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Sample records for autonomous microexplosives subsurface

  1. Autonomous microexplosives subsurface tracing system final report.

    SciTech Connect

    Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

    2004-04-01

    The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

  2. Autonomous robot for detecting subsurface voids and tunnels using microgravity

    NASA Astrophysics Data System (ADS)

    Wilson, Stacy S.; Crawford, Nicholas C.; Croft, Leigh Ann; Howard, Michael; Miller, Stephen; Rippy, Thomas

    2006-05-01

    Tunnels have been used to evade security of defensive positions both during times of war and peace for hundreds of years. Tunnels are presently being built under the Mexican Border by drug smugglers and possibly terrorists. Several have been discovered at the border crossing at Nogales near Tucson, Arizona, along with others at other border towns. During this war on terror, tunnels under the Mexican Border pose a significant threat for the security of the United States. It is also possible that terrorists will attempt to tunnel under strategic buildings and possibly discharge explosives. The Center for Cave and Karst Study (CCKS) at Western Kentucky University has a long and successful history of determining the location of caves and subsurface voids using microgravity technology. Currently, the CCKS is developing a remotely controlled robot which will be used to locate voids underground. The robot will be a remotely controlled vehicle that will use microgravity and GPS to accurately detect and measure voids below the surface. It is hoped that this robot will also be used in military applications to locate other types of voids underground such as tunnels and bunkers. It is anticipated that the robot will be able to function up to a mile from the operator. This paper will describe the construction of the robot and the use of microgravity technology to locate subsurface voids with the robot.

  3. 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

  4. 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.

  5. Autocatalytic fission-fusion microexplosions for nuclear pulse propulsion

    NASA Astrophysics Data System (ADS)

    Winterberg, F.

    2000-12-01

    Autocatalytic fission-fusion microexplosions, mutually amplifying fission and fusion reactions, are proposed for propulsion. Autocatalytic fission-fusion microexplosions can be realized by imploding a shell of uranium 235 (or plutonium) onto a magnetized deuterium-tritium (DT) plasma. After having reached a high temperature, the DT plasma releases fusion neutrons making fission reactions in the fissile shell increasing the implosion velocity which in turn increases the fusion reaction rate until full ignition of the DT plasma. To implode the fissile shell a small amount of high explosive and to magnetize the DT plasma a small auxiliary electric discharge are required. In comparison to nuclear bomb pulse propulsion, the energy released per pulse is much smaller and the efficiency higher. And in comparison to laser- or particle-beam-ignited fusion microexplosions, there is no need for a massive fusion ignition driver.

  6. An Autonomous Cryobot Synthetic Aperture Radar for Subsurface Exploration of Europa

    NASA Astrophysics Data System (ADS)

    Pradhan, O.; Gasiewski, A. J.

    2015-12-01

    We present the design and field testing of a forward-looking end-fire synthetic aperture radar (SAR) for the 'Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer' (VALKYRIE) ice-penetrating cryobot. This design demonstrates critical technologies that will support an eventual landing and ice penetrating mission to Jupiter's icy moon, Europa. Results proving the feasibility of an end-fire SAR system for vehicle guidance and obstacle avoidance in a sub-surface ice environment will be presented. Data collected by the SAR will also be used for constructing sub-surface images of the glacier which can be used for: (i) mapping of englacial features such as crevasses, moulins, and embedded liquid water and (ii) ice-depth and glacier bed analysis to construct digital elevation models (DEM) that can help in the selection of crybot trajectories and future drill sites for extracting long-term climate records. The project consists of three parts, (i) design of an array of four conformal cavity-backed log-periodic folded slot dipole array (LPFSA) antennas that form agile radiating elements, (ii) design of a radar system that includes RF signal generation, 4x4 transmit-receive antenna switching and isolation and digital SAR data processing and (iii) field testing of the SAR in melt holes. The antennas have been designed, fabricated, and lab tested at the Center for Environmental Technology (CET) at CU-Boulder. The radar system was also designed and integrated at CET utilizing rugged RF components and FPGA based digital processing. Field testing was performed in conjunction with VALKYRIE tests by Stone Aerospace in June, 2015 on Matanuska Glacier, Alaska. The antennas are designed to operate inside ice while being immersed in a thin layer of surrounding low-conductivity melt water. Small holes in the corners of the cavities allow flooding of these cavities with the same melt-water thus allowing for quarter-wavelength cavity-backed reflection. Testing of

  7. 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

  8. Time Evolution of the Density Field of a Micro-Explosion Using Background Oriented Schlieren

    NASA Astrophysics Data System (ADS)

    Suriyanarayanan, P.; Venkatakrishnan, L.; Jagadeesh, G.

    In recent years micro-explosions have found interesting trans-disciplinary applications in the areas of food preservation,wood science, drug delivery, gene therapy and bio-medical applications [1, 2]. Generating controlled micro-explosions in a laboratory environment in a reliable manner is essential; to study and understand some of the near field flow dynamics associated with blast waves.

  9. 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 (α-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

  10. On the ignition of high gain thermonuclear microexplosions with electric pulse power

    NASA Astrophysics Data System (ADS)

    Winterberg, F.

    2004-02-01

    It was recently shown that the ignition of thermonuclear microexplosions seems possible with two Marx generators of modest size, one with a high current lower voltage for compression and confinement, and one with a high voltage lower current for ignition, transmitting their energy to the thermonuclear target by two nested magnetically insulated transmission lines. Here it is shown in much greater detail how this concept has the potential for the ignition of high gain thermonuclear microexplosions with a yield sufficiently low for a thermonuclear reactor and rocket propulsion. The concept also offers the possibility for the concurrent burn of deuterium-tritium with natural uranium or thorium.

  11. Numerical simulation of emulsified fuel spray combustion with puffing and micro-explosion

    SciTech Connect

    Watanabe, Hirotatsu; Matsushita, Yohsuke; Aoki, Hideyuki; Miura, Takatoshi

    2010-05-15

    The purpose of this study was to develop numerical simulation of spray combustion of emulsified fuel with considering puffing and micro-explosion. First, a mathematical model for puffing was proposed. In the proposed puffing model, the rate of mass change of a droplet during puffing was expressed by the evaporation rate of dispersed water and the mass change rate due to fine droplets spouted from the droplet surface. The mass change rate due to fine droplets was related to the evaporation rate of the dispersed water and each liquid content. This model had only one experimental parameter. The essential feature of this model was that it was simple to apply to numerical simulation of spray combustion. First, the validity of the proposed puffing model was investigated with the experimental results for a single droplet. The calculated results for a single droplet with the experimental parameter varying from 5.0 to 10 were in good agreement with the experimental results. Moreover, numerical simulation of spray combustion of emulsified fuel was carried out. The occurrence of puffing and micro-explosion was determined by the inner droplet temperature. When micro-explosion occurred, a droplet changed to vapor rapidly. When the proposed puffing model was used in numerical simulation of spray combustion, the experimental parameter in the puffing model was determined for each droplet by random numbers within the range 5.0-10. The calculated results of spray combustion of emulsified fuel without considering puffing or micro-explosions were different from the experimental results even where combustion reactions were almost terminated. Meanwhile, the calculated results when considering puffing and micro-explosions were in good agreement with experimental results at the same location. (author)

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

    SciTech Connect

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

    2015-07-15

    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.

  13. 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.

  14. Thermal Imaging of Subsurface Coal Fires by means of an Unmanned Aerial Vehicle (UAV) in the Autonomous Province Xinjiang, PRC

    NASA Astrophysics Data System (ADS)

    Vasterling, Margarete; Schloemer, Stefan; Fischer, Christian; Ehrler, Christoph

    2010-05-01

    Spontaneous combustion of coal and resulting coal fires lead to very high temperatures in the subsurface. To a large amount the heat is transferred to the surface by convective and conductive transport inducing a more or less pronounced thermal anomaly. During the past decade satellite-based infrared-imaging (ASTER, MODIS) was the method of choice for coal fire detection on a local and regional scale. However, the resolution is by far too low for a detailed analysis of single coal fires which is essential prerequisite for corrective measures (i.e. fire fighting) and calculation of carbon dioxide emission based on a complex correlation between energy release and CO2 generation. Consequently, within the framework of the Sino-German research project "Innovative Technologies for Exploration, Extinction and Monitoring of Coal Fires in Northern China", a new concept was developed and successfully tested. An unmanned aerial vehicle (UAV) was equipped with a lightweight camera for thermografic (resolution 160 by 120 pixel, dynamic range -20 to 250°C) and for visual imaging. The UAV designed as an octocopter is able to hover at GPS controlled waypoints during predefined flight missions. The application of a UAV has several advantages. Compared to point measurements on the ground the thermal imagery quickly provides the spatial distribution of the temperature anomaly with a much better resolution. Areas otherwise not accessible (due to topography, fire induced cracks, etc.) can easily be investigated. The results of areal surveys on two coal fires in Xinjiang are presented. Georeferenced thermal and visual images were mosaicked together and analyzed. UAV-born data do well compared to temperatures measured directly on the ground and cover large areas in detail. However, measuring surface temperature alone is not sufficient. Simultaneous measurements made at the surface and in roughly 15cm depth proved substantial temperature gradients in the upper soil. Thus the temperature

  15. MHD model of conversion of the plasma energy of a thermonuclear microexplosion

    NASA Astrophysics Data System (ADS)

    Bychkova, L. P.; Kalinin, A. V.; Rutkevich, I. M.

    1980-05-01

    A preliminary analysis is presented of the direct conversion of the energy of a thermonuclear microexplosion into electrical energy in a reactor which is combined with a pulsed induction-type MHD generator connected to a resistive load. The following factors are taken into account: (1) the relation between the average parameters of the plasma and the magnetic field, (2) the finite dimensions of the region of magnetic energy localization, and (3) the effect of the high initial energy density of the plasma. It is found that the choice of the size of the load significantly determines the maximum efficiency of the generator.

  16. 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.

  17. 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

  18. 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.

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

    DOE PAGESBeta

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

    2015-06-29

    Ordinary materials can transform into novel phases with new crystal structures at extraordinary high pressure and temperature applied under both equilibrium and non-equilibrium conditions 1-6. The recently developed method of ultra-short laser-induced confined microexplosions 7-9 extends the range of possible new phases by initiating a highly non-equilibrium plasma state deep inside a bulk material 7-12. Ultra-high quenching rates can help to overcome kinetic barriers to the formation of new metastable phases, while the surrounding pristine crystal confines the affected material and preserves it for further study 10-12. Here we demonstrate that ultra-rapid pressure release from a completely disordered plasma statemore » in silicon produces several new metastable end phases quenched to ambient conditions. Their structure is determined from comparison to an ab initio random structure search which revealed six new energetically competitive potential phases, four tetragonal and two monoclinic ones. We show the presence of bt8 and st12, which have been predicted theoretically previously 13-15, but have not been observed in nature or in laboratory experiments. Additionally, 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 pave the way for new materials with novel and exotic properties.« less

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

    SciTech Connect

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

    2015-06-29

    Ordinary materials can transform into novel phases with new crystal structures at extraordinary high pressure and temperature applied under both equilibrium and non-equilibrium conditions 1-6. The recently developed method of ultra-short laser-induced confined microexplosions 7-9 extends the range of possible new phases by initiating a highly non-equilibrium plasma state deep inside a bulk material 7-12. Ultra-high quenching rates can help to overcome kinetic barriers to the formation of new metastable phases, while the surrounding pristine crystal confines the affected material and preserves it for further study 10-12. Here we demonstrate that ultra-rapid pressure release from a completely disordered plasma state in silicon produces several new metastable end phases quenched to ambient conditions. Their structure is determined from comparison to an ab initio random structure search which revealed six new energetically competitive potential phases, four tetragonal and two monoclinic ones. We show the presence of bt8 and st12, which have been predicted theoretically previously 13-15, but have not been observed in nature or in laboratory experiments. Additionally, 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 pave the way for new materials with novel and exotic properties.

  1. 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.

  2. Subsurface sounders

    NASA Technical Reports Server (NTRS)

    1975-01-01

    Airborne or spaceborne electromagnetic systems used to detect subsurface features are discussed. Data are given as a function of resistivity of ground material, magnetic permeability of free space, and angular frequency. It was noted that resistivities vary with the water content and temperature.

  3. Subsurface Mapping

    NASA Technical Reports Server (NTRS)

    1985-01-01

    Target areas for sinking base holes, underground pipelines, etc., can be identified with the assistance of NASA Ames developed technology, by Airborne Pipeline Services, Inc. Subsurface features are computer processed; the system can cover 250 miles a day and was first developed by Applied Science, Inc.

  4. 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.

  5. Microexplosions in boreholes

    NASA Astrophysics Data System (ADS)

    Moren, P.

    1983-12-01

    At present micro explosions are the only known source that provides sufficient energy for large scale (about 0.5 to 1 km) seismic crosshole measurements. Results from a test of nondestructiveness on bore-hole walls from micro explosions are summarized. From geophysical well loggings in the holes it was found that only micro explosions with yields of 100 g and greater have a measurable effect on the bore-hole walls. However, the chemical properties of the bore-hole water changed as a result of collodial carbon of the explosive paste. Geophone-recordings from a series of shots with yields in the range 5 up to 200 g showed that the recorded maximum amplitude was linearly dependent of explosion yield.

  6. Autonomic hyperreflexia

    MedlinePlus

    The most common cause of autonomic hyperreflexia is spinal cord injury. The nervous system of people with this condition ... Flushed (red) skin above the level of the spinal cord injury High blood pressure Slow pulse or fast pulse ...

  7. Autonomic hyperreflexia

    MedlinePlus

    ... The most common cause of autonomic hyperreflexia is spinal cord injury. The nervous system of people with this condition ... Flushed (red) skin above the level of the spinal cord injury High blood pressure Slow pulse or fast pulse ...

  8. 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.

  9. 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

  10. 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.

  11. Autonomous control

    NASA Technical Reports Server (NTRS)

    Brown, Barbara

    1990-01-01

    KSC has been developing the Knowledge-Based Autonomous Test Engineer (KATE), which is a tool for performing automated monitoring, diagnosis, and control of electromechanical devices. KATE employs artificial intelligence computing techniques to perform these functions. The KATE system consists of a generic shell and a knowledge base. The KATE shell is the portion of the system which performs the monitoring, diagnosis, and control functions. It is generic in the sense that it is application independent. This means that the monitoring activity, for instance, will be performed with the same algorithms regardless of the particular physical device being used. The knowledge base is the portion of the system which contains specific functional and behavorial information about the physical device KATE is working with. Work is nearing completion on a project at KSC to interface a Texas Instruments Explorer running a LISP version of KATE with a Generic Checkout System (GCS) test-bed to control a physical simulation of a shuttle tanking system (humorously called the Red Wagon because of its color and mobility). The Autonomous Control System (ACS) project supplements and extends the KATE/GCS project by adding three other major activities. The activities include: porting KATE from the Texas Instruments Explorer machine to an Intel 80386-based UNIX workstation in the LISP language; rewriting KATE as necessary to run on the same 80386 workstation but in the Ada language; and investigating software and techniques to translate ANSI Standard Common LISP to Mil Standard Ada. Primary goals of this task are as follows: (1) establish the advantages of using expert systems to provide intelligent autonomous software for Space Station Freedom applications; (2) determine the feasibility of using Ada as the run-time environment for model-based expert systems; (3) provide insight into the advantages and disadvantagesof using LISP or Ada in the run-time environment for expert systems; and (4

  12. 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.

  13. Autoimmune autonomic disorders.

    PubMed

    Mckeon, Andrew; Benarroch, Eduardo E

    2016-01-01

    Autoimmune autonomic disorders occur because of an immune response directed against sympathetic, parasympathetic, and enteric ganglia, autonomic nerves, or central autonomic pathways. In general, peripheral autoimmune disorders manifest with either generalized or restricted autonomic failure, whereas central autoimmune disorders manifest primarily with autonomic hyperactivity. Some autonomic disorders are generalized, and others are limited in their anatomic extent, e.g., isolated gastrointestinal dysmotility. Historically, these disorders were poorly recognized, and thought to be neurodegenerative. Over the last 20 years a number of autoantibody biomarkers have been discovered that have enabled the identification of certain patients as having an autoimmune basis for either autonomic failure or hyperactivity. Peripheral autoimmune autonomic disorders include autoimmune autonomic ganglionopathy (AAG), paraneoplastic autonomic neuropathy, and acute autonomic and sensory neuropathy. AAG manifests with acute or subacute onset of generalized or selective autonomic failure. Antibody targeting the α3 subunit of the ganglionic-type nicotinic acetylcholine receptor (α3gAChR) is detected in approximately 50% of cases of AAG. Some other disorders are characterized immunologically by paraneoplastic antibodies with a high positive predictive value for cancer, such as antineuronal nuclear antibody, type 1 (ANNA-1: anti-Hu); others still are seronegative. Recognition of an autoimmune basis for autonomic disorders is important, as their manifestations are disabling, may reflect an underlying neoplasm, and have the potential to improve with a combination of symptomatic and immune therapies. PMID:27112689

  14. 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.

  15. 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.

  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. Autonomic Nervous System Disorders

    MedlinePlus

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  18. Autonomic Nervous System Disorders

    MedlinePlus

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating ... with breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as ...

  19. Deep subsurface microbial processes

    USGS Publications Warehouse

    Lovley, D.R.; Chapelle, F.H.

    1995-01-01

    Information on the microbiology of the deep subsurface is necessary in order to understand the factors controlling the rate and extent of the microbially catalyzed redox reactions that influence the geophysical properties of these environments. Furthermore, there is an increasing threat that deep aquifers, an important drinking water resource, may be contaminated by man's activities, and there is a need to predict the extent to which microbial activity may remediate such contamination. Metabolically active microorganisms can be recovered from a diversity of deep subsurface environments. The available evidence suggests that these microorganisms are responsible for catalyzing the oxidation of organic matter coupled to a variety of electron acceptors just as microorganisms do in surface sediments, but at much slower rates. The technical difficulties in aseptically sampling deep subsurface sediments and the fact that microbial processes in laboratory incubations of deep subsurface material often do not mimic in situ processes frequently necessitate that microbial activity in the deep subsurface be inferred through nonmicrobiological analyses of ground water. These approaches include measurements of dissolved H2, which can predict the predominant microbially catalyzed redox reactions in aquifers, as well as geochemical and groundwater flow modeling, which can be used to estimate the rates of microbial processes. Microorganisms recovered from the deep subsurface have the potential to affect the fate of toxic organics and inorganic contaminants in groundwater. Microbial activity also greatly influences 1 the chemistry of many pristine groundwaters and contributes to such phenomena as porosity development in carbonate aquifers, accumulation of undesirably high concentrations of dissolved iron, and production of methane and hydrogen sulfide. Although the last decade has seen a dramatic increase in interest in deep subsurface microbiology, in comparison with the study of

  20. 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

  1. Genetic autonomic disorders.

    PubMed

    Axelrod, Felicia B

    2013-03-01

    Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. PMID:23465768

  2. 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.

  3. Pure Autonomic Failure.

    PubMed

    Thaisetthawatkul, Pariwat

    2016-08-01

    Pure autonomic failure (PAF) is a rare sporadic neurodegenerative autonomic disorder characterized by slowly progressive pan autonomic failure without other features of neurologic dysfunctions. The main clinical symptoms result from neurogenic orthostatic hypotension and urinary and gastrointestinal autonomic dysfunctions. Autonomic failure in PAF is caused by neuronal degeneration of pre- and postganglionic sympathetic and parasympathetic neurons in the thoracic spinal cord and paravertebral autonomic ganglia. The presence of Lewy bodies and α-synuclein deposits in these neural structures suggests that PAF is one of Lewy body synucleinopathies, examples of which include multiple system atrophy, Parkinson disease, and Lewy body disease. There is currently no specific treatment to stop progression in PAF. Management of autonomic symptoms is the mainstay of treatment and includes management of orthostatic hypotension and supine hypertension. The prognosis for survival of PAF is better than for the other synucleinopathies. PMID:27338613

  4. 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.

  5. 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.

  6. 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.

  7. Subsurface connection methods for subsurface heaters

    DOEpatents

    Vinegar, Harold J.; Bass, Ronald Marshall; Kim, Dong Sub; Mason, Stanley Leroy; Stegemeier, George Leo; Keltner, Thomas Joseph; Carl, Jr., Frederick Gordon

    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.

  8. Pediatric autonomic disorders.

    PubMed

    Axelrod, Felicia B; Chelimsky, Gisela G; Weese-Mayer, Debra E

    2006-07-01

    The scope of pediatric autonomic disorders is not well recognized. The goal of this review is to increase awareness of the expanding spectrum of pediatric autonomic disorders by providing an overview of the autonomic nervous system, including the roles of its various components and its pervasive influence, as well as its intimate relationship with sensory function. To illustrate further the breadth and complexities of autonomic dysfunction, some pediatric disorders are described, concentrating on those that present at birth or appear in early childhood. PMID:16818580

  9. 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.

  10. 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.

  11. Applications of subsurface microscopy.

    PubMed

    Tetard, Laurene; Passian, Ali; Farahi, Rubye H; Voy, Brynn H; Thundat, Thomas

    2012-01-01

    Exploring the interior of a cell is of tremendous importance in order to assess the effects of nanomaterials on biological systems. Outside of a controlled laboratory environment, nanomaterials will most likely not be conveniently labeled or tagged so that their translocation within a biological system cannot be easily identified and quantified. Ideally, the characterization of nanomaterials within a cell requires a nondestructive, label-free, and subsurface approach. Subsurface nanoscale imaging represents a real challenge for instrumentation. Indeed the tools available for high resolution characterization, including optical, electron or scanning probe microscopies, mainly provide topography images or require taggants that fluoresce. Although the intercellular environment holds a great deal of information, subsurface visualization remains a poorly explored area. Recently, it was discovered that by mechanically perturbing a sample, it was possible to observe its response in time with nanoscale resolution by probing the surface with a micro-resonator such as a microcantilever probe. Microcantilevers are used as the force-sensing probes in atomic force microscopy (AFM), where the nanometer-scale probe tip on the microcantilever interacts with the sample in a highly controlled manner to produce high-resolution raster-scanned information of the sample surface. Taking advantage of the existing capabilities of AFM, we present a novel technique, mode synthesizing atomic force microscopy (MSAFM), which has the ability to probe subsurface structures such as non-labeled nanoparticles embedded in a cell. In MSAFM mechanical actuators (PZTs) excite the probe and the sample at different frequencies as depicted in the first figure of this chapter. The nonlinear nature of the tip-sample interaction, at the point of contact of the probe and the surface of the sample, in the contact mode AFM configuration permits the mixing of the elastic waves. The new dynamic system comprises new

  12. 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

  13. Highly Autonomous Systems Workshop

    NASA Technical Reports Server (NTRS)

    Doyle, R.; Rasmussen, R.; Man, G.; Patel, K.

    1998-01-01

    It is our aim by launching a series of workshops on the topic of highly autonomous systems to reach out to the larger community interested in technology development for remotely deployed systems, particularly those for exploration.

  14. 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.

  15. Diabetic autonomic neuropathy.

    PubMed

    Clarke, B F; Ewing, D J; Campbell, I W

    1979-10-01

    This review attempts to outline the present understanding of diabetic autonomic neuropathy. The clinical features have been increasinly recognised but knowledge of the localization and morphology of the lesions and their pathogenesis remains fragmentary. A metabolic causation as postulated in somatic nerves accords best with clinical observations. Most bodily systems, particularly the cardiovascular, gastrointestinal and urogenital, are involved with added disturbances of thermoregulatory function and pupillary reflexes. Possible effects on neuroendocrine and peptidergic secretion and respiratory control await definition. Current interest centres around the development of a new generation of tests of autonomic nerve function that are simple, non-invasive, reproducible and allow precision in diagnosis and accurate quantitation. Most are based on cardiovascular reflexes and abnormality in them is assumed to reflect autonomic damage elsewhere. Probably no single test suffices and a battery of tests reflecting both parasympathetic and sympathetic function is preferable. Little is known of the natural history. The prevalence may be greater than previously suspected and although symptoms are mild in the majority, a few develop florid features. The relation of control and duration of diabetes to the onset and progression of autonomic neuropathy is not clearly established. Once tests of autonomic function become abnormal they usually remain abnormal. Symptomatic autonomic neuropathy carries a greatly increased mortality rate possibly due to indirect mechanisms such as renal failure and direct mechanisms such as cardio-resiratory arrest. Improved treatment of some of the more disabling symptoms has been possible in recent years. PMID:387501

  16. Containment of subsurface contaminants

    DOEpatents

    Corey, John C.

    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.

  17. Nonintrusive subsurface surveying capability

    SciTech Connect

    Tunnell, T.W.; Cave, S.P.

    1994-06-01

    This presentation describes the capabilities of a ground-pentrating radar (GPR) system developed by EG&G Energy Measurements (EM), a prime contractor to the Department of Energy (DOE). The focus of the presentation will be on the subsurface survey of DOE site TA-21 in Los Alamos, New Mexico. EG&G EM developed the system for the Department of Defense. The system is owned by the Department of the Army and currently resides at KO in Albuquerque. EM is pursuing efforts to transfer this technology to environmental applications such as waste-site characterization with DOE encouragement. The Army has already granted permission to use the system for the waste-site characterization activities.

  18. 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.

  19. SUBSURFACE FACILITY WORKER DOES ASSESSMENT

    SciTech Connect

    V. Arakali; E. Faillace; A. Linden

    2004-02-27

    The purpose of this design calculation is to estimate radiation doses received by personnel working in the subsurface facility of the repository performing emplacement, maintenance, and retrieval operations under normal conditions. The results of this calculation will be used to support the design of the subsurface facilities and provide occupational dose estimates for the License Application.

  20. Thinking Ahead: Autonomic Buildings

    SciTech Connect

    Brambley, Michael R. )

    2002-08-31

    The time has come for the commercial buildings industries to reconsider the very nature of the systems installed in facilities today and to establish a vision for future buildings that differs from anything in the history of human shelter. Drivers for this examination include reductions in building operation staffs; uncertain costs and reliability of electric power; growing interest in energy-efficient and resource-conserving?green? and?high-performance? commercial buildings; and a dramatic increase in security concerns since the tragic events of September 11. This paper introduces a new paradigm? autonomic buildings? which parallels the concept of autonomic computing, introduced by IBM as a fundamental change in the way computer networks work. Modeled after the human nervous system,?autonomic systems? themselves take responsibility for a large portion of their own operation and even maintenance. For commercial buildings, autonomic systems could provide environments that afford occupants greater opportunity to focus on the things we do in buildings rather than on operation of the building itself, while achieving higher performance levels, increased security, and better use of energy and other natural resources. The author uses the human body and computer networking to introduce and illustrate this new paradigm for high-performance commercial buildings. He provides a vision for the future of commercial buildings based on autonomicity, identifies current research that could contribute to this future, and highlights research and technological gaps. The paper concludes with a set of issues and needs that are key to converting this idealized future into reality.

  1. Pure autonomic failure.

    PubMed

    Garland, Emily M; Hooper, William B; Robertson, David

    2013-01-01

    A 1925 report by Bradbury and Eggleston first described patients with extreme orthostatic hypotension and a low, steady heart rate. Evidence accumulated over the next two decades that patients with orthostatic hypotension include those with pure autonomic failure (PAF), characterized by isolated peripheral autonomic dysfunction and decreased norepinephrine synthesis; multiple system atrophy (MSA) with symptoms of a central Parkinson-like syndrome and normal resting plasma norepinephrine; and Parkinson's disease (PD), with lesions in postganglionic noradrenergic neurons and signs of autonomic dysfunction. All three disorders are classified as α-synucleinopathies. Insoluble deposits of α-synuclein are found in glia in MSA, whereas they take the form of neuronal cytoplasmic inclusions called Lewy bodies in PAF and PD. The exact relationship between α-synuclein deposits and the pathology remains undetermined. PAF occurs sporadically, and progresses slowly with a relatively good prognosis. However, it has been proposed that some cases of PAF may develop a central neurodegenerative disorder. Differentiation between PAF, MSA, and PD with autonomic failure can be facilitated by a number of biochemical and functional tests and by imaging studies. Cardiac sympathetic innervation is generally intact in MSA but decreased or absent in Parkinson's disease with autonomic failure and PAF. Treatment of PAF is directed at relieving symptoms with nonpharmacological interventions and with medications producing volume expansion and vasoconstriction. Future studies should focus on determining the factors that lead to central rather than solely peripheral neurodegeneration. PMID:24095130

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. Exercise and autonomic function.

    PubMed

    Goldsmith, R L; Bloomfield, D M; Rosenwinkel, E T

    2000-03-01

    The complex interplay between the dichotomous subdivisions of the autonomic nervous system establishes and maintains a delicately tuned homeostasis in spite of an ever-changing environment. Aerobic exercise training can increase activity of the parasympathetic nervous system and decrease sympathetic activity. Conversely, it is well-documented that cardiac disease is often characterized by attenuated parasympathetic activity and heightened sympathetic tone. A correlation between autonomic disequilibrium and disease has led to the hypothesis that exercise training, as a therapy that restores the autonomic nervous system towards normal function, may be associated with, and possibly responsible for, outcome improvements in various populations. This is merely one of the many benefits that is conferred by chronic exercise training and reviewed in this issue. PMID:10758814

  7. 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.

  8. Cardiovascular autonomic neuropathy

    PubMed Central

    McCarty, Niamh

    2016-01-01

    Cardiovascular autonomic neuropathy often goes unrecognized. We present a case of a 22-year-old man with multiple manifestations of this disease, including weakness, dizziness, fatigue, tachycardia, abnormal QTc, and orthostasis, which occurred 2 years after his type 1 diabetes diagnosis. He exhibited parasympathetic denervation with resting tachycardia and exercise intolerance but also had evidence of orthostatic hypotension, which suggests sympathetic denervation. He did not have complete cardiovascular autonomic reflex testing, which would have been helpful, but improved with aggressive diabetes treatment and the increase of beta-blockade. It is important to identify these patients to understand their signs and symptoms and consider appropriate therapies. PMID:27034552

  9. Cardiovascular autonomic neuropathy.

    PubMed

    McCarty, Niamh; Silverman, Barry

    2016-04-01

    Cardiovascular autonomic neuropathy often goes unrecognized. We present a case of a 22-year-old man with multiple manifestations of this disease, including weakness, dizziness, fatigue, tachycardia, abnormal QTc, and orthostasis, which occurred 2 years after his type 1 diabetes diagnosis. He exhibited parasympathetic denervation with resting tachycardia and exercise intolerance but also had evidence of orthostatic hypotension, which suggests sympathetic denervation. He did not have complete cardiovascular autonomic reflex testing, which would have been helpful, but improved with aggressive diabetes treatment and the increase of beta-blockade. It is important to identify these patients to understand their signs and symptoms and consider appropriate therapies. PMID:27034552

  10. The Autonomous Helicopter System

    NASA Astrophysics Data System (ADS)

    Gilmore, John F.

    1984-06-01

    This paper describes an autonomous airborne vehicle being developed at the Georgia Tech Engineering Experiment Station. The Autonomous Helicopter System (AHS) is a multi-mission system consisting of three distinct sections: vision, planning and control. Vision provides the local and global scene analysis which is symbolically represented and passed to planning as the initial route planning constraints. Planning generates a task dependent path for the vehicle to traverse which assures maximum mission system success as well as safety. Control validates the path and either executes the given route or feeds back to previous sections in order to resolve conflicts.

  11. 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.

  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. Developing Autonomous Learners.

    ERIC Educational Resources Information Center

    Mulcahy, Robert F.

    1991-01-01

    Defines the concept of autonomous learning. Presents the Strategies Program for Effective Learning/Thinking (SPELT), including its underlying assumptions, instructional model, teacher training procedures, research findings, and anticipated future development. Research results include implications for learning-disabled and gifted students. (KS)

  14. Autonomous data transmission apparatus

    DOEpatents

    Kotlyar, Oleg M.

    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.

  15. Software Architecture for Autonomous Spacecraft

    NASA Technical Reports Server (NTRS)

    Shih, Jimmy S.

    1997-01-01

    The thesis objective is to design an autonomous spacecraft architecture to perform both deliberative and reactive behaviors. The Autonomous Small Planet In-Situ Reaction to Events (ASPIRE) project uses the architecture to integrate several autonomous technologies for a comet orbiter mission.

  16. Adverse possession of subsurface minerals

    SciTech Connect

    Bowles, P.N.

    1983-01-01

    Concepts applicable to adverse possession of subsurface minerals are generally the same as those that apply to adverse possession of all real estate. However, special requirements must be satisfied in order to perfect title to subsurface minerals by adverse possession, particularly when there has been a severance of the true title between surface and subsurface minerals. In those jurisdictions where senior and junior grants came from the state or commonwealth covering the same or some of the same land and in those areas where descriptions of land were vague or not carefully drawn, adverse possession serves to solidify land and mineral ownership. There may be some public, social, and economic justification in rewarding, with good title, those who take possession and use real estate for its intended use, including the extraction of subsurface minerals. 96 refernces.

  17. Quantifying shallow subsurface water and heat dynamics using coupled hydrological-thermal-geophysical inversion

    DOE PAGESBeta

    Tran, Anh Phuong; Dafflon, Baptiste; Hubbard, Susan S.; Kowalsky, Michael B.; Long, Philip; Tokunaga, Tetsu K.; Williams, Kenneth H.

    2016-08-31

    Improving our ability to estimate the parameters that control water and heat fluxes in the shallow subsurface is particularly important due to their strong control on recharge, evaporation and biogeochemical processes. The objectives of this study are to develop and test a new inversion scheme to simultaneously estimate subsurface hydrological, thermal and petrophysical parameters using hydrological, thermal and electrical resistivity tomography (ERT) data. The inversion scheme – which is based on a nonisothermal, multiphase hydrological model – provides the desired subsurface property estimates in high spatiotemporal resolution. A particularly novel aspect of the inversion scheme is the explicit incorporation of themore » dependence of the subsurface electrical resistivity on both moisture and temperature. The scheme was applied to synthetic case studies, as well as to real datasets that were autonomously collected at a biogeochemical field study site in Rifle, Colorado. At the Rifle site, the coupled hydrological-thermal-geophysical inversion approach well predicted the matric potential, temperature and apparent resistivity with the Nash–Sutcliffe efficiency criterion greater than 0.92. Synthetic studies found that neglecting the subsurface temperature variability, and its effect on the electrical resistivity in the hydrogeophysical inversion, may lead to an incorrect estimation of the hydrological parameters. The approach is expected to be especially useful for the increasing number of studies that are taking advantage of autonomously collected ERT and soil measurements to explore complex terrestrial system dynamics.« less

  18. 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

  19. Autonomous power expert system

    NASA Technical Reports Server (NTRS)

    Walters, Jerry L.; Petrik, Edward J.; Roth, Mary Ellen; Truong, Long Van; Quinn, Todd; Krawczonek, Walter M.

    1990-01-01

    The Autonomous Power Expert (APEX) system was designed to monitor and diagnose fault conditions that occur within the Space Station Freedom Electrical Power System (SSF/EPS) Testbed. APEX is designed to interface with SSF/EPS testbed power management controllers to provide enhanced autonomous operation and control capability. The APEX architecture consists of three components: (1) a rule-based expert system, (2) a testbed data acquisition interface, and (3) a power scheduler interface. Fault detection, fault isolation, justification of probable causes, recommended actions, and incipient fault analysis are the main functions of the expert system component. The data acquisition component requests and receives pertinent parametric values from the EPS testbed and asserts the values into a knowledge base. Power load profile information is obtained from a remote scheduler through the power scheduler interface component. The current APEX design and development work is discussed. Operation and use of APEX by way of the user interface screens is also covered.

  20. 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.

  1. 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.

  2. 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.

  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. Trigeminal autonomic cephalalgias.

    PubMed

    Eller, M; Goadsby, P J

    2016-01-01

    The trigeminal autonomic cephalalgias (TACs) are a group of primary headache disorders characterised by lateralized symptoms: prominent headache and ipsilateral cranial autonomic features, such as conjunctival injection, lacrimation and rhinorrhea. The TACs are: cluster headache (CH), paroxysmal hemicrania (PH), short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing (SUNCT)/short-lasting neuralgiform headache attacks with cranial autonomic features (SUNA) and hemicrania continua (HC). Their diagnostic criteria are outlined in the International Classification of Headache Disorders, third edition-beta (ICHD-IIIb). These conditions are distinguished by their attack duration and frequency, as well as response to treatment. HC is continuous and by definition responsive to indomethacin. The main differential when considering this headache is chronic migraine. Other TACs are remarkable for their short duration and must be distinguished from other short-lasting painful conditions, such as trigeminal neuralgia and primary stabbing headache. Cluster headache is characterised by exquisitely painful attacks that occur in discrete episodes lasting 15-180 min a few times a day. In comparison, PH occurs more frequently and is of shorter duration, and like HC is responsive to indomethacin. SUNCT/SUNA is the shortest duration and highest frequency TAC; attacks can occur over a hundred times every day. PMID:24888770

  5. 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.

    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

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. Collaborating with Autonomous Agents

    NASA Technical Reports Server (NTRS)

    Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

    2015-01-01

    With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

  13. 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.

  14. 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.

  15. 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.

  16. 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

  17. 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.

    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

  18. 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

  19. 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.

  20. 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.

  1. Autonomic Responses to Microgravity

    NASA Technical Reports Server (NTRS)

    Toscano, W. B.; Cowings, P. S.; Miller, N. E.

    1994-01-01

    The purpose of this report is to describe how changes in autonomic nervous system responses may be used as an index of individual differences in adaptational capacity to space flight. During two separate Spacelab missions, six crewmembers wore an ambulatory monitoring system which enabled continuous recording of their physiological responses for up to twelve hours a day for 3 to 5 mission days. The responses recorded were electrocardiography, respiration wave form, skin conductance level, hand temperature, blood flow to the hands and triaxial accelerations of the head and upper body. Three of these subjects had been given training, before the mission, in voluntary control of these autonomic responses as a means of facilitating adaptation to space. Three of these subjects served as Controls, i.e., did not receive this training but took anti-motion sickness medication. Nearly 300 hours of flight data are summarized. These data were examined using time-series analyses, spectral analyses of heart rate variability, and analyses of variance. Information was obtained on responses to space motion sickness, inflight medications, circadian rhythm, workload and fatigue. Preliminary assessment was made on the effectiveness of self-regulation training as a means of facilitating adaptation, with recommendations for future flights.

  2. Autonomous mobile communication relays

    NASA Astrophysics Data System (ADS)

    Nguyen, Hoa G.; Everett, Hobart R.; Manouk, Narek; Verma, Ambrish

    2002-07-01

    Maintaining a solid radio communication link between a mobile robot entering a building and an external base station is a well-recognized problem. Modern digital radios, while affording high bandwidth and Internet-protocol-based automatic routing capabilities, tend to operate on line-of-sight links. The communication link degrades quickly as a robot penetrates deeper into the interior of a building. This project investigates the use of mobile autonomous communication relay nodes to extend the effective range of a mobile robot exploring a complex interior environment. Each relay node is a small mobile slave robot equipped with sonar, ladar, and 802.11b radio repeater. For demonstration purposes, four Pioneer 2-DX robots are used as autonomous mobile relays, with SSC-San Diego's ROBART III acting as the lead robot. The relay robots follow the lead robot into a building and are automatically deployed at various locations to maintain a networked communication link back to the remote operator. With their on-board external sensors, they also act as rearguards to secure areas already explored by the lead robot. As the lead robot advances and RF shortcuts are detected, relay nodes that become unnecessary will be reclaimed and reused, all transparent to the operator. This project takes advantage of recent research results from several DARPA-funded tasks at various institutions in the areas of robotic simulation, ad hoc wireless networking, route planning, and navigation. This paper describes the progress of the first six months of the project.

  3. 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.

  4. 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.

  5. 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.

  6. Expanded Perspectives on Autonomous Learners

    ERIC Educational Resources Information Center

    Oxford, Rebecca L.

    2015-01-01

    This paper explores two general perspectives on autonomous learners: psychological and sociocultural. These perspectives introduce a range of theoretically grounded facets of autonomous learners, facets such as the self-regulated learner, the emotionally intelligent learner, the self-determined learner, the mediated learner, the socioculturally…

  7. [Autonomic features in Parkinson disease].

    PubMed

    Yamamoto, Toshimasa; Tamura, Naotoshi

    2012-04-01

    Nonmotor symptoms such as autonomic and neuropsychiatric dysfunctions, are commonly seen in Parkinson disease (PD). Recent studies have shown that PD is accompanied by cardiac sympathetic denervation and constipation even in the early stage. Neuropathological studies confirmed changes in the cardiac sympathetic nerves and the gastrointestinal tract. These findings suggest that PD neuropathology may occur first in the peripheral autonomic pathways and extend to the central autonomic pathways, in agreement with the "Braak theory". This article will reviews the symptoms and pathophysiology of gastrointestinal dysfunction, urinary disturbance, sexual dysfunction, sweating dysfunction, pupillary autonomic dysfunction, and orthostatic and postprandial hypotension in PD patients, and discuss to organ selectiveness in autonomic dysfunction in PD. PMID:22481512

  8. Autonomous docking ground demonstration

    NASA Technical Reports Server (NTRS)

    Lamkin, Steve L.; Le, Thomas Quan; Othon, L. T.; Prather, Joseph L.; Eick, Richard E.; Baxter, Jim M.; Boyd, M. G.; Clark, Fred D.; Spehar, Peter T.; Teters, Rebecca T.

    1991-01-01

    The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.

  9. 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.

  10. 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

  11. 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

  12. Method of installing subsurface barrier

    DOEpatents

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

    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.

  13. Geophysical characterization of subsurface barriers

    SciTech Connect

    Borns, D.J.

    1995-08-01

    An option for controlling contaminant migration from plumes and buried waste sites is to construct a subsurface barrier of a low-permeability material. The successful application of subsurface barriers requires processes to verify the emplacement and effectiveness of barrier and to monitor the performance of a barrier after emplacement. Non destructive and remote sensing techniques, such as geophysical methods, are possible technologies to address these needs. The changes in mechanical, hydrologic and chemical properties associated with the emplacement of an engineered barrier will affect geophysical properties such a seismic velocity, electrical conductivity, and dielectric constant. Also, the barrier, once emplaced and interacting with the in situ geologic system, may affect the paths along which electrical current flows in the subsurface. These changes in properties and processes facilitate the detection and monitoring of the barrier. The approaches to characterizing and monitoring engineered barriers can be divided between (1) methods that directly image the barrier using the contrasts in physical properties between the barrier and the host soil or rock and (2) methods that reflect flow processes around or through the barrier. For example, seismic methods that delineate the changes in density and stiffness associated with the barrier represents a direct imaging method. Electrical self potential methods and flow probes based on heat flow methods represent techniques that can delineate the flow path or flow processes around and through a barrier.

  14. 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.

  15. Autonomous Rover for Polar GPR Surveys

    NASA Astrophysics Data System (ADS)

    Ray, L.; Lever, J. H.; Courville, Z.; Walker, B.; Arcone, S. A.

    2015-12-01

    We deployed Yeti, an 80-kg, 4WD battery-powered rover to conduct ground-penetrating radar (GPR) surveys over crevasse-ridden ice sheets in Antarctica and Greenland. The rover navigated using GPS waypoint following and had 3 - 4 hr endurance at 5 km/hr while towing 60 - 70 kg of GPR equipment. Yeti's low ground pressure allowed it to cross thinly bridged crevasses without interrupting a survey. In Feb - Mar 2014, Yeti executed 23 autonomous GPR surveys covering 94 km of terrain on the ice transition to the main ice sheet in northwest Greenland. This was the first robotic effort directly to support manual crevasse surveys to map a safe route for vehicle travel, in this case a resupply traverse to Summit Station. Yeti towed a radar controller, 400 MHz antenna, GPS receiver and battery pack. Radar scan rate was 16 scans/m and pulse timing allowed good spatial resolution to about 20-m depth. The resulting data allowed us to map hundreds of subsurface crevasses and provide the results nightly to the manual survey team to compliment its efforts. We met our objectives: (a) to enhance operational efficiency of the concurrent manual surveys, and (b) to create a geo-referenced database of crevasse signatures to validate aerial- and satellite-based crevasse-mapping platforms. In Oct - Nov 2014, we deployed Yeti in Antarctica to conduct systematic GPR surveys across a crevasse-ridden section of the shear margin between the Ross and McMurdo ice shelves and thereby gain insight into its state of fracture and long-term stability. Yeti flawlessly executed a total of 613 km of autonomous GPR surveys at temperatures as low as - 33ºC. The rover towed a a radar controlling a 400 MHz and a 200 MHz antenna, the latter added to profile 160 m through the ice sheet. The main survey grid covered 5.7 km x 5.0 km, with survey lines at 50-m spacing oriented west-east across the Shear Zone (575 km total length). Yeti's tracks normally deviated only 1 - 2 m from a straight line between the two

  16. 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.

  17. Autonomous software: Myth or magic?

    NASA Astrophysics Data System (ADS)

    Allan, A.; Naylor, T.; Saunders, E. S.

    2008-03-01

    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.

  18. 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

  19. The Inchworm Deep Drilling System for Kilometer Scale Subsurface Exploration of Europa (IDDS)

    NASA Astrophysics Data System (ADS)

    Rafeek, S.; Gorevan, S. P.; Bartlett, P. W.; Kong, K. Y.

    2001-01-01

    The Inchworm Deep Drilling System (IDDS) is a compact subsurface transport system capable of accessing regions of astrobiological interest deep below the surface of Jupiter's moon, Europa. The IDDS answers Focus Investigation Area 1 as an innovative concept for implementing subsurface exploration of Europa. The concept is being developed at Honeybee Robotics to reach depths on the order of one kilometer with no tether or umbilical of any kind. The device's unique, inchworm-burrowing method appears capable of achieving this near-term depth goal and it is foreseeable that the IDDS will be capable of autonomously drilling to tens of kilometers below the surface. Logical applications of the concept also include accessing the proposed subsurface oceans on Ganymede and Callisto, subsurface water ice on Mars, and Lake Vostok on Earth. The conference presentation will communicate the IDDS concept and how it can enable the search for prebiotic and biotic chemical processes on Europa by bringing proper instrumentation to the subsurface ocean for in-situ investigation and/or returning samples to the surface. Currently, a proposal for breadboarding the IDDS is pending for the Research Opportunities for Space Science's Astrobiology Science and Technology Instrument Development NRA. Additional information is contained in the original extended abstract.

  20. Autonomous power system brassboard

    NASA Astrophysics Data System (ADS)

    Merolla, Anthony

    1992-10-01

    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

  1. 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

  2. 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

  3. Autonomic closure for turbulence simulations

    NASA Astrophysics Data System (ADS)

    King, Ryan N.; Hamlington, Peter E.; Dahm, Werner J. A.

    2016-03-01

    A new approach to turbulence closure is presented that eliminates the need to specify a predefined turbulence model and instead provides for fully adaptive, self-optimizing, autonomic closures. The closure is autonomic in the sense that the simulation itself determines the optimal local, instantaneous relation between any unclosed term and resolved quantities through the solution of a nonlinear, nonparametric system identification problem. This nonparametric approach allows the autonomic closure to freely adapt to varying nonlinear, nonlocal, nonequilibrium, and other turbulence characteristics in the flow. Even a simple implementation of the autonomic closure for large eddy simulations provides remarkably more accurate results in a priori tests than do dynamic versions of traditional prescribed closures.

  4. Autonomic closure for turbulence simulations.

    PubMed

    King, Ryan N; Hamlington, Peter E; Dahm, Werner J A

    2016-03-01

    A new approach to turbulence closure is presented that eliminates the need to specify a predefined turbulence model and instead provides for fully adaptive, self-optimizing, autonomic closures. The closure is autonomic in the sense that the simulation itself determines the optimal local, instantaneous relation between any unclosed term and resolved quantities through the solution of a nonlinear, nonparametric system identification problem. This nonparametric approach allows the autonomic closure to freely adapt to varying nonlinear, nonlocal, nonequilibrium, and other turbulence characteristics in the flow. Even a simple implementation of the autonomic closure for large eddy simulations provides remarkably more accurate results in a priori tests than do dynamic versions of traditional prescribed closures. PMID:27078285

  5. Autonomic disorders predicting Parkinson disease

    PubMed Central

    Palma, Jose-Alberto; Kaufmann, Horacio

    2014-01-01

    It is now well recognized that there is a premotor phase of Parkinson disease with hyposmia and REM sleep behavior disorder caused by degeneration of specific CNS neurons. Most patients with PD describe autonomic symptoms at the time of diagnosis suggesting that these features may have potential sensitivity as clinical biomarkers of the premotor phase. The recognition that damage to peripheral autonomic neurons is present in the early stages of Parkinson disease has led to a search for specific abnormalities in autonomic function that could serve as predictive biomarkers. There is evidence that constipation, urinary and sexual dysfunction and more recently decreased cardiac chronotropic response during exercise, are part of the premotor parkinsonian phenotype. The sensitivity and specificity of these features has yet to be accurately assessed. We briefly review the evidence for autonomic dysfunction as biomarkers of premotor PD. PMID:24262198

  6. 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

  7. ISS Update: Autonomous Mission Operations

    NASA Video Gallery

    NASA Public Affairs Officer Brandi Dean interviews Jeff Mauldin, Simulation Supervisor for Autonomous Mission Operations at Johnson Space Center in Houston, Texas. Ask us on Twitter @NASA_Johnson a...

  8. Autonomous Landing Hazard Avoidance Technology

    NASA Video Gallery

    Future NASA space crafts will be able to safely land on the Moon, Marsand even an asteroid, in potentially hazardous terrain areas, allautonomously. And NASA’s Autonomous Landing Hazard Avoidan...

  9. Autonomous Gaussian Decomposition

    NASA Astrophysics Data System (ADS)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, 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.

  10. 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.

  11. Autonomous underwater barcode recognition

    NASA Astrophysics Data System (ADS)

    Schulze, Karl R.

    2003-11-01

    Wide area symbol recognition is a task that plagues many autonomous vehicles. A process is needed first to recognize if the symbol is present, and if so where it is. Once the symbol's position is detected it must be analyzed and recognized. In this scenario we have a submersible attempting to locate man made objects on the bottom of a large water basin. These man made objects have bar codes on them that need to be read and the position of the code needs to be recorded relative to where it is in the entire pond. A two step process has been developed to allow the position recognition within a frame to be dealt with on a separate DSP associated with one of three total cameras. The object recognition is then dealt with on a high speed computer aboard the vehicle to read the proper code. The reading is done using a statistics based approach that assumes a noisy, but contrasting background. This approach has proven to be effective in environments in which the background has very little ordered noise, such as the bottom of lakes and ponds, but requires very high clarity in order to capture a suitable image.

  12. Autonomous mission operations

    NASA Astrophysics Data System (ADS)

    Frank, J.; Spirkovska, L.; McCann, R.; Wang, Lui; Pohlkamp, K.; Morin, L.

    NASA's Advanced Exploration Systems Autonomous Mission Operations (AMO) project conducted an empirical investigation of the impact of time delay on today's mission operations, and of the effect of processes and mission support tools designed to mitigate time-delay related impacts. Mission operation scenarios were designed for NASA's Deep Space Habitat (DSH), an analog spacecraft habitat, covering a range of activities including nominal objectives, DSH system failures, and crew medical emergencies. The scenarios were simulated at time delay values representative of Lunar (1.2-5 sec), Near Earth Object (NEO) (50 sec) and Mars (300 sec) missions. Each combination of operational scenario and time delay was tested in a Baseline configuration, designed to reflect present-day operations of the International Space Station, and a Mitigation configuration in which a variety of software tools, information displays, and crew-ground communications protocols were employed to assist both crews and Flight Control Team (FCT) members with the long-delay conditions. Preliminary findings indicate: 1) Workload of both crewmembers and FCT members generally increased along with increasing time delay. 2) Advanced procedure execution viewers, caution and warning tools, and communications protocols such as text messaging decreased the workload of both flight controllers and crew, and decreased the difficulty of coordinating activities. 3) Whereas crew workload ratings increased between 50 sec and 300 sec of time delay in the Baseline configuration, workload ratings decreased (or remained flat) in the Mitigation configuration.

  13. 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.

  14. 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.

  15. Autonomous Aerobraking at Mars

    NASA Technical Reports Server (NTRS)

    Hanna, Jill L.; Tolson, Robert; Cianciolo, Alicia Dwyer; Dec, John

    2002-01-01

    Aerobraking has become a proven approach for orbital missions at Mars. A launch of a 1000 kg class spacecraft on a Delta class booster saves 90% of the post-MOI fuel otherwise required to circularize the orbit. In 1997, Mars Global Surveyor demonstrated the feasibility and Mars 2001 Odyssey completed a nearly trouble free aerobraking phase in January 2002. In 2006, Mars Reconnaissance Orbiter will also utilize aerobraking. From the flight operations standpoint, however, aerobraking is labor intensive and high risk due to the large density variability in the Mars thermosphere. The maximum rate of aerobraking is typically limited by the maximum allowable temperature of the solar array which is the primary drag surface. Prior missions have used a surrogate variable, usually maximum free stream heat flux, as a basis for performing periapsis altitude corridor control maneuvers. This paper provides an adaptive sequential method for operationally relating measured temperatures to heat flux profile characteristics and performing maneuvers based directly on measured temperatures and atmospheric properties derived from the heat flux profiles. Simulations of autonomous aerobraking are performed using Odyssey mission data.

  16. Autonomous production of propellants

    NASA Technical Reports Server (NTRS)

    Ramohalli, Kumar; Schallhorn, P. A.

    1990-01-01

    The autonomous production of propellants is addressed. Since 80 to 90 percent of a spacecraft's mass is typically propellants, it is advantageous to produce propellants in strategic locations en route to, and at, the desired mission destination. This reduces the weight of the spacecraft and the cost of each mission. Since one of the primary goals of the space program is safety, a totally automated propellant production system is desirable. This system would remove, from hostile, high-risk extraterrestrial environments, the constant human intervention currently required in the production of many propellants. This enables the exploration of space to be more than the search for and production of fuel. As a proof-of-concept demonstration, one specific case was chosen for this study. That case was a composite propellant processor (the principle is more important than the application), and the specific processor used saved SERC the considerable cost of acquiring a new liquid propellant processor that would also have required similar automation.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. Introduction: energy and the subsurface.

    PubMed

    Christov, Ivan C; Viswanathan, Hari S

    2016-10-13

    This theme issue covers topics at the forefront of scientific research on energy and the subsurface, ranging from carbon dioxide (CO2) sequestration to the recovery of unconventional shale oil and gas resources through hydraulic fracturing. As such, the goal of this theme issue is to have an impact on the scientific community, broadly, by providing a self-contained collection of articles contributing to and reviewing the state-of-the-art of the field. This collection of articles could be used, for example, to set the next generation of research directions, while also being useful as a self-study guide for those interested in entering the field. Review articles are included on the topics of hydraulic fracturing as a multiscale problem, numerical modelling of hydraulic fracture propagation, the role of computational sciences in the upstream oil and gas industry and chemohydrodynamic patterns in porous media. Complementing the reviews is a set of original research papers covering growth models for branched hydraulic crack systems, fluid-driven crack propagation in elastic matrices, elastic and inelastic deformation of fluid-saturated rock, reaction front propagation in fracture matrices, the effects of rock mineralogy and pore structure on stress-dependent permeability of shales, topographic viscous fingering and plume dynamics in porous media convection.This article is part of the themed issue 'Energy and the subsurface'. PMID:27597784

  2. Calculation notes that support accident scenario and consequence development for the subsurface leak remaining subsurface accident

    SciTech Connect

    Ryan, G.W., Westinghouse Hanford

    1996-07-12

    This document supports the development and presentation of the following accident scenario in the TWRS Final Safety Analysis Report: Subsurface Leak Remaining Subsurface. The calculations needed to quantify the risk associated with this accident scenario are included within.

  3. Calculation notes that support accident scenario and consequence development for the subsurface leak remaining subsurface accident

    SciTech Connect

    Ryan, G.W., Westinghouse Hanford

    1996-09-19

    This document supports the development and presentation of the following accident scenario in the TWRS Final Safety Analysis Report: Subsurface Leak Remaining Subsurface. The calculations needed to quantify the risk associated with this accident scenario are included within.

  4. 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.

  5. Autonomic control of the eye.

    PubMed

    McDougal, David H; Gamlin, Paul D

    2015-01-01

    The autonomic nervous system influences numerous ocular functions. It does this by way of parasympathetic innervation from postganglionic fibers that originate from neurons in the ciliary and pterygopalatine ganglia, and by way of sympathetic innervation from postganglionic fibers that originate from neurons in the superior cervical ganglion. Ciliary ganglion neurons project to the ciliary body and the sphincter pupillae muscle of the iris to control ocular accommodation and pupil constriction, respectively. Superior cervical ganglion neurons project to the dilator pupillae muscle of the iris to control pupil dilation. Ocular blood flow is controlled both via direct autonomic influences on the vasculature of the optic nerve, choroid, ciliary body, and iris, as well as via indirect influences on retinal blood flow. In mammals, this vasculature is innervated by vasodilatory fibers from the pterygopalatine ganglion, and by vasoconstrictive fibers from the superior cervical ganglion. Intraocular pressure is regulated primarily through the balance of aqueous humor formation and outflow. Autonomic regulation of ciliary body blood vessels and the ciliary epithelium is an important determinant of aqueous humor formation; autonomic regulation of the trabecular meshwork and episcleral blood vessels is an important determinant of aqueous humor outflow. These tissues are all innervated by fibers from the pterygopalatine and superior cervical ganglia. In addition to these classical autonomic pathways, trigeminal sensory fibers exert local, intrinsic influences on many of these regions of the eye, as well as on some neurons within the ciliary and pterygopalatine ganglia. PMID:25589275

  6. Autonomic control of the eye

    PubMed Central

    McDougal, David H.; Gamlin, Paul D.

    2016-01-01

    The autonomic nervous system influences numerous ocular functions. It does this by way of parasympathetic innervation from postganglionic fibers that originate from neurons in the ciliary and pterygopalatine ganglia, and by way of sympathetic innervation from postganglionic fibers that originate from neurons in the superior cervical ganglion. Ciliary ganglion neurons project to the ciliary body and the sphincter pupillae muscle of the iris to control ocular accommodation and pupil constriction, respectively. Superior cervical ganglion neurons project to the dilator pupillae muscle of the iris to control pupil dilation. Ocular blood flow is controlled both via direct autonomic influences on the vasculature of the optic nerve, choroid, ciliary body, and iris, as well as via indirect influences on retinal blood flow. In mammals, this vasculature is innervated by vasodilatory fibers from the pterygopalatine ganglion, and by vasoconstrictive fibers from the superior cervical ganglion. Intraocular pressure is regulated primarily through the balance of aqueous humor formation and outflow. Autonomic regulation of ciliary body blood vessels and the ciliary epithelium is an important determinant of aqueous humor formation; autonomic regulation of the trabecular meshwork and episcleral blood vessels is an important determinant of aqueous humor outflow. These tissues are all innervated by fibers from the pterygopalatine and superior cervical ganglia. In addition to these classical autonomic pathways, trigeminal sensory fibers exert local, intrinsic influences on many of these regions of the eye, as well as on some neurons within the ciliary and pterygopalatine ganglia. PMID:25589275

  7. 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.

  8. 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.

  9. 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

  10. Contingency Software in Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Lutz, Robyn; Patterson-Hine, Ann

    2006-01-01

    This viewgraph presentation reviews the development of contingency software for autonomous systems. Autonomous vehicles currently have a limited capacity to diagnose and mitigate failures. There is a need to be able to handle a broader range of contingencies. The goals of the project are: 1. Speed up diagnosis and mitigation of anomalous situations.2.Automatically handle contingencies, not just failures.3.Enable projects to select a degree of autonomy consistent with their needs and to incrementally introduce more autonomy.4.Augment on-board fault protection with verified contingency scripts

  11. 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.

  12. 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.

  13. Intelligent, autonomous systems in space

    NASA Technical Reports Server (NTRS)

    Lum, H.; Heer, E.

    1988-01-01

    The Space Station is expected to be equipped with intelligent, autonomous capabilities; to achieve and incorporate these capabilities, the required technologies need to be identitifed, developed and validated within realistic application scenarios. The critical technologies for the development of intelligent, autonomous systems are discussed in the context of a generalized functional architecture. The present state of this technology implies that it be introduced and applied in an evolutionary process which must start during the Space Station design phase. An approach is proposed to accomplish design information acquisition and management for knowledge-base development.

  14. Gas House Autonomous System Monitoring

    NASA Technical Reports Server (NTRS)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

  15. 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

  16. Amino acid synthesis in Europa's subsurface environment

    NASA Astrophysics Data System (ADS)

    Abbas, Sam H.; Schulze-Makuch, Dirk

    2008-10-01

    It has been suggested that Europa's subsurface environment may provide a haven for prebiotic evolution and the development of exotic biotic systems. The detection of hydrogen peroxide, sulfuric acid, water, hydrates and related species on the surface, coupled with observed mobility of icebergs, suggests the presence of a substantial subsurface liquid reservoir that actively exchanges materials with the surface environment. The atmospheric, surface and subsurface environments are described with their known chemistry. Three synthetic schemes using hydrogen peroxide, sulfuric acid and hydrocyanic acid leading to the production of larger biologically important molecules such as amino acids are described. Metabolic pathways based on properties of the subsurface ocean environment are detailed. Tidal heating, osmotic gradients, chemical cycling, as well as hydrothermal vents, provide energy and materials that may support a course of prebiotic evolution leading to the development or sustenance of simple biotic systems. Putative organisms may employ metabolic pathways based on chemical oxidation reduction cycles occurring in the putative subsurface ocean environment.

  17. The Design and Implementation of Instruments for Low-Frequency Electromagnetic Sounding of the Martian Subsurface

    NASA Technical Reports Server (NTRS)

    Delory, G. T.; Grimm, R. E.

    2003-01-01

    Low-frequency electromagnetic soundings of the subsurface can identify liquid water at depths ranging from hundreds of meters to approx. 10 km in an environment such as Mars. Among the tools necessary to perform these soundings are low-frequency electric and magnetic field sensors capable of being deployed from a lander or rover such that horizontal and vertical components of the fields can be measured free of structural or electrical interference. Under a NASA Planetary Instrument Definition and Development Program (PIDDP), we are currently engaged in the prototype stages of low frequency sensor implementations that will enable this technique to be performed autonomously within the constraints of a lander platform. Once developed, this technique will represent both a complementary and alternative method to orbital radar sounding investigations, as the latter may not be able to identify subsurface water without significant ambiguities. Low frequency EM methods can play a crucial role as a ground truth measurement, performing deep soundings at sites identified as high priority areas by orbital radars. Alternatively, the penetration depth and conductivity discrimination of low-frequency methods may enable detection of subsurface water in areas that render radar methods ineffective. In either case, the sensitivity and depth of penetration inherent in low frequency EM exploration makes this tool a compelling candidate method to identify subsurface liquid water from a landed platform on Mars or other targets of interest.

  18. 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.

  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. 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 .

  1. 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.

  2. 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.

  3. 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

  4. Subsurface Explosions in Granular Media

    NASA Astrophysics Data System (ADS)

    Lai, Shuyue; Houim, Ryan; Oran, Elaine

    2015-11-01

    Numerical simulations of coupled gas-granular flows are used to study properties of shock formation and propagation in media, such as sand or regolith on the moon, asteroids, or comets. The simulations were performed with a multidimensional fully compressible model, GRAF, which solves two sets of coupled Navier-Stokes equations, one for the gas and one for the granular medium. The specific case discussed here is for a subsurface explosion in a granular medium initiated by an equivalent of 200g of TNT in depths ranging from 0.1m to 3m. The background conditions of 100K, 10 Pa and loose initial particle volume fraction of 25% are consistent with an event on a comet. The initial blast creates a cavity as a granular shock expands outwards. Since the gas-phase shock propagates faster than the granular shock in loose, granular material, some gas and particles are ejected before the granular shock arrives. When the granular shock reaches the surface, a cap-like structure forms. This cap breaks and may fall back on the surface and in this process, relatively dense particle clusters form. At lower temperatures, the explosion timescales are increased and entrained particles are more densely packed.

  5. Autonomic Computing: Freedom or a Threat?

    SciTech Connect

    Fink, Glenn A.; Frincke, Deb

    2007-12-01

    No longer is the question whether autonomic computing will gain general acceptance but when. Experts expect autonomic computing to be widely used within 10 years. When it does become mainstream, how will autonomics change system administration and corporations, and will the change be for better or worse? The answer depends on how well we anticipate the limitations of what autonomic systems are suited to do, whether we can collectively address the vulnerabilities of autonomic approaches as we draw upon the advantages, and whether administrators, companies, partners, and users are prepared for the transition. This article presents some design considerations to address the first two issues and some suggested survival techniques for the third.

  6. 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.

  7. 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).

  8. 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

  9. DOE UST interim subsurface barrier technologies workshop

    SciTech Connect

    1992-09-01

    This document contains information which was presented at a workshop regarding interim subsurface barrier technologies that could be used for underground storage tanks, particularly the tank 241-C-106 at the Hanford Reservation.

  10. 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

  11. Phylogenetic relationships among subsurface microorganisms

    SciTech Connect

    Nierzwicki-Bauer, S.A.

    1991-01-01

    This report summarizes the progress made from 6/90--3/91 toward completion of our project, Phylogenetic Relationships among subsurface microorganisms. 16S rRNA was sequenced, and based on the sequence the SMCC isolates were assigned to preliminary groups. Microorganisms were obtained at various depths at the Savannah River Site, including the Surface (0 m), Congaree (91 m), and Middendorf (244 m, 259 m, 265 m). Sequence data from four isolates from the Congaree formation indicate these microorganisms can be divided into Pseudomonas spp. or Acinetobacter spp. Three 16S rRNA probes were synthesized based on sequence data. The synthesized probes were tested through in situ hybridization. Optimal conditions for in situ hybridization were determined. Because stability of RNA-DNA hybrids is dependent on hybridization stringency, related organisms can be differentiated using a single probe under different strigencies. The results of these hybridizations agree with results obtained by Balkwill and Reeves using restriction fragment length polymorphism analysis. The RNA content of a cell reflects its metabolic state. Cells which are starved for four days are not detectable with the homologous 16S rRNA probe. However, within 15 minutes of refeeding, detectable rRNA appeared. This suggests that organisms which are undetectable in environmental samples due to starvation may be detectable after addition of nutrients. Stepwise addition of specific nutrients could indicate which nutrients are rate limiting for growth. Preliminary experiments with soil samples from the Hanford Site indicate indigenous microorganisms can be detected by oligionucleotide probes. Further, using multiple probes based on universal sequences increases the number of organisms detected. Double label experiments, using a rhodamine-labelled oligionucleotide probe with free coumarin succinimidyl ester will allow simultaneous detection of total bacteria and specific 16S rRNA containing bacteria. 4 tabs. (MHB)

  12. 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.

  13. 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.

  14. An Autonomously Reciprocating Transmembrane Nanoactuator.

    PubMed

    Watson, Matthew A; Cockroft, Scott L

    2016-01-22

    Biological molecular machines operate far from equilibrium by coupling chemical potential to repeated cycles of dissipative nanomechanical motion. This principle has been exploited in supramolecular systems that exhibit true machine behavior in solution and on surfaces. However, designed membrane-spanning assemblies developed to date have been limited to simple switches or stochastic shuttles, and true machine behavior has remained elusive. Herein, we present a transmembrane nanoactuator that turns over chemical fuel to drive autonomous reciprocating (back-and-forth) nanomechanical motion. Ratcheted reciprocating motion of a DNA/PEG copolymer threaded through a single α-hemolysin pore was induced by a combination of DNA strand displacement processes and enzyme-catalyzed reactions. Ion-current recordings revealed saw-tooth patterns, indicating that the assemblies operated in autonomous, asymmetric cycles of conformational change at rates of up to one cycle per minute. PMID:26661295

  15. 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.

  16. Treatment of gastrointestinal autonomic neuropathy.

    PubMed

    Törnblom, Hans

    2016-03-01

    The symptoms caused by gastrointestinal autonomic neuropathy in diabetes mellitus is important to highlight since it affects a large proportion of people with diabetes, regardless of whether this is type 1 or type 2. Gastroparesis and general signs of bowel dysfunction, such as constipation, diarrhoea and abdominal pain are most often encountered and involve both pharmacological and non-pharmacological treatment options. This mini-review summarises a presentation given at the 'Diagnosis and treatment of autonomic diabetic neuropathy in the gut' symposium at the 2015 annual meeting of the EASD. It is accompanied by another mini-review on a topic from this symposium (by Azpiroz and Malagelada, DOI: 10.1007/s00125-015-3831-1 ) and a commentary by the Session Chair, Péter Kempler (DOI: 10.1007/s00125-015-3826-y ). PMID:26634570

  17. Experiments on autonomous Boolean networks

    NASA Astrophysics Data System (ADS)

    Rosin, David P.; Rontani, Damien; Gauthier, Daniel J.; Schöll, Eckehard

    2013-06-01

    We realize autonomous Boolean networks by using logic gates in their autonomous mode of operation on a field-programmable gate array. This allows us to implement time-continuous systems with complex dynamical behaviors that can be conveniently interconnected into large-scale networks with flexible topologies that consist of time-delay links and a large number of nodes. We demonstrate how we realize networks with periodic, chaotic, and excitable dynamics and study their properties. Field-programmable gate arrays define a new experimental paradigm that holds great potential to test a large body of theoretical results on the dynamics of complex networks, which has been beyond reach of traditional experimental approaches.

  18. Revisiting subsurface chlorophyll and phytoplankton distributions

    NASA Astrophysics Data System (ADS)

    Hense, I.; Beckmann, A.

    2008-09-01

    Vertical profiles of chlorophyll concentration and phytoplankton biomass at ALOHA (HOT) are analyzed for the time period 1988 to 2004. Two different methods are applied: in the standard approach the data are averaged over depth horizons and in the alternative approach the profiles are shifted to the depth of the deepest subsurface maximum before averaging. The results show that the latter is the only meaningful way to look at vertical distribution patterns of both chlorophyll and phytoplankton in the oligotrophic ocean. In particular, a pronounced subsurface maximum of phytoplankton biomass appears only if this depth-adjustment method is used. Otherwise the vertical displacement of the subsurface biomass due to changes in the subsurface light field masks the actual signal: the thickness of the subsurface maximum is overestimated and the maximum is reduced. The results of this study have far-reaching consequences for the interpretation of the large number of profiles of chlorophyll and phytoplankton in the oligotrophic ocean. The absence of a subsurface biomass maximum might not be necessarily a result of photoacclimation but of inadequate analyses combined with coarse vertical resolution.

  19. Autonomous spacecraft rendezvous and docking

    NASA Technical Reports Server (NTRS)

    Tietz, J. C.; Almand, B. J.

    1985-01-01

    A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

  20. 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.

  1. 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.

  2. 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

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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...

  8. 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

  9. Tele/Autonomous Robot For Nuclear Facilities

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.; Tso, Kam S.

    1994-01-01

    Fail-safe tele/autonomous robotic system makes it unnecessary for human technicians to enter nuclear-fuel-reprocessing facilities and other high-radiation or otherwise hazardous industrial environments. Used to carry out experiments as exchanging equipment modules, turning bolts, cleaning surfaces, and grappling turning objects by use of mixture of autonomous actions and teleoperation with either single arm or two cooperating arms. System capable of fully autonomous operation, teleoperation or shared control.

  10. 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.

  11. 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.

  12. Subsurface Shielding Source Term Specification Calculation

    SciTech Connect

    S.Su

    2001-04-12

    The purpose of this calculation is to establish appropriate and defensible waste-package radiation source terms for use in repository subsurface shielding design. This calculation supports the shielding design for the waste emplacement and retrieval system, and subsurface facility system. The objective is to identify the limiting waste package and specify its associated source terms including source strengths and energy spectra. Consistent with the Technical Work Plan for Subsurface Design Section FY 01 Work Activities (CRWMS M&O 2001, p. 15), the scope of work includes the following: (1) Review source terms generated by the Waste Package Department (WPD) for various waste forms and waste package types, and compile them for shielding-specific applications. (2) Determine acceptable waste package specific source terms for use in subsurface shielding design, using a reasonable and defensible methodology that is not unduly conservative. This calculation is associated with the engineering and design activity for the waste emplacement and retrieval system, and subsurface facility system. The technical work plan for this calculation is provided in CRWMS M&O 2001. Development and performance of this calculation conforms to the procedure, AP-3.12Q, Calculations.

  13. 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.

  14. 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.

  15. 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.

  16. Autonomic dysfunction in primary sleep disorders.

    PubMed

    Miglis, Mitchell G

    2016-03-01

    The autonomic nervous system plays an important role in the coordination of many important physiologic functions during sleep. Many patients with untreated sleep disorders will describe symptoms of autonomic impairment, and a majority of patients with autonomic impairment have some form of sleep disorder. This article will explore possible explanations for this connection, as well as review the current literature on autonomic impairment in common primary sleep disorders including obstructive sleep apnea, insomnia, restless legs syndrome, periodic limb movement disorder, narcolepsy, and rapid eye movement sleep behavior disorder. PMID:27198946

  17. 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.

  18. Autonomous navigation - The ARMMS concept

    NASA Astrophysics Data System (ADS)

    Wood, L. J.; Jones, J. B.; Mease, K. D.; Kwok, J. H.; Goltz, G. L.; Kechichian, J. A.

    1984-08-01

    A conceptual design is outlined for the navigation subsystem of the Autonomous Redundancy and Maintenance Management Subsystem (ARMMS). The principal function of this navigation subsystem is to maintain the spacecraft over a specified equatorial longitude to within + or - 3 deg. In addition, the navigation subsystem must detect and correct internal faults. It comprises elements for a navigation executive and for orbit determination, trajectory, maneuver planning, and maneuver command. Each of these elements is described. The navigation subsystem is to be used in the DSCS III spacecraft.

  19. Autonomous sensor manager agents (ASMA)

    NASA Astrophysics Data System (ADS)

    Osadciw, Lisa A.

    2004-04-01

    Autonomous sensor manager agents are presented as an algorithm to perform sensor management within a multisensor fusion network. The design of the hybrid ant system/particle swarm agents is described in detail with some insight into their performance. Although the algorithm is designed for the general sensor management problem, a simulation example involving 2 radar systems is presented. Algorithmic parameters are determined by the size of the region covered by the sensor network, the number of sensors, and the number of parameters to be selected. With straight forward modifications, this algorithm can be adapted for most sensor management problems.

  20. 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

  1. Knowledge acquisition for autonomous systems

    NASA Technical Reports Server (NTRS)

    Lum, Henry; Heer, Ewald

    1988-01-01

    Knowledge-based capabilities for autonomous aerospace systems, such as the NASA Space Station, must encompass conflict-resolution functions comparable to those of human operators, with all elements of the system working toward system goals in a concurrent, asynchronous-but-coordinated fashion. Knowledge extracted from a design database will support robotic systems by furnishing geometric, structural, and causal descriptions required for repair, disassembly, and assembly. The factual knowledge for these databases will be obtained from a master database through a technical management information system, and it will in many cases have to be augmented by domain-specific heuristic knowledge acquired from domain experts.

  2. 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

  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. 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.

  5. 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.

  6. 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.

  7. Urban heat island in the subsurface

    NASA Astrophysics Data System (ADS)

    Ferguson, Grant; Woodbury, Allan D.

    2007-12-01

    The urban heat island effect has received significant attention in recent years due to the possible effect on long-term meteorological records. Recent studies of this phenomenon have suggested that this may not be important to estimates of regional climate change once data are properly corrected. However, surface air temperatures within urban environments have significant variation, making correction difficult. In the current study, we examine subsurface temperatures in an urban environment and the surrounding rural area to help characterize the nature of this variability. The results of our study indicate that subsurface temperatures are linked to land-use and supports previous work indicating that the urban heat island effect has significant and complex spatial variability. In most situations, the relationship between subsurface and surface processes cannot be easily determined, indicating that previous studies that relying on such a linkage may require further examination.

  8. 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.

  9. Improving the biodegradative capacity of subsurface bacteria

    SciTech Connect

    Romine, M.F.; Brockman, F.J.

    1993-04-01

    The continual release of large volumes of synthetic materials into the environment by agricultural and industrial sources over the last few decades has resulted in pollution of the subsurface environment. Cleanup has been difficult because of the relative inaccessibility of the contaminants caused by their wide dispersal in the deep subsurface, often at low concentrations and in large volumes. As a possible solution for these problems, interest in the introduction of biodegradative bacteria for in situ remediation of these sites has increased greatly in recent years (Timmis et al. 1988). Selection of biodegradative microbes to apply in such cleanup is limited to those strains that can survive among the native bacterial and predator community members at the particular pH, temperature, and moisture status of the site (Alexander, 1984). The use of microorganisms isolated from subsurface environments would be advantageous because the organisms are already adapted to the subsurface conditions. The options are further narrowed to strains that are able to degrade the contaminant rapidly, even in the presence of highly recalcitrant anthropogenic waste mixtures, and in conditions that do not require addition of further toxic compounds for the expression of the biodegradative capacity (Sayler et al. 1990). These obstacles can be overcome by placing the genes of well-characterized biodegradative enzymes under the control of promoters that can be regulated by inexpensive and nontoxic external factors and then moving the new genetic constructs into diverse groups of subsurface microbes. ne objective of this research is to test this hypothesis by comparing expression of two different toluene biodegradative enzymatic pathways from two different regulatable promoters in a variety of subsurface isolates.

  10. 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.

  11. Induction heaters used to heat subsurface formations

    DOEpatents

    Nguyen, Scott Vinh; Bass, Ronald M.

    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.

  12. 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.

  13. Heating systems for heating subsurface formations

    DOEpatents

    Nguyen, Scott Vinh; Vinegar, Harold J.

    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.

  14. 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.

  15. Apparatus for passive removal of subsurface contaminants

    DOEpatents

    Pemberton, Bradley E.; May, Christopher P.; Rossabi, Joseph

    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.

  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. 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 Mine Detection Sensors (AMDS)

    NASA Astrophysics Data System (ADS)

    Navish, Frank, III; May, Michael

    2006-05-01

    The Autonomous Mine Detection Sensors (AMDS) program is developing a prototype autonomous mine-detection sensor suite designed to be mounted on a small robotic platform that can find buried anti-personnel mines. Over the past two years, CyTerra Corp. and NIITEK, Inc. have developed complementary senor suites using a variety of ground penetrating radar (GPR) and electromagnetic induction (EMI) sensor configurations. The AMDS program is also working with industry and academia to develop automatic target recognition (ATR) algorithms. This paper provides a brief overview of evaluations that have been performed at Army facilities. Probability of Detection (Pd) and Probability of False Alarm (Pfa) results are provided for signal-to-noise type detection algorithms and also for promising pattern classification and neural network algorithms that were developed by Duke University, the University of Missouri-Columbia, and the University of Florida. After an evaluation in October 2005, both contractors' sensors performed comparably (about 90% Pd and 40% Pfa) against low-metal anti-personnel mines at an Army test site seeded with typical clutter. In some cases, university-developed pattern classification and neural network algorithms have reduced the Pfa by a factor of two against these clutter sets.

  19. Autonomous Robotic Inspection in Tunnels

    NASA Astrophysics Data System (ADS)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-06-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  20. 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

  1. 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…

  2. 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…

  3. 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.

  4. 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.

  5. A Practical Approach to Autonomic Dysfunction in Patients with Headache.

    PubMed

    Ailani, Jessica

    2016-05-01

    The presence of autonomic symptoms can make the diagnosis of headache challenging. While commonly seen with the trigeminal autonomic cephalalgias, autonomic dysfunction can also be present in patients with migraine, or with a variety of secondary headaches. The pathophysiology of cranial autonomic symptoms in headache is based between the trigeminal system and the hypothalamus. This article will review the pathophysiology and presence of autonomic dysfunction in headache and will provide techniques to help in headache diagnosis in patients with autonomic dysfunction. PMID:27021770

  6. Autonomic dysreflexia: a plastic surgery primer.

    PubMed

    Curtin, Catherine M; Gater, David R; Chung, Kevin C

    2003-09-01

    Plastic surgeons are integral to the management team for patients with spinal cord injuries, with responsibilities including pressure sore management and upper extremity reconstruction. Injury to the spinal cord profoundly disrupts the body's ability to maintain homeostasis. In particular, the autonomic system can become unregulated, resulting in a massive sympathetic discharge called autonomic dysreflexia. Autonomic dysreflexia occurs in the majority of patients with injuries above the sixth thoracic vertebra and causes sudden, severe hypertension. If left untreated, autonomic dysreflexia can result in stroke or death. Because this syndrome causes morbidity and mortality, it is crucial for plastic surgeons to be able to recognize and treat autonomic dysreflexia. This article reviews the etiology, symptoms, and treatment of this syndrome. PMID:12966249

  7. 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.

  8. Molecular analysis of deep-subsurface bacteria

    SciTech Connect

    Jimenez, L. )

    1990-07-01

    Bacterial isolates from deep-sediment samples from three sites at the Savannah River site, near Aiken, S.C., were studied to determine their microbial community composition and DNA structure by using total DNA hybridization and moles percent G+C. Standard phenotypic identification underestimated the bacterial diversity at the three sites, since isolates with the same phenotype had different DNA structures in terms of moles percent G+C and DNA homology. The G+C content of deep-subsurface bacteria ranged from 20 to 77 mol%. More than 60% of the isolates tested had G+C values similar to those of Pseudomonas spp., and 12% had values similar to those of Acinetobacter spp. No isolates from deeper formations showed the same DNA composition as isolates from upper formations. Total-DNA hybridization and DNA base composition analysis provided a better resolution than phenotypic tests for the understanding of the diversity and structure of deep-subsurface bacterial communities. On the basis of the moles percent G+C values, deep-subsurface isolates tested seemed to belong to the families Pseudomonadaceae and Neisseriaceae, which might reflect a long period of adaptation to the environmental conditions of the deep subsurface.

  9. 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...

  10. 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...

  11. Biomarker Preservation Potential of Subsurface Ecosystems

    NASA Astrophysics Data System (ADS)

    Onstott, T. C.; Harris, R. L.; Sherwood Lollar, B.; Pedersen, K. A.; Colwell, F. S.; Pfiffner, S. M.; Phelps, T. J.; Kieft, T. L.; Bakermans, C.

    2016-05-01

    If surface life emerged on Mars it may have succumbed to a Gaian bottleneck, whereas subsurface life would have continued to grow and evolve sheltered in rocks with sub-freezing saline pore water and their remains preserved in excavated rock.

  12. 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...

  13. Subsurface processes affecting cold season streamflow generation

    Technology Transfer Automated Retrieval System (TEKTRAN)

    The amount and timing of snowmelt-generated streamflow greatly affects the management of water resources in the western USA and Canada. Subsurface processes that deliver water to streams during snowmelt are somewhat different from those that occur during rainfall. In this study we document some of ...

  14. 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...

  15. 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.

  16. 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...

  17. 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...

  18. Irrigation strategies using subsurface drip irrigation

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Subsurface drip irrigation (SDI) is practiced on approximately 60,000 ha in the Texas High Plains region of the USA. Adoption of SDI continues to increase in the region. This has been attributed to record drought in Texas and the US Southwest in recent years, declining irrigation well yields, and ev...

  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. 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.

  1. [Evaluation of autonomic dysfunction by novel methods].

    PubMed

    Ando, Yukio; Obayashi, Konen

    2004-07-01

    The autonomic nervous system innervates every organ in the body. Since autonomic disturbances affect patient survival, an understanding and recognition of these disturbances are important. We adopted several new methods to evaluate autonomic function accurately. 123I-metaiodobenzylguanidine scintigraphy can assess the cardiac autonomic function even in the presence of cardiac arrhythmia. Laser-Doppler flowmetry, ultrasonographic study in the vessels and near-infrared spectrophotoscopy techniques serve as useful markers for screening the dysfunction of vasomotor neurons and blood circulation. Electrogastrography and the circadian rhythms of protein C secretion could be markers of the visceromotor nerves in the abdomen. Electrogastrography is a particularly useful tool for reflecting on functional changes in gastrointestinal motility. The evaluation of anemia could be a marker of autonomic dysfunction in the kidney and bone marrow in patients with familial amyloidotic polyneuropathy, pandysautonomia, and multiple system atrophy. Normocytic and normochromic anemia correlated with the severity of autonomic dysfunction were shown in these patients. We also evaluated the dysfunction of the neuroendocrine system and sudomotor neuron using our new autonomic function tests. The glucose-tolerance test could become one of the most useful clinical tools for detecting autonomic dysfunction in the endocrine system. Microhydrography and thermography could be useful tools for diagnosing the lesion site of dyshidrosis. Moreover, it is clinically important to check the systemic circulation and autonomic function in patients treated with sildenafil citrate and organ transplantation to save their lives. Our new autonomic function tests, such as laser-Doppler flowmetry and 123I-metaiodobenzylguanidine scintigraphy, are crucial tools in supplying the best symptomatic treatment for such patients. PMID:15344558

  2. Mapping planetary caves with an autonomous, heterogeneous robot team

    NASA Astrophysics Data System (ADS)

    Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

    Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

  3. Detection of subsurface eddies from satellite observations

    NASA Astrophysics Data System (ADS)

    Assassi, Charefeddine; Morel, Yves; Chaigneau, Alexis; Pegliasco, Cori; Vandermeirsch, Frederic; Rosemary, Morrow; Colas, François; Fleury, Sara; Cambra, Rémi

    2014-05-01

    This study aims to develop an index that allows distinguishing between surface and subsurface intensified eddies from surface data only, in particular using the sea surface height and the sea surface temperature available from satellite observations. To do this, we propose the use of a simple index based on the ratio of the sea surface temperature anomaly (SSTa) and the sea level anomaly (SLA). This index is first derived using an academic approach, based on idealized assumptions of geostrophic balance and Gaussian-shaped vortices. This index depends on the vertical extent (or decreasing rate) of the eddy and because of its sensitivity to the exact shape of the vortex, we were not able to evaluate these depths from the surface fields and our results remain qualitative. Then, in order to examine the pertinence and validity of the proposed index, SSTa and SLA were computed using outputs of a realistic regional circulation model in the Peru-Chile upwelling system where both surface and subsurface eddies coexist. Over a seven year simulation, the statistics shows that 71% of eddies are correctly identified as surface or subsurface intensified. Multi-core eddies are also largely present and represent an average of 37% of all vortices. These multi-core eddies contribute to a large number of the wrong identification (15%). Finally, the index was successfully applied on in-situ data to detect a previously observed subsurface-intensified Swoddy (slope water eddy) in the Bay of Biscay. This study suggests that the index can be successfully used to determine the exact nature of mesoscale eddies (surface or subsurface- intensified) from satellite observations only.

  4. Subsurface barrier verification technologies, informal report

    SciTech Connect

    Heiser, J.H.

    1994-06-01

    One of the more promising remediation options available to the DOE waste management community is subsurface barriers. Some of the uses of subsurface barriers include surrounding and/or containing buried waste, as secondary confinement of underground storage tanks, to direct or contain subsurface contaminant plumes and to restrict remediation methods, such as vacuum extraction, to a limited area. To be most effective the barriers should be continuous and depending on use, have few or no breaches. A breach may be formed through numerous pathways including: discontinuous grout application, from joints between panels and from cracking due to grout curing or wet-dry cycling. The ability to verify barrier integrity is valuable to the DOE, EPA, and commercial sector and will be required to gain full public acceptance of subsurface barriers as either primary or secondary confinement at waste sites. It is recognized that no suitable method exists for the verification of an emplaced barrier`s integrity. The large size and deep placement of subsurface barriers makes detection of leaks challenging. This becomes magnified if the permissible leakage from the site is low. Detection of small cracks (fractions of an inch) at depths of 100 feet or more has not been possible using existing surface geophysical techniques. Compounding the problem of locating flaws in a barrier is the fact that no placement technology can guarantee the completeness or integrity of the emplaced barrier. This report summarizes several commonly used or promising technologies that have been or may be applied to in-situ barrier continuity verification.

  5. 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.

  6. 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

  7. 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.

  8. Mechanical autonomous stochastic heat engines

    NASA Astrophysics Data System (ADS)

    Serra-Garcia, Marc; Foehr, Andre; Moleron, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara; . Team

    Stochastic heat engines extract work from the Brownian motion of a set of particles out of equilibrium. So far, experimental demonstrations of stochastic heat engines have required extreme operating conditions or nonautonomous external control systems. In this talk, we will present a simple, purely classical, autonomous stochastic heat engine that uses the well-known tension induced nonlinearity in a string. Our engine operates between two heat baths out of equilibrium, and transfers energy from the hot bath to a work reservoir. This energy transfer occurs even if the work reservoir is at a higher temperature than the hot reservoir. The talk will cover a theoretical investigation and experimental results on a macroscopic setup subject to external noise excitations. This system presents an opportunity for the study of non equilibrium thermodynamics and is an interesting candidate for innovative energy conversion devices.

  9. Testbed for an autonomous system

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

    In previous works we have defined a general architectural model for autonomous systems, which can easily be mapped to describe the functions of any automated system (SDAG-86-01), and we illustrated that model by applying it to the thermal management system of a space station (SDAG-87-01). In this note, we will further develop that application and design the detail of the implementation of such a model. First we present the environment of our application by describing the thermal management problem and an abstraction, which was called TESTBED, that includes a specific function for each module in the architecture, and the nature of the interfaces between each pair of blocks.

  10. 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.

  11. Autonomous Guidance, Navigation and Control

    NASA Technical Reports Server (NTRS)

    Bordano, A. J.; Mcswain, G. G.; Fernandes, S. T.

    1991-01-01

    The NASA Autonomous Guidance, Navigation and Control (GN&C) Bridging program is reviewed to demonstrate the program plan and GN&C systems for the Space Shuttle. The ascent CN&C system is described in terms of elements such as the general-purpose digital computers, sensors for the navigation subsystem, the guidance-system software, and the flight-control subsystem. Balloon-based and lidar wind soundings are used for operations assessment on the day of launch, and the guidance software is based on dedicated units for atmospheric powered flight, vacuum powered flight, and abort-specific situations. Optimization of the flight trajectories is discussed, and flight-control responses are illustrated for wavelengths of 500-6000 m. Alternate sensors are used for load relief, and adaptive GN&C systems based on alternate gain synthesis are used for systems failures.

  12. 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

  13. 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?

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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...

  20. Dissimilatory Iron Reduction by Microorganisms Under Hot Deep Subsurface Conditions

    NASA Astrophysics Data System (ADS)

    Ruper, S.; Sharma, A.; Scott, J. H.

    2010-04-01

    In subsurface environments the availability of terminal electron acceptors will be the major biogeochemical constraint, before temperature or pressure begin plays a role. Data is presented to show the impact of deep hot subsurface conditions on dissimilatory iron reduction.

  1. 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.

  2. Cardiovascular autonomic dysfunctions and sleep disorders.

    PubMed

    Calandra-Buonaura, Giovanna; Provini, Federica; Guaraldi, Pietro; Plazzi, Giuseppe; Cortelli, Pietro

    2016-04-01

    Animal and human studies have shown that disorders of the autonomic nervous system may influence sleep physiology. Conversely, sleep disorders may be associated with autonomic dysfunctions. The current review describes the clinical presentation, supposed pathogenetic mechanisms and the diagnostic and prognostic implications of impaired cardiovascular autonomic control in sleep disorders. This dysfunction may result from a common pathogenetic mechanism affecting both autonomic cardiovascular control and sleep, as in fatal familial insomnia, or it may be mainly caused by the sleep disorder, as observed in obstructive sleep apnoea. For other sleep disorders, like primary insomnia, restless legs syndrome, narcolepsy type 1 and rapid eye movement sleep behaviour disorder, the causal link with the autonomic dysfunction and its possible impact on health remains unsettled. Given its clinical implications, most of the data available suggest that a systematic assessment of the association between sleep disorders and impaired autonomic control of the cardiovascular system is warranted. Understanding the mechanism of this association may also yield insights into the interaction between the autonomic nervous system and sleep. PMID:26146026

  3. Current challenges in autonomous vehicle development

    NASA Astrophysics Data System (ADS)

    Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

    2006-05-01

    The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

  4. Tool samples subsurface soil free of surface contaminants

    NASA Technical Reports Server (NTRS)

    Kemmerer, W. W.; Wooley, B. C.

    1967-01-01

    Sampling device obtains pure subsurface soil that is free of any foreign substance that may exist on the surface. It is introduced through a contaminated surface area in a closed condition, opened, and a subsurface sample collected, sealed while in the subsurface position, and then withdrawn.

  5. 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.

  6. 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.

  7. 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

  8. 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.

  9. 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.

  10. 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.

  11. Spreadsheet log analysis in subsurface geology

    USGS Publications Warehouse

    Doveton, J.H.

    2000-01-01

    Most of the direct knowledge of the geology of the subsurface is gained from the examination of core and drill-cuttings recovered from boreholes drilled by the petroleum and water industries. Wireline logs run in these same boreholes generally have been restricted to tasks of lithostratigraphic correlation and thee location of hydrocarbon pay zones. However, the range of petrophysical measurements has expanded markedly in recent years, so that log traces now can be transformed to estimates of rock composition. Increasingly, logs are available in a digital format that can be read easily by a desktop computer and processed by simple spreadsheet software methods. Taken together, these developments offer accessible tools for new insights into subsurface geology that complement the traditional, but limited, sources of core and cutting observations.

  12. 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.

  13. Multicomponent elastic imaging of subsurface sources

    NASA Astrophysics Data System (ADS)

    Artman, B.; Goertz, A.

    2009-12-01

    Active seismic processing is concerned with two-way travel times, down and up, through the subsurface. In contrast, passive seismic methods are predicated on 3+ travel paths in the case of interferometry, and one-way travel path wave fields in the case of source location. Secondary sources and diffractions maintain the same kinematics as primary sources and can also be imaged in the context of source location. We present the chain of time-reverse modeling, image space wave-field decomposition, and various imaging conditions as a migration-like algorithm to locate subsurface sources in passive data and diffractors in active data. The presented imaging conditions respond differently to source mechanism radiation patterns which interpreted in combination provide more information than simply location. Passive data examples are developed with surface acquisition geometry.

  14. Application of multifocusing method for subsurface imaging

    NASA Astrophysics Data System (ADS)

    Landa, Evgeny; Gurevich, Boris; Keydar, Shemer; Trachtman, Pinchas

    1999-12-01

    The multifocusing method consists of stacking seismic data with arbitrary source-receiver distribution according to a new paraxial moveout correction. This multifocusing moveout correction is based on a local spherical approximation of the reflection wave fronts in the vicinity of an observation surface. The multifocusing method does not require any knowledge of the subsurface model and can produce an accurate zero offset section, even in cases of a complex geological structure and/or low signal-to-noise ratio. The moveout correction parameters are the emergence angle and the wavefront curvatures for the normal wave and normal-incidence-point wave. The estimated sets of these parameters can be looked upon as new wavefield attributes containing important information regarding the subsurface model. Application of the multifocusing algorithm to synthetic and real data examples demonstrates its advantages in comparison with conventional CMP processing.

  15. Mars subsurface investigation by MARSIS and SHARAD

    NASA Astrophysics Data System (ADS)

    Picardi, Giovanni; Loukas, Alessandro; Masdea, Arturo; Mastrogiuseppe, Marco; Restano, Marco; Seu, Roberto

    2010-05-01

    This paper is addressed to MARSIS (Mars Advanced Radar for Subsurface and Ionosphere Sounding in Mars Express ESA mission) data inversion. The data inversion gives an estimation of the materials composing the different detected interfaces, including the impurity (inclusion) of the first layer, if any, and its percentage, by the evaluation of the values of the permittivity that would generate the observed radio echoes. The methodology utilized for the data inversion is applied in different areas of the Mars South Pole and the results are reported for each area. The scattering behavior of the surface and subsurface (flat or rough), according with the geometrical structure, is estimated by the shape of the radar echoes and is utilized for the correction of their power; in such a way the contributions due to the surface and subsurface shape are estimated and the corrected echoes contain only the surface and subsurface material features. In this paper, in order to define the main topics of the data inversion, are only considered areas where flat surfaces are present and clutter echoes are negligible; the clutter cancellation can be applied according with the well known techniques. The scattering (volume scattering) due to the inclusion in the host material has been considered. Several frames, from SHARAD (SHAllow RADar in Mars Reconnaissance Orbiter US mission), in the same Mars area, have been analyzed and they confirmed the layer attenuation obtained by MARSIS data. Within the MARSIS papers this one presents a quantitative and scientific parametric data inversion, based on a physical approach and gives numerical results on the dielectric constant of the detected interface.

  16. 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.

  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 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.

  19. 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

  20. CLASSIFICATION OF THE MGR SUBSURFACE EXCAVATION SYSTEM

    SciTech Connect

    R. Garrett

    1999-08-31

    The purpose of this analysis is to document the Quality Assurance (QA) classification of the Monitored Geologic Repository (MGR) subsurface excavation system structures, systems and components (SSCs) performed by the MGR Safety Assurance Department. This analysis also provides the basis for revision of YMP/90-55Q, Q-List (YMP 1998). The Q-List identifies those MGR SSCs subject to the requirements of DOE/RW-0333P, ''Quality Assurance Requirements and Description'' (QARD) (DOE 1998).

  1. Metalliferous Biosignatures for Deep Subsurface Microbial Activity

    NASA Astrophysics Data System (ADS)

    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.

  2. Drill Embedded Nanosensors For Planetary Subsurface Exploration

    NASA Technical Reports Server (NTRS)

    Li, Jing

    2014-01-01

    We have developed a carbon nanotube (CNT) sensor for water vapor detection under Martian Conditions and the miniaturized electronics can be embedded in the drill bit for collecting sensor data and transmit it to a computer wirelessly.This capability will enable the real time measurement of ice during drilling. With this real time and in-situ measurement, subsurface ice detection can be easy, fast, precise and low cost.

  3. 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.

  4. Magnetic Polarity Streams and Subsurface Flows

    NASA Astrophysics Data System (ADS)

    Howe, R.; Baker, D.; Harra, L.; van Driel-Gesztelyi, L.; Komm, R.; Hill, F.; González Hernández, I.

    2013-12-01

    An important feature of the solar cycle is the transport of unbalanced magnetic flux from active regions towards the poles, which eventually results in polarity reversal. This transport takes the form of distinct “polarity streams” that are visible in the magnetic butterfly diagram. We compare the poleward migration rate estimated from such streams to that derived from the subsurface meridional flows measured in helioseismic data from the GONG network since 2001, and find that the results are in reasonable agreement.

  5. 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.

  6. 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.

  7. Molecular analysis of deep subsurface bacteria

    SciTech Connect

    Jimenez Baez, L.E.

    1989-09-01

    Deep sediments samples from site C10a, in Appleton, and sites, P24, P28, and P29, at the Savannah River Site (SRS), near Aiken, South Carolina were studied to determine their microbial community composition, DNA homology and mol %G+C. Different geological formations with great variability in hydrogeological parameters were found across the depth profile. Phenotypic identification of deep subsurface bacteria underestimated the bacterial diversity at the three SRS sites, since bacteria with the same phenotype have different DNA composition and less than 70% DNA homology. Total DNA hybridization and mol %G+C analysis of deep sediment bacterial isolates suggested that each formation is comprised of different microbial communities. Depositional environment was more important than site and geological formation on the DNA relatedness between deep subsurface bacteria, since more 70% of bacteria with 20% or more of DNA homology came from the same depositional environments. Based on phenotypic and genotypic tests Pseudomonas spp. and Acinetobacter spp.-like bacteria were identified in 85 million years old sediments. This suggests that these microbial communities might have been adapted during a long period of time to the environmental conditions of the deep subsurface.

  8. 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.

  9. New technologies for subsurface barrier wall construction

    SciTech Connect

    Mutch, R.D. Jr.; Ash, R.E. IV; Caputi, J.R.

    1996-12-31

    New technologies for subsurface barrier wall construction are entering the marketplace at an unprecedented pace. Much of this innovation centers around construction of geomembrane barrier walls but also includes advancements in self-hardening slurries and in permeation grouts, involving such diverse materials as colloidal silica gel and montan wax emulsions. These advancements come at a time when subsurface barrier walls are cautiously emerging out of the technological closet. During much of the 1980s, barrier walls of any type were regarded in some quarters as crude and antiquated. It was correspondingly predicted that remediation would be dominated by emerging treatment technologies such as bioremediation, air sparging, and surfactant flushing. Notwithstanding the considerable successes of these emerging technologies, particularly bioremediation, the fact remains that a significant percentage of Superfund, RCRA-corrective action and other waste disposal sites present hydrogeologic, chemical, and waste matrix complexities that far exceed the capabilities of current treatment-based remedial technologies. Consequently, containment-based technologies such as subsurface barrier walls and caps are being recognized once again as irreplaceable components of practical remediation programs at many complex sites.

  10. Satellite-derived subsurface urban heat island.

    PubMed

    Zhan, Wenfeng; Ju, Weimin; Hai, Shuoping; Ferguson, Grant; Quan, Jinling; Tang, Chaosheng; Guo, Zhen; Kong, Fanhua

    2014-10-21

    The subsurface urban heat island (SubUHI) is one part of the overall UHI specifying the relative warmth of urban ground temperatures against the rural background. To combat the challenge on measuring extensive underground temperatures with in situ instruments, we utilized satellite-based moderate-resolution imaging spectroradiometer data to reconstruct the subsurface thermal field over the Beijing metropolis through a three-time-scale model. The results show the SubUHI's high spatial heterogeneity. Within the depths shallower than 0.5 m, the SubUHI dominates along the depth profiles and analyses imply the moments for the SubUHI intensity reaching first and second extremes during a diurnal temperature cycle are delayed about 3.25 and 1.97 h per 0.1 m, respectively. At depths shallower than 0.05 m in particular, there is a subsurface urban cool island (UCI) in spring daytime, mainly owing to the surface UCI that occurs in this period. At depths between 0.5 and 10 m, the time for the SubUHI intensity getting to its extremes during an annual temperature cycle is lagged 26.2 days per meter. Within these depths, the SubUHI prevails without exception, with an average intensity of 4.3 K, varying from 3.2 to 5.3 K. PMID:25222374

  11. Electromagnetic detection of subsurface voids. Final report

    SciTech Connect

    Wilt, M.J.; Becker, A.

    1985-11-01

    This report presents the results of a time domain electromagnetic survey over a subsurface cavity near drillhole U2ck at the Nevada test site. The purpose of the survey was to test the sensitivity of the time domain method using maximum and minimum coupled coiled configurations for the detection of subsurface cavity. The survey was made with the Geonics EM-37 system deployed so that horizontal and vertical magnetic field sensors are positioned at the center of the transmitter loop. Measurements were made at 25 and 50 m intervals on N-S and E-W trending profiles over the drillhole. The purpose of the study was to map the subsurface cavity associated with drillhole U2ck. Initial results indicate significant horizontal field anomalies near ground zero. Some of the horizontal field profiles closely resemble scale model profiles for buried fractures presented by Becker and Dallal (1985). Because of the difference in the time scale, however, we cannot use those results to obtain quantitative information about the cavity.

  12. Activation of Peroxymonosulfate by Subsurface Minerals

    NASA Astrophysics Data System (ADS)

    Yu, Miao; Teel, Amy L.; Watts, Richard J.

    2016-08-01

    In situ chemical oxidation (ISCO) has become a widely used technology for the remediation of soil and groundwater. Although peroxymonosulfate is not a common oxidant source for ISCO, its chemical structure is similar to the ISCO reagents hydrogen peroxide and persulfate, suggesting that peroxymonosulfate may have the beneficial properties of each of these oxidants. Peroxymonosulfate activation in the presence of subsurface minerals was examined as a basis for ISCO, and possible reactive species (hydroxyl radical, sulfate radical, and reductants + nucleophiles) generated in the mineral-activated peroxymonosulfate systems were investigated. Rates of peroxymonosulfate decomposition and generation rates of reactive species were studied in the presence of three iron oxides, one manganese oxide, and three soil fractions. The iron oxide hematite-activated peroxymonosulfate system most effectively degraded the hydroxyl radical probe nitrobenzene. Reductants + nucleophiles were not generated in mineral-activated peroxymonosulfate systems. Use of the probe compound anisole in conjunction with scavengers demonstrated that both sulfate radical and hydroxyl radical are generated in mineral-activated peroxymonosulfate systems. In order to confirm the activation of peroxymonosulfate by subsurface minerals, one natural soil and associated two soil fractions were evaluated as peroxymonosulfate catalysts. The natural soil did not effectively promote the generation of oxidants; however, the soil organic matter was found to promote the generation of reductants + nucleophiles. The results of this research show that peroxymonosulfate has potential as an oxidant source for ISCO applications, and would be most effective in treating halogenated contaminants when soil organic matter is present in the subsurface.

  13. 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

  14. Subsurface heat flow in an urban environment

    NASA Astrophysics Data System (ADS)

    Ferguson, Grant; Woodbury, Allan D.

    2004-02-01

    The subsurface temperature field beneath Winnipeg, Canada, is significantly different from that of the surrounding rural areas. Downward heat flow to depths as great as 130 m has been noted in some areas beneath the city and groundwater temperatures in a regional aquifer have risen by as much as 5°C in some areas. Numerical simulation of heat transport supports the conjecture that these temperature changes can be largely attributed to heat loss from buildings and the temperature at any given point is sensitive to the distance from and the age of any buildings. The effect is most noticable when buildings are closely spaced, which is typical of urban areas. Temperature measurements in areas more than a few hundred meters away from any heated structure were only a few tenths of a degree Celsius greater than those observed outside the city, suggesting that other reasons for increases in subsurface temperature, such as changes in surface cover or climate change, may be responsible for some of the some of the observed increase in temperatures. These sources of additional heat to the subsurface make it difficult to resolve information on past climates from temperatures measured in boreholes and monitoring wells. In some areas, the temperature increases may also have an impact on geothermal energy resources. This impact might be in the form of an increase in heat pump efficiency or in the case of the Winnipeg area, a decrease in the efficiency of direct use of groundwater for cooling.

  15. Hydrogen Utilization Potential in Subsurface Sediments

    PubMed Central

    Adhikari, Rishi R.; Glombitza, Clemens; Nickel, Julia C.; Anderson, Chloe H.; Dunlea, Ann G.; Spivack, Arthur J.; Murray, Richard W.; D'Hondt, Steven; Kallmeyer, Jens

    2016-01-01

    Subsurface microbial communities undertake many terminal electron-accepting processes, often simultaneously. Using a tritium-based assay, we measured the potential hydrogen oxidation catalyzed by hydrogenase enzymes in several subsurface sedimentary environments (Lake Van, Barents Sea, Equatorial Pacific, and Gulf of Mexico) with different predominant electron-acceptors. Hydrogenases constitute a diverse family of enzymes expressed by microorganisms that utilize molecular hydrogen as a metabolic substrate, product, or intermediate. The assay reveals the potential for utilizing molecular hydrogen and allows qualitative detection of microbial activity irrespective of the predominant electron-accepting process. Because the method only requires samples frozen immediately after recovery, the assay can be used for identifying microbial activity in subsurface ecosystems without the need to preserve live material. We measured potential hydrogen oxidation rates in all samples from multiple depths at several sites that collectively span a wide range of environmental conditions and biogeochemical zones. Potential activity normalized to total cell abundance ranges over five orders of magnitude and varies, dependent upon the predominant terminal electron acceptor. Lowest per-cell potential rates characterize the zone of nitrate reduction and highest per-cell potential rates occur in the methanogenic zone. Possible reasons for this relationship to predominant electron acceptor include (i) increasing importance of fermentation in successively deeper biogeochemical zones and (ii) adaptation of H2ases to successively higher concentrations of H2 in successively deeper zones. PMID:26858697

  16. Hydrogen Utilization Potential in Subsurface Sediments.

    PubMed

    Adhikari, Rishi R; Glombitza, Clemens; Nickel, Julia C; Anderson, Chloe H; Dunlea, Ann G; Spivack, Arthur J; Murray, Richard W; D'Hondt, Steven; Kallmeyer, Jens

    2016-01-01

    Subsurface microbial communities undertake many terminal electron-accepting processes, often simultaneously. Using a tritium-based assay, we measured the potential hydrogen oxidation catalyzed by hydrogenase enzymes in several subsurface sedimentary environments (Lake Van, Barents Sea, Equatorial Pacific, and Gulf of Mexico) with different predominant electron-acceptors. Hydrogenases constitute a diverse family of enzymes expressed by microorganisms that utilize molecular hydrogen as a metabolic substrate, product, or intermediate. The assay reveals the potential for utilizing molecular hydrogen and allows qualitative detection of microbial activity irrespective of the predominant electron-accepting process. Because the method only requires samples frozen immediately after recovery, the assay can be used for identifying microbial activity in subsurface ecosystems without the need to preserve live material. We measured potential hydrogen oxidation rates in all samples from multiple depths at several sites that collectively span a wide range of environmental conditions and biogeochemical zones. Potential activity normalized to total cell abundance ranges over five orders of magnitude and varies, dependent upon the predominant terminal electron acceptor. Lowest per-cell potential rates characterize the zone of nitrate reduction and highest per-cell potential rates occur in the methanogenic zone. Possible reasons for this relationship to predominant electron acceptor include (i) increasing importance of fermentation in successively deeper biogeochemical zones and (ii) adaptation of H2ases to successively higher concentrations of H2 in successively deeper zones. PMID:26858697

  17. Monitoring subsurface barrier integrity using perfluorocarbon tracers

    SciTech Connect

    Sullivan, T.M.; Heiser, J.; Gard, A.; Senum, G.

    1998-06-01

    Subsurface barriers are an extremely promising remediation option to many waste-management problems. It is recognized that monitoring of the barrier is necessary to provide confidence in the ability of the barrier to contain the pollutants. However, the large size and deep placement of subsurface barriers make detection of leaks a challenging task. Therefore, typical geophysical methods are not suitable for the monitoring of an emplaced barrier`s integrity. Perfluorocarbon tracers (PFTs) have been tested as a means of barrier verification at the Hanford geotechnical test facility, where a soil/cement barrier was emplaced around a buried drum. PFTs were injected beneath the drum for three days in the center of the barrier 3 m below grade. The concentration of PFTs in seven external and two internal monitoring wells has been measured as a function of time over a 17-day period. The data have been analyzed through numerical modeling to determine barrier integrity and PFT diffusion rates through the barrier. This paper discusses the experimental design, test results, data analysis, and modeling of PFT transport in the subsurface system.

  18. Chemical inversion in the subsurface hydrosphere

    SciTech Connect

    Yezhov, Yu.A.

    1980-09-01

    A quite common nature of chemical inversion in subsurface hydrosphere is shown in examples of several oil- and gas-bearing regions of the USSR. In particular, when the data of sampling from deep wells of the Volgo-Urals, Mangyshlak, and Western Turkmenian regions were compared, it became obvious that the composite chemical profile of subsurface hydrosphere consists of a vertical alternation of three zones: of increasing (I-II-IIIa genetic types of subsurface waters), maximum (IIIb), and decreasing water mineralization (III'a-II'-I'). The depth of occurrence of the lower inversion branch of zonality depends on the geotectonic activity at depth. It is closer to the Earth's surface in regions of Alpine tectogenesis, whereas in regions of ancient folding it lies at great depths which have not yet been reached by most deep wells. The formation of the inversion zone in the Earth's crust is connected with penetration from below ascending demineralized fluids of sodium bicarbonate type (I'). The latter is due to the presence at great depths of large quantities of free carbonic acid which is involved in hydrolytic processes of decomposition of sodium-containing minerals and produces sodium-type waters.

  19. Autonomic Closure for Large Eddy Simulation

    NASA Astrophysics Data System (ADS)

    King, Ryan; Hamlington, Peter; Dahm, Werner J. A.

    2015-11-01

    A new autonomic subgrid-scale closure has been developed for large eddy simulation (LES). The approach poses a supervised learning problem that captures nonlinear, nonlocal, and nonequilibrium turbulence effects without specifying a predefined turbulence model. By solving a regularized optimization problem on test filter scale quantities, the autonomic approach identifies a nonparametric function that represents the best local relation between subgrid stresses and resolved state variables. The optimized function is then applied at the grid scale to determine unknown LES subgrid stresses by invoking scale similarity in the inertial range. A priori tests of the autonomic approach on homogeneous isotropic turbulence show that the new approach is amenable to powerful optimization and machine learning methods and is successful for a wide range of filter scales in the inertial range. In these a priori tests, the autonomic closure substantially improves upon the dynamic Smagorinsky model in capturing the instantaneous, statistical, and energy transfer properties of the subgrid stress field.

  20. Cooperative Autonomic Management in Dynamic Distributed Systems

    NASA Astrophysics Data System (ADS)

    Xu, Jing; Zhao, Ming; Fortes, José A. B.

    The centralized management of large distributed systems is often impractical, particularly when the both the topology and status of the system change dynamically. This paper proposes an approach to application-centric self-management in large distributed systems consisting of a collection of autonomic components that join and leave the system dynamically. Cooperative autonomic components self-organize into a dynamically created overlay network. Through local information sharing with neighbors, each component gains access to global information as needed for optimizing performance of applications. The approach has been validated and evaluated by developing a decentralized autonomic system consisting of multiple autonomic application managers previously developed for the In-VIGO grid-computing system. Using analytical results from complex random network and measurements done in a prototype system, we demonstrate the robustness, self-organization and adaptability of our approach, both theoretically and experimentally.

  1. 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

  2. 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...

  3. A Primer on Autonomous Aerial Vehicle Design

    PubMed Central

    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

  4. 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.

  5. Autonomous Science Decisions for Mars Sample Return

    NASA Astrophysics Data System (ADS)

    Roush, T. L.; Gulick, V.; Morris, R.; Gazis, P.; Benedix, G.; Glymour, C.; Ramsey, J.; Pedersen, L.; Ruzon, M.; Buntine, W.; Oliver, J.

    1999-03-01

    Robotic explorers, e.g. rovers, need to make crucial science decisions autonomously that are distinct from control, health, and navigation issues. We have investigated potential tools that can be applied to imaging and near-infrared spectral data.

  6. Exploring Mars via Autonomously Networked Spacecraft

    NASA Astrophysics Data System (ADS)

    Wyatt, E. J.; Burleigh, S. C.; Clare, L. P.; Torgerson, J. L.; Wagstaff, K. L.

    2012-06-01

    Enabling multiple assets to coordinate their activities autonomously via space networking techniques can significantly improve the way we explore Mars by enabling collaborative observations to improve science return and flexibility to reduce risk.

  7. Local autonomic failure affecting a limb.

    PubMed Central

    Johnson, R H; Robinson, B J

    1987-01-01

    Three patients are described who presented with autonomic failure affecting predominantly one limb. Physiological studies revealed that there was sweating loss in the limb which appeared to be due to a preganglionic autonomic lesion and not to a sweat gland abnormality. In all three patients there was also evidence of failure of vasomotor control. There was no evidence of more generalised autonomic failure or neurological deficit. In two patients the condition appeared to be static and, according to the patients' accounts was life long. In the third the sweating loss was present for three years prior to pain loss becoming evident from C2/3 to T1 on the same side as the sweating loss. These patients, together with two recent case reports, indicate that isolated local autonomic failure, probably from a discrete cord lesion, can be a cause of presenting symptoms related to sweating loss or to change in temperature in a limb. PMID:3612155

  8. 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.

  9. Control System Validation In The Autonomous Helicopter

    NASA Astrophysics Data System (ADS)

    Gilmore, John F.; Fugedy, John; Friedel, Thomas

    1989-03-01

    Autonomous systems require the ability to analyze their environment and develop responsive plans of action. Autonomous vehicle research has led to the development of several land, sea, and air vehicle prototypes. These systems integrate vision, diagnostics, planning, situation assessment, tactical reasoning, and intelligent control at a variety of levels to function in limited environments or computer simulation. Route planning in these systems has historically focused on pure numerical computations unable to adapt to the dynamic nature of the world. This paper describes a knowledge-based system for autonomous route planning that has been applied to airborne vehicles. Specific focus is the vehicle model knowledge source that validates routes based upon the physical capabilities of the helicopter system. An overview of the autonomous helicopter is present to establish system context with specific results in validated route planning presented.

  10. An introduction to autonomous control systems

    NASA Technical Reports Server (NTRS)

    Antsaklis, Panos J.; Passino, Kevin M.; Wang, S. J.

    1991-01-01

    The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

  11. 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.

  12. Autonomic and Coevolutionary Sensor Networking

    NASA Astrophysics Data System (ADS)

    Boonma, Pruet; Suzuki, Junichi

    (WSNs) applications are often required to balance the tradeoffs among conflicting operational objectives (e.g., latency and power consumption) and operate at an optimal tradeoff. This chapter proposes and evaluates a architecture, called BiSNET/e, which allows WSN applications to overcome this issue. BiSNET/e is designed to support three major types of WSN applications: , and hybrid applications. Each application is implemented as a decentralized group of, which is analogous to a bee colony (application) consisting of bees (agents). Agents collect sensor data or detect an event (a significant change in sensor reading) on individual nodes, and carry sensor data to base stations. They perform these data collection and event detection functionalities by sensing their surrounding network conditions and adaptively invoking behaviors such as pheromone emission, reproduction, migration, swarming and death. Each agent has its own behavior policy, as a set of genes, which defines how to invoke its behaviors. BiSNET/e allows agents to evolve their behavior policies (genes) across generations and autonomously adapt their performance to given objectives. Simulation results demonstrate that, in all three types of applications, agents evolve to find optimal tradeoffs among conflicting objectives and adapt to dynamic network conditions such as traffic fluctuations and node failures/additions. Simulation results also illustrate that, in hybrid applications, data collection agents and event detection agents coevolve to augment their adaptability and performance.

  13. Autonomic Findings in Takotsubo Cardiomyopathy.

    PubMed

    Norcliffe-Kaufmann, Lucy; Kaufmann, Horacio; Martinez, Jose; Katz, Stuart D; Tully, Lisa; Reynolds, Harmony R

    2016-01-15

    Takotsubo cardiomyopathy (TC) often occurs after emotional or physical stress. Norepinephrine levels are unusually high in the acute phase, suggesting a hyperadrenergic mechanism. Comparatively little is known about parasympathetic function in patients with TC. We sought to characterize autonomic function at rest and in response to physical and emotional stimuli in 10 women with a confirmed history of TC and 10 age-matched healthy women. Sympathetic and parasympathetic activity was assessed at rest and during baroreflex stimulation (Valsalva maneuver and tilt testing), cognitive stimulation (Stroop test), and emotional stimulation (event recall, patients). Ambulatory blood pressure monitoring and measurement of brachial artery flow-mediated vasodilation were also performed. TC women (tested an average of 37 months after the event) had excessive pressor responses to cognitive stress (Stroop test: p <0.001 vs baseline and p = 0.03 vs controls) and emotional arousal (recall of TC event: p = 0.03 vs baseline). Pressor responses to hemodynamic stimuli were also amplified (Valsalva overshoot: p <0.05) and prolonged (duration: p <0.01) in the TC women compared with controls. Plasma catecholamine levels did not differ between TC women and controls. Indexes of parasympathetic (vagal) modulation of heart rate induced by respiration and cardiovagal baroreflex gain were significantly decreased in the TC women versus controls. In conclusion, even long after the initial episode, women with previous episode of TC have excessive sympathetic responsiveness and reduced parasympathetic modulation of heart rate. Impaired baroreflex control may therefore play a role in TC. PMID:26743349

  14. Is acting on delusions autonomous?

    PubMed Central

    2013-01-01

    In this paper the question of autonomy in delusional disorders is investigated using a phenomenological approach. I refer to the distinction between freedom of intentional action, and freedom of the will, and develop phenomenological descriptions of lived autonomy, taking into account the distinction between a pre-reflective and a reflective type. Drawing on a case report, I deliver finely-grained phenomenological descriptions of lived autonomy and experienced self-determination when acting on delusions. This analysis seeks to demonstrate that a person with delusions can be described as responsible for her behaviour on a ‘framed’ level (level of freedom of intentional action), even though she is not autonomous on a higher (‘framing’) level (level of freedom of the will), if, and only if, the goods of agency for herself and others are respected. In these cases the person with delusions is very nearly comparable to people in love, who are also not free to choose their convictions, and who could also be rightly held responsible for the behaviour flowing from their convictions. PMID:24125114

  15. Semi-Autonomous Vehicle Project

    NASA Technical Reports Server (NTRS)

    Stewart, Christopher

    2016-01-01

    The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

  16. Mechanical Autonomous Stochastic Heat Engine.

    PubMed

    Serra-Garcia, Marc; Foehr, André; Molerón, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara

    2016-07-01

    Stochastic heat engines are devices that generate work from random thermal motion using a small number of highly fluctuating degrees of freedom. Proposals for such devices have existed for more than a century and include the Maxwell demon and the Feynman ratchet. Only recently have they been demonstrated experimentally, using, e.g., thermal cycles implemented in optical traps. However, recent experimental demonstrations of classical stochastic heat engines are nonautonomous, since they require an external control system that prescribes a heating and cooling cycle and consume more energy than they produce. We present a heat engine consisting of three coupled mechanical resonators (two ribbons and a cantilever) subject to a stochastic drive. The engine uses geometric nonlinearities in the resonating ribbons to autonomously convert a random excitation into a low-entropy, nonpassive oscillation of the cantilever. The engine presents the anomalous heat transport property of negative thermal conductivity, consisting in the ability to passively transfer energy from a cold reservoir to a hot reservoir. PMID:27419553

  17. Autonomic healing of polymer composites

    NASA Astrophysics Data System (ADS)

    Sottos, N. R.; Geubelle, P. H.; Moore, J. S.; Kessler, M. R.; Sriram, S. R.; Brown, E. N.; Viswanathan, S.

    2001-02-01

    Structural polymers are susceptible to damage in the form of cracks, which form deep within the structure where detection is difficult and repair is almost impossible. Cracking leads to mechanical degradation of fibre-reinforced polymer composites; in microelectronic polymeric components it can also lead to electrical failure. Microcracking induced by thermal and mechanical fatigue is also a long-standing problem in polymer adhesives. Regardless of the application, once cracks have formed within polymeric materials, the integrity of the structure is significantly compromised. Experiments exploring the concept of self-repair have been previously reported, but the only successful crack-healing methods that have been reported so far require some form of manual intervention. Here we report a structural polymeric material with the ability to autonomically heal cracks. The material incorporates a microencapsulated healing agent that is released upon crack intrusion. Polymerization of the healing agent is then triggered by contact with an embedded catalyst, bonding the crack faces. Our fracture experiments yield as much as 75% recovery in toughness, and we expect that our approach will be applicable to other brittle materials systems (including ceramics and glasses).

  18. Autonomic dysregulation in headache patients.

    PubMed

    Gass, Jason J; Glaros, Alan G

    2013-12-01

    To analyze autonomic nervous system activity in headache subjects, measurements of heart rate variability (HRV), skin temperature, skin conductance, and respiration were compared to a matched control group. HRV data were recorded in time and frequency domains. Subjects also completed self-report questionnaires assessing psychological distress, fatigue, and sleep dysfunction. Twenty-one headache and nineteen control subjects participated. In the time domain, the number of consecutive R-to-R intervals that varied by more than 50 ms and the standard deviation of the normalized R-to-R intervals, both indices of parasympathetic nervous system activity, were significantly lower in the headache group than the control group. Groups did not differ statistically on HRV measures in the frequency domain. Self-report measures showed significantly increased somatization, hostility, anxiety, symptom distress, fatigue, and sleep problems in the headache group. The results suggest headache subjects have increased sympathetic nervous system activity and decreased parasympathetic activity compared to non-headache control subjects. Headaches subjects also showed greater emotional distress, fatigue, and sleep problems. The results indicate an association between headaches and cardiovascular functioning suggestive of sympathetic nervous system activation in this sample of mixed migraine and tension-type headache sufferers. PMID:23912525

  19. Shamanism, psychosis and autonomous imagination.

    PubMed

    Stephen, M; Suryani, L K

    2000-03-01

    This paper focuses on traditional healers (balian) in Bali, Indonesia, to raise new arguments concerning the nature of the initiatory sufferings reportedly experienced by shamans in many cultures. Our evidence suggests that a) contrary to our expectations, an initiatory madness or illness is experienced by a minority rather than the majority of balian, and b) whether or not a balian undergoes initiatory sufferings seems to be linked to gender and to the methods of healing employed - thus women healers who employ trance possession are those most likely to report an initiatory madness or illness. This leads to the central argument of the paper: c) the nature of the initiatory sufferings, where they do occur, can be clearly distinguished on several grounds from the onset of mental illness among Balinese, both emically in terms of cultural understandings, and ethically in terms of objective criteria. Finally we discuss the concept of "autonomous imagination," suggesting that the key to becoming a balian is not overcoming an initiatory madness but gaining control over this special mode of imagery thought. We further suggest that Western ideas concerning the self and self healing, the superficial resemblance of the initiatory sufferings to schizophrenia, and the dramatic nature of the initiatory sufferings when they occur, have combined to give a misleading prominence to the role of an initiatory madness in shamanism. PMID:10757208

  20. Software for Autonomous Spacecraft Maneuvers

    NASA Technical Reports Server (NTRS)

    Bristow, John; Folta, Dave; Hawkins, Al; Dell, Greg

    2004-01-01

    The AutoCon computer programs facilitate and accelerate the planning and execution of orbital control maneuvers of spacecraft while analyzing and resolving mission constraints. AutoCon-F is executed aboard spacecraft, enabling the spacecraft to plan and execute maneuvers autonomously; AutoCon-G is designed for use on the ground. The AutoCon programs utilize advanced techniques of artificial intelligence, including those of fuzzy logic and natural-language scripting, to resolve multiple conflicting constraints and automatically plan maneuvers. These programs can be used to satisfy requirements for missions that involve orbits around the Earth, the Moon, or any planet, and are especially useful for missions in which there are requirements for frequent maneuvers and for resolution of complex conflicting constraints. During operations, the software targets new trajectories, places and sizes maneuvers, and controls spacecraft burns. AutoCon-G provides a userfriendly graphical interface, and can be used effectively by an analyst with minimal training. AutoCon-F reduces latency and supports multiple-spacecraft and formation-flying missions. The AutoCon architecture supports distributive processing, which can be critical for formation- control missions. AutoCon is completely object-oriented and can easily be enhanced by adding new objects and events. AutoCon-F was flight demonstrated onboard GSFC's EO-1 spacecraft flying in formation with Landsat-7.

  1. Mechanical Autonomous Stochastic Heat Engine

    NASA Astrophysics Data System (ADS)

    Serra-Garcia, Marc; Foehr, André; Molerón, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara

    2016-07-01

    Stochastic heat engines are devices that generate work from random thermal motion using a small number of highly fluctuating degrees of freedom. Proposals for such devices have existed for more than a century and include the Maxwell demon and the Feynman ratchet. Only recently have they been demonstrated experimentally, using, e.g., thermal cycles implemented in optical traps. However, recent experimental demonstrations of classical stochastic heat engines are nonautonomous, since they require an external control system that prescribes a heating and cooling cycle and consume more energy than they produce. We present a heat engine consisting of three coupled mechanical resonators (two ribbons and a cantilever) subject to a stochastic drive. The engine uses geometric nonlinearities in the resonating ribbons to autonomously convert a random excitation into a low-entropy, nonpassive oscillation of the cantilever. The engine presents the anomalous heat transport property of negative thermal conductivity, consisting in the ability to passively transfer energy from a cold reservoir to a hot reservoir.

  2. Autonomous intelligent cruise control system

    NASA Astrophysics Data System (ADS)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  3. The Secure, Transportable, Autonomous Reactor System

    SciTech Connect

    Brown, N.W.; Hassberger, J.A.; Smith, C.; Carelli, M.; Greenspan, E.; Peddicord, K.L.; Stroh, K.; Wade, D.C.; Hill, R.N.

    1999-05-27

    The Secure, Transportable, Autonomous Reactor (STAR) system is a development architecture for implementing a small nuclear power system, specifically aimed at meeting the growing energy needs of much of the developing world. It simultaneously provides very high standards for safety, proliferation resistance, ease and economy of installation, operation, and ultimate disposition. The STAR system accomplishes these objectives through a combination of modular design, factory manufacture, long lifetime without refueling, autonomous control, and high reliability.

  4. Autonomic Communications for Space: The Next Frontier?

    NASA Technical Reports Server (NTRS)

    Rash, James L.; Sterritt, Roy; Hinchey, Michael G.

    2006-01-01

    Autonomic communications has been gaining ground as a vision for next generation communications. The success and flexibility of the Internet has lead to evaluations of utilizing IP for communications in space. The limitations of today's Internet ultimately also imply limitations for an IP deployment in space. Issues affecting the design of a future self-directing and self-managing data communications network for future space missions based on autonomic communications concepts are described and examined.

  5. 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.

  6. Autonomous Science on the EO-1 Mission

    NASA Technical Reports Server (NTRS)

    Chien, S.; Sherwood, R.; Tran, D.; Castano, R.; Cichy, B.; Davies, A.; Rabideau, G.; Tang, N.; Burl, M.; Mandl, D.; Frye, S.; Hengemihle, J.; Agostino, J. D.; Bote, R.; Trout, B.; Shulman, S.; Ungar, S.; Gaasbeck, J. Van; Boyer, D.; Griffin, M.; Burke, H.; Greeley, R.; Doggett, T.; Williams, K.; Baker, V.

    2003-01-01

    In mid-2003, we will fly software to detect science events that will drive autonomous scene selectionon board the New Millennium Earth Observing 1 (EO-1) spacecraft. This software will demonstrate the potential for future space missions to use onboard decision-making to detect science events and respond autonomously to capture short-lived science events and to downlink only the highest value science data.

  7. 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

  8. 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.

  9. Autonomous control systems - Architecture and fundamental issues

    NASA Technical Reports Server (NTRS)

    Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

    1988-01-01

    A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

  10. 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

  11. A Cloud Based Framework For Monitoring And Predicting Subsurface System Behaviour

    NASA Astrophysics Data System (ADS)

    Versteeg, R. J.; Rodzianko, A.; Johnson, D. V.; Soltanian, M. R.; Dwivedi, D.; Dafflon, B.; Tran, A. P.; Versteeg, O. J.

    2015-12-01

    Subsurface system behavior is driven and controlled by the interplay of physical, chemical, and biological processes which occur at multiple temporal and spatial scales. Capabilities to monitor, understand and predict this behavior in an effective and timely manner are needed for both scientific purposes and for effective subsurface system management. Such capabilities require three elements: Models, Data and an enabling cyberinfrastructure, which allow users to use these models and data in an effective manner. Under a DOE Office of Science funded STTR award Subsurface Insights and LBNL have designed and implemented a cloud based predictive assimilation framework (PAF) which automatically ingests, controls quality and stores heterogeneous physical and chemical subsurface data and processes these data using different inversion and modeling codes to provide information on the current state and evolution of subsurface systems. PAF is implemented as a modular cloud based software application with five components: (1) data acquisition, (2) data management, (3) data assimilation and processing, (4) visualization and result delivery and (5) orchestration. Serverside PAF uses ZF2 (a PHP web application framework) and Python and both open source (ODM2) and in house developed data models. Clientside PAF uses CSS and JS to allow for interactive data visualization and analysis. Client side modularity (which allows for a responsive interface) of the system is achieved by implementing each core capability of PAF (such as data visualization, user configuration and control, electrical geophysical monitoring and email/SMS alerts on data streams) as a SPA (Single Page Application). One of the recent enhancements is the full integration of a number of flow and mass transport and parameter estimation codes (e.g., MODFLOW, MT3DMS, PHT3D, TOUGH, PFLOTRAN) in this framework. This integration allows for autonomous and user controlled modeling of hydrological and geochemical processes. In

  12. 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

  13. Experimental validation of a sub-surface model of solar power for distributed marine sensor systems

    NASA Astrophysics Data System (ADS)

    Hahn, Gregory G.; Cantin, Heather P.; Shafer, Michael W.

    2016-04-01

    The capabilities of distributed sensor systems such as marine wildlife telemetry tags could be significantly enhanced through the integration of photovoltaic modules. Photovoltaic cells could be used to supplement the primary batteries for wildlife telemetry tags to allow for extended tag deployments, wherein larger amounts of data could be collected and transmitted in near real time. In this article, we present experimental results used to validate and improve key aspects of our original model for sub-surface solar power. We discuss the test methods and results, comparing analytic predictions to experimental results. In a previous work, we introduced a model for sub-surface solar power that used analytic models and empirical data to predict the solar irradiance available for harvest at any depth under the ocean's surface over the course of a year. This model presented underwater photovoltaic transduction as a viable means of supplementing energy for marine wildlife telemetry tags. The additional data provided by improvements in daily energy budgets would enhance the temporal and spatial comprehension of the host's activities and/or environments. Photovoltaic transduction is one method that has not been widely deployed in the sub-surface marine environments despite widespread use on terrestrial and avian species wildlife tag systems. Until now, the use of photovoltaic cells for underwater energy harvesting has generally been disregarded as a viable energy source in this arena. In addition to marine telemetry systems, photovoltaic energy harvesting systems could also serve as a means of energy supply for autonomous underwater vehicles (AUVs), as well as submersible buoys for oceanographic data collection.

  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. Supervised autonomous robotic soft tissue surgery.

    PubMed

    Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

    2016-05-01

    The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques. PMID:27147588

  17. 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

  18. Activation of Peroxymonosulfate by Subsurface Minerals.

    PubMed

    Yu, Miao; Teel, Amy L; Watts, Richard J

    2016-08-01

    In situ chemical oxidation (ISCO) has become a widely used technology for the remediation of soil and groundwater. Although peroxymonosulfate is not a common oxidant source for ISCO, its chemical structure is similar to the ISCO reagents hydrogen peroxide and persulfate, suggesting that peroxymonosulfate may have the beneficial properties of each of these oxidants. Peroxymonosulfate activation in the presence of subsurface minerals was examined as a basis for ISCO, and possible reactive species (hydroxyl radical, sulfate radical, and reductants+nucleophiles) generated in the mineral-activated peroxymonosulfate systems were investigated. Rates of peroxymonosulfate decomposition and generation rates of reactive species were studied in the presence of three iron oxides, one manganese oxide, and three soil fractions. The iron oxide hematite-activated peroxymonosulfate system most effectively degraded the hydroxyl radical probe nitrobenzene. Reductants+nucleophiles were not generated in mineral-activated peroxymonosulfate systems. Use of the probe compound anisole in conjunction with scavengers demonstrated that both sulfate radical and hydroxyl radical are generated in mineral-activated peroxymonosulfate systems. In order to confirm the activation of peroxymonosulfate by subsurface minerals, one natural soil and associated two soil fractions were evaluated as peroxymonosulfate catalysts. The natural soil did not effectively promote the generation of oxidants; however, the soil organic matter was found to promote the generation of reductants + nucleophiles. The results of this research show that peroxymonosulfate has potential as an oxidant source for ISCO applications, and would be most effective in treating halogenated contaminants when soil organic matter is present in the subsurface. PMID:27209171

  19. Shallow Subsurface Structures of Volcanic Fissures

    NASA Astrophysics Data System (ADS)

    Parcheta, C. E.; Nash, J.; Mitchell, K. L.; Parness, A.

    2015-12-01

    Volcanic fissure vents are a difficult geologic feature to quantify. They are often too thin to document in detail with seismology or remote geophysical methods. Additionally, lava flows, lava drain back, or collapsed rampart blocks typically conceal a fissure's surface expression. For exposed fissures, quantifying the surface (let along sub0surface) geometric expression can become an overwhelming and time-consuming task given the non-uniform distribution of wall irregularities, drain back textures, and the larger scale sinuosity of the whole fissure system. We developed (and previously presented) VolcanoBot to acquire robust characteristic data of fissure geometries by going inside accessible fissures after an eruption ends and the fissure cools off to <50 C. Data from VolcanoBot documents the fissure conduit geometry with a near-IR structured light sensor, and reproduces the 3d structures to cm-scale accuracy. Here we present a comparison of shallow subsurface structures (<30 m depth) within the Mauna Ulu fissure system and their counterpart features at the vent-to-ground-surface interface. While we have not mapped enough length of the fissure to document sinuosity at depth, we see a self-similar pattern of irregularities on the fissure walls throughout the entire shallow subsurface, implying a fracture mechanical origin similar to faults. These irregularities are, on average, 1 m across and protrude 30 cm into the drained fissure. This is significantly larger than the 10% wall roughness addressed in the engineering literature on fluid dynamics, and implies that magma fluid dynamics during fissure eruptions are probably not as passive nor as simple as previously thought. In some locations, it is possible to match piercing points across the fissure walls, where the dike broke the wall rock in order to propagate upwards, yet in other locations there are erosional cavities, again, implying complex fluid dynamics in the shallow sub-surface during fissure eruptions.

  20. Subsurface ice as a microbial habitat

    NASA Astrophysics Data System (ADS)

    Mader, Heidy M.; Pettitt, Michala E.; Wadham, Jemma L.; Wolff, Eric W.; Parkes, R. John

    2006-03-01

    We determine the physicochemical habitat for microorganisms in subsurface terrestrial ice by quantitatively constraining the partitioning of bacteria and fluorescent beads (1 10 μm) between the solid ice crystals and the water-filled veins and boundaries around individual ice crystals. We demonstrate experimentally that the partitioning of spherical particles within subsurface ice depends strongly on size but is largely independent of source particle concentration. Although bacteria are shown consistently to partition to the veins, larger particles, which would include eukaryotic cells, become trapped in the crystals with little potential for continued metabolism. We also calculate the expected concentrations of soluble impurities in the veins for typical bulk concentrations found in natural ice. These calculations and scanning electron microscope observations demonstrate a concentrated chemical environment (3.5 M total ions at -10 °C) in the veins, where bacteria were found to reside, with a mixture of impurities that could sustain metabolism. Our calculations show that typical bacterial cells in glacial ice would fit within the narrow veins, which are a few micrometers across. These calculations are confirmed by microscopic images of spherical, 1.9-μm-diameter, fluorescent beads and stained bacteria in subsurface veins. Typical bacterial concentrations in clean ice (102 103 cells/mL) would result in concentrations of 106 108 cells/mL of vein fluid, but occupy only a small fraction of the total available vein volume (<0.2%). Hence, bacterial populations are not limited by vein volume, with the bulk of the vein being unoccupied and available to supply energy sources and nutrients.

  1. Noble gas fractionation during subsurface gas migration

    NASA Astrophysics Data System (ADS)

    Sathaye, Kiran J.; Larson, Toti E.; Hesse, Marc A.

    2016-09-01

    Environmental monitoring of shale gas production and geological carbon dioxide (CO2) storage requires identification of subsurface gas sources. Noble gases provide a powerful tool to distinguish different sources if the modifications of the gas composition during transport can be accounted for. Despite the recognition of compositional changes due to gas migration in the subsurface, the interpretation of geochemical data relies largely on zero-dimensional mixing and fractionation models. Here we present two-phase flow column experiments that demonstrate these changes. Water containing a dissolved noble gas is displaced by gas comprised of CO2 and argon. We observe a characteristic pattern of initial co-enrichment of noble gases from both phases in banks at the gas front, followed by a depletion of the dissolved noble gas. The enrichment of the co-injected noble gas is due to the dissolution of the more soluble major gas component, while the enrichment of the dissolved noble gas is due to stripping from the groundwater. These processes amount to chromatographic separations that occur during two-phase flow and can be predicted by the theory of gas injection. This theory provides a mechanistic basis for noble gas fractionation during gas migration and improves our ability to identify subsurface gas sources after post-genetic modification. Finally, we show that compositional changes due to two-phase flow can qualitatively explain the spatial compositional trends observed within the Bravo Dome natural CO2 reservoir and some regional compositional trends observed in drinking water wells overlying the Marcellus and Barnett shale regions. In both cases, only the migration of a gas with constant source composition is required, rather than multi-stage mixing and fractionation models previously proposed.

  2. Tree Distributions, Subsurface Characteristics and Nitrogen Cycling

    NASA Astrophysics Data System (ADS)

    Brunner, L.; Wallace, M. C.; Brush, G.

    2014-12-01

    This study examines the connection between vegetation and geologic, soil and hydrologic subsurface characteristics of a natural deciduous forest in Oregon Ridge Park, located in the Piedmont physiographic province in Maryland, USA. A preliminary study showed the relationship between nitrogen cycling and four different species occurring on a coarse grained schist and a fine grained schist. Mineralization values for Liriodendon tulipifera were positive on the coarser grained substrate and negative on the fine grained substrate. Nitrification values were positive on both substrates. Mineralization and nitrification values were both positive for Quercus prinus on both the coarse and fine substrates. Mineralization values for Acer rubrum were negative on the coarse substrate and positive on the finer substrate, while mineralization for Quercus rubra was negative on the coarse substrate and positive on the fine schist. Nitrification was positive for Q. rubra on the coarse schist and both positive and negative on the fine schist. Resistivity analyses were performed in collaboration with the Wyoming Center for Environmental Hydrology and Geophysics (WyCEHG) along two perpendicular transects at the study site. This analysis provides indirect information on subsurface conductivity, with low resistivity being interpreted as subsurface water or clay. One transect crossed a valley with a first-order stream in the center, while the second transect was taken along the break and slope of the hillslope. All trees were identified and diameter at breast height (DBH) measured in sixty-three randomly located plots along both transects. A principle components analysis of all tree data showed four associations of species. The plots were labelled as to association. The position of the associations along the transects show a relationship between wet, dry and mesic associations with differences in transect resistivity.

  3. 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.

  4. Subsurface plankton layers in the Arctic Ocean

    NASA Astrophysics Data System (ADS)

    Churnside, James H.; Marchbanks, Richard D.

    2015-06-01

    The first synoptic measurements of subsurface plankton layers were made in the western Arctic Ocean in July 2014 using airborne lidar. Layers were detected in open water and in pack ice where up to 90% of the surface was covered by ice. Layers under the ice were less prevalent, weaker, and shallower than those in open water. Layers were more prevalent in the Chukchi Sea than in the Beaufort Sea. Three quarters of the layers observed were thinner than 5 m. The presence of these layers, which are not adequately captured in satellite data, will influence primary productivity, secondary productivity, fisheries recruitment, and carbon export to the benthos.

  5. Initiative Addresses Subsurface Energy and Environment Problems

    NASA Astrophysics Data System (ADS)

    Bodvarsson, Gudmundur S.; Majer, Ernest L.; Wang, Joseph S. Y.; Colwell, Frederick; Redden, George

    2006-01-01

    Members of the geoscience community are cooperating in conceptualizing fundamental, crosscutting research to address major obstacles to solving energy and environmental problems related to the subsurface, through the SECUREarth initiative, which began in 2004. Addressing problems, such as reliable nuclear waste storage and safe carbon dioxide (CO2) sequestration, are critical to maintaining an economical and safe energy supply and clean environment. A recent workshop in Golden, Colo., helped to further the development of the SECUREarth (Scientific Energy/Environmental Crosscutting Underground Research for Urgent Solutions to Secure the Earth's Future) initiative by identifying the key scientific challenges in the geosciences, as well as to target possible approaches for overcoming roadblocks.

  6. 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.

  7. Method of evaluating subsurface fracturing operations

    SciTech Connect

    Soliman, M.Y.

    1989-06-06

    This patent describes a method of determining parameters of a subsurface operation fracturing an earth formation, comprising: fracturing the formation with a fracturing fluid; determining a first pressure decline value representative of the observed pressure decline of the fractured formation over a time interval. The first pressure decline value functionally related to the properties of the fracturing fluid during the fracturing of the formation; determining a second pressure decline value representative of the pressure decline which should have been observed if the fracturing fluid was incompressible; and determining the parameters of the fracturing operation in response to the pressure decline value.

  8. GEOSSAV: a simulation tool for subsurface applications

    NASA Astrophysics Data System (ADS)

    Regli, Christian; Rosenthaler, Lukas; Huggenberger, Peter

    2004-04-01

    Geostatistical Environment fOr Subsurface Simulation And Visualization (GEOSSAV) is a tool for the integration of hard and soft data into stochastic simulation and visualization of distributions of geological structures and hydrogeological properties in the subsurface. GEOSSAV, as an interface to selected geostatistical modules (bicalib, gamv, vargplt, and sisim) from the Geostatistical Software LIBrary, GSLIB (GSLIB: Geostatistical Software Library and User's Guide, 2nd Edition, Oxford University Press, Oxford, 1998, 369pp), can be used for data analysis, variogram computation of regularly or irregularly spaced data, and sequential indicator simulation of subsurface heterogeneities. Sequential indicator simulation, based on various kriging techniques (simple, ordinary, and Bayesian), is suitable for the simulation of continuous variables such as hydraulic conductivity of an aquifer or chemical concentrations at a contaminated site, and categorical variables which indicate the presence or absence of a particular lithofacies. The software integration platform and development environment of GEOSSAV is Tool command language (Tcl) with its graphical user interface, Toolkit (Tk), and a number of Tcl/Tk extensions. The standard Open Graphics Library application programming interface is used for rendering three-dimensional (3D) data distributions and for slicing perpendicular to the main coordinate axis. Export options for finite-difference groundwater models allow either files that characterize single model layers (which are saved in ASCII matrix format) or files that characterize the complete 3D flow model setup for MODFLOW-based groundwater simulation systems (which are saved in block-centered flow package files (User's documentation for MODFLOW-96, an update to the US Geological Survey modular finite-difference ground-water flow model, Geological Survey Open-File Report 96-485, Reston, VA, 1996, 56pp)). GEOSSAV can be used whenever stochastic solutions are preferred

  9. Nonisothermal multiphase subsurface transport on parallel computers

    SciTech Connect

    Martinez, M.J.; Hopkins, P.L.; Shadid, J.N.

    1997-10-01

    We present a numerical method for nonisothermal, multiphase subsurface transport in heterogeneous porous media. The mathematical model considers nonisothermal two-phase (liquid/gas) flow, including capillary pressure effects, binary diffusion in the gas phase, conductive, latent, and sensible heat transport. The Galerkin finite element method is used for spatial discretization, and temporal integration is accomplished via a predictor/corrector scheme. Message-passing and domain decomposition techniques are used for implementing a scalable algorithm for distributed memory parallel computers. An illustrative application is shown to demonstrate capabilities and performance.

  10. 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.

  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. 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

  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. Parallel heater system for subsurface formations

    DOEpatents

    Harris, Christopher Kelvin; Karanikas, John Michael; Nguyen, Scott Vinh

    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.

  15. Crystal structure of laser-induced subsurface modifications in Si

    DOE PAGESBeta

    Verburg, P. C.; Smillie, L. A.; Römer, G. R. B. E.; Haberl, B.; Bradby, J. E.; Williams, J. S.; Huis in ’t Veld, A. J.

    2015-06-04

    Laser-induced subsurface modification of dielectric materials is a well-known technology. Applications include the production of optical components and selective etching. In addition to dielectric materials, the subsurface modification technology can be applied to silicon, by employing near to mid-infrared radiation. An application of subsurface modifications in silicon is laser-induced subsurface separation, which is a method to separate wafers into individual dies. Other applications for which proofs of concept exist are the formation of waveguides and resistivity tuning. However, limited knowledge is available about the crystal structure of subsurface modifications in silicon. In this paper, we investigate the geometry and crystalmore » structure of laser-induced subsurface modifications in monocrystalline silicon wafers. Finally, in addition to the generation of lattice defects, we found that transformations to amorphous silicon and Si-iii/Si-xii occur as a result of the laser irradiation.« less

  16. Crystal structure of laser-induced subsurface modifications in Si

    SciTech Connect

    Verburg, P. C.; Smillie, L. A.; Römer, G. R. B. E.; Haberl, B.; Bradby, J. E.; Williams, J. S.; Huis in ’t Veld, A. J.

    2015-06-04

    Laser-induced subsurface modification of dielectric materials is a well-known technology. Applications include the production of optical components and selective etching. In addition to dielectric materials, the subsurface modification technology can be applied to silicon, by employing near to mid-infrared radiation. An application of subsurface modifications in silicon is laser-induced subsurface separation, which is a method to separate wafers into individual dies. Other applications for which proofs of concept exist are the formation of waveguides and resistivity tuning. However, limited knowledge is available about the crystal structure of subsurface modifications in silicon. In this paper, we investigate the geometry and crystal structure of laser-induced subsurface modifications in monocrystalline silicon wafers. Finally, in addition to the generation of lattice defects, we found that transformations to amorphous silicon and Si-iii/Si-xii occur as a result of the laser irradiation.

  17. 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

  18. Autonomous Environment-Monitoring Networks

    NASA Technical Reports Server (NTRS)

    Hand, Charles

    2004-01-01

    Autonomous environment-monitoring networks (AEMNs) are artificial neural networks that are specialized for recognizing familiarity and, conversely, novelty. Like a biological neural network, an AEMN receives a constant stream of inputs. For purposes of computational implementation, the inputs are vector representations of the information of interest. As long as the most recent input vector is similar to the previous input vectors, no action is taken. Action is taken only when a novel vector is encountered. Whether a given input vector is regarded as novel depends on the previous vectors; hence, the same input vector could be regarded as familiar or novel, depending on the context of previous input vectors. AEMNs have been proposed as means to enable exploratory robots on remote planets to recognize novel features that could merit closer scientific attention. AEMNs could also be useful for processing data from medical instrumentation for automated monitoring or diagnosis. The primary substructure of an AEMN is called a spindle. In its simplest form, a spindle consists of a central vector (C), a scalar (r), and algorithms for changing C and r. The vector C is constructed from all the vectors in a given continuous stream of inputs, such that it is minimally distant from those vectors. The scalar r is the distance between C and the most remote vector in the same set. The construction of a spindle involves four vital parameters: setup size, spindle-population size, and the radii of two novelty boundaries. The setup size is the number of vectors that are taken into account before computing C. The spindle-population size is the total number of input vectors used in constructing the spindle counting both those that arrive before and those that arrive after the computation of C. The novelty-boundary radii are distances from C that partition the neighborhood around C into three concentric regions (see Figure 1). During construction of the spindle, the changing spindle radius

  19. Geophysical data fusion for subsurface imaging

    NASA Astrophysics Data System (ADS)

    Hoekstra, P.; Vandergraft, J.; Blohm, M.; Porter, D.

    1993-08-01

    A geophysical data fusion methodology is under development to combine data from complementary geophysical sensors and incorporate geophysical understanding to obtain three dimensional images of the subsurface. The research reported here is the first phase of a three phase project. The project focuses on the characterization of thin clay lenses (aquitards) in a highly stratified sand and clay coastal geology to depths of up to 300 feet. The sensor suite used in this work includes time-domain electromagnetic induction (TDEM) and near surface seismic techniques. During this first phase of the project, enhancements to the acquisition and processing of TDEM data were studied, by use of simulated data, to assess improvements for the detection of thin clay layers. Secondly, studies were made of the use of compressional wave and shear wave seismic reflection data by using state-of-the-art high frequency vibrator technology. Finally, a newly developed processing technique, called 'data fusion' was implemented to process the geophysical data, and to incorporate a mathematical model of the subsurface strata. Examples are given of the results when applied to real seismic data collected at Hanford, WA, and for simulated data based on the geology of the Savannah River Site.

  20. Molecular analysis of deep subsurface bacteria

    SciTech Connect

    Jimenez, L.E.

    1989-11-01

    Deep sediments samples from site C10a, in Appelton, and sites, P24, P28, and P29, at the Savannah River Site (SRS), near Aiken, South Carolina, were studied to determine their microbial community composition, DNA homology and mol %G+C. Additional studies were done in adjacent groundwater wells at the 3 SRS sites. Different geological formations with great variability in hydrogeological parameters were found across the depth profile. Sediment age ranged from 37 to 85 million years old. Bacterial densities by acridine orange direct counts (AODC) and viable counts on 1% PTYG media were significantly higher at deep sediments than in groundwater wells. Metabolic tests of bacterial isolates showed no significant difference between both habitats. However, sediment isolates showed higher percentages in the carbon assimilation tests than groundwater isolates. Phenotypic identification of deep subsurface bacteria underestimated the bacterial diversity at the three SRS sites, since bacteria with the same phenotype have different DNA composition and less than 70% DNA homology. The mol %G+C of deep subsurface bacteria ranged from 20 to 77%, with more than 60% and 12% of the isolates tested showing values similar to the {ital Pseudomonas} spp. and {ital Acinetobacter} spp., respectively. 200 refs., 18 figs., 24 tabs.

  1. 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

  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. 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.

  4. 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.

  5. Improving subsurface hydrology in Earth System Models

    NASA Astrophysics Data System (ADS)

    Volk, J. M.; Clark, M. P.; Swenson, S. C.; Lawrence, D. M.; Tyler, S. W.

    2015-12-01

    Hydrologic processes that govern storage and transport of soil water and groundwater can have strong dynamic relationships with biogeochemical and atmospheric processes. This understanding has lead to a push to improve subsurface hydrologic parametrization in Earth System Models. Here we present results related to improving the implementation of soil moisture distribution, groundwater recharge/discharge, and subsurface drainage in the Community Land Model (CLM) which is the land surface model in the Community Earth System Model. First we identified geo-climatically different locations around the world to develop test cases. For each case we compare the vertical soil moisture distribution from the different implementations of 1D Richards equation, considering the boundary conditions, the treatment of the groundwater sink term, the vertical discretization, and the time stepping schemes. Generally, large errors in the hydrologic mass balance within the soil column occur when there is a large vertical gradient in soil moisture or when there is a shallow water table within a soil column. We then test the sensitivity of the algorithmic parameters that control temporal discretization and error tolerance of the adaptive time-stepping scheme to help optimize its computational efficiency. In addition, we vary the spatial discretization of soil layers (i.e. quantity of layers and their thicknesses) to better understand the sensitivity of vertical discretization of soil columns on soil moisture variability in ESMs. We present multivariate and multi-scale evaluation for the different model options and suggest ways to move forward with future model improvements.

  6. Atmospheric energy for subsurface life on Mars?

    PubMed

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

    2000-02-15

    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. PMID:10660689

  7. Subsurface damage on ground fused silica surfaces

    NASA Astrophysics Data System (ADS)

    Xu, Jiafeng; Xu, Xueke; Gao, Wenlan; Wei, Chaoyang; Yang, Minghong; Shao, Jianda

    2014-08-01

    The low surface laser damage threshold of fused silica components in high power laser systems such as NIF restricts the improvement of the output fluence of those systems. Once damage is initiated and grows under subsequent laser shots, the components will go unusable. Subsurface damage (SSD) introduced during manufacturing has been identified as a main damage initiator. A good knowledge of SSD and how manufacturing influences it is essential to optimize manufacturing processes for damage free optics. Using the magneto-rheological finishing (MRF) wedge technique of better accuracy attributed to a tip, we have characterized the subsurface damage on fused silica optical surfaces ground with loose Al2O3 abrasives of different sizes. Larger abrasives generates longer cracks and the number density of cracks decreases sharply with the depth for each size. Rogue particles account for the occurrence of trailing indent scratches. Addition of rogue abrasives into relatively small base abrasive extends SSD more deeply than that induced by rogue abrasives alone. The linear model, with the proportional coefficient 3.511, fits the relationship between SSD depth and surface roughness (SR) better than the quadratic polynomial one. We believe SSD depth relates to SR more statistically than following some specified physical law. The linear relationship between SSD depth and the abrasive size was also established. The abrasive size turned out not to be as a good indictor of SSD depth as SR.

  8. Modeling the Subsurface Structure of Sunspots

    NASA Astrophysics Data System (ADS)

    Moradi, H.; Baldner, C.; Birch, A. C.; Braun, D. C.; Cameron, R. H.; Duvall, T. L.; Gizon, L.; Haber, D.; Hanasoge, S. M.; Hindman, B. W.; Jackiewicz, J.; Khomenko, E.; Komm, R.; Rajaguru, P.; Rempel, M.; Roth, M.; Schlichenmaier, R.; Schunker, H.; Spruit, H. C.; Strassmeier, K. G.; Thompson, M. J.; Zharkov, S.

    2010-11-01

    While sunspots are easily observed at the solar surface, determining their subsurface structure is not trivial. There are two main hypotheses for the subsurface structure of sunspots: the monolithic model and the cluster model. Local helioseismology is the only means by which we can investigate subphotospheric structure. However, as current linear inversion techniques do not yet allow helioseismology to probe the internal structure with sufficient confidence to distinguish between the monolith and cluster models, the development of physically realistic sunspot models are a priority for helioseismologists. This is because they are not only important indicators of the variety of physical effects that may influence helioseismic inferences in active regions, but they also enable detailed assessments of the validity of helioseismic interpretations through numerical forward modeling. In this article, we provide a critical review of the existing sunspot models and an overview of numerical methods employed to model wave propagation through model sunspots. We then carry out a helioseismic analysis of the sunspot in Active Region 9787 and address the serious inconsistencies uncovered by Gizon et al. (2009a, 2009). We find that this sunspot is most probably associated with a shallow, positive wave-speed perturbation (unlike the traditional two-layer model) and that travel-time measurements are consistent with a horizontal outflow in the surrounding moat.

  9. 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.

  10. 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.

  11. Modeling subsurface stormflow initiation in low-relief landscapes

    NASA Astrophysics Data System (ADS)

    Hopp, Luisa; Vaché, Kellie B.; Rhett Jackson, C.; McDonnell, Jeffrey J.

    2015-04-01

    Shallow lateral subsurface flow as a runoff generating mechanism at the hillslope scale has mostly been studied in steeper terrain with typical hillside angles of 10 - 45 degrees. These studies have shown that subsurface stormflow is often initiated at the interface between a permeable upper soil layer and a lower conductivity impeding layer, e.g. a B horizon or bedrock. Many studies have identified thresholds of event size and soil moisture states that need to be exceeded before subsurface stormflow is initiated. However, subsurface stormflow generation on low-relief hillslopes has been much less studied. Here we present a modeling study that investigates the initiation of subsurface stormflow on low-relief hillslopes in the Upper Coastal Plain of South Carolina, USA. Hillslopes in this region typically have slope angles of 2-5 degrees. Topsoils are sandy, underlain by a low-conductivity sandy clay loam Bt horizon. Subsurface stormflow has only been intercepted occasionally in a 120 m long trench, and often subsurface flow was not well correlated with stream signals, suggesting a disconnect between subsurface flow on the hillslopes and stream flow. We therefore used a hydrologic model to better understand which conditions promote the initiation of subsurface flow in this landscape, addressing following questions: Is there a threshold event size and soil moisture state for producing lateral subsurface flow? What role does the spatial pattern of depth to the impeding clay layer play for subsurface stormflow dynamics? We reproduced a section of a hillslope, for which high-resolution topographic data and depth to clay measurements were available, in the hydrologic model HYDRUS-3D. Soil hydraulic parameters were based on experimentally-derived data. The threshold analysis was first performed using hourly climate data records for 2009-2010 from the study site to drive the simulation. For this period also trench measurements of subsurface flow were available. In addition

  12. 30 CFR 250.801 - Subsurface safety devices.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... conditions, hydrate formation, or paraffins, an alternate setting depth of the subsurface safety device may... conditions such as permafrost, unstable bottom conditions, hydrate formations, and paraffins. (g)...

  13. 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

  14. A Collaborative Knowledge Plane for Autonomic Networks

    NASA Astrophysics Data System (ADS)

    Mbaye, Maïssa; Krief, Francine

    Autonomic networking aims to give network components self-managing capabilities. Several autonomic architectures have been proposed. Each of these architectures includes sort of a knowledge plane which is very important to mimic an autonomic behavior. Knowledge plane has a central role for self-functions by providing suitable knowledge to equipment and needs to learn new strategies for more accuracy.However, defining knowledge plane's architecture is still a challenge for researchers. Specially, defining the way cognitive supports interact each other in knowledge plane and implementing them. Decision making process depends on these interactions between reasoning and learning parts of knowledge plane. In this paper we propose a knowledge plane's architecture based on machine learning (inductive logic programming) paradigm and situated view to deal with distributed environment. This architecture is focused on two self-functions that include all other self-functions: self-adaptation and self-organization. Study cases are given and implemented.

  15. 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.

  16. Autonomic dysfunction in chronic liver disease

    PubMed Central

    Frith, James; Newton, Julia L

    2011-01-01

    It is becoming increasingly clear that quality of life (QOL) is impaired in those with chronic liver disease (CLD). One of the most important contributors to impaired QOL is the symptomatic burden which can range from slight to debilitating. Autonomic dysfunction accounts for a significant proportion of these symptoms, which can be common, non-specific and challenging to treat. Investigating the autonomic nervous system can be straight forward and can assist the clinician to diagnose and treat specific symptoms. Evidence-based treatment options for autonomic symptoms, specifically in CLD, can be lacking and must be extrapolated from other studies and expert opinion. For those with severely impaired quality of life, liver transplantation may offer an improvement; however, more research is needed to confirm this. PMID:24367224

  17. Software control architecture for autonomous vehicles

    NASA Astrophysics Data System (ADS)

    Nelson, Michael L.; DeAnda, Juan R.; Fox, Richard K.; Meng, Xiannong

    1999-07-01

    The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

  18. Draper Laboratory small autonomous aerial vehicle

    NASA Astrophysics Data System (ADS)

    DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

    1997-06-01

    The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

  19. Technology readiness level six and autonomous mobility

    NASA Astrophysics Data System (ADS)

    Bodt, Barry A.; Camden, Rick S.

    2004-09-01

    During FY03, the U.S. Army Research Laboratory undertook a series of experiments designed to assess the maturity of autonomous mobility technology for the Future Combat Systems Armed Robotic Vehicle concept. The experiments assessed the technology against a level 6 standard in the technology readiness level (TRL) maturation schedule identified by a 1999 Government Accounting Office report. During the course of experimentation, 646 missions were conducted over a total distance of ~560 km and time of ~100 hr. Autonomous operation represented 96% and 88% of total distance and time, respectively. To satisfy the TRL 6 "relevant environment" standard, several experimental factors were varied over the three-site test as part of a formal, statistical, experimental design. This paper reports the specific findings pertaining to relevant-environment questions that were posed for the study and lends additional support to the Lead System Integrator decision that TRL 6 has been attained for the autonomous navigation system.

  20. Autonomic Functions In Raja-yoga Meditators.

    PubMed

    Bharshankar, Jyotsana R; Mandape, Archana D; Phatak, Mrunal S; Bharshankar, Rajay N

    2015-01-01

    Stress, an inevitable and constant feature throughout the lifetime, induces autonomic dysfunctions, for which meditation is considered to be an antidote. So the case control study was planned including 50 Raja-yoga meditators practicing meditation for 5 years and 50 age matched non-meditators. Autonomic function tests were performed and results were compared using the Student-t test. Mean values of resting HR, SBP and DBP were less in meditators. Galvanic Skin Response in meditators was significantly more (p < 0.001). Mean increase BP response to Hand Grip Test and Cold Pressor Test was significantly less in meditators than non-meditators (p < 0.001). Standing: Lying ratio, Valsalva ratio, Inspiration: Expiration ratio and 30:15 ratios were significantly increased in meditators than non-meditators. From the results, there was shifting of the autonomic balance to parasympathetic side in Raja-yoga meditators, which suggests its utility to combat the ill effects of stress. PMID:27530006

  1. 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.

  2. 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.

  3. 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

  4. Advanced control architecture for autonomous vehicles

    NASA Astrophysics Data System (ADS)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  5. Autonomic Regulation Therapy in Heart Failure

    PubMed Central

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

    2015-01-01

    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

  6. 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)

  7. 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.

  8. NEURON: enabling autonomicity in wireless sensor networks.

    PubMed

    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

  9. Autonomous Exploration for 3D Map Learning

    NASA Astrophysics Data System (ADS)

    Joho, Dominik; Stachniss, Cyrill; Pfaff, Patrick; Burgard, Wolfram

    Autonomous exploration is a frequently addressed problem in the robotics community. This paper presents an approach to mobile robot exploration that takes into account that the robot acts in the three-dimensional space. Our approach can build compact three-dimensional models autonomously and is able to deal with negative obstacles such as abysms. It applies a decision-theoretic framework which considers the uncertainty in the map to evaluate potential actions. Thereby, it trades off the cost of executing an action with the expected information gain taking into account possible sensor measurements. We present experimental results obtained with a real robot and in simulation.

  10. 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.

  11. 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.

  12. 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

  13. Dynamic biomaterials: toward engineering autonomous feedback.

    PubMed

    Morris, Eliza; Chavez, Michael; Tan, Cheemeng

    2016-06-01

    Dynamic biomaterials are biocompatible engineered systems capable of sensing and actively responding to their surrounding environment. They are of growing interest, both as models in basic research to understand complex cellular systems and in medical applications. Here, we review recent advances in nano-scale and micro-scale biomaterials, specifically artificial cells consisting of compartmentalized biochemical reactions and biologically compatible hydrogels. These dynamic biomaterials respond to stimuli through triggered reactions, reaction cascades, logic gates, and autonomous feedback loops. We outline the advances and remaining challenges in implementing such 'smart' biomaterials capable of autonomously responding to environmental stimuli. PMID:26974245

  14. 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.

  15. 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

  16. 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.

  17. Lessons Learned from Autonomous Sciencecraft Experiment

    NASA Technical Reports Server (NTRS)

    Chien, Steve A.; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Mandl, Dan; Frye, Stuart; Trout, Bruce; D'Agostino, Jeff; Shulman, Seth; Boyer, Darrell; Hayden, Sandra; Sweet, Adam; Christa, Scott

    2005-01-01

    An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in routine use to fly the EO-l mission. In this paper we briefly review the agent architecture and discuss lessons learned from this multi-year flight effort pertinent to deployment of software agents to critical applications.

  18. 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.

  19. 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.

  20. The DOE Subsurface (SubTER) Initiative: Revolutionizing Responsible use of the Subsurface for Energy Production and Storage

    NASA Astrophysics Data System (ADS)

    Hubbard, S. S.; Walck, M. C.; Blankenship, D.; Bonneville, A.; Bromhal, G. S.; Daley, T. M.; Pawar, R.; Polsky, Y.; Mattson, E.; Mellors, R. J.

    2015-12-01

    The subsurface supplies more than 80% of the U.S.'s total energy needs through geothermal and hydrocarbon strategies and also provides vast potential for safe storage of CO2 and disposal of nuclear waste. Responsible and efficient use of the subsurface poses many challenges, many of which require the capability to monitor and manipulate sub-surface stress, fractures, and fluid flow at all scales. Adaptive control of subsurface fractures and flow is a multi-disciplinary challenge that, if achieved, has the potential to transform all subsurface energy strategies. As part of the U.S. Department of Energy's SubTER (Subsurface Technology and Engineering Research development and demonstration) initiative, a multi-National Laboratory team is developing next-generation approaches that will allow for adaptive control of subsurface fractures and flow. SubTER has identified an initial suite of technical thrust areas to focus work, and has initiated a number of small projects. This presentation will describe early progress associated with the SubTER technical topic areas of wellbore integrity, subsurface stress and induced seismicity, permeability manipulation and new subsurface signals. It will also describe SubTER plans, and provide a venue to solicit suggestions and discuss potential partnerships associated with future research directions.

  1. 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

  2. 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

  3. 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

    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.

  4. Advances in autonomous systems for space exploration missions

    NASA Technical Reports Server (NTRS)

    Smith, B. D.; Gross, A. R.; Clancy, D. J.; Cannon, H. N.; Barrett, A.; Mjolssness, E.; Muscettola, N.; Chien, S.; Johnson, A.

    2001-01-01

    This paper focuses on new and innovative software for remote, autonomous, space systems flight operation, including distributed autonomous systems, flight test results, and implications and directions for future systems.

  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. 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.

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

    DOEpatents

    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.

  8. Delineate subsurface structures with ground penetrating radar

    SciTech Connect

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

    1992-10-01

    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.

  9. Delineate subsurface structures with ground penetrating radar

    SciTech Connect

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

    1992-01-01

    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.

  10. 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.

  11. 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.

  12. Optimal joule heating of the subsurface

    DOEpatents

    Berryman, James G.; Daily, William D.

    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.

  13. 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.

  14. Gravimetric examination of Hagia Sophia's subsurface structure

    NASA Astrophysics Data System (ADS)

    Friedrich, Jürgen; Gerstenecker, Carl; Gürkan, Onur

    1996-10-01

    The subsurface structure of Hagia Sophia, one of the oldest sacred monuments in the world built between 532 537 under the reign of Justinian in today's Istanbul, has been investigated by using two relative LaCoste-Romberg gravimeters in order to detect hidden cavities which have also served as earthquake dampers in similar constructions. On the building's ground floor a grid of 100 points with a grid size of about 4.m was measured. The mean gravimetric point error was ± 3.10-8 ms-2. The result of the examination is that cavities were not detected in the inner central part of Hagia Sophia with a larger diameter than 8.m down to a depth of about 20.m, and Hagia Sophia's foundation was found to be a slope of natural rock with a downward inclination to the East that has a small crest symmetrical to the building's East-West axis.

  15. Extensible telescopic coal bunker for subsurface mining

    SciTech Connect

    Gunther, R.; Sander, G.

    1980-12-02

    A subsurface coal bunker operating to receive and discharge coal is structured with an assemblage of nested telescopic container members including one stationary member and a plurality of movable members, with the container members being formed in size in a graduated series with each container member being sized to fit into a next larger container member adjacent thereto. The movable members are telescopically extensible and contractible in order to vary the volume of the assemblage and the bunker assembly is provided with a first belt conveyor for feeding material into the assemblage and a second belt conveyor for transporting material therefrom. A reversible drive mechanism, consisting of hydraulic cylinder devices actuating a system of drive chains and pulleys, is mounted on a support frame of the bunker and operates to drive the movable members between the extended and contracted positions.

  16. Microwave radiometer for subsurface temperature measurement

    NASA Technical Reports Server (NTRS)

    Porter, R. A.; Bechis, K. P.

    1976-01-01

    A UHF radiometer, operating at a frequency of 800 MHz, was modified to provide an integral, three frequency voltage standing wave ratio (VSWR) circuit in the radio frequency (RF) head. The VSWR circuit provides readings of power transmission at the antenna-material interface with an accuracy of plus or minus 5 percent. The power transmission readings are numerically equal to the emissivity of the material under observation. Knowledge of material emissivity is useful in the interpretation of subsurface apparent temperatures obtained on phantom models of biological tissue. The emissivities of phantom models consisting of lean beefsteak were found to lie in the range 0.623 to 0.779, depending on moisture content. Radiometric measurements performed on instrumented phantoms showed that the radiometer was capable of sensing small temperature changes occurring at depths of at least 19 to 30 mm. This is consistent with previously generated data which showed that the radiometer could sense temperatures at a depth of 38 mm.

  17. Microfluidic adhesion induced by subsurface microstructures.

    PubMed

    Majumder, Abhijit; Ghatak, Animangsu; Sharma, Ashutosh

    2007-10-12

    Natural adhesives in the feet of different arthropods and vertebrates show strong adhesion as well as excellent reusability. Whereas the hierarchical structures on the surface are known to have a substantial effect on adhesion, the role of subsurface structures such as the network of microchannels has not been studied. Inspired by these bioadhesives, we generated elastomeric layers with embedded air- or oil-filled microchannels. These adhesives showed remarkable enhancement of adhesion ( approximately 30 times), which results from the crack-arresting properties of the microchannels, together with the surface stresses caused by the capillary force. The importance of the thickness of the adhesive layer, channel diameter, interchannel spacing, and vertical position within the adhesive has been examined for developing an optimal design of this microfluidic adhesive. PMID:17932295

  18. 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.

  19. Subsurface discrimination using electromagnetic induction sensors

    NASA Astrophysics Data System (ADS)

    Bell, Thomas H.; Barrow, Bruce J.; Miller, Jonathan M.

    2000-07-01

    This paper reviews the problem of subsurface discrimination using electromagnetic induction sensors. Typically, discrimination is based on differences in the multiaxis magnetic polarizability between different objects. We review work on frequency and time domain systems, and their interrelationship. We present the results of comprehensive measurements of the multiaxis electromagnetic induction response of a variety of inert ordnance items, ordnance fragments and scrap metal pieces recovered from firing ranges. The extent to which the distributions of the eigenvalues of magnetic polarizability for the different classes of objects do not overlap establishes an upper bound on discrimination. For various reasons, the eigenvalues cannot always be accurately determined using data collected above a buried target. This tends to increase the overlap of the distributions, and hence degrade discrimination performance.

  20. 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.

  1. Subsurface Oceans on the Saturnian Satellites

    NASA Astrophysics Data System (ADS)

    Sohl, F.; Hussmann, H.

    2005-12-01

    One important finding of the Galileo mission to Jupiter is the indirect evidence for liquid-water oceans in the interiors of the icy Galilean satellites. The magnetometer data collected around closest approach indicate that secondary magnetic fields are induced at shallow depth in response to the time-varying Jovian magnetic field. This suggests the existence of electrically conducting reservoirs of liquid water beneath the satellites' outermost icy shells that may contain even more water than all terrestrial oceans combined. Subsurface oceans are consistent with thermodynamic models of differentiated icy satellite interiors, in which the radiogenic heat production of the silicate component is balanced by the rate of heat transfer. Furthermore, the temperature at which the ice melts will be significantly reduced by soluble substances like salts and/or incorporated volatiles such as methane and ammonia that are highly abundant in the Saturnian system and beyond. Depending on the amount of volatiles incorporated in the icy component during accretion, it is likely that a large satellite such as Titan harbours a substantial internal oceans that is sandwiched between the outer ice shell and a high-pressure ice layer underneath. Furthermore, Europa-like subsurface oceans in contact with rocky cores even may have survived to the present day on the largest medium-sized Saturnian satellites, e.g. Rhea, provided that they are differentiated. Smaller satellites or those depleted in silicates, such as Dione and Iapetus, may have harboured oceans in the past because of the more intense radiogenic heat production at that time. It is unlikely, however, that Tethys, Enceladus, and Mimas as the smallest object considered here once had maintained satellite-wide liquid-water reservoirs at shallow depth.

  2. 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.

  3. 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 α, β, or γ 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

  4. 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

  5. Subsurface Carbon Cycling Below the Root Zone

    NASA Astrophysics Data System (ADS)

    Wan, J.; Dong, W.; Kim, Y.; Tokunaga, T. K.; Bill, M.; Conrad, M. E.; Williams, K. H.; Long, P. E.; Hubbard, S. S.

    2014-12-01

    Carbon in the subsurface below the root zone is an important yet poorly understood link in the terrestrial C cycle, interfacing between overlying soil and downstream aquatic systems. Thus, the nature and behavior of C in the vadose zone and groundwater, particularly the dynamics of mobile dissolved and suspended aqueous species, need to be understood for predicting C cycling and responses to climate change. This study is designed to understand the C balance (influxes, effluxes, and sequestration) and mechanisms controlling subsurface organic and inorganic C transport and transformation. Our initial investigations are being conducted at the Rifle Site floodplain along the Colorado River, in Colorado (USA). Within this floodplain, sediment samples were collected and sampling/monitoring instruments were installed down to 7 m depth at three sites. Pore water and gas samplers at 0.5 m depth intervals within the ~3.5 m deep vadose zone, and multilevel aquifer samplers have yielded depth- and time-resolved profiles of dissolved and suspended organic and inorganic C, and CO2 for over 1.5 years. Analyses conducted to determine seasonally and vertically resolved geochemical profiles show that dissolved organic matter (DOM) characteristics vary among three distinct hydrobiogeochemical zones; the vadose zone, capillary fringe, and saturated zone. The concentrations of dissolved organic matter (DOM) are many times higher in the vadose zone and the capillary fringe than in groundwater, and vary seasonally. The DOM speciation, aqueous geochemistry, solid phase analyses, and d13C isotope data show the importance of both biotic and abiotic C transformations during transport through the vertical gradients of moisture and temperature. In addition to DOM, suspended organic C and bacteria have been collected from samplers within the capillary fringe. Based on the field-based findings, long-term laboratory column experiments are being conducted under simulated field moisture

  6. Water and nitrogen requirements of subsurface drip irrigated pomegranate

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Surface drip irrigation is a well-developed practice for both annual and perennial crops. The use of subsurface drip is a well-established practice in many annual row crops, e.g. tomatoes, strawberries, lettuce. However, the use of subsurface drip on perennial crops has been slow to develop. With th...

  7. 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...

  8. Subsurface banding poultry litter impacts greenhouse gas emissions

    Technology Transfer Automated Retrieval System (TEKTRAN)

    The impact subsurface banding poultry litter (PL) has on greenhouse gas emissions is limited. Thus, a study was conducted in established bermudagrass pastures located in Coastal Plain and Piedmont regions to determine the effects subsurface applying PL has on soil flux using two different band spaci...

  9. 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...

  10. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 10 Energy 1 2013-01-01 2013-01-01 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...

  11. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 10 Energy 1 2014-01-01 2014-01-01 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...

  12. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 10 Energy 1 2012-01-01 2012-01-01 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...

  13. The distribution of subsurface damage in fused silica

    SciTech Connect

    Miller, P E; Suratwala, T I; Wong, L L; Feit, M D; Menapace, J A; Davis, P J; Steele, R A

    2005-11-21

    Managing subsurface damage during the shaping process and removing subsurface damage during the polishing process is essential in the production of low damage density optical components, such as those required for use on high peak power lasers. Removal of subsurface damage, during the polishing process, requires polishing to a depth which is greater than the depth of the residual cracks present following the shaping process. To successfully manage, and ultimately remove subsurface damage, understanding the distribution and character of fractures in the subsurface region introduced during fabrication process is important. We have characterized the depth and morphology of subsurface fractures present following fixed abrasive and loose abrasive grinding processes. At shallow depths lateral cracks and an overlapping series of trailing indentation fractures were found to be present. At greater depths, subsurface damage consists of a series of trailing indentation fractures. The area density of trailing fractures changes as a function of depth, however the length and shape of individual cracks remain nearly constant for a given grinding process. We have developed and applied a model to interpret the depth and crack length distributions of subsurface surface damage in terms of key variables including abrasive size and load.

  14. 10 CFR 39.45 - Subsurface tracer studies.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 10 Energy 1 2011-01-01 2011-01-01 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...

  15. 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...

  16. Temporal variability of nitrogen and phosphorus transport in subsurface drainage

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Subsurface drainage is a necessity for crop production agriculture in humid climates with poorly drained soils. The Midwestern United States is the most productive agricultural area in the world. In excess of 20.6 million ha (37%) of the tillable acres in the Midwest are managed with subsurface tile...

  17. 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…

  18. 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.

  19. Autonomous Learning from a Social Cognitive Perspective

    ERIC Educational Resources Information Center

    Ponton, Michael K.; Rhea, Nancy E.

    2006-01-01

    The current perspective of autonomous learning defines it as the agentive exhibition of resourcefulness, initiative, and persistence in self-directed learning. As a form of human agency, it has been argued in the literature that this perspective should be consistent with Bandura's (1986) Social Cognitive Theory (SCT). The purpose of this article…

  20. Autonomous Language Learning: The Teachers' Perspectives.

    ERIC Educational Resources Information Center

    Chan, Victoria

    2003-01-01

    Reports on a large-scale study on learner autonomy in language learning carried out with students and English teachers at the Hong Kong Polytechnic University. Examines the teachers' views of their roles and responsibilities, their assessment of their students'decision-making abilities and the autonomous language learning activities that they have…

  1. Autonomous biomorphic robots as platforms for sensors

    SciTech Connect

    Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

    1996-10-01

    The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

  2. Autonomic Modification of Intestinal Smooth Muscle Contractility

    ERIC Educational Resources Information Center

    Montgomery, Laura E. A.; Tansey, Etain A.; Johnson, Chris D.; Roe, Sean M.; Quinn, Joe G.

    2016-01-01

    Intestinal smooth muscle contracts rhythmically in the absence of nerve and hormonal stimulation because of the activity of pacemaker cells between and within the muscle layers. This means that the autonomic nervous system modifies rather than initiates intestinal contractions. The practical described here gives students an opportunity to observe…

  3. Spatial abstraction for autonomous robot navigation.

    PubMed

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel. PMID:26227680

  4. Integrating the autonomous subsystems management process

    NASA Technical Reports Server (NTRS)

    Ashworth, Barry R.

    1992-01-01

    Ways in which the ranking of the Space Station Module Power Management and Distribution testbed may be achieved and an individual subsystem's internal priorities may be managed within the complete system are examined. The application of these results in the integration and performance leveling of the autonomously managed system is discussed.

  5. A Multifunctional Coating for Autonomous Corrosion Control

    NASA Technical Reports Server (NTRS)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

    2011-01-01

    Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

  6. 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.

  7. The CASCADAS Framework for Autonomic Communications

    NASA Astrophysics Data System (ADS)

    Baresi, Luciano; Ferdinando, Antonio Di; Manzalini, Antonio; Zambonelli, Franco

    An interesting approach to the design and development of the future Internet foresees a networked service eco-system capable of seamlessly offering services for human-to-human, human-to-machine and machine-to-machine interactions. This chapter builds in this direction by describing a distributed component-ware framework for autonomic and situation-aware communication developed within the CASCADAS project. The core of this framework is the Autonomic Communication Element (ACE), an innovative software abstraction capable of providing dynamically adaptable services that can be built, composed, and let evolve according to autonomic principles. Services are capable of adapting their logic to the dynamically changing context they operate in without human intervention. As a result, whenever the need arises, ACEs can be federated autonomously and produce new services on a situation-aware basis. Systems and, in particular, eco-systems can thus be conceived as collections of ACEs. The chapter introduces the concept of ACE and its different facets. It also presents the architecture of a prototype ACE-based platform and exemplifies the different concepts through a future Pervasive Behavioral Advertisement scenario.

  8. 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.

  9. Comparative anatomy of the autonomic nervous system.

    PubMed

    Nilsson, Stefan

    2011-11-16

    This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves. PMID:20444653

  10. Advanced Autonomous Systems for Space Operations

    NASA Astrophysics Data System (ADS)

    Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

    2002-01-01

    New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree 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 not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the 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 management 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 advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling 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 on-board 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 communication` distances as are not

  11. The Conductor of the Autonomic Orchestra

    PubMed Central

    Vinik, Aaron I.

    2012-01-01

    Bad bedfellows – autonomic dysfunction, inflammation, and diabetes! Are they related? How? Evidence suggests the activation of inflammatory cytokines like IL-6 and TNFα in newly diagnosed type 2 diabetes and that the inflammatory change correlates with abnormalities in sympathovagal balance. Dysfunction of the autonomic system predicts cardiovascular risk and sudden death in patients with type 2 diabetes. It occurs in prediabetes, providing opportunities for early intervention. The importance of recognizing autonomic dysfunction as a predictor of morbidity and mortality with intensification of treatment suggests that all patients with type 2 diabetes at onset, and those with type 1 diabetes after 5 years should be screened for autonomic imbalance. These tests can be performed at the bedside with real time output of information – within the scope of the practicing physician – facilitates diagnosis and allows the application of sound strategies for management. The window of opportunity for aggressive control of all the traditional risk factors for cardiovascular events or sudden death with intensification of therapy is with short duration diabetes, the absence of cardiovascular disease, and a history of severe hypoglycemic events. To this list we can now add autonomic dysfunction and neuropathy, which have become the most powerful predictors of risk for mortality. It seems prudent that practitioners should be encouraged to become familiar with this information and apply risk stratification in clinical practice. After all, how difficult is it to ask patients “do you have numb feet?” and to determine their heart rate variability – it could be lifesaving. Ultimately methods to reset the hypothalamus and the inflammatory cascade are needed if we are to impact the care of patients with this compendium of conditions. PMID:22737143

  12. Autonomic consequences of spinal cord injury.

    PubMed

    Hou, Shaoping; Rabchevsky, Alexander G

    2014-10-01

    Spinal cord injury (SCI) results not only in motor and sensory deficits but also in autonomic dysfunctions. The disruption of connections between higher brain centers and the spinal cord, or the impaired autonomic nervous system itself, manifests a broad range of autonomic abnormalities. This includes compromised cardiovascular, respiratory, urinary, gastrointestinal, thermoregulatory, and sexual activities. These disabilities evoke potentially life-threatening symptoms that severely interfere with the daily living of those with SCI. In particular, high thoracic or cervical SCI often causes disordered hemodynamics due to deregulated sympathetic outflow. Episodic hypertension associated with autonomic dysreflexia develops as a result of massive sympathetic discharge often triggered by unpleasant visceral or sensory stimuli below the injury level. In the pelvic floor, bladder and urethral dysfunctions are classified according to upper motor neuron versus lower motor neuron injuries; this is dependent on the level of lesion. Most impairments of the lower urinary tract manifest in two interrelated complications: bladder storage and emptying. Inadequate or excessive detrusor and sphincter functions as well as detrusor-sphincter dyssynergia are examples of micturition abnormalities stemming from SCI. Gastrointestinal motility disorders in spinal cord injured-individuals are comprised of gastric dilation, delayed gastric emptying, and diminished propulsive transit along the entire gastrointestinal tract. As a critical consequence of SCI, neurogenic bowel dysfunction exhibits constipation and/or incontinence. Thus, it is essential to recognize neural mechanisms and pathophysiology underlying various complications of autonomic dysfunctions after SCI. This overview provides both vital information for better understanding these disorders and guides to pursue novel therapeutic approaches to alleviate secondary complications. PMID:25428850

  13. The conductor of the autonomic orchestra.

    PubMed

    Vinik, Aaron I

    2012-01-01

    Bad bedfellows - autonomic dysfunction, inflammation, and diabetes! Are they related? How? Evidence suggests the activation of inflammatory cytokines like IL-6 and TNFα in newly diagnosed type 2 diabetes and that the inflammatory change correlates with abnormalities in sympathovagal balance. Dysfunction of the autonomic system predicts cardiovascular risk and sudden death in patients with type 2 diabetes. It occurs in prediabetes, providing opportunities for early intervention. The importance of recognizing autonomic dysfunction as a predictor of morbidity and mortality with intensification of treatment suggests that all patients with type 2 diabetes at onset, and those with type 1 diabetes after 5 years should be screened for autonomic imbalance. These tests can be performed at the bedside with real time output of information - within the scope of the practicing physician - facilitates diagnosis and allows the application of sound strategies for management. The window of opportunity for aggressive control of all the traditional risk factors for cardiovascular events or sudden death with intensification of therapy is with short duration diabetes, the absence of cardiovascular disease, and a history of severe hypoglycemic events. To this list we can now add autonomic dysfunction and neuropathy, which have become the most powerful predictors of risk for mortality. It seems prudent that practitioners should be encouraged to become familiar with this information and apply risk stratification in clinical practice. After all, how difficult is it to ask patients "do you have numb feet?" and to determine their heart rate variability - it could be lifesaving. Ultimately methods to reset the hypothalamus and the inflammatory cascade are needed if we are to impact the care of patients with this compendium of conditions. PMID:22737143

  14. The Autonomic Brain: An Activation Likelihood Estimation Meta-Analysis for Central Processing of Autonomic Function

    PubMed Central

    Meissner, Karin; Bär, Karl-Jürgen; Napadow, Vitaly

    2013-01-01

    The autonomic nervous system (ANS) is of paramount importance for daily life. Its regulatory action on respiratory, cardiovascular, digestive, endocrine, and many other systems is controlled by a number of structures in the CNS. While the majority of these nuclei and cortices have been identified in animal models, neuroimaging studies have recently begun to shed light on central autonomic processing in humans. In this study, we used activation likelihood estimation to conduct a meta-analysis of human neuroimaging experiments evaluating central autonomic processing to localize (1) cortical and subcortical areas involved in autonomic processing, (2) potential subsystems for the sympathetic and parasympathetic divisions of the ANS, and (3) potential subsystems for specific ANS responses to different stimuli/tasks. Across all tasks, we identified a set of consistently activated brain regions, comprising left amygdala, right anterior and left posterior insula and midcingulate cortices that form the core of the central autonomic network. While sympathetic-associated regions predominate in executive- and salience-processing networks, parasympathetic regions predominate in the default mode network. Hence, central processing of autonomic function does not simply involve a monolithic network of brain regions, instead showing elements of task and division specificity. PMID:23785162

  15. An autonomous vehicle approach for quantifying bioluminescence in ports and harbors

    NASA Astrophysics Data System (ADS)

    Moline, Mark; Bissett, Paul; Blackwell, Shelley; Mueller, James; Sevadjian, Jeff; Trees, Charles; Zaneveld, Ron

    2005-05-01

    Bioluminescence emitted from marine organisms upon mechanical stimulation is an obvious military interest, as it provides a low-tech method of identifying surface and subsurface vehicles and swimmer tracks. Clearly, the development of a passive method of identifying hostile ships, submarines, and swimmers, as well as the development of strategies to reduce the risk of detection by hostile forces is relevant to Naval operations and homeland security. The measurement of bioluminescence in coastal waters has only recently received attention as the platforms and sensors were not scaled for the inherent small-scale nature of nearshore environments. In addition to marine forcing, many ports and harbors are influenced by freshwater inputs, differential density layering and higher turbidity. The spatial and temporal fluctuations of these optical water types overlaid on changes in the bioluminescence potential make these areas uniquely complex. The development of an autonomous underwater vehicle with a bioluminescence capability allows measurements on sub-centimeter horizontal and vertical scales in shallow waters and provides the means to map the potential for detection of moving surface or subsurface objects. A deployment in San Diego Bay shows the influence of tides on the distribution of optical water types and the distribution of bioluminescent organisms. Here, these data are combined to comment on the potential for threat reduction in ports and harbors.

  16. Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?

    NASA Technical Reports Server (NTRS)

    Sterritt, Roy; Hinchey, Mike

    2004-01-01

    Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

  17. Research of autonomous landing control of unmanned combat air vehicle

    NASA Astrophysics Data System (ADS)

    Li, Shaoyan; Chen, Zongji

    2003-09-01

    This paper is to present a robust controller design method for developing autonomous landing systems of Unmanned Combat Air Vehicle (UCAV). We first analyze the characteristic of autonomous landing of UCAV, and put forward its landing performance specifications. Structure singular value μ| synthesis is used to develop autonomous landing systems to accurately follow the pre-designed ideal landing track or online generated optimal landing track. The robust performance of system is analyzed. The simulation results demonstrate that the designed autonomous landing system satisfies the performance requirements of autonomous landing of UCAV when there are uncertainties of UCAV aircraft model, measurement noises and exogenous disturbances.

  18. 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

  19. 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

  20. 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

  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

  2. Biogenic Carbon on Mars: A Subsurface Chauvinistic Viewpoint

    NASA Astrophysics Data System (ADS)

    Onstott, T. C.; Lau, C. Y. M.; Magnabosco, C.; Harris, R.; Chen, Y.; Slater, G.; Sherwood Lollar, B.; Kieft, T. L.; van Heerden, E.; Borgonie, G.; Dong, H.

    2015-12-01

    A review of 150 publications on the subsurface microbiology of the continental subsurface provides ~1,400 measurements of cellular abundances down to 4,800 meter depth. These data suggest that the continental subsurface biomass is comprised of ~1016-17 grams of carbon, which is higher than the most recent estimates of ~1015 grams of carbon (1 Gt) for the marine deep biosphere. If life developed early in Martian history and Mars sustained an active hydrological cycle during its first 500 million years, then is it possible that Mars could have developed a subsurface biomass of comparable size to that of Earth? Such a biomass would comprise a much larger fraction of the total known Martian carbon budget than does the subsurface biomass on Earth. More importantly could a remnant of this subsurface biosphere survive to the present day? To determine how sustainable subsurface life could be in isolation from the surface we have been studying subsurface fracture fluids from the Precambrian Shields in South Africa and Canada. In these environments the energetically efficient and deeply rooted acetyl-CoA pathway for carbon fixation plays a central role for chemolithoautotrophic primary producers that form the base of the biomass pyramid. These primary producers appear to be sustained indefinitely by H2 generated through serpentinization and radiolytic reactions. Carbon isotope data suggest that in some subsurface locations a much larger population of secondary consumers are sustained by the primary production of biogenic CH4 from a much smaller population of methanogens. These inverted biomass and energy pyramids sustained by the cycling of CH4 could have been and could still be active on Mars. The C and H isotopic signatures of Martian CH4 remain key tools in identifying potential signatures of an extant Martian biosphere. Based upon our results to date cavity ring-down spectroscopic technologies provide an option for making these measurements on future rover missions.

  3. 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

  4. Phononic subsurface: Flow stabilization by crystals

    NASA Astrophysics Data System (ADS)

    Hussein, Mahmoud I.; Biringen, Sedat; Bilal, Osama R.; Kucala, Alec

    2015-11-01

    Flow control is a century-old problem where the goal is to alter a flow's natural state to achieve improved performance, such as delay of laminar-to-turbulent transition or reduction of drag in a fully developed turbulent flow. Meeting this goal promises to significantly reduce the dependence on fossil fuels for global transport. In this work, we show that phonon motion underneath a surface interacting with a flow may be tuned to cause the flow to stabilize, or destabilize, as desired. This concept is demonstrated by simulating a fully developed plane Poiseuille (channel) flow whereby a small portion of an otherwise rigid wall is replaced with a one-dimensional phononic crystal. A Tollmien-Schlichting (TS) wave is introduced to the flow as an evolving disturbance. Upon tuning the frequency-dependent phase and amplitude relations of the surface of the phononic crystal that interfaces with the flow, the TS wave is shown to stabilize, or destabilize, as needed. A theory of subsurface phonons is presented that provides an accurate prediction of this behavior without the need for a flow simulation. This represents an unprecedented capability to passively synchronize wave propagation across a fluid-structure interface and achieve favorable, and predictable, alterations to the flow properties. National Science Foundation, Grant No. 1131802.

  5. 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.

  6. Subsurface Exploration Technologies and Strategies for Europa

    NASA Technical Reports Server (NTRS)

    French, L. C.; Anderson, F. S.; Carsey, F. D.; Green, J. R.; Lane, A. L.; Zimmerman, W. F.

    2001-01-01

    The Galileo data from Europa has resulted in the strong suggestion of a large, cold, salty, old subglacial ocean and is of great importance. We have examined technology requirements for subsurface exploration of Europa and determined that scientific access to the hypothesized Europa ocean is a key requirement. By 'scientific access' we intend to direct attention to the fact that several aspects of exploration of a site such as Europa must be addressed at the system level. Specifically needed are a robotic vehicle that can descend through ice, scientific instrumentation that can interrogate the ice near the vehicle (but largely unaffected by its presence), scientific instrumentation for the subglacial ocean, communication for data and control, chemical analysis of the environment of the vehicle in the ice as well as the ocean, and methods for conducting the mission without contamination. We have embarked on a part of this extremely ambitious development sequence by developing the Active Thermal Probe, or Cryobot. Additional information is contained in the original extended abstract.

  7. 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.

  8. The DOE Subsurface Microbial Culture Collection (SMCC)

    SciTech Connect

    Balkwill, David L.

    2006-05-23

    The primary activities associated with maintenance of the Subsurface Microbial Culture Collection (SMCC) were designed to ensure that the collection served as a valuable resource to DOE-funded and other scientists, especially DOE-funded scientists associated with the NABIR Program. These activities were carried out throughout the period covered by this report and in-cluded: (1) assistance in the selection of cultures for research, (2) distribution of cultures and/or data on request, (3) incorporation of newly isolated microbial strains, (4) preservation of newly isolated strains, (5) partial characterization of newly isolated strains, (6) development and main-tenance of representative subsets of cultures, (6) screening of SMCC strains for specific charac-teristics, (7) phylogenetic characterization of SMCC strains, (8) development and maintenance of a SMCC website, (9) maintenance of the SMCC databases, (10) archiving of SMCC records, and (11) quality assurance/quality control (QA/QC) activities. We describe in the Final Technical Report our accomplishments related to these activities during the period covered by this report.

  9. Optimal design of a subsurface redox barrier

    SciTech Connect

    Chilakapati, A.

    1999-06-01

    Harmful contaminants such as chromium (Cr{sup +6}), and TCE can be removed from groundwater by reactions with reduced subsurface sediments. Establishing an in situ Fe(II) barrier through the reduction of soil-bound Fe(III) to Fe(II) by injecting a sodium dithionite (Na{sub 2}S{sub 2}O{sub 4}) solution is studied. Critical to this problem is the possible formation and expansion of a zone around the injection, where all the soil-bound Fe(III) is reduced to Fe(II). Different reaction models apply inside and outside of this zone so that a determination of this moving boundary is a fundamental part of the solution. The complete analytic solution to this problem was used to develop optimal process parameters, such as injection rate and operational time, that maximize the radius of the Fe(III)-reduced zone when a given mass of sodium dithionite is injected at a well. When a large reduction [>63% of initially present Fe(III)] is desired, the results indicate that it is better to use a low flow rate to form a Fe(III)-free zone around the injection. The opposite is true for smaller reductions (<63%), so that a faster injection rate that avoids the formation of the Fe(III)-free zone yields a larger reduction zone.

  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. 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.

  12. Subsurface well safety valve with hydraulic strainer

    SciTech Connect

    Morris, A.J.; Knieriemen, J.L.

    1988-12-20

    This patent describes in combination with a subsurface safety valve for controlling fluid flow through a well conduit and including a housing having a bore and a valve closure member moving between open and closed positions for controlling fluid flow through the bore, a flow tube telescopically moving in the housing for controlling the movement of the valve closure member, biasing means for moving the tubular member in a direction to close the valve and a hydraulic piston and cylinder assembly for actuating the valve closure member, of a hydraulic strainer comprising, means defining a closed chamber positioned above the hydraulic piston and cylinder assembly, means defining an inlet fluid passageway having first and second ends, the first end adapted to receive hydraulic control fluid through a control line from the well surface, the second end extending into the chamber, means defining an outlet fluid passageway having first and second ends. The first end of the outlet fluid passageway extending into the chamber, and the second end of the outlet fluid passageway connected in fluid communication to the top of the hydraulic piston and cylinder assembly, the second end of the inlet fluid passageway being positioned away from the first end of the outlet fluid passageway for allowing debris to accumulate in the chamber and protect the piston and cylinder assembly.

  13. Sealant provides economical solution to subsurface leaks

    SciTech Connect

    Silverman, S.

    1999-02-01

    A series of unique field-tested leak sealants have been developed that can withstand the extreme pressure and temperature conditions found in the oilfield. The unique quality of the sealants is that the sealing mechanism is activated by the differential pressure created through a leak site. The sealants are comparable with oil- and glycol-based hydraulic fluids and are particularly useful for sealing leaks in subsurface safety valves, wellhead tubing and casing hanger seals, PBR seal joints, umbilical leaks and subsea well control systems. The chemical remains fluid until it is released through a leak site. The sealant mimics platelets in the human body by forming deposits on leak walls. This process creates a matrix across the leak similar to coagulating blood on a cut. Leak sites can be metal-to-metal seals, elastomer seals, pinhole leaks, or connection leaks. The pressure-activated sealant is stable at high pressures and temperatures up to 15,000 psi and 320 F and does not react with elastomers. The sealant will not plug valves because any pressure from that occurs while opening and closing the valve only lasts for a few seconds, and it is a sustained pressure drop that is required to activate the chemical.

  14. Regularities in movement of subsurface condensated fluids

    SciTech Connect

    Ayre, A.G. )

    1990-05-01

    Darcy's law is traditionally considered to be a major filtration law. However, molecular and kinetic analyses of fluid movement in a porous medium with regard for physical interaction between liquids and rocks enabled the authors to derive a new, more general law: {anti V} = Ko (1{minus}Jo/J){sup 2} J, where: {anti v} = filtration rate, J = head gradient, Jo = initial filtration gradient of Ko = V/J with J Jo, i.e., Darcy's permeability coefficient. With J > Jo, this law is transformed into Darcy's law. With J > Jo, filtration stops as any multi-molecular liquid flow, and with J < Jo, it is transformed into an individual molecular movement called filling. Filling rate is determined using the law V = {lambda}J, where {lambda} is filling coefficient. The concept of initial filtration gradient gets a new interpretation. It is now considered as gradient with which pore-liquid movement is transformed from filtration type to a filling one. These regularities are important in evaluating subsurface fluid movement in the original environments or at some distance from exciting wells. In particular, it is found that pore-liquid flow in a natural environment is of filling type, and during this process separation of solution ingredients occurs. Final sizes of a depression cone of a functioning well or mine are controlled by existence of interactions between water and rock.

  15. 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.

  16. Autonomous reinforcement learning with experience replay.

    PubMed

    Wawrzyński, Paweł; Tanwani, Ajay Kumar

    2013-05-01

    This paper considers the issues of efficiency and autonomy that are required to make reinforcement learning suitable for real-life control tasks. A real-time reinforcement learning algorithm is presented that repeatedly adjusts the control policy with the use of previously collected samples, and autonomously estimates the appropriate step-sizes for the learning updates. The algorithm is based on the actor-critic with experience replay whose step-sizes are determined on-line by an enhanced fixed point algorithm for on-line neural network training. An experimental study with simulated octopus arm and half-cheetah demonstrates the feasibility of the proposed algorithm to solve difficult learning control problems in an autonomous way within reasonably short time. PMID:23237972

  17. Multiple Autonomous Discrete Event Controllers for Constellations

    NASA Technical Reports Server (NTRS)

    Esposito, Timothy C.

    2003-01-01

    The Multiple Autonomous Discrete Event Controllers for Constellations (MADECC) project is an effort within the National Aeronautics and Space Administration Goddard Space Flight Center's (NASA/GSFC) Information Systems Division to develop autonomous positioning and attitude control for constellation satellites. It will be accomplished using traditional control theory and advanced coordination algorithms developed by the Johns Hopkins University Applied Physics Laboratory (JHU/APL). This capability will be demonstrated in the discrete event control test-bed located at JHU/APL. This project will be modeled for the Leonardo constellation mission, but is intended to be adaptable to any constellation mission. To develop a common software architecture. the controllers will only model very high-level responses. For instance, after determining that a maneuver must be made. the MADECC system will output B (Delta)V (velocity change) value. Lower level systems must then decide which thrusters to fire and for how long to achieve that (Delta)V.

  18. Fuzzy logic in autonomous orbital operations

    NASA Technical Reports Server (NTRS)

    Lea, Robert N.; Jani, Yashvant

    1991-01-01

    Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

  19. Autonomous Exploration for Gathering Increased Science

    NASA Technical Reports Server (NTRS)

    Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.; Judd, Michele A.

    2010-01-01

    The Autonomous Exploration for Gathering Increased Science System (AEGIS) provides automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which at the time of this reporting has had two rovers exploring the surface of Mars (see figure). Currently, targets for rover remote-sensing instruments must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In particular, this technology will be used to automatically acquire sub-framed, high-resolution, targeted images taken with the MER panoramic cameras. This software provides: 1) Automatic detection of terrain features in rover camera images, 2) Feature extraction for detected terrain targets, 3) Prioritization of terrain targets based on a scientist target feature set, and 4) Automated re-targeting of rover remote-sensing instruments at the highest priority target.

  20. Autonomous rough terrain navigation - Lessons learned

    NASA Technical Reports Server (NTRS)

    Miller, David P.

    1991-01-01

    Because of light-time delays, a planetary rover located on Mars or beyond will probably need to be able to navigate autonomously, in order to do significant exploration. Recent work at JPL has explored several different autonomous navigation strategies. This work includes highly deliberative methods that require large amounts of computation and internal storage but yield very planful behavior to more reactive systems that require less resources but whose behavior is more difficult to model. This paper briefly presents these methods, the results from experiments both in simulation and in the field, and some conclusions on the value of different approaches, and their possible impact on the structure of the robot and the mission architecture.

  1. Autonomous Rovers for Polar Science Campaigns

    NASA Astrophysics Data System (ADS)

    Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

    2012-12-01

    We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero

  2. Autonomous Command Operation 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.

  3. Forced synchronization of autonomous dynamical Boolean networks

    SciTech Connect

    Rivera-Durón, R. R. Campos-Cantón, E.; Campos-Cantón, I.; Gauthier, Daniel J.

    2015-08-15

    We present the design of an autonomous time-delay Boolean network realized with readily available electronic components. Through simulations and experiments that account for the detailed nonlinear response of each circuit element, we demonstrate that a network with five Boolean nodes displays complex behavior. Furthermore, we show that the dynamics of two identical networks display near-instantaneous synchronization to a periodic state when forced by a common periodic Boolean signal. A theoretical analysis of the network reveals the conditions under which complex behavior is expected in an individual network and the occurrence of synchronization in the forced networks. This research will enable future experiments on autonomous time-delay networks using readily available electronic components with dynamics on a slow enough time-scale so that inexpensive data collection systems can faithfully record the dynamics.

  4. Autonomous RPRV Navigation, Guidance and Control

    NASA Technical Reports Server (NTRS)

    Johnston, Donald E.; Myers, Thomas T.; Zellner, John W.

    1983-01-01

    Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described.

  5. Auditory stimulation and cardiac autonomic regulation

    PubMed Central

    Valenti, Vitor E.; Guida, Heraldo L.; Frizzo, Ana C. F.; Cardoso, Ana C. V.; Vanderlei, Luiz Carlos M.; de Abreu, Luiz Carlos

    2012-01-01

    Previous studies have already demonstrated that auditory stimulation with music influences the cardiovascular system. In this study, we described the relationship between musical auditory stimulation and heart rate variability. Searches were performed with the Medline, SciELO, Lilacs and Cochrane databases using the following keywords: “auditory stimulation”, “autonomic nervous system”, “music” and “heart rate variability”. The selected studies indicated that there is a strong correlation between noise intensity and vagal-sympathetic balance. Additionally, it was reported that music therapy improved heart rate variability in anthracycline-treated breast cancer patients. It was hypothesized that dopamine release in the striatal system induced by pleasurable songs is involved in cardiac autonomic regulation. Musical auditory stimulation influences heart rate variability through a neural mechanism that is not well understood. Further studies are necessary to develop new therapies to treat cardiovascular disorders. PMID:22948465

  6. The autonomic nervous system and renal physiology

    PubMed Central

    D’Elia, John A; Weinrauch, Larry A

    2013-01-01

    Research in resistant hypertension has again focused on autonomic nervous system denervation – 50 years after it had been stopped due to postural hypotension and availability of newer drugs. These (ganglionic blockers) drugs have all been similarly stopped, due to postural hypotension and yet newer antihypertensive agents. Recent demonstration of the feasibility of limited regional transcatheter sympathetic denervation has excited clinicians due to potential therapeutic implications. Standard use of ambulatory blood pressure recording equipment may alter our understanding of the diagnosis, potential treatment strategies, and health care outcomes – when faced with patients whose office blood pressure remains in the hypertensive range – while under treatment with three antihypertensive drugs at the highest tolerable doses, plus a diuretic. We review herein clinical relationships between autonomic function, resistant hypertension, current treatment strategies, and reflect upon the possibility of changes in our approach to resistant hypertension. PMID:24039445

  7. EEG and autonomic arousal measures in schizophrenics.

    PubMed

    Joseph, C

    1989-04-01

    EEG and autonomic indices were measured in basal, tonic, and phasic conditions in order to delineate the nature of arousal dysfunction in schizophrenics as compared to normals. The experimental procedure involved six continuous recording sessions consisting of a basal recording before and after four experimental series. Sequentially, these were the visual nonsignal (VNS), the auditory nonsignal (ANS), the visual signal (VS), and the auditory signal (AS) series. The main findings indicated significant differences between the two groups in cardiovascular indices during the basal and tonic conditions and in the EEG and EMG indices of phasic response. These results suggest a dysfunction of basal and tonic autonomic arousal and a modulatory impairement of the central phasic arousal reaction. The findings are in accordance with the two arousal hypothesis postulated by Routtenberg (1968) and disconfirm the unitary concept of arousal for the explanation of psychophysiological abnormality in schizophrenia. PMID:2744968

  8. Demonstration of autonomous air monitoring through robotics

    SciTech Connect

    Rancatore, R.

    1989-11-01

    The 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. The robot was also modified to carry a HNU PI-101 Photoionization Detector air monitoring device. A sonar range finder, which already was an integral part of the Surveyor, was repositioned to the front of the robot chassis to detect large obstacles in the path of the robot. In addition, the software of the onboard computer was also extensively modified to provide: navigation control, dynamic steering to smoothly follow the wire-course without hesitation, obstacle avoidance, autonomous shut down and remote reporting of toxic substance detection.

  9. Autonomous Flight Safety System Road Test

    NASA Technical Reports Server (NTRS)

    Simpson, James C.; Zoemer, Roger D.; Forney, Chris S.

    2005-01-01

    On February 3, 2005, Kennedy Space Center (KSC) conducted the first Autonomous Flight Safety System (AFSS) test on a moving vehicle -- a van driven around the KSC industrial area. A subset of the Phase III design was used consisting of a single computer, GPS receiver, and UPS antenna. The description and results of this road test are described in this report.AFSS is a joint KSC and Wallops Flight Facility project that is in its third phase of development. AFSS is an independent subsystem intended for use with Expendable Launch Vehicles that uses tracking data from redundant onboard sensors to autonomously make flight termination decisions using software-based rules implemented on redundant flight processors. The goals of this project are to increase capabilities by allowing launches from locations that do not have or cannot afford extensive ground-based range safety assets, to decrease range costs, and to decrease reaction time for special situations.

  10. Development of autonomous grasping and navigating robot

    NASA Astrophysics Data System (ADS)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  11. Autonomous Spacecraft Communication Interface for Load Planning

    NASA Technical Reports Server (NTRS)

    Dever, Timothy P.; May, Ryan D.; Morris, Paul H.

    2014-01-01

    Ground-based controllers can remain in continuous communication with spacecraft in low Earth orbit (LEO) with near-instantaneous communication speeds. This permits near real-time control of all of the core spacecraft systems by ground personnel. However, as NASA missions move beyond LEO, light-time communication delay issues, such as time lag and low bandwidth, will prohibit this type of operation. As missions become more distant, autonomous control of manned spacecraft will be required. The focus of this paper is the power subsystem. For present missions, controllers on the ground develop a complete schedule of power usage for all spacecraft components. This paper presents work currently underway at NASA to develop an architecture for an autonomous spacecraft, and focuses on the development of communication between the Mission Manager and the Autonomous Power Controller. These two systems must work together in order to plan future load use and respond to unanticipated plan deviations. Using a nominal spacecraft architecture and prototype versions of these two key components, a number of simulations are run under a variety of operational conditions, enabling development of content and format of the messages necessary to achieve the desired goals. The goals include negotiation of a load schedule that meets the global requirements (contained in the Mission Manager) and local power system requirements (contained in the Autonomous Power Controller), and communication of off-plan disturbances that arise while executing a negotiated plan. The message content is developed in two steps: first, a set of rapid-prototyping "paper" simulations are preformed; then the resultant optimized messages are codified for computer communication for use in automated testing.

  12. ALHAT: Autonomous Landing and Hazard Avoidance Technology

    NASA Technical Reports Server (NTRS)

    Robertson, Edward A.; Carson, John M., III

    2015-01-01

    The ALHAT project was chartered by NASA HQ in 2006 to develop and mature to TRL 6 an autonomous lunar landing GN&C and sensing system for crewed, cargo, and robotic planetary landing vehicles. The multi-center ALHAT team was tasked with providing a system capable of identifying and avoiding surface hazards in real time to enable safe precision landing to within tens of meters of a designated planetary landing site under any lighting conditions.

  13. Precise laser gyroscope for autonomous inertial navigation

    SciTech Connect

    Kuznetsov, A G; Molchanov, A V; Izmailov, E A; Chirkin, M V

    2015-01-31

    Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented. (laser gyroscopes)

  14. Autonomous satellite navigation by stellar refraction

    NASA Technical Reports Server (NTRS)

    Gounley, R.; White, R.; Gai, E.

    1983-01-01

    This paper describes an error analysis of an autonomous navigator using refraction measurements of starlight passing through the upper atmosphere. The analysis is based on a discrete linear Kalman filter. The filter generated steady-state values of navigator performance for a variety of test cases. Results of these simulations show that in low-earth orbit position-error standard deviations of less than 0.100 km may be obtained using only 40 star sightings per orbit.

  15. An architecture for an autonomous learning robot

    NASA Technical Reports Server (NTRS)

    Tillotson, Brian

    1988-01-01

    An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

  16. Autonomous Flight Safety System - Phase III

    NASA Technical Reports Server (NTRS)

    2008-01-01

    The Autonomous Flight Safety System (AFSS) is a joint KSC and Wallops Flight Facility project that uses tracking and attitude data from onboard Global Positioning System (GPS) and inertial measurement unit (IMU) sensors and configurable rule-based algorithms to make flight termination decisions. AFSS objectives are to increase launch capabilities by permitting launches from locations without range safety infrastructure, reduce costs by eliminating some downrange tracking and communication assets, and reduce the reaction time for flight termination decisions.

  17. Flocking algorithm for autonomous flying robots.

    PubMed

    Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

    2014-06-01

    Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks. PMID:24852272

  18. Autonomous Rendezvous and Docking Conference, volume 1

    NASA Technical Reports Server (NTRS)

    1990-01-01

    This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. It contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of the ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of the programmatic management, technical, schedule, and cost risks.

  19. System for autonomous monitoring of bioagents

    SciTech Connect

    Langlois, Richard G.; Milanovich, Fred P.; Colston, Jr, Billy W.; Brown, Steve B.; Masquelier, Don A.; Mariella, Jr., Raymond P.; Venkateswaran, Kodomudi

    2015-06-09

    An autonomous monitoring system for monitoring for bioagents. A collector gathers the air, water, soil, or substance being monitored. A sample preparation means for preparing a sample is operatively connected to the collector. A detector for detecting the bioagents in the sample is operatively connected to the sample preparation means. One embodiment of the present invention includes confirmation means for confirming the bioagents in the sample.

  20. Automatic learning by an autonomous mobile robot

    SciTech Connect

    de Saussure, G.; Spelt, P.F.; Killough, S.M.; Pin, F.G.; Weisbin, C.R.

    1989-01-01

    This paper describes recent research in automatic learning by the autonomous mobile robot HERMIES-IIB at the Center for Engineering Systems Advanced Research (CESAR). By acting on the environment and observing the consequences during a set of training examples, the robot learns a sequence of successful manipulations on a simulated control panel. The robot learns to classify panel configurations in order to deal with new configurations that are not part of the original training set. 5 refs., 2 figs.