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All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Performance and Reliability Assessment of the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) Data Advisor (ADA)

The Atmospheric Radiation Measurement (ARM) User Facility provides one of the world's largest openly accessible repositories of atmospheric observations through the ARM Data Discovery platform. Although the repository contains more than three decades of measurements collected from permanent observatories, mobile facilities, aircraft campaigns, and field experiments, identifying appropriate datasets can be challenging, particularly for new users unfamiliar with ARM instrumentation and datastream organization. To improve data accessibility, the ARM Data Center developed the ARM Data Advisor (ADA), an artificial intelligence-powered assistant designed to facilitate scientific data discovery, dataset interpretation, and user guidance. This report evaluates ADA's performance as a domain-specific scientific assistant using realistic atmospheric science workflows. The evaluation examines five key capabilities: data retrieval and curation efficiency, hallucination resistance, scientific reasoning, response to ambiguous queries, and content retention and session continuity. Representative prompts were developed to simulate typical interactions between researchers and the ARM Data Discovery platform, and ADA's responses were assessed for retrieval completeness, scientific accuracy, consistency, and practical usefulness. In these representative tests, ADA reduced the complexity of discovering and accessing ARM datasets by recommending appropriate datastreams, explaining instrumentation, interpreting metadata, and assisting with data processing workflows. ADA also exhibits strong domain knowledge of atmospheric science terminology and generally resists hallucination by acknowledging unavailable datasets and requesting clarification when appropriate. Overall, the results indicate that ADA represents a promising advancement in scientific data discovery within the ARM User Facility and has considerable potential to improve researcher productivity, particularly for new users and interdisciplinary scientists seeking efficient access to ARM observations.

Salvador, Christian [ORNL] (ORCID:0000000283287777↗
DOE OSTI2022

Real-time GIS Programming and Geocomputation

Streaming data generated continuously from sensor networks, mobile devices, social media platforms and other edge devices have posed significant challenges to existing computing platforms for achieving both high throughput and low latency data processing in addition to scalable computing. This entry introduces a real-time computing and programming platform for time-critical GIS (Geographic Information System) applications. In this platform, advanced streaming data processing software, such as Apache Kafka and Spark Streaming, are integrated to enable data analytics in real-time. This computing platform can also be extended to integrate GeoAI (Geospatial Artificial Intelligence) based machine learning models to leverage both historical and streaming data to achieve real-time prediction and intelligent geospatial analytics. Two real-time geospatial applications in terms of flood simulation and climate data visualization are introduced to demonstrate how real-time programming and computing can help tackle real-world problems with important societal impacts.

Liu, Yan↗
NASA NTRS1984

Satellite Emission Range Inferred Earth Survey (SERIES) project

The Global Positioning System (GPS) was developed by the Department of Defense primarily for navigation use by the United States Armed Forces. The system will consist of a constellation of 18 operational Navigation Satellite Timing and Ranging (NAVSTAR) satellites by the late 1980's. During the last four years, the Satellite Emission Range Inferred Earth Surveying (SERIES) team at the Jet Propulsion Laboratory (JPL) has developed a novel receiver which is the heart of the SERIES geodetic system designed to use signals broadcast from the GPS. This receiver does not require knowledge of the exact code sequence being transmitted. In addition, when two SERIES receivers are used differentially to determine a baseline, few cm accuracies can be obtained. The initial engineering test phase has been completed for the SERIES Project. Baseline lengths, ranging from 150 meters to 171 kilometers, have been measured with 0.3 cm to 7 cm accuracies. This technology, which is sponsored by the NASA Geodynamics Program, has been developed at JPL to meet the challenge for high precision, cost-effective geodesy, and to complement the mobile Very Long Baseline Interferometry (VLBI) system for Earth surveying.

Buennagel, L. A.↗
NASA NTRS2002

622-Mbps Orthogonal Frequency Division Multiplexing (OFDM) Digital Modem Implemented

Future generation space communications systems feature significantly higher data rates and relatively smaller frequency spectrum allocations than systems currently deployed. This requires the application of bandwidth- and power-efficient signal transmission techniques. There are a number of approaches to implementing such techniques, including analog, digital, mixed-signal, single-channel, or multichannel systems. In general, the digital implementations offer more advantages; however, a fully digital implementation is very difficult because of the very high clock speeds required. Multichannel techniques are used to reduce the sampling rate. One such technique, multicarrier modulation, divides the data into a number of low-rate channels that are stacked in frequency. Orthogonal frequency division multiplexing (OFDM), a form of multicarrier modulation, is being proposed for numerous systems, including mobile wireless and digital subscriber link communication systems. In response to this challenge, NASA Glenn Research Center's Communication Technology Division has developed an OFDM digital modem (modulator and demodulator) with an aggregate information throughput of 622 Mbps. The basic OFDM waveform is constructed by dividing an incoming data stream into four channels, each using either 16- ary quadrature amplitude modulation (16-QAM) or 8-phase shift keying (8-PSK). An efficient implementation for an OFDM architecture is being achieved using the combination of a discrete Fourier transform (DFT) at the transmitter to digitally stack the individual carriers, inverse DFT at the receiver to perform the frequency translations, and a polyphase filter to facilitate the pulse shaping.

Kifle, Muli↗
NASA NTRS2010

Results and Lessons Learned from Performance Testing of Humans in Spacesuits in Simulated Reduced Gravity

The Apollo lunar EVA experience revealed challenges with suit stability and control-likely a combination of mass, mobility, and center of gravity (CG) factors. The EVA Physiology, Systems and Performence (EPSP) Project is systematically working with other NASA projects, labs, and facilities to lead a series of studies to understand the role of suit mass, weight, CG, and other parameters on astronaut performance in partial gravity environments.

Chappell, Steven P.↗
NASA NTRS2010

2011 Mars Science Laboratory Mission Design Overview

Scheduled to launch in the fall of 2011 with arrival at Mars occurring in the summer of 2012, NASA's Mars Science Laboratory will explore and assess whether Mars ever had conditions capable of supporting microbial life. In order to achieve its science objectives, the Mars Science Laboratory will be equipped with the most advanced suite of instruments ever sent to the surface of the Red Planet. Delivering the next mobile science laboratory safely to the surface of Mars has various key challenges derived from a strict set of requirements which include launch vehicle performance, spacecraft mass, communications coverage during Entry, Descent, and Landing, atmosphere-relative entry speeds, latitude accessibility, and dust storm season avoidance among others. The Mars Science Laboratory launch/arrival strategy selected after careful review satisfies all these mission requirements.

Mars↗
NASA NTRS2014

Design and Control of Compliant Tensegrity Robots Through Simulation and Hardware Validation

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center has developed and validated two different software environments for the analysis, simulation, and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ("tensile-integrity") structures have unique physical properties which make them ideal for interaction with uncertain environments. Yet these characteristics, such as variable structural compliance, and global multi-path load distribution through the tension network, make design and control of bio-inspired tensegrity robots extremely challenging. This work presents the progress in using these two tools in tackling the design and control challenges. The results of this analysis includes multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures. The current hardware prototype of a six-bar tensegrity, code-named ReCTeR, is presented in the context of this validation.

Robotics↗
NASA NTRS2020

Mars Science Helicopter Conceptual Design

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Mars Helicopter technology demonstrator will be deployed from the Mars 2020 rover. The Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used assist rovers or landers in future missions). This report describes the conceptual design of Mars Science Helicopters. The design process began with coaxial-helicopter and hexacopter configurations, with a payload in the range of two to three kg and an overall vehicle mass of approximately twenty kg. Initial estimates of weight and performance were based on the capabilities of the Mars Helicopter. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell and lander for the trip to the planet, requiring attention to the aircraft packaging in order to maximize the rotor dimensions and hence overall performance potential. Aerodynamic performance optimization was conducted, particularly through airfoils designed specifically for the low Reynolds number and high Mach number inherent to operation on Mars. Rotor structural designs were developed that met blade frequency and weight targets, subject to material stress limits. The final designs show a substantial capability for science operations on Mars: a 31 kg hexacopter that fits within a 2.5 m diameter aeroshell could carry a 5 kg payload for 10 min of hover time or over a range of 5 km.

Wayne Johnson↗
NASA NTRSDate not supplied

Mars Science Helicopter: Conceptual Design of the Next Generation of Mars Rotorcraft

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Ingenuity Mars helicopter technology demonstrator will be deployed via the Perseverance rover. NASA’s Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used to assist rovers or landers in future missions). Two, large rotorcraft configurations are described: a hexacopter and a co-axial helicopter with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Additionally, advancements in technology over the course of the study are applied to a rotorcraft of the same size and form as Ingenuity. Initial estimates of weight and performance were based on the capabilities of Ingenuity. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell and lander for the trip to the planet, constraining maximum rotor dimensions and, hence, overall performance potential. The effects of airfoils designed specifically for the low Reynolds number and high Mach number inherent to operation on Mars were studied. Rotor structural designs were developed that met blade frequency and weight targets, subject to material stress limits. The final designs are representative of the vehicle configurations required for a large range of future missions and will require relatively minor adaptations once science tasks are chosen. These designs will be compared to Ingenuity to demonstrate technology advancements developed during the study.

Mars Science Helicopter↗
NASA NTRSDate not supplied

Dynamic Spectrum Allocation in Urban Air Transportation System via Deep Reinforcement Learning

The emerging concepts of Urban Air Mobility (UAM) and Advanced Air Mobility (AAM) open a new paradigm for urban air transportation. A big challenge is that these new aerial vehicles will quickly saturate the already crowded aviation spectrum, which is an essential resource to ensure reliable communications for safe operations. In this paper, we consider an air transportation system where multiple aerial vehicles are operated to transport passengers or cargo from different sources to destinations along their pre-defined paths. During the flight, the minimum communication Quality of Service (QoS) requirement must be achieved to ensure flight safety. Our objective is to minimize the average mission completion time by jointly optimizing the velocity selection and spectrum allocation for all aerial vehicles. We formulate the optimization problem as a multi-stage Markov Decision Process (MDP) where the optimization variables are coupled together. A multi-agent Deep Reinforcement Learning (DRL) based solution is proposed where Value Decomposition Networks (VDN) algorithm is utilized to take discrete actions. Additionally, we propose a heuristic greedy algorithm as a baseline solution. Simulation results show that our learning based solution outperforms the heuristic greedy algorithm and another Orthogonal Multiple Access (OMA) solution in minimizing the mission completion time.

Ruixuan Han↗
NASA NTRSDate not supplied

Dynamic Spectrum Allocation in Urban Air Transportation System via Deep Reinforcement Learning

The emerging concepts of Urban Air Mobility (UAM) and Advanced Air Mobility (AAM) open a new paradigm for urban air transportation. A big challenge is that these new aerial vehicles will quickly saturate the already crowded aviation spectrum, which is an essential resource to ensure reliable communications for safe operations. In this paper, we consider an air transportation system where multiple aerial vehicles are operated to transport passengers or cargo from different sources to destinations along their pre-defined paths. During the flight, the minimum communication Quality of Service (QoS) requirement must be achieved to ensure flight safety. Our objective is to minimize the average mission completion time by jointly optimizing the velocity selection and spectrum allocation for all aerial vehicles. We formulate the optimization problem as a multi-stage Markov Decision Process (MDP) where the optimization variables are coupled together. A multi-agent Deep Reinforcement Learning (DRL) based solution is proposed where Value Decomposition Networks (VDN) algorithm is utilized to take discrete actions. Additionally, we propose a heuristic greedy algorithm as a baseline solution. Simulation results show that our learning based solution outperforms the heuristic greedy algorithm and another Orthogonal Multiple Access (OMA) solution in minimizing the mission completion time.

Ruixuan Han↗
NASA NTRS2023

NASA's Center Innovation Fund (CIF) Internal Research and Development (IRAD) Handling Qualities Study on the Mikrolar Motion Platform Test Report

In order to support the National Aeronautics and Space Administration’s (NASA) Extravehicular Activity and Surface Mobility Program (EHP), system engineers, designers, and researchers embarked on a yearlong challenge to develop a new lunar rover-based motion table simulator to study handling qualities of lunar rovers in the lunar South Pole region, support development research for any lunar rover vendor, and provide a lunar training capability for future lunar/planetary astronauts. In 1989, the United Kingdom’s Royal Air Force Institute of Aviation Medicine (RAF-IAM) stated that motion platforms are the only simulation devices capable of fully stimulating the body motion sensors. They confirmed that motion platforms can impart accelerations to the whole body and therefore exercise the automatic motion feedback-loop that operators are used to. With both visual and motion cues handling the vehicle becomes more realistic. Strachan (2019) con-firms motion cueing from a well set-up motion platform has been found to be important especially in conditions such as night or reduced visibility where motion cues may be more relied upon

Motion Table↗
NASA NTRS2024

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Crew time in space is precious – every hour could yield immense scientific discoveries and exploration milestones. However, overhead tasks such as logistics, maintenance, and assembly take a large portion of crew time. Remotely operated robotics capabilities offer a way to free the crew from many overhead tasks, but operating mobile dexterous robots in human-centered environments presents many unknowns and challenges for potential technology providers, limiting adoption for flight missions. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation to space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular (IVA) environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of integrated technologies for missions requiring remote space robotics operations.

iMETRO↗
DOE OSTI2019

VRP-based Model for Lane Marking Assessment with MRU Vehicle

Evaluation of lane marking conditions has advanced from visual and/or manual inspections, which can be unsafe and time-consuming, to mobile assessments using vehicle-mounted devices that allow transportation agencies to collect retroreflectivity data at a large scale in a safer and efficient manner. However, cost-effectively routing and operating these mobile retroreflectivity units (MRUs) at a large scale can be a unique challenge. This study proposes a vehicle routing problem (VRP) based model to optimize the routing of MRUs. The model takes into account the additional costs of daily and weekly operations of MRUs, such as remounting the device and traveling between tasks.

Lin, Yu-Chun↗
DOE OSTI2015

Planning large-scale excavation and construction activities within an aerially constrained site for construction of a repository for low and short-lived intermediate level radioactive waste at the Bulgarian national disposal facility - 15372

The Bulgarian State Enterprise for Radioactive Waste Management (SERAW) is planning the construction of a near-surface repository for low and short-lived intermediate level radioactive waste, the National Disposal Facility (NDF), at the Radiana Site adjacent to the Kozloduy Nuclear Power Plant (KNPP). The Site, a rectangular area approximately 1.2 km east-west by 0.4 north-south, is located on a slopping area between the second and sixth loess terraces above the River Danube with elevations ranging from approximately +40 m to elevation +95 m. Construction of the NDF will be divided into three phases separated by approximately 20 years each. The first phase will see the construction of the primary support facilities, referred to as the Auxiliary Buildings and including the Waste Reception and Buffer Storage (WRBS) Building, and the first set of 22 reinforced concrete disposal cells and supporting infrastructure, including a network of subsurface observation galleries, the Infiltration Network Control (ICN) Galleries. Each disposal cell will be 20.15 m long by 17.05 m wide by 9.45 m in height. The disposal cells will be arranged in two parallel rows. Disposal activities will be conducted using overhead cranes installed inside of track mounted mobile roofs. Each row of disposal cells will be serviced by one mobile roof. The mobile roofs will be supported by massive concrete foundations. Construction at the site will present several logistical challenges that will need to be overcome to fully realize the NDF. First in order to begin construction of these facilities nearly 1 million 3 of soil will require excavation and handling. Consistent with requirements to minimize potential environmental impacts identified in the site Environmental Safety Assessment (EIA) excavated soil will, to the extent possible, remain onsite. Approximately three quarters of the soil can be accommodated within the site boundaries. Another challenge results from requirements imposed by the ground conditions. The sub-grade at the site, which consists primarily of loess, will require considerable improvement. To this end a 5 m thick loess-cement cushion will be constructed across much of the site. Specifically, the cushion will be required beneath the disposal cells and the WRBS Building. Construction of the loess-cement cushion in the disposal area will require detailed planning and coordination, particularly as the cushion beneath the disposal cells also contains embedded structures, including the ICN Galleries as well as massive concrete foundation beams required for the two mobile roofs. Construction of these structures will require planned interruptions in the construction of the loess-cement cushion. Specific cement types and strict quality requirements will be required for completion of the loess-cement cushion as well as for completion of the ICN Galleries. The construction planning will need to account for the large volumes of soil to be excavated as well as ensuring sufficient material supplies in terms of both quality as well as quantity. Large quantities of materials including both dry cement for mixing with the loess, and wet concrete for pouring of the mobile roof foundations are accounted for by the plan. However, even after completion of these activities additional challenges are addressed by the plan related to the contemporaneous construction management of the auxiliary buildings and the disposal cells. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Generation and Characteristics of Plutonium and Americium Contaminated Soils Underlying Waste Sites at Hanford

In 2012, a Hanford site-wide review on plutonium and americium geochemistry (Cantrell and Felmy 2012) identified remaining research challenges associated with defining scientifically defensible end-states and supporting remediation decisions. Three research challenges were identified in this review: 1. Determine the transformations of Hanford Site sediments in response to changes in waste/groundwater composition. Significant mineralogical transformations can take place when wastes contact Hanford sediments. These transformations can significantly impact the solubility and acidic adsorption of plutonium and americium and possibly result in the generation of pseudo colloids that could facilitate plutonium/americium migration. 2. Assess the impact of changes in waste/groundwater chemistry on the potential for plutonium/americium solubilization or colloid formation. Changes in waste or groundwater chemistry can greatly impact the chemical form or speciation of plutonium and americium. Knowledge of plutonium and americium speciation will be crucial in terms of evaluating the potential for solubilization, adsorption or remobilization of adsorbed complexes, colloid formation, and colloid interactions with sedimentary minerals. 3. Establish the role of organic complexants and/or non-aqueous solvents in the transport of plutonium/americium in the deep subsurface. Plutonium has been found to be associated with TBP and the presence of non-aqueous solvents, at least in certain Z-9 sediments. It will be important to establish the role of non-aqueous solvent in past movement of plutonium and its potential role in future mobility. This report provides the technical basis for interpreting data obtained from field samples and will allow waste chemistry impacts on plutonium/americium re-mobilization mechanisms to be assessed. This report helps address the three previously identified research challenges – sediment transformations, solution chemistry impacts, and the role of organic complexants and solvents – in plutonium and americium contaminated Hanford sediments. Ultimately, these and potential future studies will lead to a defensible description of plutonium and americium mobility in relation to waste site conditions that can be interpreted to balance the risks posed by their migration and envisioned remediation activities.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2011

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗
DOE OSTI2017

Differential Mobility Spectrometry for Improved Selectivity in Hydrophilic Interaction Liquid Chromatography-Tandem Mass Spectrometry Analysis of Paralytic Shellfish Toxins

Paralytic shellfish toxins (PSTs) are neurotoxins produced by dinoflagellates and cyanobacteria that cause paralytic shellfish poisoning in humans. PST quantitation by LC-MS is challenging because of their high polarity, lability as gas-phase ions, and large number of potentially interfering analogues. Differential mobility spectrometry (DMS) has the potential to improve the performance of LC-MS methods for PSTs in terms of selectivity and limits of detection. This work describes a comprehensive investigation of the separation of 16 regulated PSTs by DMS and the development of highly selective LC-DMS-MS methods for PST quantitation. The effects of all DMS parameters on the separation of PSTs from one another were first investigated in detail. The labile nature of 11α-gonyautoxin epimers gave unique insight into fragmentation of labile analytes before, during, and after the DMS analyzer. Two sets of DMS parameters were identified that either optimized the resolution of PSTs from one another or transmitted them at a limited number of compensation voltage (CV) values corresponding to structural subclasses. These were used to develop multidimensional LC-DMS-MS/MS methods using existing HILIC-MS/MS parameters. In both cases, improved selectivity was observed when using DMS, and the quantitative capabilities of a rapid UPLC-DMS-MS/MS method were evaluated. Limits of detection of the developed method were similar to those without DMS, and differences were highly analyte-dependant. Analysis of shellfish matrix reference materials showed good agreement with established methods. The developed methods will be useful in cases where specific matrix interferences are encountered in the LC-MS/MS analysis of PSTs in complex biological samples. .

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗