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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Bajracharya, Max↗
NASA NTRS2011

Collaborative Supervised Learning for Sensor Networks

Collaboration methods for distributed machine-learning algorithms involve the specification of communication protocols for the learners, which can query other learners and/or broadcast their findings preemptively. Each learner incorporates information from its neighbors into its own training set, and they are thereby able to bootstrap each other to higher performance. Each learner resides at a different node in the sensor network and makes observations (collects data) independently of the other learners. After being seeded with an initial labeled training set, each learner proceeds to learn in an iterative fashion. New data is collected and classified. The learner can then either broadcast its most confident classifications for use by other learners, or can query neighbors for their classifications of its least confident items. As such, collaborative learning combines elements of both passive (broadcast) and active (query) learning. It also uses ideas from ensemble learning to combine the multiple responses to a given query into a single useful label. This approach has been evaluated against current non-collaborative alternatives, including training a single classifier and deploying it at all nodes with no further learning possible, and permitting learners to learn from their own most confident judgments, absent interaction with their neighbors. On several data sets, it has been consistently found that active collaboration is the best strategy for a distributed learner network. The main advantages include the ability for learning to take place autonomously by collaboration rather than by requiring intervention from an oracle (usually human), and also the ability to learn in a distributed environment, permitting decisions to be made in situ and to yield faster response time.

Wagstaff, Kiri L.↗
NASA NTRSDate not supplied

Deploying a Self-Supervised Learning Based Model to Search Events Across Space and Time

Motivation - Scientific Study of natural events, phenomena, or disasters require examples which span across time and space. - Machine Learning adaptation is on the rise, but there’s a lack of labeled training datasets that could be used to train or validate the models. - Best case scenario: - There’s an event database that tracks events available through time and space. - Provides all data associated with the events. - Real life scenario: - Some events are better tracked than others. - Scientists need to spend significant time identifying and gathering examples of events from different sources.

Iksha Gurung↗
NASA NTRSDate not supplied

Prediction of Aircraft Estimated Time of Arrival Using A Supervised Learning Approach

We present a novel data-driven approach for prediction of the estimated time of arrival (ETA) of aircraft in the terminal area via the implementation of a Random Forest regression model. The model uses data fused from a number of sources (flight track, weather, flight plan information, etc.) and provides predictions for the remaining flight time for aircraft landing at Dallas/Fort Worth (DFW) International Airport. The predictions are made when the aircraft is at a distance of 200-miles from the airport. The results show that the model is able to predict estimated time of arrival to within ± 5 min for 90% of the flights in the test data with the mean absolute error being lower at 145 seconds. This paper covers the entire pipeline of data collection, preprocessing, setup and training of the ML model, and the results obtained for DFW.

Machine learning↗
DOE OSTI2022

Shifting Left for Machine Learning: An Empirical Study of Security Weaknesses in Supervised Learning-based Projects

Context: Supervised learning-based projects (SLPs), i.e., software projects that use supervised learning algorithms, such as decision trees are useful for performing classification-related tasks. Yet, security weaknesses, such as the use of hard-coded passwords in SLPs, can make SLPs susceptible to security attacks. A characterization of security weaknesses in SLPs can help practitioners understand the security weaknesses that are frequent in SLPs and adopt adequate mitigation strategies. Objective: The goal of this paper is to help practitioners se-curely develop supervised learning-based projects by conducting an empirical study of security weaknesses in supervised learning-based projects. Methodology: We conduct an empirical study by quantifying the frequency of security weaknesses in 278 open source SLPs. Results: We identify 22 types of security weaknesses that occur in SLPs. We observe ‘use of potentially dangerous function’ to be the most frequently occurring security weakness in SLPs. Of the identified 3,964 security weaknesses, 23.79 % and 40.49 % respectively, appear for source code files used to train and test models. We also observe evidence of co-location, e.g., instances of command injection co-locates with instances of potentially dangerous function. Conclusion: Based on our findings, we advocate for a shift left approach for SLP development with security-focused code reviews, and application of security static analysis.

Bhuiyan, Farzana Ahamed↗
DOE OSTI2018

Error-Bounded Graph Construction for Semi-supervised Manifold Learning

Graphs are commonly used in semi-supervised learning to represent a manifold on which the data reside in a high-dimensional ambient space. The graph can then be utilized in different ways, typically via the Laplacian of the graph, in order to leverage associations among the unlabeled data to improve learning. One common way to leverage the graph Laplacian is as a regularization term, where models that would disagree with the graph are penalized. More often the spectrum of the graph Laplacian is used to find a lower dimensional embedding in which neighboring relations encoded via the graph are preserved. Most manifold-based methods of semi-supervised learning depend upon geometric structure in the ambient feature space in order to construct a graph whose edges encode similarity that should be useful in selecting a model. A critical assumption is that some standard measure of similarity applied to the ambient space can be used to construct a graph that is error-free or of low error, meaning that examples (i.e., vertices) from distinct classes are not connected. However, this assumption often precludes the use of such methods in noisy or complex feature spaces, even though such spaces often arise in problems that can most benefit from structure that might be uncovered within the unlabeled data. This paper presents a method of graph construction for manifold-based semi-supervised learning that respects the manifold assumptions underlying these methods and bounds the error on the graph itself, which then permits bounds on the overall generalization error of the learning algorithms without relying on assumptions that do not hold in many modern problem domains.

Symons, Christopher T↗
DOE OSTI2011

Multi-View Budgeted Learning under Label and Feature Constraints Using Label-Guided Graph-Based Regularization

Budgeted learning under constraints on both the amount of labeled information and the availability of features at test time pertains to a large number of real world problems. Ideas from multi-view learning, semi-supervised learning, and even active learning have applicability, but a common framework whose assumptions fit these problem spaces is non-trivial to construct. We leverage ideas from these fields based on graph regularizers to construct a robust framework for learning from labeled and unlabeled samples in multiple views that are non-independent and include features that are inaccessible at the time the model would need to be applied. We describe examples of applications that fit this scenario, and we provide experimental results to demonstrate the effectiveness of knowledge carryover from training-only views. As learning algorithms are applied to more complex applications, relevant information can be found in a wider variety of forms, and the relationships between these information sources are often quite complex. The assumptions that underlie most learning algorithms do not readily or realistically permit the incorporation of many of the data sources that are available, despite an implicit understanding that useful information exists in these sources. When multiple information sources are available, they are often partially redundant, highly interdependent, and contain noise as well as other information that is irrelevant to the problem under study. In this paper, we are focused on a framework whose assumptions match this reality, as well as the reality that labeled information is usually sparse. Most significantly, we are interested in a framework that can also leverage information in scenarios where many features that would be useful for learning a model are not available when the resulting model will be applied. As with constraints on labels, there are many practical limitations on the acquisition of potentially useful features. A key difference in the case of feature acquisition is that the same constraints often don't pertain to the training samples. This difference provides an opportunity to allow features that are impractical in an applied setting to nevertheless add value during the model-building process. Unfortunately, there are few machine learning frameworks built on assumptions that allow effective utilization of features that are only available at training time. In this paper we formulate a knowledge carryover framework for the budgeted learning scenario with constraints on features and labels. The approach is based on multi-view and semi-supervised learning methods that use graph-encoded regularization. Our main contributions are the following: (1) we propose and provide justification for a methodology for ensuring that changes in the graph regularizer using alternate views are performed in a manner that is target-concept specific, allowing value to be obtained from noisy views; and (2) we demonstrate how this general set-up can be used to effectively improve models by leveraging features unavailable at test time. The rest of the paper is structured as follows. In Section 2, we outline real-world problems to motivate the approach and describe relevant prior work. Section 3 describes the graph construction process and the learning methodologies that are employed. Section 4 provides preliminary discussion regarding theoretical motivation for the method. In Section 5, effectiveness of the approach is demonstrated in a series of experiments employing modified versions of two well-known semi-supervised learning algorithms. Section 6 concludes the paper.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRSDate not supplied

Cislunar Trajectory Design and Maneuver Autonomy for NASA's Moon to Mars Architecture

NASA’s Moon to Mars architecture is an ambitious roadmap of manned cislunar and deep space exploration. The extensive amount of orbital assets required will place a significant burden on ground-based resources, such as communication networks and operations facilities. Spacecraft autonomy is essential for maintaining a vast number of complex missions beyond Earth orbit. To achieve full autonomy, spacecraft must be able to employ methods of robust maneuver design without an explicit dependence on commands sent from the ground. This level of autonomy is needed not only for stationkeeping, but also for outbound transfers. To address the need of spacecraft maneuver design autonomy, this work investigates the use of neural networks (NNs) in a supervised learning environment. A supervised learning approach for NNs allows for a curated training data set, consisting exclusively of perturbations applied to a desired mission concept of operations (ConOps). The proposed approach allows humans on the ground to design a specific mission ConOps before flight, then employ NNs to fly the mission robustly and autonomously. This investigation numerically tests maneuver autonomy in four highly sensitive regions of flight: orbit raising, translunar injection burns, powered lunar flybys, and invariant manifold insertion burns. These straining cases are contextualized by testing them in a demonstration mission, targeting an Earth-Moon L3 orbit. The study first establishes feasibility by automating impulsive burn maneuvers. However, some guidance algorithms will need more intensive commands, such as inertial pointing and angular rates. To validate this method, NN maneuver autonomy is applied to a finite burn model of the demonstration mission. The use of sequential, mission specific maneuvers provide an appropriate testbed to demonstrate the robustness of a NN trained on feasible perturbed states. Moreover, these scenarios provide preliminary proof-of-concept for fully autonomous missions that execute maneuvers without dependence upon explicit command uplinks. As a result, the technological advancement proposed in this work may significantly ease the strain on ground-based mission operations. This would enable complex and autonomous mission execution in cislunar and deep space regimes, filling a technology gap required to support future manned missions.

NASA↗