Science.gov

Sample records for autonomous microexplosives subsurface

  1. Micro-explosion of compound drops

    NASA Astrophysics Data System (ADS)

    Chen, Chun-Kuei; Lin, Ta-Hui

    2014-08-01

    Introducing water into spray combustion systems, by either water-in-oil emulsification or supplementary water injection, is one of the major techniques for combustion improvement and NOx reduction. Plentiful researches are available on combustion of water-in-oil emulsion fuel drops. The emulsified liquid is a heterogeneous mixture of immiscible liquids. One component forms the continuous phase and the other component forms the discrete phase. The discrete phase consists of globules of the one fluid that are suspended in the continuous phase fluid. Water-in-oil emulsions are commonly considered for combustion applications because emulsions can result in micro-explosion, thereby reducing the average drop diameter to enhance liquid vaporization, and suppressing the formation of soot and NOx. However, the water addition generally does not exceed about 20% for smooth engine operations[!, 21. The combustion characteristics and micro-explosion of emulsion drop were studied by many researchers. The micro-explosion of water in fuel emulsion drops was caused by very fast growth of superheated water vapor bubbles, its superheat limits must be lower than the boiling point temperature of the fuel. These bubbles were primarily governed by the pressure difference between the superheated vapor and the liquid, and by the inertia imparted to the liquid by the motion of the bubble surface[3 6 In this study, we used a coaxial nozzle to generation the multi-component drop. The different type of water-in-oil fuel drops called the compound drops. Unlike an emulsion drop, a compound drop consists of a water core and a fuel shell, which can originate from the phase separation of emulsion[7, 81 or a water drop colliding with a fuel drop[9, 101 Burning and micro-explosion of compound drops have been found to be distinct from those of emulsion drops[9-111 Wang et al.[9 , 101 studied the combustion characteristics of collision merged alkane-water drops. The merged drops appeared in adhesive and inserted manners. The drop ignition delay time increased with increasing water content. The average burning rate of alkane-water drops decreased with increasing water content. In the burning process, hexadecane-water drops exhibited flash vaporization or flame extinction. Heterogeneous explosion was occasionally observed in drops with trapped air bubbles. The air bubbles were assumed to be the nucleation points of the heterogeneous explosions. Chen and Lin[11 studied the characteristics of water-in-dodecane compound drop with different water content, diameter of drop and environmental oxygen concentration. The vaporization rate increased with increasing environmental oxygen concentration. The compound drops micro-exploded during the burning process in a random way. The number of micro-explosions was majorly influenced by drop diameter, followed by environmental oxygen concentration. Water content had a weaker effect on micro-explosion. As available literature and research results of compound drop burning are scarce, their combustion and micro-explosion behaviors are still poorly understood. In this regard, we changed the drop nature as compound drops to study their combustion characteristics and micro-explosion phenomena.

  2. Microexplosive Metallized Fuels for Energetic Materials

    NASA Astrophysics Data System (ADS)

    Terry, Brandon; Rubio, Mario; Gunduz, Ibrahim; Son, Steven

    2015-06-01

    Microexplosions have been widely investigated for multicomponent liquid fuels. This phenomenon is caused by internal bubble nucleation and growth from within a fuel droplet (i.e., intraparticle boiling), which induces droplet fragmentation. Microexplosive fuels are advantageous as they promote fuel atomization, which can reduce residence times, increase completeness of combustion, and reduce product agglomeration (if condensed phase products are formed). While this is well understood and utilized with liquid fuels, it has not been fully investigated for metallic fuel particles. Recent work has shown that mechanical activation of aluminum/polymer (inclusion) composites can also cause microexplosions, analogous to liquid emulsion fuels. Gases are produced when the polymer within the composite decomposes below the boiling point of aluminum, causing the composite particle to shatter into smaller particles. Here we show that fully metallic multicomponent fuels (e.g., Al-Li alloy) can also microexplode during combustion and compare this to inclusion composite ignition. Because the two components have a large disparity in boiling points, intraparticle boiling causes the particle to expand and eventually shatter the fuel particle, analogous to missive liquid fuels. National Defense Science and Engineering Graduate Fellowship, 32 CFR 168a; AFOSR MURI, Contract #FA9550-13-1-0004.

  3. Characterization of Microexplosion Phenomena of Methanol-Glycerol Mixtures 

    E-print Network

    Fan, Ge-Yi

    2014-07-17

    in an emulsified oil ? contact angle ?solid-gas surface tension between solid and gas (dyne/cm) ?solid-liquid surface tension between solid and liquid (dyne....9 Oleophobic Coating of the Acoustic Sensor Platinum Wire .................................. 32 5. RESULTS AND DISCUSSION .................................................................................. 37 5.1 Probability of Microexplosion Occurrence...

  4. Physics of puffing and microexplosion of emulsion fuel droplets

    NASA Astrophysics Data System (ADS)

    Shinjo, J.; Xia, J.; Ganippa, L. C.; Megaritis, A.

    2014-10-01

    The physics of water-in-oil emulsion droplet microexplosion/puffing has been investigated using high-fidelity interface-capturing simulation. Varying the dispersed-phase (water) sub-droplet size/location and the initiation location of explosive boiling (bubble formation), the droplet breakup processes have been well revealed. The bubble growth leads to local and partial breakup of the parent oil droplet, i.e., puffing. The water sub-droplet size and location determine the after-puffing dynamics. The boiling surface of the water sub-droplet is unstable and evolves further. Finally, the sub-droplet is wrapped by boiled water vapor and detaches itself from the parent oil droplet. When the water sub-droplet is small, the detachment is quick, and the oil droplet breakup is limited. When it is large and initially located toward the parent droplet center, the droplet breakup is more extensive. For microexplosion triggered by the simultaneous growth of multiple separate bubbles, each explosion is local and independent initially, but their mutual interactions occur at a later stage. The degree of breakup can be larger due to interactions among multiple explosions. These findings suggest that controlling microexplosion/puffing is possible in a fuel spray, if the emulsion-fuel blend and the ambient flow conditions such as heating are properly designed. The current study also gives us an insight into modeling the puffing and microexplosion of emulsion droplets and sprays.

  5. Subsurface observations of white shark Carcharodon carcharias predatory behaviour using an autonomous underwater vehicle.

    PubMed

    Skomal, G B; Hoyos-Padilla, E M; Kukulya, A; Stokey, R

    2015-12-01

    In this study, an autonomous underwater vehicle (AUV) was used to test this technology as a viable tool for directly observing the behaviour of marine animals and to investigate the behaviour, habitat use and feeding ecology of white sharks Carcharodon carcharias near Guadalupe Island off the coast of Mexico. During the period 31 October to 7 November 2013, six AUV missions were conducted to track one male and three female C. carcharias, ranging in estimated total length (LT ) from 3·9 to 5·7 m, off the north-east coast of Guadalupe Island. In doing so, the AUV generated over 13 h of behavioural data for C. carcharias at depths down to 90 m. The sharks remained in the area for the duration of each mission and moved through broad depth and temperature ranges from the surface to 163·8 m depth (mean ± s.d. = 112·5 ± 40·3 m) and 7·9-27·1° C (mean ± s.d. = 12·7 ± 2·9° C), respectively. Video footage and AUV sensor data revealed that two of the C. carcharias being tracked and eight other C. carcharias in the area approached (n = 17), bumped (n = 4) and bit (n = 9) the AUV during these tracks. This study demonstrated that an AUV can be used to effectively track and observe the behaviour of a large pelagic animal, C. carcharias. In doing so, the first observations of subsurface predatory behaviour were generated for this species. At its current state of development, this technology clearly offers a new and innovative tool for tracking the fine-scale behaviour of marine animals. PMID:26709209

  6. An Experimental Investigation of Microexplosion in Emulsified Vegetable-Methanol Blend 

    E-print Network

    Nam, Hyungseok

    2012-07-16

    in emulsions causes a high probability of microexplosion event due to the sudden expansion of the emulsified fluid. Also, the effect of size on microexplosion was evident in the greater probability of explosion. Methanol-in-canola oil emulsion with 15...

  7. Space-time energy concentration and the design of DT fusion micro-explosions

    SciTech Connect

    Sahlin, H.L.; Brandenburg, J.E.

    1980-03-01

    As part of the effort to employ a plasma focus as a driver for fusion micro-explosions, many target concepts were explored and extensive imposion calculations have been carried out. Some of the basic principles of micro-explosion design are presented.

  8. Evidence of superdense aluminium synthesized by ultrafast microexplosion

    PubMed Central

    Vailionis, Arturas; Gamaly, Eugene G.; Mizeikis, Vygantas; Yang, Wenge; Rode, Andrei V.; Juodkazis, Saulius

    2011-01-01

    At extreme pressures and temperatures, such as those inside planets and stars, common materials form new dense phases with compacted atomic arrangements and unusual physical properties. The synthesis and study of new phases of matter at pressures above 100 GPa and temperatures above 104 K—warm dense matter—may reveal the functional details of planet and star interiors, and may lead to materials with extraordinary properties. Many phases have been predicted theoretically that may be realized once appropriate formation conditions are found. Here we report the synthesis of a superdense stable phase of body-centred-cubic aluminium, predicted by first-principles theories to exist at pressures above 380 GPa. The superdense Al phase was synthesized in the non-equilibrium conditions of an ultrafast laser-induced microexplosion confined inside sapphire (?-Al2O3). Confined microexplosions offer a strategy to create and recover high-density polymorphs, and a simple method for tabletop study of warm dense matter. PMID:21863012

  9. Evidence of superdense aluminium synthesized by ultrafast microexplosion

    SciTech Connect

    Vailionis, Arturas; Gamaly, Eugene G.; Mizeikis, Vygantas; Yang, Wenge; Rode, Andrei V.; Juodkazis, Saulius

    2011-09-20

    At extreme pressures and temperatures, such as those inside planets and stars, common materials form new dense phases with compacted atomic arrangements and unusual physical properties. The synthesis and study of new phases of matter at pressures above 100 GPa and temperatures above 10{sup 4} K - warm dense matter - may reveal the functional details of planet and star interiors, and may lead to materials with extraordinary properties. Many phases have been predicted theoretically that may be realized once appropriate formation conditions are found. Here we report the synthesis of a superdense stable phase of body-centred-cubic aluminium, predicted by first-principles theories to exist at pressures above 380 GPa. The superdense Al phase was synthesized in the non-equilibrium conditions of an ultrafast laser-induced microexplosion confined inside sapphire ({alpha}-Al{sub 2}O{sub 3}). Confined microexplosions offer a strategy to create and recover high-density polymorphs, and a simple method for tabletop study of warm dense matter.

  10. Microexplosions initiated by a microwave capillary torch on a metal surface at atmospheric pressure

    NASA Astrophysics Data System (ADS)

    Gritsinin, S. I.; Davydov, A. M.; Kossyi, I. A.

    2015-07-01

    The interaction of the plasma of a microwave capillary argon torch with a metal surface was studied experimentally. It is shown that the interaction of the plasma jet generated by the capillary plasma torch with the metal in atmospheric-pressure air leads to the initiation of microexplosions (sparks) on the metal surface. As a result, the initially smooth surface acquires a relief in the form of microtips and microcraters. The possibility of practical application of the observed phenomenon is discussed.

  11. Linking catchment-scale subglacial discharge to subsurface glacially modified waters near the front of a marine terminating outlet glacier using an autonomous underwater vehicle

    NASA Astrophysics Data System (ADS)

    Stevens, L. A.; Straneo, F.; Das, S. B.; Plueddemann, A. J.; Kukulya, A. L.; Morlighem, M.

    2015-09-01

    Measurements of near-ice (< 200 m) hydrography and near-terminus subglacial hydrology are lacking due in large part to the difficulty in working at the margin of calving glaciers. Here we pair detailed hydrographic and bathymetric measurements collected with an Autonomous Underwater Vehicle as close as 150 m from the ice/ocean interface of the Sarqardliup sermia/Sarqardleq Fjord system, West Greenland, with modeled and observed subglacial discharge locations and magnitudes. We find evidence of two main types of subsurface glacially modified water localized in space and with distinct properties that are consistent with runoff discharged at two locations along the grounded margin. These locations, in turn, correspond with two prominent subglacial subcatchments beneath Sarqardliup sermia. Thus, near-ice observations and subglacial discharge routing indicate that subglacial discharge from this glacier occurs at only two primary locations and gives rise to two distinct glacially modified waters. Furthermore, we show that the location with the largest discharge flux is associated with the lighter, fresher glacially modified watermass. This is qualitatively consistent with results from an idealized plume model.

  12. Experimental evidence of new tetragonal polymorphs of silicon formed through ultrafast laser-induced confined microexplosion

    PubMed Central

    Rapp, L.; Haberl, B.; Pickard, C.J.; Bradby, J.E.; Gamaly, E.G.; Williams, J.S.; Rode, A.V.

    2015-01-01

    Ordinary materials can transform into novel phases at extraordinary high pressure and temperature. The recently developed method of ultrashort laser-induced confined microexplosions initiates a non-equilibrium disordered plasma state. Ultra-high quenching rates overcome kinetic barriers to the formation of new metastable phases, which are preserved in the surrounding pristine crystal for subsequent exploitation. Here we demonstrate that confined microexplosions in silicon produce several metastable end phases. Comparison with an ab initio random structure search reveals six energetically competitive potential phases, four tetragonal and two monoclinic structures. We show the presence of bt8 and st12, which have been predicted theoretically previously, but have not been observed in nature or in laboratory experiments. In addition, the presence of the as yet unidentified silicon phase, Si-VIII and two of our other predicted tetragonal phases are highly likely within laser-affected zones. These findings may pave the way for new materials with novel and exotic properties. PMID:26118985

  13. Warm dense matter at the bench-top: Fs-laser-induced confined micro-explosion

    SciTech Connect

    Gamaly, E.G.; Vailionis, A.; Mizeikis, V.; Yang, W.; Rode, A.V.; Juodkazis, S.

    2012-02-07

    We report the experimental evidence for creation of Warm Dense Matter (WDM) in ultrafast laser-induced micro-explosion inside a sapphire (Al{sub 2}O{sub 3}) crystal. We show that the WDM can be formed by a 100 nJ fs-pulse if the following conditions are satisfied: (1) the laser pulse is tightly focused to inside of the bulk of transparent material so the intensity at focus is two orders of magnitude higher than the optical breakdown threshold; (2) the pulse duration is shorter than the electron-ion energy exchange time; and, (3) the absorbed energy density is above the Young's modulus for the material studied. The empty void created inside a sapphire crystal surrounded by a shell of compressed material provides the direct evidence of the maximum pressure above the Young's modulus of sapphire ({approx}400 GPa). Synchrotron X-ray diffraction (XRD) analysis of the shell revealed the presence of novel super-dense bcc-Al crystalline phase predicted at pressures above {approx}380 GPa theoretically, which has never been observed experimentally before neither in nature in laboratory experiments. These results show that confined micro-explosion induced by tightly focused fs-laser inside a transparent solid opens new routes for synthesis of new materials and study of WDM at a laboratory bench-top.

  14. Autonomous and Autonomic Swarms

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

    2005-01-01

    A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

  15. Autonomic neuropathies

    NASA Technical Reports Server (NTRS)

    Low, P. A.

    1998-01-01

    A limited autonomic neuropathy may underlie some unusual clinical syndromes, including the postural tachycardia syndrome, pseudo-obstruction syndrome, heat intolerance, and perhaps chronic fatigue syndrome. Antibodies to autonomic structures are common in diabetes, but their specificity is unknown. The presence of autonomic failure worsens prognosis in the diabetic state. Some autonomic neuropathies are treatable. Familial amyloid polyneuropathy may respond to liver transplantation. There are anecdotal reports of acute panautonomic neuropathy responding to intravenous gamma globulin. Orthostatic hypotension may respond to erythropoietin or midodrine.

  16. Autonomous Martian flying rover

    NASA Technical Reports Server (NTRS)

    1990-01-01

    A remotely programmable, autonomous flying rover is proposed to extensively survey the Martian surface environment. A Mach .3, solar powered, modified flying wing could cover roughly a 2000 mile range during Martian daylight hours. Multiple craft launched from an orbiting mother ship could provide near-global coverage. Each craft is envisioned to fly at about 1 km above the surface and measure atmospheric composition, pressure and temperature, map surface topography, and remotely penetrate the near subsurface looking for water (ice) and perhaps evidence of life. Data collected are relayed to Earth via the orbiting mother ship. Near surface guidance and control capability is an adaptation of current cruise missile technology. A solar powered aircraft designed to fly in the low temperature, low density, carbon dioxide Martian atmosphere near the surface appears feasible.

  17. Autonomous Soaring

    NASA Technical Reports Server (NTRS)

    Lin, Victor P.

    2007-01-01

    This viewgraph presentation reviews the autonomous soaring flight of unmanned aerial vehicles (UAV). It reviews energy sources for UAVs, and two examples of UAV's that used alternative energy sources, and thermal currents for soaring. Examples of flight tests, plans, and results are given. Ultimately, the concept of a UAV harvesting energy from the atmosphere has been shown to be feasible with existing technology.

  18. Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering

    E-print Network

    Cooney, Lauren Alise

    2009-01-01

    The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of ...

  19. Autonomic dysreflexia

    PubMed Central

    Milligan, James; Lee, Joseph; McMillan, Colleen; Klassen, Hilary

    2012-01-01

    Abstract Objective To raise family physicians’ awareness of autonomic dysreflexia (AD) in patients with spinal cord injury (SCI) and to provide some suggestions for intervention. Sources of information MEDLINE was searched from 1970 to July 2011 using the terms autonomic dysreflexia and spinal cord injury with family medicine or primary care. Other relevant guidelines and resources were reviewed and used. Main message Family physicians often lack confidence in treating patients with SCI, see them as complex and time-consuming, and feel undertrained to meet their needs. Family physicians provide a vital component of the health care of such patients, and understanding of the unique medical conditions related to SCI is important. Autonomic dysreflexia is an important, common, and potentially serious condition with which many family physicians are unfamiliar. This article will review the signs and symptoms of AD and offer some acute management options and preventive strategies for family physicians. Conclusion Family physicians should be aware of which patients with SCI are susceptible to AD and monitor those affected by it. Outlined is an approach to acute management. Family physicians play a pivotal role in prevention of AD through education (of the patient and other health care providers) and incorporation of strategies such as appropriate bladder, bowel, and skin care practices and warnings and management plans in the medical chart. PMID:22893332

  20. Autonomous vehicles

    SciTech Connect

    Meyrowitz, A.L.; Blidberg, D.R.; Michelson, R.C.

    1996-08-01

    There are various kinds of autonomous vehicles (AV`s) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground, and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further, this paper deals with AV`s as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. The authors provide a survey of the technological progress that has been made in AV`s, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV`s depending on whether the focus is on vehicles underwater, on the ground, or in the air. The authors have separated the discussion into sections treating each of these categories.

  1. INL Autonomous Navigation System

    Energy Science and Technology Software Center (ESTSC)

    2005-03-30

    The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

  2. Dysréflexie autonome

    PubMed Central

    Milligan, James; Lee, Joseph; McMillan, Colleen; Klassen, Hilary

    2012-01-01

    Résumé Objectif Sensibiliser davantage les médecins de famille à la dysréflexie autonome (DA) chez les patients victimes d’une lésion médullaire (LM) et proposer certaines interventions. Sources de l’information On a fait une recension dans MEDLINE de 1970 à juillet 2011 à l’aide des expressions en anglais autonomic dysreflexia et spinal cord injury, ainsi que family medicine ou primary care. On a aussi passé en revue et utilisé d’autres ressources et guides de pratique pertinents. Message principal Il arrive souvent que les médecins de famille ne se sentent pas confiants de traiter des patients ayant une LM dont les problèmes sont complexes et exigent beaucoup de temps. Les médecins de famille ont l’impression de n’avoir pas la formation nécessaire pour répondre à leurs besoins. Pourtant, ils offrent une composante essentielle des soins à de tels patients et il est important qu’ils comprennent les problèmes médicaux particuliers aux LM. La dysréflexie autonome est un important et fréquent problème potentiellement sérieux que connaissent mal de nombreux médecins de famille. Cet article passe en revue les signes et les symptômes de la DA et présente certaines options de prise en charge aiguë, ainsi que des stratégies de prévention à l’intention des médecins de famille. Conclusion Les médecins de famille devraient savoir quels patients traumatisés médullaires sont susceptibles d’avoir une DA et surveiller ceux qui sont touchés par ce problème. Une explication est donnée dans cet article quant à l’approche à suivre pour la prise en charge aiguë. Les médecins de famille jouent un rôle essentiel dans la prévention de la DA, notamment par l’éducation (du patient et des autres professionnels de la santé) et la consignation dans le dossier médical de stratégies comme les soins appropriés de la vessie, de l’intestin et de la peau, d’avertissements et de plans de prise en charge.

  3. Ceramic subsurface marker prototypes

    SciTech Connect

    Lukens, C.E.

    1985-05-02

    The client submitted 5 sets of porcelain and stoneware subsurface (radioactive site) marker prototypes (31 markers each set). The following were determined: compressive strength, thermal shock resistance, thermal crazing resistance, alkali resistance, color retention, and chemical resistance.

  4. Electrical Subsurface Grounding Analysis

    SciTech Connect

    J.M. Calle

    2000-11-01

    The purpose and objective of this analysis is to determine the present grounding requirements of the Exploratory Studies Facility (ESF) subsurface electrical system and to verify that the actual grounding system and devices satisfy the requirements.

  5. Subsurface Microbiology and Biogeochemistry

    SciTech Connect

    Fredrickson, Jim K.; Fletcher, Madilyn

    2001-05-01

    Jim contributed a chapter to this book, in addition to co-editing it with Madilyn Fletcher. Fredrickson, J. K., and M. Fletcher. (eds.) 2001 Subsurface Microbiology and Biogeochemistry. Wiley-Liss, Inc., New York.

  6. Site Recommendation Subsurface Layout

    SciTech Connect

    C.L. Linden

    2000-06-28

    The purpose of this analysis is to develop a Subsurface Facility layout that is capable of accommodating the statutory capacity of 70,000 metric tons of uranium (MTU), as well as an option to expand the inventory capacity, if authorized, to 97,000 MTU. The layout configuration also requires a degree of flexibility to accommodate potential changes in site conditions or program requirements. The objective of this analysis is to provide a conceptual design of the Subsurface Facility sufficient to support the development of the Subsurface Facility System Description Document (CRWMS M&O 2000e) and the ''Emplacement Drift System Description Document'' (CRWMS M&O 2000i). As well, this analysis provides input to the Site Recommendation Consideration Report. The scope of this analysis includes: (1) Evaluation of the existing facilities and their integration into the Subsurface Facility design. (2) Identification and incorporation of factors influencing Subsurface Facility design, such as geological constraints, thermal loading, constructibility, subsurface ventilation, drainage control, radiological considerations, and the Test and Evaluation Facilities. (3) Development of a layout showing an available area in the primary area sufficient to support both the waste inventories and individual layouts showing the emplacement area required for 70,000 MTU and, if authorized, 97,000 MTU.

  7. AUTONOMOUS TIER-SCALABLE RECONNAISSANCE MISSIONS FOR REMOTE PLANETARY EXPLORATION

    E-print Network

    Arizona, University of

    AUTONOMOUS TIER-SCALABLE RECONNAISSANCE MISSIONS FOR REMOTE PLANETARY EXPLORATION Wolfgang Fink(1, York University, Canada, Email: arkose@rogers.com ABSTRACT A "tier-scalable" paradigm integrates multi-tier significance. A "tier-scalable" paradigm integrates multi-tier (orbitatmospheresurface/subsurface) and multi

  8. Subsurface Contamination Control

    SciTech Connect

    Y. Yuan

    2001-12-12

    There are two objectives of this report, ''Subsurface Contamination Control''. The first is to provide a technical basis for recommending limiting radioactive contamination levels (LRCL) on the external surfaces of waste packages (WP) for acceptance into the subsurface repository. The second is to provide an evaluation of the magnitude of potential releases from a defective WP and the detectability of the released contents. The technical basis for deriving LRCL has been established in ''Retrieval Equipment and Strategy for Wp on Pallet'' (CRWMS M and O 2000g, 6.3.1). This report updates the derivation by incorporating the latest design information of the subsurface repository for site recommendation. The derived LRCL on the external surface of WPs, therefore, supercede that described in CRWMS M and O 2000g. The derived LRCL represent the average concentrations of contamination on the external surfaces of each WP that must not be exceeded before the WP is to be transported to the subsurface facility for emplacement. The evaluation of potential releases is necessary to control the potential contamination of the subsurface repository and to detect prematurely failed WPs. The detection of failed WPs is required in order to provide reasonable assurance that the integrity of each WP is intact prior to MGR closure. An emplaced WP may become breached due to manufacturing defects or improper weld combined with failure to detect the defect, by corrosion, or by mechanical penetration due to accidents or rockfall conditions. The breached WP may release its gaseous and volatile radionuclide content to the subsurface environment and result in contaminating the subsurface facility. The scope of this analysis is limited to radioactive contaminants resulting from breached WPs during the preclosure period of the subsurface repository. This report: (1) documents a method for deriving LRCL on the external surfaces of WP for acceptance into the subsurface repository; (2) provides a table of derived LRCL for nuclides of radiological importance; (3) Provides an as low as is reasonably achievable (ALARA) evaluation of the derived LRCL by comparing potential onsite and offsite doses to documented ALARA requirements; (4) Provides a method for estimating potential releases from a defective WP; (5) Provides an evaluation of potential radioactive releases from a defective WP that may become airborne and result in contamination of the subsurface facility; and (6) Provides a preliminary analysis of the detectability of a potential WP leak to support the design of an airborne release monitoring system.

  9. Best Practice -- Subsurface Investigations

    SciTech Connect

    Clark Scott

    2010-03-01

    These best practices for Subsurface Survey processes were developed at the Idaho National Laboratory (INL) and later shared and formalized by a sub-committee, under the Electrical Safety Committee of EFCOG. The developed best practice is best characterized as a Tier II (enhanced) survey process for subsurface investigations. A result of this process has been an increase in the safety and lowering of overall cost, when utility hits and their related costs are factored in. The process involves improving the methodology and thoroughness of the survey and reporting processes; or improvement in tool use rather than in the tools themselves. It is hoped that the process described here can be implemented at other sites seeking to improve their Subsurface Investigation results with little upheaval to their existing system.

  10. The Serpentinite Subsurface Microbiome

    NASA Astrophysics Data System (ADS)

    Schrenk, M. O.; Nelson, B. Y.; Brazelton, W. J.

    2011-12-01

    Microbial habitats hosted in ultramafic rocks constitute substantial, globally-distributed portions of the subsurface biosphere, occurring both on the continents and beneath the seafloor. The aqueous alteration of ultramafics, in a process known as serpentinization, creates energy rich, high pH conditions, with low concentrations of inorganic carbon which place fundamental constraints upon microbial metabolism and physiology. Despite their importance, very few studies have attempted to directly access and quantify microbial activities and distributions in the serpentinite subsurface microbiome. We have initiated microbiological studies of subsurface seeps and rocks at three separate continental sites of serpentinization in Newfoundland, Italy, and California and compared these results to previous analyses of the Lost City field, near the Mid-Atlantic Ridge. In all cases, microbial cell densities in seep fluids are extremely low, ranging from approximately 100,000 to less than 1,000 cells per milliliter. Culture-independent analyses of 16S rRNA genes revealed low-diversity microbial communities related to Gram-positive Firmicutes and hydrogen-oxidizing bacteria. Interestingly, unlike Lost City, there has been little evidence for significant archaeal populations in the continental subsurface to date. Culturing studies at the sites yielded numerous alkaliphilic isolates on nutrient-rich agar and putative iron-reducing bacteria in anaerobic incubations, many of which are related to known alkaliphilic and subsurface isolates. Finally, metagenomic data reinforce the culturing results, indicating the presence of genes associated with organotrophy, hydrogen oxidation, and iron reduction in seep fluid samples. Our data provide insight into the lifestyles of serpentinite subsurface microbial populations and targets for future quantitative exploration using both biochemical and geochemical approaches.

  11. Mars penetrator: Subsurface science mission

    NASA Technical Reports Server (NTRS)

    Lumpkin, C. K.

    1974-01-01

    A penetrator system to emplace subsurface science on the planet Mars is described. The need for subsurface science is discussed, and the technologies for achieving successful atmospheric entry, Mars penetration, and data retrieval are presented.

  12. Subsurface "radar" camera

    NASA Technical Reports Server (NTRS)

    Jain, A.

    1977-01-01

    Long-wave length multiple-frequency radar is used for imaging and determining depth of subsurface stratified layers. Very-low frequency radar signals pinpoint below-ground strata via direct imagery techniques. Variation of frequency and scanning angle adjusts image depth and width.

  13. Tracking Subsurface Water

    USGS Multimedia Gallery

    Jeff Wynn, Herb Pierce and Chris Lockett (R to L) observe the incoming data used to measure water conductivity in the deep (900+ m) subsurface at Mount St. Helens. Water, from rain, melting snow and ice, seeps into the rubble of the crater floor. The water fills the pore spaces and interacts with st...

  14. Subsurface connection methods for subsurface heaters

    DOEpatents

    Vinegar, Harold J. (Bellaire, TX); Bass, Ronald Marshall (Houston, TX); Kim, Dong Sub (Sugar Land, TX); Mason, Stanley Leroy (Allen, TX); Stegemeier, George Leo (Houston, TX); Keltner, Thomas Joseph (Spring, TX); Carl, Jr., Frederick Gordon (Houston, TX)

    2010-12-28

    A system for heating a subsurface formation is described. The system includes a first elongated heater in a first opening in the formation. The first elongated heater includes an exposed metal section in a portion of the first opening. The portion is below a layer of the formation to be heated. The exposed metal section is exposed to the formation. A second elongated heater is in a second opening in the formation. The second opening connects to the first opening at or near the portion of the first opening below the layer to be heated. At least a portion of an exposed metal section of the second elongated heater is electrically coupled to at least a portion of the exposed metal section of the first elongated heater in the portion of the first opening below the layer to be heated.

  15. Autonomic Nervous System Disorders

    MedlinePLUS

    ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result of ... these disorders can be life-threatening. Some autonomic nervous system disorders get better when an underlying disease is treated. ...

  16. Autonomous Soaring Flight Results

    NASA Technical Reports Server (NTRS)

    Allen, Michael J.

    2006-01-01

    A viewgraph presentation on autonomous soaring flight results for Unmanned Aerial Vehicles (UAV)'s is shown. The topics include: 1) Background; 2) Thermal Soaring Flight Results; 3) Autonomous Dolphin Soaring; and 4) Future Plans.

  17. Radar sensor for an autonomous Antarctic explorer

    NASA Astrophysics Data System (ADS)

    Foessel, Alex; Apostolopoulos, Dimi; Whittaker, William L.

    1999-01-01

    The localization and identification of antarctic meteorites is a task of great scientific interest and with implications to planetary exploration. Autonomous search for antarctic meteorites presents a profound technical challenge. Ground Penetrating Radar (GPR) holds the prospect to safeguard antarctic robot from terrain dangers and detect subsurface objects. In January 1998, we validated a 500 MHz GPR sensor as part of a field robotic technology demonstration at Patriot Hills, Antarctica. We deployed the sensor from a sled and integrate with position and attitude instruments to perform field measurements. Data was acquired under different conditions and in multiple locations. The radar detected hidden crevasses from 50 cm. distance, thus showing its merit as a rover safeguarding device. It also localized 5 cm. rocks ins now and ice. Moreover, the radar data was used to characterize snow/ice/bedrock stratigraphy. GPR position measurements enabled ground truth and mapping of the location of hazards and interesting subsurface objects and features.

  18. Subsurface Ice Probe

    NASA Technical Reports Server (NTRS)

    Hecht, Michael; Carsey, Frank

    2005-01-01

    The subsurface ice probe (SIPR) is a proposed apparatus that would bore into ice to depths as great as hundreds of meters by melting the ice and pumping the samples of meltwater to the surface. Originally intended for use in exploration of subsurface ice on Mars and other remote planets, the SIPR could also be used on Earth as an alternative to coring, drilling, and melting apparatuses heretofore used to sample Arctic and Antarctic ice sheets. The SIPR would include an assembly of instrumentation and electronic control equipment at the surface, connected via a tether to a compact assembly of boring, sampling, and sensor equipment in the borehole (see figure). Placing as much equipment as possible at the surface would help to attain primary objectives of minimizing power consumption, sampling with high depth resolution, and unobstructed imaging of the borehole wall. To the degree to which these requirements would be satisfied, the SIPR would offer advantages over the aforementioned ice-probing systems.

  19. The autonomic laboratory

    NASA Technical Reports Server (NTRS)

    Low, P. A.; Opfer-Gehrking, T. L.

    1999-01-01

    The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

  20. Subsurface contaminants focus area

    SciTech Connect

    1996-08-01

    The US Department of Enregy (DOE) Subsurface Contaminants Focus Area is developing technologies to address environmental problems associated with hazardous and radioactive contaminants in soil and groundwater that exist throughout the DOE complex, including radionuclides, heavy metals; and dense non-aqueous phase liquids (DNAPLs). More than 5,700 known DOE groundwater plumes have contaminated over 600 billion gallons of water and 200 million cubic meters of soil. Migration of these plumes threatens local and regional water sources, and in some cases has already adversely impacted off-site rsources. In addition, the Subsurface Contaminants Focus Area is responsible for supplying technologies for the remediation of numerous landfills at DOE facilities. These landfills are estimated to contain over 3 million cubic meters of radioactive and hazardous buried Technology developed within this specialty area will provide efective methods to contain contaminant plumes and new or alternative technologies for development of in situ technologies to minimize waste disposal costs and potential worker exposure by treating plumes in place. While addressing contaminant plumes emanating from DOE landfills, the Subsurface Contaminants Focus Area is also working to develop new or alternative technologies for the in situ stabilization, and nonintrusive characterization of these disposal sites.

  1. Endocrine-Autonomic Linkages.

    PubMed

    Sladek, Celia D; Michelini, Lisete C; Stachenfeld, Nina S; Stern, Javier E; Urban, Janice H

    2015-07-01

    Interaction between the autonomic nervous system and the neuroendocrine system is critical for maintenance of homeostasis in a wide variety of physiological parameters such as body temperature, fluid and electrolyte balance, and blood pressure and volume. The anatomical and physiological mechanisms underlying integration of the neuroendocrine and autonomic mechanisms responsible for eliciting integrated autonomic and neuroendocrine actions are the focus of this article. This includes a focus on the hypothalamic paraventricular nucleus, because it includes both neuroendocrine neurons and preganglionic autonomic neurons that regulate sympathetic and parasympathetic outflow. The "wired" and "nonwired" mechanisms within PVN that facilitate communication between these neuronal populations are described. The impact of peripheral hormones, specifically the adrenal and gonadal steroids, on the neuroendocrine and autonomic systems is discussed, and exercise is used as a specific example of a physiological challenge/stress that requires precise integration of neuroendocrine and autonomic responses to maintain cardiovascular, fluid, and energy homeostasis. PMID:26140719

  2. Precision autonomous underwater navigation

    E-print Network

    Bingham, Brian S. (Brian Steven), 1973-

    2003-01-01

    Deep-sea archaeology, an emerging application of autonomous underwater vehicle (AUV) technology, requires precise navigation and guidance. As science requirements and engineering capabilities converge, navigating in the ...

  3. Autonomous Navigation for Airborne Applications

    E-print Network

    Kim, Jonghyuk "Jon"

    Autonomous Navigation for Airborne Applications Jonghyuk Kim A thesis submitted in fulfillment Navigation for Airborne Applications Autonomous navigation (or localisation) is the process of determining #12;ii Abstract Jonghyuk Kim Doctor of Philosophy The University of Sydney May 2004 Autonomous

  4. Containment of subsurface contaminants

    DOEpatents

    Corey, John C. (Aiken, SC)

    1994-01-01

    A barrier for reducing the spread of a plume of subsurface contaminants. The apparatus includes a well system for injecting a fluid, such as air, just outside and below the periphery of the plume. The fluid is injected at a pressure sufficient to lower the hydraulic conductivity of the soil from the point of injection to the surface thus establishing a curtain-like barrier to groundwater movement. The barrier is established upgradient of the plume to divert groundwater away, or preferably completely around the plume to reduce the flow of groundwater into or out of the plume. The barrier enables the remediation of the confined contamination and then, when the injection of the fluid is halted, the barrier quickly dissipates.

  5. Containment of subsurface contaminants

    DOEpatents

    Corey, J.C.

    1994-09-06

    A barrier is disclosed for reducing the spread of a plume of subsurface contaminants. The apparatus includes a well system for injecting a fluid, such as air, just outside and below the periphery of the plume. The fluid is injected at a pressure sufficient to lower the hydraulic conductivity of the soil from the point of injection to the surface thus establishing a curtain-like barrier to groundwater movement. The barrier is established upgradient of the plume to divert groundwater away, or preferably completely around the plume to reduce the flow of groundwater into or out of the plume. The barrier enables the remediation of the confined contamination and then, when the injection of the fluid is halted, the barrier quickly dissipates. 5 figs.

  6. Subsurface Ventilation System Description Document

    SciTech Connect

    2000-10-12

    The Subsurface Ventilation System supports the construction and operation of the subsurface repository by providing air for personnel and equipment and temperature control for the underground areas. Although the system is located underground, some equipment and features may be housed or located above ground. The system ventilates the underground by providing ambient air from the surface throughout the subsurface development and emplacement areas. The system provides fresh air for a safe work environment and supports potential retrieval operations by ventilating and cooling emplacement drifts. The system maintains compliance within the limits established for approved air quality standards. The system maintains separate ventilation between the development and waste emplacement areas. The system shall remove a portion of the heat generated by the waste packages during preclosure to support thermal goals. The system provides temperature control by reducing drift temperature to support potential retrieval operations. The ventilation system has the capability to ventilate selected drifts during emplacement and retrieval operations. The Subsurface Facility System is the main interface with the Subsurface Ventilation System. The location of the ducting, seals, filters, fans, emplacement doors, regulators, and electronic controls are within the envelope created by the Ground Control System in the Subsurface Facility System. The Subsurface Ventilation System also interfaces with the Subsurface Electrical System for power, the Monitored Geologic Repository Operations Monitoring and Control System to ensure proper and safe operation, the Safeguards and Security System for access to the emplacement drifts, the Subsurface Fire Protection System for fire safety, the Emplacement Drift System for repository performance, and the Backfill Emplacement and Subsurface Excavation Systems to support ventilation needs.

  7. Subsurface Ventilation System Description Document

    SciTech Connect

    Eric Loros

    2001-07-25

    The Subsurface Ventilation System supports the construction and operation of the subsurface repository by providing air for personnel and equipment and temperature control for the underground areas. Although the system is located underground, some equipment and features may be housed or located above ground. The system ventilates the underground by providing ambient air from the surface throughout the subsurface development and emplacement areas. The system provides fresh air for a safe work environment and supports potential retrieval operations by ventilating and cooling emplacement drifts. The system maintains compliance within the limits established for approved air quality standards. The system maintains separate ventilation between the development and waste emplacement areas. The system shall remove a portion of the heat generated by the waste packages during preclosure to support thermal goals. The system provides temperature control by reducing drift temperature to support potential retrieval operations. The ventilation system has the capability to ventilate selected drifts during emplacement and retrieval operations. The Subsurface Facility System is the main interface with the Subsurface Ventilation System. The location of the ducting, seals, filters, fans, emplacement doors, regulators, and electronic controls are within the envelope created by the Ground Control System in the Subsurface Facility System. The Subsurface Ventilation System also interfaces with the Subsurface Electrical System for power, the Monitored Geologic Repository Operations Monitoring and Control System to ensure proper and safe operation, the Safeguards and Security System for access to the emplacement drifts, the Subsurface Fire Protection System for fire safety, the Emplacement Drift System for repository performance, and the Backfill Emplacement and Subsurface Excavation Systems to support ventilation needs.

  8. Autonomous multifunctional nanobrushes-autonomous materials

    NASA Astrophysics Data System (ADS)

    Ghasemi-Nejhad, Mehrdad N.; Tius, Marcus A.

    2007-04-01

    In this work, taking advantage of carbon nanotubes' small size, and exceptional mechanical, chemical and electrical properties, we report on a series of nano-synthesis procedures that combine conventional chemical vapor deposition and selective substrate area growth followed by chemical functionalizations to fabricate functionalized nano-brushes from aligned carbon nanotube arrays and chemically selective functional groups. The high aspect ratio and small dimension, mechanical stability and flexibility, surface chemical and adhesive characteristics of carbon nanotubes provide opportunities to create nano-brushes with selected chemical functionalities. The nano-brushes are made from aligned multi-walled carbon nanotube bristles grafted onto long SiC fiber handles in various configurations and functionalized with various chemical functional groups. These nano-brushes can easily be manipulated physically, either manually or with the aid of motors. Here, we explain the autonomous characteristics of the functionalized nano-brushes employing functional chemical groups such that the nano-brush can potentially collect various metal particles, ions, and contaminants from liquid solutions and the air environment, autonomously. These functionalized multiwalled carbon nanotube based nano-brushes can work swiftly in both liquid and air environments. With surface modification and functionalization, the nanotube nano-brushes can potentially become a versatile nano-devices in many chemical and biological applications, where they can autonomously pick up the particles they encounter since they can be chemically programmed to function as Autonomous Chemical Nano Robots (ACNR).

  9. Subsurface Facility System Description Document

    SciTech Connect

    Eric Loros

    2001-07-31

    The Subsurface Facility System encompasses the location, arrangement, size, and spacing of the underground openings. This subsurface system includes accesses, alcoves, and drifts. This system provides access to the underground, provides for the emplacement of waste packages, provides openings to allow safe and secure work conditions, and interfaces with the natural barrier. This system includes what is now the Exploratory Studies Facility. The Subsurface Facility System physical location and general arrangement help support the long-term waste isolation objectives of the repository. The Subsurface Facility System locates the repository openings away from main traces of major faults, away from exposure to erosion, above the probable maximum flood elevation, and above the water table. The general arrangement, size, and spacing of the emplacement drifts support disposal of the entire inventory of waste packages based on the emplacement strategy. The Subsurface Facility System provides access ramps to safely facilitate development and emplacement operations. The Subsurface Facility System supports the development and emplacement operations by providing subsurface space for such systems as ventilation, utilities, safety, monitoring, and transportation.

  10. Autonomous surveillance for biosecurity.

    PubMed

    Jurdak, Raja; Elfes, Alberto; Kusy, Branislav; Tews, Ashley; Hu, Wen; Hernandez, Emili; Kottege, Navinda; Sikka, Pavan

    2015-04-01

    The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional manual biosecurity surveillance methods are limited by their scalability in space and time. This article focuses on autonomous surveillance systems, comprising sensor networks, robots, and intelligent algorithms, and their applicability to biosecurity threats. We discuss the spatial and temporal attributes of autonomous surveillance technologies and map them to three broad categories of biosecurity threat: (i) vector-borne diseases; (ii) plant pests; and (iii) aquatic pests. Our discussion reveals a broad range of opportunities to serve biosecurity needs through autonomous surveillance. PMID:25744760

  11. Electromagnetic subsurface measurements

    NASA Astrophysics Data System (ADS)

    Dean, A. M., Jr.

    1981-10-01

    In 1974, personnel at the U.S. Army Cold Regions Research and Engineering Laboratory (CRREL) began using an impulse radar system to profile accumulations of ice forms. The system was modified for effective use as a profiling system in a ground or airborne configuration, in certain high-noise environments. The system can penetrate fresh water and media with a high water content. Frazil and brash ice accumulations with approximately 50% water were profiled to a depth of 25 to 35 ft. As a result of the CRREL modifications, the system has found extensive and varied applications as a low-level remote sensing tool. Applications include profiling ice accumulations (including ice jams), river beds, sheet ice, permafrost, subsurface ice masses, river bank revetments through air-entrained water, snow covers, sea ice, icebergs, and peat bogs. Limited laboratory work has also shown that the impulse radar system may be able to detect oil and gas under sea ice. Selected applications and data are presented. Since it was used mainly for research, the CRREL system needs further development to make it useful to operational units. Additional development of hardware and software is recommended.

  12. Microbial Transport in the Subsurface

    SciTech Connect

    Ginn, Timothy R.; Camesano, Terri; Scheibe, Timothy D.; Nelson, Kirk B.; Clement, T. P.; Wood, Brian D.

    2005-12-01

    In this article we focus on the physical, chemical, and biological processes involved in the transport of bacteria in the saturated subsurface. We will first review conceptual models of bacterial phases in the subsurface, and then the processes controlling fate and transport on short (e.g., bioremediation) time scales. Finally we briefly review field bacterial transport experiments and discuss a number of issues that impact the application of current process descriptions and models at the field scale.

  13. Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Simpson, James

    2010-01-01

    The Autonomous Flight Safety System (AFSS) is an independent self-contained subsystem mounted onboard a launch vehicle. AFSS has been developed by and is owned by the US Government. Autonomously makes flight termination/destruct decisions using configurable software-based rules implemented on redundant flight processors using data from redundant GPS/IMU navigation sensors. AFSS implements rules determined by the appropriate Range Safety officials.

  14. Autonomic dysfunction in multiple sclerosis.

    PubMed

    Racosta, Juan Manuel; Kimpinski, Kurt; Morrow, Sarah Anne; Kremenchutzky, Marcelo

    2015-12-01

    Autonomic dysfunction is a prevalent and significant cause of disability among patients with multiple sclerosis. Autonomic dysfunction in multiple sclerosis is usually explained by lesions within central nervous system regions responsible for autonomic regulation, but novel evidence suggests that other factors may be involved as well. Additionally, the interactions between the autonomic nervous system and the immune system have generated increased interest about the role of autonomic dysfunction in the pathogenesis of multiple sclerosis. In this paper we analyze systematically the most relevant signs and symptoms of autonomic dysfunction in MS, considering separately their potential causes and implications. PMID:26070809

  15. Subsurface Geotechnical Parameters Report

    SciTech Connect

    D. Rigby; M. Mrugala; G. Shideler; T. Davidsavor; J. Leem; D. Buesch; Y. Sun; D. Potyondy; M. Christianson

    2003-12-17

    The Yucca Mountain Project is entering a the license application (LA) stage in its mission to develop the nation's first underground nuclear waste repository. After a number of years of gathering data related to site characterization, including activities ranging from laboratory and site investigations, to numerical modeling of processes associated with conditions to be encountered in the future repository, the Project is realigning its activities towards the License Application preparation. At the current stage, the major efforts are directed at translating the results of scientific investigations into sets of data needed to support the design, and to fulfill the licensing requirements and the repository design activities. This document addresses the program need to address specific technical questions so that an assessment can be made about the suitability and adequacy of data to license and construct a repository at the Yucca Mountain Site. In July 2002, the U.S. Nuclear Regulatory Commission (NRC) published an Integrated Issue Resolution Status Report (NRC 2002). Included in this report were the Repository Design and Thermal-Mechanical Effects (RDTME) Key Technical Issues (KTI). Geotechnical agreements were formulated to resolve a number of KTI subissues, in particular, RDTME KTIs 3.04, 3.05, 3.07, and 3.19 relate to the physical, thermal and mechanical properties of the host rock (NRC 2002, pp. 2.1.1-28, 2.1.7-10 to 2.1.7-21, A-17, A-18, and A-20). The purpose of the Subsurface Geotechnical Parameters Report is to present an accounting of current geotechnical information that will help resolve KTI subissues and some other project needs. The report analyzes and summarizes available qualified geotechnical data. It evaluates the sufficiency and quality of existing data to support engineering design and performance assessment. In addition, the corroborative data obtained from tests performed by a number of research organizations is presented to reinforce conclusions derived from the pool of data gathered within a full QA-controlled domain. An evaluation of the completeness of the current data is provided with respect to the requirements for geotechnical data to support design and performance assessment.

  16. Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles

    E-print Network

    Petillo, Stephanie Marie

    2015-01-01

    The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment ...

  17. Tangible Exploration of Subsurface Data

    NASA Astrophysics Data System (ADS)

    Petrasova, A.; Harmon, B.; Mitasova, H.; White, J.

    2014-12-01

    Since traditional subsurface visualizations using 2D maps, profiles or charts can be difficult to interpret and often do not convey information in an engaging form, scientists are interested in developing alternative visualization techniques which would help them communicate the subsurface volume data with students and general public. We would like to present new technique for interactive visualization of subsurface using Tangible geospatial modeling and visualization system (Tangeoms). It couples a physical, three-dimensional model with geospatial modeling and analysis through a cycle of scanning and projection. Previous applications of Tangeoms were exploring the impact of terrain modifications on surface-based geophysical processes, such as overland water flow, sediment transport, and also on viewsheds, cast shadows or solar energy potential. However, Tangeoms can serve as a tool for exploring subsurface as well. By creating a physical sand model of a study area, removing the sand from different parts of the model and projecting the computed cross-sections, we can look under the ground as if we were at an excavation site, and see the actual data represented as a 3D raster in that particular part of the model. Depending on data availability, we can also incorporate temporal dimension. Our method is an intuitive and natural way of exploring subsurface data and for users, it represents an alternative to more abstract 3D computer visualization tools, by offering direct, tangible interface.

  18. 1 Design by Autonomous Learning Design by Autonomous Learning

    E-print Network

    Prabhakar, Sattiraju

    1 Design by Autonomous Learning Design by Autonomous Learning: Modeling Environment for Design Box 123, Broadway NSW 2007, Australia Email: {prabhakar, gjsmith}@socs.uts.edu.au 1. Design by Autonomous Learning An important area of expertise robots can provide is design of artefacts in physical

  19. Architecture of autonomous systems

    NASA Technical Reports Server (NTRS)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

    1986-01-01

    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  20. Architecture of autonomous systems

    NASA Technical Reports Server (NTRS)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

    1989-01-01

    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  1. Endoscopic subsurface imaging in tissues

    SciTech Connect

    Demos, S G; Staggs, M; Radousky, H B

    2001-02-12

    The objective of this work is to develop endoscopic subsurface optical imaging technology that will be able to image different tissue components located underneath the surface of the tissue at an imaging depth of up to 1 centimeter. This effort is based on the utilization of existing technology and components developed for medical endoscopes with the incorporation of the appropriate modifications to implement the spectral and polarization difference imaging technique. This subsurface imaging technique employs polarization and spectral light discrimination in combination with image processing to remove a large portion of the image information from the outer layers of the tissue which leads to enhancement of the contrast and image quality of subsurface tissue structures.

  2. Subsurface microbial habitats on Mars

    NASA Technical Reports Server (NTRS)

    Boston, P. J.; Mckay, C. P.

    1991-01-01

    We developed scenarios for shallow and deep subsurface cryptic niches for microbial life on Mars. Such habitats could have considerably prolonged the persistence of life on Mars as surface conditions became increasingly inhospitable. The scenarios rely on geothermal hot spots existing below the near or deep subsurface of Mars. Recent advances in the comparatively new field of deep subsurface microbiology have revealed previously unsuspected rich aerobic and anaerobic microbal communities far below the surface of the Earth. Such habitats, protected from the grim surface conditions on Mars, could receive warmth from below and maintain water in its liquid state. In addition, geothermally or volcanically reduced gases percolating from below through a microbiologically active zone could provide the reducing power needed for a closed or semi-closed microbial ecosystem to thrive.

  3. ESF Subsurface Standby Generator Analysis

    SciTech Connect

    L. Fernandez

    1998-04-17

    The purpose of this analysis is to outline and recommend two standby generator systems. These systems shall provide power during a utility outage to critical Alcove No.5's thermal test loads and to subsurface flow through ventilation loads. Critical loads that will be supported by these generator systems will be identified and evaluated. Additionally, other requirements from the Exploratory Studies Facilities Design Requirements (ESFDR) document will be evaluated. Finally, the standby generator systems will be integrated into the existing ESF subsurface distribution system. The objective of this analysis is to provide design inputs for an efficient and reliable standby generator systems which will provide power for critical loads during a power outage; specifically, Alcove No.5's thermal test loads and the subsurface flow through ventilation loads. Additionally, preliminary one-line diagrams will be developed using this analysis as a primary input.

  4. Autonomous Aerobraking for Mars Orbiters

    NASA Astrophysics Data System (ADS)

    Prince, J. L.

    2012-06-01

    Autonomous Aerobraking is a developing technology that will reduce cost and increase flexibility of an aerobraking orbiter around Mars. Currently in its second phase of development, autonomous aerobraking could be implemented for a 2018 Mars orbiter.

  5. Autonomous In-Situ Resources Prospector

    NASA Technical Reports Server (NTRS)

    Dissly, R. W.; Buehler, M. G.; Schaap, M. G.; Nicks, D.; Taylor, G. J.; Castano, R.; Suarez, D.

    2004-01-01

    This presentation will describe the concept of an autonomous, intelligent, rover-based rapid surveying system to identify and map several key lunar resources to optimize their ISRU (In Situ Resource Utilization) extraction potential. Prior to an extraction phase for any target resource, ground-based surveys are needed to provide confirmation of remote observation, to quantify and map their 3-D distribution, and to locate optimal extraction sites (e.g. ore bodies) with precision to maximize their economic benefit. The system will search for and quantify optimal minerals for oxygen production feedstock, water ice, and high glass-content regolith that can be used for building materials. These are targeted because of their utility and because they are, or are likely to be, variable in quantity over spatial scales accessible to a rover (i.e., few km). Oxygen has benefits for life support systems and as an oxidizer for propellants. Water is a key resource for sustainable exploration, with utility for life support, propellants, and other industrial processes. High glass-content regolith has utility as a feedstock for building materials as it readily sinters upon heating into a cohesive matrix more readily than other regolith materials or crystalline basalts. Lunar glasses are also a potential feedstock for oxygen production, as many are rich in iron and titanium oxides that are optimal for oxygen extraction. To accomplish this task, a system of sensors and decision-making algorithms for an autonomous prospecting rover is described. One set of sensors will be located in the wheel tread of the robotic search vehicle providing contact sensor data on regolith composition. Another set of instruments will be housed on the platform of the rover, including VIS-NIR imagers and spectrometers, both for far-field context and near-field characterization of the regolith in the immediate vicinity of the rover. Also included in the sensor suite are a neutron spectrometer, ground-penetrating radar, and an instrumented cone penetrometer for subsurface assessment. Output from these sensors will be evaluated autonomously in real-time by decision-making software to evaluate if any of the targeted resources has been detected, and if so, to quantify their abundance. Algorithms for optimizing the mapping strategy based on target resource abundance and distribution are also included in the autonomous software. This approach emphasizes on-the-fly survey measurements to enable efficient and rapid prospecting of large areas, which will improve the economics of ISRU system approaches. The mature technology will enable autonomous rovers to create in-situ resource maps of lunar or other planetary surfaces, which will facilitate human and robotic exploration.

  6. Autonomous electrochromic assembly

    DOEpatents

    Berland, Brian Spencer; Lanning, Bruce Roy; Stowell, Jr., Michael Wayne

    2015-03-10

    This disclosure describes system and methods for creating an autonomous electrochromic assembly, and systems and methods for use of the autonomous electrochromic assembly in combination with a window. Embodiments described herein include an electrochromic assembly that has an electrochromic device, an energy storage device, an energy collection device, and an electrochromic controller device. These devices may be combined into a unitary electrochromic insert assembly. The electrochromic assembly may have the capability of generating power sufficient to operate and control an electrochromic device. This control may occur through the application of a voltage to an electrochromic device to change its opacity state. The electrochromic assembly may be used in combination with a window.

  7. Towed Subsurface Optical Communications Buoy

    NASA Technical Reports Server (NTRS)

    Stirbl, Robert C.; Farr, William H.

    2013-01-01

    The innovation allows critical, high-bandwidth submarine communications at speed and depth. This reported innovation is a subsurface optical communications buoy, with active neutral buoyancy and streamlined flow surface veins for depth control. This novel subsurface positioning for the towed communications buoy enables substantial reduction in water-absorption and increased optical transmission by eliminating the intervening water absorption and dispersion, as well as by reducing or eliminating the beam spread and the pulse spreading that is associated with submarine-launched optical beams.

  8. Autonomous Navigation for Forest Machines

    E-print Network

    Hellström, Thomas

    Autonomous Navigation for Forest Machines a Pre-Study by Thomas Hellström Department of Computing Science Umeå University Umeå, Sweden 2002-10-18 #12;Autonomous Navigation for Forest Machines ­ a Pre 2002 Thomas Hellström #12;Autonomous Navigation for Forest Machines ­ a Pre-Study 3 Contents EXECUTIVE

  9. OPPORTUNITIES Autonomous Vehicles &

    E-print Network

    Ghosh, Joydeep

    and quantifying the clean technology (cleantech) sector in Central Texas. In order to develop a comprehensiveOPPORTUNITIES Autonomous Vehicles & Connected Mobility Water Management Recycling & Waste Grid" Technologies $2.5 Billion Cleantech contributes $2.5 Billion to Austin's regional GDP. 20

  10. Autonomous data transmission apparatus

    DOEpatents

    Kotlyar, Oleg M. (4675 W. 3825 S, Salt Lake City, UT 84120)

    1997-01-01

    A autonomous borehole data transmission apparatus for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters.

  11. Autonomous Optical Lunar Navigation

    NASA Technical Reports Server (NTRS)

    Zanetti, Renato; Crouse, Brian; D'souza, Chris

    2009-01-01

    The performance of optical autonomous navigation is investigated for low lunar orbits and for high elliptical lunar orbits. Various options for employing the camera measurements are presented and compared. Strategies for improving navigation performance are developed and applied to the Orion vehicle lunar mission

  12. Learning for autonomous navigation

    NASA Technical Reports Server (NTRS)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

    2005-01-01

    Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter.

  13. Autonomous data transmission apparatus

    DOEpatents

    Kotlyar, O.M.

    1997-03-25

    A autonomous borehole data transmission apparatus is described for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters. 4 figs.

  14. Autonomous micro and nano sensors for upstream oil and gas

    NASA Astrophysics Data System (ADS)

    Chapman, David; Trybula, Walt

    2015-06-01

    This paper describes the development of autonomous electronic micro and nanoscale sensor systems for very harsh downhole oilfield conditions and provides an overview of the operational requirements necessary to survive and make direct measurements of subsurface conditions. One of several significant developmental challenges is selecting appropriate technologies that are simultaneously miniaturize-able, integrate-able, harsh environment capable, and economically viable. The Advanced Energy Consortium (AEC) is employing a platform approach to developing and testing multi-chip, millimeter and micron-scale systems in a package at elevated temperature and pressure in API brine and oil analogs, with the future goal of miniaturized systems that enable the collection of previously unattainable data. The ultimate goal is to develop subsurface nanosensor systems that can be injected into oil and gas well bores, to gather and record data, providing an unparalleled level of direct reservoir characterization. This paper provides a status update on the research efforts and developmental successes at the AEC.

  15. SUBSURFACE VISUAL ALARM SYSTEM ANALYSIS

    SciTech Connect

    D.W. Markman

    2001-08-06

    The ''Subsurface Fire Hazard Analysis'' (CRWMS M&O 1998, page 61), and the document, ''Title III Evaluation Report for the Surface and Subsurface Communication System'', (CRWMS M&O 1999a, pages 21 and 23), both indicate the installed communication system is adequate to support Exploratory Studies Facility (ESF) activities with the exception of the mine phone system for emergency notification purposes. They recommend the installation of a visual alarm system to supplement the page/party phone system The purpose of this analysis is to identify data communication highway design approaches, and provide justification for the selected or recommended alternatives for the data communication of the subsurface visual alarm system. This analysis is being prepared to document a basis for the design selection of the data communication method. This analysis will briefly describe existing data or voice communication or monitoring systems within the ESF, and look at how these may be revised or adapted to support the needed data highway of the subsurface visual alarm. system. The existing PLC communication system installed in subsurface is providing data communication for alcove No.5 ventilation fans, south portal ventilation fans, bulkhead doors and generator monitoring system. It is given that the data communication of the subsurface visual alarm system will be a digital based system. It is also given that it is most feasible to take advantage of existing systems and equipment and not consider an entirely new data communication system design and installation. The scope and primary objectives of this analysis are to: (1) Briefly review and describe existing available data communication highways or systems within the ESF. (2) Examine technical characteristics of an existing system to disqualify a design alternative is paramount in minimizing the number of and depth of a system review. (3) Apply general engineering design practices or criteria such as relative cost, and degree of difficulty and complexity in determining requirements in adapting existing data communication highways to support the subsurface visual alarm system. These requirements would include such things as added or new communication cables, added Programmable Logic Controller (PLC), Inputs and Outputs (I/O), and communication hardware components, and human machine interfaces and their software operating system. (4) Select the best data communication highway system based on this review of adapting or integrating with existing data communication systems.

  16. Autonomous Sample Acquisition for Planetary and Small Body Explorations

    NASA Technical Reports Server (NTRS)

    Ghavimi, Ali R.; Serricchio, Frederick; Dolgin, Ben; Hadaegh, Fred Y.

    2000-01-01

    Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.

  17. Remote real-time monitoring of subsurface landfill gas migration.

    PubMed

    Fay, Cormac; Doherty, Aiden R; Beirne, Stephen; Collins, Fiachra; Foley, Colum; Healy, John; Kiernan, Breda M; Lee, Hyowon; Maher, Damien; Orpen, Dylan; Phelan, Thomas; Qiu, Zhengwei; Zhang, Kirk; Gurrin, Cathal; Corcoran, Brian; O'Connor, Noel E; Smeaton, Alan F; Diamond, Dermot

    2011-01-01

    The cost of monitoring greenhouse gas emissions from landfill sites is of major concern for regulatory authorities. The current monitoring procedure is recognised as labour intensive, requiring agency inspectors to physically travel to perimeter borehole wells in rough terrain and manually measure gas concentration levels with expensive hand-held instrumentation. In this article we present a cost-effective and efficient system for remotely monitoring landfill subsurface migration of methane and carbon dioxide concentration levels. Based purely on an autonomous sensing architecture, the proposed sensing platform was capable of performing complex analytical measurements in situ and successfully communicating the data remotely to a cloud database. A web tool was developed to present the sensed data to relevant stakeholders. We report our experiences in deploying such an approach in the field over a period of approximately 16 months. PMID:22163975

  18. Remote Real-Time Monitoring of Subsurface Landfill Gas Migration

    PubMed Central

    Fay, Cormac; Doherty, Aiden R.; Beirne, Stephen; Collins, Fiachra; Foley, Colum; Healy, John; Kiernan, Breda M.; Lee, Hyowon; Maher, Damien; Orpen, Dylan; Phelan, Thomas; Qiu, Zhengwei; Zhang, Kirk; Gurrin, Cathal; Corcoran, Brian; O’Connor, Noel E.; Smeaton, Alan F.; Diamond, Dermot

    2011-01-01

    The cost of monitoring greenhouse gas emissions from landfill sites is of major concern for regulatory authorities. The current monitoring procedure is recognised as labour intensive, requiring agency inspectors to physically travel to perimeter borehole wells in rough terrain and manually measure gas concentration levels with expensive hand-held instrumentation. In this article we present a cost-effective and efficient system for remotely monitoring landfill subsurface migration of methane and carbon dioxide concentration levels. Based purely on an autonomous sensing architecture, the proposed sensing platform was capable of performing complex analytical measurements in situ and successfully communicating the data remotely to a cloud database. A web tool was developed to present the sensed data to relevant stakeholders. We report our experiences in deploying such an approach in the field over a period of approximately 16 months. PMID:22163975

  19. Advances in Autonomous Systems for Missions of Space Exploration

    NASA Astrophysics Data System (ADS)

    Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

    New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost applications. One notable example of such missions are those to explore for the existence of water on planets such as Mars and the moons of Jupiter. It is clear that water does not exist on the surfaces of such bodies, but may well be located at some considerable depth below the surface, thus requiring a subsurface drilling capability. Subsurface drilling on planetary surfaces will require a robust autonomous control and analysis system, currently a major challenge, but within conceivable reach of planned technology developments. This paper will focus on new and innovative software for remote, autonomous, space systems flight operations, including flight test results, lessons learned, and implications for the future. An additional focus will be on technologies for planetary exploration using autonomous systems and astronaut-assistance systems that employ new spoken language technology. Topics to be presented will include a description of key autonomous control concepts, illustrated by the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New software for autonomous science data acquisition for planetary exploration will also be described, as well as advanced systems for safe planetary landings. Current results of autonomous planetary drilling system research will be presented. A key thrust within NASA is to develop technologies that will leverage the capabilities of human astronauts during planetary surface explorations. One such technology is spoken dialogue interfaces, which would allow collaboration with semi-autonomous agents that are engaged in activities that are normally accomplished using language, e.g., astronauts in space suits interacting with groups of semi-autonomous rovers and other astronauts. This technology will be described and discussed in the context of future exploration m

  20. The autonomous sciencecraft constellations

    NASA Technical Reports Server (NTRS)

    Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

    2003-01-01

    The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we discuss how these AI technologies are synergistically integrated in a hybrid multi-layer control architecture to enable a virtual spacecraft science agent. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

  1. Trigeminal autonomic cephalgias

    PubMed Central

    2012-01-01

    Summary points 1. Trigeminal autonomic cephalgias (TACs) are headaches/facial pains classified together based on:a suspected common pathophysiology involving the trigeminovascular system, the trigeminoparasympathetic reflex and centres controlling circadian rhythms;a similar clinical presentation of trigeminal pain, and autonomic activation. 2. There is much overlap in the diagnostic features of individual TACs. 3. In contrast, treatment response is relatively specific and aids in establishing a definitive diagnosis. 4. TACs are often presentations of underlying pathology; all patients should be imaged. 5. The aim of the article is to provide the reader with a broad introduction to, and an overview of, TACs. The reading list is extensive for the interested reader. PMID:26516482

  2. Mobile Autonomous Humanoid Assistant

    NASA Technical Reports Server (NTRS)

    Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

    2004-01-01

    A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

  3. Autonomous power expert system

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.; Quinn, Todd M.

    1990-01-01

    The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control technologies to the Space Station Freedom Electrical Power Systems (SSF/EPS). The objectives of the program are to establish artificial intelligence/expert system technology paths, to create knowledge based tools with advanced human-operator interfaces, and to integrate and interface knowledge-based and conventional control schemes. This program is being developed at the NASA-Lewis. The APS Brassboard represents a subset of a 20 KHz Space Station Power Management And Distribution (PMAD) testbed. A distributed control scheme is used to manage multiple levels of computers and switchgear. The brassboard is comprised of a set of intelligent switchgear used to effectively switch power from the sources to the loads. The Autonomous Power Expert System (APEX) portion of the APS program integrates a knowledge based fault diagnostic system, a power resource scheduler, and an interface to the APS Brassboard. The system includes knowledge bases for system diagnostics, fault detection and isolation, and recommended actions. The scheduler autonomously assigns start times to the attached loads based on temporal and power constraints. The scheduler is able to work in a near real time environment for both scheduling an dynamic replanning.

  4. Autonomous power expert system

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.; Quinn, Todd M.

    1990-01-01

    The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control technologies to the Space Station Freedom Electrical Power Systems (SSF/EPS). The objectives of the program are to establish artificial intelligence/expert system technology paths, to create knowledge based tools with advanced human-operator interfaces, and to integrate and interface knowledge-based and conventional control schemes. This program is being developed at the NASA-Lewis. The APS Brassboard represents a subset of a 20 KHz Space Station Power Management And Distribution (PMAD) testbed. A distributed control scheme is used to manage multiple levels of computers and switchgear. The brassboard is comprised of a set of intelligent switchgear used to effectively switch power from the sources to the loads. The Autonomous Power Expert System (APEX) portion of the APS program integrates a knowledge based fault diagnostic system, a power resource scheduler, and an interface to the APS Brassboard. The system includes knowledge bases for system diagnostics, fault detection and isolation, and recommended actions. The scheduler autonomously assigns start times to the attached loads based on temporal and power constraints. The scheduler is able to work in a near real time environment for both scheduling and dynamic replanning.

  5. Nature's Autonomous Oscillators

    NASA Technical Reports Server (NTRS)

    Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.

    2012-01-01

    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  6. Method of installing subsurface barrier

    DOEpatents

    Nickelson, Reva A. (Shelley, ID); Richardson, John G. (Idaho Falls, ID); Kostelnik, Kevin M. (Idaho Falls, ID); Sloan, Paul A. (Rigby, ID)

    2007-10-09

    Systems, components, and methods relating to subterranean containment barriers. Laterally adjacent tubular casings having male interlock structures and multiple female interlock structures defining recesses for receiving a male interlock structure are used to create subterranean barriers for containing and treating buried waste and its effluents. The multiple female interlock structures enable the barriers to be varied around subsurface objects and to form barrier sidewalls. The barrier may be used for treating and monitoring a zone of interest.

  7. INL Subsurface Wireless Sensor Platform

    SciTech Connect

    Dennis C. Kunerth; John M. Svoboda; James T. Johnson

    2005-10-01

    The Idaho National Laboratory is developing a versatile micro-power sensor interface platform for periodic subsurface sensing of environmental variables important to waste disposal sites such as volumetric moisture, water potential, and temperature. The key characteristics of the platform architecture are that the platform is passive until externally energized --no internal power source is required -- and that it communicates with a "reader" via short-range telemetry - no wires penetrate the subsurface. Other significant attributes include the potential for a long service life and a compact size that makes it well suited for retrofitting existing landfill structures. Functionally, the sensor package is "read" by a short-range induction coil that activates and powers the sensor platform as well as detects the sensor output via a radio frequency signal generated by the onboard programmable interface controller microchip. As a result, the platform has a functional subsurface communication range of approximately 10 to 12 ft. and can only accept sensors that require low power to operate.

  8. Autonomous Space Shuttle

    NASA Technical Reports Server (NTRS)

    Siders, Jeffrey A.; Smith, Robert H.

    2004-01-01

    The continued assembly and operation of the International Space Station (ISS) is the cornerstone within NASA's overall Strategic P an. As indicated in NASA's Integrated Space Transportation Plan (ISTP), the International Space Station requires Shuttle to fly through at least the middle of the next decade to complete assembly of the Station, provide crew transport, and to provide heavy lift up and down mass capability. The ISTP reflects a tight coupling among the Station, Shuttle, and OSP programs to support our Nation's space goal . While the Shuttle is a critical component of this ISTP, there is a new emphasis for the need to achieve greater efficiency and safety in transporting crews to and from the Space Station. This need is being addressed through the Orbital Space Plane (OSP) Program. However, the OSP is being designed to "complement" the Shuttle as the primary means for crew transfer, and will not replace all the Shuttle's capabilities. The unique heavy lift capabilities of the Space Shuttle is essential for both ISS, as well as other potential missions extending beyond low Earth orbit. One concept under discussion to better fulfill this role of a heavy lift carrier, is the transformation of the Shuttle to an "un-piloted" autonomous system. This concept would eliminate the loss of crew risk, while providing a substantial increase in payload to orbit capability. Using the guidelines reflected in the NASA ISTP, the autonomous Shuttle a simplified concept of operations can be described as; "a re-supply of cargo to the ISS through the use of an un-piloted Shuttle vehicle from launch through landing". Although this is the primary mission profile, the other major consideration in developing an autonomous Shuttle is maintaining a crew transportation capability to ISS as an assured human access to space capability.

  9. Autonomous mobile robot teams

    NASA Technical Reports Server (NTRS)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  10. Toward autonomous spacecraft

    NASA Technical Reports Server (NTRS)

    Fogel, L. J.; Calabrese, P. G.; Walsh, M. J.; Owens, A. J.

    1982-01-01

    Ways in which autonomous behavior of spacecraft can be extended to treat situations wherein a closed loop control by a human may not be appropriate or even possible are explored. Predictive models that minimize mean least squared error and arbitrary cost functions are discussed. A methodology for extracting cyclic components for an arbitrary environment with respect to usual and arbitrary criteria is developed. An approach to prediction and control based on evolutionary programming is outlined. A computer program capable of predicting time series is presented. A design of a control system for a robotic dense with partially unknown physical properties is presented.

  11. Experiments in autonomous robotics

    SciTech Connect

    Hamel, W.R.

    1987-01-01

    The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

  12. Autonomous intelligent systems

    NASA Technical Reports Server (NTRS)

    Lum, H.; Holcomb, L.

    1987-01-01

    NASA's Office of Aeronautics and Space Technology (OAST) has instituted a 'Systems Autonomy' technology development program aimed at the creation of increasingly sophisticated AI systems. Expert system production will in due course be followed by fully autonomous AI systems capable of the complex mission objectives of the Space Station, as well as of lunar and Martian exploration. AI systems must demonstrate the degree of their autonomy in a real-time operational environment, and then undergo mating to robotics technologies. OAST's Systems Autonomy Program and Robotics Program are discussed with a view to anticipated difficulties in their integration.

  13. Autonomous interplanetary constellation design

    NASA Astrophysics Data System (ADS)

    Chow, Cornelius Channing, II

    According to NASA's integrated space technology roadmaps, space-based infrastructures are envisioned as necessary ingredients to a sustained effort in continuing space exploration. Whether it be for extra-terrestrial habitats, roving/cargo vehicles, or space tourism, autonomous space networks will provide a vital communications lifeline for both future robotic and human missions alike. Projecting that the Moon will be a bustling hub of activity within a few decades, a near-term opportunity for in-situ infrastructure development is within reach. This dissertation addresses the anticipated need for in-space infrastructure by investigating a general design methodology for autonomous interplanetary constellations; to illustrate the theory, this manuscript presents results from an application to the Earth-Moon neighborhood. The constellation design methodology is formulated as an optimization problem, involving a trajectory design step followed by a spacecraft placement sequence. Modeling the dynamics as a restricted 3-body problem, the investigated design space consists of families of periodic orbits which play host to the constellations, punctuated by arrangements of spacecraft autonomously guided by a navigation strategy called LiAISON (Linked Autonomous Interplanetary Satellite Orbit Navigation). Instead of more traditional exhaustive search methods, a numerical continuation approach is implemented to map the admissible configuration space. In particular, Keller's pseudo-arclength technique is used to follow folding/bifurcating solution manifolds, which are otherwise inaccessible with other parameter continuation schemes. A succinct characterization of the underlying structure of the local, as well as global, extrema is thus achievable with little a priori intuition of the solution space. Furthermore, the proposed design methodology offers benefits in computation speed plus the ability to handle mildly stochastic systems. An application of the constellation design methodology to the restricted Earth-Moon system, reveals optimal pairwise configurations for various L1, L2, and L5 (halo, axial, and vertical) periodic orbit families. Navigation accuracies, ranging from O (10+/-1) meters in position space, are obtained for the optimal Earth-Moon constellations, given measurement noise on the order of 1 meter.

  14. Autonomous Phase Retrieval Calibration

    NASA Technical Reports Server (NTRS)

    Estlin, Tara A.; Chien, Steve A.; Castano, Rebecca; Gaines, Daniel M.; Doubleday, Joshua R.; Schoolcraft, Josua B.; Oyake, Amalaye; Vaughs, Ashton G.; Torgerson, Jordan L.

    2011-01-01

    The Palomar Adaptive Optics System actively corrects for changing aberrations in light due to atmospheric turbulence. However, the underlying internal static error is unknown and uncorrected by this process. The dedicated wavefront sensor device necessarily lies along a different path than the science camera, and, therefore, doesn't measure the true errors along the path leading to the final detected imagery. This is a standard problem in adaptive optics (AO) called "non-common path error." The Autonomous Phase Retrieval Calibration (APRC) software suite performs automated sensing and correction iterations to calibrate the Palomar AO system to levels that were previously unreachable.

  15. AUTONOMOUS FOREST MACHINES PAST, PRESENT

    E-print Network

    Hellström, Thomas

    1 AUTONOMOUS FOREST MACHINES ­ PAST, PRESENT AND FUTURE Thomas Hellström1 , Pär Lärkeryd2 , Tomas.larkeryd@indexator.se (3) Professor, Dept. of Forest Resource Management, Swedish University of Agricultural Sciences, SE #12;2 ABSTRACT The feasibility of using autonomous forest vehicles (which can be regarded as logical

  16. Asteroid Exploration with Autonomic Systems

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

    2004-01-01

    NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

  17. Learning for Autonomous Navigation

    NASA Technical Reports Server (NTRS)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

    2005-01-01

    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  18. Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Ferrell, Bob; Santuro, Steve; Simpson, James; Zoerner, Roger; Bull, Barton; Lanzi, Jim

    2004-01-01

    Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.

  19. Nemesis Autonomous Test System

    NASA Technical Reports Server (NTRS)

    Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

    2012-01-01

    A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

  20. Autonomous Formation Flight

    NASA Technical Reports Server (NTRS)

    Schkolnik, Gerard S.; Cobleigh, Brent

    2004-01-01

    NASA's Strategic Plan for the Aerospace Technology Enterprise includes ambitious objectives focused on affordable air travel, reduced emissions, and expanded aviation-system capacity. NASA Dryden Flight Research Center, in cooperation with NASA Ames Research Center, the Boeing Company, and the University of California, Los Angeles, has embarked on an autonomous-formation-flight project that promises to make significant strides towards these goals. For millions of years, birds have taken advantage of the aerodynamic benefit of flying in formation. The traditional "V" formation flown by many species of birds (including gulls, pelicans, and geese) enables each of the trailing birds to fly in the upwash flow field that exists just outboard of the bird immediately ahead in the formation. The result for each trailing bird is a decrease in induced drag and thus a reduction in the energy needed to maintain a given speed. Hence, for migratory birds, formation flight extends the range of the system of birds over the range of birds flying solo. The Autonomous Formation Flight (AFF) Project is seeking to extend this symbiotic relationship to aircraft.

  1. Phylogenetic relationships among subsurface microorganisms

    SciTech Connect

    Nierzwicki-Bauer, S.A.

    1991-01-01

    This project involves the development of group specific 16S ribosomal RNA-targeted oligonucleotide hybridization probes for the rapid detection of specific types of subsurface organisms (e.g., groups of microbes that share certain physiological traits). Major accomplishments for the period of 6/91 to 12/1/91 are described. Nine new probes have been synthesized on the basis of published 16S rRNA sequence data from the Ribosomal Database Project. We have initiated rapid screening of many of the subsurface microbial isolates obtained from the P24 borehole at the Savannah River Site. To date, we have screened approximately 50% of the isolates from P24. We have optimized our {und in situ} hybridization technique, and have developed a cell blot hybridization technique to screen 96 samples on a single blot. This is much faster than reading 96 individual slides. Preliminary experiments have been carried out which indicate specific nutrients can be used to amplify rRNA only in those organisms capable of metabolizing those nutrients. 1 tab., 2 figs.

  2. CENTER FOR SUBSURFACE MODELING SUPPORT (CSMOS)

    EPA Science Inventory

    The Subsurface Protection and Remediation Division's (SPRD)Center for Subsurface Modeling Support (CSMoS) provides public domain groundwater and vadose zone modeling software and services to public agencies and private companies throughout the nation. CSMoS is located in Ada, Ok...

  3. Autonomous Flying Controls Testbed

    NASA Technical Reports Server (NTRS)

    Motter, Mark A.

    2005-01-01

    The Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis,Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights.

  4. Autonomous magnetocumulative power supply

    NASA Astrophysics Data System (ADS)

    Demidov, V. A.; Sadunov, V. D.; Kazakov, S. A.; Boriskin, A. S.; Golosov, S. N.; Vlasov, Yu. V.; Utenkov, A. A.; Antipov, M. V.; Blinov, A. V.

    2013-08-01

    Helical magnetocumulative generators (MCGs) fed from explosive piezo generators (EPGs) are the most compact power supplies with an output energy of 1-10 kJ. EPGs are successfully coupled with MCGs in the operation mode and in structural parameters; these generators are easy to operate and do not require transformers or commutators. We report on the results of designing an autonomous small-size power supply based on EPGs and MCGs. Owing to bidirectional impact loading of the piezoceramic block of an EPG, the energy at the piezo generator output attains values of ˜25 J and is transferred to the helical MCG with an initial inductance of ˜1000 ?H. The power supply is constructed in the form of a monoblock with a volume of ˜2 dm3 or in the form of two separate devices connected by a high-voltage cable.

  5. Research review Geophysical subsurface imaging for ecological applications

    E-print Network

    Jackson, Robert B.

    Research review Geophysical subsurface imaging for ecological applications Author-water, subsurface imaging. Summary Ecologists, ecohydrologists, and biogeochemists need detailed insights currently provide opportunities for subsurface imaging with sufficient detail to locate small (5 cm diameter

  6. Autonomous river navigation Franklin D. Snydera

    E-print Network

    Collins, Robert T.

    Autonomous river navigation Franklin D. Snydera , Daniel D. Morrisa , Paul H. Haleya , Robert T a boat with fully autonomous navigation, surveillance, and reactive behaviors. Autonomous water of the detection, tracking, mapping and navigation will be presented. Keywords: 3D Computer Vision, Autonomous

  7. Microbial processes and subsurface contaminants

    NASA Astrophysics Data System (ADS)

    Molz, Fred J.

    A Chapman Conference entitled “Microbial Processes in the Transport, Fate, and In Situ Treatment of Subsurface Contaminants” was held in Snowbird, Utah, October 1-3, 1986. Members of the program committee and session chairmen were Lenore Clesceri (Rensselaer Polytechnic Institute, Troy, N.Y.), David Gibson (University of Texas, Austin), James Mercer (GeoTrans, Inc., Herndon , Va.), Donald Michelsen (Virginia Polytechnic Institute and State University, Blacksburg), Fred Molz (Auburn University, Auburn, Ala.), Bruce Rittman (University of Illinois, Urbana), Gary Sayler (University of Tennessee, Knoxville), and John T. Wilson (U.S. Environmental Protection Agency, Ada, Okla.). The following report attempts to highlight the six sessions that constituted the conference. For additional information, including a bound summary and abstracts, contact Fred J. Molz, Civil Engineering Department, Auburn University, AL 36849 (telephone: 205-826-4321).

  8. Autonomous software: Myth or magic?

    E-print Network

    Alasdair Allan; Tim Naylor; Eric S. Saunders

    2008-02-04

    We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

  9. Cybersecurity for aerospace autonomous systems

    NASA Astrophysics Data System (ADS)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  10. Autonomous Navigation Using Celestial Objects

    NASA Technical Reports Server (NTRS)

    Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

    1999-01-01

    In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

  11. Subsurface Flow and Contaminant Transport

    Energy Science and Technology Software Center (ESTSC)

    2000-09-19

    FACT is a transient three-dimensional, finite element code for simulating isothermal groundwater flow, moisture movement, and solute transport in variably and/or fully saturated subsurface porous media. Both single and dual-domain transport formulations are available. Transport mechanisms considered include advection, hydrodynamic dispersion, linear adsorption, mobile/immobile mass transfer and first-order degradation. A wide range of acquifier conditions and remediation systems commonly encountered in the field can be simulated. Notable boundary condition (BC) options include, a combined rechargemore »and drain BC for simulating recirculation wells, and a head dependent well BC that computes flow based on specified drawdown. The code is designed to handle highly heterogenous, multi-layer, acquifer systems in a numerically efficient manner. Subsurface structure is represented with vertically distorted rectangular brick elements in a Cartesian system. The groundwater flow equation is approximated using the Bubnov-Galerkin finite element method in conjunction with an efficient symmetric Preconditioned Conjugate Gradient (PCG) ICCG matrix solver. The solute transport equation is approximated using an upstream weighted residual finite element method designed to alleviate numerical oscillation. An efficient asymmetric PCG (ORTHOMIN) matrix solver is employed for transport. For both the flow and transport equations, element matrices are computed from either influence coefficient formulas for speed, or two point Gauss-Legendre quadrature for accuracy. Non-linear flow problems can be solved using either Newton-Ralphson linearization or Picard iteration, with under-relaxation formulas to further enhance convergence. Dynamic memory allocation is implemented using Fortran 90 constructs. FACT coding is clean and modular.« less

  12. State discovery for autonomous learning

    E-print Network

    Ivanov, Yuri A., 1967-

    2002-01-01

    This thesis is devoted to the study of algorithms for early perceptual learning for an autonomous agent in the presence of feedback. In the framework of associative perceptual learning with indirect supervision, three ...

  13. Autonomous adaptive acoustic relay positioning

    E-print Network

    Cheung, Mei Yi, S.M. Massachusetts Institute of Technology

    2013-01-01

    We consider the problem of maximizing underwater acoustic data transmission by adaptively positioning an autonomous mobile relay so as to learn and exploit spatial variations in channel performance. The acoustic channel ...

  14. Autonomic Dysregulation in Multiple Sclerosis.

    PubMed

    Pintér, Alexandra; Cseh, Domonkos; Sárközi, Adrienn; Illigens, Ben M; Siepmann, Timo

    2015-01-01

    Multiple sclerosis (MS) is a chronic, progressive central neurological disease characterized by inflammation and demyelination. In patients with MS, dysregulation of the autonomic nervous system may present with various clinical symptoms including sweating abnormalities, urinary dysfunction, orthostatic dysregulation, gastrointestinal symptoms, and sexual dysfunction. These autonomic disturbances reduce the quality of life of affected patients and constitute a clinical challenge to the physician due to variability of clinical presentation and inconsistent data on diagnosis and treatment. Early diagnosis and initiation of individualized interdisciplinary and multimodal strategies is beneficial in the management of autonomic dysfunction in MS. This review summarizes the current literature on the most prevalent aspects of autonomic dysfunction in MS and provides reference to underlying pathophysiological mechanisms as well as means of diagnosis and treatment. PMID:26213927

  15. Parametrized maneuvers for autonomous vehicles

    E-print Network

    Dever, Christopher W. (Christopher Walden), 1972-

    2004-01-01

    This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a ...

  16. Autonomic Dysregulation in Multiple Sclerosis

    PubMed Central

    Pintér, Alexandra; Cseh, Domonkos; Sárközi, Adrienn; Illigens, Ben M.; Siepmann, Timo

    2015-01-01

    Multiple sclerosis (MS) is a chronic, progressive central neurological disease characterized by inflammation and demyelination. In patients with MS, dysregulation of the autonomic nervous system may present with various clinical symptoms including sweating abnormalities, urinary dysfunction, orthostatic dysregulation, gastrointestinal symptoms, and sexual dysfunction. These autonomic disturbances reduce the quality of life of affected patients and constitute a clinical challenge to the physician due to variability of clinical presentation and inconsistent data on diagnosis and treatment. Early diagnosis and initiation of individualized interdisciplinary and multimodal strategies is beneficial in the management of autonomic dysfunction in MS. This review summarizes the current literature on the most prevalent aspects of autonomic dysfunction in MS and provides reference to underlying pathophysiological mechanisms as well as means of diagnosis and treatment. PMID:26213927

  17. Autonomous power system: Integrated scheduling

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.

    1992-01-01

    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control and scheduling techniques to space power distribution hardware. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis, isolation, and recovery (FDIR), the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space-based power system. Faults can be introduced into the Brassboard and in turn, be diagnosed and corrected by APEX and AIPS. The Autonomous Intelligent Power Scheduler controls the execution of loads attached to the Brassboard. Each load must be executed in a manner that efficiently utilizes available power and satisfies all load, resource, and temporal constraints. In the case of a fault situation on the Brassboard, AIPS dynamically modifies the existing schedule in order to resume efficient operation conditions. A database is kept of the power demand, temporal modifiers, priority of each load, and the power level of each source. AIPS uses a set of heuristic rules to assign start times and resources to each load based on load and resource constraints. A simple improvement engine based upon these heuristics is also available to improve the schedule efficiency. This paper describes the operation of the Autonomous Intelligent Power Scheduler as a single entity, as well as its integration with APEX and the Brassboard. Future plans are discussed for the growth of the Autonomous Intelligent Power Scheduler.

  18. Autonomous power system brassboard

    NASA Technical Reports Server (NTRS)

    Merolla, Anthony

    1992-01-01

    The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

  19. Autonomous landing guidance program

    NASA Astrophysics Data System (ADS)

    Brown, John A.

    1996-05-01

    The Autonomous Landing Guidance program is partly funded by the US Government under the Technology Reinvestment Project. The program consortium consists of avionics and other equipment vendors, airlines and the USAF. A Sextant Avionique HUD is used to present flight symbology in cursive form as well as millimeter wave radar imagery from Lear Astronics equipment and FLIR Systems dual-channel, forward-looking, infrared imagery. All sensor imagery is presented in raster form. A future aim is to fuse all imagery data into a single presentation. Sensor testing has been accomplished in a Cessna 402 operated by the Maryland Advanced Development Laboratory. Development testing is under way in a Northwest Airlines simulator equipped with HUD and image simulation. Testing is also being carried out using United Airlines Boeing 727 and USAF C-135C (Boeing 707) test aircraft. The paper addresses the technology utilized in sensory and display systems as well as modifications made to accommodate the elements in the aircraft. Additions to the system test aircraft include global positioning systems, inertial navigation systems and extensive data collection equipment. Operational philosophy and benefits for both civil and military users are apparent. Approach procedures have been developed allowing use of Category 1 ground installations in Category 3 conditions.

  20. Is paramecium swimming autonomic?

    NASA Astrophysics Data System (ADS)

    Bandyopadhyay, Promode R.; Toplosky, Norman; Hansen, Joshua

    2010-11-01

    We seek to explore if the swimming of paramecium has an underlying autonomic mechanism. Such robotic elements may be useful in capturing the disturbance field in an environment in real time. Experimental evidence is emerging that motion control neurons of other animals may be present in paramecium as well. The limit cycle determined using analog simulation of the coupled nonlinear oscillators of olivo-cerebellar dynamics (ieee joe 33, 563-578, 2008) agrees with the tracks of the cilium of a biological paramecium. A 4-motor apparatus has been built that reproduces the kinematics of the cilium motion. The motion of the biological cilium has been analyzed and compared with the results of the finite element modeling of forces on a cilium. The modeling equates applied torque at the base of the cilium with drag, the cilium stiffness being phase dependent. A low friction pendulum apparatus with a multiplicity of electromagnetic actuators is being built for verifying the maps of the attractor basin computed using the olivo-cerebellar dynamics for different initial conditions. Sponsored by ONR 33.

  1. Autonomous Gaussian Decomposition

    NASA Astrophysics Data System (ADS)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirovi?, Snežana; Babler, Brian; Heiles, Carl; Hennebelle, Patrick; Goss, W. M.; Dickey, John

    2015-04-01

    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes.

  2. Simple autonomous Mars walker

    NASA Technical Reports Server (NTRS)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

    1989-01-01

    Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

  3. Autonomous Mission Operations Roadmap

    NASA Technical Reports Server (NTRS)

    Frank, Jeremy David

    2014-01-01

    As light time delays increase, the number of such situations in which crew autonomy is the best way to conduct the mission is expected to increase. However, there are significant open questions regarding which functions to allocate to ground and crew as the time delays increase. In situations where the ideal solution is to allocate responsibility to the crew and the vehicle, a second question arises: should the activity be the responsibility of the crew or an automated vehicle function? More specifically, we must answer the following questions: What aspects of mission operation responsibilities (Plan, Train, Fly) should be allocated to ground based or vehicle based planning, monitoring, and control in the presence of significant light-time delay between the vehicle and the Earth?How should the allocated ground based planning, monitoring, and control be distributed across the flight control team and ground system automation? How should the allocated vehicle based planning, monitoring, and control be distributed between the flight crew and onboard system automation?When during the mission should responsibility shift from flight control team to crew or from crew to vehicle, and what should the process of shifting responsibility be as the mission progresses? NASA is developing a roadmap of capabilities for Autonomous Mission Operations for human spaceflight. This presentation will describe the current state of development of this roadmap, with specific attention to in-space inspection tasks that crews might perform with minimum assistance from the ground.

  4. SUBSURFACE REPOSITORY INTEGRATED CONTROL SYSTEM DESIGN

    SciTech Connect

    D.C. Randle

    2000-01-07

    The primary purpose of this document is to develop a preliminary high-level functional and physical control system architecture for the potential repository at Yucca Mountain. This document outlines an overall control system concept that encompasses and integrates the many diverse process and communication systems being developed for the subsurface repository design. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The Subsurface Repository Integrated Control System design will be composed of a series of diverse process systems and communication networks. The subsurface repository design contains many systems related to instrumentation and control (I&C) for both repository development and waste emplacement operations. These systems include waste emplacement, waste retrieval, ventilation, radiological and air monitoring, rail transportation, construction development, utility systems (electrical, lighting, water, compressed air, etc.), fire protection, backfill emplacement, and performance confirmation. Each of these systems involves some level of I&C and will typically be integrated over a data communications network throughout the subsurface facility. The subsurface I&C systems will also interface with multiple surface-based systems such as site operations, rail transportation, security and safeguards, and electrical/piped utilities. In addition to the I&C systems, the subsurface repository design also contains systems related to voice and video communications. The components for each of these systems will be distributed and linked over voice and video communication networks throughout the subsurface facility. The scope and primary objectives of this design analysis are to: (1) Identify preliminary system-level functions and interfaces (Section 6.2). (2) Examine the overall system complexity and determine how and on what levels the engineered process systems will be monitored, controlled, and interfaced (Section 6.2). (3) Develop a preliminary design for the overall Subsurface Repository Integrated Control System functional architecture and graphically depict the operational features of this design through a series of control system functional block diagrams (Section 6.2). (4) Develop a physical architecture that presents a viable yet preliminary physical implementation for the Subsurface Repository Integrated Control System functional architecture (Section 6.3). (5) Develop an initial concept for an overall subsurface data communications network that can be used to integrate the various control systems comprising the Subsurface Repository Integrated Control System (Section 6.4). (6) Develop a preliminary central control room design for the Subsurface Repository Integrated Control System (Section 6.5). (7) Identify and discuss the general safety-related issues and design strategies with respect to development of the Subsurface Repository Integrated Control System (Section 6.6). (8) Discuss plans for the Subsurface Repository Integrated Control System's response to off-normal operations (Section 6.7). (9) Discuss plans and strategies for developing software for the Subsurface Repository Integrated Control System (Section 6.8).

  5. PUBLICATIONS (SUBSURFACE PROTECTION AND REMEDIATION DIVISION

    EPA Science Inventory

    SPRD's Subsurface Remediation Information Center (SRIC) provides publication distribution of highly specialized scientific and technical information developed by and through SPRD relating to groundwater protection and remediation and ecosystem restoration. The SRIC maintains a b...

  6. MONTHLY HIGHLIGHTS (SUBSURFACE PROTECTION AND REMEDIATION DIVISION)

    EPA Science Inventory

    The Subsurface Protection and Remediation Division (SPRD) produces monthly highlights describing research accomplishments, involvement in current technical assistance activities, and staff participation in scientific meetings and conferences. Announcements of the release and avai...

  7. MODELING CONTAMINANT TRANSPORT THROUGH SUBSURFACE SYSTEMS

    EPA Science Inventory

    Modeling of contaminant transport through soil to groundwater to a receptor requires that consideration be given to the many processes which control the transport and fate of chemical constituents in the subsurface environment. These processes include volatilization, degradation,...

  8. Floating insulated conductors for heating subsurface formations

    SciTech Connect

    Burns, David; Goodwin, Charles R.

    2014-07-29

    A heating system for a subsurface formation includes a conduit located in a first opening in the subsurface formation. Three electrical conductors are located in the conduit. A return conductor is located inside the conduit. The return conductor is electrically coupled to the ends of the electrical conductors distal from the surface of the formation. Insulation is located inside the conduit. The insulation electrically insulates the three electrical conductors, the return conductor, and the conduit from each other.

  9. Microbial life in the deep terrestrial subsurface

    SciTech Connect

    Fliermans, C.B.; Balkwill, D.L.; Beeman, R.E.

    1988-12-31

    The distribution and function of microorganisms is a vital issue in microbial ecology. The US Department of Energy`s Program, ``Microbiology of the Deep Subsurface,`` concentrates on establishing fundamental scientific information about organisms at depth, and the use of these organisms for remediation of contaminants in deep vadose zone and groundwater environments. This investigation effectively extends the Biosphere hundreds of meters into the Geosphere and has implications to a variety of subsurface activities.

  10. Autonomous mobile robots: Vehicles with cognitive control

    SciTech Connect

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  11. Autonomous and Remote-Controlled Airborne and Ground-Based Robotic Platforms for Adaptive Geophysical Surveying

    NASA Astrophysics Data System (ADS)

    Spritzer, J. M.; Phelps, G. A.

    2011-12-01

    Low-cost autonomous and remote-controlled robotic platforms have opened the door to precision-guided geophysical surveying. Over the past two years, the U.S. Geological Survey, Senseta, NASA Ames Research Center, and Carnegie Mellon University Silicon Valley, have developed and deployed small autonomous and remotely controlled vehicles for geophysical investigations. The purpose of this line of investigation is to 1) increase the analytical capability, resolution, and repeatability, and 2) decrease the time, and potentially the cost and map-power necessary to conduct near-surface geophysical surveys. Current technology has advanced to the point where vehicles can perform geophysical surveys autonomously, freeing the geoscientist to process and analyze the incoming data in near-real time. This has enabled geoscientists to monitor survey parameters; process, analyze and interpret the incoming data; and test geophysical models in the same field session. This new approach, termed adaptive surveying, provides the geoscientist with choices of how the remainder of the survey should be conducted. Autonomous vehicles follow pre-programmed survey paths, which can be utilized to easily repeat surveys on the same path over large areas without the operator fatigue and error that plague man-powered surveys. While initial deployments with autonomous systems required a larger field crew than a man-powered survey, over time operational experience costs and man power requirements will decrease. Using a low-cost, commercially available chassis as the base for autonomous surveying robotic systems promise to provide higher precision and efficiency than human-powered techniques. An experimental survey successfully demonstrated the adaptive techniques described. A magnetic sensor was mounted on a small rover, which autonomously drove a prescribed course designed to provide an overview of the study area. Magnetic data was relayed to the base station periodically, processed and gridded. A target was located in the subsurface, and a second, higher-resolution survey was programmed and executed to give detailed data over the newly-found target.

  12. Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

    2005-01-01

    Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

  13. Autonomous Byte Stream Randomizer

    NASA Technical Reports Server (NTRS)

    Paloulian, George K.; Woo, Simon S.; Chow, Edward T.

    2013-01-01

    Net-centric networking environments are often faced with limited resources and must utilize bandwidth as efficiently as possible. In networking environments that span wide areas, the data transmission has to be efficient without any redundant or exuberant metadata. The Autonomous Byte Stream Randomizer software provides an extra level of security on top of existing data encryption methods. Randomizing the data s byte stream adds an extra layer to existing data protection methods, thus making it harder for an attacker to decrypt protected data. Based on a generated crypto-graphically secure random seed, a random sequence of numbers is used to intelligently and efficiently swap the organization of bytes in data using the unbiased and memory-efficient in-place Fisher-Yates shuffle method. Swapping bytes and reorganizing the crucial structure of the byte data renders the data file unreadable and leaves the data in a deconstructed state. This deconstruction adds an extra level of security requiring the byte stream to be reconstructed with the random seed in order to be readable. Once the data byte stream has been randomized, the software enables the data to be distributed to N nodes in an environment. Each piece of the data in randomized and distributed form is a separate entity unreadable on its own right, but when combined with all N pieces, is able to be reconstructed back to one. Reconstruction requires possession of the key used for randomizing the bytes, leading to the generation of the same cryptographically secure random sequence of numbers used to randomize the data. This software is a cornerstone capability possessing the ability to generate the same cryptographically secure sequence on different machines and time intervals, thus allowing this software to be used more heavily in net-centric environments where data transfer bandwidth is limited.

  14. ?-Synuclein in cutaneous autonomic nerves

    PubMed Central

    Wang, Ningshan; Gibbons, Christopher H.; Lafo, Jacob

    2013-01-01

    Objective: To develop a cutaneous biomarker for Parkinson disease (PD). Methods: Twenty patients with PD and 14 age- and sex-matched control subjects underwent examinations, autonomic testing, and skin biopsies at the distal leg, distal thigh, and proximal thigh. ?-Synuclein deposition and the density of intraepidermal, sudomotor, and pilomotor nerve fibers were measured. ?-Synuclein deposition was normalized to nerve fiber density (the ?-synuclein ratio). Results were compared with examination scores and autonomic function testing. Results: Patients with PD had a distal sensory and autonomic neuropathy characterized by loss of intraepidermal and pilomotor fibers (p < 0.05 vs controls, all sites) and morphologic changes to sudomotor nerve fibers. Patients with PD had greater ?-synuclein deposition and higher ?-synuclein ratios compared with controls within pilomotor nerves and sudomotor nerves (p < 0.01, all sites) but not sensory nerves. Higher ?-synuclein ratios correlated with Hoehn and Yahr scores (r = 0.58–0.71, p < 0.01), with sympathetic adrenergic function (r = ?0.40 to ?0.66, p < 0.01), and with parasympathetic function (r = ?0.66 to ?0.77, p > 0.01). Conclusions: We conclude that ?-synuclein deposition is increased in cutaneous sympathetic adrenergic and sympathetic cholinergic fibers but not sensory fibers of patients with PD. Higher ?-synuclein deposition is associated with greater autonomic dysfunction and more advanced PD. These data suggest that measures of ?-synuclein deposition in cutaneous autonomic nerves may be a useful biomarker in patients with PD. PMID:24089386

  15. Algorithmic Solution for Autonomous Vision-Based O -Road Navigation

    E-print Network

    Kolesnik, Marina

    Algorithmic Solution for Autonomous Vision-Based O -Road Navigation Marina Kolesnika, Gerhard A vision based navigation system is a basic tool to provide autonomous operations of unmanned vehicles for autonomous outdoor navigation. Keywords: Autonomous Navigation, Stereo Reconstruction, Vehicle, Stereo

  16. Planning and Implementing Trajectories for Autonomous Underwater Vehicles to

    E-print Network

    Smith, Ryan N.

    Planning and Implementing Trajectories for Autonomous Underwater Vehicles to Track Evolving Ocean and Gaurav S. Sukhatme1 Abstract Path planning and trajectory design for autonomous underwater vehicles (AUVs California coastal ocean. Keywords Algal bloom, autonomous glider, autonomous underwater vehicles, feature

  17. An intelligent subsurface buoy design for measuring ocean ambient noise

    NASA Astrophysics Data System (ADS)

    Li, Bing; Wang, Lei

    2012-11-01

    A type of ultra-low power subsurface buoy system is designed to measure and record ocean ambient noise data. The buoy utilizes a vector hydrophone (pass band 20Hz-1.2kHz) and a 6-element vertical hydrophone array (pass band 20Hz-2kHz) to measure ocean ambient noise. The acoustic signals are passed through an automatically modified gain, a band pass filter, and an analog-to-digital (A/D) conversion module. They are then stored in high-capacity flash memory. In order to identify the direction of noise source, the vector sensor measuring system has integrated an electric-magnetic compass. The system provides a low-rate underwater acoustic communication system which is used to report the buoy state information and a high-speed USB interface which is used to retrieve the recorded data on deck. The whole system weighs about 125kg and can operate autonomously for more than 72 hours. The system's main architecture and the sea-trial test results are provided in this paper.

  18. Autonomous hazard detection and avoidance

    NASA Technical Reports Server (NTRS)

    Pien, Homer

    1992-01-01

    During GFY 91, Draper Laboratory was awarded a task by NASA-JSC under contract number NAS9-18426 to study and evaluate the potential for achieving safe autonomous landings on Mars using an on-board autonomous hazard detection and avoidance (AHDA) system. This report describes the results of that study. The AHDA task had four objectives: to demonstrate, via a closed-loop simulation, the ability to autonomously select safe landing sites and the ability to maneuver to the selected site; to identify key issues in the development of AHDA systems; to produce strawman designs for AHDA sensors and algorithms; and to perform initial trade studies leading to better understanding of the effect of sensor/terrain/viewing parameters on AHDA algorithm performance. This report summarizes the progress made during the first year, with primary emphasis on describing the tools developed for simulating a closed-loop AHDA landing. Some cursory performance evaluation results are also presented.

  19. Continuous observation planning for autonomous exploration

    E-print Network

    Hasegawa, Bradley R

    2004-01-01

    Many applications of autonomous robots depend on the robot being able to navigate in real world environments. In order to navigate or path plan, the robot often needs to consult a map of its surroundings. A truly autonomous ...

  20. Issues in autonomous mobile sensor networks 

    E-print Network

    Dharne, Avinash Gopal

    2009-05-15

    Autonomous mobile sensor networks consist of a number of autonomous mobile robots equipped with various sensors and tasked with a common mission. This thesis considers the topology control of such an ad hoc mobile sensor network. In particular, I...

  1. Adaptive sampling in autonomous marine sensor networks

    E-print Network

    Eickstedt, Donald Patrick

    2006-01-01

    In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. ...

  2. A Robust Compositional Architecture for Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

    2006-01-01

    Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

  3. SPACECRAFT LOCALIZATION VIA ANGLE MEASUREMENTS FOR AUTONOMOUS

    E-print Network

    Garulli, Andrea

    SPACECRAFT LOCALIZATION VIA ANGLE MEASUREMENTS FOR AUTONOMOUS NAVIGATION IN DEEP SPACE MISSIONS deals with spacecraft autonomous navigation in deep space missions. The considered problem requirement for this type of missions. Localization of spacecrafts is usually very accurate when GPS range

  4. Autonomous Intersection Management for Semi-Autonomous Vehicles Tsz-Chiu Au

    E-print Network

    Stone, Peter

    Autonomous Intersection Management for Semi-Autonomous Vehicles Tsz-Chiu Au School of Electrical@cs.utexas.edu Abstract-- Recent advances in autonomous vehicle technology will open the door to highly efficient control protocol designed for fully autonomous vehicles. We, however, anticipate there will be a long

  5. DEVELOPMENT OF AN IMMUNOASSAY FOR AUTONOMOUS, SUBSURFACE DETECTION OF PARTICULATE MICROCYSTINS IN LAKE ERIE

    E-print Network

    ELISA calibrated `in matrix'; LOQ for 0.2 L sample on ESP ~50-fold less than EPA 10-Day Drinking Water HealthELISA) with `in-water' sub- ng/mL limit of detection, taking into account sample matrix effects 3) conduct-GLERL protocol logistics/chemistry compatible with ESP fluidics & functionality tested Abraxis QuikLyseTM vs

  6. Miniature Autonomous Robotic Vehicle (MARV)

    SciTech Connect

    Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L.; Weber, T.M.

    1996-12-31

    Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.

  7. Progress towards autonomous, intelligent systems

    NASA Technical Reports Server (NTRS)

    Lum, Henry; Heer, Ewald

    1987-01-01

    An aggressive program has been initiated to develop, integrate, and implement autonomous systems technologies starting with today's expert systems and evolving to autonomous, intelligent systems by the end of the 1990s. This program includes core technology developments and demonstration projects for technology evaluation and validation. This paper discusses key operational frameworks in the content of systems autonomy applications and then identifies major technological challenges, primarily in artificial intelligence areas. Program content and progress made towards critical technologies and demonstrations that have been initiated to achieve the required future capabilities in the year 2000 era are discussed.

  8. Discerning non-autonomous dynamics

    NASA Astrophysics Data System (ADS)

    Clemson, Philip T.; Stefanovska, Aneta

    2014-09-01

    Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale-from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems-their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous the Poincaré oscillator with quasi-periodic forcing. In this way we not only discuss and review each method, but also present properties which help to clearly distinguish the three classes of systems when analysed in an inverse approach-from measured, or numerically generated data. In particular, this review provides a framework to tackle inverse problems in these areas and clearly distinguish non-autonomous dynamics from chaos or stochasticity.

  9. CSMOS GROUNDWATER MODELING SOFTWARE (CENTER FOR SUBSURFACE MODELING SUPPORT, SUBSURFACE PROTECTION AND REMEDIATION DIVISION, NRMRL)

    EPA Science Inventory

    The Center for Subsurface Modeling Support (CSMoS), which is part of NRMRL's Subsurface Protection and Remediation Division, distributes various public domain groundwater and vadose zone models. A short decription of each model is available. You can obtain both models and manuals...

  10. Autonomous Mobile Robot System for Long Distance

    E-print Network

    Ohya, Akihisa

    Autonomous Mobile Robot System for Long Distance Outdoor Navigation in University Campus Shoichi:maeyama@roboken.is.tsukuba.ac.jp Keywords : Development of an autonomous mobile robot, Outdoor navigation and Execution monitor. Abstract We are developing a self-contained and autonomous mo- bile robot to navigate itself in our university campus

  11. Modeling Visual Landmark Navigation with Autonomous Agents

    E-print Network

    Moeller, Ralf

    Modeling Visual Landmark Navigation with Autonomous Agents Dimitrios Lambrinos1 , Ralf Moller1, the autonomous agents approach 3], to gain additional insights into the navigation behavior of Cataglyphis. Lambrinos, M. Maris, H. Kobayashi, T. Labhart, R. Pfeifer, and R. Wehner. An autonomous agent navigating

  12. Autonomous Driving using Road Safety Rules

    E-print Network

    Soatto, Stefano

    Autonomous Driving using Road Safety Rules Pratik Chaudhari Joint work with Luis I. Reyes Castro, Several megabytes of data / sec. Pratik C. () Autonomous Driving using Road Safety Rules August 30, 2013 1 are expected to follow human driving rules Pratik C. () Autonomous Driving using Road Safety Rules August 30

  13. TECHNOLOGY NEEDS FOR AUTONOMOUS UNDERWATER VEHICLES

    E-print Network

    Griffiths, Gwyn

    TECHNOLOGY NEEDS FOR AUTONOMOUS UNDERWATER VEHICLES Gwyn Griffiths Ocean Technology Division that may not lie on the critical path to making autonomous underwater vehicles a commercial success. For, construction and operation of autonomous underwater vehicles (AUVs) for scientific and commercial purposes

  14. Glider and Autonomous Underwater Vehicle Observing Systems

    E-print Network

    Griffiths, Gwyn

    - 1 - Glider and Autonomous Underwater Vehicle Observing Systems G. Griffiths Southampton. INTRODUCTION Gliders and propeller-driven autonomous underwater vehicles (AUVs) are examples of how advances of the autonomous vehicle per se. AUVs and gliders have been proposed as components of coastal and open ocean

  15. > 070131-073Autonomous Surface Vehicle

    E-print Network

    Marques, Eduardo R. B.

    > 070131-073Autonomous Surface Vehicle for Network Centric Operations H. Ferreira-The design and development of the Swordfish Autonomous Surface Vehicle (ASV) system is discussed. Swordfish. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus

  16. SUBSURFACE REPOSITORY INTEGRATED CONTROL SYSTEM DESIGN

    SciTech Connect

    C.J. Fernado

    1998-09-17

    The purpose of this document is to develop preliminary high-level functional and physical control system architectures for the proposed subsurface repository at Yucca Mountain. This document outlines overall control system concepts that encompass and integrate the many diverse systems being considered for use within the subsurface repository. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The subsurface repository design will be composed of a series of diverse systems that will be integrated to accomplish a set of overall functions and objectives. The subsurface repository contains several Instrumentation and Control (I&C) related systems including: waste emplacement systems, ventilation systems, communication systems, radiation monitoring systems, rail transportation systems, ground control monitoring systems, utility monitoring systems (electrical, lighting, water, compressed air, etc.), fire detection and protection systems, retrieval systems, and performance confirmation systems. Each of these systems involve some level of I&C and will typically be integrated over a data communication network. The subsurface I&C systems will also integrate with multiple surface-based site-wide systems such as emergency response, health physics, security and safeguards, communications, utilities and others. The scope and primary objectives of this analysis are to: (1) Identify preliminary system level functions and interface needs (Presented in the functional diagrams in Section 7.2). (2) Examine the overall system complexity and determine how and on what levels these control systems will be controlled and integrated (Presented in Section 7.2). (3) Develop a preliminary subsurface facility-wide design for an overall control system architecture, and depict this design by a series of control system functional block diagrams (Presented in Section 7.2). (4) Develop a series of physical architectures that present preliminary concepts for integrating the diverse set of control systems to be used within the subsurface repository facility (Presented in Section 7.3). (5) Develop initial concepts for an overall subsurface data communication system that can be used to integrate critical and data-intensive control systems (Presented in Section 7.4). (6) Discuss technology trends and control system design issues (Presented in Section 7.5).

  17. Wave-Based Subsurface Guide Star

    SciTech Connect

    Lehman, S K

    2011-07-26

    Astronomical or optical guide stars are either natural or artificial point sources located above the Earth's atmosphere. When imaged from ground-based telescopes, they are distorted by atmospheric effects. Knowing the guide star is a point source, the atmospheric distortions may be estimated and, deconvolved or mitigated in subsequent imagery. Extending the guide star concept to wave-based measurement systems to include acoustic, seismo-acoustic, ultrasonic, and radar, a strong artificial scatterer (either acoustic or electromagnetic) may be buried or inserted, or a pre-existing or natural sub-surface point scatterer may be identified, imaged, and used as a guide star to determine properties of the sub-surface volume. That is, a data collection is performed on the guide star and the sub-surface environment reconstructed or imaged using an optimizer assuming the guide star is a point scatterer. The optimization parameters are the transceiver height and bulk sub-surface background refractive index. Once identified, the refractive index may be used in subsequent reconstructions of sub-surface measurements. The wave-base guide star description presented in this document is for a multimonostatic ground penetrating radar (GPR) but is applicable to acoustic, seismo-acoustic, and ultrasonic measurement systems operating in multimonostatic, multistatic, multibistatic, etc., modes.

  18. Cloud and Autonomic Computing Center

    E-print Network

    Gelfond, Michael

    » Microseismology and inverse scattering » Modeling cancer tissue growth and targeted drug delivery » AtmosphericCloud and Autonomic Computing Center A New Industry/University Cooperative Research Center Site of Computer Science Areas of expertise » Cloud computing storage systems » Data management and data centers

  19. The Functioning of Autonomous Colleges

    ERIC Educational Resources Information Center

    Rao, V. Pala Prasada; Rao, Digumarti Bhaskara

    2012-01-01

    The college gets separated from the university, though not completely, when it is an autonomous college, which is practice in India. Academic package will become flexible and the decision-making is internalized, changes and updating could be easily carried out, depending on the need as reflected from the feedback taken from alumni, user sectors,…

  20. Autonomous Ground Vehicle Path Tracking

    E-print Network

    Florida, University of

    Autonomous Ground Vehicle Path Tracking Jeff Wit Wintec, Inc. 104 Research Road, Building 9738 vehicle navigation requires the integration of many technologies such as path planning, position of a nonholonomic ground vehicle as it tracks a given path. A new path tracking technique called ``vector pursuit

  1. An Autonomous Reliabilit Cloud Comput

    E-print Network

    Buyya, Rajkumar

    An Autonomous Reliabilit Ami Cloud Comput Department of Computing and Informa Abstract--Cloud computing paradigm allo based access to computing and storages s Internet. Since with advances of Cloud. Keywords- Cloud computing; SLA negotiat I. INTRODUCTION Cloud computing has transferred the services

  2. Computing architecture for autonomous microgrids

    SciTech Connect

    Goldsmith, Steven Y.

    2015-09-29

    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the microgrid.

  3. Autonomous Sailing Robot for Oceanographic

    E-print Network

    Lherminier, Pascale

    ASAROME Autonomous Sailing Robot for Oceanographic MEasurements Clément PETRES Institut des sensor system: GPS, IMU, omni-directional camera, sonar, hydrophones, loch, wind vane, anemometer and obstacle avoidance - Dynamic adaptation to wind variations and obstacle detection - Real-time on-board

  4. AARD - Autonomous Airborne Refueling Demonstration

    NASA Technical Reports Server (NTRS)

    Ewers, Dick

    2007-01-01

    This viewgraph document reviews the Autonomous Airborne Refueling Demonstration program, and NASA Dryden's work in the program. The primary goal of the program is to make one fully automatic probe-to-drogue engagement using the AARD system. There are pictures of the aircraft approaching to the docking.

  5. Linguistic geometry for autonomous navigation

    SciTech Connect

    Stilman, B.

    1995-09-01

    To discover the inner properties of human expert heuristics, which were successful in a certain class of complex control systems, we develop a formal theory, the Linguistic Geometry. This paper reports two examples of application of Linguistic Geometry to autonomous navigation of aerospace vehicles that demonstrate dramatic search reduction.

  6. An Autonomous Spacecraft Agent Prototype

    NASA Technical Reports Server (NTRS)

    Pell, Barney; Bernard, Douglas E.; Chien, Steve A.; Gat, Erann; Muscettola, Nicola; Nayak, P. Pandurang; Wagner, Michael D.; Williams, Brian C.

    1997-01-01

    This paper describes the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. This architecture integrates traditional real-time monitoring and control with constraint-based planning and scheduling, robust multi-threaded execution, and model-based diagnosis and reconfiguration.

  7. Towards Fully Autonomous Visual Navigation

    E-print Network

    Oxford, University of

    Towards Fully Autonomous Visual Navigation Joss Knight Brasenose College Robotics Research Group of simultaneous localisation and mapping using the Extended Kalman Filter, which is a highly general and exible for a successfully operating localisation #12;lter are established, and the ability of the Extended Kalman Filter

  8. Towards Fully Autonomous Visual Navigation

    E-print Network

    Oxford, University of

    Towards Fully Autonomous Visual Navigation Joss Knight Brasenose College Robotics Research Group and mapping using the Extended Kalman Filter, which is a highly general and flexible localisation methodology localisation filter are established, and the ability of the Extended Kalman Filter to achieve

  9. Subsurface Contaminants Focus Area annual report 1997

    SciTech Connect

    1997-12-31

    In support of its vision for technological excellence, the Subsurface Contaminants Focus Area (SCFA) has identified three strategic goals. The three goals of the SCFA are: Contain and/or stabilize contamination sources that pose an imminent threat to surface and ground waters; Delineate DNAPL contamination in the subsurface and remediate DNAPL-contaminated soils and ground water; and Remove a full range of metal and radionuclide contamination in soils and ground water. To meet the challenges of remediating subsurface contaminants in soils and ground water, SCFA funded more than 40 technologies in fiscal year 1997. These technologies are grouped according to the following product lines: Dense Nonaqueous-Phase Liquids; Metals and Radionuclides; Source Term Containment; and Source Term Remediation. This report briefly describes the SCFA 1997 technologies and showcases a few key technologies in each product line.

  10. Complete Subsurface Elemental Composition Measurements With PING

    NASA Technical Reports Server (NTRS)

    Parsons, A. M.

    2012-01-01

    The Probing In situ with Neutrons and Gamma rays (PING) instrument will measure the complete bulk elemental composition of the subsurface of Mars as well as any other solid planetary body. PING can thus be a highly effective tool for both detailed local geochemistry science investigations and precision measurements of Mars subsurface reSOurces in preparation for future human exploration. As such, PING is thus fully capable of meeting a majority of both ncar and far term elements in Challenge #1 presented for this conference. Measuring the ncar subsurface composition of Mars will enable many of the MEPAG science goals and will be key to filling an important Strategic Knowledge Gap with regard to In situ Resources Utilization (ISRU) needs for human exploration. [1, 2] PING will thus fill an important niche in the Mars Exploration Program.

  11. Tidal response of Europa's subsurface ocean

    NASA Astrophysics Data System (ADS)

    Karatekin, Özgür; Comblen, Richard; Toubeau, Jonathan; Deleersnijder, Eric; van Hoolst, Tim; Dehant, Veronique

    2010-05-01

    Observations of Cassini and Galileo spacecrafts suggest the presence of subsurface global water oceans under the icy shells of several satellites of Jupiter and Saturn. Previous studies have shown that in the presence of subsurface oceans, time-variable tides cause large periodic surface displacements and that tidal dissipation in the icy shell becomes a major energy source that can affect long-term orbital evolution. However, in most studies so far, the dynamics of these satellite oceans have been neglected. In the present study, we investigate the tidal response of the subsurface ocean of Europa to a time-varying potential. Two-dimensional nonlinear shallow water equations are solved on a sphere by means of a finite element code. The resulting ocean tidal flow velocities and surface displacements will be presented.

  12. Microbial activities in deep subsurface environments

    SciTech Connect

    Phelps, T.J.; Raione, E.G.; White, D.C. |; Fliermans, C.B.

    1988-12-31

    Activities of microorganisms residing in terrestrial deep subsurface sediments were examined in forty-six sediment samples from three aseptically sampled boreholes. Radiolabeled time course experiments assessing in situ microbial activities were initiated within 30 minutes of core recovery. [{sup 14}C-1-] Acetate incorporation into lipids. [methyl-{sup 3}H-]thymidine incorporation into DNA, [{sup 14}C-2-]acetate and [{sup 14}C-U-]glucose mineralization in addition to microbial enrichment and enumeration studies were examined in surface and subsurface sediments. Surface soils contained the greatest biomass and activities followed by the shallow aquifer zones. Water saturated subsurface sediments exhibited three to four orders of magnitude greater activity and culturable microorganisms than the dense clay zones. Regardless of depth, sediments which contained more than 20% clays exhibited the lowest activities and culturable microorganisms.

  13. MSTS - Multiphase Subsurface Transport Simulator theory manual

    SciTech Connect

    White, M.D.; Nichols, W.E.

    1993-05-01

    The US Department of Energy, through the Yucca Mountain Site Characterization Project Office, has designated the Yucca Mountain site in Nevada for detailed study as the candidate US geologic repository for spent nuclear fuel and high-level radioactive waste. Site characterization will determine the suitability of the Yucca Mountain site for the potential waste repository. If the site is determined suitable, subsequent studies and characterization will be conducted to obtain authorization from the Nuclear Regulatory Commission to construct the potential waste repository. A principal component of the characterization and licensing processes involves numerically predicting the thermal and hydrologic response of the subsurface environment of the Yucca Mountain site to the potential repository over a 10,000-year period. The thermal and hydrologic response of the subsurface environment to the repository is anticipated to include complex processes of countercurrent vapor and liquid migration, multiple-phase heat transfer, multiple-phase transport, and geochemical reactions. Numerical simulators based on mathematical descriptions of these subsurface phenomena are required to make numerical predictions of the thermal and hydrologic response of the Yucca Mountain subsurface environment The engineering simulator called the Multiphase Subsurface Transport Simulator (MSTS) was developed at the request of the Yucca Mountain Site Characterization Project Office to produce numerical predictions of subsurface flow and transport phenomena at the potential Yucca Mountain site. This document delineates the design architecture and describes the specific computational algorithms that compose MSTS. Details for using MSTS and sample problems are given in the {open_quotes}User`s Guide and Reference{close_quotes} companion document.

  14. [Acute Sensory Neuropathies and Acute Autonomic Neuropathies].

    PubMed

    Koike, Haruki

    2015-11-01

    From the perspective of neuropathies with an acute onset mimicking that of Guillain-Barr? syndrome (GBS), cases with profound sensory and/or autonomic impairment without any significant weakness have been reported. Although the possibility of infectious or toxic etiologies should be carefully excluded, immune mechanisms similar to those in GBS are suggested to be involved in these so-called acute sensory neuropathies and acute autonomic neuropathies. The types of neuropathy include those with predominant sensory manifestations, predominant autonomic manifestations such as autoimmune autonomic ganglionopathy, and both sensory and autonomic manifestations such as acute autonomic and sensory neuropathy. Neuronopathy in the sensory and/or autonomic ganglia (i.e., ganglionopathy) has been commonly suggested in patients with these types of neuropathies. The presence of Anti-GD1b antibodies has been reported in some of the patients with acute sensory neuropathy with deep sensory impairment, whereas anti-ganglionic acetylcholine receptor antibodies are reported to be present in half of the patients with autoimmune autonomic ganglionopathy. The discovery of anti-ganglionic acetylcholine receptor antibodies significantly expanded the spectrum of autoimmune autonomic ganglionopathy. This is because some of the patients with chronic progression mimicking neurodegenerative diseases such as pure autonomic failure were positive for these antibodies. In contrast, pathologically significant autoantibodies have not been identified in acute autonomic and sensory neuropathy. Further studies are needed to clarify the pathogenesis and the spectrum of these types of neuropathies. PMID:26560953

  15. Subsurface clade of Geobacteraceae that predominates in a diversity of Fe(III)-reducing subsurface environments

    SciTech Connect

    Holmes, Dawn; O'Neil, Regina; Vrionis, Helen A.; N'guessan, Lucie A.; Ortiz-Bernad, Irene; Larrahondo, Maria J.; Adams, Lorrie A.; Ward, Joy A.; Nicoll, Julie S.; Nevin, Kelly P.; Chavan, Milind A.; Johnson, Jessica P.; Long, Philip E.; Lovely, Derek R.

    2007-12-01

    There are distinct differences in the physiology of Geobacter species available in pure culture. Therefore, to understand the ecology of Geobacter species in subsurface environments, it is important to know which species predominate. Clone libraries were assembled with 16S rRNA genes and transcripts amplified from three subsurface environments in which Geobacter species are known to be important members of the microbial community: (1) a uranium-contaminated aquifer located in Rifle, CO, USA undergoing in situ bioremediation; (2) an acetate-impacted aquifer that serves as an analog for the long-term acetate amendments proposed for in situ uranium bioremediation and (3) a petroleum-contaminated aquifer in which Geobacter species play a role in the oxidation of aromatic hydrocarbons coupled with the reduction of Fe(III). The majority of Geobacteraceae 16S rRNA sequences found in these environments clustered in a phylogenetically coherent subsurface clade, which also contains a number of Geobacter species isolated from subsurface environments. Concatamers constructed with 43 Geobacter genes amplified from these sites also clustered within this subsurface clade. 16S rRNA transcript and gene sequences in the sediments and groundwater at the Rifle site were highly similar, suggesting that sampling groundwater via monitoring wells can recover the most active Geobacter species. These results suggest that further study of Geobacter species in the subsurface clade is necessary to accurately model the behavior of Geobacter species during subsurface bioremediation of metal and organic contaminants

  16. Radar Soundings of the Subsurface of Mars

    NASA Technical Reports Server (NTRS)

    Picardi, Giovanni; Plaut, Jeffrey J.; Biccari, Daniela; Bombaci, Ornella; Calabrese, Diego; Cartacci, Marco; Cicchetti, Andrea; Clifford, Stephen M.; Edenhofer, Peter; Farrell, William M.; Federico, Costanzo; Frigeri, Alessandro; Gurnett, Donald A.; Hagfors, Tor; Heggy, Essam; Herique, Alain; Huff, Richard L.; Ivanov, Anton B.; Johnson, William T. K.; Jordan, Rolando L.; Kirchner, Donald L.; Kofman, Wlodek; Leuschen, Carlton J.; Nielsen, Erling; Orosei, Roberto

    2005-01-01

    The martian subsurface has been probed to kilometer depths by the Mars Advanced Radar for Subsurface and Ionospheric Sounding instrument aboard the Mars Express orbiter. Signals penetrate the polar layered deposits, probably imaging the base of the deposits. Data from the northern lowlands of Chryse Planitia have revealed a shallowly buried quasi-circular structure about 250 kilometers in diameter that is interpreted to be an impact basin. In addition, a planar reflector associated with the basin structure may indicate the presence of a low-loss deposit that is more than 1 kilometer thick.

  17. Heating systems for heating subsurface formations

    DOEpatents

    Nguyen, Scott Vinh (Houston, TX); Vinegar, Harold J. (Bellaire, TX)

    2011-04-26

    Methods and systems for heating a subsurface formation are described herein. A heating system for a subsurface formation includes a sealed conduit positioned in an opening in the formation and a heat source. The sealed conduit includes a heat transfer fluid. The heat source provides heat to a portion of the sealed conduit to change phase of the heat transfer fluid from a liquid to a vapor. The vapor in the sealed conduit rises in the sealed conduit, condenses to transfer heat to the formation and returns to the conduit portion as a liquid.

  18. Apparatus for passive removal of subsurface contaminants

    DOEpatents

    Pemberton, B.E.; May, C.P.; Rossabi, J.

    1997-06-24

    An apparatus is provided which passively removes contaminated gases from a subsurface. The apparatus includes a riser pipe extending into a subsurface which has an exterior end in fluid communication with a valve. When well pressure is greater than atmospheric pressure, the valve opens to release contaminants into the atmosphere, and when well pressure is less than atmospheric pressure, the valve closes to prevent flow of air into the well. The valve assembly of the invention comprises a lightweight ball which is lifted from its valve seat with a slight pressure drop between the well and the atmosphere. 7 figs.

  19. Apparatus for passive removal of subsurface contaminants

    DOEpatents

    Pemberton, Bradley E. (Aiken, SC); May, Christopher P. (Fairfax, VA); Rossabi, Joseph (Aiken, SC)

    1997-01-01

    An apparatus is provided which passively removes contaminated gases from a subsurface. The apparatus includes a riser pipe extending into a subsurface which has an exterior end in fluid communication with a valve. When well pressure is greater than atmospheric pressure, the valve opens to release contaminants into the atmosphere, and when well pressure is less than atmospheric pressure, the valve closes to prevent flow of air into the well. The valve assembly of the invention comprises a lightweight ball which is lifted from its valve seat with a slight pressure drop between the well and the atmosphere.

  20. Subsurface Microbes Expanding the Tree of Life

    SciTech Connect

    Banfield, Jillian

    2015-05-11

    Jillian Banfield, Ph.D., UC Berkeley Professor and Berkeley Lab Earth Sciences Division staff scientist and long-time user of the DOE Joint Genome Institute’s resources shares her perspective on how the DOE JGI helps advance her research addressing knowledge gaps related to the roles of subsurface microbial communities in biogeochemical cycling. The video was filmed near the town of Rifle, Colorado at the primary field site for Phase I of the Subsurface Systems Scientific Focus Area 2.0 sponsored by the DOE Office of Biological and Environmental Research.

  1. Induction heaters used to heat subsurface formations

    DOEpatents

    Nguyen, Scott Vinh (Houston, TX); Bass, Ronald M. (Houston, TX)

    2012-04-24

    A heating system for a subsurface formation includes an elongated electrical conductor located in the subsurface formation. The electrical conductor extends between at least a first electrical contact and a second electrical contact. A ferromagnetic conductor at least partially surrounds and at least partially extends lengthwise around the electrical conductor. The electrical conductor, when energized with time-varying electrical current, induces sufficient electrical current flow in the ferromagnetic conductor such that the ferromagnetic conductor resistively heats to a temperature of at least about 300.degree. C.

  2. Mechanistic Process Modeling for Subsurface Remediation

    SciTech Connect

    Yabusaki, Steven B.; Bryant, Steven L.; Chen, Shi-Yi; Fann, George I.; Flach, Gregory P.; Gray, William G.; Holland, Jeffery P.; Jordan, Kirk E.; Maier, Robert S.; Malard, Joel M.; Rector, David R.; Soll, Wendy E.; Steefel, Carl I.; Thompson, Andrew F.; Trease, Harold E.; Wheeler, Mary F.; Wood, Brian D.

    2002-08-30

    The goal of this project was to develop the first generation of models that fully address the coupling of dominant processes controlling the behavior of fluid, chemical and biological components in the subsurface. The large memory and computational performance of multiprocessor computing architectures would be exploited to provide modeling capabilities with unprecedented process detail and resolution to assess new scientific hypotheses, assist with experimental design, and to evaluate environmental technologies and remediation design. Moreover, the proposed capability developments would advance the scientific agenda for the subsurface through the realized advances in complex multiple-phase reaction modeling.

  3. Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

    NASA Technical Reports Server (NTRS)

    Wehner, Walter S.

    2012-01-01

    The Simulation Software, KATE (Knowledgebase Autonomous Test Engineer), is used to demonstrate the automatic identification of faults in a system. The ACLO (Autonomous Cryogenics Loading Operation) project uses KATE to monitor and find faults in the loading of the cryogenics int o a vehicle fuel tank. The KATE software interfaces with the IHM (Integrated Health Management) systems bus to communicate with other systems that are part of ACLO. One system that KATE uses the IHM bus to communicate with is AIS (Advanced Inspection System). KATE will send messages to AIS when there is a detected anomaly. These messages include visual inspection of specific valves, pressure gauges and control messages to have AIS open or close manual valves. My goals include implementing the connection to the IHM bus within KATE and for the AIS project. I will also be working on implementing changes to KATE's Ul and implementing the physics objects in KATE that will model portions of the cryogenics loading operation.

  4. Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

    NASA Technical Reports Server (NTRS)

    Wehner, Walter S., Jr.

    2013-01-01

    Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

  5. Autonomic neuropathy in Fabry disease: a prospective study using the Autonomic Symptom Profile and cardiovascular autonomic function tests

    PubMed Central

    2010-01-01

    Background Fabry patients have symptoms and signs compatible with autonomic dysfunction. These symptoms and signs are considered to be due to impairment of the peripheral nervous system, but findings indicative of autonomic neuropathy in other diseases, such as orthostatic intolerance and male sexual dysfunction, are infrequently reported in Fabry disease. The aim of our study was to investigate autonomic symptoms and cardiovascular autonomic function in a large cohort of male and female Fabry patients. Methods Forty-eight Fabry patients (15 male, 30 treated with enzyme replacement therapy) and 48 sex- and age-matched controls completed a questionnaire on autonomic symptoms (the Autonomic Symptom Profile). Thirty-six Fabry patients underwent cardiovascular function tests. Results The Autonomic Symptom Profile revealed a significantly higher sum score in Fabry patients than in healthy control subjects (22 versus 12), but a relatively low score compared to patients with proven autonomic neuropathy. Fabry patients scored worse than healthy controls in the orthostatic intolerance domain. Scores in the male sexual dysfunction domain were comparable between healthy controls and male Fabry patients. The cardiovascular autonomic function tests revealed only mild abnormalities in seven patients. None of these seven patients showed more than one abnormal test result. Enzyme replacement therapy was not associated with less severe disease, lower ASP scores or less frequent abnormal cardiovascular function test results. Conclusions Male sexual function and autonomic control of the cardiovascular system are nearly normal in Fabry patients, which cast doubt on the general accepted assumption that autonomic neuropathy is the main cause of symptoms and signs compatible with autonomic dysfunction in Fabry disease. Possibly, end-organ damage plays a key role in the development of symptoms and signs in Fabry patients. An exceptional kind of autonomic neuropathy is another but less likely explanation. PMID:20529242

  6. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    PubMed Central

    Jin, Heung Yong; Baek, Hong Sun

    2015-01-01

    Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM) and type 2 diabetes mellitus (T2DM). Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN). Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed. PMID:26706915

  7. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy.

    PubMed

    Jin, Heung Yong; Baek, Hong Sun; Park, Tae Sun

    2015-12-01

    Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM) and type 2 diabetes mellitus (T2DM). Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN). Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed. PMID:26706915

  8. On-Site Wastewater Treatment Systems: Subsurface Drip Distribution 

    E-print Network

    Lesikar, Bruce J.

    1999-09-06

    A subsurface drip system distributes wastewater to the lawn through a system of tubing installed below the ground. This publication explains the advantages and disadvantages of subsurface drip distribution systems, as well ...

  9. MANIPULATING SUBSURFACE COLLOIDS TO ENHANCE CLEANUPS OF DOE WASTE SITES

    EPA Science Inventory

    Colloidal phases, such as submicrometer iron oxyhydroxides, aluminosilicate clays, and humic macromolecules, are important subsurface sorbents for the low-solubility chemicals in DOE wastes. Recent research we have performed as part of DOE's Subsurface Science Program has demonst...

  10. Subsurface Remote Sensing of Kelp Forests

    NASA Astrophysics Data System (ADS)

    Allen, J. G.; Palacios, S. L.; Kudela, R. M.

    2012-12-01

    Macrocystis pyrifera, or giant kelp, provides structure and support for many marine species, and its forests rank as one of the most ecologically productive systems in the world. Traditional, in situ measurements of kelp biomass and productivity are episodic, costly, and provide limited spatial coverage across the often wide swaths of kelp ecosystems. While satellite methods have been developed to estimate kelp biomass and productivity, satellite observations are also limited, as standard practices for measuring terrestrial vegetation cannot be applied with the same confidence to marine vegetation. Here, data gathered from flights with the MASTER sensor over the Santa Barbara Channel allowed the development of two algorithms to assess the surface and subsurface areal extent of kelp in multispectral imagery. The first, a marine vegetation index (MVI), was developed from imagery to capture both surface and sub-surface vegetation pixels. The second algorithm is based on a spectral library for kelp radiance collected from field samples and modeled using the radiative transfer equations with the HydroLight software package. The endmember collection from this library was used in the Spectral Angle Mapping tool in ENVI to identify kelp at various depths. Outputs from each of these algorithms were then compared to the Normalized Difference Vegetation Index (NDVI). Analyzing spectral properties of sub-surface features will facilitate the use of satellites in measuring extent and productivity of marine ecosystems. Furthermore, these tools allow researchers to directly quantify the depth and extent of subsurface vegetation, greatly enhancing existing methods.

  11. Subsurface Raman imaging with nanoscale resolution.

    PubMed

    Anderson, Neil; Anger, Pascal; Hartschuh, Achim; Novotny, Lukas

    2006-04-01

    We report on chemically specific, subsurface imaging with high spatial resolution. Using tip-enhanced Raman spectroscopy, we probe carbon nanotubes buried beneath a host dielectric media. We demonstrate our ability to map and resolve specific vibrational modes with 30 nm spatial resolution for dielectric layers with different thicknesses. PMID:16608276

  12. Geophysical subsurface imaging for ecological applications.

    PubMed

    Jayawickreme, Dushmantha H; Jobbágy, Esteban G; Jackson, Robert B

    2014-03-01

    Ecologists, ecohydrologists, and biogeochemists need detailed insights into belowground properties and processes, including changes in water, salts, and other elements that can influence ecosystem productivity and functioning. Relying on traditional sampling and observation techniques for such insights can be costly, time consuming, and infeasible, especially if the spatial scales involved are large. Geophysical imaging provides an alternative or complement to traditional methods to gather subsurface variables across time and space. In this paper, we review aspects of geophysical imaging, particularly electrical and electromagnetic imaging, that may benefit ecologists seeking clearer understanding of the shallow subsurface. Using electrical resistivity imaging, for example, we have been able to successfully show the effect of land-use conversions to agriculture on salt mobilization and leaching across kilometer-long transects and to depths of tens of meters. Recent advances in ground-penetrating radar and other geophysical imaging methods currently provide opportunities for subsurface imaging with sufficient detail to locate small (?5 cm diameter) animal burrows and plant roots, observe soil-water and vegetation spatial correlations in small watersheds, estuaries, and marshes, and quantify changes in groundwater storage at local to regional scales using geophysical data from ground- and space-based platforms. Ecologists should benefit from adopting these minimally invasive, scalable imaging technologies to explore the subsurface and advance our collective research. PMID:24649489

  13. MODELING MICROBIAL FATE IN THE SUBSURFACE ENVIRONMENT

    EPA Science Inventory

    The biological, chemical, and physical factors which are known to influence virus and bacterial survival and transport in the subsurface are discussed. Models used to predict the fate of microorganisms are presented. The models that have been developed to predict the fate of micr...

  14. Subsurface Sensors to Manage Cattle Feedlot Waste

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Subsurface sensing tools were used to aid collection of biosolids from feedlot surfaces to be utilized by crops, for control and utilization of nutrient laden liquid runoff, and to enhance feedlot surface management to reduce nutrient losses and gaseous emissions. The work described here was all co...

  15. Subsurface manure application to reduce ammonia emissions

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Incorporation into soil is generally recommended to reduce ammonia volatilization and nutrient runoff following land application of manures. A range of subsurface applicators are available for manure incorporation with minimal soil disturbance in reduced tillage systems, but none have been widely a...

  16. Characterization of imidacloprid availability in subsurface soils

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Degradation and sorption/desorption are the most important processes affecting the leaching of pesticides through soil because they control the amount of pesticide available for transport. Once pesticides move past the surface soil layers, variations in subsurface soil physical, chemical, and biolog...

  17. SEQUESTRATION OF SUBSURFACE ELEMENTAL MERCURY (HG0)

    EPA Science Inventory

    Elemental mercury (Hg0) is a metal with a number of atypical properties, which has resulted in its use in myriad anthropogenic processes. However, these same properties have also led to severe local subsurface contamination at many places where it has been used. As...

  18. Lateral gene transfer in the subsurface

    SciTech Connect

    Barkay, Tamar; Sobecky, Patricia

    2007-08-27

    Lateral gene transfer (LGT) is an important adaptive mechanism among prokaryotic organisms. This mechanism is particularly important for the response of microorganisms to changing environmental conditions because it facilitates the transfer of a large number of genes and their rapid expression. Together the transferred genes promote rapid genetic and metabolic changes that may enhance survival to newly established and sometimes hostile environmental conditions. The goal of our project was to examine if and how LGT enhances microbial adaptation to toxic heavy metals in subsurface environments that had been contaminated by mixed wastes due to activities associated with the production of nuclear energy and weapons. This task has been accomplished by dividing the project to several sub-tasks. Thus, we: (1) Determined the level of resistance of subsurface bacterial isolates to several toxic metals, all identified as pollutants of concern in subsurface environments; (2) Designed, tested, and applied, a molecular approach that determined whether metal resistance genes had evolved by LGT among subsurface bacteria; and (3) Developed a DNA hybridization array for the identification of broad host range plasmids and of metal resistance plasmids. The results are briefly summarized below with references to published papers and manuscripts in preparation where details about our research can be found. Additional information may be found in copies of our published manuscripts and conference proceedings, and our yearly reports that were submitted through the RIMS system.

  19. Methods for forming long subsurface heaters

    DOEpatents

    Kim, Dong Sub

    2013-09-17

    A method for forming a longitudinal subsurface heater includes longitudinally welding an electrically conductive sheath of an insulated conductor heater along at least one longitudinal strip of metal. The longitudinal strip is formed into a tubular around the insulated conductor heater with the insulated conductor heater welded along the inside surface of the tubular.

  20. Is Europa's Subsurface Water Ocean Warm?

    NASA Technical Reports Server (NTRS)

    Melosh, H. J.; Ekholm, A. G.; Showman, A. P.; Lorenz, R. D.

    2002-01-01

    Europa's subsurface water ocean may be warm: that is, at the temperature of water's maximum density. This provides a natural explanation of chaos melt-through events and leads to a correct estimate of the age of its surface. Additional information is contained in the original extended abstract.

  1. Liquefaction in Subsurface Layer of Sand

    USGS Multimedia Gallery

    Ground shaking triggered liquefaction in a subsurface layer of sand, producing differential lateral and vertical movement in a overlying carapace of unliquified sand and silt, which moved from right to left toward the Pajaro River. This mode of ground failure, termed "lateral spreading,

  2. OVERVIEW -- SUBSURFACE PROTECTION AND REMEDIATION DIVISION

    EPA Science Inventory

    NRMRL's Subsurface Protection and Remediation Division located in Ada, Oklahoma, conducts EPA-investigator led laboratory and field research to provide the scientific basis to support the development of strategies and technologies to protect and restore ground and surface water q...

  3. Manual on Subsurface Investigations National Highway Institute

    E-print Network

    Mayne, Paul W.

    with regard to the design and construction of transportation facilities. The role of the geotechnical engineer towards the analysis and design of earthwork structures and foundation design. 17. KEY WORDS Subsurface, tunnels, slopes, highways, bridges. 18. DISTRIBUTION STATEMENT No restrictions. 19. SECURITY CLASSIF

  4. BIODEGRADATION OF ATRAZINE IN SUBSURFACE ENVIRONMENTS

    EPA Science Inventory

    The pesticide atrazine is frequently detected in ground water, including ground water used as drinking water. Little information is available on the fate of atrazine in the subsurface, including its biodegradability. The objectives of this study were to evaluate the biodegradabil...

  5. Microbial communities in the deep subsurface

    NASA Astrophysics Data System (ADS)

    Krumholz, Lee R.

    The diversity of microbial populations and microbial communities within the earth's subsurface is summarized in this review. Scientists are currently exploring the subsurface and addressing questions of microbial diversity, the interactions among microorganisms, and mechanisms for maintenance of subsurface microbial communities. Heterotrophic anaerobic microbial communities exist in relatively permeable sandstone or sandy sediments, located adjacent to organic-rich deposits. These microorganisms appear to be maintained by the consumption of organic compounds derived from adjacent deposits. Sources of organic material serving as electron donors include lignite-rich Eocene sediments beneath the Texas coastal plain, organic-rich Cretaceous shales from the southwestern US, as well as Cretaceous clays containing organic materials and fermentative bacteria from the Atlantic Coastal Plain. Additionally, highly diverse microbial communities occur in regions where a source of organic matter is not apparent but where igneous rock is present. Examples include the basalt-rich subsurface of the Columbia River valley and the granitic subsurface regions of Sweden and Canada. These subsurface microbial communities appear to be maintained by the action of lithotrophic bacteria growing on H2 that is chemically generated within the subsurface. Other deep-dwelling microbial communities exist within the deep sediments of oceans. These systems often rely on anaerobic metabolism and sulfate reduction. Microbial colonization extends to the depths below which high temperatures limit the ability of microbes to survive. Energy sources for the organisms living in the oceanic subsurface may originate as oceanic sedimentary deposits. In this review, each of these microbial communities is discussed in detail with specific reference to their energy sources, their observed growth patterns, and their diverse composition. This information is critical to develop further understanding of subsurface geochemical processes and to develop new approaches to subsurface remediation. Résumé La diversité des populations et des communautés microbiennes dans le sol et le sous-sol est présentée dans cet article. Les chercheurs s'interrogent fréquemment sur la diversité microbienne du sous-sol, sur les interactions entre organismes et sur les mécanismes qui permettent le maintien des communautés microbiennes souterraines. Il existe des communautés microbiennes anérobies hétérotrophes dans des grès ou dans des sédiments sableux relativement perméables, à proximité de dépôts riches en matières organiques. Ces micro-organismes semblent se maintenir grâce à la consommation de composés organiques provenant des dépôts organiques voisins. Les sources de matériel organique jouant le rôle de donneur d'électrons sont constituées par des sédiments éocènes riches en lignite situés sous la plaine littorale du Texas, les schistes riches en matières organiques du Crétacé du sud-ouest des États-Unis, ainsi que les argiles contenant des matériaux organiques et des bactéries de fermentation de la plaine littorale atlantique. En outre, il existe des communautés fortement diversifiées dans des régions où aucune source de matière organique n'existe, mais où sont présentes des roches ignées. Le sous-sol riche en basalte de la vallée de la Columbia au Canada et les régions granitiques de Suède en sont des exemples. Ces communautés microbiennes souterraines semblent se maintenir par l'action de bactéries lithotrophes se développant grâce à l'hydrogène qui est produit par réactions chimiques dans le sous-sol. Il existe d'autres communautés microbiennes de profondeur dans les sédiments profonds des océans. Ces systèmes sont souvent associés à un métabolisme anérobie et à une réduction des sulfates. La colonisation microbienne s'étend jusqu'à des profondeurs où les températures élevées limitent leur capacité de survie. Les sources d'énergie pour ces organismes vivant dans les fonds des océans peuvent être les dépôts

  6. Autonomous spacecraft maintenance study group

    NASA Technical Reports Server (NTRS)

    Marshall, M. H.; Low, G. D.

    1981-01-01

    A plan to incorporate autonomous spacecraft maintenance (ASM) capabilities into Air Force spacecraft by 1989 is outlined. It includes the successful operation of the spacecraft without ground operator intervention for extended periods of time. Mechanisms, along with a fault tolerant data processing system (including a nonvolatile backup memory) and an autonomous navigation capability, are needed to replace the routine servicing that is presently performed by the ground system. The state of the art fault handling capabilities of various spacecraft and computers are described, and a set conceptual design requirements needed to achieve ASM is established. Implementations for near term technology development needed for an ASM proof of concept demonstration by 1985, and a research agenda addressing long range academic research for an advanced ASM system for 1990s are established.

  7. Quantifying nonisothermal subsurface soil water evaporation

    NASA Astrophysics Data System (ADS)

    Deol, Pukhraj; Heitman, Josh; Amoozegar, Aziz; Ren, Tusheng; Horton, Robert

    2012-11-01

    Accurate quantification of energy and mass transfer during soil water evaporation is critical for improving understanding of the hydrologic cycle and for many environmental, agricultural, and engineering applications. Drying of soil under radiation boundary conditions results in formation of a dry surface layer (DSL), which is accompanied by a shift in the position of the latent heat sink from the surface to the subsurface. Detailed investigation of evaporative dynamics within this active near-surface zone has mostly been limited to modeling, with few measurements available to test models. Soil column studies were conducted to quantify nonisothermal subsurface evaporation profiles using a sensible heat balance (SHB) approach. Eleven-needle heat pulse probes were used to measure soil temperature and thermal property distributions at the millimeter scale in the near-surface soil. Depth-integrated SHB evaporation rates were compared with mass balance evaporation estimates under controlled laboratory conditions. The results show that the SHB method effectively measured total subsurface evaporation rates with only 0.01-0.03 mm h-1difference from mass balance estimates. The SHB approach also quantified millimeter-scale nonisothermal subsurface evaporation profiles over a drying event, which has not been previously possible. Thickness of the DSL was also examined using measured soil thermal conductivity distributions near the drying surface. Estimates of the DSL thickness were consistent with observed evaporation profile distributions from SHB. Estimated thickness of the DSL was further used to compute diffusive vapor flux. The diffusive vapor flux also closely matched both mass balance evaporation rates and subsurface evaporation rates estimated from SHB.

  8. Research review Geophysical subsurface imaging for ecological applications

    E-print Network

    Nacional de San Luis, Universidad

    Research review Geophysical subsurface imaging for ecological applications Author, geophysical imaging, ground-penetrating radar, plant­soil interactions, soil-water, subsurface imaging for subsurface imaging with sufficient detail to locate small (5 cm diameter) animal burrows and plant roots

  9. Autonomic Computing: Panacea or Poppycock?

    NASA Technical Reports Server (NTRS)

    Sterritt, Roy; Hinchey, Mike

    2005-01-01

    Autonomic Computing arose out of a need for a means to cope with rapidly growing complexity of integrating, managing, and operating computer-based systems as well as a need to reduce the total cost of ownership of today's systems. Autonomic Computing (AC) as a discipline was proposed by IBM in 2001, with the vision to develop self-managing systems. As the name implies, the influence for the new paradigm is the human body's autonomic system, which regulates vital bodily functions such as the control of heart rate, the body's temperature and blood flow-all without conscious effort. The vision is to create selfivare through self-* properties. The initial set of properties, in terms of objectives, were self-configuring, self-healing, self-optimizing and self-protecting, along with attributes of self-awareness, self-monitoring and self-adjusting. This self-* list has grown: self-anticipating, self-critical, self-defining, self-destructing, self-diagnosis, self-governing, self-organized, self-reflecting, and self-simulation, for instance.

  10. Integrated System for Autonomous Science

    NASA Technical Reports Server (NTRS)

    Chien, Steve; Sherwood, Robert; Tran, Daniel; Cichy, Benjamin; Davies, Ashley; Castano, Rebecca; Rabideau, Gregg; Frye, Stuart; Trout, Bruce; Shulman, Seth; Doggett, Thomas; Ip, Felipe; Greeley, Ron; Baker, Victor; Dohn, James; Boyer, Darrell

    2006-01-01

    The New Millennium Program Space Technology 6 Project Autonomous Sciencecraft software implements an integrated system for autonomous planning and execution of scientific, engineering, and spacecraft-coordination actions. A prior version of this software was reported in "The TechSat 21 Autonomous Sciencecraft Experiment" (NPO-30784), NASA Tech Briefs, Vol. 28, No. 3 (March 2004), page 33. This software is now in continuous use aboard the Earth Orbiter 1 (EO-1) spacecraft mission and is being adapted for use in the Mars Odyssey and Mars Exploration Rovers missions. This software enables EO-1 to detect and respond to such events of scientific interest as volcanic activity, flooding, and freezing and thawing of water. It uses classification algorithms to analyze imagery onboard to detect changes, including events of scientific interest. Detection of such events triggers acquisition of follow-up imagery. The mission-planning component of the software develops a response plan that accounts for visibility of targets and operational constraints. The plan is then executed under control by a task-execution component of the software that is capable of responding to anomalies.

  11. Autonomic Neuropathy in Diabetes Mellitus

    PubMed Central

    Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

    2014-01-01

    Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified, which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention, and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss, and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis, and management of DAN, with some mention to childhood and adolescent population. PMID:25520703

  12. Semi autonomous mine detection system

    SciTech Connect

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

  13. The EO-1 Autonomous Science Agent Architecture

    NASA Technical Reports Server (NTRS)

    Chien, Steve; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Lee, Rachel; Mandl, Dan; Frye, Stuart; Trout, Bruce; Hengemihle, Jerry; D'Agostino, Jeff; Shulman, Seth; Ungar, Stephen; Brakke, Thomas; Boyer, Darrell; Van Gaasbeck, Jim; Greeley, Ronald; Doggett, Thomas; Baker, Victor; Dohm, James; Ip, Felipe

    2004-01-01

    An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent constraints of autonomy, reliability, and limited computing resources. We describe these constraints and how they are reflected in our agent architecture.

  14. Sustainable and Autonomic Space Exploration Missions

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G.; Sterritt, Roy; Rouff, Christopher; Rash, James L.; Truszkowski, Walter

    2006-01-01

    Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts to realize these survivable systems visions, with specific emphasis on developments in Autonomic Policies.

  15. Attainability of Carnot efficiency with autonomous engines

    NASA Astrophysics Data System (ADS)

    Shiraishi, Naoto

    2015-11-01

    The maximum efficiency of autonomous engines with a finite chemical potential difference is investigated. We show that, without a particular type of singularity, autonomous engines cannot attain the Carnot efficiency. This singularity is realized in two ways: single particle transports and the thermodynamic limit. We demonstrate that both of these ways actually lead to the Carnot efficiency in concrete setups. Our results clearly illustrate that the singularity plays a crucial role in the maximum efficiency of autonomous engines.

  16. Information for Successful Interaction with Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Malin, Jane T.; Johnson, Kathy A.

    2003-01-01

    Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

  17. General autonomic components of motion sickness

    NASA Technical Reports Server (NTRS)

    Cowings, Patricia S.; Suter, Steve; Toscano, William B.; Kamiya, Joe; Naifeh, Karen

    1986-01-01

    This report refers to a body of investigations directed toward the examination of autonomic nervous system responses to motion sickness. Heart rate, respiration rate, finger pulse volume, and basal skin resistance were measured on 127 men and women before, during, and after exposure to a nauseogenic rotating chair test. Significant changes in all autonomic responses were observed across the tests (p less than .05). Significant differences in autonomic responses among groups divided according to motion sickness susceptibility were also observed (p less than .05). Results suggest that the examination of autonomic responses as an objective indicator of motion sickness malaise is warranted and may contribute to the overall understanding of the syndrome.

  18. Autonomic Computing for Spacecraft Ground Systems

    NASA Technical Reports Server (NTRS)

    Li, Zhenping; Savkli, Cetin; Jones, Lori

    2007-01-01

    Autonomic computing for spacecraft ground systems increases the system reliability and reduces the cost of spacecraft operations and software maintenance. In this paper, we present an autonomic computing solution for spacecraft ground systems at NASA Goddard Space Flight Center (GSFC), which consists of an open standard for a message oriented architecture referred to as the GMSEC architecture (Goddard Mission Services Evolution Center), and an autonomic computing tool, the Criteria Action Table (CAT). This solution has been used in many upgraded ground systems for NASA 's missions, and provides a framework for developing solutions with higher autonomic maturity.

  19. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

    NASA Technical Reports Server (NTRS)

    Shrading, Nicholas J.

    2012-01-01

    The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  20. Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer

    NASA Technical Reports Server (NTRS)

    Schrading, J. Nicolas

    2013-01-01

    The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  1. Designing HumanDesigning Human--CenteredCentered Autonomous AgentsAutonomous Agents

    E-print Network

    Kortenkamp, David

    -Autonomous Autonomy Level Selector User Interface Plant #12;6Dr. Gregory A. Dorais, NASA Ames Research Center DrDesigning HumanDesigning Human--CenteredCentered Autonomous AgentsAutonomous Agents Gregory Dorais on software systems l Existing NASA HCA applications l Summary #12;3Dr. Gregory A. Dorais, NASA Ames Research

  2. Lunar subsurface exploration with coherent radar.

    NASA Technical Reports Server (NTRS)

    Brown, W. E., Jr.

    1972-01-01

    The Apollo Lunar Sounder Experiment that is scheduled to orbit the moon on Apollo 17 consists of a three frequency coherent radar system and an optical recorder. The coherent radar can be used to measure both phase and amplitude characteristics of the radar echo. Measurement methods that are related to the phase and amplitude will be used to determine the surface profile, locate subsurface features and ascertain near surface electrical properties of the lunar surface. The key to the coherent radar measurement is a highly stable oscillator that preserves an accurate phase reference (2 or 3 electrical degrees) over a long period of time. This reference provides a means for reducing surface clutter so that subsurface features are more easily detected and also provides a means of measuring range to the surface to within a fraction of a wavelength.

  3. Geophysical data fusion for subsurface imaging

    SciTech Connect

    Blohm, M.; Hatch, W.E.; Hoekstra, P.; Porter, D.W.

    1994-12-31

    Effective site characterization requires that many relevant geologic, hydrogeologic and biological properties of the subsurface be evaluated. A parameter that often directly influences chemical processes, ground water flow, contaminant transport, and biological activities is the lateral and vertical distribution of clays. The objective of the research an development under this contract is to improve non-invasive methods for detecting clay lenses. The percentage of clays in soils influences most physical properties that have an impact on environmental restoration and waste management. For example, the percentage of clays determine hydraulic permeability and the rate of contaminant migration, absorption of radioactive elements, and interaction with organic compounds. Therefore, improvements in non-invasive mapping of clays in the subsurface will result in better: characterization of contaminated sites, prediction of pathways of contaminant migration, assessment of risk of contaminants to public health if contaminants reach water supplies, design of remedial action and evaluation of alternative action.

  4. Modeling gas transport in the Martian subsurface

    NASA Astrophysics Data System (ADS)

    Gloesener, Elodie; Karatekin, Özgür; Dehant, Véronique

    2015-04-01

    Modeling gas transport through Martian subsurface and outgassing processes is essential in the study of atmospheric evolution of Mars. We present an overview of gas transport in Martian soil focusing on water vapor and methane diffusion to explain the recent observations of methane in Martian atmosphere with a diffusive transport model. The range of parameters that have the largest effect on transport in Martian conditions is investigated. Among the possible sources of methane, clathrate hydrates destabilization is one potential mechanism. Hydrate stability zone in subsurface is also investigated. In 2016, ExoMars Trace Gas Orbiter (TGO) will have the capabilities to detect and characterize trace gases in Martian atmosphere and will bring additional information to validate the different possible outgassing scenarios.

  5. Genetics Home Reference: Hereditary sensory and autonomic neuropathy type IE

    MedlinePLUS

    ... Genetic disorder catalog Conditions > Hereditary sensory and autonomic neuropathy type IE On this page: Description Genetic changes ... November 2012 What is hereditary sensory and autonomic neuropathy type IE? Hereditary sensory and autonomic neuropathy type ...

  6. Object detection and tracking for autonomous navigation in dynamic environments

    E-print Network

    Schindler, Konrad

    Object detection and tracking for autonomous navigation in dynamic environments Andreas Ess detection · tracking · dynamic path planning 1 Introduction Autonomous navigation of robots and cars significant challenges, and autonomous navigation in such circumstances is a largely unsolved problem. One

  7. Can Planning and Reactive Systems Realize Autonomous GMDJapan Research Laboratory

    E-print Network

    Zimmer, Uwe

    Can Planning and Reactive Systems Realize Autonomous Navigation * Maki Habib GMD­Japan Research facing navigation autonomous mobile robot need addressed stem from, incomplete uncertain knowledge to autonomous systems have function effectively while navigating interacting unknown, unstructured dynamic

  8. VECTOR PURSUIT PATH TRACKING FOR AUTONOMOUS GROUND VEHICLES

    E-print Network

    Florida, University of

    part of the tasks required for autonomous navigation. Other project members have addressed the remaining tasks. Therefore, thanks go to those who have worked on the autonomous navigation project, both................................................................................................19 Autonomous Ground Vehicle Navigation Architecture..............................................20

  9. A cloud-assisted design for autonomous driving

    E-print Network

    Suresh Kumar, Swarun

    This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous ...

  10. Automated Coordinator Synthesis for Mission Control of Autonomous Underwater Vehicles

    E-print Network

    Kumar, Ratnesh

    Automated Coordinator Synthesis for Mission Control of Autonomous Underwater Vehicles S autonomous underwater vehicle (AUV) programs to meet evolving requirements and capabilities. The hierarchical architecture for autonomous underwater vehicles (AUVs) that facilitates graphical design and code generation

  11. Spatiotemporal variability in peatland subsurface methane dynamics

    NASA Astrophysics Data System (ADS)

    Strack, M.; Waddington, J. M.

    2008-06-01

    Peatlands are large natural sources of atmospheric methane (CH4). While many studies have measured CH4 emissions to the atmosphere, less is known about the stock and residence time of subsurface CH4. In this study we examined dissolved CH4 concentration in near-surface peatland pore waters of a poor fen near Québec City, Canada, in order to (1) investigate the variability in and potential controls on these concentrations and (2) combine measured dissolved CH4 concentration with estimated bubble CH4 stock and measured CH4 fluxes to estimate the mean residence time of subsurface CH4. Concentrations ranged from 1 to 450 ?M during both study seasons. Depth profiles were generally consistent at one location within the peatland throughout the sampling period but varied between locations. Patterns with depth were not well correlated to pore water pH or EC; however, changes in CH4 concentration through time in the upper 30 cm were related to temperature and water table at some locations. Depth profiles taken at 2- to 5-cm intervals revealed discrete concentration "spikes" which were often maintained throughout the season and are likely related to bubble CH4 dynamics. Estimated subsurface CH4 stocks indicate that even when relatively low bubble volume (5% of peat volume) is assumed, bubble CH4 accounted for greater than half of total stocks. Calculated mean residence times were 28-120 days. This implies that CH4 flux may lag changes in water table and temperature which happen on shorter timescales (hours or days). To improve our description of subsurface CH4 stocks, links between dissolved and bubble CH4 stocks and peatland CH4 residence time, coincident measurement of pore water CH4 concentrations, entrapped gas content and composition, diffusive CH4 flux, and ebullition are required.

  12. Radionuclide Sensors for Subsurface Water Monitoring

    SciTech Connect

    Timothy DeVol

    2006-06-30

    Contamination of the subsurface by radionuclides is a persistent and vexing problem for the Department of Energy. These radionuclides must be measured in field studies and monitoed in the long term when they cannot be removed. However, no radionuclide sensors existed for groundwater monitoring prior to this team's research under the EMSP program Detection of a and b decays from radionuclides in water is difficult due to their short ranges in condensed media.

  13. Surface Signature of Subsurface-Intensified Vortices

    NASA Astrophysics Data System (ADS)

    Ciani, D.; Carton, X. J.; Chapron, B.; Bashmachnikov, I.

    2014-12-01

    The ocean at mesoscale (20-200 km) and submesoscale (0.5-20km) is highly populated by vortices. These recirculating structures are more energetic than the mean flow, they trap water masses from their origin areas and advect them across the ocean, with consequent impact on the 3D distribution of heat and tracers. Mesoscale and submesoscale structures characterize the ocean dynamics both at the sea surface and at intrathermocline depths (0-1500m), and are presently investigated by means of model outputs, in-situ and satellite (surface) data, the latest being the only way to get high resolution and synoptic observations at planetary scale (e.g., thermal-band observations, future altimetric observations given by the SWOT satellite mission). The scientific question arising from this context is related to the role of the ocean surface for inferring informations on mesoscale and submesoscale vortices at depth. This study has also been motivated by the recent detection of subsurface eddies east of the Arabian Peninsula (PHYSINDIEN experiment - 2011).Using analytical models in the frame of the QG theory, we could describe the theoretical altimetric signature of non-drifting and of drifting subsurface eddies. Numerical experiments, using both coupled QG-SQG and primitive equations models, allowed us to investigate the surface expression of intrathermocline eddies interacting with baroclinic currents or evolving under planetary beta-effect. The eddy characteristics (radius, depth, thickness, velocity) were varied, to represent various oceanic examples (Meddies, Swoddies, Reddies, Peddies, Leddies). Idealized simulations with the ROMS model, confirming theoretical estimates, showed that drifting subsurface-intensified vortices can induce dipolar sea level anomalies, up to 3 cm. This result, compatibly with future SWOT measurement accuracies (about 2 cm), is a first step towards systematic and synoptic detection of subsurface vortices.

  14. Metalliferous Biosignatures for Deep Subsurface Microbial Activity.

    PubMed

    Parnell, John; Brolly, Connor; Spinks, Sam; Bowden, Stephen

    2016-03-01

    The interaction of microbes and metals is widely assumed to have occurred in surface or very shallow subsurface environments. However new evidence suggests that much microbial activity occurs in the deep subsurface. Fluvial, lacustrine and aeolian 'red beds' contain widespread centimetre-scale reduction spheroids in which a pale reduced spheroid in otherwise red rocks contains a metalliferous core. Most of the reduction of Fe (III) in sediments is caused by Fe (III) reducing bacteria. They have the potential to reduce a range of metals and metalloids, including V, Cu, Mo, U and Se, by substituting them for Fe (III) as electron acceptors, which are all elements common in reduction spheroids. The spheroidal morphology indicates that they were formed at depth, after compaction, which is consistent with a microbial formation. Given that the consequences of Fe (III) reduction have a visual expression, they are potential biosignatures during exploration of the terrestrial and extraterrestrial geological record. There is debate about the energy available from Fe (III) reduction on Mars, but the abundance of iron in Martian soils makes it one of the most valuable prospects for life there. Entrapment of the microbes themselves as fossils is possible, but a more realistic target during the exploration of Mars would be the colour contrasts reflecting selective reduction or oxidation. This can be achieved by analysing quartz grains across a reduction spheroid using Raman spectroscopy, which demonstrates its suitability for life detection in subsurface environments. Microbial action is the most suitable explanation for the formation of reduction spheroids and may act as metalliferous biosignatures for deep subsurface microbial activity. PMID:26376912

  15. Metalliferous Biosignatures for Deep Subsurface Microbial Activity

    NASA Astrophysics Data System (ADS)

    Parnell, John; Brolly, Connor; Spinks, Sam; Bowden, Stephen

    2015-09-01

    The interaction of microbes and metals is widely assumed to have occurred in surface or very shallow subsurface environments. However new evidence suggests that much microbial activity occurs in the deep subsurface. Fluvial, lacustrine and aeolian `red beds' contain widespread centimetre-scale reduction spheroids in which a pale reduced spheroid in otherwise red rocks contains a metalliferous core. Most of the reduction of Fe (III) in sediments is caused by Fe (III) reducing bacteria. They have the potential to reduce a range of metals and metalloids, including V, Cu, Mo, U and Se, by substituting them for Fe (III) as electron acceptors, which are all elements common in reduction spheroids. The spheroidal morphology indicates that they were formed at depth, after compaction, which is consistent with a microbial formation. Given that the consequences of Fe (III) reduction have a visual expression, they are potential biosignatures during exploration of the terrestrial and extraterrestrial geological record. There is debate about the energy available from Fe (III) reduction on Mars, but the abundance of iron in Martian soils makes it one of the most valuable prospects for life there. Entrapment of the microbes themselves as fossils is possible, but a more realistic target during the exploration of Mars would be the colour contrasts reflecting selective reduction or oxidation. This can be achieved by analysing quartz grains across a reduction spheroid using Raman spectroscopy, which demonstrates its suitability for life detection in subsurface environments. Microbial action is the most suitable explanation for the formation of reduction spheroids and may act as metalliferous biosignatures for deep subsurface microbial activity.

  16. Subsurface materials management and containment system

    DOEpatents

    Nickelson, Reva A.; Richardson, John G.; Kosteinik, Kevin M.; Sloan, Paul A.

    2004-07-06

    Systems, components, and methods relating to subterranean containment barriers. Laterally adjacent tubular casings having male interlock structures and multiple female interlock structures defining recesses for receiving a male interlock structure are used to create subterranean barriers for containing and treating buried waste and its effluents. The multiple female interlock structures enable the barriers to be varied around subsurface objects and to form barrier sidewalls. The barrier may be used for treating and monitoring a zone of interest.

  17. Subsurface materials management and containment system

    DOEpatents

    Nickelson, Reva A.; Richardson, John G.; Kostelnik, Kevin M.; Sloan, Paul A.

    2006-10-17

    Systems, components, and methods relating to subterranean containment barriers. Laterally adjacent tubular casings having male interlock structures and multiple female interlock structures defining recesses for receiving a male interlock structure are used to create subterranean barriers for containing and treating buried waste and its effluents. The multiple female interlock structures enable the barriers to be varied around subsurface objects and to form barrier sidewalls. The barrier may be used for treating and monitoring a zone of interest.

  18. Subsurface barrier integrity verification using perfluorocarbon tracers

    SciTech Connect

    Sullivan, T.M.; Heiser, J.; Milian, L.; Senum, G.

    1996-12-01

    Subsurface barriers are an extremely promising remediation option to many waste management problems. Gas phase tracers include perfluorocarbon tracers (PFT`s) and chlorofluorocarbon tracers (CFC`s). Both have been applied for leak detection in subsurface systems. The focus of this report is to describe the barrier verification tests conducted using PFT`s and analysis of the data from the tests. PFT verification tests have been performed on a simulated waste pit at the Hanford Geotechnical facility and on an actual waste pit at Brookhaven National Laboratory (BNL). The objective of these tests were to demonstrate the proof-of-concept that PFT technology can be used to determine if small breaches form in the barrier and for estimating the effectiveness of the barrier in preventing migration of the gas tracer to the monitoring wells. The subsurface barrier systems created at Hanford and BNL are described. The experimental results and the analysis of the data follow. Based on the findings of this study, conclusions are offered and suggestions for future work are presented.

  19. Subsurface urban heat islands in German cities.

    PubMed

    Menberg, Kathrin; Bayer, Peter; Zosseder, Kai; Rumohr, Sven; Blum, Philipp

    2013-01-01

    Little is known about the intensity and extension of subsurface urban heat islands (UHI), and the individual role of the driving factors has not been revealed either. In this study, we compare groundwater temperatures in shallow aquifers beneath six German cities of different size (Berlin, Munich, Cologne, Frankfurt, Karlsruhe and Darmstadt). It is revealed that hotspots of up to +20K often exist, which stem from very local heat sources, such as insufficiently insulated power plants, landfills or open geothermal systems. When visualizing the regional conditions in isotherm maps, mostly a concentric picture is found with the highest temperatures in the city centers. This reflects the long-term accumulation of thermal energy over several centuries and the interplay of various factors, particularly in heat loss from basements, elevated ground surface temperatures (GST) and subsurface infrastructure. As a primary indicator to quantify and compare large-scale UHI intensity the 10-90%-quantile range UHII(10-90) of the temperature distribution is introduced. The latter reveals, in comparison to annual atmospheric UHI intensities, an even more pronounced heating of the shallow subsurface. PMID:23178772

  20. Resonant seismic emission of subsurface objects

    SciTech Connect

    Korneev, Valeri A.

    2009-04-15

    Numerical modeling results and field data indicate that some contrasting subsurface objects (such as tunnels, caves, pipes, filled pits, and fluid-filled fractures) are capable of generating durable resonant oscillations after trapping seismic energy. These oscillations consist of surface types of circumferential waves that repeatedly propagate around the object. The resonant emission of such trapped energy occurs primarily in the form of shear body waves that can be detected by remotely placed receivers. Resonant emission reveals itself in the form of sharp resonant peaks for the late parts of the records, when all strong direct and primary reflected waves are gone. These peaks were observed in field data for a buried barrel filled with water, in 2D finite-difference modeling results, and in the exact canonical solution for a fluid-filled sphere. A computed animation for the diffraction of a plane wave upon a low-velocity elastic sphere confirms the generation of resonances by durable surface waves. Resonant emission has characteristic quasi-hyperbolic traveltime patterns on shot gathers. The inversion of these patterns can be performed in the frequency domain after muting the strong direct and primary scattered waves. Subsurface objects can be detected and imaged at a single resonance frequency without an accurate knowledge of source trigger time. The imaging of subsurface objects requires information about the shear velocity distribution in an embedding medium, which can be done interactively during inversion.

  1. Autonomous Real Time Requirements Tracing

    NASA Technical Reports Server (NTRS)

    Plattsmier, George; Stetson, Howard

    2014-01-01

    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders.

  2. Autonomous Real Time Requirements Tracing

    NASA Technical Reports Server (NTRS)

    Plattsmier, George I.; Stetson, Howard K.

    2014-01-01

    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto-Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner- TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders

  3. The Autonomous Pathogen Detection System

    SciTech Connect

    Dzenitis, J M; Makarewicz, A J

    2009-01-13

    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  4. Autonomously managed electrical power systems

    NASA Technical Reports Server (NTRS)

    Callis, Charles P.

    1986-01-01

    The electric power systems for future spacecraft such as the Space Station will necessarily be more sophisticated and will exhibit more nearly autonomous operation than earlier spacecraft. These new power systems will be more reliable and flexible than their predecessors offering greater utility to the users. Automation approaches implemented on various power system breadboards are investigated. These breadboards include the Hubble Space Telescope power system test bed, the Common Module Power Management and Distribution system breadboard, the Autonomusly Managed Power System (AMPS) breadboard, and the 20 kilohertz power system breadboard. Particular attention is given to the AMPS breadboard. Future plans for these breadboards including the employment of artificial intelligence techniques are addressed.

  5. Reactive transport benchmarks for subsurface environmental simulation

    SciTech Connect

    Steefel, Carl I.; Yabusaki, Steven B.; Mayer, K. U.

    2015-06-01

    Over the last 20 years, we have seen firsthand the evolution of multicomponent reactive transport modeling and the expanding range and increasing complexity of subsurface applications it is being used to address. There is a growing reliance on reactive transport modeling (RTM) to address some of the most compelling issues facing our planet: climate change, nuclear waste management, contaminant remediation, and pollution prevention. While these issues are motivating the development of new and improved capabilities for subsurface environmental modeling using RTM (e.g., biogeochemistry from cell-scale physiology to continental-scale terrestrial ecosystems, nonisothermal multiphase conditions, coupled geomechanics), there remain longstanding challenges in characterizing the natural variability of hydrological, biological, and geochemical properties in subsurface environments and limited success in transferring models between sites and across scales. An equally important trend over the last 20 years is the evolution of modeling from a service sought out after data has been collected to a multifaceted research approach that provides (1) an organizing principle for characterization and monitoring activities; (2) a systematic framework for identifying knowledge gaps, developing and integrating new knowledge; and (3) a mechanistic understanding that represents the collective wisdom of the participating scientists and engineers. There are now large multidisciplinary projects where the research approach is model-driven, and the principal product is a holistic predictive simulation capability that can be used as a test bed for alternative conceptualizations of processes, properties, and conditions. Much of the future growth and expanded role for RTM will depend on its continued ability to exploit technological advancements in the earth and environmental sciences. Advances in measurement technology, particularly in molecular biology (genomics), isotope fractionation, and high-resolution X-ray spectroscopy, have created new lines of research that can be used to inform the conceptualization of reactions and rate laws and validate mechanistic models. For example, spectroscopy has identified the oxidation states of key components and elemental distributions at increasingly smaller scales and lower concentrations; molecular biology has progressed from identifying the presence of microbes to characterization of which microbial communities are active and what they are doing (i.e., microbial function), which has led in turn to the identification of active processes under conditions beyond what analytical chemistry can discern; isotope ratios in pore water and solid phases that can be used to distinguish between biotic from abiotic processes, sorption from precipitation, and origin and age of groundwater. The other noteworthy development that is expanding the role of RTM in subsurface environmental modeling is he advance in computational technology that is enabling the simulation of more coupled processes with increasing mechanistic detail. In some cases, this involves the inclusion of more reactive species and/or microbial populations in the simulations; in other cases, the impact is through the ability to achieve high resolution of property distributions over longer simulated times. To achieve these ambitious objectives for subsurface reactive transport simulation, the subsurface science and engineering community is being driven to provide accurate assessments of engineering performance and risk for important issues with far-reaching consequences. As a result, the complexity and detail of subsurface processes, properties, and conditions that can be simulated have significantly expanded. This expansion was enabled, in part, by advances in measurement technology, computing technology, and numerical techniques.

  6. AUTONOMOUS QUADCOPTER VIDEOGRAPHER REY R. COAGUILA

    E-print Network

    Sukthankar, Gita Reese

    AUTONOMOUS QUADCOPTER VIDEOGRAPHER by REY R. COAGUILA B.S. Universidad Peruana de Ciencias years, the interest in quadcopters as a robotics platform for autonomous photography has increased.e. a quadcopter capable of capturing good footage of a specific subject. In order to obtain this footage

  7. Autonomous Robotic Monitoring of Underground Cable Systems

    E-print Network

    Mamishev, Alexander

    mobile platforms. The challenges in realizing this vision include electromechanical design of the robot, and autonomous operation. This paper describes the electromechanical and sensing system design of the autonomous infrastructure, namely, generating plants, transmission lines, substations, and distribution networks. A large

  8. Planning Flight Paths of Autonomous Aerobots

    NASA Technical Reports Server (NTRS)

    Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

    2009-01-01

    Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

  9. Autonomous landmark tracking orbit determination strategy

    NASA Technical Reports Server (NTRS)

    Miller, J. K.; Cheng, Y.

    2003-01-01

    In this paper, an orbit determination strategy is described that is fully autonomous and relies on a computer-based crater detection and identification algorithm that is suitable for both automation of the ground based navigation system and autonomous spacecraft based navigation.

  10. Autonomous Forest Vehicles: Historic, envisioned, and

    E-print Network

    Hellström, Thomas

    Autonomous Forest Vehicles: Historic, envisioned, and state-of-the-art Thomas Hellström Pär Lärkeryd Tomas Nordfjell Ola Ringdahl ABSTRACT The feasibility of using autonomous forest vehicles (which can be regarded as logical developments in the ongoing auto- mation of forest machines),the systems

  11. Fusion of Redundant Autonomous Sensors for Navigation

    E-print Network

    Lenstra, Arjen K.

    Fusion of Redundant Autonomous Sensors for Navigation Geodetic Engineering Laboratory Web Research Objective: To develop a low-cost autonomous navigation system that can operate in GPS : topo.epfl.ch Contact: yannick.stebler@epfl.ch The goal of navigation is to estimate the position

  12. Autonomous Control of Space Reactor Systems

    SciTech Connect

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  13. Autonomous Construction with Compliant Building Material

    E-print Network

    Hirche, Sandra

    robot builds a protective barrier by means of compliant pockets (i.e., filled bags). We present advantage of compliant pockets for autonomous construction. The control algorithm guides the robot to build- bags, and foam, respectively. 3. The autonomous robots that build the structure, in terms

  14. New Small Autonomous Schools District Policy. Revised.

    ERIC Educational Resources Information Center

    Oakland Unified School District, CA.

    Inspired by the gains in student achievement realized by the small schools movement in New York City, the Oakland Unified School District (California) has proposed creating a network of 10 new, small autonomous (NSA) schools over the next 3 years. School size will range between 250 and 500 students, depending on grade level. "Autonomous" means…

  15. Autonomic Physiological Response Patterns Related to Intelligence

    ERIC Educational Resources Information Center

    Melis, Cor; van Boxtel, Anton

    2007-01-01

    We examined autonomic physiological responses induced by six different cognitive ability tasks, varying in complexity, that were selected on the basis of on Guilford's Structure of Intellect model. In a group of 52 participants, task performance was measured together with nine different autonomic response measures and respiration rate. Weighted…

  16. Robust Mission Execution for Autonomous Urban Driving

    E-print Network

    Choset, Howie

    Robust Mission Execution for Autonomous Urban Driving Christopher R. BAKER a,1, David I. FERGUSON b, Pittsburgh, PA, USA Abstract. We describe a multi-modal software system for executing navigation missions to autonomously execute a series of navigation missions in a simplified urban environment consisting of roads

  17. Multi-agent autonomous system

    NASA Technical Reports Server (NTRS)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

    2010-01-01

    A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

  18. Autonomous perturbations of LISA orbits

    E-print Network

    Giuseppe Pucacco; Massimo Bassan; Massimo Visco

    2010-09-24

    We investigate autonomous perturbations on the orbits of LISA, namely the effects produced by fields that can be expressed only in terms of the position, but not of time in the Hill frame. This first step in the study of the LISA orbits has been the subject of recent papers which implement analytical techniques based on a "post-epicyclic" approximation in the Hill frame to find optimal unperturbed orbits. The natural step forward is to analyze the perturbations to purely Keplerian orbits. In the present work a particular emphasis is put on the tidal field of the Earth assumed to be stationary in the Hill frame. An accurate interpretation of the global structure of the perturbed solution sheds light on possible implications on injection in orbit when the time base-line of the mission is longer than that assumed in previous papers. Other relevant classes of autonomous perturbations are those given by the corrections to the Solar field responsible for a slow precession and a global stationary field, associated to sources like the interplanetary dust or a local dark matter component. The inclusion of simple linear contributions in the expansion of these fields produces secular solutions that can be compared with the measurements and possibly used to evaluate some morphological property of the perturbing components.

  19. Autonomic reflexes in preterm infants.

    PubMed

    Lagercrantz, H; Edwards, D; Henderson-Smart, D; Hertzberg, T; Jeffery, H

    1990-01-01

    Some autonomic nervous reflexes often tested in adult medicine have been studied in 21 preterm infants (25-37 gestational weeks). The aim was to develop such tests for preterm infants and see if there were any differences in babies with recurrent apnea and bradycardia and babies who had been exposed to sympathicolytic drugs before birth. To test sympathetic nervous activity the peripheral vascular resistance was measured before and during 45 degrees of head-up tilting. To test parasympathetic nervous activity the degree of bradycardia was measured in response to cold face test (application of an ice-cube on the fore-head) and laryngeal stimulation with saline. Finally the heart rate changes after a sudden noise (85 dB) were studied as an indicator of both sympathetic and vagal activity. The peripheral resistance was found to be relatively low in these preterm infants, particularly in some infants tested at the postnatal age of about two months. Heart rate and mean blood pressure did not change during tilting, while the peripheral resistance increased significantly mainly due to lowered limb blood flow. The median decrease of the heart rate during the cold face test was 20.0% and during laryngeal receptor stimulation 23.7%. The sudden noise usually caused a biphasic heart rate response. An autonomic nervous reflex score was calculated and found to be negative (parasympathetic) in infants with recurrent prolonged apnea and bradycardia and positive in infants with clinical signs of increased sympathetic nervous activity. PMID:2239264

  20. Autonomic Management for Multi-agent Systems

    E-print Network

    Salih, Nadir K; Viju, PG K; Mohamed, Abdelmotalib A

    2011-01-01

    Autonomic computing is a computing system that can manage itself by self-configuration, self-healing, self-optimizing and self-protection. Researchers have been emphasizing the strong role that multi agent systems can play progressively towards the design and implementation of complex autonomic systems. The important of autonomic computing is to create computing systems capable of managing themselves to a far greater extent than they do today. With the nature of autonomy, reactivity, sociality and pro-activity, software agents are promising to make autonomic computing system a reality. This paper mixed multi-agent system with autonomic feature that completely hides its complexity from users/services. Mentioned Java Application Development Framework as platform example of this environment, could applied to web services as front end to users. With multi agent support it also provides adaptability, intelligence, collaboration, goal oriented interactions, flexibility, mobility and persistence in software systems

  1. Autonomous power system intelligent diagnosis and control

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

    1991-01-01

    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

  2. Iberian Pyrite Belt Subsurface Life (IPBSL): searching for life in the Rio Tinto subsurface

    NASA Astrophysics Data System (ADS)

    Amils, R.; Gómez, F.; Prieto-Ballesteros, O.; Fernández-Remolar, D.; Parro, V.; Rodríguez-Manfredi, J. A.; Tornos-Arroyo, F.; Timmis, K.; Oggerin, M.; Sánchez-Román, M.; López, F. J.; Fernández, J. P.; Omoregie, E.; Puente-Sánchez, F.; García, M.; Rodríguez, N.

    2013-09-01

    The geomicrobiologica l characterization of Río Tinto (Iberian Pyrite Belt), has proven the importance of the iron and sulfur cycles in generating the extreme conditions of acidity and high concentration of heavy metals of the habitat. It has been hypothesized that the extreme conditions found in the Tinto basin are the product of the subsurface chemolithotrophic metabolism of microorganisms thriving on the high concentrat ion of metal sulfides of the IPB. To test this hypothesis, a drilling project (IPBSL) is currently under development to provide evidence of subsurface microbial activities and the potential resources to support them.

  3. Fuzzy logic path planning system for collision avoidance by an autonomous rover vehicle

    NASA Technical Reports Server (NTRS)

    Murphy, Michael G.

    1993-01-01

    The Space Exploration Initiative of the United States will make great demands upon NASA and its limited resources. One aspect of great importance will be providing for autonomous (unmanned) operation of vehicles and/or subsystems in space flight and surface exploration. An additional, complicating factor is that much of the need for autonomy of operation will take place under conditions of great uncertainty or ambiguity. Issues in developing an autonomous collision avoidance subsystem within a path planning system for application in a remote, hostile environment that does not lend itself well to remote manipulation by Earth-based telecommunications is addressed. A good focus is unmanned surface exploration of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. Four major issues addressed are (1) avoidance of a fuzzy moving obstacle; (2) backoff from a deadend in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system. Examples of the need for collision avoidance by an autonomous rover vehicle on the surface of Mars with a moving obstacle would be wind-blown debris, surface flow or anomalies due to subsurface disturbances, another vehicle, etc. The other issues of backoff, sensor fusion, and adaptive learning are important in the overall path planning system.

  4. Subsurface Tectonics and Pingos of Northern Alaska

    NASA Astrophysics Data System (ADS)

    Skirvin, S.; Casavant, R.; Burr, D.

    2008-12-01

    We describe preliminary results of a two-phase study that investigated links between subsurface structural and stratigraphic controls, and distribution of hydrostatic pingos on the central coastal plain of Arctic Alaska. Our 2300 km2 study area is underlain by a complete petroleum system that supports gas, oil and water production from 3 of the largest oil fields in North America. In addition, gas hydrate deposits exist in this area within and just below the permafrost interval at depths of 600 to 1800 feet below sea level. Phase 1 of the study compared locations of subsurface faults and pingos for evidence of linkages between faulting and pingo genesis and distribution. Several hundred discrete fault features were digitized from published data and georeferenced in a GIS database. Fault types were determined by geometry and sense of slip derived from well log and seismic maps. More than 200 pingos and surface sediment type associated with their locations were digitized from regional surficial geology maps within an area that included wire line and seismic data coverage. Beneath the pingos lies an assemblage of high-angle normal and transtensional faults that trend NNE and NW; subsidiary trends are EW and NNW. Quaternary fault reactivation is evidenced by faults that displaced strata at depths exceeding 3000 meters below sea level and intersect near-surface units. Unpublished seismic images and cross-section analysis support this interpretation. Kinematics and distribution of reactivated faults are linked to polyphase deformational history of the region that includes Mesozoic rift events, succeeded by crustal shortening and uplift of the Brooks Range to the south, and differential subsidence and segmentation of a related foreland basin margin beneath the study area. Upward fluid migration, a normal process in basin formation and fault reactivation, may play yet unrecognized roles in the genesis (e.g. fluid charging) of pingos and groundwater hydrology. Preliminary analysis shows that more than half the pingos occur within 150 m of the vertical projections of subsurface fault plane traces. In a previous, unpublished geostatistical study, comparison of pingo and random locations indicated a non-random NE-trending alignment of pingos. This trend in particular matches the dominant orientation of fault sets that are linked to the most recent tectonic deformation of the region. A concurrent Phase 2 of the study examines the potential role of near-surface stratigraphic units in regard to both pingos and faults. Both surface and subsurface coarse-grained deposits across the region are often controlled by fault structures; this study is the first to assess any relationship between reservoir rocks and pingo locations. Cross-sections were constructed from well log data to depths of 100 meters. Subsurface elements were compared with surface features. Although some studies have linked fine-grained surface sediments with pingo occurrence, our analysis hints that coarse-grained sediments underlie pingos and may be related to near-surface fluid transmissivity, as suggested by other researchers. We also investigated pingo occurrence in relationship to upthrown or downthrown fault blocks that vary in the degree of deformation and fluid transmission. Results will guide a proposed pingo drilling project to test linkages between pingos, subsurface geology, hydrology, and petroleum systems. Findings from this study could aid research and planning for field exploration of similar settings on Earth and Mars.

  5. Single cell genomics of subsurface microorganisms

    NASA Astrophysics Data System (ADS)

    Stepanauskas, R.; Onstott, T. C.; Lau, C.; Kieft, T. L.; Woyke, T.; Rinke, C.; Sczyrba, A.; van Heerden, E.

    2012-12-01

    Recent studies have revealed unexpected abundance and diversity of microorganisms in terrestrial and marine subsurface, providing new perspectives over their biogeochemical significance, evolution, and the limits of life. The now commonly used research tools, such as metagenomics and PCR-based gene surveys enabled cultivation-unbiased analysis of genes encoded by natural microbial communities. However, these methods seldom provide direct evidence for how the discovered genes are organized inside genomes and from which organisms do they come from. Here we evaluated the feasibility of an alternative, single cell genomics approach, in the analysis of subsurface microbial community composition, metabolic potential and microevolution at the Sanford Underground Research Facility (SURF), South Dakota, and the Witwaterstrand Basin, South Africa. We successfully recovered genomic DNA from individual microbial cells from multiple locations, including ultra-deep (down to 3,500 m) and low-biomass (down to 10^3 cells mL^-1) fracture water. The obtained single amplified genomes (SAGs) from SURF contained multiple representatives of the candidate divisions OP3, OP11, OD1 and uncharacterized archaea. By sequencing eight of these SAGs, we obtained the first genome content information for these phylum-level lineages that do not contain a single cultured representative. The Witwaterstrand samples were collected from deep fractures, biogeochemical dating of which suggests isolation from tens of thousands to tens of millions of years. Thus, these fractures may be viewed as "underground Galapagos", a natural, long-term experiment of microbial evolution within well-defined temporal and spatial boundaries. We are analyzing multiple SAGs from these environments, which will provide detailed information about adaptations to life in deep subsurface, mutation rates, selective pressures and gene flux within and across microbial populations.

  6. The Autonomic Symptom Profile: a new instrument to assess autonomic symptoms

    NASA Technical Reports Server (NTRS)

    Suarez, G. A.; Opfer-Gehrking, T. L.; Offord, K. P.; Atkinson, E. J.; O'Brien, P. C.; Low, P. A.

    1999-01-01

    OBJECTIVE: To develop a new specific instrument called the Autonomic Symptom Profile to measure autonomic symptoms and test its validity. BACKGROUND: Measuring symptoms is important in the evaluation of quality of life outcomes. There is no validated, self-completed questionnaire on the symptoms of patients with autonomic disorders. METHODS: The questionnaire is 169 items concerning different aspects of autonomic symptoms. The Composite Autonomic Symptom Scale (COMPASS) with item-weighting was established; higher scores indicate more or worse symptoms. Autonomic function tests were performed to generate the Composite Autonomic Scoring Scale (CASS) and to quantify autonomic deficits. We compared the results of the COMPASS with the CASS derived from the Autonomic Reflex Screen to evaluate validity. RESULTS: The instrument was tested in 41 healthy controls (mean age 46.6 years), 33 patients with nonautonomic peripheral neuropathies (mean age 59.5 years), and 39 patients with autonomic failure (mean age 61.1 years). COMPASS scores correlated well with the CASS, demonstrating an acceptable level of content and criterion validity. The mean (+/-SD) overall COMPASS score was 9.8 (+/-9) in controls, 25.9 (+/-17.9) in the patients with nonautonomic peripheral neuropathies, and 52.3 (+/-24.2) in the autonomic failure group. Scores of symptoms of orthostatic intolerance and secretomotor dysfunction best predicted the CASS on multiple stepwise regression analysis. CONCLUSIONS: We describe a questionnaire that measures autonomic symptoms and present evidence for its validity. The instrument shows promise in assessing autonomic symptoms in clinical trials and epidemiologic studies.

  7. Widefield subsurface microscopy of integrated circuits.

    PubMed

    Köklü, Fatih Hakan; Quesnel, Justin I; Vamivakas, Anthony N; Ippolito, Stephen B; Goldberg, Bennett B; Unlü, M Selim

    2008-06-23

    We apply the numerical aperture increasing lens technique to widefield subsurface imaging of silicon integrated circuits. We demonstrate lateral and longitudinal resolutions well beyond the limits of conventional backside imaging. With a simple infrared widefield microscope (lambda(0) = 1.2 microm), we demonstrate a lateral spatial resolution of 0.26 microm (0.22 lambda(0)) and a longitudinal resolution of 1.24 microm (1.03 lambda(0)) for backside imaging through the silicon substrate of an integrated circuit. We present a spatial resolution comparison between widefield and confocal microscopy, which are essential in integrated circuit analysis for emission and excitation microscopy, respectively. PMID:18575515

  8. Spaceborne radar subsurface imaging in hyperarid regions

    NASA Technical Reports Server (NTRS)

    Elachi, C.; Roth, L. E.; Schaber, G. G.

    1984-01-01

    Imaging data acquired with the Shuttle Imaging Radar (SIR-A) over the hyperarid region of Egypt/Sudan clearly show surface penetration through the sand cover. Even though absorption does occur in the sand layer, surface refraction leads to a steeper incidence angle at the sand/bedrock interface resulting in a stronger backscatter. A simple backscatter model shows that for a low-loss thin sand layer the presence of the covering layer enhances the capability to image the subsurface interface, particularly at large incidence angles and HH polarization.

  9. Airborne Electromagnetic Mapping of Subsurface Permafrost

    NASA Astrophysics Data System (ADS)

    Abraham, J. D.; Minsley, B. J.; Cannia, J. C.; Smith, B. D.; Walvoord, M. A.; Voss, C. I.; Jorgenson, T. T.; Wylie, B. K.; Anderson, L.

    2011-12-01

    Concerns over the impacts of climate change have recently energized research on the potential impacts thawing permafrost may have on groundwater flow, infrastructure, forest health, ecosystems, energy production, CO2 release, and contaminant transport. There is typically little knowledge about subsurface permafrost distributions, such as thickness and where groundwater-surface-water connections may occur through taliks. In June of 2010, the U.S. Geological Survey undertook an airborne electromagnetic (AEM) survey in the area of Fort Yukon, Alaska in order to map the 3-D distribution of permafrost and provide information for the development of groundwater models within the Yukon River Basin. Prior to the development of these models, information on areas of groundwater-surface water interaction was extremely limited. Lithology determined from a borehole drilled in Fort Yukon in 1994 agrees well with the resistivity depth sections inferred from the airborne survey. In addition to lithology, there a thermal imprint appears on the subsurface resistivity values. In the upper 20-50 m, the sections show continuous areas of high electrical resistivity, consistent with alluvial gravel deposits that are likely frozen. At depth, unfrozen gravel deposits have intermediate-to-high resistivity; frozen silts have intermediate resistivity; and unfrozen silts have low resistivity. Under the Yukon River and lakes where the subsurface is not frozen, zones of moderate resistivity intermix with areas of low resistivity. The areas of loess hills on the margins of the Yukon Flats have very-high electrical resistivity, indicating higher ice content, and are associated with the some of the greatest thickness of permafrost in the survey area. This work provides the first look into the 3-D distribution of permafrost in the areas around Fort Yukon and is a demonstration of the application of AEM to permafrost mapping. The AEM survey provides unprecedented 3-D images of subsurface electrical properties that reveal changes in lithology and the presence or absence of permafrost. These geophysical data fill an important gap between sparsely sampled boreholes, regional hydrogeologic measurements, and remote sensing data. Interpretations of the AEM data are being integrated with other remotely sensed data to supply critical hydrogeological information needed for developing an improved understanding of groundwater-surface-water interactions in permafrost terrains. More specifically, the interpretations of the AEM data help to refine groundwater flow models in the Yukon Flats Basin. Because of the success of this study we now know that there are many other uses for this data. For example, airborne surveys can provide baseline data for estimating the 3-D distribution of permafrost that can be compared to future surveys in order to estimate volumetric changes over time.

  10. Instrumented Moles for Planetary Subsurface Regolith Studies

    NASA Astrophysics Data System (ADS)

    Richter, L. O.; Coste, P. A.; Grzesik, A.; Knollenberg, J.; Magnani, P.; Nadalini, R.; Re, E.; Romstedt, J.; Sohl, F.; Spohn, T.

    2006-12-01

    Soil-like materials, or regolith, on solar system objects provide a record of physical and/or chemical weathering processes on the object in question and as such possess significant scientific relevance for study by landed planetary missions. In the case of Mars, a complex interplay has been at work between impact gardening, aeolian as well as possibly fluvial processes. This resulted in regolith that is texturally as well as compositionally layered as hinted at by results from the Mars Exploration Rover (MER) missions which are capable of accessing shallow subsurface soils by wheel trenching. Significant subsurface soil access on Mars, i.e. to depths of a meter or more, remains to be accomplished on future missions. This has been one of the objectives of the unsuccessful Beagle 2 landed element of the ESA Mars Express mission having been equipped with the Planetary Underground Tool (PLUTO) subsurface soil sampling Mole system capable of self-penetration into regolith due to an internal electro-mechanical hammering mechanism. This lightweight device of less than 900 g mass was designed to repeatedly obtain and deliver to the lander regolith samples from depths down to 2 m which would have been analysed for organic matter and, specifically, organic carbon from potential extinct microbial activity. With funding from the ESA technology programme, an evolved Mole system - the Instrumented Mole System (IMS) - has now been developed to a readiness level of TRL 6. The IMS is to serve as a carrier for in situ instruments for measurements in planetary subsurface soils. This could complement or even eliminate the need to recover samples to the surface. The Engineering Model hardware having been developed within this effort is designed for accommodating a geophysical instrument package (Heat Flow and Physical Properties Package, HP3) that would be capable of measuring regolith physical properties and planetary heat flow. The chosen design encompasses a two-body Mole consisting of a 'tractor' element containing the hammering mechanism jointed to a trailed compartment housing the instruments as well as some front-end electronics, tethered to surface controls and instruments. This presentation will highlight the design of the IMS and will describe results of comprehensive functional and environmental tests that included soil penetration to depths beyond 2 m, thermal vacuum functional tests, as well as vibration testing of the stowed system. Mission scenarios that are being considered for the IMS are discussed (including the ExoMars mission of ESA), and an update is given on parallel tests of the HP3 instrument package that is being developed in a dedicated, ESA-funded effort.

  11. Microbiological Transformations of Radionuclides in the Subsurface

    SciTech Connect

    Marshall, Matthew J.; Beliaev, Alex S.; Fredrickson, Jim K.

    2010-01-04

    Microorganisms are ubiquitous in subsurface environments although their populations sizes and metabolic activities can vary considerably depending on energy and nutrient inputs. As a result of their metabolic activities and the chemical properties of their cell surfaces and the exopolymers they produce, microorganisms can directly or indirectly facilitate the biotransformation of radionuclides, thus altering their solubility and overall fate and transport in the environment. Although biosorption to cell surfaces and exopolymers can be an important factor modifying the solubility of some radionuclides under specific conditions, oxidation state is often considered the single most important factor controlling their speciation and, therefore, environmental behavior.

  12. Detection of microbes in the subsurface

    NASA Technical Reports Server (NTRS)

    White, David C.; Tunlid, Anders

    1989-01-01

    The search for evidence of microbial life in the deep subsurface of Earth has implications for the Mars Rover Sampling Return Missions program. If suitably protected environments can be found on Mars then the instrumentation to detect biomarkers could be used to examine the molecular details. Finding a lipid in Martian soil would represent possibly the simplest test for extant or extinct life. A device that could do a rapid extraction possibly using the supercritical fluid technology under development now with a detection of the carbon content would clearly indicate a sample to be returned.

  13. Low temperature monitoring system for subsurface barriers

    SciTech Connect

    Vinegar, Harold J.; McKinzie, II. Billy John

    2009-08-18

    A system for monitoring temperature of a subsurface low temperature zone is described. The system includes a plurality of freeze wells configured to form the low temperature zone, one or more lasers, and a fiber optic cable coupled to at least one laser. A portion of the fiber optic cable is positioned in at least one freeze well. At least one laser is configured to transmit light pulses into a first end of the fiber optic cable. An analyzer is coupled to the fiber optic cable. The analyzer is configured to receive return signals from the light pulses.

  14. Surface modification by subsurface pressure induced diffusion

    SciTech Connect

    Zimmermann, Claus G.

    2012-01-23

    Polycrystalline Ag, covered with a nm thin siloxane layer, was irradiated with ultraviolet light in vacuum at 500 K. Ag particles of different aspect ratios, 50-1000 nm in size, formed on the surface, including a small fraction of nanorods. Pressurized water vapor bubbles are created in the subsurface region by hydrogen radicals photo-chemically released by the siloxane layer. They provide the driving force for a diffusive material flux along grain boundaries to the surface. This mechanism was modeled and found to agree with the experimental timescale: approximately 300 h are required for a 1000 nm particle to form.

  15. Subsurface damage distribution in the lapping process.

    PubMed

    Wang, Zhuo; Wu, Yulie; Dai, Yifan; Li, Shengyi

    2008-04-01

    To systematically investigate the influence of lapping parameters on subsurface damage (SSD) depth and characterize the damage feature comprehensively, maximum depth and distribution of SSD generated in the optical lapping process were measured with the magnetorheological finishing wedge technique. Then, an interaction of adjacent indentations was applied to interpret the generation of maximum depth of SSD. Eventually, the lapping procedure based on the influence of lapping parameters on the material removal rate and SSD depth was proposed to improve the lapping efficiency. PMID:18382566

  16. Parallel heater system for subsurface formations

    DOEpatents

    Harris, Christopher Kelvin (Houston, TX); Karanikas, John Michael (Houston, TX); Nguyen, Scott Vinh (Houston, TX)

    2011-10-25

    A heating system for a subsurface formation is disclosed. The system includes a plurality of substantially horizontally oriented or inclined heater sections located in a hydrocarbon containing layer in the formation. At least a portion of two of the heater sections are substantially parallel to each other. The ends of at least two of the heater sections in the layer are electrically coupled to a substantially horizontal, or inclined, electrical conductor oriented substantially perpendicular to the ends of the at least two heater sections.

  17. Autonomous Infrastructure for Observatory Operations

    NASA Astrophysics Data System (ADS)

    Seaman, R.

    This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

  18. Next generation autonomous wheelchair control.

    PubMed

    Benson, John; Barrett, Steven

    2005-01-01

    Often times the physically challenged, limited to a wheelchair, also have difficulty with vision. In order to help, something must "see" for them. Therefore there must be some way for a wheelchair to know its environment, sense where it is, and where it must go. It also must be able to avoid any obstacles which are not normally part of the environment. An autonomous wheelchair will serve an important role by allowing users more freedom and independence. This design challenge is broken into four major steps: wheelchair control, environment recognition, route planning, and obstacle avoidance. The first step is to reverse engineer a wheelchair and rebuild the controls, which will be the main topic of discussion for this paper. Two big challenges with this step are high power motor control and joystick control. An H-bridge motor interface, controlled by a microprocessor, was designed for the motors. The joystick control is handled with the same microprocessor. PMID:15850119

  19. An Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Bull, James B.; Lanzi, Raymond J.

    2007-01-01

    The Autonomous Flight Safety System (AFSS) being developed by NASA s Goddard Space Flight Center s Wallops Flight Facility and Kennedy Space Center has completed two successful developmental flights and is preparing for a third. AFSS has been demonstrated to be a viable architecture for implementation of a completely vehicle based system capable of protecting life and property in event of an errant vehicle by terminating the flight or initiating other actions. It is capable of replacing current human-in-the-loop systems or acting in parallel with them. AFSS is configured prior to flight in accordance with a specific rule set agreed upon by the range safety authority and the user to protect the public and assure mission success. This paper discusses the motivation for the project, describes the method of development, and presents an overview of the evolving architecture and the current status.

  20. Autonomous Spacecraft Navigation With Pulsars

    NASA Astrophysics Data System (ADS)

    Becker, Werner

    2014-08-01

    An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. We will describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

  1. Autonomous Spacecraft Navigation With Pulsars

    E-print Network

    Becker, Werner; Jessner, Axel

    2013-01-01

    An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. In this paper we describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

  2. Autonomous navigation using lunar beacons

    NASA Technical Reports Server (NTRS)

    Khatib, A. R.; Ellis, J.; French, J.; Null, G.; Yunck, T.; Wu, S.

    1983-01-01

    The concept of using lunar beacon signal transmission for on-board navigation for earth satellites and near-earth spacecraft is described. The system would require powerful transmitters on the earth-side of the moon's surface and black box receivers with antennae and microprocessors placed on board spacecraft for autonomous navigation. Spacecraft navigation requires three position and three velocity elements to establish location coordinates. Two beacons could be soft-landed on the lunar surface at the limits of allowable separation and each would transmit a wide-beam signal with cones reaching GEO heights and be strong enough to be received by small antennae in near-earth orbit. The black box processor would perform on-board computation with one-way Doppler/range data and dynamical models. Alternatively, GEO satellites such as the GPS or TDRSS spacecraft can be used with interferometric techniques to provide decimeter-level accuracy for aircraft navigation.

  3. Digital autonomous terminal access communications

    NASA Technical Reports Server (NTRS)

    Novacki, S.

    1987-01-01

    A significant problem for the Bus Monitor Unit is to identify the source of a given transmission. This problem arises from the fact that the label which identifies the source of the transmission as it is put into the bus is intercepted by the Digital Autonomous Terminal Access Communications (DATAC) terminal and removed from the transmission. Thus, a given subsystem will see only data associated with a label and never the identifying label itself. The Bus Monitor must identify the source of the transmission so as to be able to provide some type of error identification/location in the event that some problem with the data transmission occurs. Steps taken to alleviate this problem by modifications to the DATAC terminal are discussed.

  4. APDS: Autonomous Pathogen Detection System

    SciTech Connect

    Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

    2002-02-14

    An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

  5. Autonomous Medical Care for Exploration

    NASA Technical Reports Server (NTRS)

    Johnson-Throop, Kathy A.; Polk, J. D.; Hines, John W.; Nall, Marsha M.

    2005-01-01

    The goal of Autonomous Medical Care (AMC) is to ensure a healthy, well-performing crew which is a primary need for exploration. The end result of this effort will be the requirements and design for medical systems for the CEV, lunar operations, and Martian operations as well as a ground-based crew health optimization plan. Without such systems, we increase the risk of medical events occurring during a mission and we risk being unable to deal with contingencies of illness and injury, potentially threatening mission success. AMC has two major components: 1) pre-flight crew health optimization and 2) in-flight medical care. The goal of pre-flight crew health optimization is to reduce the risk of illness occurring during a mission by primary prevention and prophylactic measures. In-flight autonomous medical care is the capability to provide medical care during a mission with little or no real-time support from Earth. Crew medical officers or other crew members provide routine medical care as well as medical care to ill or injured crew members using resources available in their location. Ground support becomes telemedical consultation on-board systems/people collect relevant data for ground support to review. The AMC system provides capabilities to incorporate new procedures and training and advice as required. The on-board resources in an autonomous system should be as intelligent and integrated as is feasible, but autonomous does not mean that no human will be involved. The medical field is changing rapidly, and so a challenge is to determine which items to pursue now, which to leverage other efforts (e.g. military), and which to wait for commercial forces to mature. Given that what is used for the CEV or the Moon will likely be updated before going to Mars, a critical piece of the system design will be an architecture that provides for easy incorporation of new technologies into the system. Another challenge is to determine the level of care to provide for each mission type. The level of care refers to the amount and type of care one will render based on perceived need and ability. This is in contrast to the standard of care which is the benchmark by which that care is provided. There are certainly some devices and procedures that have unique microgravity or partial gravity requirements such that terrestrial methods will not work. For example, performing CPR on Mars cannot be done in exactly the same way as on Earth because the reduced gravity causes too large a reduction in the forces available for effective compression of the chest. Likewise, fluid behavior in microgravity may require a specialized water filtration and mixing system for the creation of intravenous fluids. This paper will outline the drivers for the design of the medical care systems, prioritization and planning techniques, key system components, and long term goals.

  6. Autonomous Spacecraft Navigation With Pulsars

    NASA Astrophysics Data System (ADS)

    Becker, Werner; Bernhardt, Mike G.; Jessner, Axel

    2013-11-01

    An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. ?e unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. In this paper we describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

  7. Wireless autonomous device data transmission

    NASA Technical Reports Server (NTRS)

    Sammel, Jr., David W. (Inventor); Cain, James T. (Inventor); Mickle, Marlin H. (Inventor); Mi, Minhong (Inventor)

    2013-01-01

    A method of communicating information from a wireless autonomous device (WAD) to a base station. The WAD has a data element having a predetermined profile having a total number of sequenced possible data element combinations. The method includes receiving at the WAD an RF profile transmitted by the base station that includes a triggering portion having a number of pulses, wherein the number is at least equal to the total number of possible data element combinations. The method further includes keeping a count of received pulses and wirelessly transmitting a piece of data, preferably one bit, to the base station when the count reaches a value equal to the stored data element's particular number in the sequence. Finally, the method includes receiving the piece of data at the base station and using the receipt thereof to determine which of the possible data element combinations the stored data element is.

  8. Machine intelligence for autonomous manipulation.

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1973-01-01

    Survey of the present technological development status of machine intelligence for autonomous manipulation in the U.S., Japan, USSR, and England. The extent of task-performance autonomy is examined that machine intelligence gives the manipulator by eliminating the need for a human operator to close continuously the control loop, or to rewrite control programs for each different task. Surveyed research projects show that the development of some advanced automation systems for manipulator control are within the state of the art. Yet, many more realistic breadboard systems and experimental work are needed before further progress can be made in the design of advanced automation systems for manipulator control suitable for new major practical applications. Specific research areas of promise are pointed out.

  9. Autonomous navigation system and method

    SciTech Connect

    Bruemmer, David J.; Few, Douglas A.

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  10. Autonomous caregiver following robotic wheelchair

    NASA Astrophysics Data System (ADS)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

    2011-12-01

    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  11. Autonomous Vehicle Video Aided Navigation Coupling INS and Video Approaches

    E-print Network

    Hoff, William A.

    Autonomous Vehicle Video Aided Navigation ­ Coupling INS and Video Approaches Chris Baker1 , Chris due to its heavy dependence on image texture. Our approach to autonomous vehicle navigation exploits problem to any autonomous vehicle system. Many autonomous navigation systems today rely on the consistent

  12. Autonomous Off-Road Driving in the DARPA Grand Challenge

    E-print Network

    Soatto, Stefano

    Autonomous Off-Road Driving in the DARPA Grand Challenge Eagle Jones, Brian Fulkerson, and Emilio-speed autonomous driving in the structured highway environment for years. However, it is clear learned from two years of autonomous vehicle develop- ment. Autonomous navigation in the off road

  13. Development of autonomous magnetometer rotorcraft for wide area assessment

    SciTech Connect

    Roelof Versteeg; Matt Anderson; Les Beard; Eric Corban; Darryl Curley; Jeff Gamey; Ross Johnson; Dwight Junkin; Mark McKay; Jared Salzmann; Mikhail Tchernychev; Suraj Unnikrishnan; Scott Vinson

    2010-04-01

    Large areas across the United States are potentially contaminated with UXO, with some ranges encompassing tens to hundreds of thousands of acres. Technologies are needed which will allow for cost effective wide area scanning with 1) near 100 % coverage and 2) near 100 % detection of subsurface ordnance or features indicative of subsurface ordnance. The current approach to wide area assessment is a multi-level one, in which medium - altitude fixed wing optical imaging is used for an initial site assessment. This assessment is followed with low altitude manned helicopter based magnetometry. Subsequent to this wide area assessment targeted surface investigations are performed using either towed geophysical sensor arrays or man portable sensors. In order to be an effective tool for small UXO detection, the sensing altitude for magnetic site investigations needs to be on the order of 1 – 3 meters. These altitude requirements mean that manned helicopter surveys will generally only be feasible in large, open and relatively flat terrains. While such surveys are effective in mapping large areas relatively fast there are substantial mobilization/demobilization, staffing and equipment costs associated with these surveys (resulting in costs of approximately $100-$150/acre). In addition, due to the low altitude there are substantial risks to pilots and equipment. Surface towed arrays provide high resolution maps but have other limitations, e.g. in their ability to navigate rough terrain effectively. There is thus a need for other systems which can be used for effective data collection. An UAV (Unmanned Aerial Vehicle) magnetometer platform is an obvious alternative. The motivation behind such a system is that it reduces risk to operators, is lower in initial and Operational and Maintenance (O&M) costs (and can thus potentially be applied to smaller sites) and has the potential of being more effective in terms of detection and possibly characterization (through the use of dynamic acquisition, i.e. survey mission inflight reprioritization). We describe and report on a one year effort with as primary goal to provide a recommendation to SERDP for a path forward in the implementation of one or more autonomous unmanned magnetometer rotorcraft platforms. This recommendation (which is provided in chapter 6) is based on the following three elements a) An assessment on the applicability of autonomous rotorcraft magnetometer systems to the current DoD site inventory, and an initial assessment of which type(s) of autonomous unmanned magnetometer rotorcraft platforms (in terms of performance characteristics such as payload, altitude, obstacle avoidance, production rate and flight time) would be most relevant to this inventory (chapter 3); b) An evaluation of the feasibility of assembling such platforms from commercial components (unmanned rotorcraft, control systems and sensors – both magnetometer sensors and supporting sensors). This evaluation included several highly successful field tests (chapter 4 and 5); c) A recommendation of the path forward, which includes a detailed outline of the efforts required in the design, assembly and testing of different modular platforms (chapter 6)

  14. Autonomous Demand Response for Primary Frequency Regulation

    SciTech Connect

    Donnelly, Matt; Trudnowski, Daniel J.; Mattix, S.; Dagle, Jeffery E.

    2012-02-28

    The research documented within this report examines the use of autonomous demand response to provide primary frequency response in an interconnected power grid. The work builds on previous studies in several key areas: it uses a large realistic model (i.e., the interconnection of the western United States and Canada); it establishes a set of metrics that can be used to assess the effectiveness of autonomous demand response; and it independently adjusts various parameters associated with using autonomous demand response to assess effectiveness and to examine possible threats or vulnerabilities associated with the technology.

  15. Development of Autonomous Aerobraking (Phase 1)

    NASA Technical Reports Server (NTRS)

    Murri, Daniel G.; Powell, Richard W.; Prince, Jill L.

    2012-01-01

    The NASA Engineering and Safety Center received a request from Mr. Daniel Murri (NASA Technical Fellow for Flight Mechanics) to develop an autonomous aerobraking capability. An initial evaluation for all phases of this assessment was approved to proceed at the NESC Review Board meeting. The purpose of phase 1 of this study was to provide an assessment of the feasibility of autonomous aerobraking. During this phase, atmospheric, aerodynamic, and thermal models for a representative spacecraft were developed for both the onboard algorithm known as Autonomous Aerobraking Development Software, and a ground-based "truth" simulation developed for testing purposes. The results of the phase 1 assessment are included in this report.

  16. Autonomous underwater pipeline monitoring navigation system

    NASA Astrophysics Data System (ADS)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  17. Development of Autonomous Aerobraking - Phase 2

    NASA Technical Reports Server (NTRS)

    Murri, Daniel G.

    2013-01-01

    Phase 1 of the Development of Autonomous Aerobraking (AA) Assessment investigated the technical capability of transferring the processes of aerobraking maneuver (ABM) decision-making (currently performed on the ground by an extensive workforce and communicated to the spacecraft via the deep space network) to an efficient flight software algorithm onboard the spacecraft. This document describes Phase 2 of this study, which was a 12-month effort to improve and rigorously test the AA Development Software developed in Phase 1. Aerobraking maneuver; Autonomous Aerobraking; Autonomous Aerobraking Development Software; Deep Space Network; NASA Engineering and Safety Center

  18. The NASA/Army Autonomous Rotorcraft Project

    NASA Technical Reports Server (NTRS)

    Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

    2002-01-01

    An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

  19. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    NASA Technical Reports Server (NTRS)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  20. Atmospheric energy for subsurface life on Mars?

    NASA Technical Reports Server (NTRS)

    Weiss, B. P.; Yung, Y. L.; Nealson, K. H.

    2000-01-01

    The location and density of biologically useful energy sources on Mars will limit the biomass, spatial distribution, and organism size of any biota. Subsurface Martian organisms could be supplied with a large energy flux from the oxidation of photochemically produced atmospheric H(2) and CO diffusing into the regolith. However, surface abundance measurements of these gases demonstrate that no more than a few percent of this available flux is actually being consumed, suggesting that biological activity driven by atmospheric H(2) and CO is limited in the top few hundred meters of the subsurface. This is significant because the available but unused energy is extremely large: for organisms at 30-m depth, it is 2,000 times previous estimates of hydrothermal and chemical weathering energy and far exceeds the energy derivable from other atmospheric gases. This also implies that the apparent scarcity of life on Mars is not attributable to lack of energy. Instead, the availability of liquid water may be a more important factor limiting biological activity because the photochemical energy flux can only penetrate to 100- to 1,000-m depth, where most H(2)O is probably frozen. Because both atmospheric and Viking lander soil data provide little evidence for biological activity, the detection of short-lived trace gases will probably be a better indicator of any extant Martian life.

  1. Phylogenetic relationships among subsurface microorganisms. Progress report

    SciTech Connect

    Nierzwicki-Bauer, S.A.

    1991-12-31

    This project involves the development of group specific 16S ribosomal RNA-targeted oligonucleotide hybridization probes for the rapid detection of specific types of subsurface organisms (e.g., groups of microbes that share certain physiological traits). Major accomplishments for the period of 6/91 to 12/1/91 are described. Nine new probes have been synthesized on the basis of published 16S rRNA sequence data from the Ribosomal Database Project. We have initiated rapid screening of many of the subsurface microbial isolates obtained from the P24 borehole at the Savannah River Site. To date, we have screened approximately 50% of the isolates from P24. We have optimized our {und in situ} hybridization technique, and have developed a cell blot hybridization technique to screen 96 samples on a single blot. This is much faster than reading 96 individual slides. Preliminary experiments have been carried out which indicate specific nutrients can be used to amplify rRNA only in those organisms capable of metabolizing those nutrients. 1 tab., 2 figs.

  2. Atmospheric energy for subsurface life on Mars?

    PubMed Central

    Weiss, Benjamin P.; Yung, Yuk L.; Nealson, Kenneth H.

    2000-01-01

    The location and density of biologically useful energy sources on Mars will limit the biomass, spatial distribution, and organism size of any biota. Subsurface Martian organisms could be supplied with a large energy flux from the oxidation of photochemically produced atmospheric H2 and CO diffusing into the regolith. However, surface abundance measurements of these gases demonstrate that no more than a few percent of this available flux is actually being consumed, suggesting that biological activity driven by atmospheric H2 and CO is limited in the top few hundred meters of the subsurface. This is significant because the available but unused energy is extremely large: for organisms at 30-m depth, it is 2,000 times previous estimates of hydrothermal and chemical weathering energy and far exceeds the energy derivable from other atmospheric gases. This also implies that the apparent scarcity of life on Mars is not attributable to lack of energy. Instead, the availability of liquid water may be a more important factor limiting biological activity because the photochemical energy flux can only penetrate to 100- to 1,000-m depth, where most H2O is probably frozen. Because both atmospheric and Viking lander soil data provide little evidence for biological activity, the detection of short-lived trace gases will probably be a better indicator of any extant Martian life. PMID:10660689

  3. Human utilization of subsurface extraterrestrial environments.

    PubMed

    Boston, P J; Frederick, R D; Welch, S M; Werker, J; Meyer, T R; Sprungman, B; Hildreth-Werker, V; Thompson, S L; Murphy, D L

    2003-06-01

    Caves have been used in the ancient past as shelter or habitat by many organisms (including humans). Since antiquity, humans have explored caves for the minerals they contain and sometimes for ceremonial purposes. Over the past century, caves have become the target of increasing exploration, scientific research, and recreation. The use of caves on extraterrestrial bodies for human habitation has been suggested by several investigators. Lunar lava tube bases received early attention because lava tubes were clearly visible in lunar images from the Apollo Era. More recently, Mars Observer Camera data has shown us clear evidence of large tubes visible in a number of volcanic regions on Mars. The budding field of cave geomicrobiology has direct application to questions about subsurface life on other planets. Caves contain many unusual organisms making their living from unlikely materials like manganese, iron, and sulfur. This makes caves and other subsurface habitats prime targets for astrobiological missions to Mars and possibly other bodies. We present the results of a completed Phase I and on-going Phase II NASA Institute for Advanced Concepts (NIAC) study that intensively examines the possibilities of using extraterrestrial caves as both a resource for human explorers and as a highly promising scientific target for both robotic and future human missions to Mars and beyond. PMID:12959139

  4. The subsurface of Pluto from submillimetre observations

    NASA Astrophysics Data System (ADS)

    Greaves, J. S.; Whitelaw, A. C. M.; Bendo, G. J.

    2015-04-01

    Surface areas on Pluto change in brightness and colour, at optical to infrared wavelengths, over time-scales as short as years. The subsurface contains a reservoir of frozen volatiles, but little is known about it because Pluto is out of reach for cm-radar. Here we present a 0.85 mm wavelength light curve of the Pluto system, from archival data taken in 1997 August with the SCUBA (Submillimetre Common-User Bolometer Array) camera on the James Clerk Maxwell Telescope (JCMT). This wavelength probes for the first time to just below the skin depth of thermal changes over Pluto's day. The light curve differs significantly from counterparts in the mid- to far-infrared, in a longitude range that is optically dark on Pluto's surface. An estimate from Herschel of the 0.5 mm flux in 2012 is comparable to the mean 0.45 mm flux from SCUBA in 1997, suggesting that layers centimetres below the surface have not undergone any gross temperature change. The longitudes that are relatively submillimetre-faint could have a different emissivity, perhaps with a subsurface layer richer in nitrogen or methane ices than at the surface. The Radio Science Experiment (REX) instrument on New Horizons may be able to constrain physical properties deeper down, as it looks back on Pluto's nightside after the 2015 July flyby.

  5. Method and apparatus for subsurface exploration

    NASA Technical Reports Server (NTRS)

    Wilcox, Brian (Inventor)

    2002-01-01

    A subsurface explorer (SSX) for exploring beneath the terrestrial surface of planetary bodies such as the Earth, Mars, or comets. This exploration activity utilizes appropriate sensors and instrument to evaluate the composition, structure, mineralogy and possibly biology of the subsurface medium, as well as perhaps the ability to return samples of that medium back to the surface. The vehicle comprises an elongated skin or body having a front end and a rear end, with a nose piece at the front end for imparting force to composition material of the planetary body. Force is provided by a hammer mechanism to the back side of a nose piece from within the body of the vehicle. In the preferred embodiment, a motor spins an intermediate shaft having two non-uniform threads along with a hammer which engages these threads with two conical rollers. A brake assembly halts the rotation of the intermediate shaft, causing the conical roller to spin down the non-uniform thread to rapidly and efficiently convert the rotational kinetic energy of the hammer into translational energy.

  6. Benchmark problems for subsurface flow uncertainty quantification

    NASA Astrophysics Data System (ADS)

    Chang, Haibin; Liao, Qinzhuo; Zhang, Dongxiao

    2015-12-01

    In this work, we design a series of benchmark problems for subsurface flow uncertainty quantification. Three basic subsurface flow problems with increasing complexity are selected, which are steady state groundwater flow, groundwater contamination, and multi-phase flow. For the steady state groundwater flow, hydraulic conductivity is assumed to be uncertain, and the uncertain model parameter is assumed to be Gaussian random constant, Gaussian random field, and facies field, respectively. For the other two flow problems, the uncertain model parameter is assumed to be Gaussian random field and facies field, respectively. The statistical property of the uncertain model parameter is specified for each problem. The Monte Carlo (MC) method is used to obtain the benchmark results. The results include the first two statistical moments and the probability density function of the quantities of interest. To verify the MC results, we test the convergence of the results and the reliability of the sampling algorithm. For any existing and newly developed uncertainty quantification methods, which are not (fully) verified, the designed benchmark problems in this work can facilitate the verification process of those methods. For illustration, in this work, we provide a verification of the probabilistic collocation method using the benchmark results.

  7. Development of Autonomous Drills for Planetary Exploration

    NASA Astrophysics Data System (ADS)

    Paulsen, G. L.; Mumm, E.; Kennedy, T.; Chu, P.; Davis, K.; Frader-Thompson, S.; Petrich, K.; Glass, B.

    2006-03-01

    Honeybee Robotics has developed science driven drill systems to allow scientific instruments direct access to the subsurface. Embedded drill segment electronics accommodate sensors and actuators for high rate data transmission to the surface.

  8. Drilling on the Moon and Mars: Developing the Science Approach for Subsurface Exploration with Human Crews

    NASA Technical Reports Server (NTRS)

    Stoker, C. R.; Zavaleta, J.; Bell, M.; Direto, S.; Foing, B.; Blake, D.; Kim, S.

    2010-01-01

    DOMEX (Drilling on the Moon and Mars in Human Exploration) is using analog missions to develop the approach for using human crews to perform science activities on the Moon and Mars involving exploration and sampling of the subsurface. Subsurface science is an important activity that may be uniquely enabled by human crews. DOMEX provides an opportunity to plan and execute planetary mission science activities without the expense and overhead of a planetary mission. Objectives: The objective of this first in a series of DOMEX missions were to 1) explore the regional area to understand the geologic context and determine stratigraphy and geologic history of various geologic units in the area. 2) Explore for and characterize sites for deploying a deep (10 m depth) drilling system in a subsequent field season. 3) Perform GPR on candidate drill sites. 4) Select sites that represent different geological units deposited in different epochs and collect soil cores using sterile procedures for mineralogical, organic and biological analysis. 5) Operate the MUM in 3 different sites representing different geological units and soil characteristics. 6) Collect rock and soil samples of sites visited and analyze them at the habitat. Results: At mission start the crew performed a regional survey to identify major geologic units that were correlated to recognized stratigraphy and regional geologic maps. Several candidate drill sites were identified. During the rest of the mission, successful GPR surveys were conducted in four locations. Soil cores were collected in 5 locations representing soils from 4 different geologic units, to depths up to 1m. Soil cores from two locations were analyzed with PCR in the laboratory. The remainder were reserved for subsequent analysis. XRD analysis was performed in the habitat and in the field on 39 samples, to assist with sample characterization, conservation, and archiving. MUM was deployed at 3 field locations and 1 test location (outside the habitat) where it operated autonomously for 2-4 hours at each site. Depths achieved ranged from 15 to 70 cm depending on the soil compressive strength and the presence and depth of subsurface indurated layers. Subsurface samples weighing 0.5 to 1 g were collected at the deepest depth encountered at each of the sites using the MUM automated sample collection system, and subsequently analyzed with XRD. Downhole inspection of holes produced by MUM with the Raman spectrometer was acquired on two of the holes and spectral features associated with selenite were identified in specific soil layers. Previously unreported fossilized remains of vertebrate fauna from the Jurassic era were discovered during our mission. Analysis of mineral biomarkers associated with this discovery are underway.

  9. In situ analysis of subsurface materials

    NASA Astrophysics Data System (ADS)

    Coradini, A.; de Sanctis, M. C.; Piccioni, G.; Amici, S.; Bianchi, R.; Capaccioni, F.; Capria, M. T.; di Lellis, A. M.; Espinasse, S.; Federico, C.

    2003-04-01

    From radio and radar observations, providing information on the upper 0.1 to 10 m of the Martian crust, we know that subsurface properties seem to be slightly different from those at the surface, suggesting subsurface layering in many places. This idea has been strongly strengthened by the recent observation in sedimentary areas of the Martian surface, made by MGS and Odyssey Spacecrafts. Moreover indications on the presence of shallow water has been also suggested. Unfortunately many doubts exist on the nature, timing and duration of alteration and sedimentation processes on Mars. This study will permit to infer the history of erosion, transport and deposition of loose material. This material can reach a thickness ranging from a few centimeters to meters. Up to present, the Viking and Pathfinder investigations have studied only the upper layers of the soil. The Martian soil analyzed by the two Viking landers showed a surprising similarity, despite the great distance between the two landing sites: it will be extremely important to verify if this similarity is also present in different areas and, particularly, in the subsurface layers. The study of the Mars subsurface can give us an indication of how deeply the weathering has modified the Martian surface. The ASI driller will be able to penetrate different kinds of materials, both loose and hard. The drill will be able to cut both hard rock and loose soil as well as mixtures of them. Thanks to the ASI drill it will be possible to investigate at least the first half-meter of this complex structure. We describe here a miniaturized imaging spectrometer that can be included in the drill tip in order to infer the mineralogical characteristics of subsurface layers. The data are acquired through a flat optical window on the drill wall: through this window the inner surface of the hole is illuminated by means of different lamps. The image is acquired by an array of optical fibers simulating a slit. An optical system situated inside the drill will permit to observe details from few tenths of microns to hundreds of microns and to perform low resolution spectroscopy in the range 0.8-2.8 microns. The linear array of optical fibers mimics the slit. The focal plane is a two-dimensional matrix of HgCdTe or PbS of 32-64 pixels in the spatial direction by 25-256 pixels in the spectral direction. The spectral reflectance in the visible and near infrared can provide information on the mineralogy and petrology of surface materials, and therefore on crust composition and Fe mineralogy. Analysis of VIS and NIR reflectance spectra of low albedo areas is a primary source of evidence for basaltic crust on Mars, with the identification of abundant clinopyroxenes and other mafic minerals. The instrument prototype has already been tested in laboratory and we will show some of the obtained results.

  10. Autonomous adaptive environmental assessment and feature tracking via autonomous underwater vehicles

    E-print Network

    Petillo, Stephanie Marie

    In the underwater environment, spatiotemporally dynamic environmental conditions pose challenges to the detection and tracking of hydrographic features. A useful tool in combating these challenge is Autonomous Adaptive ...

  11. XAUV : modular high maneuverability autonomous underwater vehicle

    E-print Network

    Walker, Daniel G. (Daniel George)

    2009-01-01

    The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power ...

  12. Controlled manipulation using autonomous aerial systems

    E-print Network

    Srikanth, Manohar B. (Manohar Balagatte)

    2013-01-01

    The main focus of the thesis is to design and control Autonomous Aerial Systems, also referred to as Unmanned Aerial Vehicles (UAVs). UAVs are able to hover and navigate in space using the thrust forces generated by the ...

  13. Macroeconomics with Intelligent Autonomous Peter Howitt

    E-print Network

    Tesfatsion, Leigh

    Macroeconomics with Intelligent Autonomous Agents Peter Howitt Brown University June 1, 2007 Paper-foundation, which is to say almost all models that one sees in mainstream macroeconomic theory, are "agent

  14. Rover: Autonomous concepts for Mars exploration

    NASA Astrophysics Data System (ADS)

    Baiget, A.; Castets, B.; Chochon, H.; Hayard, M.; Lamarre, H.; Lamothe, A.

    1993-01-01

    The development of a mobile, autonomous vehicle that will be launched towards an unknown planet is considered. The rover significant constraints are: Ariane 5 compatibility, Earth/Mars transfer capability, 1000 km autonomous moving in Mars environment, on board localization, and maximum science capability. Two different types of subsystem were considered: classical subsystems (mechanical and mechanisms, thermal, telecommunications, power, onboard data processing) and robotics subsystem, (perception/navigation, autonomous displacement generation, autonomous localization). The needs of each subsystem were studied in terms of energy and data handling capability, in order to choose an on board architecture which best use the available capability, by means of specialized parts. A compromise must always be done between every subsystem in order to obtain the real need with respect to the goal, for example: between perception/navigation and the motion capability. A compromise must also be found between mechanical assembly and calibration need, which is a real problem.

  15. Design considerations for engineering Autonomous Underwater Vehicles

    E-print Network

    Shah, Vikrant P. (Vikrant Pankaj)

    2007-01-01

    Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and ...

  16. Autonomous Flight in Unknown Indoor Environments

    E-print Network

    Bachrach, Abraham Galton

    This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are ...

  17. Path planning methods for Autonomous Underwater Vehicles

    E-print Network

    Yi?it, Konuralp

    2011-01-01

    From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the ...

  18. System Engineering of Autonomous Space Vehicles

    NASA Technical Reports Server (NTRS)

    Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

    2014-01-01

    Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

  19. Multimodal interaction with an autonomous forklift

    E-print Network

    Correa, Andrew Thomas

    We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift ...

  20. A Primer on Autonomous Aerial Vehicle Design.

    PubMed

    Coppejans, Hugo H G; Myburgh, Herman C

    2015-01-01

    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

  1. Overview of the Autonomic Nervous System

    MedlinePLUS

    ... News Overview of the Autonomic Nervous System by Phillip Low, MD NOTE: This is the Consumer Version. ... Us Global Medical Knowledge Veterinary Edition © 2015 Merck Sharp & Dohme Corp., a subsidiary of Merck & Co., Inc., ...

  2. A Perception-Driven Autonomous Urban Vehicle

    E-print Network

    Teller, Seth

    July 2008 Journal of Field Robotics 25(10), 727­774 (2008) C 2008 Wiley Periodicals, Inc. Published of Field Robotics--2008 This paper describes the architecture and implementation of an autonomous passenger

  3. Human inspiration for autonomous vehicle tactics

    E-print Network

    Beaton, Jonathan Scott

    2006-01-01

    Tactical control is needed in environments characterized by uncertainty and continuous, dynamic change. Given the likelihood of time constraints and high risks associated with poor tactical choices, current autonomous ...

  4. Autonomous thruster failure recovery for underactuated spacecraft

    E-print Network

    Pong, Christopher Masaru

    2010-01-01

    Thruster failures historically account for a large percentage of failures that have occurred on orbit. Therefore, autonomous thruster failure detection, isolation, and recovery (FDIR) is an essential component to any robust ...

  5. Preparing a Nation for Autonomous Vehicles

    E-print Network

    Kockelman, Kara M.

    Preparing a Nation for Autonomous Vehicles Opportunities, Barriers and Policy Recommendations. Ironically, he never drove a car during his lifetime. The Father of Traffic Safety, an avid horseback rider

  6. A flexible design framework for autonomous mowing

    E-print Network

    Kraft, Justin (Justin A.)

    2011-01-01

    This work outlines the creation of a flexible design framework for autonomous mowing to meet changing customer needs and functionality across a spectrum of applications from residential areas to sport complexes. The thesis ...

  7. Advancing Autonomous Operations Technologies for NASA Missions

    NASA Technical Reports Server (NTRS)

    Cruzen, Craig; Thompson, Jerry Todd

    2013-01-01

    This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce operations cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing operations cost, ameliorating inefficiencies, and mitigating catastrophic anomalies.

  8. Autonomous aerobatic maneuvering of miniature helicopters

    E-print Network

    Gavrilets, Vladislav, 1975-

    2003-01-01

    In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature ...

  9. Acupuncture Effect and Central Autonomic Regulation

    PubMed Central

    Li, Qian-Qian; Shi, Guang-Xia; Xu, Qian; Wang, Jing; Liu, Cun-Zhi; Wang, Lin-Peng

    2013-01-01

    Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM). Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS) and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS) functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects. PMID:23762116

  10. Design of a minimalist autonomous robotic vehicle

    E-print Network

    Spadafora, Mark (Mark A.)

    2008-01-01

    The purpose of this thesis is to investigate design alternatives for the creation of a minimalist autonomous robotic vehicle, based on the Ford Escape. The work builds on prior work performed by the MIT DARPA Urban Challenge ...

  11. DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

    EPA Science Inventory

    This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. An existing teleoperated "Surveyor" robot developed by ARD...

  12. Tele-robotic/autonomous control using controlshell

    SciTech Connect

    Wilhelmsen, K.C.; Hurd, R.L.; Couture, S.

    1996-12-10

    A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.

  13. Cooperative control of autonomous underwater vehicles. 

    E-print Network

    Savage, Elizabeth

    2004-09-30

    COOPERATIVE CONTROL OF AUTONOMOUS UNDERWATER VEHICLES A Thesis by ELIZABETH SAVAGE Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE May 2003 Major Subject...: Aerospace Engineering COOPERATIVE CONTROL OF AUTONOMOUS UNDERWATER VEHICLES A Thesis by ELIZABETH SAVAGE Submitted to Texas A&M University in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE Approved as to style and content by...

  14. Autonomous navigation ability: FIDO test results

    NASA Technical Reports Server (NTRS)

    Baumgartner, E.; Maurette, M.

    2000-01-01

    The FIDO platform of the JPL has been used to evaluate the ability of autonomous obstacle avoidance developed by JPL and CNES autonomous long range path planning. The test results show that only a very small amount of energy and computing time is used to implement autonomy and that the capabilities of the rover are fully used, allowing a much longer daily traverse than purely ground-planned strategies.

  15. Autonomous vehicle control using AI techniques

    SciTech Connect

    Keirsey, D.; Mitchell, J.; Bullock, B.; Nussmeier, T.; Tseng, D.

    1983-11-01

    A review of early work on a project for developing autonomous vehicle control technology is presented. The primary goal of this effort is the development of a generic capability that can be specialized to a wide range of DOD applications. Project emphasis is on development of the fundamental AI-based technology required by autonomous systems and the implementation of a testbed environment to evaluate and demonstrate the system capabilities. 10 references.

  16. CSMOS USER REGISTRATION (SUBSURFACE PROTECTION AND REMEDIATION DIVISION, NRMRL)

    EPA Science Inventory

    The Center for Subsurface Modeling Support (CSMoS)provides public domain groundwater and vadose zone modeling software and services to public agencies and private companies nationwide. CSMoS is part of NRMRL's Subsurface Protection and Remediation Division. The primary objectives...

  17. TECHNICAL SUPPORT CENTER RESOURCES (SUBSURFACE PROTECTION AND REMEDIATION DIVISION, NRMRL)

    EPA Science Inventory

    NRMRL's Subsurface Protection and Remediation Division's Technical Support Center consists of a core team of in-house scientists and engineers strongly supported by other in-house and extramural researchers, the Center for Subsurface Modeling Support, and a technical support cont...

  18. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Subsurface tracer studies. 39.45 Section 39.45 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR WELL LOGGING Equipment § 39.45 Subsurface tracer studies. (a) The licensee shall require all personnel handling...

  19. Near-tropical subsurface ice on Mars Mathieu Vincendon,1

    E-print Network

    Spiga, Aymeric

    Near-tropical subsurface ice on Mars Mathieu Vincendon,1 John Mustard,1 Franc¸ois Forget,2 Mikhail., J. Mustard, F. Forget, M. Kreslavsky, A. Spiga, S. Murchie, and J.-P. Bibring (2010), Near- ence of shallow subsurface water ice have been reported [Squyres and Carr, 1986; Mustard et al., 2001

  20. DEMONSTRATION BULLETIN: SUBSURFACE VOLATILIZATION AND VENTILATION SYSTEM - BROWN & ROOT ENVIRONMENTAL

    EPA Science Inventory

    The Subsurface Volatilization and Ventilation System (SVVS*) is an in-situ vacuum extraction/air sparging and bioremediation technology for the treatment of subsurface organic contamination in soil and groundwater. The technology, developed by Billings and Associates, Inc., and o...

  1. 1D subsurface electromagnetic fields excited by energized steel casing

    E-print Network

    Torres-Verdín, Carlos

    1D subsurface electromagnetic fields excited by energized steel casing Wei Yang1 , Carlos Torres the possibility of enabling steel-cased wells as galvanic sources to detect and quantify spatial variations of electrical conductivity in the subsurface. The study assumes a vertical steel-cased well that penetrates

  2. DETERMINATION OF MICROBIAL CELL NUMBERS IN SUBSURFACE SAMPLES

    EPA Science Inventory

    Ground-water pollution by organic compounds has become a major environmental concern. Because the transport and fate of the organic pollutants may be influenced by microorganisms present in subsurface material, reliable measurements of the number of organisms in subsurface sample...

  3. Subsurface Sounding of Mars: The Effects of Surface Roughness

    NASA Technical Reports Server (NTRS)

    Plaut, J. J.; Jordan, R.; Safaeinili, A.; Safaenelli, A.; Seu, R.; Orosei, R.

    2001-01-01

    The Mars Advanced Radar for Subsurface and Ionospheric Sounding (MARSIS) will conduct a global survey of Mars from the Mars Express Orbiter starting in 2004. The primary objective of the subsurface observations is to detect material interfaces in the upper several kilometers of the crust of Mars, with a particular emphasis on mapping the 3D distribution of water and ice in that portion of the crust. In order to detect subsurface interfaces, the returned echo from the subsurface must be distinguished from noise and clutter, which can arise from a variety of sources. One source of clutter is surface topography that generates backscattered energy at the same time delay as the subsurface region of interest. Surface topography can affect the detectability of subsurface features in several other ways. Surface roughness at scales comparable or somewhat smaller than the radar wavelength reduces the coherency of the wave as it passes the upper interface. Also, surface slope (tilt) at scales of the radar footprint and larger (> 5 km) affects the apparent Doppler signature of the echoes, and effectively disperses the wave transmitted into the subsurface, making processing and interpretation difficult. In this paper, we report on the roughness characteristics of Mars at these various scales as measured by the Mars Global Surveyor Laser Altimeter (MOLA), and consider the implications for achieving the subsurface sounding goals of MARSIS. Additional information is contained in the original extended abstract.

  4. Subsurface ocean argon disequilibrium reveals the equatorial Pacific shadow zone

    E-print Network

    Subsurface ocean argon disequilibrium reveals the equatorial Pacific shadow zone Eric Gehrie,1), Subsurface ocean argon disequilibrium reveals the equatorial Pacific shadow zone, Geophys. Res. Lett., 33, L, 1972]. We present new data from the equatorial Pacific Ocean. 2. Methods 2.1. Measurement [6] Samp

  5. Subsurface Water Flow and its Subsequent Impact on Chemical Behavior

    Technology Transfer Automated Retrieval System (TEKTRAN)

    The impact of the subsurface stratigraphy on crop growth and agrichemical behavior has been studied for several years at the OPE3 research site located at the USDA-ARS Beltsville Agricultural Research Center, in Beltsville Maryland. This site contains subsurface restricting layers that have been id...

  6. In Depth Analysis of Food Structures Hyperspectral Subsurface Laser Scattering

    E-print Network

    Dahl, Anders Lindbjerg

    In Depth Analysis of Food Structures Hyperspectral Subsurface Laser Scattering Otto Højager based on SLS (Subsurface Laser Scattering) for industrial food inspection. To ob- tain high and uniform SLS system for characterizing food items. We use a laser source that can be tuned to any wavelength

  7. Subsurface Mapping: A Question of Position and Interpretation

    ERIC Educational Resources Information Center

    Kellie, Andrew C.

    2009-01-01

    This paper discusses the character and challenges inherent in the graphical portrayal of features in subsurface mapping. Subsurface structures are, by their nature, hidden and must be mapped based on drilling and/or geophysical data. Efficient use of graphical techniques is central to effectively communicating the results of expensive exploration…

  8. The Subsurface Fluid Mechanics of Geologic Carbon Dioxide Storage

    E-print Network

    The Subsurface Fluid Mechanics of Geologic Carbon Dioxide Storage by Michael Lawrence Szulczewski S the fluid mechanics of CO2 storage, with the goal of informing two practical questions. The first question by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Heidi M. Nepf Chair, Departmental Committee for Graduate Students #12;2 #12;The Subsurface Fluid

  9. ASSESSMENT OF THE SUBSURFACE FATE OF MONOETHANOLAMINE

    SciTech Connect

    James A. Sorensen; John R. Gallagher; Lori G. Kays

    2000-05-01

    Burial of amine reclaimer unit sludges and system filters has resulted in contamination of soil at the CanOxy Okotoks decommissioned sour gas-processing plant with amines, amine byproducts, and salts. A three-phase research program was devised to investigate the natural attenuation process that controls the subsurface transport and fate of these contaminants and to apply the results toward the development of a strategy for the remediation of this type of contamination in soils. Phase I experimental activities examined interactions between monoethanolamine (MEA) and sediment, the biodegradability of MEA in soils at various concentrations and temperatures, and the biodegradability of MEA sludge contamination in a soil slurry bioreactor. The transport and fate of MEA in the subsurface was found to be highly dependant on the nature of the release, particularly MEA concentration and conditions of the subsurface environment, i.e., pH, temperature, and oxygen availability. Pure compound biodegradation experiments in soil demonstrated rapid biodegradation of MEA under aerobic conditions and moderate temperatures (>6 C). Phase II landfarming activities confirmed that these contaminants are readily biodegradable in soil under ideal laboratory conditions, yet considerable toxicity was observed in the remaining material. Examination of water extracts from the treated soil suggested that the toxicity is water-soluble. Phase II activities led to the conclusion that landfarming is not the most desirable bioremediation technique; however, an engineered biopile with a leachate collection system could remove the remaining toxic fraction from the soil. Phase III was initiated to conduct field-based experimental activities to examine the optimized remediation technology. A pilot-scale engineered biopile was constructed at a decommissioned gas-sweetening facility in Okotoks, Alberta, Canada. On the basis of a review of the analytical and performance data generated from soil and leachate samples, the biopile operation has successfully removed all identified amines and removed significant amounts of organic nitrogen and organic carbon. Salts initially present in the soil and salts generated during the biodegradation of contaminants remain to be flushed from the soil. Laboratory data show that these salts are readily removable with a simple soil leach.

  10. Detection of microbial Life in the Subsurface

    NASA Astrophysics Data System (ADS)

    Stan-Lotter, H.; Fendrihan, S.; Dornmayr-Pfaffenhuemer, M.; Legat, A.; Gruber, C.; Weidler, G.; Gerbl, F.

    2007-08-01

    In recent years microbial communities were detected, which dwell in rocks, soil and caves deep below the surface of the Earth. This has led to a new view of the diversity of the terrestrial biosphere and of the physico-chemical boundaries for life. Two types of subterranean environments are Permo-Triassic salt sediments and thermal radioactive springs from igneous rocks in the Alps. Viable extremely halophilic archaea were isolated from ancient salt sediments which are estimated to be about 250 million years old (1). Chemotaxonomic and molecular characterization showed that they represent novel species, e. g. Halococcus salifodinae, Hcc. dombrowskiiand Halobacterium noricense. Simulation experiments with artificial halite suggested that these microorganisms probably survived while embedded in fluid inclusions. In the thermal springs, evidence for numerous novel microorganisms was found by 16S rDNA sequencing and probing for some metabolic genes; in addition, scanning electron microscopy of biofilms on the rock surfaces revealed great diversity of morphotypes (2). These communities appear to be active and growing, although their energy and carbon sources are entirely unknown. The characterization of subsurface inhabitants is of astrobiological relevance since extraterrestrial halite has been detected (3) and since microbial life on Mars, if existent, may have retreated into the subsurface. As a long-term goal, a thorough census of terrestrial microorganisms should be taken and their survival potential be determined in view of future missions for the search for extraterrestrial life, including planning precautions against possible forward contamination by space probes. (1) Fendrihan, S., Legat, A., Gruber, C., Pfaffenhuemer, M., Weidler, G., Gerbl, F., Stan-Lotter, H. (2006) Extremely halophilic archaea and the issue of long term microbial survival. Reviews in Environmental Science and Bio/technology 5, 1569-1605. (2) Weidler, G.W., Dornmayr-Pfaffenhuemer, M., Gerbl, F.W., Heinen, W., Stan- Lotter, H. (2007) Communities of Archaea and Bacteria in a subsurface radioactive thermal spring in the Austrian Central Alps and evidence for ammonia oxidizing Crenarchaeota. Appl. Environ. Microbiol. 73, 259-270. (3) Stan-Lotter, H., Radax, C., McGenity, T.J., Legat, A., Pfaffenhuemer, M.,Wieland, H., Gruber, C., Denner, E.B.M. (2004) From Intraterrestrials to Extraterrestrials - Viable haloarchaea in ancient salt deposits. In: Halophilic Microorganisms. Ventosa A. (Ed.), Springer Verlag, Berlin, Heidelberg, New York, pp. 89-102.

  11. Advancing Autonomous Operations for Deep Space Vehicles

    NASA Technical Reports Server (NTRS)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  12. Sustainable Use and Management of the Subsurface Eduardo F.J. de Mulder1

    E-print Network

    Hack, Robert

    intensive use of the subsurface. Sustainable use and management of the subsurface requires forward thinking the subsurface. That changed when farming began, some 10,000 years ago. When that was followed by settlement

  13. Subsurface Containment Assurance Program: Key Element Overview and Best Practice Examples

    E-print Network

    OTC 24851 Subsurface Containment Assurance Program: Key Element Overview and Best Practice Examples contain conspicuous acknowledgment of OTC copyright. Abstract The goal of Subsurface Containment Assurance Containment Assurance involves the integrated efforts of the subsurface (reservoir and overburden

  14. Delineate subsurface structures with ground penetrating radar

    NASA Astrophysics Data System (ADS)

    Wyatt, D. E.; Hu, L. Z.; Ramaswamy, M.; Sexton, B. G.

    High resolution ground penetrating radar (GPR) surveys were conducted at the Savannah River Site in South Carolina in late 1991 to demonstrate the radar techniques in imaging shallow utility and soil structures. Targets of interest at two selected sites, designated as H- and D-areas, were a buried backfilled trench, buried drums, geologic stratas, and water table. Multiple offset 2-D and single offset 3-D survey methods were used to acquire high resolution radar data. This digital data was processed using standard seismic processing software to enhance signal quality and improve resolution. Finally, using a graphics workstation, the 3D data was interpreted. In addition, a small 3D survey was acquired in The Woodlands, Texas, with very dense spatial sampling. This data set adequately demonstrated the potential of this technology in imaging subsurface features.

  15. Locating subsurface gravel with thermal imagery

    NASA Technical Reports Server (NTRS)

    Scholen, Douglas E.; Clerke, William H.; Luepke, Douglas E.

    1986-01-01

    A method was discussed for using 6 band thermal imagery to locate subsurface gravel deposits in vegetated areas. Geologic history is reviewed to select potential areas of study. An overflight was made using a thermal scanner. The data were processed with a computerized system to delineate areas showing a quartz signature radiated by a gravel deposit. The method was developed during a search for gravel on National Forest land in Louisiana. Processed data from thermal imagery was compared with known gravel deposits and exploratory drill hole logs. A high correlation was noted for a wide range of deposits, from commercial pits to trace deposits only a foot thick. Overburden at these sites varied from zero to sixty feet, near the maximum annual penetration by the thermal wave. It was concluded that the method can be used to locate buried gravel deposits and that more time and effort are needed to verify the usefulness for developing gravel pits adjacent to proposed construction sites.

  16. Optimal joule heating of the subsurface

    DOEpatents

    Berryman, J.G.; Daily, W.D.

    1994-07-05

    A method for simultaneously heating the subsurface and imaging the effects of the heating is disclosed. This method combines the use of tomographic imaging (electrical resistance tomography or ERT) to image electrical resistivity distribution underground, with joule heating by electrical currents injected in the ground. A potential distribution is established on a series of buried electrodes resulting in energy deposition underground which is a function of the resistivity and injection current density. Measurement of the voltages and currents also permits a tomographic reconstruction of the resistivity distribution. Using this tomographic information, the current injection pattern on the driving electrodes can be adjusted to change the current density distribution and thus optimize the heating. As the heating changes conditions, the applied current pattern can be repeatedly adjusted (based on updated resistivity tomographs) to affect real time control of the heating.

  17. Armored Enzyme Nanoparticles for Remediation of Subsurface

    SciTech Connect

    Grate, Jay W.

    2005-09-01

    The remediation of subsurface contaminants is a critical problem for the Department of Energy, other government agencies, and our nation. Severe contamination of soil and groundwater exists at several DOE sites due to various methods of intentional and unintentional release. Given the difficulties involved in conventional removal or separation processes, it is vital to develop methods to transform contaminants and contaminated earth/water to reduce risks to human health and the environment. Transformation of the contaminants themselves may involve conversion to other immobile species that do not migrate into well water or surface waters, as is proposed for metals and radionuclides; or degradation to harmless molecules, as is desired for organic contaminants. Transformation of contaminated earth (as opposed to the contaminants themselves) may entail reductions in volume or release of bound contaminants for remediation.

  18. Joint inversion for mapping subsurface hydrologicalparameters

    SciTech Connect

    Tseng, Hung-Wen; Lee, Ki Ha

    2001-03-07

    Using electromagnetic (EM) and seismic travel time data and a least-square criteria, a two-dimensional joint inversion algorithm is under development to assess the feasibility of directly mapping subsurface hydrological properties in a crosswell setup. A simplified Archie's law combined with the time average equation relates the magnetic fields and seismic travel time to two hydrological parameters; rock porosity and pore fluid electrical conductivity. For simplicity, the hydrological parameter distributions are assumed to be two-dimensional. Preliminary results show that joint inversion does have better resolving power for the interpretation than using the EM method alone. Various inversion scenarios have been tested, and it has been found that alternately perturbing just one of the two parameters at each iteration gives the best data fit.

  19. Repository Subsurface Preliminary Fire Hazard Analysis

    SciTech Connect

    Richard C. Logan

    2001-07-30

    This fire hazard analysis identifies preliminary design and operations features, fire, and explosion hazards, and provides a reasonable basis to establish the design requirements of fire protection systems during development and emplacement phases of the subsurface repository. This document follows the Technical Work Plan (TWP) (CRWMS M&O 2001c) which was prepared in accordance with AP-2.21Q, ''Quality Determinations and Planning for Scientific, Engineering, and Regulatory Compliance Activities''; Attachment 4 of AP-ESH-008, ''Hazards Analysis System''; and AP-3.11Q, ''Technical Reports''. The objective of this report is to establish the requirements that provide for facility nuclear safety and a proper level of personnel safety and property protection from the effects of fire and the adverse effects of fire-extinguishing agents.

  20. Letter report: Ari Patrinos -- Subsurface bioremediation

    SciTech Connect

    Happer, W.; MacDonald, G.J.; Ruderman, M.A.; Treiman, S.B.

    1995-07-26

    During the past summer, the authors had the opportunity to examine aspects of the remediation program of the Department of Energy (DOE). The most important conclusion that they have come to is that there is an urgent need to mount a comprehensive research program in remediation. It is also clear to them that DOE does not have the funding to carry out a program on the scale that is required. On the other hand, Environmental Management could very well fund such activities. They would hope that in the future there would be close collaboration between Environmental Management and Energy Research in putting together a comprehensive and well thought-out research program. Here, the authors comment on one aspect of remediation: subsurface bioremediation.

  1. Optimal joule heating of the subsurface

    DOEpatents

    Berryman, James G. (Danville, CA); Daily, William D. (Livermore, CA)

    1994-01-01

    A method for simultaneously heating the subsurface and imaging the effects of the heating. This method combines the use of tomographic imaging (electrical resistance tomography or ERT) to image electrical resistivity distribution underground, with joule heating by electrical currents injected in the ground. A potential distribution is established on a series of buried electrodes resulting in energy deposition underground which is a function of the resistivity and injection current density. Measurement of the voltages and currents also permits a tomographic reconstruction of the resistivity distribution. Using this tomographic information, the current injection pattern on the driving electrodes can be adjusted to change the current density distribution and thus optimize the heating. As the heating changes conditions, the applied current pattern can be repeatedly adjusted (based on updated resistivity tomographs) to affect real time control of the heating.

  2. Air-water flow in subsurface systems

    NASA Astrophysics Data System (ADS)

    Hansen, A.; Mishra, P.

    2013-12-01

    Groundwater traces its roots to tackle challenges of safe and reliable drinking water and food production. When the groundwater level rises, air pressure in the unsaturated Vadose zone increases, forcing air to escape from the ground surface. Abnormally high and low subsurface air pressure can be generated when the groundwater system, rainfall, and sea level fluctuation are favorably combined [Jiao and Li, 2004]. Through this process, contamination in the form of volatile gases may diffuse from the ground surface into residential areas, or possibly move into groundwater from industrial waste sites. It is therefore crucial to understand the combined effects of air-water flow in groundwater system. Here we investigate theoretically and experimentally the effects of air and water flow in groundwater system.

  3. Accelerating Subsurface Transport Simulation on Heterogeneous Clusters

    SciTech Connect

    Villa, Oreste; Gawande, Nitin A.; Tumeo, Antonino

    2013-09-23

    Reactive transport numerical models simulate chemical and microbiological reactions that occur along a flowpath. These models have to compute reactions for a large number of locations. They solve the set of ordinary differential equations (ODEs) that describes the reaction for each location through the Newton-Raphson technique. This technique involves computing a Jacobian matrix and a residual vector for each set of equation, and then solving iteratively the linearized system by performing Gaussian Elimination and LU decomposition until convergence. STOMP, a well known subsurface flow simulation tool, employs matrices with sizes in the order of 100x100 elements and, for numerical accuracy, LU factorization with full pivoting instead of the faster partial pivoting. Modern high performance computing systems are heterogeneous machines whose nodes integrate both CPUs and GPUs, exposing unprecedented amounts of parallelism. To exploit all their computational power, applications must use both the types of processing elements. For the case of subsurface flow simulation, this mainly requires implementing efficient batched LU-based solvers and identifying efficient solutions for enabling load balancing among the different processors of the system. In this paper we discuss two approaches that allows scaling STOMP's performance on heterogeneous clusters. We initially identify the challenges in implementing batched LU-based solvers for small matrices on GPUs, and propose an implementation that fulfills STOMP's requirements. We compare this implementation to other existing solutions. Then, we combine the batched GPU solver with an OpenMP-based CPU solver, and present an adaptive load balancer that dynamically distributes the linear systems to solve between the two components inside a node. We show how these approaches, integrated into the full application, provide speed ups from 6 to 7 times on large problems, executed on up to 16 nodes of a cluster with two AMD Opteron 6272 and a Tesla M2090 per node.

  4. Imaging the Subsurface with Upgoing Muons

    NASA Astrophysics Data System (ADS)

    Bonal, N.; Preston, L. A.; Schwellenbach, D.; Dreesen, W.; Green, A.

    2014-12-01

    We assess the feasibility of imaging the subsurface using upgoing muons. Traditional muon imaging focuses on more-prevalent downgoing muons. Muons are subatomic particles capable of penetrating the earth's crust several kilometers. Downgoing muons have been used to image the Pyramid of Khafre of Giza, various volcanoes, and smaller targets like cargo. Unfortunately, utilizing downgoing muons requires below-target detectors. For aboveground objects like a volcano, the detector is placed at the volcano's base and the top portion of the volcano is imaged. For underground targets like tunnels, the detector would have to be placed below the tunnel in a deeper tunnel or adjacent borehole, which can be costly and impractical for some locations. Additionally, detecting and characterizing subsurface features like voids from tunnels can be difficult. Typical characterization methods like sonar, seismic, and ground penetrating radar have shown mixed success. Voids have a marked density contrast with surrounding materials, so using methods sensitive to density variations would be ideal. High-energy cosmic ray muons are more sensitive to density variation than other phenomena, including gravity. Their absorption rate depends on the density of the materials through which they pass. Measurements of muon flux rate at differing directions provide density variations of the materials between the muon source (cosmic rays and neutrino interactions) and detector, much like a CAT scan. Currently, tomography using downgoing muons can resolve features to the sub-meter scale. We present results of exploratory work, which demonstrates that upgoing muon fluxes appear sufficient to achieve target detection within a few months. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under contract DE-AC04-94AL85000.

  5. Subsurface Controls on Habitability of Hydrothermal Waters

    NASA Astrophysics Data System (ADS)

    Fristad, K. E.; Som, S. M.; Hoehler, T. M.

    2014-12-01

    Liquid water alone does not make an environment habitable. Environmental settings dominated by water-rock reactions such as in hydrothermal vents and springs are natural targets for astrobiological investigation of waterworlds because the rich geochemical diversity at these locales provides abundant energy in solvent to support microbial life. Hydrogen oxidizers are of particular interest because H2-based metabolisms are widespread and deeply rooted throughout the phylogenetic tree of life, implying they may have emerged extremely early in the evolution, and possibly even the origin, of life on Earth and potentially any other rocky bodies bearing liquid water. Dihydrogen (H2) can be lithogenically produced by the hydrolytic oxidation of the ferrous iron component in Fe-bearing minerals as well as by radiolytic cleavage of water by ?, ?, or ? radiation produced during the decay of radioactive isotopes. Lithogenic H2 production mechanisms operate across a range of rock types, but the concentration of dissolved H2 available to life is controlled by a number of subsurface factors such as surface geometry, water to rock ratio, production rate, and fluid flux. These factors are often controlled by the larger geologic and structural context of a particular site. We present results of an ongoing project that surveys H2 concentrations from terrestrial hydrothermal waters in diverse chemical and physical settings. Aqueous H2 concentrations and potential subsurface controls are presented for sites across the western U.S. including Yellowstone National Park, Lassen Volcanic National Park, and Iceland. In coordination with field data, we also investigate the habitability of various sites numerically by coupling a geochemical model of water-rock interaction with that of single-cell methanogenesis and compute a habitability index for the given environment. In particular, we investigate the control that temperature, rock composition, water composition, and water to rock ratio (dilution) has on biological potential.

  6. Nitrogen patterns in subsurface waters of the Yzeron stream: effect of combined sewer overflows and subsurface-surface water mixing.

    PubMed

    Aucour, A M; Bariac, T; Breil, P; Namour, P; Schmitt, L; Gnouma, R; Zuddas, P

    2013-01-01

    Urbanization subjects streams to increased nitrogen loads. Therefore studying nitrogen forms at the interface between urban stream and groundwater is important for water resource management. In this study we report results on water ?(18)O and nitrogen forms in subsurface waters of a stream (Yzeron, France). The sites studied were located upstream and downstream of combined sewer overflows (CSO) in a rural area and a periurban area, respectively. Water ?(18)O allowed us to follow the mixing of subsurface water with surface water. Dissolved organic nitrogen and organic carbon of fine sediment increased by 20-30% between rural and periurban subsurface waters in the cold season, under high flow. The highest nitrate levels were observed in rural subsurface waters in the cold season. The lowest nitrate levels were found in periurban subsurface waters in the warm season, under low flow. They corresponded to slow exchange of subsurface waters with channel water. Thus reduced exchange between surface and subsurface waters and organic-matter-rich input seemed to favor nitrate reduction in the downstream, periurban, subsurface waters impacted by CSO. PMID:24355851

  7. Autonomous Commanding of the WIRE Spacecraft

    NASA Technical Reports Server (NTRS)

    Prior, Mike; Walyus, Keith; Saylor, Rick

    1999-01-01

    This paper presents the end-to-end design architecture for an autonomous commanding capability to be used on the Wide Field Infrared Explorer (WIRE) mission for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented an autonomous command loading capability. This capability allows completely unattended operations over a typical two- day weekend period. The key factors driving design and implementation of this capability were: 1) Integration with already existing ground system autonomous capabilities and systems, 2) The desire to evolve autonomous operations capabilities based upon previous SMEX operations experience 3) Integration with ground station operations - both autonomous and man-tended, 4) Low cost and quick implementation, and 5) End-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed to provide an overview of the autonomous operations capabilities implemented for the mission. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They can be used as a design and implementation template by other small satellite missions interested in evolving toward autonomous and lower cost operations.

  8. Bifurcation and Enhancement of Autonomous-Non-Autonomous Retrotransposon Partnership through LTR Swapping in Soybean

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Although non-autonomous LTR-retrotransposons lacking significant protein coding domains have been identified in eukaryotes, how they interact with their autonomous partners to maintain transpositional activity during host genome evolution is poorly understood. We performed a comprehensive analysis o...

  9. AUTONOMOUS MOBILE BUOY (A-M-B) COASTAL & LAGOON: autonomous monitoring and sampling

    E-print Network

    Wood, Stephen L.

    AUTONOMOUS MOBILE BUOY (A-M-B) COASTAL & LAGOON: autonomous monitoring and sampling PI: Stephen to aid in establishing a permanent flexible network of environmental sensors in the Indian River Lagoon and companies, for example the Harbor Branch Oceanographic Institute in Ft Pierce, Florida (Indian River Lagoon

  10. CSE 4360 / 5364 -Autonomous Robots Project 1: Robot Navigation CSE 4360 / 5364 -Autonomous Robots

    E-print Network

    Huber, Manfred

    of the position of the robot using only internal sensors) for the Lego Robots can be relatively impreciseCSE 4360 / 5364 - Autonomous Robots Project 1: Robot Navigation CSE 4360 / 5364 - Autonomous Robots Project 1- Spring 2014 Due Date: March 25 2014, 5:00 pm Navigating a known Obstacle Course with the Lego

  11. Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

    NASA Technical Reports Server (NTRS)

    Glass, Brian; Cannon, Howard; Stoker, Carol; Davis, Kiel

    2005-01-01

    Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permaf

  12. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    DOEpatents

    Versteeg, Roelof J.; Few, Douglas A.; Kinoshita, Robert A.; Johnson, Douglas; Linda, Ondrej

    2015-12-15

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  13. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    SciTech Connect

    Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

    2015-02-24

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  14. Improved autonomous star identification algorithm

    NASA Astrophysics Data System (ADS)

    Luo, Li-Yan; Xu, Lu-Ping; Zhang, Hua; Sun, Jing-Rong

    2015-06-01

    The log-polar transform (LPT) is introduced into the star identification because of its rotation invariance. An improved autonomous star identification algorithm is proposed in this paper to avoid the circular shift of the feature vector and to reduce the time consumed in the star identification algorithm using LPT. In the proposed algorithm, the star pattern of the same navigation star remains unchanged when the stellar image is rotated, which makes it able to reduce the star identification time. The logarithmic values of the plane distances between the navigation and its neighbor stars are adopted to structure the feature vector of the navigation star, which enhances the robustness of star identification. In addition, some efforts are made to make it able to find the identification result with fewer comparisons, instead of searching the whole feature database. The simulation results demonstrate that the proposed algorithm can effectively accelerate the star identification. Moreover, the recognition rate and robustness by the proposed algorithm are better than those by the LPT algorithm and the modified grid algorithm. Project supported by the National Natural Science Foundation of China (Grant Nos. 61172138 and 61401340), the Open Research Fund of the Academy of Satellite Application, China (Grant No. 2014_CXJJ-DH_12), the Fundamental Research Funds for the Central Universities, China (Grant Nos. JB141303 and 201413B), the Natural Science Basic Research Plan in Shaanxi Province, China (Grant No. 2013JQ8040), the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20130203120004), and the Xi’an Science and Technology Plan, China (Grant. No CXY1350(4)).

  15. Compact Autonomous Hemispheric Vision System

    NASA Technical Reports Server (NTRS)

    Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

    2012-01-01

    Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

  16. Phosphorus transport in agricultural subsurface drainage: a review.

    PubMed

    King, Kevin W; Williams, Mark R; Macrae, Merrin L; Fausey, Norman R; Frankenberger, Jane; Smith, Douglas R; Kleinman, Peter J A; Brown, Larry C

    2015-03-01

    Phosphorus (P) loss from agricultural fields and watersheds has been an important water quality issue for decades because of the critical role P plays in eutrophication. Historically, most research has focused on P losses by surface runoff and erosion because subsurface P losses were often deemed to be negligible. Perceptions of subsurface P transport, however, have evolved, and considerable work has been conducted to better understand the magnitude and importance of subsurface P transport and to identify practices and treatments that decrease subsurface P loads to surface waters. The objectives of this paper were (i) to critically review research on P transport in subsurface drainage, (ii) to determine factors that control P losses, and (iii) to identify gaps in the current scientific understanding of the role of subsurface drainage in P transport. Factors that affect subsurface P transport are discussed within the framework of intensively drained agricultural settings. These factors include soil characteristics (e.g., preferential flow, P sorption capacity, and redox conditions), drainage design (e.g., tile spacing, tile depth, and the installation of surface inlets), prevailing conditions and management (e.g., soil-test P levels, tillage, cropping system, and the source, rate, placement, and timing of P application), and hydrologic and climatic variables (e.g., baseflow, event flow, and seasonal differences). Structural, treatment, and management approaches to mitigate subsurface P transport-such as practices that disconnect flow pathways between surface soils and tile drains, drainage water management, in-stream or end-of-tile treatments, and ditch design and management-are also discussed. The review concludes by identifying gaps in the current understanding of P transport in subsurface drains and suggesting areas where future research is needed. PMID:26023966

  17. RADIOIODINE GEOCHEMISTRY IN THE SRS SUBSURFACE ENVIRONMENT

    SciTech Connect

    Kaplan, D.; Emerson, H.; Powell, B.; Roberts, K.; Zhang, S.; Xu, C.; Schwer, K.; Li, H.; Ho, Y.; Denham, M.; Yeager, C.; Santschi, P.

    2013-05-16

    Iodine-129 is one of the key risk drivers for several Savannah River Site (SRS) performance assessments (PA), including that for the Low-Level Waste Disposal Facility in E-Area. In an effort to reduce the uncertainty associated with the conceptual model and the input values used in PA, several studies have recently been conducted dealing with radioiodine geochemistry at the SRS. The objective of this report was to review these recent studies and evaluate their implications on SRS PA calculations. For the first time, these studies measured iodine speciation in SRS groundwater and provided technical justification for assuming the presence of more strongly sorbing species (iodate and organo-iodine), and measured greater iodine sediment sorption when experiments included these newly identified species; specifically they measured greater sorption coefficients (K{sub d} values: the concentration ratio of iodine on the solid phase divided by the concentration in the aqueous phase). Based on these recent studies, new best estimates were proposed for future PA calculations. The new K{sub d} values are greater than previous recommended values. These proposed K{sub d} values reflect a better understanding of iodine geochemistry in the SRS subsurface environment, which permits reducing the associated conservatism included in the original estimates to account for uncertainty. Among the key contributing discoveries supporting the contention that the K{sub d} values should be increased are that: 1) not only iodide (I{sup -}), but also the more strongly sorbing iodate (IO{sub 3}{sup -}) species exists in SRS groundwater (average total iodine = 15% iodide, 42% iodate, and 43% organoiodine), 2) when iodine was added as iodate, the measured K{sub d} values were 2 to 6 times greater than when the iodine was added as iodide, and perhaps most importantly, 3) higher desorption (10 to 20 mL/g) than (ad)sorption (all previous studies) K{sub d} values were measured. The implications of this latter point is that the iodine desorption process would be appreciably slower than the (ad)sorption process, and as such would control the rate (and the PA K{sub d} value) that iodine sorbed to and therefore migrated through the subsurface sediment. High desorption K{sub d} values would result in the “effective K{sub d}” for a reactive transport model being closer to the desorption K{sub d} value (the rate limiting value) than the (ad)sorption K{sub d} value. In summary, our understanding of {sup 129}I geochemistry has greatly improved, reducing the uncertainty associated with the PA’s conceptual model, thereby permitting us to reduce the conservatism presently incorporated in PA input values to describe {sup 129}I fate and transport in the SRS subsurface environment.

  18. Scanning Tunneling Microscopy methods for spectroscopic imaging of subsurface interfaces

    NASA Technical Reports Server (NTRS)

    Bell, L. D.; Kaiser, W. J.

    1988-01-01

    A new method for spatially-resolved, spectroscopic investigation of subsurface interface structure has been developed. The method, Ballistic Electron Emission Microscopy (BEEM), is based on Scanning Tunneling Microscopy (STM) techniques. BEEM combines STM vacuum tunneling with unique ballistic electron spectroscopy capabilities. BEEM enables, for the first time, direct imaging of subsurface interface electronic properties with nanometer spatial resolution. STM topographic images of surface structure and BEEM images of subsurface properties are obtained simultaneously. BEEM capabilities are demonstrated by investigation of important metal-semiconductor interfaces.

  19. Enhanced bioremediation of subsurface contamination: Enzyme recruitment and redesign

    SciTech Connect

    Brockman, F.J.; Ornstein, R.L.

    1991-12-01

    Subsurface systems containing radionuclide, heavy metal, and organic wastes must be carefully attended to avoid further impacts to the environment or exposures to human populations. It is appropriate, therefore, to invest in basic research to develop the requisite tools and methods for addressing complex cleanup problems. The rational modification of subsurface microoganisms by enzyme recruitment and enzyme design, in concert with engineered systems for delivery of microorganisms and nutrients to the contaminated zone, are potentially useful tools in the spectrum of approaches that will be required for successful remediation of deep subsurface contamination.

  20. Rayleigh surface wave in a piezoelectric wafer with subsurface damage

    NASA Astrophysics Data System (ADS)

    Cao, Xiaoshan; Jin, Feng; Jeon, Insu

    2009-12-01

    An analytical study is carried out on the propagation of Rayleigh surface waves in a piezoelectric wafer with subsurface damage. The region of subsurface damage is considered to be a functionally graded piezoelectric thin film. The findings show the influence of the gradient parameter, thickness of the region of subsurface damage, and three different types of damage on the properties of surface-wave propagation, including the phase velocity and electromechanical coupling factor. They can provide theoretical guidance in nondestructive evaluation for the analysis of the reliability and durability of electronic devices made of piezoelectric wafers.

  1. Mars Subsurface Exploration Using Schumann Resonance

    NASA Astrophysics Data System (ADS)

    Kozakiewicz, Joanna; Kulak, Andrzej; Mlynarczyk, Janusz

    2014-05-01

    In a planetary environment, an electrically conductive ionosphere and ground create a spherical electromagnetic cavity. In this cavity, extremely low frequency (ELF, 3-3000 Hz) electromagnetic waves are weakly attenuated and can propagate around the globe producing global resonance. The extremely low frequency waves are generated by electrical discharges in planetary atmospheres. We have developed an analytical method that enables taking into account not only the electrical properties of the Martian ionosphere but also the Martian ground. This method allowed us to obtain the Schumann resonance frequencies and Q factors and analyze how they depend on the Martian environmental properties. We compared the results from our analytical model with previously published results from numerical modeling. In this work, we show that the Martian ground has a significant influence on the Schumann resonance parameters. Therefore, Schumann resonance can be used us a tool to study, not only the properties of the Martian atmosphere, but also the properties of the subsurface layers. It can be particularly useful in groundwater exploration. In order to study the influence of water on the Schumann resonance parameters on Mars, we assumed two cases of the Martian ground containing aquifers. In both cases, we considered the upper part of the Martian crust composed of porous basaltic rocks containing ice. Beneath this layer, we implemented water-bearing basalts. We assumed that ice and water contains some NaCl impurities or solutions. In the first case, we considered the low concentration of salts in ice and low-salinity water. In the second case, we assumed some high-impurity ice and brines. In order to compare the results of the above-mentioned cases with a situation in which the subsurface of Mars does not contain any water, we introduced the model of the Martian crust composed only of dry basaltic rocks. There are clear differences in the Schumann resonance parameters for the different cases of the Martian ground. The Schumann resonance frequencies are higher by about 15% in the cases with aquifers compared to the pure basaltic ground. The amplitudes of Schumann resonance are also higher by about 40%. For all the analyzed cases, we have calculated and presented the spectra of the Schumann resonance. Our new method used to obtain the Schumann resonance parameters on Mars can be applied also to other objects in the Solar System. Acknowledgements. This work has been supported by the National Science Centre grants: 2012/04/M/ST10/00565 and 2013/09/N/ST9/02200

  2. Re-Defining the Subsurface Biosphere: Characterization of Fungal Populations from Energy Limited Deep Marine Subsurface Sediments

    NASA Astrophysics Data System (ADS)

    Reese, B. K.; Ariza, M.; St. Peter, C.; Hoffman, C.; Edwards, K. J.; Mills, H. J.

    2012-12-01

    The detection and characterization of metabolically active fungal populations within the deep marine subsurface will alter current ecosystem models that are limited to bacterial and archaeal populations. Although marine fungi have been studied for over fifty years, a detailed description of fungal populations within the deep subsurface is lacking. Fungi possess metabolic pathways capable of utilizing previously considered non-bioavailable energy reserves. Therefore, metabolically active fungi would occupy a unique niche within subsurface ecosystems, with the potential to provide an organic carbon source for heterotrophic prokaryotic populations not currently being considered in subsurface energy budgets. Sediments from the South Pacific Gyre subsurface, one of the most energy-limited environments on Earth, were collected during the Integrated Ocean Drilling Program (IODP) Expedition 329. Anaerobic and aerobic sediment slurry cultures using fresh sediment began directly following the completion of the Expedition (December 2010). From these cultures, multiple fungal lineages have been isolated on several media types that vary in carbon concentrations. Physical growth parameters of these subsurface fungal isolates were determined and compared to previously characterized lineages. Additionally, the overall diversity of metabolically active and dormant fungal populations was determined using high throughput sequencing of nucleic acids extracted from in situ cryopreserved South Pacific Gyre sediments. This project provides a robust step in determining the importance and impact of fungal populations within the marine subsurface biosphere.

  3. Shh-mediated degradation of Hhip allows cell autonomous and non-cell autonomous Shh signaling

    PubMed Central

    Kwong, Lina; Bijlsma, Maarten F.; Roelink, Henk

    2014-01-01

    The distribution of Sonic Hedgehog (Shh) is a highly regulated and critical process for development. Several negative feedback mechanisms are in place, including the Shh-induced upregulation of Hedgehog interacting protein (Hhip). Hhip sequesters Shh, leading to a non-cell autonomous inhibition of the pathway. Hhip over-expression has a severe effect on neural tube development, raising the question why normal sites of Hhip expression have a seemingly unimpaired response to Shh. Here we show that while Hhip is able to leave its sites of synthesis to inhibit Shh non-cell autonomously, activation of Smoothened (Smo) drastically increases Hhip internalization and degradation cell autonomously. Although Hhip is unable to cell autonomously inhibit the consequences of Smo activation, it can inhibit the Shh response non-cell autonomously. Our data provide a mechanism by which the Shh ligand can activate the response and negate cell autonomous effects of Hhip, while Hhip can still induce non-cell autonomous inhibition. PMID:25215859

  4. Advanced avionics concepts: Autonomous spacecraft control

    NASA Technical Reports Server (NTRS)

    1990-01-01

    A large increase in space operations activities is expected because of Space Station Freedom (SSF) and long range Lunar base missions and Mars exploration. Space operations will also increase as a result of space commercialization (especially the increase in satellite networks). It is anticipated that the level of satellite servicing operations will grow tenfold from the current level within the next 20 years. This growth can be sustained only if the cost effectiveness of space operations is improved. Cost effectiveness is operational efficiency with proper effectiveness. A concept is presented of advanced avionics, autonomous spacecraft control, that will enable the desired growth, as well as maintain the cost effectiveness (operational efficiency) in satellite servicing operations. The concept of advanced avionics that allows autonomous spacecraft control is described along with a brief description of each component. Some of the benefits of autonomous operations are also described. A technology utilization breakdown is provided in terms of applications.

  5. On-Orbit Autonomous Assembly from Nanosatellites

    NASA Technical Reports Server (NTRS)

    Murchison, Luke S.; Martinez, Andres; Petro, Andrew

    2015-01-01

    The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

  6. Autonomic dysreflexia and posterior reversible encephalopathy syndrome.

    PubMed

    Matias, Ana Catarina; Rocha, João; Cerqueira, Maria Emília; Pereira, João Manuel

    2013-05-01

    Autonomic dysreflexia is a syndrome of massive imbalanced reflex sympathetic discharge in patients who had a spinal cord injury above the splanchnic sympathetic outflow resulting in a sudden increase in blood pressure. Posterior reversible encephalopathy syndrome (PRES) refers to a clinicoradiologic entity characterized by headache, consciousness impairment, visual disturbances, seizures, and posterior transient changes on neuroimaging (cerebral vasogenic edema). Hypertension is a common cause of PRES. The authors describe two case reports of patients with tetraplegia who developed PRES after an autonomic dysreflexia episode. One of them had recurrence of PRES in a similar clinical context. The authors discuss further aspects of PRES and its recurrence, which seems to be unusual particularly after autonomic dysreflexia. PMID:23117272

  7. Lessons learned from the Autonomous Power System

    NASA Astrophysics Data System (ADS)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

    The Autonomous Power System (APS) project at the NASA Lewis Research Center is designed to demonstrate the applications of integrated intelligent diagnosis, control and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The APS project had been through one design iteration. Each of the three elements of the APS project has been designed, tested, and integrated into a complete working system. After these three portions were completed, an evaluation period was initiated. Each piece of the system was critiqued based on individual performance as well as the ability to interact with the other portions of the APS project. These critiques were then used to determine guidelines for new and improved components of the APS system.

  8. Autonomous Deep-Space Optical Navigation Project

    NASA Technical Reports Server (NTRS)

    D'Souza, Christopher

    2014-01-01

    This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

  9. Lessons learned from the autonomous power system

    SciTech Connect

    Ringer, M.J.; Quinn, T.M.; Merolla, A. . NASA Lewis Research Center Group)

    1993-01-01

    The Autonomous Power System (APS) project at the NASA Lewis Research Center is designed to demonstrate the applications of integrated intelligent diagnosis, control and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Detection, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The APS project has been through one design iteration. Each of the three elements of the APS project has been designed, tested, and integrated into a complete working system. After these three portions were completed, an evaluation period was initiated. Each piece of the system was critiqued based on individual performance as well as ability to interact with the other portions of the APS project. These critiques were then used to determine guidelines for new and improved components of the APS system.

  10. Geomechanics of subsurface water withdrawal and injection

    NASA Astrophysics Data System (ADS)

    Gambolati, Giuseppe; Teatini, Pietro

    2015-06-01

    Land subsidence and uplift, ground ruptures, and induced seismicity are the principal geomechanic effects of groundwater withdrawal and injection. The major environmental consequence of groundwater pumping is anthropogenic land subsidence. The first observation concerning land settlement linked to subsurface processes was made in 1926 by the American geologists Pratt and Johnson, who wrote that "the cause of subsidence is to be found in the extensive extraction of fluid from beneath the affected area." Since then, impressive progress has been made in terms of: (a) recognizing the basic hydrologic and geomechanic principles underlying the occurrence; (b) measuring aquifer compaction and ground displacements, both vertical and horizontal; (c) modeling and predicting the past and future event; and (d) mitigating environmental impact through aquifer recharge and/or surface water injection. The first milestone in the theory of pumped aquifer consolidation was reached in 1923 by Terzaghi, who introduced the principle of "effective intergranular stress." In the early 1970s, the emerging computer technology facilitated development of the first mathematical model of the subsidence of Venice, made by Gambolati and Freeze. Since then, the comprehension, measuring, and simulation of the occurrence have improved dramatically. More challenging today are the issues of ground ruptures and induced/triggered seismicity, which call for a shift from the classical continuum approach to discontinuous mechanics. Although well known for decades, anthropogenic land subsidence is still threatening large urban centers and deltaic areas worldwide, such as Bangkok, Jakarta, and Mexico City, at rates in the order of 10 cm/yr.

  11. “Altiarchaeales”: Uncultivated Archaea from the Subsurface

    PubMed Central

    Probst, Alexander J.; Moissl-Eichinger, Christine

    2015-01-01

    Due to the limited cultivability of the vast majority of microorganisms, researchers have applied environmental genomics and other state-of-the-art technologies to gain insights into the biology of uncultivated Archaea and bacteria in their natural biotope. In this review, we summarize the scientific findings on a recently proposed order-level lineage of uncultivated Archaea called Altiarchaeales, which includes “Candidatus Altiarchaeum hamiconexum” as the most well-described representative. Ca. A. hamiconexum possesses a complex biology: thriving strictly anaerobically, this microorganism is capable of forming highly-pure biofilms, connecting the cells by extraordinary cell surface appendages (the “hami”) and has other highly unusual traits, such as a double-membrane-based cell wall. Indicated by genomic information from different biotopes, the Altiarchaeales seem to proliferate in deep, anoxic groundwater of Earth’s crust bearing a potentially very important function: carbon fixation. Although their net carbon fixation rate has not yet been determined, they appear as highly abundant organisms in their biotopes and may thus represent an important primary producer in the subsurface. In sum, the research over more than a decade on Ca. A. hamiconexum has revealed many interesting features of its lifestyle, its genomic information, metabolism and ultrastructure, making this archaeon one of the best-studied uncultivated Archaea in the literature. PMID:25984733

  12. "Altiarchaeales": uncultivated archaea from the subsurface.

    PubMed

    Probst, Alexander J; Moissl-Eichinger, Christine

    2015-01-01

    Due to the limited cultivability of the vast majority of microorganisms, researchers have applied environmental genomics and other state-of-the-art technologies to gain insights into the biology of uncultivated Archaea and bacteria in their natural biotope. In this review, we summarize the scientific findings on a recently proposed order-level lineage of uncultivated Archaea called Altiarchaeales, which includes "Candidatus Altiarchaeum hamiconexum" as the most well-described representative. Ca. A. hamiconexum possesses a complex biology: thriving strictly anaerobically, this microorganism is capable of forming highly-pure biofilms, connecting the cells by extraordinary cell surface appendages (the "hami") and has other highly unusual traits, such as a double-membrane-based cell wall. Indicated by genomic information from different biotopes, the Altiarchaeales seem to proliferate in deep, anoxic groundwater of Earth's crust bearing a potentially very important function: carbon fixation. Although their net carbon fixation rate has not yet been determined, they appear as highly abundant organisms in their biotopes and may thus represent an important primary producer in the subsurface. In sum, the research over more than a decade on Ca. A. hamiconexum has revealed many interesting features of its lifestyle, its genomic information, metabolism and ultrastructure, making this archaeon one of the best-studied uncultivated Archaea in the literature. PMID:25984733

  13. Delineating groundwater and subsurface structures by

    NASA Astrophysics Data System (ADS)

    Araffa, Sultan Awad Sultan; Helaly, Ahmed S.; Khozium, Ashraf; Lala, Amir M. S.; Soliman, Shokry A.; Hassan, Noha M.

    2015-06-01

    Geophysical tools such as magnetic, gravity and electric resistivity have been used to delineate subsurface structures, groundwater aquifer around Cairo-Belbies Desert road. A dipole-dipole section was measured at the central part of the study area with 2100 m length and electrode spacing 50 m for greater penetration depth. The results of the inverse resistivity data indicate that the study area includes two groundwater aquifers at different depths. The shallow aquifer water is near the surface and the deep aquifer lies at depth of about 115 m and exhibits low resistivity values ranging from 20 to 100 ohm m. One hundred and fifty-two gravity stations were measured using Autograv gravimeter (CG3), different gravity corrections (drift, elevation and latitude corrections) were applied. The corrected data represented by Bouguer anomaly map were filtered into regional and residual gravity anomaly maps. The residual gravity map indicates that the area is dissected by many faults with NW-SE, N-S, E-W and NE-SW trends. One hundred and fifty-three ground magnetic measurements are collected using two Proton magnetometers (Envimag). The corrected magnetic data are represented by total magnetic intensity map that was reduced to the magnetic pole. 3D magnetic modeling was applied to detect the depth of basaltic sheet and basement complex. The results indicated that the elevation of upper surface of basalt is ranging from 148 to -153 m and the elevation of lower surface of basalt is ranging from 148 to 269 m.

  14. Wireless IDT microsensors for subsurface sensing

    NASA Astrophysics Data System (ADS)

    Varadan, Vasundara V.; Tellakula, Anikumar R.; Hollinger, Richard D.; Li, Chun-Te; Varadan, Vijay K.

    2000-07-01

    A sensor by definition should be non-intrusive and respond faithfully to the parameter that one is trying to measure. Ideally the sensor should be small so that it does not disturb the field it is trying to measure and permit implementation on new and existing systems without requiring redesign of the system. Power supply to activate the sensor and extract data from the sensor is often the Achilles heel in implementation. Surface Acoustic Wave (SAW) devices also called the IDT Microsensor fit the bill ideally. They are in fact the first MEMS devices made, although this is not generally recognized. Unlike other MEMS devices, a SAW device has no moving parts. SAW devices can be mass-produced using semiconductor fabrication methods. The operation and use of Inter Digital Transducer (IDT) microsensor will be reviewed. Our major interest is that these sensors operate at RF frequencies and can hence be excited wirelessly using microstrip antennas from a remote source. Thus, one can achieve a passive sensor and retrieve the sensor data wirelessly. Whenever sensing is needed on a rapidly rotating system such as helicopter blades or automobile tires, in subsurface situations or inaccessible locations, a wireless passive sensor is the ideal solution. This talk will overview research on design and application of wireless IDT microsensors to dynamical strain monitoring, ice sensing, temperature and humidity sensing, liquid characterization and currently to tire pressure measurements.

  15. Evidence for a subsurface ocean on Europa

    USGS Publications Warehouse

    Carr, M.H.; Belton, M.J.S.; Chapman, C.R.; Davies, M.E.; Geissler, P.; Greenberg, R.; McEwen, A.S.; Tufts, B.R.; Greeley, R.; Sullivan, R.; Head, J.W.; Pappalardo, R.T.; Klaasen, K.P.; Johnson, T.V.; Kaufman, J.; Senske, D.; Moore, J.; Neukum, G.; Schubert, G.; Burns, J.A.; Thomas, P.; Veverka, J.

    1998-01-01

    Ground-based spectroscopy of Jupiter's moon Europa, combined with gravity data, suggests that the satellite has an icy crust roughly 150 km thick and a rocky interior. In addition, images obtained by the Voyager spacecraft revealed that Europa's surface is crossed by numerous intersecting ridges and dark bands (called lineae) and is sparsely cratered, indicating that the terrain is probably significantly younger than that of Ganymede and Callisto. It has been suggested that Europa's thin outer ice shell might be separated from the moon's silicate interior by a liquid water layer, delayed or prevented from freezing by tidal heating; in this model, the lineae could be explained by repetitive tidal deformation of the outer ice shell. However, observational confirmation of a subsurface ocean was largely frustrated by the low resolution (>2 km per pixel) of the Voyager images. Here we present high-resolution (54 m per pixel) Galileo spacecraft images of Europa, in which we find evidence for mobile 'icebergs'. The detailed morphology of the terrain strongly supports the presence of liquid water at shallow depths below the surface, either today or at some time in the past. Moreover, lower- resolution observations of much larger regions suggest that the phenomena reported here are widespread.

  16. Genetics Home Reference: Hereditary sensory and autonomic neuropathy type II

    MedlinePLUS

    ... Genetic disorder catalog Conditions > Hereditary sensory and autonomic neuropathy type II (often shortened to HSAN2 ) On this ... 2011 What is HSAN2? Hereditary sensory and autonomic neuropathy type II (HSAN2) is a condition that primarily ...

  17. Genetics Home Reference: Hereditary sensory and autonomic neuropathy type V

    MedlinePLUS

    ... Genetic disorder catalog Conditions > Hereditary sensory and autonomic neuropathy type V (often shortened to HSAN5 ) On this ... 2011 What is HSAN5? Hereditary sensory and autonomic neuropathy type V (HSAN5) is a condition that primarily ...

  18. Frontiers of Physically Intelligent Agents: Autonomous Systems For Defense

    E-print Network

    Frontiers of Physically Intelligent Agents: Autonomous Systems For Defense: A Revolution of the potential benefits associated with autonomous systems both in the conduct of warfare) not unlike gunpowder, the long bow, the rifled bullet, the aircraft carrier, etc. Indeed

  19. CATALOG OF ORBIT DETERMINATION RESULTS FOR LINKED, AUTONOMOUS,

    E-print Network

    Born, George

    CATALOG OF ORBIT DETERMINATION RESULTS FOR LINKED, AUTONOMOUS, INTERPLANETARY SATELLITE ORBIT for Astrodynamics Research University of Colorado Boulder, CO 80309 Revised 3 Feb 2006 #12;CATALOG OF ORBIT DETERMINATION RESULTS FOR LINKED, AUTONOMOUS, INTERPLANETARY SATELLITE ORBIT NAVIGATION (Li

  20. Robust distributed planning strategies for autonomous multi-agent teams

    E-print Network

    Ponda, Sameera S

    2012-01-01

    The increased use of autonomous robotic agents, such as unmanned aerial vehicles (UAVs) and ground rovers, for complex missions has motivated the development of autonomous task allocation and planning methods that ensure ...

  1. Tethered Payload Control from an Autonomous Helicopter James E. May

    E-print Network

    Kochersberger, Kevin

    Tethered Payload Control from an Autonomous Helicopter James E. May Thesis submitted to the Faculty Copyright 2010, James E. May #12;Tethered Payload Control from an Autonomous Helicopter James E. May

  2. Lane Localization for Autonomous Model Cars Lukas Maischak

    E-print Network

    Ziegler, Günter M.

    Lane Localization for Autonomous Model Cars Lukas Maischak B-14-03 July 2014 FACHBEREICH MATHEMATIK.2.4 Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.3 Navigation of autonomous, "self- driving" cars. Imagine that car accidents caused by human error

  3. Sensor modeling for the virtual autonomous navigation environment

    E-print Network

    Liu, Linda Y.

    The Virtual Autonomous Navigation Environment (VANE) is a high fidelity, physics-based simulation process that produces realistic simulated sensor output for use in the development and testing of Autonomous Mobility Systems ...

  4. To the Bookstore! Autonomous Wheelchair Navigation in an Urban Environment

    E-print Network

    Spletzer, John R.

    To the Bookstore! Autonomous Wheelchair Navigation in an Urban Environment Corey Montella, Timothy, Nourbakhsh proposed to demonstrate autonomous outdoor navigation from Corey Montella Lehigh University, 27 Perkins, John Spletzer and Michael Sands Abstract In this paper, we demonstrate reliable navigation

  5. Hard-real-time resource management for autonomous spacecraft

    NASA Technical Reports Server (NTRS)

    Gat, E.

    2000-01-01

    This paper describes tickets, a computational mechanism for hard-real-time autonomous resource management. Autonomous spacecraftcontrol can be considered abstractly as a computational process whose outputs are spacecraft commands.

  6. Fast shadow detection for urban autonomous driving applications

    E-print Network

    Park, Sooho

    This paper presents shadow detection methods for vision-based autonomous driving in an urban environment. Shadows misclassified as objects create problems in autonomous driving applications. Real-time efficient algorithms ...

  7. Docking Among Independent and Autonomous CONRO Self-Reconfigurable Robots

    E-print Network

    Shen, Wei-Min

    Docking Among Independent and Autonomous CONRO Self-Reconfigurable Robots Michael Rubenstein modules. Keywords- self-reconfigurable robots, autonomous docking, remote sensor alignement, compliant engineering systems that must dynamically change their structures for various purposes. Generally speaking

  8. Autonomous Ultrasonic Indoor Tracking System Junhui Zhao, Yongcai Wang

    E-print Network

    Wang, Yongcai

    Autonomous Ultrasonic Indoor Tracking System Junhui Zhao, Yongcai Wang NEC Labs, Beijing, China {zhaojunhui,wangyongcai}@research.nec.com.cn Abstract This paper proposes the Autonomous Ultrasonic Indoor high accuracy ranging, low cost, safety, and imperceptibility. However, conventional ultrasonic

  9. A System for Epigenetic Concept Development through Autonomous Associative Learning

    E-print Network

    Grabowski, Laura M. - Department of Computer Science, University of Texas

    A System for Epigenetic Concept Development through Autonomous Associative Learning Laura M theories, or are they collections of features? Are concepts objects, or behavioral abilities? Differences as the process by which the system achieves robust adaptive, anticipatory, autonomous behavior, entailing

  10. Decentralized planning for autonomous agents cooperating in complex missions

    E-print Network

    Whitten, Andrew (Andrew Koo)

    2010-01-01

    Planning for autonomous vehicles remains an important and challenging research topic. This thesis focuses on decentralized planning for autonomous agents performing complex missions. These types of missions often involve ...

  11. Interception algorithm for autonomous vehicles with imperfect information

    E-print Network

    Hickman, Randal E

    2005-01-01

    Autonomous vehicles often operate in environments with imperfect information. This thesis addresses the case of a system of autonomous vehicles and sensors attempting to intercept a moving object of interest that arrives ...

  12. Implementation of GPS based trajectory control of an autonomous sailboat

    E-print Network

    Wirekoh, Jackson O

    2013-01-01

    Autonomous robotic systems are increasingly becoming a major component of modern society. In order to gain a better understanding of the capabilities of these autonomous systems, experimentation was conducted using a ...

  13. A SIMULATION AND REGRESSION TESTING FRAMEWORK FOR AUTONOMOUS VEHICLES

    E-print Network

    Cavusoglu, Cenk

    A SIMULATION AND REGRESSION TESTING FRAMEWORK FOR AUTONOMOUS VEHICLES by CHRISTIAN KURTZ MILLER . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 Vehicle Simulation and Testing Background . . . . . . . . . . . . . . 15 3 Design visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4 Simulated Autonomous Agents 51 4

  14. Decentralized cooperative trajectory estimation for autonomous underwater vehicles

    E-print Network

    Paull, Liam

    Autonomous agents that can communicate and make relative measurements of each other can improve their collective localization accuracies. This is referred to as cooperative localization (CL). Autonomous underwater vehicle ...

  15. Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics

    E-print Network

    Amigoni, Francesco

    Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics Francesco Amigoni and Viola Schiaffonati Artificial Intelligence and Robotics Laboratory, Dipartimento di Elettronica e to characterize analytically, as it is often the case in autonomous mobile robotics. Although their importance

  16. A power autonomous monopedal robot

    NASA Astrophysics Data System (ADS)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all the power generating components, but powered from an off-board pump. On a test stand, the eventual on-board power system generates enough pressure and flow to meet the requirements of these runs and we are currently integrating the power system into the real robot. When operated from an off-board system without carrying the weight of the power generating components, the robot currently runs at approximately 2.25 m/s. Ongoing work is focused on integrating the power system into the robot, improving the control algorithm, and investigating methods for improving efficiency.

  17. On-Site Wastewater Treatment Systems: Subsurface Drip Distribution (Spanish) 

    E-print Network

    Lesikar, Bruce J.; Enciso, Juan

    1999-08-12

    A subsurface drip system distributes wastewater to the lawn through a system of tubing installed below the ground surface. This publication explains the advantages, disadvantages, maintenance steps and estimated costs of ...

  18. Subsurface characterization of the San Jacinto River Research site 

    E-print Network

    Leik, Jason Allan

    1998-01-01

    In order to develop an effective petroleum repudiation ics. strategy, the interaction between surface and shallow subsurface water was determined for the San Jacinto River Oi1 Spill Remediation Research site. The ten-acre wetland is located...

  19. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 39.45 Section 39.45 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR WELL LOGGING Equipment § 39.45 Subsurface tracer studies. (a) The licensee shall require all personnel handling...

  20. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 39.45 Section 39.45 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR WELL LOGGING Equipment § 39.45 Subsurface tracer studies. (a) The licensee shall require all personnel handling...

  1. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 39.45 Section 39.45 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR WELL LOGGING Equipment § 39.45 Subsurface tracer studies. (a) The licensee shall require all personnel handling...

  2. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 39.45 Section 39.45 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR WELL LOGGING Equipment § 39.45 Subsurface tracer studies. (a) The licensee shall require all personnel handling...

  3. A hydrogen-based subsurface microbial community dominated by methanogens.

    PubMed

    Chapelle, Francis H; O'Neill, Kathleen; Bradley, Paul M; Methé, Barbara A; Ciufo, Stacy A; Knobel, LeRoy L; Lovley, Derek R

    2002-01-17

    The search for extraterrestrial life may be facilitated if ecosystems can be found on Earth that exist under conditions analogous to those present on other planets or moons. It has been proposed, on the basis of geochemical and thermodynamic considerations, that geologically derived hydrogen might support subsurface microbial communities on Mars and Europa in which methanogens form the base of the ecosystem. Here we describe a unique subsurface microbial community in which hydrogen-consuming, methane-producing Archaea far outnumber the Bacteria. More than 90% of the 16S ribosomal DNA sequences recovered from hydrothermal waters circulating through deeply buried igneous rocks in Idaho are related to hydrogen-using methanogenic microorganisms. Geochemical characterization indicates that geothermal hydrogen, not organic carbon, is the primary energy source for this methanogen-dominated microbial community. These results demonstrate that hydrogen-based methanogenic communities do occur in Earth's subsurface, providing an analogue for possible subsurface microbial ecosystems on other planets. PMID:11797006

  4. Efficient Rendering of Local Subsurface Scattering Tom Mertens1

    E-print Network

    Kautz, Jan

    Efficient Rendering of Local Subsurface Scattering Tom Mertens1 Jan Kautz2 Philippe Bekaert1 Frank Van Reeth1 Hans-Peter Seidel2 Limburgs Universitair Centrum1 Diepenbeek, Belgium {tom.mertens,philippe.bekaert

  5. A hydrogen-based subsurface microbial community dominated by methanogens

    NASA Astrophysics Data System (ADS)

    Chapelle, Francis H.; O'Neill, Kathleen; Bradley, Paul M.; Methé, Barbara A.; Ciufo, Stacy A.; Knobel, LeRoy L.; Lovley, Derek R.

    2002-01-01

    The search for extraterrestrial life may be facilitated if ecosystems can be found on Earth that exist under conditions analogous to those present on other planets or moons. It has been proposed, on the basis of geochemical and thermodynamic considerations, that geologically derived hydrogen might support subsurface microbial communities on Mars and Europa in which methanogens form the base of the ecosystem. Here we describe a unique subsurface microbial community in which hydrogen-consuming, methane-producing Archaea far outnumber the Bacteria. More than 90% of the 16S ribosomal DNA sequences recovered from hydrothermal waters circulating through deeply buried igneous rocks in Idaho are related to hydrogen-using methanogenic microorganisms. Geochemical characterization indicates that geothermal hydrogen, not organic carbon, is the primary energy source for this methanogen-dominated microbial community. These results demonstrate that hydrogen-based methanogenic communities do occur in Earth's subsurface, providing an analogue for possible subsurface microbial ecosystems on other planets.

  6. Laboratory simulation of subsurface airflow beneath a building

    E-print Network

    Corsello, Joseph William

    2014-01-01

    Vapor intrusion is the vapor-phase migration of volatile organic compounds (VOCs) into buildings due to subsurface soil or groundwater contamination. Oxygen replenishment rates beneath a building are significant for ...

  7. Heterotrophic Archaea dominate sedimentary subsurface ecosystems off Peru

    E-print Network

    Schrag, Daniel

    Heterotrophic Archaea dominate sedimentary subsurface ecosystems off Peru Jennifer F. Biddlea community members in these ecosystems, is dominated by sequences of uncultivated Archaea affiliated with the Marine Benthic Group B and the Miscellaneous Crenarchaeotal Group, whereas known methanotrophic Archaea

  8. Installing a Subsurface Drip Irrigation System for Row Crops 

    E-print Network

    Enciso, Juan

    2004-09-07

    This publication describes the components of a subsurface drip irrigation system and the procedure for installing such a system. Each step is outlined and illustrated. Steps include tape injection, trenching, connecting drip lines, back...

  9. A hydrogen-based subsurface microbial community dominated by methanogens

    USGS Publications Warehouse

    Chapelle, F.H.; O'Neill, K.; Bradley, P.M.; Methe, B.A.; Ciufo, S.A.; Knobel, L.L.; Lovley, D.R.

    2002-01-01

    The search for extraterrestrial life may be facilitated if ecosystems can be found on Earth that exist under conditions analogous to those present on other planets or moons. It has been proposed, on the basis of geochemical and thermodynamic considerations, that geologically derived hydrogen might support subsurface microbial communities on Mars and Europa in which methanogens form the base of the ecosystem1-5. Here we describe a unique subsurface microbial community in which hydrogen-consuming, methane-producing Archaea far outnumber the Bacteria. More than 90% of the 16s ribosomal DNA sequences recovered from hydrothermal waters circulating through deeply buried igneous rocks in Idaho are related to hydrogen-using methanogenic microorganisms. Geochemical characterization indicates that geothermal hydrogen, not organic carbon, is the primary energy source for this methanogen-dominated microbial community. These results demonstrate that hydrogen-based methanogenic communities do occur in Earth's subsurface, providing an analogue for possible subsurface microbial ecosystems on other planets.

  10. Subsurface Characterization To Support Evaluation Of Radionuclide Transport And Attenuation

    EPA Science Inventory

    Remediation of ground water contaminated with radionuclides may be achieved using attenuation-based technologies. These technologies may rely on engineered processes (e.g., bioremediation) or natural processes (e.g., monitored natural attenuation) within the subsurface. In gene...

  11. EXPOSURE ASSESSMENT MODELING FOR HYDROCARBON SPILLS INTO THE SUBSURFACE

    EPA Science Inventory

    Hydrocarbons which enter the subsurface through spills or leaks may create serious, long-lived ground-water contamination problems. onventional finite difference and finite element models of multiphase, multicomponent flow often have extreme requirements for both computer time an...

  12. Subsurface conductive isolation of refraction correlative magnetic signals (SCIRCMS) 

    E-print Network

    Erck, Eric Stephenson

    2004-11-15

    Isolation of terrestrially-observed magnetic signals by restoring their diffusive loss due to subsurface electrical conductivity sufficiently correlates these signals with those derived from the Alfven ionospheric electron movement of refraction...

  13. SUBSURFACE VOLATIZATION AND VENTILATION SYSTEM (SVVS) - INNOVATIVE TECHNOLOGY REPORT

    EPA Science Inventory

    This report summarizes the findings associated with a Demonstration Test of Environmental Improvement Technologies’ (EIT) Subsurface Volatilization and Ventilation System (SVVS) process. The technology was evaluated under the EPA Superfund Innovative Technology Evaluation (SITE) ...

  14. UNDERSTANDING THE FATE OF PETROLEUM HYDROCARBONS IN THE SUBSURFACE ENVIRONMENT

    EPA Science Inventory

    To achieve effective remediation of subsurface petroleum hydrocarbon contamination, definite scientific and technical knowledge of their fate after they are spilled onto the ground surface or leaked from underground storage tanks is essential. his paper provides extensive details...

  15. SITE TECHNOLOGY CAPSULE: SUBSURFACE VOLATILIZATION AND VENTILATION SYSTEM (SVVS)

    EPA Science Inventory

    This report summarizes the findings of a Demonstration Test of Brown & Root Environmental's Subsurface Volatilization and Ventilation System (SVVS) process. nder the SITE program, the technology was evaluated to determine its effectiveness in reducing volatile organic contaminati...

  16. SUBSURFACE VOLATILIZATION AND VENTILATION SYSTEM (SVVS): INNOVATIVE TECHNOLOGY EVALUATION REPORT

    EPA Science Inventory

    This report summarizes the findings of a Demonstration Test of Brown & Root Environmental's Subsurface Volatilization and Ventilation System (SVVS) process. nder the SITE program, the technology was evaluated to determine its effectiveness in reducing volatile organic contaminati...

  17. SOLID OXYGEN SOURCE FOR BIOREMEDIATION IN SUBSURFACE SOILS

    EPA Science Inventory

    Sodium percarbonate was encapsulated in poly(vinylidene chloride) to determine its potential as a slow-release oxygen source for biodegradation of contaminan ts in subsurface soils. In laboratory studies under aqueous conditions, the encapsulated sodium percarbonate was estimate...

  18. Evolutionary strategy for achieving autonomous navigation

    NASA Astrophysics Data System (ADS)

    Gage, Douglas W.

    1999-01-01

    An approach is presented for the evolutionary development of supervised autonomous navigation capabilities for small 'backpackable' ground robots, in the context of a DARPA- sponsored program to provide robotic support to small units of dismounted warfighters. This development approach relies on the implementation of a baseline visual serving navigation capability, including tools to support operator oversight and override, which is then enhanced with semantically referenced commands and a mission scripting structure. As current and future machine perception techniques are able to automatically designate visual serving goal points, this approach should provide a natural evolutionary pathway to higher levels of autonomous operation and reduced requirements for operator intervention.

  19. Autonomous Landing and Hazard Avoidance Technology (ALHAT)

    NASA Technical Reports Server (NTRS)

    Epp, Chirold

    2007-01-01

    This viewgraph presentation reviews the work towards technology that will result in an autonomous landing on the lunar surface, that will avoid the hazards of lunar landing. In October 2005, the Exploration Systems Mission Directorate at NASA Headquarters assigned the development of new technologies to support the return to the moon. One of these was Autonomous Precision Landing and Hazard Detection and Avoidance Technology now known as ALHAT ALHAT is a lunar descent and landing GNC technology development project led by Johnson Space Center (JSC) with team members from Langley Research Center (LaRC), Jet Propulsion Laboratory (JPL), Draper Laboratories (CSDL) and the Applied Physics Laboratory (APL)

  20. Planning and Execution for an Autonomous Aerobot

    NASA Technical Reports Server (NTRS)

    Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steven R.; Chouinard, Caroline M.

    2010-01-01

    The Aerial Onboard Autonomous Science Investigation System (AerOASIS) system provides autonomous planning and execution capabilities for aerial vehicles (see figure). The system is capable of generating high-quality operations plans that integrate observation requests from ground planning teams, as well as opportunistic science events detected onboard the vehicle while respecting mission and resource constraints. AerOASIS allows an airborne planetary exploration vehicle to summarize and prioritize the most scientifically relevant data; identify and select high-value science sites for additional investigation; and dynamically plan, schedule, and monitor the various science activities being performed, even during extended communications blackout periods with Earth.

  1. Road boundary detection for autonomous vehicle navigation

    SciTech Connect

    Davis, L.S.; Kushner, T.R.; LeMoigne, J.J.; Waxman, A.M.

    1986-03-01

    The Computer Vision Laboratory at the University Maryland for the past year has been developing a computer vision system for autonomous ground navigation of roads and road networks for the Defense Advanced Research Projects Agency's Strategic Computing Program. The complete system runs on a VAX 11/785, but certain parts of it have been reimplemented on a VICOM image processing sysem for experimentation on an autonomous vehicle built for the Martin Marietta Corp., Aerospace Division, in Denver, Colorado. A brief overview is given of the principal software components of the system and the VICOM implementation in detail.

  2. Sensorpedia: Information Sharing Across Autonomous Sensor Systems

    SciTech Connect

    Gorman, Bryan L; Resseguie, David R; Tomkins-Tinch, Christopher H

    2009-01-01

    The concept of adapting social media technologies is introduced as a means of achieving information sharing across autonomous sensor systems. Historical examples of interoperability as an underlying principle in loosely-coupled systems is compared and contrasted with corresponding tightly-coupled, integrated systems. Examples of ad hoc information sharing solutions based on Web 2.0 social networks, mashups, blogs, wikis, and data tags are presented and discussed. The underlying technologies of these solutions are isolated and defined, and Sensorpedia is presented as a formalized application for implementing sensor information sharing across large-scale enterprises with incompatible autonomous sensor systems.

  3. Autonomic Regulation Therapy in Heart Failure.

    PubMed

    Buckley, Una; Shivkumar, Kalyanam; Ardell, Jeffrey L

    2015-08-01

    Autonomic regulation therapy (ART) is a rapidly emerging therapy in the management of congestive heart failure secondary to systolic dysfunction. Modulation of the cardiac neuronal hierarchy can be achieved with bioelectronics modulation of the spinal cord, cervical vagus, baroreceptor, or renal nerve ablation. This review will discuss relevant preclinical and clinical research in ART for systolic heart failure. Understanding mechanistically what is being stimulated within the autonomic nervous system by such device-based therapy and how the system reacts to such stimuli is essential for optimizing stimulation parameters and for the future development of effective ART. PMID:26054327

  4. Autonomous scheduling technology for Earth orbital missions

    NASA Technical Reports Server (NTRS)

    Srivastava, S.

    1982-01-01

    The development of a dynamic autonomous system (DYASS) of resources for the mission support of near-Earth NASA spacecraft is discussed and the current NASA space data system is described from a functional perspective. The future (late 80's and early 90's) NASA space data system is discussed. The DYASS concept, the autonomous process control, and the NASA space data system are introduced. Scheduling and related disciplines are surveyed. DYASS as a scheduling problem is also discussed. Artificial intelligence and knowledge representation is considered as well as the NUDGE system and the I-Space system.

  5. Knowledge-based Autonomous Test Engineer (KATE)

    NASA Technical Reports Server (NTRS)

    Parrish, Carrie L.; Brown, Barbara L.

    1991-01-01

    Mathematical models of system components have long been used to allow simulators to predict system behavior to various stimuli. Recent efforts to monitor, diagnose, and control real-time systems using component models have experienced similar success. NASA Kennedy is continuing the development of a tool for implementing real-time knowledge-based diagnostic and control systems called KATE (Knowledge based Autonomous Test Engineer). KATE is a model-based reasoning shell designed to provide autonomous control, monitoring, fault detection, and diagnostics for complex engineering systems by applying its reasoning techniques to an exchangeable quantitative model describing the structure and function of the various system components and their systemic behavior.

  6. Design of an autonomous exterior security robot

    NASA Technical Reports Server (NTRS)

    Myers, Scott D.

    1994-01-01

    This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

  7. NEURON: Enabling Autonomicity in Wireless Sensor Networks

    PubMed Central

    Zafeiropoulos, Anastasios; Gouvas, Panagiotis; Liakopoulos, Athanassios; Mentzas, Gregoris; Mitrou, Nikolas

    2010-01-01

    Future Wireless Sensor Networks (WSNs) will be ubiquitous, large-scale networks interconnected with the existing IP infrastructure. Autonomic functionalities have to be designed in order to reduce the complexity of their operation and management, and support the dissemination of knowledge within a WSN. In this paper a novel protocol for energy efficient deployment, clustering and routing in WSNs is proposed that focuses on the incorporation of autonomic functionalities in the existing approaches. The design of the protocol facilitates the design of innovative applications and services that are based on overlay topologies created through cooperation among the sensor nodes. PMID:22399931

  8. Autonomous operations through onboard artificial intelligence

    NASA Technical Reports Server (NTRS)

    Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

    2002-01-01

    The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

  9. Why Computer-Based Systems Should be Autonomic

    NASA Technical Reports Server (NTRS)

    Sterritt, Roy; Hinchey, Mike

    2005-01-01

    The objective of this paper is to discuss why computer-based systems should be autonomic, where autonomicity implies self-managing, often conceptualized in terms of being self-configuring, self-healing, self-optimizing, self-protecting and self-aware. We look at motivations for autonomicity, examine how more and more systems are exhibiting autonomic behavior, and finally look at future directions.

  10. Deep subsurface imaging in tissues using spectral and polarization filtering.

    PubMed

    Demos, S; Radousky, H; Alfano, R

    2000-07-01

    Deep subsurface imaging in tissues is demonstrated by employing both spectral and polarization discrimination of the backscattered photons. This technique provides enhancement in the visibility of subsurface structures via processing of the depolarized images obtained using polarized illumination at different wavelengths. The experimental results demonstrate detection and imaging of a high-scattering object located up to 1.5-cm beneath the surface of a host chicken tissue used as the model medium. PMID:19404365

  11. Monitoring the subsurface with quasi-static deformation

    SciTech Connect

    Sneider, Roel; Spetzler, Hartmut

    2013-09-06

    This project consisted of three sub-projects that are all aimed at monitoring the subsurface with geophysical methods. The objectives of these sub-projects are: to investigate the use of seismic waves for remote monitoring of temperature changes in the Yucca Mountain nuclear repository; to investigate the use of measured changes in the tidal tilt as a diagnostic for the infiltration of fluids in the subsurface; and to extract the electrostatic response from dynamic field fluctuations.

  12. Remote sensing of subsurface water temperature by Raman scattering

    NASA Technical Reports Server (NTRS)

    Leonard, D. A.; Caputo, B.; Hoge, F. E.

    1979-01-01

    The application of Raman scattering to remote sensing of subsurface water temperature and salinity is considered, and both theoretical and experimental aspects of the technique are discussed. Recent experimental field measurements obtained in coastal waters and on a trans-Atlantic/Mediterranean research cruise are correlated with theoretical expectations. It is concluded that the Raman technique for remote sensing of subsurface water temperature has been brought from theoretical and laboratory stages to the point where practical utilization can now be developed.

  13. Diagnostics tools for subsurface damage characterization of ground silica parts

    NASA Astrophysics Data System (ADS)

    Cormont, P.; Neauport, J.; Darbois, N.; Destribats, J.; Ambard, C.; Rondeau, O.

    2009-10-01

    Subsurface cracks in fused silica optics are known to be damage initiators under laser irradiation. Each step of optic production, from sawing to polishing, creates its own type of cracks. An efficient optic manufacturing process requires that each production step removes cracks from the previous step. The extent of cracks has to be measured for each production step. We review and compare different subsurface damage (SSD) characterization techniques applied to ground and fine ground fused silica samples.

  14. Signal Processing Techniques for a Planetary Subsurface Radar Onboard Satellite

    NASA Astrophysics Data System (ADS)

    Yagitani, S.; Ishikawa, T.; Nagano, I.; Kojima, H.; Matsumoto, H.

    2001-12-01

    We are developing a satellite-borne HF ( ~ 10 MHz) radar system to be used to investigate planetary subsurface layered structures. Before deciding the design of a high-performance subsurface radar system, in this study we calculate the propagation and reflection characteristics of various HF radar pulses through subsurface layer models, in order to examine the wave forms and frequencies of the radar pulses suitable to discriminate and pick up weak subsurface echoes buried in stronger surface reflection and scattering echoes. In the numerical calculations the wave form of a transmitted radar pulse is first Fourier-transformed into a number of elementary plane waves having different frequencies, for each of which the propagation and reflection characteristics through subsurface layer models are calculated by a full wave analysis. Then the wave form of the reflected radar echo is constructed by synthesizing all of the elementary plane waves. As the transmitted pulses, we use several different types of wave form modulation to realize the radar pulse compression to improve the signal-to-noise (S/N) ratio and time resolution of the subsurface echoes: the linear FM chirp (conventional), the M (maximal-length) sequence and the complementary sequences. We will discuss the characteristics of these pulse compression techniques, such as the improvement in the S/N ratio and the time resolution to identify the subsurface echoes. We will also present the possibility of applying the Multiple Signal Classification (MUSIC) method to further improve both the S/N ratio and time resolution to extract the weaker subsurface echoes.

  15. Autonomous Demand Response in Heterogeneous Smart Grid Topologies

    E-print Network

    Mohsenian-Rad, Hamed

    1 Autonomous Demand Response in Heterogeneous Smart Grid Topologies Hamed Narimani and Hamed demand response systems in heterogeneous smart grid topologies. Keywords: Autonomous demand response of autonomous demand response systems in smart grids. is usually a convex function of the aggregate load. Based

  16. Good Experimental Methodologies for Autonomous Robotics: From Theory to Practice

    E-print Network

    Amigoni, Francesco

    systems employed in factories, the role of standardized experimental evaluation in autonomous robotics hasChapter 3 Good Experimental Methodologies for Autonomous Robotics: From Theory to Practice methodologies has recently taken place in the autonomous robotics community. Workshops have been orga- nized

  17. An Autonomous Vehicle Navigation System using Panoramic Machine Vision Techniques

    E-print Network

    Spacek, Libor

    An Autonomous Vehicle Navigation System using Panoramic Machine Vision Techniques Kevin Rushant@essex.ac.uk Keywords: Horizon, panoramic images, autonomous vehicle navigation. Abstract This paper describes a navigation system for an autonomous farm vehicle using machine vision techniques applied to panoramic images

  18. A Primateinspired Autonomous Navigation Algorithm Using the Cognitive Mechanism of

    E-print Network

    A Primate­inspired Autonomous Navigation Algorithm Using the Cognitive Mechanism of Mental Rotation on autonomous navigation has been made, the natural world o#ers interesting examples of navigational techniques in navigation. This paper explores how mental rotation can be used in navigation by developing an autonomous

  19. Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

    E-print Network

    Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission Mark Maimone, Andrew, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning

  20. Autonomous Geocaching: Navigation and Goal Finding in Outdoor Domains

    E-print Network

    Bowling, Michael

    Autonomous Geocaching: Navigation and Goal Finding in Outdoor Domains James Neufeld University Geocaching is a human recreational activity in which par- Cite as: Autonomous Geocaching: Navigation and Goal, Alberta bowling@cs.ualberta.ca ABSTRACT This paper describes an autonomous robot system designed to solve

  1. RAVON --The Robust Autonomous Vehicle for Off-road Navigation

    E-print Network

    Berns, Karsten

    RAVON -- The Robust Autonomous Vehicle for Off-road Navigation C. Armbrust, T. Braun, T. Föhst, M, the Robust Autonomous Vehicle for Off-road Navigation (see figure 1). A sophisticated hazard detection-road Navigation 2 Figure 1: The autonomous off-road robot RAVON 1.1 The need for autonomy During the recent years

  2. Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor

    E-print Network

    of an autonomous indoor navigation system 9 10:45 AM 11:00 AMIvica, Zdenko Kovaci University of Zagreb, CroatiaWORKSHOP Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor 1 IEEE 6 10:00 AM 10:15 AMDaniel Theobald Vecna Autonomous vehicles in industrial and/or hospital

  3. Real-Time Hierarchical POMDPs for Autonomous Robot Navigation

    E-print Network

    Trahanias, Panos

    Real-Time Hierarchical POMDPs for Autonomous Robot Navigation Amalia Foka and Panos Trahanias-HPOMDP). The RN-HPOMDP is utilized as a unified framework for autonomous robot navigation in dynamic environments The autonomous robot navigation problem has been studied thoroughly by the robotics research community over

  4. Long distance outdoor navigation of an autonomous mobile robot

    E-print Network

    Ohya, Akihisa

    Long distance outdoor navigation of an autonomous mobile robot by playback of Perceived Route Map of an autonomous mo- bile robot for long distance outdoor navigation in our university campus. We propose how developed an experimental robot system and conducted experiments of autonomous navigation using PRM in our

  5. Acousticbased room discrimination for the navigation of autonomous mobile robots

    E-print Network

    Zimmer, Uwe

    Acoustic­based room discrimination for the navigation of autonomous mobile robots Guido Tesch, Uwe signals are not used for the navigation of autonomous mobile robots. Nonetheless, they are the second best navigation tasks. In autonomous mobile robotics, this level of exploration is typically done by using

  6. AUTONOMOUS NAVIGATION TROUP FOR COOPERATIVE MODELLING OF UNKNOWN ENVIRONMENTS

    E-print Network

    López-Sánchez, Maite

    AUTONOMOUS NAVIGATION TROUP FOR COOPERATIVE MODELLING OF UNKNOWN ENVIRONMENTS Josep Amat,mantaras@iiia.csic.es} Abstract Based on the information gathered by a set of small autonomous low cost vehicles, the generation, small autonomous vehicles has been developed. These vehicles follow the already classical line of insect

  7. Can Planning and Reactive Systems Realize an Autonomous Navigation*

    E-print Network

    Zimmer, Uwe

    Can Planning and Reactive Systems Realize an Autonomous Navigation* Maki K. Habib GMD: The major challenges facing navigation of an autonomous mobile robot and need to be addressed are stem from). These issues are fundamental to autonomous systems that have to function effectively while navigating

  8. Bayesian Controller for a Novel Semi-Autonomous Navigation Concept

    E-print Network

    Bayesian Controller for a Novel Semi-Autonomous Navigation Concept Xavier Perrin Ricardo- autonomous navigation where a mobile robot evolves au- tonomously under the monitoring of a human user the execution of a task. Instead of providing navigational commands, like in current semi-autonomous systems

  9. Autonomous Indoor Robot Navigation Using Sketched Maps and Routes

    E-print Network

    Teschner, Matthias

    Autonomous Indoor Robot Navigation Using Sketched Maps and Routes Federico Boniardi Abhinav Valada Wolfram Burgard Gian Diego Tipaldi Autonomous Intelligent Systems Group, University of Freiburg, Germany to impart coarse prior information about the scene to a robot, thereby enabling it to perform autonomous

  10. Autonomous Indoors Navigation using a Small-Size Quadrotor

    E-print Network

    Teschner, Matthias

    Autonomous Indoors Navigation using a Small-Size Quadrotor Slawomir Grzonka Giorgio Grisetti Wolfram Burgard Autonomous Systems Lab, Department of Computer Science University of Freiburg, D-79110 increasing research on the devel- opment of autonomous flying vehicles. Whereas most of the proposed

  11. Paper AAS 05-399 LINKED, AUTONOMOUS, INTERPLANETARY

    E-print Network

    Born, George

    Paper AAS 05-399 LINKED, AUTONOMOUS, INTERPLANETARY SATELLITE ORBIT NAVIGATION (LiAISON) Keric Hill 05-399 LINKED, AUTONOMOUS, INTERPLANETARY SATELLITE ORBIT NAVIGATION (LiAISON) Keric Hill determination using SST data. We propose a new method of interplanetary navigation called Linked, Autonomous

  12. Distributed Task Plan: A Model for Designing Autonomous Mobile Agents

    E-print Network

    Zhang, Minjie

    Distributed Task Plan: A Model for Designing Autonomous Mobile Agents Wei Li Department present DTP (Distributed Task Plan), a model to depict distributed tasks for executions by mobile agents. DTP is composed of autonomous primitives and can generate the autonomous workflow when a mobile agent

  13. Moving Horizon Observation for Autonomous Operation of Agricultural Vehicles*

    E-print Network

    in a predictive control framework for autonomous driving of a sensor-equipped tractor using a (nonlinear) rigid-world data from an autonomously driving tractor in this paper. The extended vehicle model merges dynamicMoving Horizon Observation for Autonomous Operation of Agricultural Vehicles* Janick V. Frasch1

  14. A Cloud-Assisted Design for Autonomous Driving Swarun Kumar

    E-print Network

    A Cloud-Assisted Design for Autonomous Driving Swarun Kumar MIT CSAIL swarun@mit.edu Shyamnath of Carcel on a state-of-the- art autonomous driving system in an outdoor testbed including an autonomous, a cloud-assisted system for au- tonomous driving. Carcel enables the cloud to have access to sensor data

  15. Building Strong Semi-Autonomous Systems Shlomo Zilberstein

    E-print Network

    Zilberstein, Shlomo

    growing attention since Google re- vealed its autonomous car. The car can complete an en- tire trip to stop (should not be ignored). To be success- ful, autonomous cars operating in an environment populatedBuilding Strong Semi-Autonomous Systems Shlomo Zilberstein School of Computer Science University

  16. Managing Uncertainty in Sound based Control for an Autonomous Helicopter

    E-print Network

    Hopgood, Adrian

    research us- ing a multi-purpose, small and low cost autonomous helicopter platform (Flyper). WeManaging Uncertainty in Sound based Control for an Autonomous Helicopter Benjamin N. Passow, Mario an overview of our proposed system. I. INTRODUCTION Autonomous helicopters have been well studied in the past

  17. Searching with an Autonomous Robot Sandor P. Fekete

    E-print Network

    Fekete, Sándor P.

    Searching with an Autonomous Robot S´andor P. Fekete Department of Mathematical Optimization TU.9 [ Computing Methodologies ]: Artificial Intelli- gence Robotics [Autonomous Vehicles] General Terms Algorithms-dimensional laser scan- ning, autonomous mobile robots, Kurt3D. 1. INTRODUCTION We demonstrate how one

  18. Author's personal copy Robotics and Autonomous Systems 59 (2011) 296309

    E-print Network

    Gross, Horst-Michael

    2011-01-01

    Author's personal copy Robotics and Autonomous Systems 59 (2011) 296­309 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: www.elsevier.com/locate/robot Attention the autonomous use of mobile robots in complex public and home environments. © 2011 Elsevier B.V. All rights

  19. TOWARDS A RISK MANAGEMENT PROCESS FOR AUTONOMOUS UNDERWATER VEHICLES

    E-print Network

    Griffiths, Gwyn

    TOWARDS A RISK MANAGEMENT PROCESS FOR AUTONOMOUS UNDERWATER VEHICLES Gwyn Griffithsa and Art 2005, at Fimbulisen on the edge of the Antarctic ice cap, an autonomous underwater vehicle set out, as it precluded recovery of Autosub. With increasing scientific interest in using autonomous underwater vehicles

  20. Color machine vision for autonomous vehicles Shashi D. Buluswar

    E-print Network

    Draper, Bruce A.

    Color machine vision for autonomous vehicles Shashi D. Buluswar Bruce A. Draper Dept. of Computer vehicles, Machine learning in computer vision. Abstract Color can be a useful feature in autonomous vehicle, and recognition of miscellaneous scene objects. Unfortunately, few existing autonomous vehicle systems use color

  1. Applications of HUGIN to Diagnosis and Control of Autonomous Vehicles

    E-print Network

    Applications of HUGIN to Diagnosis and Control of Autonomous Vehicles Anders L. Madsen1 and Uffe B of HUGIN to solve problems related to diag- nosis and control of autonomous vehicles. The application of diagnosis and con- trol of autonomous vehicles. Based on the HUGIN tool, limited memory influence diagrams

  2. A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways #

    E-print Network

    Girault, Alain

    A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways # Alain Girault a a Inria the problem of the hybrid control of autonomous vehicles driving on automated highways. Vehicles with its leading vehicle. Second, we extend this first result to a lane of autonomous vehicles. Third, we

  3. GENETIC ALGORITHMS FOR A SINGLE-TRACK VEHICLE AUTONOMOUS PILOT

    E-print Network

    Vrajitoru, Dana

    GENETIC ALGORITHMS FOR A SINGLE-TRACK VEHICLE AUTONOMOUS PILOT Dana Vrajitoru Intelligent Systems algorithms to an autonomous pilot designed for motorized single-track vehicles (motorcycles). The pilot-agents, autonomous pilot. 1 #12;1 Introduction Single track vehicles (STV) present somewhat different challenges than

  4. Leaving and returning to harbour with an Autonomous Underwater Vehicle

    E-print Network

    Griffiths, Gwyn

    Leaving and returning to harbour with an Autonomous Underwater Vehicle G Griffiths, S D McPhail, R. #12;Leaving and returning to harbour with an Autonomous Underwater Vehicle G Griffiths 1 , S D Mc Introduction Autonomous underwater vehicles (AUVs) have been under development by the military and civilian

  5. Evolution-Based Path Planning and Management for Autonomous Vehicles

    E-print Network

    Evolution-Based Path Planning and Management for Autonomous Vehicles Brian J. Capozzi of Washington Abstract Evolution-Based Path Planning and Management for Autonomous Vehicles by Brian J. Capozzi paths for an autonomous vehicle through a number of different static and dynamic envi- ronments

  6. Robust Hybrid Control for Autonomous Vehicle Motion Planning

    E-print Network

    Feron, Eric

    Robust Hybrid Control for Autonomous Vehicle Motion Planning Emilio Frazzoli Munther A. Dahleh y Eric Feron z Abstract The operation of an autonomous vehicle in an unknown, dynamic environment, to the design, development and operation of autonomous aerial, underwater, and ground vehicles. The possibility

  7. HIERARCHICAL SEARCH STRATEGY FOR A TEAM OF AUTONOMOUS VEHICLES

    E-print Network

    Johansson, Karl Henrik

    HIERARCHICAL SEARCH STRATEGY FOR A TEAM OF AUTONOMOUS VEHICLES Jorge Silva Alberto Speranzon Jo-Robot Systems, Simplex Algorithm, Discrete-Event Systems, Autonomous Underwater Vehicles (AUVs). 1. INTRODUCTION field, we desire to coordinate the motions of a group of autonomous vehicles with sensing and very

  8. REPORT ON THE LAW RELATING TO AUTONOMOUS UNDERWATER VEHICLES

    E-print Network

    Griffiths, Gwyn

    REPORT ON THE LAW RELATING TO AUTONOMOUS UNDERWATER VEHICLES Prepared by E D Brown Professor relating to autonomous underwater vehicles. AUV operations are sufficiently novel that guidance and as they appertain to an autonomous vehicle engaged in marine scientific research, such as Autosub. Nevertheless

  9. Occupancy Based Map Searching Using Heterogeneous Teams of Autonomous Vehicles

    E-print Network

    Occupancy Based Map Searching Using Heterogeneous Teams of Autonomous Vehicles Christopher W. Lum for searching using a team of heterogeneous autonomous vehicles. The team members maintain a world model which, Rolf T. Rysdyk, and Anawat Pongpunwattana Autonomous Flight Systems Laboratory University

  10. Autonomous vehicle guidance using analog VLSI neuromorphic sensors

    E-print Network

    Autonomous vehicle guidance using analog VLSI neuromorphic sensors Giacomo Indiveri and Paul step towards the design of a fully autonomous vehicle that will safely navigate using only inputs from of compact low-power autonomous systems. We describe such a system, consisting of a mobile robot equipped

  11. On the Reliability of the Autosub Autonomous Underwater Vehicle

    E-print Network

    Griffiths, Gwyn

    1 On the Reliability of the Autosub Autonomous Underwater Vehicle G. GRIFFITHS, N. W. MILLARD, S. D. Abstract As autonomous underwater vehicles (AUVs) enter operational service an assessment involved the autonomous nature of the vehicle. Rather, faults were typical of those that occur with any

  12. Active fungi amidst a marine subsurface RNA paleome

    NASA Astrophysics Data System (ADS)

    Orsi, W.; Biddle, J.; Edgcomb, V.

    2012-12-01

    The deep marine subsurface is a vast habitat for microbial life where cells may live on geologic timescales. Since extracellular DNA in sediments may be preserved on long timescales, ribosomal RNA (rRNA) is suggested to be a proxy for the active fraction of a microbial community in the subsurface. During an investigation of eukaryotic 18S rRNA signatures by amplicon pyrosequencing, metazoan, plant, and diatom rRNA signatures were recovered from marine sediments up to 2.7 million years old, suggesting that rRNA may be much more stable than previously considered in the marine subsurface. This finding confirms the concept of a paleome, extending it to include rRNA. Within the same dataset, unique profiles of fungi were found across a range of marine subsurface provinces exhibiting statistically significant correlations with total organic carbon (TOC), sulfide, and dissolved inorganic carbon (DIC). Sequences from metazoans, plants and diatoms showed different correlation patterns, consistent with a depth-controlled paleome. The fungal correlations with geochemistry allow the inference that some fungi are active and adapted for survival in the marine subsurface. A metatranscriptomic analysis of fungal derived mRNA confirms that fungi are metabolically active and utilize a range of organic and inorganic substrates in the marine subsurface.

  13. Integrated research on subsurface environments in Asian urban areas.

    PubMed

    Taniguchi, Makoto; Burnett, William C; Ness, Gayl D

    2008-10-15

    The RIHN project "Human impacts on urban subsurface environments" aims to suggest improved development plans of urban centers for human well-being. This will be done by examining reconstructed past changes in urban environments, and by developing integrated nature-social models. Subsurface environmental indicators are developed from the points of view of: (1) human activities; (2) climate change; and (3) character of urban development and social policies. Water, heat, and material environments and transport vectors are being evaluated by a number of different approaches. Some of these include investigating changes in groundwater resources using satellite observations, reconstructing effects of climate change and urbanization using subsurface thermal regimes, and evaluating past contamination patterns from preserved subsurface records. In this overview paper, we describe the current status of urbanization in Asia, subsurface water conditions, material and contaminant transport to surface waters by groundwater, and subsurface thermal anomalies due to the heat island effect. The rapid pace of urbanization in Asia requires that we develop a better understanding of how to deal with environmental impacts, both above and below ground. PMID:18722645

  14. Subsurface Sampling and Sensing Using Burrowing Moles

    NASA Technical Reports Server (NTRS)

    Stoker, C. R.; Richter, L.; Smith, W. H.

    2004-01-01

    Finding evidence for life on Mars will likely require accessing the subsurface since the Martian surface is both hostile to life and to preservation of biosignatures due to the cold dry conditions, the strong W environment, and the presence of strong oxidants. Systems are needed to probe beneath the sun and oxidant baked surface of Mars and return samples to the surface for analysis or to bring the instrument sensing underground. Recognizing this need, the European Space Agency incorporated a small subsurface penetrometer or Mole onto the Beagle 2 Mars lander. Had the 2003 landing been successful, the Mole would have collected samples from 1-1.5 m depth and delivered them to an organic analysis instrument on the surface. The de- vice called the Planetary Underground Tool (PLUTO), also measured soil mechanical and thermophysical properties. Constrained by the small mass and volume allowance of the Beagle lander, the PLUTO mole was a slender cylinder only 2 cm diameter and 28 cm long equipped with a small sampling device designed to collect samples and bring them to the surface for analysis by other instrument. The mass of the entire system including deployment mechanism and tether was 1/2 kg. sensor package underground to make in situ measurements. The Mars Underground Mole (MUM) is a larger Mole based on the PLUTO design but incorporating light collection optics that interface to a fiber optic cable in the tether that transmits light to a combined stimulated emission Raman Spectrometer and Short Wave Infrared (SWIR) reflectance Spectrometer with sensitivity from 0.7 to 2.5 micrometers. This instrument is called the Dual Spectral Sensor and uses a Digital Array Scanning Interferometer as the sensor technology, a type of fourier transform interferometer that uses fixed element prisms and thus is highly rugged compared to a Michaelson interferometer. Due to the size limitations of an on-Mole instrument compartment, and the availability of a tether, the sensor head, light sources, and control electronics for the instrument are on the surface. The DSS sensor is capable of sensing a wide range of minerals relevant to Mars Astrobiology objectives including hydrated minerals, clays, carbonates, sulfates, and ice. Additionally, Raman spectroscopy is effective for detecting organics. The MUM is designed to achieve a maximum depth of penetration of 5 m in Mars regolith and can be repeatedly deployed and retrieved. The ability to perform repeated sampling, combined with the low mass and power requirements, means that Moles could be incorporated into a rover mission as well as used on a stationary platform. The Mole mechanism is a pointed slender cylinder that advances into soil by way of an internal sliding hammer mechanism. Part of the energy released by the spring-loaded hammer with each shock is transferred to the Mole casing and from there to the soil, resulting in penetration by displacing and compressing the surrounding soil. A backwards-directed impulse as a re- action to each forward shock is transferred via a suppressor mass against a second weaker spring allowing forward motion without requiring reactive forces provided by the lander. The Mole tip can be opened to collect soil samples. The Mole casing is tethered to a supporting mechanism that supplies power. Components supporting the Mole on the surface include a launch tube, tether reel and winch for pulling in tether, in addition to the tether itself.

  15. Water vapor diffusion in Mars subsurface environments

    NASA Astrophysics Data System (ADS)

    Hudson, Troy L.; Aharonson, Oded; Schorghofer, Norbert; Farmer, Crofton B.; Hecht, Michael H.; Bridges, Nathan T.

    2007-05-01

    The diffusion coefficient of water vapor in unconsolidated porous media is measured for various soil simulants at Mars-like pressures and subzero temperatures. An experimental chamber which simultaneously reproduces a low-pressure, low-temperature, and low-humidity environment is used to monitor water flux from an ice source through a porous diffusion barrier. Experiments are performed on four types of simulants: 40-70 ?m glass beads, sintered glass filter disks, 1-3 ?m dust (both loose and packed), and JSC Mars-1. A theoretical framework is presented that applies to environments that are not necessarily isothermal or isobaric. For most of our samples, we find diffusion coefficients in the range of 2.8 to 5.4 cm2 s-1 at 600 Pascal and 260 K. This range becomes 1.9-4.7 cm2 s-1 when extrapolated to a Mars-like temperature of 200 K. Our preferred value for JSC Mars-1 at 600 Pa and 200 K is 3.7 +/- 0.5 cm2 s-1. The tortuosities of the glass beads is about 1.8. Packed dust displays a lower mean diffusion coefficient of 0.38 +/- 0.26 cm2 s-1, which can be attributed to transition to the Knudsen regime where molecular collisions with the pore walls dominate. Values for the diffusion coefficient and the variation of the diffusion coefficient with pressure are well matched by existing models. The survival of shallow subsurface ice on Mars and the providence of diffusion barriers are considered in light of these measurements.

  16. Detecting NAPLs Heterogeneously Distributed in the Subsurface

    NASA Astrophysics Data System (ADS)

    Imhoff, P. T.; Pirestani, K.

    2004-12-01

    A particularly difficult task facing engineers and managers concerned with subsurface spills of nonaqueous phase liquids (NAPLs) is determining where the NAPL is and how much is there. Borrowing from past work in petroleum reservoir engineering, partitioning interwell tracer tests (PITT) were developed for characterizing the NAPL source zone and assessing the performance of remediation technologies. PITTs have been used to determine domain-average NAPL saturations as well as the spatial distribution of the NAPL. While these tracer tests work well when the NAPL is distributed uniformly throughout the domain, if NAPL is located nonuniformly, either as millimeter-scale ganglia or pools that are centimeter-scale and larger, the flow paths of the injected tracer solution may bypass NAPL-contaminated zones. In this case, the transfer of tracer mass from the main flow paths to the NAPL may be slow, resulting in extensive tailing of tracer breakthrough curves and underestimation of NAPL mass. In this work we examined the influence of nonuniform NAPL distribution and local-scale mass transfer resistance on the accuracy of measured NAPL saturations using PITTs. Two mathematical models were used along with laboratory column experiments to explore the influence of tracer partition coefficient, tracer detection limit, and injected tracer mass on NAPL measurement when the NAPL was distributed nonuniformly. When dimensionless mass transfer coefficients were small, NAPL measurement errors decreased with decreasing tracer partition coefficient, decreasing tracer detection limit, and increasing injected tracer mass. Extrapolating breakthrough curves exponentially reduced but did not eliminate systematic errors in NAPL measurement. Although transport in a single stream tube was used in the mathematical models and laboratory experiments, the results from this simplified domain were supported by data taken from a three-dimensional computational experiment, where the NAPL resided as large pool. Based on these results, we suggest guidelines for interpreting tracer breakthrough data to ascertain the importance of mass transfer limitations on NAPL measurements.

  17. Magnetotelluric Sensor Development for Planetary Subsurface Exploration

    NASA Astrophysics Data System (ADS)

    Fuqua, H.; Delory, G. T.; De Pater, I.; Grimm, R. E.

    2012-12-01

    Electromagnetic (EM) Sounding is a powerful geophysical investigation technique capable of constraining planetary subsurface structure, including core size, mantle and crustal temperature profiles, and the distribution of electrical conductivity at depth. Natural sources of EM activity, including solar wind turbulence and plasma waves, can induce electric and magnetic fields in the Moon and other small bodies. These induced fields respond according to the electrical conductivity as a function of skin depth of the body in question. In a branch of EM Sounding known as Magnetotellurics (MT), measurements of the horizontal electric and magnetic fields at the planetary surface are inverted to produce constraints on the interior. MT is particularly worthwhile in that geophysically meaningful results can be obtained from a single station, thus avoiding network mission architectures. While surface magnetic field measurements were taken on the Moon during the Apollo era, to date no measurements of the surface horizontal electric field have been attempted. However electric field measurements on the lunar surface should be feasible given their long successful history on spacecraft missions in similar environments. Building upon the heritage of electric field sensor technology at the UC Berkeley Space Sciences Laboratory, we describe a development plan for this instrument from component level to a fully functional instrument assembly for use in EM sounding, highlighting operational requirements, science capabilities, required testing, anticipated results and challenges to overcome. Upon development, this lander electric field sensor will enable future MT surveys on the Moon, and will provide a new exploration method for other small airless bodies from a single station.

  18. Subsurface void detection using seismic tomographic imaging

    SciTech Connect

    Gritto, Roland

    2003-06-26

    Tomographic imaging has been widely used in scientific and medical fields to remotely image media in a nondestructive way. This paper introduces a spectrum of seismic imaging applications to detect and characterize voids in coal mines. The application of seismic waves to detect changes in coal relies on two types of waves: body waves refracted along the interface between coal and bedrock (i.e., refracted P-waves) and channel waves that propagate directly through the coal (dispersive wave trains of the Rayleigh or Love type). For example, a P-wave tomography study to find underlying old mine workings in a coal mine in England, produced velocity patterns that revealed increases in velocity where high stress concentrations occur in the rock, which are most likely connected to old pillars left in support of the old working areas. At the same time, low velocities were found in areas of low stress concentrations, which are related to roof collapses indicating the locations of mined areas below. The application of channel wave tomography to directly image the presence of gaseous CO{sub 2} in a low velocity oil reservoir showed that the injected CO{sub 2} followed an ancient flow channel in the reservoir migrating from the injector to the producer well. The study showed how channel waves are preferable over refracted P-waves, as the latter were only marginally affected by the presence of the gas in the low-velocity channel. Similar approaches show great promise for the detection of voids in coal mines. Finally, a newly developed technique, based on scattering theory, revealed that the location and the size of a subsurface cavity could be accurately determined even in the presence of strong correlated and uncorrelated noise.

  19. Control algorithms for autonomous robot navigation

    SciTech Connect

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  20. An Algorithm for Autonomous Formation Obstacle Avoidance

    NASA Astrophysics Data System (ADS)

    Cruz, Yunior I.

    The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.