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DOE OSTI2020

Optimization of multiplexed CRISPR/Cas9 system for highly efficient genome editing in Setaria viridis

Previously, Setaria viridis has been developed as a model plant to better understand the C4 photosynthetic pathway in major crops. With the increasing availability of genomic resources for S. viridis research, highly efficient genome editing technologies are needed to create genetic variation resources for functional genomics. In this paper, we developed a protoplast assay to rapidly optimize the multiplexed CRISPR/Cas9 system in S. viridis. Targeted mutagenesis efficiency was further improved by an average of 1.4-fold with the exonuclease, Trex2. Distinctive mutation profiles were found in the Cas9_Trex2 samples with 94% of deletions larger than 10bp, and less than 1% of mutations being insertions. Further analyses indicated that 52.2% of deletions induced by Cas9_Trex2, as opposed to 3.5% by Cas9 alone, were repaired through microhomology-mediated end joining (MMEJ) rather than the canonical NHEJ DNA repair pathway. Combined with the robust agrobacterium-mediated transformation method with more than 90% efficiency, the multiplex CRISPR/Cas9_Trex2 system was demonstrated to induce targeted mutations in two tightly linked genes, svDrm1a and svDrm1b, at the frequency ranging from 73% to 100% in T0 plants. These mutations were transmitted to at least 60% of the transgene-free T1 plants with 33% of them containing bi-allelic or homozygous mutations in both genes. This highly efficient multiplex CRISPR/Cas9_Trex2 system makes it possible to create a large mutant resource for S. viridis in a rapid and high throughput manner, and has the potential to be widely applicable in achieving more predictable MMEJ-mediated mutations in many plant species.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1994

Modeling actions and operations to support mission preparation

This paper describes two linked technology development projects to support Space Shuttle ground operations personnel, both during mission preparation analysis and related analyses in missions. The Space Propulsion Robust Analysis Tool (SPRAT) will provide intelligent support and automation for mission analysis setup, interpretation, reporting and documentation. SPRAT models the actions taken by flight support personnel during mission preparation and uses this model to generate an action plan. CONFIG will provide intelligent automation for procedure analyses and failure impact analyses, by simulating the interactions between operations and systems with embedded failures. CONFIG models the actions taken by crew during space vehicle malfunctions and simulates how the planned action sequences in procedures affect a device model. Jointly the SPRAT and CONFIG projects provide an opportunity to investigate how the nature of a task affects the representation of actions, and to determine a more general action representation supporting a broad range of tasks. This paper describes the problems in representing actions for mission preparation and their relation to planning and scheduling.

Malin, Jane T.↗

NASA NTRS2026

Remote Sensing-Driven Hydrodynamic Modeling in Data-Scarce Regions: Integrating ICESat-2, Sentinel-2, SWOT and Re-analysis Models for Coastal Monitoring

Hydrodynamic models in coastal and estuarine systems are typically constrained by sparse bathymetry, boundary, and validation data, especially in regions where field campaigns are costly or impractical. Here we develop and test a fully satellite-driven framework for hydrodynamic modeling in South Africa’s Langebaan Lagoon without using any local in situ measurements. Bathymetry is derived by training multispectral Sentinel-2 reflectance against ICESat-2 ATL24 photon-derived depths using an XGBoost model optimized with Bayesian search. The final satellite-derived bathymetry reproduces independent ATL24 points with RMSE = 0.45 m and R 2 = 0.97. This bathymetry was used in a depth-averaged Delft3D Flexible Mesh model driven at the open boundary by TPXO tidal harmonics and by ERA5 winds. We validate modeled water surface elevation against 16 SWOT low-rate (250 m, unsmoothed) passes in 2023. SWOT–model comparisons yield an overall RMSE of 0.11 m and R 2 = 0.61, with typical point differences <0.10 m (∼7% of the 1.5 m tidal range), and showed consistent spatial gradients in water level from the offshore boundary, through Saldanha Bay, and into the lagoon. At the offshore boundary, TPXO and SWOT sea surface heights agree closely (R 2 = 0.86). A simple phase adjustment of ∼26,min between TPXO and SWOT lowers the RMSE from 0.18,m to 0.11,m, showing that phase offset accounts for some of the discrepancy, with additional errors likely linked to non-tidal signals. Our results demonstrate that combining passive optical, photon-counting LiDAR, radar interferometry, and global tidal/atmospheric models enables robust, transferrable hydrodynamic modeling in data-scarce coastal systems, offering a cost-effective pathway for monitoring.

ICESat-2↗

NASA NTRS2003

Reducing Design Risk Using Robust Design Methods: A Dual Response Surface Approach

Space transportation system conceptual design is a multidisciplinary process containing considerable element of risk. Risk here is defined as the variability in the estimated (output) performance characteristic of interest resulting from the uncertainties in the values of several disciplinary design and/or operational parameters. Uncertainties from one discipline (and/or subsystem) may propagate to another, through linking parameters and the final system output may have a significant accumulation of risk. This variability can result in significant deviations from the expected performance. Therefore, an estimate of variability (which is called design risk in this study) together with the expected performance characteristic value (e.g. mean empty weight) is necessary for multidisciplinary optimization for a robust design. Robust design in this study is defined as a solution that minimizes variability subject to a constraint on mean performance characteristics. Even though multidisciplinary design optimization has gained wide attention and applications, the treatment of uncertainties to quantify and analyze design risk has received little attention. This research effort explores the dual response surface approach to quantify variability (risk) in critical performance characteristics (such as weight) during conceptual design.

Unal, Resit↗

DOE OSTI2020

Association between algal productivity and phycosphere composition in an outdoor Chlorella sorokiniana reactor based on multiple longitudinal analyses

Summary Microalgae as a biofuel source are of great interest. Bacterial phycosphere inhabitants of algal cultures are hypothesized to contribute to productivity. In this study, the bacterial composition of the Chlorella sorokiniana phycosphere was determined over several production cycles in different growing seasons by 16S rRNA gene sequencing and identification. The diversity of the phycosphere increased with time during each individual reactor run, based on Faith’s phylogenetic diversity metric versus days post‐inoculation ( R = 0.66, P < 0.001). During summer months, Vampirovibrio chlorellavorus , an obligate predatory bacterium, was prevalent. Bacterial sequences assigned to the Rhizobiales, Betaproteobacteriales and Chitinophagales were positively associated with algal biomass productivity. Applications of the general biocide, benzalkonium chloride, to a subset of experiments intended to abate V. chlorellavorus appeared to temporarily suppress phycosphere bacterial growth, however, there was no relationship between those bacterial taxa suppressed by benzalkonium chloride and their association with algal productivity, based on multinomial model correlations. Algal health was approximated using a model‐based metric, or the ‘Health Index’ that indicated a robust, positive relationship between C. sorokiniana fitness and presence of members belonging to the Burholderiaceae and Allorhizobium–Neorhizobium–Pararhizobium–Rhizobium clade. Bacterial community composition was linked to the efficiency of microalgal biomass production and algal health.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2024

FECM/NETL CO 2 Saline Storage Cost Model (2024): User’s Manual

The U.S. Department of Energy's (DOE) Office of Fossil Energy and Carbon Management (FECM), in collaboration with the National Energy Technology Laboratory (NETL), has developed the FECM/NETL CO 2 Saline Storage Cost Model (CO2_S_COM). This Excel-based tool provides a comprehensive framework for estimating the costs and breakeven prices associated with storing carbon dioxide (CO 2 ) in deep saline formations. Designed from the perspective of a CO 2 storage site owner, the CO2_S_COM incorporates four integrated modules—project management, financial analysis, activity cost estimation, and geological evaluation—to deliver fast, robust, and actionable insights for evaluating project finances. This is the user's manual for CO2_S_COM. The model may be accessed at this link: FECM/NETL CO2 Saline Storage Cost Model CO2_S_COM 2024 (v4) - Submissions - EDX

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1986

Coherent versus noncoherent signaling for satellite-aided mobile communications

The use of coherent versus noncoherent communications is an unresolved issue for the mobile satellite community. Should one select the more robust but less efficient noncoherent strategy for communications over satellite-aided mobile channels, or does the introduction of a space platform in the mobile link improve signal stability (both amplitude and phase) such that conventional coherent schemes become attractive? This publication tries to answer some of the questions by discussing the results from experiments using a coherent QPSK receiver. The issues discussed include items such as the measured performance in Rician fading, the link error floor in a fading environment, etc. The results are compared and contrasted with that of a noncoherent limiter/discriminator FM receiver.

Davarian, F.↗

NASA NTRS2011

A Generalized Framework for Constrained Design Optimization of General Supersonic Configurations Using Adjoint Based Sensitivity Derivatives

The Aeronautics Research Mission Directorate (ARMD) sent out an NASA Research Announcement (NRA) for proposals soliciting research and technical development. The proposed research program was aimed at addressing the desired milestones and outcomes of ROA (ROA-2006) Subtopic A.4.1.1 Advanced Computational Methods. The second milestone, SUP.1.06.02 Robust, validated mesh adaptation and error quantification for near field Computational Fluid Dynamics (CFD), was addressed by the proposed research. Additional research utilizing the direct links to geometry through a CAD interface enabled by this work will allow for geometric constraints to be applied and address the final milestone, SUP2.07.06 Constrained low-drag supersonic aerodynamic design capability. The original product of the proposed research program was an integrated system of tools that can be used for the mesh mechanics required for rapid high fidelity analysis and for design of supersonic cruise vehicles. These Euler and Navier-Stokes volume grid manipulation tools were proposed to efficiently use parallel processing. The mesh adaptation provides a systematic approach for achieving demonstrated levels of accuracy in the solutions. NASA chose to fund only the mesh generation/adaptation portion of the proposal. So this report describes the completion of the proposed tasks for mesh creation, manipulation and adaptation as it pertains to sonic boom prediction of supersonic configurations.

Karman, Steve L., Jr.↗

NASA NTRS2016

Aircraft High-Lift Aerodynamic Analysis Using a Surface-Vorticity Solver

This study extends an existing semi-empirical approach to high-lift analysis by examining its effectiveness for use with a three-dimensional aerodynamic analysis method. The aircraft high-lift geometry is modeled in Vehicle Sketch Pad (OpenVSP) using a newly-developed set of techniques for building a three-dimensional model of the high-lift geometry, and for controlling flap deflections using scripted parameter linking. Analysis of the low-speed aerodynamics is performed in FlightStream, a novel surface-vorticity solver that is expected to be substantially more robust and stable compared to pressure-based potential-flow solvers and less sensitive to surface perturbations. The calculated lift curve and drag polar are modified by an empirical lift-effectiveness factor that takes into account the effects of viscosity that are not captured in the potential-flow solution. Analysis results are validated against wind-tunnel data for The Energy-Efficient Transport AR12 low-speed wind-tunnel model, a 12-foot, full-span aircraft configuration with a supercritical wing, full-span slats, and part-span double-slotted flaps.

Olson, Erik D.↗

DOE OSTI2021

The Building Science Advisor: A Web-Based Tool to Assess the Durability of Building Envelope Components

The Department of Energy (DOE) and Oak Ridge National Laboratory (ORNL) have developed an innovative new design tool that will put building science expert advice in the hands of every building designer who cares to manage moisture risk in high-R envelope components. As modern buildings become increasingly more airtight, constructed with modern labor-saving materials, and equipped with air-conditioning, they have become less forgiving to moisture intrusion. The Building Science Advisor (BSA) provides building science knowledge and advice based on expert experience, field measurements, laboratory tests, and computer simulations.BSA users are prompted to enter relevant information about the building location, design, and material selection options like cladding, structural system, and insulation. Influential factors such as climate, building air tightness, material properties, and internal moisture loads are also considered to estimate and compare the moisture durability performance of several design options. If the BSA deems the assembly’s performance unsatisfactory, it will provide the reasons why, and suggest necessary changes to wall design to ensure more robust performance.Using the BSA tool enables building designers to confidently select assembly design characteristics that achieve their design goals with the least moisture durability risk. Links to design-specific guidance are also be provided to help users manage any remaining risk. This tool will further enable DOE’s Building Technologies Office (BTO) to meet its long-term energy goal of a 50% reduction in building energy consumption by reducing builder concern about using highly energy efficient wall systems.

Desjarlais, Andre Omer↗

NASA NTRS2022

TBIRD 200-Gbps CubeSat Downlink: System Architecture and Mission Plan

The Terabyte Infrared Delivery (TBIRD) program will establish an optical communication link from a 6U CubeSat in low-Earth orbit (LEO) to a ground station at burst rates up to 200 Gbps, resulting in data volumes that can exceed 1 Terabyte in a single pass. The space and ground terminals utilize commercially available 1550-nm coherent transceivers in conjunction with an automatic repeat request (ARQ) system to guarantee robust communication in the presence of an atmospheric fading channel. This allows the system to perform a reliable end-toend transfer of data from the payload’s 2-TB storage buffer to the ground terminal. In this paper, we describe the system architecture, link analysis, and concept of operations for the upcoming TBIRD flight demonstration in 2022. We also provide an update on the development of the 3U terminal payload and the ground terminal at JPL’s Optical Communications Telescope Laboratory (OCTL).

Piazzolla, Sabino↗

DOE OSTI2025

Tunable and Robust Optical and Structural Properties of a Cooperative Squaraine-Dye Aggregate-DNA DX-DAE Tile System

Molecular excitons, which are excitations delocalized over multiple dyes in a wavelike manner, are of interest for a wide range of applications, including quantum information science. Numerous studies have templated a variety of synthetic dyes via a DNA scaffold to induce dye aggregation to create molecular excitons upon photoexcitation. Dye aggregate optical properties are critically dependent on relative dye geometry and local environment; therefore, an understanding of dye-dye and DNA-dye interactions is critical for advancing toward more complex DNA-dye systems. The extensively studied DNA Holliday junction (HJ) and less-studied double-crossover (DX) tile motif are fundamental test beds for designing complex and ultimately modular DNA-dye architectures. Here, we report the first study of single-linked squaraine dye aggregation and exciton delocalization on a larger and more stable (compared with the HJ) DX tile motif. We first highlight a few DNA-dye constructs that support single dyes and aggregates with distinct optical properties that are both tunable—through sample design, buffer conditions, and heat treatment—and robust to environment changes, including transfer to solid phase. Next, we assess several experimental and design considerations that demonstrate directed dye-driven assembly of a novel double-tile DNA configuration. Our results demonstrate that single-linked squaraine dyes templated to DX tiles provide a viable research path to design and evaluate dye aggregate networks that support exciton delocalization. We include herein the first report of exciton delocalization in the solid phase in a DNA-dye construct. Additionally, our findings indicate that dye aggregation impacts the assembly of the DNA-dye construct, and, in some cases, thereby cooperates with the DNA to determine a final robust system configuration. Finally, we show that a controlled annealing schedule can be employed to promote the homogeneous assembly of DNA-dye constructs. The findings in this study contribute to the understanding of DNA-dye systems and the relevant factors involved in their directed assembly to achieve specific constructs with desirable properties.

36 MATERIALS SCIENCE↗

NASA NTRS2018

Nasa's Launch Communications Ground Segment for the 21st Century Florida Spaceport

The National Aeronautics and Space Administration (NASA) Near Earth Network (NEN) Project is implementing a new launch communications ground segment to provide services for the next generation of human and robotic space exploration systems. It will deliver unique and advanced capabilities to accelerate the transformation of Kennedy Space Center into a multi-user spaceport in cooperation with the United States Air Force (USAF). The project has leveraged commercial technologies and remote operations concepts matured in NASAs orbiting satellite ground systems to achieve dramatic lifecycle cost efficiencies as compared to the space shuttle-era ground segment. The purpose of this paper is to discuss the development history, capabilities and anticipated use cases of the NEN Launch Communications Segment (NEN LCS).The NASA Kennedy Space Center is co-located with the USAF Eastern Launch Range at Cape Canaveral, Florida. The USAF operates two launch communications ground stations, but they are not designed to transmit voice, commands or other data to the launch vehicle or astronauts. The bi-directional uplink-downlink communications responsibility for human missions has historically resided with the Goddard Space Flight Center in Greenbelt, Maryland. Several market analyses and feasibility studies investigating concepts to provide NASAs next generation launch communications services were performed during the Constellation Program prior to its cancellation in 2009, and as part of the Kennedy Space Centers follow-on efforts to transform itself into a 21st century multi-user spaceport. In 2012, the Kennedy Space Center and the USAF 45th Space Wing jointly led a study to analyze the market needs of current and future launch systems and assess the operational deficiencies of the Eastern Range infrastructure. The study team issued several recommendations, two of which ultimately became driving operational capability requirements for the NEN LCS: increased telemetry data rates of at least 20 Mbps, and S-band uplink capability. Additional capabilities identified in the requirements development process include spread spectrum modulation support, LDPC 12 and 78 error correction codes, support for IRIG-106 and CCSDS data formats, automated best source selection, and Space Link Extension (SLE) services for data distribution. The NEN LCS is comprised of two permanent ground stations, the new Kennedy Uplink Station (KUS) and refurbished Ponce de Leon (PDL) station. Both stations are remotely operated from the Global Monitor and Control Center at Wallops Flight Facility. This core architecture is extensible through host-tenant arrangements with the U.S. Air Force and deployable assets, enabling agile, tailored and robust solutions to meet the needs of civil, commercial or military customers. The NEN LCS has three use cases:1.To provide agile, tailored and robust launch communications solutions to Florida spaceport customers2.To provide orbital communications services to near-earth customers 3.To provide an experimental proving ground for Space Mobile Network concepts and technologies The NEN LCS driving mission is to support the bi-directional link with the Orion crew capsule and two 20 Mbps telemetry links from the Space Launch System core stage on Exploration Mission-1, the first integrated flight of NASAs flagship human exploration systems.

Roberts, Christopher J.↗

DOE OSTI2022

Disentangling direct from indirect relationships in association networks

Networks are vital tools for understanding and modeling interactions in complex systems in science and engineering, and direct and indirect interactions are pervasive in all types of networks. However, quantitatively disentangling direct and indirect relationships in networks remains a formidable task. Here, we present a framework, called iDIRECT (Inference of Direct and Indirect Relationships with Effective Copula-based Transitivity), for quantitatively inferring direct dependencies in association networks. Using copula-based transitivity, iDIRECT eliminates/ameliorates several challenging mathematical problems, including ill-conditioning, self-looping, and interaction strength overflow. With simulation data as benchmark examples, iDIRECT showed high prediction accuracies. Application of iDIRECT to reconstruct gene regulatory networks in Escherichia coli also revealed considerably higher prediction power than the best-performing approaches in the DREAM5 (Dialogue on Reverse Engineering Assessment and Methods project, #5) Network Inference Challenge. In addition, applying iDIRECT to highly diverse grassland soil microbial communities in response to climate warming showed that the iDIRECT-processed networks were significantly different from the original networks, with considerably fewer nodes, links, and connectivity, but higher relative modularity. Further analysis revealed that the iDIRECT-processed network was more complex under warming than the control and more robust to both random and target species removal ( P < 0.001). As a general approach, iDIRECT has great advantages for network inference, and it should be widely applicable to infer direct relationships in association networks across diverse disciplines in science and engineering.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2022

Improved Moisture Management Technology for Eco-N-Control Fertilizer

Three fertilizer technologies to manage nitrogen (N) release rates in soil dominate the market today: 1) bulk controlled-release technologies, which use the intrinsic solubility properties of a N-organic co-polymer to control N release; 2) barrier-based controlled-release technologies, which use porous polymer or sulfur coatings as a physical barrier to control N release from encapsulated N nutrients; and 3) slow-release technologies, which use enzyme inhibitors to chemically slow down the transformation of N nutrients into ammonia (NH 3 ) or to temporarily reduce populations of bacteria in the soil that are responsible for converting ammonium (NH 4 + ) to highly soluble nitrates. These technologies are expensive and provide only limited control of N-release rates. Also, from another environmental perspective, synthetic polymer coatings do not decompose easily and will accumulate over time with continuous application of fertilizer. For most of the past two decades we have been developing the Eco-N-Control solid-nitride fertilizer technology, a type of bulk controlled-release technology. With Eco-N-Control, solid-nitride compounds weather like a mineral, slowly releasing N at a rate determined by their composition. Testing by an industrial collaborator, however, showed that earlier versions of Eco-N-Control released at 25% of the desired rate when deployed in unsaturated soils. The overall goal of the current project, therefore, was to strengthen our IP position and the potential for licensing of Eco-N-Control solid-nitride fertilizer technology by developing new ways to manage the level of moisture in contact with the fertilizer when applied to soil thereby ensuring the desired N-release rate. We achieved this goal by developing a biodegradable polymer cross-linking approach that substantially improved performance of our patented solid-nitride fertilizer. We found that cross-linking an environmentally friendly and biodegradable polymer with a mixture of solid nitrides, other N-nutrient compounds and other additives offers several advantages: 1) mechanical robustness of fertilizer beads, 2) chemical stability during storage, 3) maintenance of sufficient water content in the vicinity of the nitride, and 4) control of N-release rates. We also updated our N-release testing protocol to more realistically simulate the conditions found in soil. Finally, we filed an invention disclosure record to protect these new aspects of Eco-N-Control technology, which offers a potential way to lower both agricultural and industrial pollution by providing an efficient N-delivery mechanism to plants.

42 ENGINEERING↗

DOE OSTI2023

EVI-Pro for Bogota Columbia [Slides]

The transportation sector is one of the largest producers of greenhouse gas emissions globally, with 37% of global CO 2 emissions in 2021 according to the International Energy Agency. Transitioning from internal combustion engine vehicles powered by fossil fuels to electrified transportation is a critical component in reducing those emissions significantly over the coming decades and avoiding the worst consequences of climate change. With governments and automakers increasingly announcing electrification targets and a progression away from the production and sale of internal combustion engine vehicles, a robust network of charging infrastructure must be built to enable the widespread use of electric vehicles (EVs). Some of the greatest hurdles to EV deployment are linked to the buildout of the required charging infrastructure including where it should be built, what types and how much charging would be optimal given high costs of installation, and the impact on the electrical grid. To this end, the National Renewable Energy Laboratory (NREL) conducts extensive research on EV deployment, including the development of the EVI-Pro model used to plan the future buildout of charging infrastructure given the travel patterns in a region. This document summarizes work done by NREL in the Bogotá, Colombia region to help Colombia plan for its EV deployment goals.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1998

Improved Modeling of Finite-Rate Turbulent Combustion Processes in Research Combustors

The objective of this thesis is to further develop and test a stochastic model of turbulent combustion in recirculating flows. There is a requirement to increase the accuracy of multi-dimensional combustion predictions. As turbulence affects reaction rates, this interaction must be more accurately evaluated. In this work a more physically correct way of handling the interaction of turbulence on combustion is further developed and tested. As turbulence involves randomness, stochastic modeling is used. Averaged values such as temperature and species concentration are found by integrating the probability density function (pdf) over the range of the scalar. The model in this work does not assume the pdf type, but solves for the evolution of the pdf using the Monte Carlo solution technique. The model is further developed by including a more robust reaction solver, by using accurate thermodynamics and by more accurate transport elements. The stochastic method is used with Semi-Implicit Method for Pressure-Linked Equations. The SIMPLE method is used to solve for velocity, pressure, turbulent kinetic energy and dissipation. The pdf solver solves for temperature and species concentration. Thus, the method is partially familiar to combustor engineers. The method is compared to benchmark experimental data and baseline calculations. The baseline method was tested on isothermal flows, evaporating sprays and combusting sprays. Pdf and baseline predictions were performed for three diffusion flames and one premixed flame. The pdf method predicted lower combustion rates than the baseline method in agreement with the data, except for the premixed flame. The baseline and stochastic predictions bounded the experimental data for the premixed flame. The use of a continuous mixing model or relax to mean mixing model had little effect on the prediction of average temperature. Two grids were used in a hydrogen diffusion flame simulation. Grid density did not effect the predictions except for peak temperature and tangential velocity. The hybrid pdf method did take longer and required more memory, but has a theoretical basis to extend to many reaction steps which cannot be said of current turbulent combustion models.

VanOverbeke, Thomas J.↗

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↗