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At least 613 records · Page 34

Observations of OH and CO in the Orion Molecular Cloud

The results of millimeter and submillimeter observations of the BN-KL region of the Orion molecular cloud are reported. Observations were made with a 91 cm bent Cassegrain telescope fitted with an interferometer/grating spectrometer during flights at 13-14 km altitude in the NASA Kuiper Observatory. The data collected covered the 2Pi(1/2)J = 3/2 yields 1/2 and 2Pi(3/2)J = 7/2 yields 5/2 rotational transitions of OH. The measurements were made at 163 and 84 micron wavelengths, respectively. The OH emitting regions was estimated to have a temperature of 1000 K and a molecular hydrogen density of about 6 million/cu cm. Depopulation of the excited states of OH was caused primarily by collisional excitation. The OH fill factor for the region survey was about 10 percent, in line with predictions for a post-shocked region.

Viscuso, P. J.↗

What can we learn about impact mechanics from large craters on Venus?

More than 50 unequivocal peak-ring craters and multiringed impact basins have been identified on Venus from Earth-based Arecibo, Venera 15/16, and Magellan radar images. These ringed craters are relatively pristine, and so serve as an important new dataset that will further understanding of the structural and rheological properties of the venusian surface and of impact mechanics in general. They are also the most direct analogues for craters formed on the Earth in Phanerozoic time. Finite-element simulations of basin collapse and ring formation were undertaken in collaboration with V. J. Hillgren (University of Arizona). These calculations used an axisymmetric version of the viscoelastic finite element code TECTON, modeled structures on the scale of Klenova or Meitner, and demonstrated two major points. First, viscous flow and ring formation are possible on the timescale of crater collapse for the sizes of multiringed basins seen on Venus and heat flows appropriate to the plant. Second, an elastic lithosphere overlying a Newtonian viscous asthenosphere results mainly in uplift beneath the crater. Inward asthenospheric flow mainly occurs at deeper levels. Lithospheric response is dominantly vertical and flexural. Tensional stress maxima occur and ring formation by normal faulting is predicted in some cases, but these predicted rings occur too far out to explain observed ring spacings on Venus (or on the Moon). Overall, these estimates and models suggest that multiringed basin formation is indeed possible at the scales observed on Venus. Furthermore, due to the strong inverse dependence of solid-state viscosity on stress, the absence of Cordilleran-style ring faulting in craters smaller than Meitner or Klenova makes sense. The apparent increase in viscosity of shock-fluidized rock with crater diameter, greater interior temperatures accessed by larger, deeper craters, and decreased non-Newtonian viscosity associated with larger craters may conspire to make the transition with diameter from peak-ring crater to Orientale-type multiringed basin rather abrupt.

Mckinnon, William B.↗

Estimating urban temperature bias using polar-orbiting satellite data

Urban temperature bias, defined to be the difference between a shelter temperature reading of unknown but suspected urban influence and some appropriate rural reference temperature, is estimated through the use of polar-orbiting satellite data. Predicted rural temperatures, based on a method developed using sounding data, are shown to be of reasonable accuracy in many cases for urban bias assessments using minimum temperature data from selected urban regions in the United States in July 1989. Assessments of predicted urban bias were based on comparisons with observed bias, as well as independent measures of urban heat island influence, such as population statistics and urban-rural differences in a vegetation index. This technique provides a means of determining urban bias in regions where few if any rural reference stations are available, or where inhomogeneities exist in land surface characteristics or rural station locations.

Johnson, Gregory L.↗

Assimilation of Multi-Frequency, Multi-Polarization Passive Microwave Brightness Temperature Observations in North America over Snow-Covered Regions Using Support Vector Machines

Accurately estimating the mass of water within a snowpack (a.k.a. snow water equivalent, or SWE) across regional or continental scales is a challenge. In order to overcome some of the limitations in traditional SWE retrieval algorithms or radiative transfer-based snow emission models, this study explores the use of a support vector machine (SVM) to merge an advanced land surface model within a radiance emission (i.e., brightness temperature) assimilation framework. The goal of direct radiance assimilation is preferable as it avoids inconsistencies in the use of ancillary data between the assimilation system and the independently-generated geophysical retrieval. The impact of assimilating multiple observations simultaneously at different frequency and polarization combinations is then evaluated via comparisons to state-of-the-art SWE and snow depth products as well as available ground-based measurements across North America for the years 2002 through 2011. It is found that assimilation-derived estimates (relative to estimates without assimilation) tend to better agree with state-of-the-art snow products. In addition, an overall improvement in goodness-of-fit statistics for snow estimates is achieved via assimilation when compared against ground-based snow measurements. In addition, these improvements in snow are shown to translate into improvements in streamflow predictions. Specifically, 11 out of the 13 major snow-dominated basins investigated have improved cumulative runoff estimates versus ground-based discharge measurements compared to the no-assimilation scenario. It is proven that a SVM can serve as an efficient and effective observation operator for a snow mass analysis within a radiance assimilation system.

Xue, Yuan↗

Mapping Yearly Fine Resolution Global Surface Ozone through the Bayesian Maximum Entropy Data Fusion of Observations and Model Output for 1990–2017

Estimates of ground-level ozone concentrations are necessary to determine the human health burden of ozone. To support the Global Burden of Disease Study, we produce yearly fine resolution global surface ozone estimates from 1990 to 2017 through a data fusion of observations and models. As ozone observations are sparse in many populated regions, we use a novel combination of the M3Fusion and Bayesian Maximum Entropy (BME) methods. With M3Fusion, we create a multi-model composite by bias-correcting and weighting nine global atmospheric chemistry models based on their ability to predict observations (8,834 sites globally)in each region and year. BME is then used to integrate observations, such that estimates match observations at each monitoring site with the observational influence decreasing smoothly across space and time until the output matches the multi-model composite. After estimating at 0.5° resolution using BME, we add fine spatial detail from an additional model, yielding estimates at 0.1° resolution. Observed ozone is predicted more accurately (R2=0.81 at test point, 0.63 at 0.1°,0.62 at 0.5°) than the multi-model mean (R2=0.28 at 0.5°). Global ozone exposure is estimated to be increasing, driven by highly populated regions of Asia and Africa, despite decreases in the United States and Russia.

environmental modeling↗

Prediction of Redox Potentials for U, Np, Pu, and Am in Aqueous Solution

The redox properties of the actinides in aqueous solution are important for fuel production/reprocessing and understanding the environmental impact of nuclear waste. The redox potentials for U, Np, Pu, and Am in oxidation states from 0 up to VII (as appropriate) in aqueous solutions have been predicted at the density functional theory level with the B3LYP functional, Stuttgart small core pseudopotential basis sets for the actinides, and explicit (30H 2 O molecules)/implicit treatment of the aqueous solvent using the self-consistent reaction field COSMO and SMD approaches for the implicit solvation. The predictions of the structural parameters of clusters incorporating first and second solvation shells are consistent with the available experimental data., Our results are typically within 0.2 V of the available experimental data using two explicit solvation shells with an implicit solvent model. The use of the PW91 functional substantially improved the prediction of the Pu(VI/V) redox couple. The redox couples for An(VI/IV) and An(V/IV) which involve the addition of protons and removal of the actinyl oxygens led to slightly larger differences from experiment. Here, the An(IV/0) and An(III/0) couples were reliably predicted with our approach. Predictions of the unknown An(II/I) redox potentials were negative, consistent with expectations, and predictions for unknown An(VII/VI), An(III/II), and An(II/0) redox couples improve prior estimates.

Actinides↗

Preliminary Design of Reactor Cavity Cooling System for a Horizontal Compact HTGR

The Horizontal Compact High Temperature Gas Reactor (HC-HTGR) is being designed by a multi-disciplinary team of nuclear, mechanical, and structural engineers under the support of a DOE-NE Advanced Reactor Demonstration Program’s Advanced Reactor Concepts-20 (ARC-20) award. The objective of this ARC-20 project is to deliver a conceptual design for the proposed MIGHTR in 3 years and support its commercialization as a safe and low-cost HTGR. Argonne National Laboratory (Argonne) is responsible for the design and analysis of the reactor cavity cooling system (RCCS) as a safety system for passive decay heat removal of the reactor concept. This report documents the preliminary design study of the RCCS for the HC-HTGR. It includes the establishment of the design requirements, a high-level design study by initial scoping calculations, and preliminary performance calculations of the HC-HTGR RCCS design. Design requirements for the HC-HTGR RCCS have been established to guide preliminary design activities and scoping performance calculations. Initial scoping calculations including estimation of the water inventory, estimation of HVAC thermal capability, and a parametric study on loop dimensions by standalone RCCS analysis. Based on scoping calculation results, a set of baseline dimensions of the HC-HTGR RCCS was derived. A water panel modeling approach was investigated to explore various potential design options for the water panel under consideration for the HC-HTGR RCCS using RELAP5-3D. A test case study was performed to assess the prediction capability of two modeling approaches. The results were compared with CFD simulations conducted in constant RPV temperature and heat flux boundary conditions. It confirms the capability of the RELAP5-3D modeling approach to include all important heat transfer mechanisms expected in the HC-HTGR RCCS operation conditions. Then, a reference RELAP5-3D model for the 1/8 th of a compartment of the preliminary design of the HC-HTGR RCCS was developed. A preliminary performance analysis was conducted to evaluate single-phase natural circulation performance with different top tank temperature values and panel conduction performance in various operation conditions. From single-phase natural circulation performance analysis, the system operation mode was investigated in normal operating and limiting design conditions. It showed operation mode in a subcooled state with a proper top tank water cooling system. Parasitic heat loss by both internal air flow and RCCS was estimated, showing it satisfies maintaining below target maximum heat loss of the HC-HTGR RCCS. From the panel conduction performance analysis, two candidate materials for the riser tube such as carbon steel and stainless steel were compared in the thermal performance of HC-HTGR RCCS. From a single water panel test compared with CFD simulation results, it was confirmed that the current capability of the RELAP5-3D modeling approach for the water panel predicts the thermal conduction of two different materials of the water panel. Then, system-level thermal performance analysis was performed for 1/8 th of the compartment of the preliminary HC-HTGR RCCS design. It was first observed that the current preliminary HC-HTGR RCCS design had minimal impact on the overall thermal performance of the water panel by changing pipe material from carbon steel to stainless steel. From Argonne’s effort on the ongoing water-based NSTF testing program, several considerations other than the thermal performance point of view were addressed to be considered in selecting pipe materials.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Computational Fluid Dynamics-Based Modeling of Methane Flows Around Oil and Gas Equipment

Recent studies estimate that emissions from oil and gas production facilities contribute between 20 and 50% of the total methane ( CH 4 ) emitted in the US; therefore, quantifying and reducing these emissions are crucial for achieving climate goals. Methane quantification depends on both measuring methane concentrations and converting them to emissions through a modeling framework. Currently, simple atmospheric dispersion models are primarily used to quantify emissions and concentrations, but these estimates are highly uncertain when quantifying emissions from complex aerodynamic sources, such as oil and gas facilities. This investigation used a CFD modeling approach, which can account for aerodynamic complexity but has hitherto not been used to model methane concentrations downwind of a methane release of a known rate, and compared it against in situ measurements. High-time-resolution (1 Hz) methane concentration and meteorological data were measured during experiments conducted at the METEC on 21 March and 11 July 2024. The METEC site configuration, measured wind data, and controlled emission rates were used as input for the CONVERGE CFD model to model downwind CH 4 concentration. The modeling was carried out between 20 and 70 m, from two different points of release in two separate controlled-release experiments, one from a separator and another from a wellhead. In these experiments, we found that the CFD model could predict the CH 4 concentrations downwind of the release to a good degree. The model was evaluated on multiple metrics to assess its performance in estimating methane concentrations at typical fence line distances (∼30 m). These results help us to understand external flows and the ability of CFD models to predict downwind concentrations in aerodynamically complex environments.

03 NATURAL GAS↗

Cryogenic Vibrationally Resolved Photoelectron Spectroscopy of OH–(H2O): Confirmation of Multidimensional Franck-Condon Simulation Results for the Transition State of the OH + H2O Reaction

We present a transition state spectroscopic study of the OH + H2O reaction using the experimental technique of cryogenic Negative Ion Photoelectron Spectroscopy (NIPES). The recorded NIPE spectrum at 193 nm exhibits multiple vibrational progressions that include excitations to the shared H atom antisymmetric stretching mode with an interval of 0.32 eV as well as other progressions, mainly involving the H bending and O…O symmetric stretching modes. The Vertical Detachment Energy (VDE) was measured at 3.53 eV, whereas an upper limit for the Adiabatic Detachment Energy (ADE) was estimated at 2.90 eV. These values are in excellent agreement with the theoretically computed values of 3.51 eV and 2.83 eV respectively, obtained at the CCSD(T)/aug-cc-pV5Z level of theory. The recorded NIPE spectrum is in very good agreement when compared to the one recently reported from four-dimensional Franck-Condon simulations, in which a similar spectral profile was predicted. Besides observing the ground state, a charge-transfer excited state in the form of [OH–(H2O)+] is identified with a relative energy of 1.39 eV, well matching the previous prediction of 1.36 eV. This work was supported by U.S. Department of Energy (DOE), Office of Science, Office of Basic Energy Sciences, Division of Chemical Sciences, Geosciences, and Biosciences, and performed using EMSL, a national scientific user facility sponsored by DOE’s Office of Biological and Environmental Research and located at Pacific Northwest National Laboratory, which is operated by Battelle Memorial Institute for the DOE. The theoretical calculations were conducted on EMSL’s “Cascade” Supercomputer. This research also used resources of the National Energy Research Scientific Computing Center, which is supported by the Office of Science of the U.S. Department of Energy under Contract No. DE-AC02-05CH11231.

Cao, Wenjin↗

Terrestrial Carbon Sinks in the Brazilian Amazon and Cerrado Region Predicted from MODIS Satellite Data and Ecosystem Modeling

A simulation model based on satellite observations of monthly vegetation cover from the Moderate Resolution Imaging Spectroradiometer (MODIS) was used to estimate monthly carbon fluxes in terrestrial ecosystems of Brazilian Amazon and Cerrado regions over the period 2000-2004. Net ecosystem production (NEP) flux for atmospheric CO2 in the region for these years was estimated. Consistently high carbon sink fluxes in terrestrial ecosystems on a yearly basis were found in the western portions of the states of Acre and Rondonia and the northern portions of the state of Par a. These areas were not significantly impacted by the 2002-2003 El Nino event in terms of net annual carbon gains. Areas of the region that show periodically high carbon source fluxes from terrestrial ecosystems to the atmosphere on yearly basis were found throughout the state of Maranhao and the southern portions of the state of Amazonas. As demonstrated though tower site comparisons, NEP modeled with monthly MODIS Enhanced Vegetation Index (EVI) inputs closely resembles the measured seasonal carbon fluxes at the LBA Tapajos tower site. Modeling results suggest that the capacity for use of MODIS Enhanced Vegetation Index (EVI) data to predict seasonal uptake rates of CO2 in Amazon forests and Cerrado woodlands is strong.

Potter, C.↗

Identifying spatiotemporal patterns in opioid vulnerability: investigating the links between disability, prescription opioids and opioid-related mortality

Background: The opioid crisis remains one of the most daunting and complex public health problems in the United States. This study investigates the national epidemic by analyzing vulnerability profiles of three key factors: opioid-related mortality rates, opioid prescription dispensing rates, and disability rank ordered rates. Methods: This study utilizes county level data, spanning the years 2014 through 2020, on the rates of opioid-related mortality, opioid prescription dispensing, and disability. To successfully estimate and predict trends in these opioid-related factors, we augment the Kalman Filter with a novel spatial component. To define opioid vulnerability profiles, we create heat maps of our filter’s predicted rates across the nation’s counties and identify the hotspots. In this context, hotspots are defined on a year-by-year basis as counties with rates in the top 5% nationally. Results: Our spatial Kalman filter demonstrates strong predictive performance. From 2014 to 2018, these predictions highlight consistent spatiotemporal patterns across all three factors, with Appalachia distinguished as the nation’s most vulnerable region. Starting in 2019 however, the dispensing rate profiles undergo a dramatic and chaotic shift. Conclusions: The initial primary drivers of opioid abuse in the Appalachian region were likely prescription opioids; however, it now appears that abuse is sustained by illegal drugs. Additionally, we find that the disabled subpopulation may be more at risk of opioid-related mortality than the general population. Public health initiatives must extend beyond controlling prescription practices to address the transition to and impact of illicit drug use.

60 APPLIED LIFE SCIENCES↗

Evaluating switch lifetime in soft-switched single-stage differential-mode SST

The reliability of semiconductor switches in single-stage differential-mode solid-state transformers (DM-SSTs) has not been systematically evaluated under soft-switching operation and realistic grid conditions. This paper presents a switch-level reliability analysis for soft-switched and hard-switched DM-SST configurations by integrating converter-specific power loss modeling with empirical lifetime prediction. Analytical derivation of device current profiles specific to the DM-SST is used to characterize electrothermal stress, which is then mapped to lifetime using degradation models obtained from power cycling tests (PCTs). Applied to realistic SST load profiles and grid voltage variations, this approach provides a probabilistic prediction of switch lifetime for the DM-SST. Lifetime estimates for both SiC MOSFETs and Si IGBTs are presented, offering insight into device degradation under converter operating conditions. The results quantify the reliability benefits of soft switching in single-stage SSTs, highlighting how switching dynamics influence long-term switch degradation.

14 SOLAR ENERGY↗

Equilibrium Core Model for Micro Pebble Bed Reactors Using OpenMC

Estimating the equilibrium state for pebble bed reactors (PBRs) presents complex challenges as it requires simultaneous consideration of changes in the pebbles’ movement as well as their fuel compositions. Whereas traditional approaches use multigroup diffusion codes for neutronics calculations of PBRs’ equilibrium state, the double-heterogeneity of PBRs complicates neutron cross-section generation. Continuous-energy Monte Carlo (MC) methods are better suited for detailed PBR analysis because of their natural handling of double-heterogeneity, but they demand substantially more computational resources. Here, this study introduces a novel method for efficiently estimating the equilibrium state in small and micro PBRs with reduced computational cost. The method is anticipated to accelerate the processes of core design and performing parametric studies for utilizing advanced fuel and structural materials. The HTR-10 reactor design was used for validating the method’s predictions and evaluating its computational efficiency. When compared to reference calculation values from the literature, criticality (k-effective) was predicted to be approximately within the margin of error of the MC transport calculation, average core power density (in megawatts per cubic meter) was predicted within 2.5% relative error, and maximum thermal flux (10 13 n/cm 2 .s −1 ) was predicted within 1.8% relative error. The calculated inventory of fission products and fuel composition in the equilibrium core were within 15% and 16.6%, respectively, when compared to reported values from the literature. The difference is attributed to variance in the considered values of the core temperature, which was found to significantly affect the depletion analyses.

Equilibrium core↗

Ab Initio Limits of Atomic Nuclei

We predict the limits of existence of atomic nuclei, the proton and neutron drip lines, from the light through medium-mass regions. Starting from a chiral two- and three-nucleon interaction with good saturation properties, we use the valence-space in-medium similarity renormalization group to calculate ground-state and separation energies from helium to iron, nearly 700 isotopes in total. Here, we use the available experimental data to quantify the theoretical uncertainties for our ab initio calculations towards the drip lines. Where the drip lines are known experimentally, our predictions are consistent within the estimated uncertainty. For the neutron-rich sodium to chromium isotopes, we provide predictions to be tested at rare-isotope beam facilities.

74 ATOMIC AND MOLECULAR PHYSICS↗

Autonomous Emergency Landing for Fixed-Wing Aircraft with Energy-Constrained Closed-Loop Prediction

Here this paper presents a new approach for autonomous motion planning for aircraft suffering from a loss-of-thrust emergency. Specifically, we show how modifications to the Closed-Loop Rapidly exploring Random Trees (CL-RRT) framework combined with controlled energy dissipation can enable rapid and effective kinodynamic motion planning. This CL-RRT Glide algorithm uses closed-loop prediction not only for node connections but also to estimate the remaining energy and prune infeasible paths. This greatly speeds up the search process, which is essential for emergency situations. In addition, we improve the ability of the gliding aircraft to reach a goal position and energy state. We do so by creating a Dissipative Total Energy Control Scheme (TECS). Dissipative TECS enables the glider to lose excess altitude in order to reach a desired energy level. Simulation results illustrate how the proposed methods enable faster motion planning. We also integrate the system into a small unmanned aerial vehicle system and experimentally demonstrate autonomous glide planning and execution during a motor-failure event. This type of algorithm can primarily benefit unmanned aircraft but can also serve to assist pilots in stressful emergency situations.

42 ENGINEERING↗

Heat transfer in a real engine environment

The hot section facility at the Lewis Research Center was used to demonstrate the capability of instruments to make required measurements of boundary conditions of the flow field and heat transfer processes in the hostile environment of the turbine. The results of thermal scaling tests show that low temperature and pressure rig tests give optimistic estimates of the thermal performance of a cooling design for high pressure and temperature application. The results of measuring heat transfer coefficients on turbine vane airfoils through dynamic data analysis show good comparison with measurements from steady state heat flux gauges. In addition, the data trends are predicted by the STAN5 boundary layer code. However, the magnitude of the experimental data was not predicted by the analysis, particularly in laminar and transitional regions near the leading edge. The infrared photography system was shown capable of providing detailed surface thermal gradients and secondary flow features on a turbine vane and endwell.

Gladden, Herbert J.↗

A Multi-Satellite Assimilation and Modeling Platform to Construct a Global and Complete view of the Hydrologic Cycle

What captivates me about the research field of satellite remote sensing of the earth system science is the opportunity to help human beings by addressing challenging questions related to the current and future availability of natural resources for domestic, agricultural, and industrial needs. For example, a continuously varying climate poses a threat to the water resource, not only in developing countries, but also in economically well-developed regions, creating the urgent need to characterize and predict its spatial and temporal availability. Specifically, my curiosity is driven by the challenge of merging cutting-edge space technology and earth observations (i.e., remote sensing) with state-of-the-art models for the purpose of improving our scientific knowledge about the variability and the change of the hydrologic cycle.The only practical way to observe the land surface processes (e.g., hydrologic cycle) on continental to global scales is via satellite remote sensing. Though remote sensing can make spatially comprehensive measurements of various components of the land surface system, it cannot provide direct information on the entire system, and the measurements represent only a snapshot in time. Physical based models may be used to continuously predict the temporal and spatial earth processes, but these predictions are often poor, due to model initialization, parameter and meteorological forcing errors, and inadequate model physics and/or resolution. Thus, an attractive prospect is to combine the strengths of land surface models and observations (and minimize the weaknesses of both) to provide a superior land surface state estimate. This is the goal of land surface data assimilation. Data assimilation provides a better estimate of the environmental states than either models or observations could individually do. The broad concept of data assimilation can be applied to various disciplines such as hydrology, ecology, environmental hazards, agriculture and economy.My research is targeted to integrating multiple satellite information having multi-sensor and multi-resolution assimilation within today's state-of-the-art hydrologic models. Multi-sensor and multi-resolution assimilation techniques represent a necessary milestone in future earth science applications because they offer the capability of comprehensively integrating disparate types of earth observations via deep-learning techniques. A multi-satellite assimilation and modeling platform will ultimately provide a robust and complete dataset to more fully understand earth's dynamics. In fact, the multi-satellite assimilation platforms build a comprehensive description of the earth processes that is geared toward accurately representing the complexity of natural and anthropogenic interactions in land surface processes. Most importantly, these platforms are suitable as decision support tools for applications across different aspects of earth system science.My recent work has focused on recent multi-sensor data assimilation techniques targeted at improving snow, soil moisture, groundwater, and terrestrial water storage hydrological states.

Girotto, Manuela↗

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↗