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All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

In-space Servicing, Assembly, and Manufacturing (ISAM) State of Play 2022 Edition

The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, and commercial space sectors. Achieving these ambitious missions is not feasible using the traditional paradigm of launching an integrated, fully functioning system on a single launch vehicle. For example, science and human exploration missions will desire payloads that are larger than any foreseeable launch vehicle fairing, national security missions will require persistent assets that are mobile and resilient, and commercial space missions will require cost-effective ways to update to the latest technology on orbit. In-space Servicing, Assembly, and Manufacturing (ISAM) can vastly expand the performance, availability, and lifetime of space systems compared to the traditional paradigm of launching an asset with no intent to ever touch it again. ISAM capabilities foster an ecosystem that changes the space operations paradigm, creating the foundation for sustainable exploration and serving as a multiplier for other capabilities like space logistics, power generation, and reusability. Previous achievements in ISAM have enabled ambitious human and robotic space missions. NASA’s International Space Station (ISS) operations and maintenance, servicing missions of the Hubble Space Telescope (HST), and Northrop Grumman’s Mission Extension Vehicle (MEV) demonstrate the dramatic operational missions that can be achieved using ISAM capabilities. Many current and upcoming flight demonstrations are advancing areas that will enable the next generation of civil, national security, and commercial space missions. This document describes the current state of ISAM missions, capabilities, and developments. Compiling and organizing the available ISAM capabilities will help mission designers incorporate ISAM technologies into their concepts, create the starting point for technology development plans and roadmaps, and provide technologists a survey of the field they are developing. This document divides the ISAM capabilities into 11 capability areas that describe the functions or activities that would be performed in space using ISAM. This version of the ISAM State of Play is part of a continuing journey to encourage the use of ISAM capabilities in space. Compiling and organizing the current state of ISAM provides a simple resource for those working in the ISAM ecosystem to ensure that the advancements being made build upon the investments of the past. The state of play is ever changing as new capabilities are developed, and this document will be periodically updated to ensure that it is relevant to those who need it in the future.

ISAM↗
DOE OSTI2022

Sensing Electrical Networks Securely & Economically (SENSE)

The growing adoption of distributed energy resources (DERs) like battery energy storage systems and roof top solar/PV and the rapid penetration of electric vehicles (EVs), the electric grid is undergoing a major transformation with elevated stress on legacy grid assets. Despite a lot of expenditure to address these challenges, both in dollars and manpower, utilities have not been able to receive the value that was promised. The gains have been most visible at the transmission and substation level, especially where the main objective was improving operational and economic efficiency for the utility. Improving visibility and control at a few select points enhances the existing and established paradigm of centralized command and control. With changing load patterns, load types and the overall transition to an “active grid”, the centralized control and coordination paradigm gets challenged. To address the challenges, a new architecture and mechanism is needed, one that supports decentralized control and decision making, extracting value streams at the grid edge, particularly as the changes are fueled by transitions occurring in the distribution system. To address this, a communications and data processing platform, “GAMMA” was developed and demonstrated through the project. At the heart of the platform, are distributed, intelligent edge nodes with sensing and compute capabilities, that can record and analyze information locally. They are embedded in sensors and actuators specific to different distribution system applications. Phase 1 of the project focused on developing novel sensor technology that can be used for monitoring utility pole top distribution transformers. The sensors were designed with the objective of being low-cost, communicating with the GAMMA cloud using novel “delay-tolerant” networking using Bluetooth and a secure mobile application. They were non-intrusive in nature so that they can be installed quickly in the field, resulting in overall low cost of deployment and operations. Following the successful completion of Phase 1, the team manufactured 100 units for a field demonstration in Phase 2. The field demonstration was carried out on two real feeder systems with the local utility partner. In total, 100 sensors were installed and operated over a period of 6 months in the state of Georgia. The platform is operational end to end, with the cloud infrastructure deployed on a distributed, serverless environment that can serve multiple data streams, an analytics engine and a portal to securely view the data from multiple assets. The data collected through the GAMMA Mobile Phone app showcased the viability of the novel delay tolerant networking architecture, and the data processing algorithms developed through the course of the project, were successful in extracting important information about the overall network, improving the utility’s visibility and situational awareness in the distribution feeder.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRSDate not supplied

Earth Independent Medical Operations (EIMO) Datascope: Challenges and Potential Solutions

Data flows and storage/retrieval capacity are severely constrained during missions in space and challenges will become even greater during exploration class missions. There is a need for an artificial intelligence (AI)-based clinical decision support system (CDSS) to monitor and analyze data to provide real-time consultative support for crew medical officer (CMO) decision-making. EIMO is defined as the gradual transition of medical care and decision making from terrestrial to space-based assets, enabling support of astronaut health and performance and reducing overall mission risk. While a hallmark of this paradigm shift from low-earth orbit is that on-board care will increasingly become the responsibility of the astronauts for primary management and decision making, terrestrial assets will continue to be paramount in pre-mission screening and planning, as well as prevention, health maintenance and long-term care contingencies. New capabilities and systems that enable progressively more robust and resilient systems and crews will be necessary to reduce risk and increase probability of deep space exploration mission success. An aspiration for EIMO is to develop AI-enhanced solutions for analysis of crew health & performance data and to facilitate clinical decision support for autonomous medical operations. A “system of systems” approach is envisioned whereby EIMO will deploy AI-supported natural language processing and machine learning (ML) techniques to utilize embedded reference databases and real-time data streams [input vectors] from multiple data sources. Constituent input vectors may include environmental controls, countermeasures data, behavioral data, physiologic wearables, point-of-care laboratory tests, personalized medical records, inventory trade space risk assessments, COTS medical databases, and ground support inputs. An ideal AI capability would possess trained fusion algorithms to cross reference input vectors with medical ‘knowledge’ [cultivated database] to stratify relevant data streams for predictive and actionable capabilities. In addition, EIMO will feature mobility, in that it can be accessed and can push/pull data within and between multiple vehicles/habitats. Large amounts and variable sources of data can be leveraged to diagnose, inform treatment strategies, and potentially predict medical events and performance decrements. Inclusion of advanced training tools using extended reality will enable increasingly autonomous medical care to aid a CMO when ground support is unavailable or time-delayed beyond required action window, e.g., emergent medical situations. EIMO CDSS would require very large datasets to train pre-flight and significant amounts of data are needed to support ML via in-flight CDSS operations. An additional challenge will be to find sufficient data to train a model relevant to astronaut demographics. The rapid, accelerating evolution of this field creates a propitious solution space to leverage multi-modal AI through public-private partnership(s). The status of multi-modal AI systems today would preclude their use for long duration missions as they remain unreliable and are subject to “digital hallucinations” and other errors that could pose operational risk. A federated labs structure is being considered to test and optimize data flow from the multiple input vectors leading to field testing in suitable ground/flight analogs. Critical to the success of an EIMO CDSS will be integration and interoperability and success will be defined by a system that can serve as an in-flight medical consult for the CMO providing critical support during medical contingencies. Benefits to terrestrial medicine may be significant as an outflow of the EIMO medical system, particularly for remote areas and communities lacking significant infrastructure, personnel and resources.

J Lemery↗
NASA NTRS2024

Earth Independent Medical Operations (EIMO) Datascope: Challenges and Potential Solutions

Data flows and storage/retrieval capacity are severely constrained during missions in space and challenges will become even greater during exploration class missions. There is a need for an artificial intelligence (AI)-based clinical decision support system (CDSS) to monitor and analyze data to provide real-time consultative support for crew medical officer (CMO) decision-making. EIMO is defined as the gradual transition of medical care and decision making from terrestrial to space-based assets, enabling support of astronaut health and performance and reducing overall mission risk. While a hallmark of this paradigm shift from low-earth orbit is that on-board care will increasingly become the responsibility of the astronauts for primary management and decision making, terrestrial assets will continue to be paramount in pre-mission screening and planning, as well as prevention, health maintenance and long-term care contingencies. New capabilities and systems that enable progressively more robust and resilient systems and crews will be necessary to reduce risk and increase probability of deep space exploration mission success. An aspiration for EIMO is to develop AI-enhanced solutions for analysis of crew health & performance data and to facilitate clinical decision support for autonomous medical operations. A “system of systems” approach is envisioned whereby EIMO will deploy AI-supported natural language processing and machine learning (ML) techniques to utilize embedded reference databases and real-time data streams [input vectors] from multiple data sources. Constituent input vectors may include environmental controls, countermeasures data, behavioral data, physiologic wearables, point-of-care laboratory tests, personalized medical records, inventory trade space risk assessments, COTS medical databases, and ground support inputs. An ideal AI capability would possess trained fusion algorithms to cross reference input vectors with medical ‘knowledge’ [cultivated database] to stratify relevant data streams for predictive and actionable capabilities. In addition, EIMO will feature mobility, in that it can be accessed and can push/pull data within and between multiple vehicles/habitats. Large amounts and variable sources of data can be leveraged to diagnose, inform treatment strategies, and potentially predict medical events and performance decrements. Inclusion of advanced training tools using extended reality will enable increasingly autonomous medical care to aid a CMO when ground support is unavailable or time-delayed beyond required action window, e.g., emergent medical situations. EIMO CDSS would require very large datasets to train pre-flight and significant amounts of data are needed to support ML via in-flight CDSS operations. An additional challenge will be to find sufficient data to train a model relevant to astronaut demographics. The rapid, accelerating evolution of this field creates a propitious solution space to leverage multi-modal AI through public-private partnership(s). The status of multi-modal AI systems today would preclude their use for long duration missions as they remain unreliable and are subject to “digital hallucinations” and other errors that could pose operational risk. A federated labs structure is being considered to test and optimize data flow from the multiple input vectors leading to field testing in suitable ground/flight analogs. Critical to the success of an EIMO CDSS will be integration and interoperability and success will be defined by a system that can serve as an in-flight medical consult for the CMO providing critical support during medical contingencies. Benefits to terrestrial medicine may be significant as an outflow of the EIMO medical system, particularly for remote areas and communities lacking significant infrastructure, personnel and resources.

Medical Operations↗
DOE OSTI2020

Acquisition and Implementation of a Comprehensive Environmental Permits Linking Tool at Savannah River Site - 20234

Historically, Savannah River Nuclear Solutions LLC (SRNS) tracked environmental regulatory commitments and the requirements from hundreds of permits at the Savannah River Site (SRS) using several separate methods, making integrated compliance assurance cumbersome and labor-intensive. When SRNS experienced an increase in environmental issues in 2017, SRNS management and U.S. Department of Energy - Savannah River (DOE-SR) management decided a single, proactive approach was needed to capture environmental permit information (including regulations, Consent Orders, DOE Orders, and any other state or federally issued statement of requirements), track the tasks necessary to ensure compliance with these requirements, and thereby mitigate the risk of noncompliance. SRNS developed a list of mandatory objectives that the tool must meet to function as a Comprehensive Environmental Permits Linking Tool (CEPLT). A key requirement was the ability to map Site permits to their governed locations and display the associated requirements at the compliance point (e.g., outfall, stack, waste unit, etc.). Several options included modifying existing onsite resources, building a custom onsite solution, purchasing an off-the-shelf solution, and contracting an offsite developer to build a custom solution. SRNS concluded an off-the-shelf solution with configuration and customization options would provide the flexibility to fit the unique needs of Savannah River Site (SRS) while taking advantage of industry-tested software and providing a reduced deployment timeline. SRNS chose Gensuite{sup R} a, a cloud-based solution that offers numerous a la carte applications in the environmental, health, and safety arenas, as the best candidate. SRNS selected three (3) integrated applications (Compliance Calendar, Permit Manager, and Mapper) to function as the CEPLT. The Compliance Calendar module allows for creation and tracking of regulatory commitment tasks assigned to responsible environmental professionals. Permit Manager organizes permits and other requirement documents, linking the commitments in each to Compliance Calendar tasks and/or implementing procedures. Mapper provides GIS capability for mapping the data from the other two modules to their physical onsite locations. The CEPLT was configured to allow for other SRS Site Tenants to eventually utilize the applications. Additionally, DOE-SR uses the CEPLT to provide an overview of contractor environmental compliance activities and to organize DOE-specific documents and tasks. The CEPLT fulfilled the requirement of meeting current compliance needs as well as providing the ability to grow as new organizations are incorporated and functionality is expanded. SRNS now uses the CEPLT to more effectively manage permit requirements, improve knowledge transfer, and increase the Site's overall protection of the environment, the Site worker, and the public. Possible future uses of the system include integration of mobile applications for timely communication of potential non-compliant conditions and DOE complex-wide deployment allowing for enhanced DOE site and Head Quarters oversight. Implementation of CEPLT will result in cost savings, both in terms of dollars and man-hours. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2025

Hurricanes and turbulent floods threaten arsenic-contaminated coastal soils and vulnerable communities

Coastal environments, particularly those adjacent to Superfund sites, are at increased risk of contaminant release during natural disasters, posing serious threats to nearby communities. To investigate this issue, we employed an advanced laboratory flood simulator to impose arsenic-contaminated sediments to turbulent flooding events. We further monitored changes in arsenic collocation and solid-phase speciation using advanced synchrotron radiation-based techniques to understand the impacts of flooding on arsenic mobility. Our results demonstrate that turbulent conditions significantly enhance the resuspension of arsenic-rich sediments, resulting in increased arsenic release into the water. This mobilization is driven by the erosion of the reduced sediments and the redox-mediated transformation and dissolution of Fe and Mn (oxyhydr) oxides, which promote the release of As(III). We found that arsenic speciation on resuspended particles is closely tied to shear stress, with As(V) prevailing at low stress and the more toxic As(III) dominating at higher stress levels. In the post-erosion phase, solid-phase As(III) decreased while dissolved As(III) increased, indicating ongoing desorption. The persistence of multiple arsenic species on resuspended particles marks them as potential long-range transport vectors. Thus, the environmental impact of flooding and sediment resuspension extends beyond the event itself, raising longer-term concerns for arsenic mobility. Our comprehensive geospatial analysis revealed substantial overlap between arsenic-contaminated soils and regions at high risk of flooding and hurricanes across the conterminous United States. This overlap disproportionately impacts economically disadvantaged and marginalized communities. Approximately 40 million Americans reside within 10 kilometers of these high-risk contaminated zones, with nearly 28 million exposed to hurricane threats and around 18 million vulnerable to flooding risks. Alarmingly, over 40% of those affected by hurricanes and 33% of those impacted by flooding belong to underrepresented minority and low-income populations. These findings highlight the urgent need for targeted mitigation strategies to protect public health and address environmental justice concerns.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

UV-Vis spectrophotometric determination of rare earth elements (REE) speciation at near-neutral to alkaline pH. Part II: hydrolysis of Er from 25 to 75 °C

Aqueous speciation of rare earth elements (REE) controls their mobilization, fractionation, and enrichment in the natural waters. Geochemical modeling of their speciation is key to improve our understanding of the formation of economic mineral deposits, for developing mineral separation and mine tailing recovery technologies, and for characterizing the geochemistry of thermal water. However, our ability to predict the fate of REE in a wide pH and temperature range is limited by the scarcity of thermodynamic data for the REE hydroxyl complexes. In part I of this study (H. J. Han and A. P. Gysi, Dalton Trans., 2024, 53, 13129–13141), the optical properties of m-cresol purple (mCP) were determined using UV-Vis spectrophotometry between 25 and 75 °C in order to develop a method for deriving the hydrolysis constants of erbium (Er). Here, UV-Vis spectrophotometry experiments were conducted as a function of temperature between 35 and 75 °C to determine the hydrolysis of Er in near-neutral to alkaline solutions using mCP as an in situ pH color indicator. Here, the experiments were conducted with Er concentrations from 0 to ~0.253 mmol kg –1 in low ionic strength solutions (≤0.001 mol kg –1 ).

58 GEOSCIENCES↗
DOE OSTI2024

Rare Earth Elements (REE) and Critical Minerals (CM) in Middle Pennsylvanian-Age Coals and Associated Sediments in the Central Appalachian Basin, Eastern U.S.A.

The Central Appalachian Basin (CAB) of Kentucky, Tennessee, West Virginia and Virginia has a long history of coal mining and oil and gas extraction that has empowered the regional and national economies, the development of infrastructure, and a highly trained energy resources work force. As our societal demands for advanced technologies have rapidly increased in recent years, coal-related materials are viewed as an important new unconventional domestic source of critical minerals (CM) that are required for telecommunications, aerospace and transportation industries, electronics, the transition to low-carbon emissions energy production, and many consumer products. Coal-related materials encompass coal, associated sediments, coal mining waste materials, produced waters, and ash residues from coal-fired power plants. An important objective of the Evolve Central Appalachia Project (Evolve CAPP), sponsored by the U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) is to assess the quantity and distribution of CM resources in the CAB region. The rare earth elements (REE) are considered highest priority, although other important CM such as niobium, gallium, and zirconium are known to occur in the Middle Pennsylvanian-age coals and sediments. Working with coal industry partners who provided access to drill cores, coal-related sediments and waste materials, over 600 samples have been collected for laboratory analysis, and over 730 materials have been scanned using portable x-ray fluorescence (pXRF) equipment. The application of pXRF provides the means for real-time semiquantitative analysis of CM content at very close spacings (typically 2-3 inch intervals) along drill core and in-situ channel samples that span the roof, coal seam, and floor rock. The comparison of pXRF geochemical data with laboratory results, geologic data, and downhole spectral gamma logs can provide high resolution input to lithologic and depositional models for future CM resource evaluations. The preliminary findings show that pXRF is capable of accurately measuring low concentrations of many of the CM with a high level of confidence (Ba, Cr, Ga, K, Nb, Rb, Sr, Th, Y), whereas for others (La, Ce, Co, Mn, Nd, Ni, Sc, Ti, V) the detection limits are very high or spectral interferences increase the uncertainty. Notably, the mean abundances of Y (34 ppm), La (86 ppm), Ga (40 ppm), and V (146 ppm) in coal underclays in the CAB region are up to 7X enriched compared with the overlying coal. These values also exceed the reported concentrations in published reference materials for upper continental crustal rocks (Rudnick and Gao, 2003), North American Shale Composite (Gromet et al., 1984), and North American coal (Finkelman, 1993). The pXRF data are in part verified by laboratory results that indicate the mean Y abundance (36 ppm) is highly correlated (R2 = 0.807) with total REE (ΣREE). The correlation is even higher (R2 = 0.957) with heavy REE (ΣHREE). Applying these correlations to the pXRF data for the coal underclays, the mean estimated values for ΣREE+Y and ΣHREE+Y are 270 ppm and 58 ppm, respectively. Although these average values are not considered high, the range of Y measured by pXRF in the coal underclays extended as high as 114 ppm, which would suggest ΣREE+Y equal to 847 ppm. The mean abundances of Zr (192 ppm) and Th (21 ppm) in coal underclays are also enriched compared with the overlying coal and these results likely reflect the presence of resistant detrital heavy minerals such as monazite, xenotime, and zircon in the underclay matrix. Several of the profiled coal seams and associated wall rocks contained thin volcanic ash layers up to 4-5 inches in thickness. The extent to which these ash fall layers provided a source for CM under the paleoenvironmental conditions that resulted in coal deposits in the CAB remains to be fully studied. Continuing investigations in the Evolve CAPP study area will include laboratory determinations of mineralogic and clay compositions, and evaluations of CM geochemical mobility in the coal and coal underclays.

Lassetter, Billy↗
NASA NTRS2016

Mars Surface System Common Capabilities and Challenges for Human Missions

NASA has begun a process to identify and evaluate candidate locations where humans could land, live and work on the martian surface. These locations are referred to as Exploration Zones (EZs). Given current mission concepts, an EZ is a collection of Regions of Interest (ROIs) that are located within approximately 100 kilometers of a centralized landing site. ROIs are areas that are relevant for scientific investigation and/or development/maturation of capabilities and resources necessary for a sustainable human presence. The EZ also contains a landing site and a habitation site that will be used by multiple human crews during missions to explore and utilize the ROIs within the EZ. In parallel with this process, NASA continues to make progress on the Evolvable Mars Campaign examining alternatives that can pioneer an extended human presence on Mars that is Earth independent. This involves ongoing assessments of surface systems and operations to enable a permanent, sustainable human presence. Because of the difficulty in getting equipment and supplies to the surface of Mars, part of these assessments involve identifying those systems and processes that can perform in multiple, sometimes completely unrelated, situations. These assessments have been performed in a very generic surface mission carried out at a very generic surface location. As specific candidate EZs are identified it becomes important to evaluate the current suite of surface systems and operations as they are likely to perform for the specific locations and for the types of operations - both scientific and development - that are proposed for these EZs. It is also important to evaluate the proposed EZs for their suitability to be explored or developed given the range of capabilities and constraints for the types of surface systems and operations being considered within the EMC. This means looking at setting up and operating a field station at a central location within the EZ as well as traversing to and exploring the scientific ROIs within the boundaries of the EZ. The proposed paper will describe the current status of common systems and operations as they can be applied to actual EZ locations on Mars. Initially these EZs will be the four locations identified MEPAG's Human Exploration of Mars Science Analysis Group (HEM‐SAG) that will be used as representative of the EZs that will emerge from the process that NASA has initiated. An example process that could be commonly applied is an approach for developing a field station site plan that would be demonstrated by applying this process to each of the four HEM‐SAG sites. Examples of common systems include (a) mobility systems that can be used to off‐load and move payloads to specific locations at the central field station location that could also be used to traverse long distances to reach some of the more remote ROIs or (b) robotic systems that can support various activities (such as system set up and maintenance) at the field station that could also be used to explore scientific ROIs and used to support site‐specific ISRU production activities.

Hoffman, Stephen J.↗
DOE OSTI2026

How Improved Forecasting Can Increase the Bulk Power System Value of Price-Responsive Electric Vehicle Managed Charging

Personal light-duty vehicle (LDV) electric vehicle managed charging (EVMC) can reduce power system costs by better aligning electric vehicle (EV) charging with locations and times of low energy cost or infrastructure use. The need to coordinate charging demand across thousands to millions of vehicles while preserving mobility service is a barrier to realizing the value of EVMC. Price-responsive dispatch mechanisms like time-of-use rates (TOU) and hourly real-time prices (RTP) are attractive compared to direct load control (DLC) because they only require one-way communications and local controls. However, increasing participation in price responsive mechanisms can induce costly-to-serve spikes in load and otherwise increase, rather than decrease, production costs. We quantify the ability of improved EVMC forecasting to sustain savings from price responsive mechanisms beyond the limit of 14% of LDVs actively participating observed in previous work. Perfect forecasting of price-responsive EV load makes TOU and RTP value-competitive with a low-error DLC formulation with up to 27% (within-week flexibility) to 45% or more (within-session flexibility) of LDVs participating in EVMC in an envisioned New England power system with 84% clean energy. Additional costs of implementing DLC should be no more than tens of dollars per vehicle-year if DLC is to be value-competitive with accurately forecast price-responsive EVMC for double-digit percentage shares of LDVs participating.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2023

Architecture for Co-Simulation of Transportation and Distribution Systems with Electric Vehicle Charging at Scale in the San Francisco Bay Area

This work describes the Grid-Enhanced, Mobility-Integrated Network Infrastructures for Extreme Fast Charging (GEMINI) architecture for the co-simulation of distribution and transportation systems to evaluate EV charging impacts on electric distribution systems of a large metropolitan area and the surrounding rural regions with high fidelity. The current co-simulation is applied to Oakland and Alameda, California, and in future work will be extended to the full San Francisco Bay Area. It uses the HELICS co-simulation framework to enable parallel instances of vetted grid and transportation software programs to interact at every model timestep, allowing high-fidelity simulations at a large scale. This enables not only the impacts of electrified transportation systems across a larger interconnected collection of distribution feeders to be evaluated, but also the feedbacks between the two systems, such as through control systems, to be captured and compared. The findings are that with moderate passenger EV adoption rates, inverter controls combined with some distribution system hardware upgrades can maintain grid voltages within ANSI C.84 range A limits of 0.95 to 1.05 p.u. without smart charging. However, EV charging control may be required for higher levels of charging or to reduce grid upgrades, and this will be explored in future work.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2021

Mass Inferencing Model Creation And Deployment To Lunar Excavation Robot, RASSOR

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. This research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. Radio wave propagation time to the Moon and back is ~2.56 seconds. Though teleoperation is possible with this delay, autonomous capability that enables RASSOR to plan and execute excavation missions intelligently and efficiently is preferred. To teleoperate or run autonomously, it is crucial for the quantity of regolith mass ingested by RASSOR to be available as a system state for efficient operation (e.g. knowledge of whether drums are full informs the task of highest priority, whether it be continuing to dig, or returning to a processing plant to offload regolith). A configurable data reduction and analysis pipeline was created to allow for straightforward incorporation of new data, such as that from lunar excavation, to improve model performance in new environments. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All four models take in system states and output a mass prediction for each set of the robot’s bucket drums. Initial results from deployment to RASSOR and testing in a simulated lunar environment show that the models have <10% mean error during robot operation. Future work includes refinement of a model that estimates regolith mass in real-time during excavation as well as further testing of the developed models on the hardware.

ROS↗
NASA NTRSDate not supplied

Harnessing Artificial Intelligence for Medical Diagnosis and Treatment During Space Exploration Missions

BACKGROUND The medical capabilities necessary for long-duration exploration missions (LDEMs) will differ tremendously from those currently available to crew medical officers (CMOs) on the International Space Station (ISS). Ground support will be more challenging due to distance-related communication delays and data transmission, and resource utilization must be optimized given limited ability for resupply. Clinical decision support systems (CDSSs) can help mitigate these limitations. The recent launch of generative artificial intelligence (AI) tools based upon large language models (LLM) support the creation of a smart assistant for onboard triage, diagnosis, and guided treatment of medical conditions during these missions. The Informing Mission Planning via Analysis of Complex Tradespaces (IMPACT) tool can help predict which clinical problems and outcomes are likely to occur for a design reference mission (DRM) and assist Medical Operations and systems engineering teams in creating a medical system that may optimally mitigate the predicted risks. The purpose of this study was to identify AI tools currently available or in development for the assistive diagnosis and care of medical conditions predicted for an extended duration Lunar mission. METHODS The 119 medical conditions currently built into the IMPACT suite were categorized into systems, and these diagnoses were used as keywords for our literature search. Using PubMed and Google Scholar, we performed a literature survey of AI tools applicable to these conditions. Article inclusion criteria included publication between the years 2017-2023, as the sentinel paper discussing the “selective attention” driving ChatGPT and other generative transformer models was published in June 2017. Where applicable, we reviewed only the top 1000 research articles (based on relevance) for each of the keywords/phrases. AI tools whose training sets were exclusive to a pediatric patient population were excluded. We also excluded any medical diagnostic tools (such as CT, MRI, mass spectrometry) or procedures (such as endoscopy, surgery) that are unlikely to be available during LDEMs due to mass and volume constraints, CMO knowledge, skills, and abilities, and/or inherent procedural risks. RESULTS Our survey highlighted several AI-driven tools for the triage, diagnosis, and management of those medical conditions highlighted by IMPACT. Selected publications for each medical condition were then screened for inclusion within ten systems-based categories including: general diagnostic tools (25), tools to diagnose and manage respiratory (40), dermatologic (34), neurologic (28), auditory and vestibular (30), ophthalmic (34), musculoskeletal (104), infection-associated (92), and gynecologic (19) conditions, as well as tools that could be deployed in the setting of trauma and emergency (34). CONCLUSIONS Numerous AI-driven tools were highlighted within this literature survey, ranging from chatbot assistants that triage knee pain to vision transformer models for diagnosis of ophthalmic conditions using ocular surface images captured with a mobile phone. Remaining challenges include optimizing connectivity and integration of existing and developing systems into the vehicles or habitats. Notably, findings from this survey could help guide the initial design of an all-encompassing, onboard medical AI assistant for use during future LDEMs.

R A Lacinski↗
DOE OSTI2025

FIRE: A Failure-Adaptive RL Framework for Edge Computing Migrations

In edge computing, users' service profiles are migrated between edge servers due to user mobility. Reinforcement Learning (RL) frameworks have been proposed to do so, often trained on simulated data. However, existing RL frameworks overlook occasional server failures, which although rare, impact latency-sensitive applications like AR/VR and real- time obstacle detection. These rare failures, being not adequately represented in historical training data, pose a challenge for data-driven RL algorithms. We introduce FIRE, a framework that adapts to rare events by training a RL policy in an edge computing digital twin environment. We propose FIRE-ImRE, an importance sampling-based Q-learning algorithm, which samples rare events proportionally to their impact on the value function. FIRE considers delay, migration, failure, and backup placement costs across individual and shared service profiles. We prove FIRE-ImRE's boundedness and convergence to optimality. Next, we introduce novel deep Q-learning (FIRE-ImDQL) and actor critic (FIRE-ImACRE) versions of our algorithm to enhance scalability. Here, we extend our framework to accommodate users with varying risk tolerances of rare failure events. Through trace-driven experiments, we show that FIRE reduces edge computing costs compared to vanilla RL and the greedy baseline in the event of failures.

Edge computing↗