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At least 19 records

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NASA NTRS1993

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.↗

NASA NTRS1995

Is walking a random walk? Evidence for long-range correlations in stride interval of human gait

Complex fluctuation of unknown origin appear in the normal gait pattern. These fluctuations might be described as being (1) uncorrelated white noise, (2) short-range correlations, or (3) long-range correlations with power-law scaling. To test these possibilities, the stride interval of 10 healthy young men was measured as they walked for 9 min at their usual rate. From these time series we calculated scaling indexes by using a modified random walk analysis and power spectral analysis. Both indexes indicated the presence of long-range self-similar correlations extending over hundreds of steps; the stride interval at any time depended on the stride interval at remote previous times, and this dependence decayed in a scale-free (fractallike) power-law fashion. These scaling indexes were significantly different from those obtained after random shuffling of the original time series, indicating the importance of the sequential ordering of the stride interval. We demonstrate that conventional models of gait generation fail to reproduce the observed scaling behavior and introduce a new type of central pattern generator model that sucessfully accounts for the experimentally observed long-range correlations.

Hausdorff, Jeffrey M.↗

NASA NTRS2005

Humanoid Locomotion: An Experimental Study on Signal Processing and Dynamic Approaches to Humanoid Walk Generation

It is hoped that one day robots will assist in lunar and Martian surface exploration by constructing facilities before their human counterparts arrive; robots with a human form-factor may be desirable since they can potentially use the same set of tools designed for humans. With the goal in mind, locomotion may be one of the biggest challenges for a humanoid sine the terrain is most likely uneven and varying. An adjustable walk has been developed for the HOAP-2 robot by gathering motor data from a preprogrammed fixed walk and using signal processing techniques. The result is a basic walk pattern adjustable in the frequency domain that can be used as a central pattern generator (CPG) in which the robot can modify using sensor feedback. Ultimately, the feedback can be applied to have the humanoid walk on various terrains, slopes, and avoid obstacles.

Gan, Quan↗

NASA NTRS2004

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Colombano, Silvano↗

NASA NTRS1992

Albedo patterns and gypsum generation in the central Namib Desert - Land, sea and air interactions on an arid West Coast

In the central Namib Desert, dune-free surfaces are separated abruptly from a sea of yellow and red sand dunes at the Kuiseb River canyon. The off-white hues of the dune-free area result from anomalously high surficial gypsum enrichment. Satellite imagery indicates that the gypsum surfaces are associated with lower surface maximum temperatures than those of the darker dune surfaces to the south. One of various sources of sulfate for the gypsum bodies is oceanic H2S, supplied to desert land-surfaces by regular fog incursions. Since fog events are widespread along the coast, the question of anomalous gypsum accumulations north of the dune sea arises. Satellite imagery, in conjunction with more detailed handheld photography from the space shuttle, indicates that the penetration of fog inland is significantly greater over the gypsum surfaces than it is over the dunes. It is postulated that the thermal gradient between these surfaces generates a heat low centered over the northern part of dune sea and that this enhances fog and H2S advection on its north side onto the nearby dune-free zone. In such a system, gypsum/caliche surfaces reinforce advection of fog over themselves in a positive feedback mode.

Wilkinson, M. J.↗

NASA NTRS1981

Geodynamics of Cenozoic deformation in central Asia

This paper presents a study of the tectonic stresses in central Asia based on an interpretation of satellite gravity data for mantle convection and supplemented with published fault plane solutions of earthquakes. Northwest-southeast to north-south compressional stresses exist in the Tien Shan region where reverse faulting dominates. The maximum compressive stress is oriented approximately northeast-southwest in the regions of Altai and southern Mongolia. Farther north, compressive stress gives way to tensional stress which causes normal faulting in the Baikal rift system. It is also shown that all of the tectonic stresses in the Tibetan plateau and Himalayan frontal thrust are related to the convection-generated stress patterns inferred from satellite gravity data. These results suggest that the complex crustal deformation in central Asia can be convincingly described by the deformation of the lithosphere on top of the up- and down-welling asthenospheric material beneath it. This observational fact may not only upset the simple view of the fluid crustal model of the Tibetan plateau, but also provide some useful constraints for the future development of deformation theory of continental crust.

Liu, H.-S.↗

NASA NTRS2003

Genetic control of Drosophila nerve cord development

The Drosophila ventral nerve cord has been a central model system for studying the molecular genetic mechanisms that control CNS development. Studies show that the generation of neural diversity is a multistep process initiated by the patterning and segmentation of the neuroectoderm. These events act together with the process of lateral inhibition to generate precursor cells (neuroblasts) with specific identities, distinguished by the expression of unique combinations of regulatory genes. The expression of these genes in a given neuroblast restricts the fate of its progeny, by activating specific combinations of downstream genes. These genes in turn specify the identity of any given postmitotic cell, which is evident by its cellular morphology and choice of neurotransmitter.

Review↗

NASA NTRS2005

GLACE: The Global Land-Atmosphere Coupling Experiment: Overview - Part 1

GLACE is a model intercomparison study focusing on a typically neglected yet critical element of numerical weather and climate modeling: land-atmosphere coupling strength, or the degree to which anomalies in land surface state (e.g., soil moisture) can affect rainfall generation and other atmospheric processes. The twelve AGCM groups participating in GLACE performed a series of simple numerical experiments that allow the objective quantification of this element. The derived coupling strengths vary widely. Some similarity, however, is found in the spatial patterns generated by the models, enough similarity to pinpoint multi-model "hot spots" of land-atmosphere coupling. For boreal summer, such hot spots for precipitation and temperature are found over large regions of Africa, central North America and India; a hot spot for temperature is also found over eastern China. The design of the GLACE simulations are described in full detail so that any interested modeling group can repeat them easily and thereby place their model s coupling strength within the broad range of those documented here.

Koster, Randal D.↗

NASA NTRS2011

Influence of Fault-Controlled Topography on Fluvio-Deltaic Sedimentary Systems in Eberswalde Crater, Mars

Eberswalde crater was selected as a candidate landing site for the Mars Science Laboratory (MSL) mission based on the presence of a fan-shaped sedimentary deposit interpreted as a delta. We have identified and mapped five other candidate fluvio -deltaic systems in the crater, using images and digital terrain models (DTMs) derived from the Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) and Context Camera (CTX). All of these systems consist of the same three stratigraphic units: (1) an upper layered unit, conformable with (2) a subpolygonally fractured unit, unconformably overlying (3) a pitted unit. We have also mapped a system of NNE-trending scarps interpreted as dip-slip faults that pre-date the fluvial -lacustrine deposits. The post-impact regional faulting may have generated the large-scale topography within the crater, which consists of a Western Basin, an Eastern Basin, and a central high. This topography subsequently provided depositional sinks for sediment entering the crater and controlled the geomorphic pattern of delta development.

Rice, Melissa S.↗

NASA NTRS1999

Electric organ discharges and electric images during electrolocation

Weakly electric fish use active electrolocation - the generation and detection of electric currents - to explore their surroundings. Although electrosensory systems include some of the most extensively understood circuits in the vertebrate central nervous system, relatively little is known quantitatively about how fish electrolocate objects. We believe a prerequisite to understanding electrolocation and its underlying neural substrates is to quantify and visualize the peripheral electrosensory information measured by the electroreceptors. We have therefore focused on reconstructing both the electric organ discharges (EODs) and the electric images resulting from nearby objects and the fish's exploratory behaviors. Here, we review results from a combination of techniques, including field measurements, numerical and semi-analytical simulations, and video imaging of behaviors. EOD maps are presented and interpreted for six gymnotiform species. They reveal diverse electric field patterns that have significant implications for both the electrosensory and electromotor systems. Our simulations generated predictions of the electric images from nearby objects as well as sequences of electric images during exploratory behaviors. These methods are leading to the identification of image features and computational algorithms that could reliably encode electrosensory information and may help guide electrophysiological experiments exploring the neural basis of electrolocation.

Review, Tutorial↗

NASA NTRS2008

Spiking Neurons for Analysis of Patterns

Artificial neural networks comprising spiking neurons of a novel type have been conceived as improved pattern-analysis and pattern-recognition computational systems. These neurons are represented by a mathematical model denoted the state-variable model (SVM), which among other things, exploits a computational parallelism inherent in spiking-neuron geometry. Networks of SVM neurons offer advantages of speed and computational efficiency, relative to traditional artificial neural networks. The SVM also overcomes some of the limitations of prior spiking-neuron models. There are numerous potential pattern-recognition, tracking, and data-reduction (data preprocessing) applications for these SVM neural networks on Earth and in exploration of remote planets. Spiking neurons imitate biological neurons more closely than do the neurons of traditional artificial neural networks. A spiking neuron includes a central cell body (soma) surrounded by a tree-like interconnection network (dendrites). Spiking neurons are so named because they generate trains of output pulses (spikes) in response to inputs received from sensors or from other neurons. They gain their speed advantage over traditional neural networks by using the timing of individual spikes for computation, whereas traditional artificial neurons use averages of activity levels over time. Moreover, spiking neurons use the delays inherent in dendritic processing in order to efficiently encode the information content of incoming signals. Because traditional artificial neurons fail to capture this encoding, they have less processing capability, and so it is necessary to use more gates when implementing traditional artificial neurons in electronic circuitry. Such higher-order functions as dynamic tasking are effected by use of pools (collections) of spiking neurons interconnected by spike-transmitting fibers. The SVM includes adaptive thresholds and submodels of transport of ions (in imitation of such transport in biological neurons). These features enable the neurons to adapt their responses to high-rate inputs from sensors, and to adapt their firing thresholds to mitigate noise or effects of potential sensor failure. The mathematical derivation of the SVM starts from a prior model, known in the art as the point soma model, which captures all of the salient properties of neuronal response while keeping the computational cost low. The point-soma latency time is modified to be an exponentially decaying function of the strength of the applied potential. Choosing computational efficiency over biological fidelity, the dendrites surrounding a neuron are represented by simplified compartmental submodels and there are no dendritic spines. Updates to the dendritic potential, calcium-ion concentrations and conductances, and potassium-ion conductances are done by use of equations similar to those of the point soma. Diffusion processes in dendrites are modeled by averaging among nearest-neighbor compartments. Inputs to each of the dendritic compartments come from sensors. Alternatively or in addition, when an affected neuron is part of a pool, inputs can come from other spiking neurons. At present, SVM neural networks are implemented by computational simulation, using algorithms that encode the SVM and its submodels. However, it should be possible to implement these neural networks in hardware: The differential equations for the dendritic and cellular processes in the SVM model of spiking neurons map to equivalent circuits that can be implemented directly in analog very-large-scale integrated (VLSI) circuits.

Huntsberger, Terrance↗

NASA NTRS1987

Components of the ice age circulation

The effects of ice age boundary conditions on atmospheric dynamics and regional climate patterns are investigated using four GCM simulations. Particular consideration is given to sea surface temperature-sea ice distribution, the appearance of land ice, and the increased elevation of land ice. It is observed that the ice-age sea surface temperature stabilizes the atmosphere over the oceans, increases the frequency of storm tracking through central North America, and amplifies transient eddy energy without increasing baroclinic generation. It is detected that low-elevation ice generates low pressure over eastern North America and southern Europe in winter, while increasing cloud cover and cooling the land in summer. Elevation of the ice sheets cools the land in winter, further intensifies storms off northeastern North America, induces subsidence warming downstream of the European ice sheets in summer, and increases the transient and stationary eddy energy through increased baroclinicity.

Rind, D.↗

NASA NTRS1998

Central Renin Injections: Effects on Drinking and Expression of Immediate Early Genes

This study investigated the drinking response and the expression of Fos- and Egr-1-immunoreactivity (Fos-ir, Egr-1-ir) in the brain induced by endogenous angiotensin generated by intracerebroventricular (i.c.v.) injection of renin. Renin induced Fos-ir in the subformical organ (SFO), median preoptic (MnPO), supraoptic and paraventricular nuclei (SON and PVN), area postrema (AP), nuclei of the solitary tract (NTS) and lateral parabrachial nuclei (LPBN). Renin-induced Egr-1-ir exhibited a similar pattern of distribution as that observed for Fos-ir. The dose of i.c.v. renin that induced expression of immediate early gene (IEG) product immunoreactivity also produced vigorous drinking. When renin-injected rats were pretreated with captopril, an angiotensin converting enzyme inhibitor, drinking was blocked. With the same captopril pretreatment, both Fos- and Egr-1-ir in the SFO, MnPO, SON, PVN, AP and LPBN were also significantly reduced.

Xu, Zhice↗

NASA NTRS1977

Remote sensing exploration for metallic mineral resources in central Baja California

Remote sensor data (primarily LANDSAT) was analyzed by photogeologic and computer-assisted enhancement techniques to evaluate the metallic mineral potential of Baja California. Overlays were prepared at 1:1,000,000 and 1:500,000 and included known geologic relationships and mineral occurrences, lineament, drainage and structural patterns, tonal anomalies, and enhancement results. Computer-assisted enhancement and classification of the test sites was performed using the IMAGE 100 system to identify subtle tonal anomalies thought related to mineralization using known sites as analysis guides. Mineral potential maps of Baja California were generated from these analyses and the ten highest priority targets visited. Preliminary assay results (atomic absorption analysis) for the samples recovered showed moderate to high geochemical anomalies for Copper (10 of 12 samples), Zinc (3 of 12 samples) and Lead (4 of 12 samples).

Baker, R. N.↗

NASA NTRS1982

Spatially Characterizing Effective Timber Supply

The structure of a computer-oriented cartographic model for assessing roundwood supply for generation of base load electricity is discussed. The model provides an analytical procedure for coupling spatial information of harvesting economics and owner willingness to sell stumpages. Supply is characterized in terms of standing timber; of accessibility considering various harvesting and hauling factors; and of availability as affected by ownership and residential patterns. Factors governing accessibility to timber include effective harvesting distance to haulic roads as modified by barriers and slopes. Haul distance is expressed in units that take into account the relative ease of travel along various road types to a central processing facility. Areas of accessible timber are grouped into spatial units, termed 'timbersheds', of common access to particular haul road segments that belong to unique 'transport zones'. Timber availability considerations include size of ownership parcels, housing density and excluded areas. The analysis techniques are demonstrated for a cartographic data base in western Massachusetts.

Berry, J. K.↗

NASA NTRS2008

Forecasting Cool Season Daily Peak Winds at Kennedy Space Center and Cape Canaveral Air Force Station

The expected peak wind speed for the day is an important element in the daily 24-Hour and Weekly Planning Forecasts issued by the 45th Weather Squadron (45 WS) for planning operations at Kennedy Space Center (KSC) and Cape Canaveral Air Force Station (CCAFS). The morning outlook for peak speeds also begins the warning decision process for gusts ^ 35 kt, ^ 50 kt, and ^ 60 kt from the surface to 300 ft. The 45 WS forecasters have indicated that peak wind speeds are a challenging parameter to forecast during the cool season (October-April). The 45 WS requested that the Applied Meteorology Unit (AMU) develop a tool to help them forecast the speed and timing of the daily peak and average wind, from the surface to 300 ft on KSC/CCAFS during the cool season. The tool must only use data available by 1200 UTC to support the issue time of the Planning Forecasts. Based on observations from the KSC/CCAFS wind tower network, surface observations from the Shuttle Landing Facility (SLF), and CCAFS upper-air soundings from the cool season months of October 2002 to February 2007, the AMU created multiple linear regression equations to predict the timing and speed of the daily peak wind speed, as well as the background average wind speed. Several possible predictors were evaluated, including persistence, the temperature inversion depth, strength, and wind speed at the top of the inversion, wind gust factor (ratio of peak wind speed to average wind speed), synoptic weather pattern, occurrence of precipitation at the SLF, and strongest wind in the lowest 3000 ft, 4000 ft, or 5000 ft. Six synoptic patterns were identified: 1) surface high near or over FL, 2) surface high north or east of FL, 3) surface high south or west of FL, 4) surface front approaching FL, 5) surface front across central FL, and 6) surface front across south FL. The following six predictors were selected: 1) inversion depth, 2) inversion strength, 3) wind gust factor, 4) synoptic weather pattern, 5) occurrence of precipitation at the SLF, and 6) strongest wind in the lowest 3000 ft. The forecast tool was developed as a graphical user interface with Microsoft Excel to help the forecaster enter the variables, and run the appropriate regression equations. Based on the forecaster's input and regression equations, a forecast of the day's peak and average wind is generated and displayed. The application also outputs the probability that the peak wind speed will be ^ 35 kt, 50 kt, and 60 kt.

Barrett, Joe, III↗

NASA NTRS2000

Aspects of body self-calibration

The representation of body orientation and configuration is dependent on multiple sources of afferent and efferent information about ongoing and intended patterns of movement and posture. Under normal terrestrial conditions, we feel virtually weightless and we do not perceive the actual forces associated with movement and support of our body. It is during exposure to unusual forces and patterns of sensory feedback during locomotion that computations and mechanisms underlying the ongoing calibration of our body dimensions and movements are revealed. This review discusses the normal mechanisms of our position sense and calibration of our kinaesthetic, visual and auditory sensory systems, and then explores the adaptations that take place to transient Coriolis forces generated during passive body rotation. The latter are very rapid adaptations that allow body movements to become accurate again, even in the absence of visual feedback. Muscle spindle activity interpreted in relation to motor commands and internally modeled reafference is an important component in permitting this adaptation. During voluntary rotary movements of the body, the central nervous system automatically compensates for the Coriolis forces generated by limb movements. This allows accurate control to be maintained without our perceiving the forces generated.

NASA Discipline Neuroscience↗

NASA NTRS1996

A Geophysical Flow Experiment in a Compressible Critical Fluid

The first objective of this experiment is to build an experimental system in which, in analogy to a geophysical system, a compressible fluid in a spherical annulus becomes radially stratified in density through an A.C. electric field. When this density gradient is demonstrated, the system will be augmented so that the fluid can be driven by heating and rotation and tested in preparation for a microgravity experiment. This apparatus consists of a spherical capacitor filled with critical fluid in a temperature controlled environment. To make the fluid critical, the apparatus will be operated near the critical pressure, critical density, and critical temperature of the fluid. This will result in a highly compressible fluid because of the properties of the fluid near its critical point. A high voltage A.C. source applied across the capacitor will create a spherically symmetric central force because of the dielectric properties of the fluid in an electric field gradient. This central force will induce a spherically symmetric density gradient that is analogous to a geophysical fluid system. To generate such a density gradient the system must be small (approx. 1 inch diameter). This small cell will also be capable of driving the critical fluid by heating and rotation. Since a spherically symmetric density gradient can only be made in microgravity, another small cell, of the same geometry, will be built that uses incompressible fluid. The driving of the fluid by rotation and heating in these small cells will be developed. The resulting instabilities from the driving in these two systems will then be studied. The second objective is to study the pattern forming instabilities (bifurcations) resulting from the well controlled experimental conditions in the critical fluid cell. This experiment will come close to producing conditions that are geophysically similar and will be studied as the driving parameters are changed.

Hegseth, John↗