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All sources NASA NTRS DOE OSTI

NASA NTRS2021

Verifying Mars 2020 Sampling and Caching Robotic Functions with Position Budgeting Process and Tool

The Mars 2020 Perseverance Rover was launched on July 30th, 2020 with one of the most complex robotic systems ever implemented on an interplanetary mission. Much of this robotic complexity resides in the Rover Sampling and Caching Subsystem (SCS) to enable collection of Martian samples for eventual return to earth and preparation of surfaces for close-up surface science observations. Two robotic arms are used by SCS: the large Robotic Arm (RA) positions the coring drill and science instruments mounted to the Turret for surface interactions, and the smaller Sample Handling Assembly (SHA) manipulates Sample Tube Assemblies (STA) within the Adaptive Caching Assembly (ACA) to prepare them for sample collection, processing, and hermetic sealing. The robotic arms interact with the Martian surface and other SCS components in many ways and in a variety of configurations, with positioning accuracy requirements ranging from tens of millimeters for some surface interactions down to sub-millimeter accuracy for some ACA interactions.This paper describes the process and tool used to calculate the SCS robotic interaction positioning budgets and verify the as-built hardware when delivered. To ensure that these robotic systems are able to perform their tasks, each robotic interaction with another element was broken down into its composite functions. To calculate a positioning budget margin for each function, an allowable was defined and then compared to the list of error sources that contribute to misalignment. Across the subsystem, over 250 functions were identified to be assessed, with almost 500 error sources feeding into their budget calculations. In addition to using as-built values in the budgets for SCS Verification and Validation (V&V) after the hardware was complete, these budgets were populated with design data during the design phase to identify areas of concern and guide hardware design to ensure positive position budget margins.Because of the size of the SCS team that had inputs to the positioning budgets and the sheer number of items in the budgets that needed to be created, updated, and verified, having a tool that would allow for simultaneous access and robust data integrity and processing was imperative. To accomplish this, a web-based MySQL database was created that allowed users to create function position budgets, link individual errors and allowables to them, and view function position budget margin reports. Each error and allowable records data for lateral, normal, angular, and clocking errors, with the ability to add as-built data for up to four different hardware builds. Margin reports can be generated for either design values alone or replacing design data with as-built data when available. These as-built reports are used for final verification of the SCS positioning requirements. Ultimately, the SCS positioning budget process and database tool led to successful interactions during test and an SCS robotic system that is ready to perform sample acquisition and caching on the surface of Mars.

Williams, Jeffrey↗

NASA NTRS2000

Sensing device and method for measuring emission time delay during irradiation of targeted samples

An apparatus for measuring emission time delay during irradiation of targeted samples by utilizing digital signal processing to determine the emission phase shift caused by the sample is disclosed. The apparatus includes a source of electromagnetic radiation adapted to irradiate a target sample. A mechanism generates first and second digital input signals of known frequencies with a known phase relationship, and a device then converts the first and second digital input signals to analog sinusoidal signals. An element is provided to direct the first input signal to the electromagnetic radiation source to modulate the source by the frequency thereof to irradiate the target sample and generate a target sample emission. A device detects the target sample emission and produces a corresponding first output signal having a phase shift relative to the phase of the first input signal, the phase shift being caused by the irradiation time delay in the sample. A member produces a known phase shift in the second input signal to create a second output signal. A mechanism is then provided for converting each of the first and second analog output signals to digital signals. A mixer receives the first and second digital output signals and compares the signal phase relationship therebetween to produce a signal indicative of the change in phase relationship between the first and second output signals caused by the target sample emission. Finally, a feedback arrangement alters the phase of the second input signal based on the mixer signal to ultimately place the first and second output signals in quadrature. Mechanisms for enhancing this phase comparison and adjustment technique are also disclosed.

Danielson, J. D. Sheldon↗

NASA NTRS2006

Sensing device and method for measuring emission time delay during irradiation of targeted samples utilizing variable phase tracking

Danielson, J. D. Sheldon↗

NASA NTRS2006

Numerical Schemes for the Hamilton-Jacobi and Level Set Equations on Triangulated Domains

Borrowing from techniques developed for conservation law equations, we have developed both monotone and higher order accurate numerical schemes which discretize the Hamilton-Jacobi and level set equations on triangulated domains. The use of unstructured meshes containing triangles (2D) and tetrahedra (3D) easily accommodates mesh adaptation to resolve disparate level set feature scales with a minimal number of solution unknowns. The minisymposium talk will discuss these algorithmic developments and present sample calculations using our adaptive triangulation algorithm applied to various moving interface problems such as etching, deposition, and curvature flow.

Barth, Timothy J.↗

NASA NTRS1991

Optimal sampling theory and population modelling - Application to determination of the influence of the microgravity environment on drug distribution and elimination

The optimal sampling theory is evaluated in applications to studies related to the distribution and elimination of several drugs (including ceftazidime, piperacillin, and ciprofloxacin), using the SAMPLE module of the ADAPT II package of programs developed by D'Argenio and Schumitzky (1979, 1988) and comparing the pharmacokinetic parameter values with results obtained by traditional ten-sample design. The impact of the use of optimal sampling was demonstrated in conjunction with NONMEM (Sheiner et al., 1977) approach, in which the population is taken as the unit of analysis, allowing even fragmentary patient data sets to contribute to population parameter estimates. It is shown that this technique is applicable in both the single-dose and the multiple-dose environments. The ability to study real patients made it possible to show that there was a bimodal distribution in ciprofloxacin nonrenal clearance.

Drusano, George L.↗

DOE OSTI2021

Preparing Lamellae from Vitreous Biological Samples using a Dual-Beam Scanning Electron Microscope for Cryo-Electron Tomography

Presented here is a protocol for preparing cryo-lamellae from plunge-frozen grids of Plasmodium falciparum-infected human erythrocytes, which could easily be adapted for other biological samples. The basic principles for preparing samples, milling, and viewing lamellae are common to all instruments and the protocol can be followed as a general guide to on-grid cryo-lamella preparation for cryo-electron microscopy (cryoEM) and cryo-electron tomography (cryoET). Electron microscopy grids supporting the cells are plunge-frozen into liquid nitrogen-cooled liquid ethane using a manual or automated plunge freezer, then screened on a light microscope equipped with a cryo-stage. Frozen grids are transferred into a cryo-scanning electron microscope equipped with a focused ion beam (cryoFIB-SEM). Grids are routinely sputter coated prior to milling, which aids dispersal of charge build-up during milling. Alternatively, an e-beam rotary coater can be used to apply a layer of carbon-platinum to the grids, the exact thickness of which can be more precisely controlled. Once inside the cryoFIB-SEM an additional coating of an organoplatinum compound is applied to the surface of the grid via a gas injection system (GIS). This layer protects the front edge of the lamella as it is milled, the integrity of which is critical for achieving uniformly thin lamellae. Regions of interest are identified via SEM and milling is carried out in a step-wise fashion, reducing the current of the ion beam as the lamella reaches electron transparency, in order to avoid excessive heat generation. A grid with multiple lamellae is then transferred to a transmission electron microscope (TEM) under cryogenic conditions for tilt-series acquisition. A robust and contamination-free workflow for lamella preparation is an essential step for downstream techniques, including cellular cryoEM, cryoET, and sub-tomogram averaging. Development of these techniques, especially for lift-out and milling of high-pressure frozen samples, is of high-priority in the field.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1992

Self-tuning control of attitude and momentum management for the Space Station

This paper presents a hybrid state-space self-tuning design methodology using dual-rate sampling for suboptimal digital adaptive control of attitude and momentum management for the Space Station. This new hybrid adaptive control scheme combines an on-line recursive estimation algorithm for indirectly identifying the parameters of a continuous-time system from the available fast-rate sampled data of the inputs and states and a controller synthesis algorithm for indirectly finding the slow-rate suboptimal digital controller from the designed optimal analog controller. The proposed method enables the development of digitally implementable control algorithms for the robust control of Space Station Freedom with unknown environmental disturbances and slowly time-varying dynamics.

Shieh, L. S.↗

NASA NTRS2020

Sealing Station Mechanisms for the Mars 2020 Rover Sample Caching Subsystem

The Sealing Station is composed of two mechanisms: the Gripper Mechanism, for orientation and support of the Sample Tube during the Hermetic Seal activation activity, as well as ejecting Sample Tubes out of the Rover, and the Ram Mechanism, which produces and applies a high force for seal activation. The Ram Mechanism is a compact high force linear actuator that uses a planetary roller screw (PRS) as the output linear stage, tapered roller bearings (TRB) to support the PRS at the high loads, a set of spur gears supported by cylinder roller bearings, and a brushless motor with a planetary gearhead and magnetic detent brake. This paper describes the role of these mechanisms in the Mars 2020 Rover mission as a part of the Sample Caching Subsystem (SCS) and Adaptive Caching Assembly (ACA) and their interactions with the Hermetic Seal and Sample Tube hardware. We report on development testing performed with the PRS that show it has capability of supporting cross-moment loads, something manufacturers of these components do not rate. Also discussed is the interaction of the passive holding torque from magnetic detent brakes and hardstop preload, setting of a very light preload in the TRB, and the complex linear dyno test equipment used, and how that testing could have been improved.

Grimes-York, Jesse↗

NASA NTRS2026

Adaptive Curation at NASA Johnson Space Center: Preparing for Artemis Samples by Leveraging Proven Practices and Innovative Solution

The proper curation of returned astromaterial samples is essential to ensure that high-quality scientific investigations can be conducted for decades, enabling future generations to address evolving research questions. The Astromaterials Acquisition and Curation Office at NASA Johnson Space Center (hereafter JSC Curation) is responsible for curating all of NASA’s extraterrestrial samples. Under the governing document, NASA Procedural Requirement (NPR) 7100.5 “Curation of Extraterrestrial Materials”, JSC Curation is charged with “The curation of all extraterrestrial material under NASA control, including future NASA missions.” The Directive goes on to define Curation as including “...documentation, preservation, preparation, and distribution of samples for research, education, and public outreach.” JSC Curation has a long-standing legacy of curating extraterrestrial materials, including but not limited to Apollo and Luna lunar samples, Genesis solar wind samples, Stardust comet samples, asteroid samples (Hayabusa1, Hayabusa2, and OSIRIS-REx), and Antarctic Meteorite samples from a variety of parent bodies. Building on this foundation, the Artemis program introduces new challenges and opportunities for sample curation, requiring both the application of proven practices and the development of innovative solutions. The Artemis Collection will be curated using established protocols refined through decades of experience with Apollo and subsequent sample collections, including but not limited to the utilization of cleanrooms, custom nitrogen gloveboxes, specialized storage containers and tools; all of which have strict material utilization and prohibition requirements. These practices provide a robust framework for contamination control, documentation, and long-term preservation. However, Artemis samples may present unique scientific and operational requirements, including enhanced contamination control measures (relative to Apollo) driven by evolving science objectives. To meet these needs, JSC Curation is actively developing new technologies and protocols that extend beyond traditional approaches, ensuring that the integrity of samples is maintained under increasingly stringent standards. One critical area of innovation is the development of cold sample curation capabilities. Certain Artemis samples, particularly those from Permanently Shadowed Regions (PSRs) and cold environments, are expected to contain ices and volatile components that require preservation and handling at sub-zero or even cryogenic temperatures. JSC Curation is leveraging best practices from the cold and cryogenic sample industries, as well as other government agencies and academic experts, to design facilities and handling procedures that maintain sample integrity while enabling scientific access. The goal is to develop capabilities to allow researchers to investigate volatiles and other temperature-sensitive materials while minimizing chemical and physical alterations from their returned state. In summary, adaptive curation at JSC combines the reliability of proven methodologies with forward-looking innovations to meet the scientific and operational demands of Artemis. Through enhanced contamination control, advanced cold curation capabilities, and an understanding of known and evolving future science priorities, NASA is preparing to maximize the scientific return from Artemis samples and preserve their value for generations of researchers.

Andrea D Harrington↗

NASA NTRS2016

Probabilistic Damage Characterization Using the Computationally-Efficient Bayesian Approach

This work presents a computationally-ecient approach for damage determination that quanti es uncertainty in the provided diagnosis. Given strain sensor data that are polluted with measurement errors, Bayesian inference is used to estimate the location, size, and orientation of damage. This approach uses Bayes' Theorem to combine any prior knowledge an analyst may have about the nature of the damage with information provided implicitly by the strain sensor data to form a posterior probability distribution over possible damage states. The unknown damage parameters are then estimated based on samples drawn numerically from this distribution using a Markov Chain Monte Carlo (MCMC) sampling algorithm. Several modi cations are made to the traditional Bayesian inference approach to provide signi cant computational speedup. First, an ecient surrogate model is constructed using sparse grid interpolation to replace a costly nite element model that must otherwise be evaluated for each sample drawn with MCMC. Next, the standard Bayesian posterior distribution is modi ed using a weighted likelihood formulation, which is shown to improve the convergence of the sampling process. Finally, a robust MCMC algorithm, Delayed Rejection Adaptive Metropolis (DRAM), is adopted to sample the probability distribution more eciently. Numerical examples demonstrate that the proposed framework e ectively provides damage estimates with uncertainty quanti cation and can yield orders of magnitude speedup over standard Bayesian approaches.

Warner, James E.↗

NASA NTRS2011

Adaptation of G-TAG Software for Validating Touch-and-Go Comet Surface Sampling Design Methodology

The G-TAG software tool was developed under the R&TD on Integrated Autonomous Guidance, Navigation, and Control for Comet Sample Return, and represents a novel, multi-body dynamics simulation software tool for studying TAG sampling. The G-TAG multi-body simulation tool provides a simulation environment in which a Touch-and-Go (TAG) sampling event can be extensively tested. TAG sampling requires the spacecraft to descend to the surface, contact the surface with a sampling collection device, and then to ascend to a safe altitude. The TAG event lasts only a few seconds but is mission-critical with potentially high risk. Consequently, there is a need for the TAG event to be well characterized and studied by simulation and analysis in order for the proposal teams to converge on a reliable spacecraft design. This adaptation of the G-TAG tool was developed to support the Comet Odyssey proposal effort, and is specifically focused to address comet sample return missions. In this application, the spacecraft descends to and samples from the surface of a comet. Performance of the spacecraft during TAG is assessed based on survivability and sample collection performance. For the adaptation of the G-TAG simulation tool to comet scenarios, models are developed that accurately describe the properties of the spacecraft, approach trajectories, and descent velocities, as well as the models of the external forces and torques acting on the spacecraft. The adapted models of the spacecraft, descent profiles, and external sampling forces/torques were more sophisticated and customized for comets than those available in the basic G-TAG simulation tool. Scenarios implemented include the study of variations in requirements, spacecraft design (size, locations, etc. of the spacecraft components), and the environment (surface properties, slope, disturbances, etc.). The simulations, along with their visual representations using G-View, contributed to the Comet Odyssey New Frontiers proposal effort by indicating problems and/or benefits of different approaches and designs.

Mandic, Milan↗

NASA NTRS1993

Hybrid state-space self-tuning control of uncertain linear systems

The paper presents a hybrid state-space self-tuner using a new dual-rate sampling scheme for digital adaptive control of continuous-time uncertain linear systems. A state-space-based recursive least-squares algorithm, together with a variable forgetting factor, is used for direct estimations of both the equivalent discrete-time uncertain linear system parameters and the associated discrete-time state of a continuous-time uncertain linear system from the sampled input and output data. An analogue optimal regional pole-placement design method is used for designing an optimal observer-based analogue controller. A suboptimal observer-based digital controller is then designed from the designed analogue controller using digital redesign technique. To enhance the robustness of parameter identification and state estimation algorithms, a dynamic bound for a class of uncertain bilinear parameters and a fast-rate digital controller are developed at each fast-sampling period. Also, to accommodate computation loads and computation delay for developing the advanced hybrid self-tuner, the designed analogue controller and observer gains are both updated at each slow-sampling period. This control technique has been successfully applied to benchmark control problems.

Shieh, L. S.↗

DOE OSTI2023

Automated High‐Throughput Fatigue Testing of Freestanding Thin Films

Abstract Mechanical testing at small length scales has traditionally been resource‐intensive due to difficulties with meticulous sample preparation, exacting load alignments, and precision measurements. Microscale fatigue testing can be particularly challenging due to the time‐intensive, tedious repetition of single fatigue experiments. To mitigate these challenges, this work presents a new methodology for the high‐throughput fatigue testing of thin films at the microscale. This methodology features a microelectromechanical systems‐based Si carrier that can support the simultaneous and independent fatigue testing of an array of samples. To demonstrate this new technique, the microscale fatigue behavior of nanocrystalline Al is efficiently characterized via this Si carrier and automated fatigue testing with in situ scanning electron microscopy. This methodology reduces the total testing time by an order of magnitude, and the high‐throughput fatigue results highlight the stochastic nature of the microscale fatigue response. This manuscript also discusses how this initial capability can be adapted to accommodate more samples, different materials, new geometries, and other loading modes.

Barrios, Alejandro↗

DOE OSTI2021

Pre-Cambrian roots of novel Antarctic cryptoendolithic bacterial lineages

Cryptoendolithic communities are microbial ecosystems dwelling inside porous rocks that are able to persist at the edge of the biological potential for life in the ice-free areas of the Antarctic desert. These regions include the McMurdo Dry Valleys, often accounted as the closest terrestrial counterpart of the Martian environment and thought to be devoid of life until the discovery of these cryptic life-forms. Despite their interest as a model for the early colonization by living organisms of terrestrial ecosystems and for adaptation to extreme conditions of stress, little is known about the evolution, diversity, and genetic makeup of bacterial species that reside in these environments. Using the Illumina Novaseq platform, we generated the first metagenomes from rocks collected in Continental Antarctica over a distance of about 350 km along an altitudinal transect from 834 up to 3100 m above sea level (a.s.l.). A total of 497 draft bacterial genome sequences were assembled and clustered into 269 candidate species that lack a representative genome in public databases. Actinobacteria represent the most abundant phylum, followed by Chloroflexi and Proteobacteria. The “Candidatus Jiangella antarctica” has been recorded across all samples, suggesting a high adaptation and specialization of this species to the harshest Antarctic desert environment. The majority of these new species belong to monophyletic bacterial clades that diverged from related taxa in a range from 1.2 billion to 410 Ma and are functionally distinct from known related taxa. Our findings significantly increase the repertoire of genomic data for several taxa and, to date, represent the first example of bacterial genomes recovered from endolithic communities. Their ancient origin seems to not be related to the geological history of the continent, rather they may represent evolutionary remnants of pristine clades that evolved across the Tonian glaciation. These unique genomic resources will underpin future studies on the structure, evolution, and function of these ecosystems at the edge of life.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2024

Microscale Thermophoresis (MST) as a Tool to Study Binding Interactions of Oxygen-Sensitive Biohybrids

Microscale thermophoresis (MST) is a technique used to measure the strength of molecular interactions. MST is a thermophoretic-based technique that monitors the change in fluorescence associated with the movement of fluorescent-labeled molecules in response to a temperature gradient triggered by an IR LASER. MST has advantages over other approaches for examining molecular interactions, such as isothermal titration calorimetry, nuclear magnetic resonance, biolayer interferometry, and surface plasmon resonance, requiring a small sample size that does not need to be immobilized and a high-sensitivity fluorescence detection. In addition, since the approach involves the loading of samples into capillaries that can be easily sealed, it can be adapted to analyze oxygen-sensitive samples. In this Bio-protocol, we describe the troubleshooting and optimization we have done to enable the use of MST to examine protein–protein interactions, protein–ligand interactions, and protein–nanocrystal interactions. The salient elements in the developed procedures include 1) loading and sealing capabilities in an anaerobic chamber for analysis using a NanoTemper MST located on the benchtop in air, 2) identification of the optimal reducing agents compatible with data acquisition with effective protection against trace oxygen, and 3) the optimization of data acquisition and analysis procedures. The procedures lay the groundwork to define the determinants of molecular interactions in these technically demanding systems.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2020

An Automated Ultraclean Ion Exchange Separation Method for the Determinations of 232Th and 238U in Copper using Inductively Coupled Plasma Mass Spectrometry

This work presents a novel automated analytical method developed for high throughput ultrasensitive determinations of Th and U in copper using inductively coupled plasma mass spectrometry (ICP-MS). The method is based on the use of ultra clean sample preparation procedures including the use of a fully automated off-line chromatography system for the extraction and pre-concentration of the analytes prior to ICP-MS analysis. The separation system is equipped with a single reusable chromatographic column that, with the rigorously clean procedures developed herein, provided a low carryover, low background, and reproducible automated separation method. Isotope dilution methods were used for quantitation. Method Detection Limits (MDLs) of 3.7 and 9.4 fg·g-1 were obtained for the quantitation of 232Th and 238U in copper, respectively, corresponding to activities of 0.0148 and 0.116 microBq·kg-1 for 232Th and 238U, respectively. The analytical method provided high and reproducible tracer recoveries. The use of an automated system significantly reduced the extremely tedious active work time required for the chemist (by ca. 80%) relative to manually performing the separation. This method could be adapted to other critical sample matrices requiring the utmost in high throughput clean chemistry procedures for automated ultrasensitive analyses.

Arnquist, Isaac J.↗

DOE OSTI2025

Tandem neural network-based controller for x-ray bimorph mirrors

Nanometer-scale shape control of x-ray mirrors is crucial for coherent x-ray beam experiments at low-emittance synchrotron beamline instruments. Piezoelectric bimorph mirrors offer adaptive control but are hindered by nonlinearities such as cross talk, creep, and hysteresis. To overcome these limitations, we present a novel feedback-free control solution, inspired by the proportional–integral–derivative (PID) scheme, driven by tandem neural networks (TNNs). Using task-specific datasets, the TNN-based system predicts actuator voltages with greater speed, accuracy, and stability than a single NN-based model. This approach is ideal for real-time applications, such as adapting beam focus to dynamic sample sizes while maintaining precise wavefront quality. Our findings highlight the potential of artificial intelligence in rapidly optimizing adaptive optics and managing nonlinear control systems.

Zhang, Runyu↗

DOE OSTI2022

A Study on Efficient Reinforcement Learning Through Knowledge Transfer

Although Reinforcement Learning (RL) algorithms have made impressive progress in learning complex tasks over the past years, there are still prevailing short-comings and challenges. Specifically, the sample-inefficiency and limited adaptation across tasks often make classic RL techniques impractical for real-world applications despite the gained representational power when combining deep neural networks with RL, known as Deep Reinforcement Learning (DRL). Recently, a number of approaches to address those issues have emerged. Many of those solutions are based on smart DRL architectures that enhance single task algorithms with the capability to share knowledge between agents and across tasks by introducing Transfer Learning (TL) capabilities. Here this survey addresses strategies of knowledge transfer from simple parameter sharing to privacy preserving federated learning and aims at providing a general overview of the field of TL in the DRL domain, establishes a classification framework, and briefly describes representative works in the area.

97 MATHEMATICS AND COMPUTING↗