Understanding evolutionary processes during past Quaternary climatic cycles: Can it be applied to the future?

Climate change affected ecological community make-up during the Quaternary which was probably both the cause of, and was caused by, evolutionary processes such as species evolution, adaptation and extinction of species and populations

Challenges and potential to improve airline safety and demonstrate resilience through monitoring

Rasmussen (1997) shows how it may be possible to go beyond an acceptable safety boundary, and if crossing the boundary is irreversible, an error or an accident may occur. Organizations reside as a specific operating point within three specific boundaries. The three boundaries are: the economic failure boundary, the unacceptable workload boundary, and the boundary of functionally acceptable performance. Safety Management System (SMS) regulations require that airlines look proactively at their operations through a monitoring process with the aim to react, learn, and anticipate before safety issues give rise to the potential of creating an accident. The following thesis will look at airline’s flight operations monitoring system to see if the organization uses Resilience Engineering concepts to enhance their ability to create work processes that are robust yet flexible enough to adapt to varying risk scenarios, and whether the organization is proactive in its approach when faced with disruptions and ongoing economic and production pressures before it goes beyond the boundary of acceptable performance

Human-assisted self-supervised labeling of large data sets

There is a severe demand for, and shortage of, large accurately labeled datasets to train supervised computational intelligence (CI) algorithms in domains like unmanned aerial systems (UAS) and autonomous vehicles. This has hindered our ability to develop and deploy various computer vision algorithms in/across environments and niche domains for tasks like detection, localization, and tracking. Herein, I propose a new human-in-the-loop (HITL) based growing neural gas (GNG) algorithm to minimize human intervention during labeling large UAS data collections over a shared geospatial area. Specifically, I address human driven events like new class identification and mistake correction. I also address algorithm-centric operations like new pattern discovery and self-supervised labeling. Pattern discovery and identification through self-supervised labeling is made possible through open set recognition (OSR). Herein, I propose a classifier with the ability to say "I don't know" to identify outliers in the data and bootstrap deep learning (DL) models, specifically convolutional neural networks (CNNs), with the ability to classify on N+1 classes. The effectiveness of the algorithms are demonstrated using simulated realistic ray-traced low altitude UAS data from the Unreal Engine. The results show that it is possible to increase speed and reduce mental fatigue over hand labeling large image datasets.Includes bibliographical references

A review of advances in pixel detectors for experiments with high rate and radiation

The Large Hadron Collider (LHC) experiments ATLAS and CMS have established hybrid pixel detectors as the instrument of choice for particle tracking and vertexing in high rate and radiation environments, as they operate close to the LHC interaction points. With the High Luminosity-LHC upgrade now in sight, for which the tracking detectors will be completely replaced, new generations of pixel detectors are being devised. They have to address enormous challenges in terms of data throughput and radiation levels, ionizing and non-ionizing, that harm the sensing and readout parts of pixel detectors alike. Advances in microelectronics and microprocessing technologies now enable large scale detector designs with unprecedented performance in measurement precision (space and time), radiation hard sensors and readout chips, hybridization techniques, lightweight supports, and fully monolithic approaches to meet these challenges. This paper reviews the world-wide effort on these developments.Comment: 84 pages with 46 figures. Review article.For submission to Rep. Prog. Phy

Marshall Space Flight Center Research and Technology Report 2019

Today, our calling to explore is greater than ever before, and here at Marshall Space Flight Centerwe make human deep space exploration possible. A key goal for Artemis is demonstrating and perfecting capabilities on the Moon for technologies needed for humans to get to Mars. This years report features 10 of the Agencys 16 Technology Areas, and I am proud of Marshalls role in creating solutions for so many of these daunting technical challenges. Many of these projects will lead to sustainable in-space architecture for human space exploration that will allow us to travel to the Moon, on to Mars, and beyond. Others are developing new scientific instruments capable of providing an unprecedented glimpse into our universe. NASA has led the charge in space exploration for more than six decades, and through the Artemis program we will help build on our work in low Earth orbit and pave the way to the Moon and Mars. At Marshall, we leverage the skills and interest of the international community to conduct scientific research, develop and demonstrate technology, and train international crews to operate further from Earth for longer periods of time than ever before first at the lunar surface, then on to our next giant leap, human exploration of Mars. While each project in this report seeks to advance new technology and challenge conventions, it is important to recognize the diversity of activities and people supporting our mission. This report not only showcases the Centers capabilities and our partnerships, it also highlights the progress our people have achieved in the past year. These scientists, researchers and innovators are why Marshall and NASA will continue to be a leader in innovation, exploration, and discovery for years to come

Locomoção de humanoides robusta e versátil baseada em controlo analítico e física residual

Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains or face external disturbances, they combine a set of strategies, unconsciously and efficiently, to regain stability. This thesis tackles the problem of developing a robust omnidirectional walking framework, which is able to generate versatile and agile locomotion on complex terrains. We designed and developed model-based and model-free walk engines and formulated the controllers using different approaches including classical and optimal control schemes and validated their performance through simulations and experiments. These frameworks have hierarchical structures that are composed of several layers. These layers are composed of several modules that are connected together to fade the complexity and increase the flexibility of the proposed frameworks. Additionally, they can be easily and quickly deployed on different platforms. Besides, we believe that using machine learning on top of analytical approaches is a key to open doors for humanoid robots to step out of laboratories. We proposed a tight coupling between analytical control and deep reinforcement learning. We augmented our analytical controller with reinforcement learning modules to learn how to regulate the walk engine parameters (planners and controllers) adaptively and generate residuals to adjust the robot’s target joint positions (residual physics). The effectiveness of the proposed frameworks was demonstrated and evaluated across a set of challenging simulation scenarios. The robot was able to generalize what it learned in one scenario, by displaying human-like locomotion skills in unforeseen circumstances, even in the presence of noise and external pushes.Os robôs humanoides são feitos para se parecerem com humanos, mas suas habilidades de locomoção estão longe das nossas em termos de agilidade e versatilidade. Quando os humanos caminham em terrenos complexos ou enfrentam distúrbios externos combinam diferentes estratégias, de forma inconsciente e eficiente, para recuperar a estabilidade. Esta tese aborda o problema de desenvolver um sistema robusto para andar de forma omnidirecional, capaz de gerar uma locomoção para robôs humanoides versátil e ágil em terrenos complexos. Projetámos e desenvolvemos motores de locomoção sem modelos e baseados em modelos. Formulámos os controladores usando diferentes abordagens, incluindo esquemas de controlo clássicos e ideais, e validámos o seu desempenho por meio de simulações e experiências reais. Estes frameworks têm estruturas hierárquicas compostas por várias camadas. Essas camadas são compostas por vários módulos que são conectados entre si para diminuir a complexidade e aumentar a flexibilidade dos frameworks propostos. Adicionalmente, o sistema pode ser implementado em diferentes plataformas de forma fácil. Acreditamos que o uso de aprendizagem automática sobre abordagens analíticas é a chave para abrir as portas para robôs humanoides saírem dos laboratórios. Propusemos um forte acoplamento entre controlo analítico e aprendizagem profunda por reforço. Expandimos o nosso controlador analítico com módulos de aprendizagem por reforço para aprender como regular os parâmetros do motor de caminhada (planeadores e controladores) de forma adaptativa e gerar resíduos para ajustar as posições das juntas alvo do robô (física residual). A eficácia das estruturas propostas foi demonstrada e avaliada em um conjunto de cenários de simulação desafiadores. O robô foi capaz de generalizar o que aprendeu em um cenário, exibindo habilidades de locomoção humanas em circunstâncias imprevistas, mesmo na presença de ruído e impulsos externos.Programa Doutoral em Informátic

Barry Turner: The under-acknowledged safety pioneer

Barry Turner’s 1978 Man-made Disasters and Charles Perrow’s 1984 Normal Accidents were seminal books but a detailed comparison has yet to be undertaken. Doing so is important to establish content and priority of key ideas underpinning contemporary safety science. Turner’s research found socio-technical and systemic patterns that meant that major organisational disasters could be foreseen and were preventable. Perrow’s macro-structuralist industry focus was on technologically deterministic but unpredictable and unpreventable “system” accidents, particularly rare catastrophes. Andrew Hopkins and Nick Pidgeon respectively suggested that some prominent writers who wrote after Turner may not have been aware of, or did not properly acknowledge, Turner’s work. Using a methodology involving systematic reading and historical, biographical and thematic theory analysis, a detailed review of Turner’s and Perrow’s backgrounds and publications sheds new light on Turner’s priority and accomplishment, highlighting substantial similarities as well as clear differences. Normal Accidents did not cite Turner in 1984 or when republished with major additions in 1999. Turner became better known after a 1997 second edition of Man-made Disasters but under-acknowledgment issues by Perrow and others continued. Ethical citation and potential reasons for under-acknowledgment are discussed together with lessons applicable more broadly. It is concluded that Turner’s foundational importance for safety science should be better recognised