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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS2001

Calcium-stimulated autophosphorylation site of plant chimeric calcium/calmodulin-dependent protein kinase

The existence of two molecular switches regulating plant chimeric Ca(2+)/calmodulin-dependent protein kinase (CCaMK), namely the C-terminal visinin-like domain acting as Ca(2+)-sensitive molecular switch and calmodulin binding domain acting as Ca(2+)-stimulated autophosphorylation-sensitive molecular switch, has been described (Sathyanarayanan, P. V., Cremo, C. R., and Poovaiah, B. W. (2000) J. Biol. Chem. 275, 30417-30422). Here we report the identification of Ca(2+)-stimulated autophosphorylation site of CCaMK by matrix-assisted laser desorption ionization time of flight-mass spectrometry. Thr(267) was confirmed as the Ca(2+)-stimulated autophosphorylation site by post-source decay experiments and by site-directed mutagenesis. The purified T267A mutant form of CCaMK did not show Ca(2+)-stimulated autophosphorylation, autophosphorylation-dependent variable calmodulin affinity, or Ca(2+)/calmodulin stimulation of kinase activity. Sequence comparison of CCaMK from monocotyledonous plant (lily) and dicotyledonous plant (tobacco) suggests that the autophosphorylation site is conserved. This is the first identification of a phosphorylation site specifically responding to activation by second messenger system (Ca(2+) messenger system) in plants. Homology modeling of the kinase and calmodulin binding domain of CCaMK with the crystal structure of calcium/calmodulin-dependent protein kinase 1 suggests that the Ca(2+)-stimulated autophosphorylation site is located on the surface of the kinase and far from the catalytic site. Analysis of Ca(2+)-stimulated autophosphorylation with increasing concentration of CCaMK indicates the possibility that the Ca(2+)-stimulated phosphorylation occurs by an intermolecular mechanism.

Non-NASA Center↗

NASA NTRS2011

Accretion States of the Galactic Micro Quasar GRS 1758-258

We present the results of a radio and X-ray study of the Galactic micro quasar GRS 1758-258, using unpublished archival data and new observations. We focus in particular on the 2000-2002 state transitions, and on its more quiet behaviour in 2008-2009. Our spectral and timing analysis of the XMM-Newton data shows that the source was in the canonical intermediate, soft and hard states in 2000 September 19,2001 March 22 and 2002 September 28, respectively. We estimate the disk size, luminosity and temperature, which are consistent with a black hole mass approx.10 Solar Mass, There is much overlap between the range of total X-ray luminosities (on average approx. 0.02L(sub Edd)) in the hard and soft states, and probably between the corresponding mass accretion rates; in fact, the hard state is often more luminous. The extended radio lobes seen in 1992 and 1997 are still present in 2008-2009. The 5-GHz radio core flux density has shown variability between approx. 0.1-0.5 mJy over the last two decades. This firmly places GRS 1758-258 in the radio-quiet sequence of Galactic black holes, in the radio/X-ray plane. We note that this dichotomy is similar to the dichotomy between the radio/X-ray sequences of Seyfert and radio galaxies. We propose that the different radio efficiency of the two sequences is due to relativistic electron/positron jets in radio-loud black holes, and sub-relativistic, thermally dominated outflows in radio-quiet sources.

Soria, Roberto↗

NASA NTRS2012

Monitoring of International Space Station Telemetry Using Shewhart Control Charts

Shewhart control charts have been established as an expedient method for analyzing dynamic, trending data in order to identify anomalous subsystem performance as soon as such performance would exceed a statistically established baseline. Additionally, this leading indicator tool integrates a selection methodology that reduces false positive indications, optimizes true leading indicator events, minimizes computer processor unit duty cycles, and addresses human factor concerns (i.e., the potential for flight-controller data overload). This innovation leverages statistical process control, and provides a relatively simple way to allow flight controllers to focus their attention on subtle system changes that could lead to dramatic off-nominal system performance. Finally, this capability improves response time to potential hardware damage and/or crew injury, thereby improving space flight safety. Shewhart control charts require normalized data. However, the telemetry from the ISS Early External Thermal Control System (EETCS) was not normally distributed. A method for normalizing the data was implemented, as was a means of selecting data windows, the number of standard deviations (Sigma Level), the number of consecutive points out of limits (Sequence), and direction (increasing or decreasing trend data). By varying these options, and treating them like dial settings, the number of nuisance alerts and leading indicators were optimized. The goal was to capture all leading indicators while minimizing the number of nuisances. Lean Six Sigma (L6S) design of experiment methodologies were employed. To optimize the results, Perl programming language was used to automate the massive amounts of telemetry data, control chart plots, and the data analysis.

Fitch, Jeffery T.↗

DOE OSTI2024

High-throughput single-cell transcriptomics of bacteria using combinatorial barcoding

Microbial split-pool ligation transcriptomics (microSPLiT) is a high-throughput single-cell RNA sequencing method for bacteria. With four combinatorial barcoding rounds, microSPLiT can profile transcriptional states in hundreds of thousands of Gram-negative and Gram-positive bacteria in a single experiment without specialized equipment. As bacterial samples are fixed and permeabilized before barcoding, they can be collected and stored ahead of time. During the first barcoding round, the fixed and permeabilized bacteria are distributed into a 96-well plate, where their transcripts are reverse transcribed into cDNA and labeled with the first well-specific barcode inside the cells. The cells are mixed and redistributed two more times into new 96-well plates, where the second and third barcodes are appended to the cDNA via in-cell ligation reactions. Finally, the cells are mixed and divided into aliquot sub-libraries, which can be stored until future use or prepared for sequencing with the addition of a fourth barcode. It takes 4 days to generate sequencing-ready libraries, including 1 day for collection and overnight fixation of samples. Here, the standard plate setup enables single-cell transcriptional profiling of up to 1 million bacterial cells and up to 96 samples in a single barcoding experiment, with the possibility of expansion by adding barcoding rounds. The protocol requires experience in basic molecular biology techniques, handling of bacterial samples and preparation of DNA libraries for next-generation sequencing. It can be performed by experienced undergraduate or graduate students. Data analysis requires access to computing resources, familiarity with Unix command line and basic experience with Python or R.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS2004

Europa's Northern Trailing Hemisphere: Lineament Stratigraphic Framework

Knowledge of the global distribution of Europan geologic units in time and space is a necessary step for the synthesis of the results of the Galileo mission and in preparation for future exploration (namely, by JIMO) of the satellite. We have initiated the production of the first Global Geological Map of Europa. As a base map, we use the recently published global photomosaic of Europa (U.S.G.S. Map I-2757) and additional Galileo SSI images at their original resolution. The map is being produced entirely on GIS format for analysis and combination with other datasets [1]. One of the main objectives of this project is to establish a global stratigraphic framework for Europa. In the absence of a well-developed cratering record, this goal will be achieved using the satellite s global network of lineaments (ridges, ridge complexes and bands; cf. [2]). Here we present the preliminary stratigraphic framework synthesized from the sequence of lineaments derived for the northern trailing hemisphere of Europa (Figure 1, below), and we discuss its significance and some emerging implications.

Figueredo, P. H.↗

NASA NTRS2005

Apex Reference Manual 3.0 Beta

Apex is a toolkit for constructing software that behaves intelligently and responsively in demanding task environments. Reflecting its origin at NASA where Apex continues to be developed, current applications include: a) Providing autonomous mission management and tactical control capabilities for unmanned aerial vehicles including an autonomous surveillance helicopter and a simulation prototype of an unmanned fixed-wing aircraft to be used for wildfire mapping; b) Simulating human air traffic controllers, pilots and astronauts to help predict how people might respond to changes in equipment or procedures; and c) Predicting the precise duration and sequence of routine human behaviors based on a human-computer interaction engineering technique called CPM-GOMS. Among Apex s components are a set of implemented reasoning services, such as those for reactive planning and temporal pattern recognition; a software architecture that embeds and integrates these services and allows additional reasoning elements to be added as extensions; a formal language for specifying agent knowledge; a simulation environment to facilitate prototyping and analysis; and Sherpa, a set of tools for visualizing autonomy logic and runtime behavior. In combination, these are meant to provide a flexible and usable framework for creating, testing, and deploying intelligent agent software. Overall, our goal in developing Apex is to lower economic barriers to developing intelligent software agents. New ideas about how to extend or modify the system are evaluated in terms of their impact in reducing the time, expertise, and inventiveness required to build and maintain applications. For example, potential enhancements to the AI reasoning capabilities in the system are reviewed not only for usefulness and distinctiveness, but also for their impact on the readability and general usability of Apex s behavior representation language (PDL) and on the transparency of resulting behavior. A second central part of our approach is to iteratively refine Apex based on lessons learned from as diverse a set of applications as possible. Many applications have been developed by users outside the core development team including engineers, researchers, and students. Usability is thus a central concern for every aspect of Apex visible to a user, including PDL, Sherpa, the Apex installation process, APIs, and user documentation. Apex users vary in their areas of expertise and in their familiarity with autonomy technology. Focusing on usability, a development philosophy summarized by the project motto "Usable Autonomy," has been important part of enabling diverse users to employ Apex successfully and to provide feedback needed to guide iterative, user-centered refinement.

Freed, Michael A.↗

DOE OSTI2023

Numerical Optimization of Spray-Guided Spark Assistance for Cold Idle Operation in a Heavy-Duty Gasoline Compression Ignition Engine

This article describes the results of a response surface model (RSM)-based numerical optimization campaign for spray-guided spark assistance at cold operations in a heavy-duty gasoline compression ignition (GCI) engine. On the basis of an earlier work on spark-assisted GCI cold combustion, a space-filling design of experiments (DoE) method was first undertaken to investigate a multitude of hardware design variables and engine operating parameters. The main design variables included the number of injector nozzles, fuel split quantities and injection timings, and spark timing. The objective variables were engine combustion efficiency (ŋ c ), maximum pressure rise rate (MPRR), and engine-out nitrogen oxide (NO x ) emissions. A total of 150 design candidates were automatically generated using the Sobol sequence method provided by the commercial software package, CAESES. Then, closed-cycle computational fluid dynamic (CFD) spark-assisted GCI simulations under cold idling operations were performed. The outcomes from the CFD-DoE design campaign were utilized to construct high-fidelity RSMs that allowed for further design optimization of the spark plug- and fuel injector-related design variables, along with fuel injection strategy parameters. A merit function with respect to objective variables was formulated with an appropriate weight assignment on each objective variable. Finally, the best design candidate was identified from the RSM-based optimization process and further validated in the CFD analysis. The best design candidate showed the potential to significantly improve combustion efficiency (ŋ c > 90%) over the baseline at cold idle while satisfying MPRR and NOx emissions constraints (MPRR < 5 bar/CAD and NO x < 4.5 g/kWh).

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2023

How Good Is Your Location? Comparing and Understanding the Uncertainties in Location for the 1993 Rock Valley Sequence

Accurate event locations are important for many endeavors in seismology, and understanding the factors that contribute to uncertainties in those locations is complex. In this article, we present a case study that takes an in-depth look at the accuracy and precision possible for locating nine shallow earthquakes in the Rock Valley fault zone in southern Nevada. These events are targeted by the Rock Valley Direct Comparison phase of the Source Physics Experiment, as candidates for the colocation of a chemical explosion with an earthquake hypocenter to directly compare earthquake and explosion sources. For this comparison, it is necessary to determine earthquake hypocenters as accurately as possible so that different source types have nearly identical locations. Our investigations include uncertainty analysis from different sets of phase arrivals, stations, velocity models, and location algorithms. For a common set of phase arrivals and stations, we find that epicentral locations from different combinations of velocity models and algorithms are within 600 m of one another in most cases. Event depths exhibit greater uncertainties, but focusing on the S-P times at the nearest station allows for estimates within approximately 500 m.

58 GEOSCIENCES↗

DOE OSTI2023

Hard X-Ray to Radio Multiwavelength SED Analysis of Local U/LIRGs in the GOALS Sample with a Self-consistent AGN Model including a Polar-dust Component

We conduct hard X-ray to radio multiwavelength spectral energy distribution (SED) decomposition for 57 local luminous and ultraluminous infrared galaxies observed with the Nuclear Spectroscopic Telescope Array and/or Swift/Burst Alert Telescope in the GOALS sample. We modify the latest SED-fitting code X-CIGALE by implementing the infrared (IR) CLUMPY model, allowing us to conduct the multiwavelength study with the X-ray torus model XCLUMPY self-consistently. Adopting the torus parameters obtained by the X-ray fitting, we estimate the properties of the host galaxies, active galactic nucleus (AGN) tori, and polar dust. The star formation rates (SFRs) become larger with merger stage and most of them are above the main sequence. The SFRs are correlated with radio luminosity, indicating starburst emission is dominant in the radio band. Although polar-dust extinction is much smaller than torus extinction, the UV-to-IR (mainly IR) polar dust luminosities are ~2 times larger than the torus ones. The polar-dust temperature decreases while the physical size, estimated by the temperature and dust sublimation radius, increases with AGN luminosity from a few tens of parsec (early mergers) to kiloparsec scales (late mergers), where the polar dust likely comes from expanding (i.e., evolving) dusty outflows. A comparison between the SFRs and intrinsic AGN luminosities suggests that starbursts occur first and AGNs arise later, and overall their growth rates follow the simultaneous coevolution local galaxy–SMBH mass relation. We confirm the coexistence of intense starbursts, AGNs, and large-scale outflows in late mergers, supporting a standard AGN feedback scenario.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

The Delplot kinetic method applied to systems with adsorbates: Hydrodeoxygenation of benzofuran on a bimetallic CoPd phosphide catalyst supported on KUSY

The Delplot method provides a means of analyzing conversion and selectivity data to derive a reaction sequence and has been applied so far to gas-phase or liquid-phase species. This study analyses the applicability of the method for catalytic reactions and considers for the first time adsorbed intermediates. The method is applied to a contact time study of the hydrodeoxygenation (HDO) of benzofuran at 0.5 MPa and 350 °C over a catalyst consisting of bimetallic CoPd phosphide supported on a potassium ion-exchanged ultra-stable Y (KUSY) zeolite. Both simple and detailed reaction networks were derived. The simple networks considered only gas-phase species and were modeled by a first-order sequence of steps, whereas the detailed network took into account adsorbed intermediates and was simulated using a rake mechanism. The networks were compared using F-statistics, which accounted for the differences in the number of fitting parameters. The detailed network gave a better fit to the experimental data because it represented a more realistic description of the transformation. A suggested sequence from the Delplot method was consistent with the simple network but not with the detailed network. The lack of applicability of the Delplot analysis to the network with adsorbates was linked to overly large equilibrium constants, a determination supported by Delplot fitting for a model sequence. Further, this study indicated the inapplicability of the Delplot method in determining reaction sequences that involve adsorbed species with large equilibrium constants for formation.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2020

Autonomous adaptive data acquisition for scanning hyperspectral imaging

Non-invasive and label-free spectral microscopy (spectromicroscopy) techniques can provide quantitative biochemical information complementary to genomic sequencing, transcriptomic profiling, and proteomic analyses. However, spectromicroscopy techniques generate high-dimensional data; acquisition of a single spectral image can range from tens of minutes to hours, depending on the desired spatial resolution and the image size. This substantially limits the timescales of observable transient biological processes. To address this challenge and move spectromicroscopy towards efficient real-time spatiochemical imaging, we developed a grid-less autonomous adaptive sampling method. Our method substantially decreases image acquisition time while increasing sampling density in regions of steeper physico-chemical gradients. When implemented with scanning Fourier Transform infrared spectromicroscopy experiments, this grid-less adaptive sampling approach outperformed standard uniform grid sampling in a two-component chemical model system and in a complex biological sample, Caenorhabditis elegans. We quantitatively and qualitatively assess the efficiency of data acquisition using performance metrics and multivariate infrared spectral analysis, respectively.

47 OTHER INSTRUMENTATION↗

DOE OSTI2020

Mesh-Sequenced Realizations for Evaluation of Subgrid-Scale Models for Turbulent Combustion

This paper develops a new approach for analysis of subgrid closures for turbulent combustion as modeled using direct quadrature (finite-rate chemistry) techniques. The approach, termed multiresolution analysis through mesh-sequenced realizations (MRA-MSR), conducts simultaneous, constrained large-eddy simulations on a set of hierarchically coarsened meshes. Furthermore, the availability of underlying fine-mesh (subgrid) data corresponding to coarse-mesh locations allows a clearer assessment of the effects of unresolved fluctuations on apparent reactivity. A key to MRA-MSR is the correlation of eddy structures at coarser mesh levels, which is facilitated by the transfer of filtered fine-mesh velocity information. A seven-mesh MRA-MSR hierarchy using three resolution levels is applied to one of the Sydney bluff-body stabilized methane–hydrogen flames. Analysis of the simultaneously evolved data at different resolution levels reveals several interesting trends. First, at high Damköhler numbers, there is clear evidence of attenuation of apparent reactivity due to the effects of unresolved fluctuations. Secondly, single-point, single-time filtered density functions of a normalized subgrid Damköhler number show a characteristic beta probability density function (PDF) form and display evidence of scale similarity. Interrogation of the MRA-MSR database also shows that the recently-proposed least-squares minimization (LSM) turbulence–chemistry interaction model can account for the observed diminishment in reactivity at high Damköhler numbers but cannot reduce scatter significantly. A new form of the LSM model, which makes use of the normalized subgrid Damköhler number beta PDF distribution, performs slightly better than the original model, illustrating the potential of MRA-MSR both in assessing existing closure concepts and in developing new ones.

42 ENGINEERING↗

NASA NTRS1993

Vibration of thermally buckled composite plates with initial deflections using triangular elements

A consistent finite element formulation is presented for the analysis of thermal postbuckling and free vibration of thermally buckled thin, laminated composite plates subjected to large temperature change. The influence of moderately large initial imperfections in deflection on the thermal postbuckling deflection and the vibration characteristics of the buckled plate is also investigated. The finite element equations of motion are derived from the principle of virtual work. These equations can be mathematically separated into two sets and solved in sequence. The first set of equations yields the particular solution of static thermal postbuckling deflection, and the second set of equations gives the homogeneous solution of vibration characteristics on the buckled plate. The first set of static equations is solved by using Newton-Raphson iteration method. The tangent stiffness matrix in the final iteration is equal to the total stiffness matrix of the second set of dynamic equations. This feature saves tremendous computation time in comparing with using the conventional approach. The influence of lamination angle, temperature distribution, plate planform of arbitrary shape, and boundary support conditions on postbuckling and vibration behavior are investigated.

Zhou, R. C.↗

NASA NTRS2003

Sensory Motor Coordination in Robonaut

As a participant of the year 2000 NASA Summer Faculty Fellowship Program, I worked with the engineers of the Dexterous Robotics Laboratory at NASA Johnson Space Center on the Robonaut project. The Robonaut is an articulated torso with two dexterous arms, left and right five-fingered hands, and a head with cameras mounted on an articulated neck. This advanced space robot, now driven only teleoperatively using VR gloves, sensors and helmets, is to be upgraded to a thinking system that can find, interact with and assist humans autonomously, allowing the Crew to work with Robonaut as a (junior) member of their team. Thus, the work performed this summer was toward the goal of enabling Robonaut to operate autonomously as an intelligent assistant to astronauts. Our underlying hypothesis is that a robot can develop intelligence if it learns a set of basic behaviors (i.e., reflexes - actions tightly coupled to sensing) and through experience learns how to sequence these to solve problems or to accomplish higher-level tasks. We describe our approach to the automatic acquisition of basic behaviors as learning sensory-motor coordination (SMC). Although research in the ontogenesis of animals development from the time of conception) supports the approach of learning SMC as the foundation for intelligent, autonomous behavior, we do not know whether it will prove viable for the development of autonomy in robots. The first step in testing the hypothesis is to determine if SMC can be learned by the robot. To do this, we have taken advantage of Robonaut's teleoperated control system. When a person teleoperates Robonaut, the person's own SMC causes the robot to act purposefully. If the sensory signals that the robot detects during teleoperation are recorded over several repetitions of the same task, it should be possible through signal analysis to identify the sensory-motor couplings that accompany purposeful motion. In this report, reasons for suspecting SMC as the basis for intelligent behavior will be reviewed. A robot control system for autonomous behavior that uses learned SMC will be proposed. Techniques for the extraction of salient parameters from sensory and motor data will be discussed. Experiments with Robonaut will be discussed and preliminary data presented.

Peters, Richard Alan, II↗

NASA NTRS1975

The location of the site of energy release in a solar X-ray subflare

A rapid sequence of high-resolution X-ray photographs was obtained by the S-054 X-ray Telescope Experiment on Skylab on 1973 September 1. During the course of this observation, photographs were obtained of a flarelike brightening in a simple, bipolar active region. Analysis reveals the following facts. The event had the form of a small, elongated bright feature whose narrowest dimension was less than seconds of arc. The brightness peak of the flarelike brightening was located within seconds of arc of the center of brightness of a preexisting loop structure that crossed the magnetic neutral line. This loop was observed to brighten gradually beginning approximately 10 minutes prior to the flarelike event. During the rise of the event, the 2-17 A X-ray brightness of the center of the subflare core rose by over a factor of 10 in a time period of 196 seconds or less.

Petrasso, R. D.↗

NASA NTRS1990

Scaling effects in the static and dynamic response of graphite-epoxy beam-columns

Scale model technology represents one method of investigating the behavior of advanced, weight-efficient composite structures under a variety of loading conditions. It is necessary, however, to understand the limitations involved in testing scale model structures before the technique can be fully utilized. These limitations, or scaling effects, are characterized. in the large deflection response and failure of composite beams. Scale model beams were loaded with an eccentric axial compressive load designed to produce large bending deflections and global failure. A dimensional analysis was performed on the composite beam-column loading configuration to determine a model law governing the system response. An experimental program was developed to validate the model law under both static and dynamic loading conditions. Laminate stacking sequences including unidirectional, angle ply, cross ply, and quasi-isotropic were tested to examine a diversity of composite response and failure modes. The model beams were loaded under scaled test conditions until catastrophic failure. A large deflection beam solution was developed to compare with the static experimental results and to analyze beam failure. Also, the finite element code DYCAST (DYnamic Crash Analysis of STructure) was used to model both the static and impulsive beam response. Static test results indicate that the unidirectional and cross ply beam responses scale as predicted by the model law, even under severe deformations. In general, failure modes were consistent between scale models within a laminate family; however, a significant scale effect was observed in strength. The scale effect in strength which was evident in the static tests was also observed in the dynamic tests. Scaling of load and strain time histories between the scale model beams and the prototypes was excellent for the unidirectional beams, but inconsistent results were obtained for the angle ply, cross ply, and quasi-isotropic beams. Results show that valuable information can be obtained from testing on scale model composite structures, especially in the linear elastic response region. However, due to scaling effects in the strength behavior of composite laminates, caution must be used in extrapolating data taken from a scale model test when that test involves failure of the structure.

Jackson, Karen E.↗

NASA NTRS2017

Coordinated Analysis 101: A Joint Training Session Sponsored by LPI and ARES/JSC

The Lunar and Planetary Institute (LPI) and the Astromaterials Research and Exploration Science (ARES) Division, part of the Exploration Integration and Science Directorate at NASA Johnson Space Center (JSC), co-sponsored a training session in November 2016 for four early-career scientists in the techniques of coordinated analysis. Coordinated analysis refers to the approach of systematically performing high-resolution and -precision analytical studies on astromaterials, particularly the very small particles typical of recent and near-future sample return missions such as Stardust, Hayabusa, Hayabusa2, and OSIRIS-REx. A series of successive analytical steps is chosen to be performed on the same particle, as opposed to separate subsections of a sample, in such a way that the initial steps do not compromise the results from later steps in the sequence. The data from the entire series can then be integrated for these individual specimens, revealing important in-sights obtainable no other way. ARES/JSC scientists have played a leading role in the development and application of this approach for many years. Because the coming years will bring new sample collections from these and other planned NASA and international exploration missions, it is timely to begin disseminating specialized techniques for the study of small and precious astromaterial samples. As part of the Cooperative Agreement between NASA and the LPI, this training workshop was intended as the first in a series of similar training exercises that the two organizations will jointly sponsor in the coming years. These workshops will span the range of analytical capabilities and sample types available at ARES/JSC in the Astromaterials Research and Astro-materials Acquisition and Curation Offices. Here we summarize the activities and participants in this initial training.

Draper, D. S.↗

NASA NTRS2022

Should’ve Could’ve: Progress in the Systems Engineering of the Mars2020 On-Board Planner

Mars rover operations has traditionally controlled behavior using meticulously compiled, so-called “Master” sequences that enforce deterministic timing and ordering of activities. While the approach is effective at managing risk and complexity, it can also be inefficient. Extended operations of the Mars2020 rover envisions a fundamentally different scheduling and execution approach. Atomic activities are constrained by mission operators in time, resource usage, and a structure of dependencies. The rover flight software will create and re-create schedules, responding to available energy, data volume, actual activity durations and execution status, observed temperatures, and other on-board state. Schedules are expected to change substantially in the course of execution. The solution space is prohibitively large and probabilistic in nature. A range of emergent behavior is accessible depending on the interaction between actual on-board state and a given formulation of constraints. For years, the specification and implementation of this capability have been considered and refined, as testing and analysis have mapped the contours of the system. Many concepts that could have been adopted were rejected, and in some cases, emergent properties have been exposed and beaten back with approaches to steer the behavior. This paper discusses some of the design history and underlying reasoning in the systems engineering of the first autonomous activity planner on Mars.

Kuhn, Stephen R↗