Collaborating with Autonomous Agents

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

Towards an Open, Distributed Software Architecture for UxS Operations

To address the growing need to evaluate, test, and certify an ever expanding ecosystem of UxS platforms in preparation of cultural integration, NASA Langley Research Center's Autonomy Incubator (AI) has taken on the challenge of developing a software framework in which UxS platforms developed by third parties can be integrated into a single system which provides evaluation and testing, mission planning and operation, and out-of-the-box autonomy and data fusion capabilities. This software framework, named AEON (Autonomous Entity Operations Network), has two main goals. The first goal is the development of a cross-platform, extensible, onboard software system that provides autonomy at the mission execution and course-planning level, a highly configurable data fusion framework sensitive to the platform's available sensor hardware, and plug-and-play compatibility with a wide array of computer systems, sensors, software, and controls hardware. The second goal is the development of a ground control system that acts as a test-bed for integration of the proposed heterogeneous fleet, and allows for complex mission planning, tracking, and debugging capabilities. The ground control system should also be highly extensible and allow plug-and-play interoperability with third party software systems. In order to achieve these goals, this paper proposes an open, distributed software architecture which utilizes at its core the Data Distribution Service (DDS) standards, established by the Object Management Group (OMG), for inter-process communication and data flow. The design decisions proposed herein leverage the advantages of existing robotics software architectures and the DDS standards to develop software that is scalable, high-performance, fault tolerant, modular, and readily interoperable with external platforms and software

Pseudovibrio denitrificans strain Z143-1, a heptylprodigiosin-producing bacterium isolated from a Philippine tunicate

Microbial isolate Z143-1 found to be associated with an unidentified tunicate was characterized due to its significant antimicrobial activity. Z143-1 is similar to Pseudovibrio ascidiaceicola and Pseudovibrio denitrificans in morphological, physiological and biochemical characteristics, except for its ability to ferment glucose and produce a characteristic red pigment. Fatty acid methyl ester analysis revealed a predominance of the fatty acid 18:1 ω7c at 80.55%, at levels slightly lower than the Pseudovibrio denitrificans type strain DN34T (87.7%). The mol% G+C of Z143-1 is 54.02, relatively higher than the Pseudovibrio denitrificans type strain DN34T and Pseudovibrio ascidiaceicola with mol% G+C of 51.7 and 51.4, respectively. However, phylogenetic analysis of the 16S rRNA gene sequence of Z143-1 showed 100% similarity with the Pseudovibrio denitrificans type strain DN34T. In this study, the bacterium Z143-1 is reported as a new strain of Pseudovibrio denitrificans. While there is no report of a secondary metabolite for Pseudovibrio denitrificans, Z143-1 produces the red pigment heptylprodigiosin, also known as 16-methyl-15-heptyl-prodiginine, which shows anti-Staphylococcus aureus activity

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today

A century of sea level measurements at Newlyn, SW England

The Newlyn Tidal Observatory is the most important sea level station in the UK. It commenced operations in 1915 as part of the Second Geodetic Levelling of England and Wales, and the mean sea level determined from the tide gauge during the first six years (May 1915-April 1921) defined Ordnance Datum Newlyn (ODN) which became the national height datum for the whole of Great Britain. The 100 years of sea level data now available have contributed significantly to many studies in oceanography, geology and climate change. This paper marks the centenary of this important station by reviewing the sea level (and, more recently, detailed land level) measurements and Newlyn’s contributions to UK cartography, geodesy and sea-level science in general. Recommendations are made on how sea and land level measurements at Newlyn might be enhanced in the future

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots without substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables

The cyanobiont in an Azolla fern is neither Anabaena nor Nostoc

The cyanobacterial symbionts in the fern Azolla have generally been ascribed to either the Anabaena or Nostoc genera. By using comparisons of the sequences of the phycocyanin intergenic spacer and a fragment of the 16S rRNA, we found that the cyanobiont from an Azolla belongs to neither of these genera.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/75153/1/S0378-1097_03_00784-5.pd

The Consensus from the Mycobacterium avium ssp. paratuberculosis (MAP) Conference 2017.

On March 24 and 25, 2017 researchers and clinicians from around the world met at Temple University in Philadelphia to discuss the current knowledge of Mycobacterium avium ssp. paratuberculosis (MAP) and its relationship to human disease. The conference was held because of shared concern that MAP is a zoonotic bacterium that poses a threat not only to animal health but also human health. In order to further study this problem, the conferees discussed ways to improve MAP diagnostic tests and discussed potential future anti-MAP clinical trials. The conference proceedings may be viewed on the www.Humanpara.org website. A summary of the salient work in this field is followed by recommendations from a majority of the conferees

Microbial biobanking – cyanobacteria-rich topsoil facilitates mine rehabilitation

Restoration of soils post-mining requires key solutions to complex issues through which the disturbance of topsoil incorporating soil microbial communities can result in a modification to ecosystem function. This research was in collaboration with Iluka Resources at the Jacinth–Ambrosia (J–A) mineral sand mine located in a semi-arid chenopod shrubland in southern Australia. At J–A, assemblages of microorganisms and microflora inhabit at least half of the soil surfaces and are collectively known as biocrusts. This research encompassed a polyphasic approach to soil microbial community profiling focused on “biobanking” viable cyanobacteria in topsoil stockpiles to facilitate rehabilitation. We found that cyanobacterial communities were compositionally diverse topsoil microbiomes. There was no significant difference in cyanobacterial community structure across soil types. As hypothesised, cyanobacteria were central to soil microprocesses, strongly supported by species richness and diversity. Cyanobacteria were a significant component of all three successional stages with 21 species identified from 10 sites. Known nitrogen-fixing cyanobacteria Symploca, Scytonema, Porphyrosiphon, Brasilonema, Nostoc, and Gloeocapsa comprised more than 50&thinsp;% of the species richness at each site and 61&thinsp;% of the total community richness. In the first study of its kind, we have described the response of cyanobacteria to topsoil stockpiling at various depths and ages. Cyanobacteria are moderately resilient to stockpiling at depth and over time, with average species richness greatest in the top 10&thinsp;cm of the stockpiles of all ages and more viable within the first 6 weeks, indicating potential for biocrust re-establishment. In general, the resilience of cyanobacteria to burial in topsoil stockpiles in both the short and long term was significant; however, in an arid environment recolonisation and community diversity could be impeded by drought. Biocrust re-establishment during mine rehabilitation relies on the role of cyanobacteria as a means of early soil stabilisation. At J–A mine operations do not threaten the survival of any of the organisms we studied. Increased cyanobacterial biomass is likely to be a good indicator and reliable metric for the re-establishment of soil microprocesses.</p

2017 HRS/EHRA/ECAS/APHRS/SOLAECE expert consensus statement on catheter and surgical ablation of atrial fibrillation: executive summary.

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