA Soil Moisture Active Passive (SMAP) and the ESA Soil Moisture and Ocean Salinity (SMOS) missions. However, Mironov 2009 suffers a challenge in deriving SM over organic soils, as it does not account for the impact of soil organic matter (SOM) on the soil bulk dielectric constant. To this end, we presented a comparative performance analysis of nine advanced soil dielectric models over organic soil in Alaska, four of which incorporate SOM. In the framework of the SMAP single-channel algorithm at vertical polarization (SCA-V), SM retrievals from different dielectric models were derived using an iterative optimization scheme. The skills of the different dielectric models over organic soils were reflected by the performance of their respective SM retrievals, which was measured by four conventional statistical metrics, calculated by comparing satellite-based SM time series with in-situ benchmarks. Overall, SM retrievals of organic-soil-based dielectric models tended to overestimate, while those from mineral-soil-based models displayed dry biases. All the models showed comparable values of unbiased root-mean-square error (ubRMSE) and Pearson Correlation (R), but Mironov 2019 exhibited a slight but consistent edge over the others. An integrated consideration of the model inputs, the physical basis, and the validated accuracy indicated that the separate use of Mironov 2009 and Mironov 2019 in the SMAP SCA-V for mineral soils (SOM < 15%) and organic soils (SOM ≥ 15%) would be the preferred option.

Soil Moisture↗

NASA NTRS2016

Organizational Risk and Opportunity Management: Concepts and Processes for NASA's Consideration

The focus of this report is on the development of a framework and overall approach that serves the interests of nonprofit and Government organizations like NASA that focus on developing and/or applying new technology (henceforth referred to as organizations like NASA). These interests tend to place emphasis on performing services and achieving scientific and technical gains more than on achieving financial investment goals, which is the province of commercial enterprises. In addition, the objectives of organizations like NASA extend to institutional development and maintenance, financial health, legal and reputational protection, education and partnerships, and mandated milestone achievements. This report discusses the philosophical underpinnings of OROM for organizations like NASA, the integration of OROM with existing management processes, and the nature of the activities that are performed to implement OROM within this context. The proposed framework includes a set of core principles that would be essential to any successful OROM approach, along with some features that are currently under development and are continuing to evolve. The report is intended to foster discussion of OROM at NASA in order to reach a consensus on the optimum approach for the agency.

Risk↗

NASA NTRS1992

The dynamics of hydroponic crops for simulation studies of the CELSS initial reference configurations

The goal of this research is to develop a progressive series of mathematical models for the CELSS hydroponic crops. These models will systematize the experimental findings from the crop researchers in the CELSS Program into a form useful to investigate system-level considerations, for example, dynamic studies of the CELSS Initial Reference Configurations. The crop models will organize data from different crops into a common modeling framework. This is the fifth semiannual report for this project. The following topics are discussed: (1) use of field crop models to explore phasic control of CELSS crops for optimizing yield; (2) seminar presented at Purdue CELSS NSCORT; and (3) paper submitted on analysis of bioprocessing of inedible plant materials.

Volk, Tyler↗

NASA NTRS1995

Development and Application of the Collaborative Optimization Architecture in a Multidisciplinary Design Environment

Collaborative optimization is a design architecture applicable in any multidisciplinary analysis environment but specifically intended for large-scale distributed analysis applications. In this approach, a complex problem is hierarchically de- composed along disciplinary boundaries into a number of subproblems which are brought into multidisciplinary agreement by a system-level coordination process. When applied to problems in a multidisciplinary design environment, this scheme has several advantages over traditional solution strategies. These advantageous features include reducing the amount of information transferred between disciplines, the removal of large iteration-loops, allowing the use of different subspace optimizers among the various analysis groups, an analysis framework which is easily parallelized and can operate on heterogenous equipment, and a structural framework that is well-suited for conventional disciplinary organizations. In this article, the collaborative architecture is developed and its mathematical foundation is presented. An example application is also presented which highlights the potential of this method for use in large-scale design applications.

Braun, R. D.↗

NASA NTRS1996

The limits of palaeontological knowledge: finding the gold among the dross

Palaeontological interpretation rests on two interwoven sets of comparisons with the modern world. Palaeobiological interpretation relies on the placement of fossils within a phylogenetic and functional framework based primarily on the comparative biology of living organisms. Analogy to currently observable chemical, physical and taphonomic processes enables palaeoenvironmental inferences to be drawn from geological data. In older rocks, comparisons with the modern Earth can become tenuous, limiting palaeontological interpretation. The problem reaches its apogee in Archaean successions, yet pursuit of multiple lines of evidence establishes that complex microbial communities, fuelled by autotrophy and, likely, photoautotrophy, existed 3500 million years ago. Although Archaean palaeontology has to date focused on silicified coastal sediments, improved understanding of Earth's earliest biosphere may depend on the development of alternative environmental and taphonomic analogies. Spring precipitates and hydrothermal metal deposits are promising candidates. Terrestrial organisms may be of limited value in interpreting such fossils as may be found on Mars, although some points of comparison could prove general. Given limited opportunities for exploration, proper choice of environmental analogy is critical. Spring precipitates constitute excellent deposits for addressing questions of biology on another planet.

NASA Discipline Exobiology↗

NASA NTRS2011

March 2011 Physical Indicators Workshop Summary Report

The National Climate Assessment (NCA) convened a workshop on Physical Climate Indicators from 29-30 March 2011, as part of a series on Monitoring Climate Change and its Impacts . The overarching goal of this workshop was to identify a few broad categories of potential physical climate indicators using a set of priorities developed by the NCA, and to provide a clear justification for how they would inform the Nation about climate change. Additional goals included providing input on the overall NCA framework for selecting the indicators and suggesting methodologies to construct indicators. Although one of the workshop goals was to address the status of current observational networks to support indicators, this was not a main focus of any single discussion. However, participants agreed with the NCA indicator vision that high quality data were needed to develop indicators, and generally focused on identifying indicator categories that current observation systems could support. The nearly 60 participants, primarily from Federal agencies, received a white paper in advance of the workshop that detailed the NCA vision for a coordinated suite of climate-related physical, ecological, and societal indicators. The intent of these national indicators of change is to develop a way to evaluate and communicate over time both the rate of change in impacts and the capacity to respond to climate drivers. These indicators will be tracked as a part of ongoing, long-term assessment activities, with adjustments as necessary to adapt to changing conditions and understanding. An initial framework was provided to workshop participants to ensure that everyone understood the audience, scope, and purpose of the indicators. A common lexicon was defined since indicator terminology varies widely. In addition, several potential approaches to grouping or categorizing the indicators were presented. Participants spent most of their time in small breakout groups with facilitators, working to address a common set of questions. The workshop was structured to start with the broadest issue and then focus down as the workshop progressed. The first breakout therefore solicited comments on the NCA indicator framework, followed by discussion of the potential approaches to organizing the physical climate indicators. Once several approaches were identified, the groups then worked to define specific measurements, or types of measurements, that could be used to create the indicators.

Roberts, Brent↗

NASA NTRS1998

Control of the NASA Langley 16-Foot Transonic Tunnel with the Self-Organizing Feature Map

A predictive, multiple model control strategy is developed based on an ensemble of local linear models of the nonlinear system dynamics for a transonic wind tunnel. The local linear models are estimated directly from the weights of a Self Organizing Feature Map (SOFM). Local linear modeling of nonlinear autonomous systems with the SOFM is extended to a control framework where the modeled system is nonautonomous, driven by an exogenous input. This extension to a control framework is based on the consideration of a finite number of subregions in the control space. Multiple self organizing feature maps collectively model the global response of the wind tunnel to a finite set of representative prototype controls. These prototype controls partition the control space and incorporate experimental knowledge gained from decades of operation. Each SOFM models the combination of the tunnel with one of the representative controls, over the entire range of operation. The SOFM based linear models are used to predict the tunnel response to a larger family of control sequences which are clustered on the representative prototypes. The control sequence which corresponds to the prediction that best satisfies the requirements on the system output is applied as the external driving signal. Each SOFM provides a codebook representation of the tunnel dynamics corresponding to a prototype control. Different dynamic regimes are organized into topological neighborhoods where the adjacent entries in the codebook represent the minimization of a similarity metric which is the essence of the self organizing feature of the map. Thus, the SOFM is additionally employed to identify the local dynamical regime, and consequently implements a switching scheme than selects the best available model for the applied control. Experimental results of controlling the wind tunnel, with the proposed method, during operational runs where strict research requirements on the control of the Mach number were met, are presented. Comparison to similar runs under the same conditions with the tunnel controlled by either the existing controller or an expert operator indicate the superiority of the method.

Motter, Mark A.↗

NASA NTRS2002

The origin and evolution of model organisms

The phylogeny and timescale of life are becoming better understood as the analysis of genomic data from model organisms continues to grow. As a result, discoveries are being made about the early history of life and the origin and development of complex multicellular life. This emerging comparative framework and the emphasis on historical patterns is helping to bridge barriers among organism-based research communities.

Review, Academic↗

NASA NTRS1992

The experience factory: Can it make you a 5? or what is its relationship to other quality and improvement concepts?

The concepts of quality improvements have permeated many businesses. It is clear that the nineties will be the quality era for software and there is a growing need to develop or adapt quality improvement approaches to the software business. Thus we must understand software as an artifact and software as a business. Since the business we are dealing with is software, we must understand the nature of software and software development. The software discipline is evolutionary and experimental; it is a laboratory science. Software is development not production. The technologies of the discipline are human based. There is a lack of models that allow us to reason about the process and the product. All software is not the same; process is a variable, goals are variable, etc. Packaged, reusable, experiences require additional resources in the form of organization, processes, people, etc. There have been a variety of organizational frameworks proposed to improve quality for various businesses. The ones discussed in this presentation include: Plan-Do-Check-Act, a quality improvement process based upon a feedback cycle for optimizing a single process model/production line; the Experience Factory/Quality Improvement Paradigm, continuous improvements through the experimentation, packaging, and reuse of experiences based upon a business's needs; Total Quality Management, a management approach to long term success through customer satisfaction based on the participation of all members of an organization; the SEI capability maturity model, a staged process improvement based upon assessment with regard to a set of key process areas until you reach a level 5 which represents a continuous process improvement; and Lean (software) Development, a principle supporting the concentration of the production on 'value added' activities and the elimination of reduction of 'not value added' activities.

Basili, Victor R.↗

NASA NTRS2000

Predictive Multiple Model Switching Control with the Self-Organizing Map

A predictive, multiple model control strategy is developed by extension of self-organizing map (SOM) local dynamic modeling of nonlinear autonomous systems to a control framework. Multiple SOMs collectively model the global response of a nonautonomous system to a finite set of representative prototype controls. Each SOM provides a codebook representation of the dynamics corresponding to a prototype control. Different dynamic regimes are organized into topological neighborhoods where the adjacent entries in the codebook represent the global minimization of a similarity metric. The SOM is additionally employed to identify the local dynamical regime, and consequently implements a switching scheme that selects the best available model for the applied control. SOM based linear models are used to predict the response to a larger family of control sequences which are clustered on the representative prototypes. The control sequence which corresponds to the prediction that best satisfies the requirements on the system output is applied as the external driving signal.

Motter, Mark A.↗

NASA NTRS2011

Improved Hypoxia Modeling for Nutrient Control Decisions in the Gulf of Mexico

The Gulf of Mexico Modeling Framework is a suite of coupled models linking the deposition and transport of sediment and nutrients to subsequent bio-geo chemical processes and the resulting effect on concentrations of dissolved oxygen in the coastal waters of Louisiana and Texas. Here, we examine the potential benefits of using multiple NASA remote sensing data products within this Modeling Framework for increasing the accuracy of the models and their utility for nutrient control decisions in the Gulf of Mexico. Our approach is divided into three components: evaluation and improvement of (a) the precipitation input data (b) atmospheric constituent concentrations in EPA's air quality/deposition model and (c) the calculation of algal biomass, organic carbon and suspended solids within the water quality/eutrophication models of the framework.

Habib, Shahid↗

NASA NTRS1979

Adaptable structural synthesis using advanced analysis and optimization coupled by a computer operating system

A finite element program is linked with a general purpose optimization program in a 'programing system' which includes user supplied codes that contain problem dependent formulations of the design variables, objective function and constraints. The result is a system adaptable to a wide spectrum of structural optimization problems. In a sample of numerical examples, the design variables are the cross-sectional dimensions and the parameters of overall shape geometry, constraints are applied to stresses, displacements, buckling and vibration characteristics, and structural mass is the objective function. Thin-walled, built-up structures and frameworks are included in the sample. Details of the system organization and characteristics of the component programs are given.

Sobieszczanski-Sobieski, J.↗

NASA NTRS2003

Observations and Simulations on the M-I Coupling of Bursty Convection

This final report summarizes the development and application of the first ever method to measure a proxy of the global merging along the solar wind-Earth separatrix. The ultimate aim of the project is to quantify the reconnection potential in the magnetotail and the fraction of it that is due to bursty bulk flows (BBFs). To achieve this goal, we developed the first method that allows the measurement of the distribution of reconnection rate along the polar cap boundary. The method was then applied to substorms and steady magnetospheric convection (labeled as SMC or convection bay) periods in order to quantify the strength of reconnection and the fraction of it that is contributed by BBFs in each case. Results of this research were reported in two manuscripts submitted to the Journal of Geophysical Research and presented at three international conferences. This report is organized as follows. In Section 2 we discuss the conceptual framework that is the foundation of the method. In Section 3 we describe the details of the method. In Section 4 we describe the application of the technique to substorms and SMCs. In Section 5 we summarize the results of this investigation and provide references to the manuscripts and conference presentations that report on the results of this project.

Sanchez, Ennio R.↗

NASA NTRS2003

Archetypes for Organisational Safety

We propose a framework using system dynamics to model the dynamic behavior of organizations in accident analysis. Most current accident analysis techniques are event-based and do not adequately capture the dynamic complexity and non-linear interactions that characterize accidents in complex systems. In this paper we propose a set of system safety archetypes that model common safety culture flaws in organizations, i.e., the dynamic behaviour of organizations that often leads to accidents. As accident analysis and investigation tools, the archetypes can be used to develop dynamic models that describe the systemic and organizational factors contributing to the accident. The archetypes help clarify why safety-related decisions do not always result in the desired behavior, and how independent decisions in different parts of the organization can combine to impact safety.

Marais, Karen↗