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All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Verifying Mars 2020 Sampling and Caching Robotic Functions with Position Budgeting Process and Tool

The Mars 2020 Perseverance Rover was launched on July 30th, 2020 with one of the most complex robotic systems ever implemented on an interplanetary mission. Much of this robotic complexity resides in the Rover Sampling and Caching Subsystem (SCS) to enable collection of Martian samples for eventual return to earth and preparation of surfaces for close-up surface science observations. Two robotic arms are used by SCS: the large Robotic Arm (RA) positions the coring drill and science instruments mounted to the Turret for surface interactions, and the smaller Sample Handling Assembly (SHA) manipulates Sample Tube Assemblies (STA) within the Adaptive Caching Assembly (ACA) to prepare them for sample collection, processing, and hermetic sealing. The robotic arms interact with the Martian surface and other SCS components in many ways and in a variety of configurations, with positioning accuracy requirements ranging from tens of millimeters for some surface interactions down to sub-millimeter accuracy for some ACA interactions.This paper describes the process and tool used to calculate the SCS robotic interaction positioning budgets and verify the as-built hardware when delivered. To ensure that these robotic systems are able to perform their tasks, each robotic interaction with another element was broken down into its composite functions. To calculate a positioning budget margin for each function, an allowable was defined and then compared to the list of error sources that contribute to misalignment. Across the subsystem, over 250 functions were identified to be assessed, with almost 500 error sources feeding into their budget calculations. In addition to using as-built values in the budgets for SCS Verification and Validation (V&V) after the hardware was complete, these budgets were populated with design data during the design phase to identify areas of concern and guide hardware design to ensure positive position budget margins.Because of the size of the SCS team that had inputs to the positioning budgets and the sheer number of items in the budgets that needed to be created, updated, and verified, having a tool that would allow for simultaneous access and robust data integrity and processing was imperative. To accomplish this, a web-based MySQL database was created that allowed users to create function position budgets, link individual errors and allowables to them, and view function position budget margin reports. Each error and allowable records data for lateral, normal, angular, and clocking errors, with the ability to add as-built data for up to four different hardware builds. Margin reports can be generated for either design values alone or replacing design data with as-built data when available. These as-built reports are used for final verification of the SCS positioning requirements. Ultimately, the SCS positioning budget process and database tool led to successful interactions during test and an SCS robotic system that is ready to perform sample acquisition and caching on the surface of Mars.

Williams, Jeffrey↗
DOE OSTI2025

Optimization of a Mixed Fleet of Aerial Drones for Medical Supplies: A Case Study of Blood Delivery Logistics

Aerial drones have emerged as an innovative solution for faster transportation of time-sensitive items (e.g., emergency medical supplies), potentially reducing the transmission of contagious diseases and enhancing healthcare availability through contactless autonomous delivery. We study fleet sizing and efficient scheduling of a mixed fleet of drones for delivering time-sensitive medical items having distinct release and due times to minimize the required fleet size and fleet composition, the required number of additional batteries, and the total energy consumption. We continuously track the remaining battery energy of drones to determine the optimal timing for battery replacement, rather than replacing the battery at each node. Using actual drone flight test data, we employed a machine learning (ML) method to estimate the energy consumption of different drone types during flight segments for different operating parameters. We present a novel mixed-integer programming model to efficiently formulate the problem that integrates the estimated energy consumption functions from ML. We propose a new greedy heuristic (GH) algorithm and a customized genetic algorithm (GA) for solving large-scale instances of this problem faster. Results demonstrate that the GH algorithm is substantially faster than the accelerated CPLEX and the GA, while sacrificing the solution quality by a small amount. Results based on an actual blood sample delivery case study from Pendleton, Oregon, United States, show that using a mixed fleet of drones reduces the total cost and total energy consumption up to 18.18% and 28.7%, respectively, compared to using a homogeneous fleet.

29 - ENERGY PLANNING, POLICY AND ECONOMY↗
DOE OSTI2023

QA/QC-ed Groundwater Level Time Series in PLM-1 and PLM-6 Monitoring Wells, East River, Colorado (2016-2022)

This data set contains QA/QC-ed (Quality Assurance and Quality Control) water level data for the PLM1 and PLM6 wells. PLM1 and PLM6 are location identifiers used by the Watershed Function SFA project for two groundwater monitoring wells along an elevation gradient located along the lower montane life zone of a hillslope near the Pumphouse location at the East River Watershed, Colorado, USA. These wells are used to monitor subsurface water and carbon inventories and fluxes, and to determine the seasonally dependent flow of groundwater under the PLM hillslope. The downslope flow of groundwater in combination with data on groundwater chemistry (see related references) can be used to estimate rates of solute export from the hillslope to the floodplain and river. QA/QC analysis of measured groundwater levels in monitoring wells PLM-1 and PLM-6 included identification and flagging of duplicated values of timestamps, gap filling of missing timestamps and water levels, removal of abnormal/bad and outliers of measured water levels. The QA/QC analysis also tested the application of different QA/QC methods and the development of regular (5-minute, 1-hour, and 1-day) time series datasets, which can serve as a benchmark for testing other QA/QC techniques, and will be applicable for ecohydrological modeling. The package includes a Readme file, one R code file used to perform QA/QC, a series of 8 data csv files (six QA/QC-ed regular time series datasets of varying intervals (5-min, 1-hr, 1-day) and two files with QA/QC flagging of original data), and three files for the reporting format adoption of this dataset (InstallationMethods, file level metadata (flmd), and data dictionary (dd) files).QA/QC-ed data herein were derived from the original/raw data publication available at Williams et al., 2020 (DOI: 10.15485/1818367). For more information about running R code file (10.15485_1866836_QAQC_PLM1_PLM6.R) to reproduce QA/QC output files, see README (QAQC_PLM_readme.docx). This dataset replaces the previously published raw data time series, and is the final groundwater data product for the PLM wells in the East River. Complete metadata information on the PLM1 and PLM6 wells are available in a related dataset on ESS-DIVE: Varadharajan C, et al (2022). https://doi.org/10.15485/1660962. These data products are part of the Watershed Function Scientific Focus Area collection effort to further scientific understanding of biogeochemical dynamics from genome to watershed scales. 2022/09/09 Update: Converted data files using ESS-DIVE’s Hydrological Monitoring Reporting Format. With the adoption of this reporting format, the addition of three new files (v1_20220909_flmd.csv, V1_20220909_dd.csv, and InstallationMethods.csv) were added. The file-level metadata file (v1_20220909_flmd.csv) contains information specific to the files contained within the dataset. The data dictionary file (v1_20220909_dd.csv) contains definitions of column headers and other terms across the dataset. The installation methods file (InstallationMethods.csv) contains a description of methods associated with installation and deployment at PLM1 and PLM6 wells. Additionally, eight data files were re-formatted to follow the reporting format guidance (er_plm1_waterlevel_2016-2020.csv, er_plm1_waterlevel_1-hour_2016-2020.csv, er_plm1_waterlevel_daily_2016-2020.csv, QA_PLM1_Flagging.csv, er_plm6_waterlevel_2016-2020.csv, er_plm6_waterlevel_1-hour_2016-2020.csv, er_plm6_waterlevel_daily_2016-2020.csv, QA_PLM6_Flagging.csv). The major changes to the data files include the addition of header_rows above the data containing metadata about the particular well, units, and sensor description. 2023/01/18 Update: Dataset updated to include additional QA/QC-ed water level data up until 2022-10-12 for ER-PLM1 and 2022-10-13 for ER-PLM6. Reporting format specific files (v2_20230118_flmd.csv, v2_20230118_dd.csv, v2_20230118_InstallationMethods.csv) were updated to reflect the additional data. R code file (QAQC_PLM1_PLM6.R) was added to replace the previously uploaded HTML files to enable execution of the associated code. R code file (QAQC_PLM1_PLM6.R) and ReadMe file (QAQC_PLM_readme.docx) were revised to clarify where original data was retrieved from and to remove local file paths.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Screening a knowledge‐based library of low molecular weight compounds against the proline biosynthetic enzyme 1‐pyrroline‐5‐carboxylate 1 ( PYCR1)

Abstract Δ 1 ‐pyrroline‐5‐carboxylate reductase isoform 1 (PYCR1) is the last enzyme of proline biosynthesis and catalyzes the NAD(P)H‐dependent reduction of Δ 1 ‐pyrroline‐5‐carboxylate toL‐proline. High PYCR1 gene expression is observed in many cancers and linked to poor patient outcomes and tumor aggressiveness. The knockdown of thePYCR1gene or the inhibition of PYCR1 enzyme has been shown to inhibit tumorigenesis in cancer cells and animal models of cancer, motivating inhibitor discovery. We screened a library of 71 low molecular weight compounds (average MW of 131 Da) against PYCR1 using an enzyme activity assay. Hit compounds were validated with X‐ray crystallography and kinetic assays to determine affinity parameters. The library was counter‐screened against human Δ 1 ‐pyrroline‐5‐carboxylate reductase isoform 3 and proline dehydrogenase (PRODH) to assess specificity/promiscuity. Twelve PYCR1 and one PRODH inhibitor crystal structures were determined. Three compounds inhibit PYCR1 with competitive inhibition parameter of 100 μM or lower. Among these, (S)‐tetrahydro‐2H‐pyran‐2‐carboxylic acid (70 μM) has higher affinity than the current best tool compoundN‐formyl‐l‐proline, is 30 times more specific for PYCR1 over human Δ 1 ‐pyrroline‐5‐carboxylate reductase isoform 3, and negligibly inhibits PRODH. Structure‐affinity relationships suggest that hydrogen bonding of the heteroatom of this compound is important for binding to PYCR1. The structures of PYCR1 and PRODH complexed with 1‐hydroxyethane‐1‐sulfonate demonstrate that the sulfonate group is a suitable replacement for the carboxylate anchor. This result suggests that the exploration of carboxylic acid isosteres may be a promising strategy for discovering new classes of PYCR1 and PRODH inhibitors. The structure of PYCR1 complexed withl‐pipecolate and NADH supports the hypothesis that PYCR1 has an alternative function in lysine metabolism.

Biochemistry & Molecular Biology↗
DOE OSTI2024

Mitigation of safety and environmental challenges posed by refrigerants

The abatement of safety and environmental burden associated with low and ultra-low Global Warming Potential (GWP) refrigerants is a critical undertaking. As the industry shifts towards more environmentally friendly alternatives, mitigating the potential risks and ensuring safety standards becomes paramount. The adoption of mildly and highly flammable refrigerants contributes significantly to minimizing the greenhouse gas impact on the environment, aligning with global climate and sustainability goals. However, it is essential to address safety concerns and potential environmental implications associated with the end use of these refrigerants. A method to mitigate the safety risk in a flammable refrigerant based heating, ventilation, air-conditioning, and refrigeration (HVACR) system is the primary focus of this paper. Advent of A2L and A3 refrigerants as replacements to high GWP refrigerants requires careful handling of leak episodes to lower or eliminate the risk associated with creating flammable mixtures capable of fire/explosion hazard. Solid materials tailored to target the molecule of interest (i.e., refrigerant.) by engineering the microporous structure as well as chemically functionalizing the surface to attract and hold on to the chemical compound being removed from the gas stream was realized. Quantitative analysis reveals the adsorbent's effectiveness in reducing leak potential in the range of 40 %–100 % for various refrigerants. Strategic placement and active leak management with negative pressure offer promising avenues for capturing leaked refrigerants, enhancing overall safety.

42 ENGINEERING↗
DOE OSTI2024

Mitigation of Safety and Environmental Challenges Posed by Low and Ultra-low GWP Refrigerants

The abatement of safety and environmental burden associated with low and ultra-low Global Warming Potential (GWP) refrigerants is a critical undertaking. As the industry shifts towards more environmentally friendly alternatives, mitigating the potential risks and ensuring safety standards becomes paramount. The adoption of low GWP and ultra-low GWP refrigerants contributes significantly to minimizing the greenhouse gas impact on the environment, aligning with global climate and sustainability goals. However, it is essential to address safety concerns and potential environmental implications associated with the end use of these refrigerants.A method to mitigate the safety risk in a flammable refrigerant based HVACR system is the primary focus of this paper. Advent of A2L and A3 refrigerants as replacements to high GWP refrigerants requires careful handling of leak episodes to lower or eliminate the risk associated with creating flammable mixtures capable of fire/explosion hazard. Solid materials tailored to target the molecule of interest (i.e., refrigerant.) by engineering the microporous structure as well as chemically functionalizing the surface to attract and hold on to the chemical compound being removed from the gas stream was realized. Additionally, a chromatic transformation technique is investigated for rapid on-site analysis of refrigerant blends. Preliminary results demonstrating the feasibility of both of these methods for successful deployment of low-GWP refrigerants are presented.

Cheekatamarla, Praveen↗
DOE OSTI2024

Semi-Lagrangian nodal discontinuous Galerkin method for the BGK model

In this work, we propose a semi-Lagrangian (SL) nodal discontinuous Galerkin (DG) solver for the BGK equation. The BGK model was introduced by Bhatnagar, Gross, and Krook [1] as a relaxation model for the fundamental Boltzmann equation [5], which describes the kinetic dynamic of rarefied gases with a probability distribution function. The challenges of designing efficient numerical schemes for the Boltzmann equation mainly come from its high dimensionality and complicated nonlinear collision operator. The BGK model gains interests since it has much lower computational cost, due to the relatively simple structure of the relaxation operator in replacement of the collision operator, while simultaneously preserving several important physical properties, such as macroscopic quantities and dissipation of entropy.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1992

Advanced Manned Launch System (AMLS) study

To assure national leadership in space operations and exploration in the future, NASA must be able to provide cost effective and operationally efficient space transportation. Several NASA studies and the joint NASA/DoD Space Transportation Architecture Studies (STAS) have shown the need for a multi-vehicle space transportation system with designs driven by enhanced operations and low costs. NASA is currently studying an advanced manned launch system (AMLS) approach to transport crew and cargo to the Space Station Freedom. Several single and multiple stage systems from air-breathing to all-rocket concepts are being examined in a series of studies potential replacements for the Space Shuttle launch system in the 2000-2010 time frame. Rockwell International Corporation, under contract to the NASA Langley Research Center, has analyzed a two-stage all-rocket concept to determine whether this class of vehicles is appropriate for the AMLS function. The results of the pre-phase A study are discussed.

Ehrlich, Carl F., Jr.↗
NASA NTRS2012

Improving Spacecraft Data Visualization Using Splunk

EPOXI, like all spacecraft missions, receives large volumes of telemetry data from its spacecraft, DIF. It is extremely important for this data to be updated quickly and presented in a readable manner so that the flight team can monitor the status of the spacecraft. Existing DMD pages for monitoring spacecraft telemetry, while functional, are limited and do not take advantage of modern search technology. For instance, they only display current data points from instruments on the spacecraft and have limited graphing capabilities, making it difficult to see historical data. The DMD pages have fixed refresh rates so the team must often wait several minutes to see the most recent data, even after it is received on the ground. The pages are also rigid and require an investment of time and money to update. To more easily organize and visualize spacecraft telemetry, the EPOXI team has begun experimenting with Splunk, a commercially-available data mining system. Splunk can take data received from the spacecraft's different data channels, often in different formats, and index all the data into a common format. Splunk allows flight team members to search through the different data formats from a single interface and to filter results by time range and data field to make finding specific spacecraft events quick and easy. Furthermore, Splunk provides functions to create custom interfaces which help team members visualize the data in charts and graphs to show how the health of the spacecraft has changed over time.One of the goals of my internship with my mentor, Victor Hwang, was to develop new Splunk interfaces to replace the DMD pages and give the spacecraft team access to historical data and visualizations that were previously unavailable. The specific requirements of these pages are discussed in the next section.

spacecraft missions↗
DOE OSTI2020

Improving Efficiency and Stability of Perovskite Solar Cells Enabled by A Near-Infrared-Absorbing Moisture Barrier

Simultaneously improving device efficiency and stability is the most important issue in perovskite solar cell (PSC) research. Here, we strategically introduce a multi-functional interface layer (MFIL) with integrated roles of: (1) electron transport, (2) moisture barrier, (3) near-infrared photocurrent enhancement, (4) trap passivation, and (5) ion migration suppression to enhance the device performance. The narrow-band-gap non-fullerene acceptor, Y6, was screened out to replace the most commonly used PCBM in the inverted PSCs. A significantly improved power conversion efficiency of 21.0% was achieved, along with a remarkable stability (up to 1,700 h) without encapsulation under various external stimuli (light, heat, and moisture). Furthermore, systematic studies of the molecular orientation or passivation and the charge carrier dynamics at the interface between perovskite and MFIL were presented. These results offer deep insights for designing advanced interlayers and establish the correlations between molecular orientation, interface molecular bonding, trap state density, non-radiation recombination, and the device performance.

14 SOLAR ENERGY↗
DOE OSTI2023

The GammaSpec Package for Automated Gamma-ray Analysis (V.1.0)

This report describes the GammaSpec package, a tool developed to automate the analysis and comparison of gamma-ray spectra. The goal of this tool is to drastically reduce, or even eliminate, currently time consuming processes for comparing large sets of gamma-ray measurements. There are a number of potential applications for this work throughout the laboratory, but particularly within Global Security. Current work flows where large numbers of measured spectra must be compared for anomolies and outliers often consist of loading and visually inspecting individual spectra, or utilizing small-batch tools. One such example is the PeakEasy tool also developed at LANL. PeakEasy has a robust and tested feature set for calibrating, identifying, and fitting gamma-ray spectra. However it’s intention was not for batch processing and automated comparison of large numbers of spectra. This tool is not intended to replace PeakEasy in an analyzers arsenal, but to instead augment it. The intention here is to automate the isolation of spectra of particular interest, which can then be studied in further detail. This report is arranged as follows. Section 2 lays out the design goals and desired functionality of the package. Section 3 describes the algorithms developed and chosen to accomplish those goals. Section 4 describes the primary interaction with the tool, as well as it’s resulting output. Following these sections, results are presented from a set of example datasets from High Purity Germanium (HPGe) detectors in Sec. 5. Finally, the current status is summarized in Sec. 6.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRS1976

Preliminary simulation of an advanced, hingless rotor XV-15 tilt-rotor aircraft

The feasibility of the tilt-rotor concept was verified through investigation of the performance, stability and handling qualities of the XV-15 tilt rotor. The rotors were replaced by advanced-technology fiberglass/composite hingless rotors of larger diameter, combined with an advanced integrated fly-by-wire control system. A parametric simulation model of the HRXV-15 was developed, model was used to define acceptable preliminary ranges of primary and secondary control schedules as functions of the flight parameters, to evaluate performance, flying qualities and structural loads, and to have a Boeing-Vertol pilot conduct a simulated flight test evaluation of the aircraft.

Mcveigh, M. A.↗
NASA NTRS1979

Study for fabrication, evaluation, and testing of monolayer woven type materials for space suit insulation

An alternative space suit insulation concept using a monolayer woven pile material is discussed. The material reduces cost and improves the durability of the overgarment, while providing protection similar to that provided by multilayer insulation (MLI). Twelve samples of different configurations were fabricated and tested for compressibility and thermal conductivity as a function of compression loading. Two samples which showed good results in the initial tests were further tested for thermal conductivity with respect to ambient pressure and temperature. Results of these tests were similar to results of the MLI tests, indicating the potential of the monolayer fabric to replace the present MLI. A seaming study illustrated that the fabric can be sewn in a structurally sound seam with minimal heat loss. It is recommended that a prototype thermal meteroid garment be fabricated.

Merrick, E. B.↗
NASA NTRS2004

Neuro-vestibular and Sensory-motor Challenges Associated with NASA Mission Architectures for Moon and Mars

Data from six-month low Earth orbit space flight missions suggest that that substantial neuro-vestibular/sensory-motor adaptation will take place during six-month transit missions to and from Mars. Could intermittent or continuous artificial gravity be used to offset these effects? To what degree would the effects of adaptation to this rotational cure affect its potential benefits? Also, little information exists regarding the gravity thresholds for maintaining functional performance of complex sensory-motor tasks such as balance control and locomotion. Will sensory-motor coordination systems adapt to 30- 90 days of 1/6 g on the lunar surface or 18 months of 3/8 g on the Martian surface? Would some form of gravity replacement therapy be required on the surface? And, will transitions between 0 g and 1/6 g or 1/3 g present as great a challenge to the vestibular system as transitions between 0 g and 1 g? Concerted research and development efforts will be required to obtain the answers.

Paloski, William H.↗
NASA NTRS2005

Enhanced Lighting Techniques and Augmented Reality to Improve Human Task Performance

One of the most versatile tools designed for use on the International Space Station (ISS) is the Special Purpose Dexterous Manipulator (SPDM) robot. Operators for this system are trained at NASA Johnson Space Center (JSC) using a robotic simulator, the Dexterous Manipulator Trainer (DMT), which performs most SPDM functions under normal static Earth gravitational forces. The SPDM is controlled from a standard Robotic Workstation. A key feature of the SPDM and DMT is the Force/Moment Accommodation (FMA) system, which limits the contact forces and moments acting on the robot components, on its payload, an Orbital Replaceable Unit (ORU), and on the receptacle for the ORU. The FMA system helps to automatically alleviate any binding of the ORU as it is inserted or withdrawn from a receptacle, but it is limited in its correction capability. A successful ORU insertion generally requires that the reference axes of the ORU and receptacle be aligned to within approximately 0.25 inch and 0.5 degree of nominal values. The only guides available for the operator to achieve these alignment tolerances are views from any available video cameras. No special registration markings are provided on the ORU or receptacle, so the operator must use their intrinsic features in the video display to perform the pre-insertion alignment task. Since optimum camera views may not be available, and dynamic orbital lighting conditions may limit viewing periods, long times are anticipated for performing some ORU insertion or extraction operations. This study explored the feasibility of using augmented reality (AR) to assist with SPDM operations. Geometric graphical symbols were overlaid on the end effector (EE) camera view to afford cues to assist the operator in attaining adequate pre-insertion ORU alignment.

Maida, James C.↗
NASA NTRS2004

Neuro-vestibular and Sensory-motor Challenges Associated with NASA Mission Architectures for Moon and Mars

Data from six-month low Earth orbit space flight missions suggest that that substantial neuro-vestibuladsensory-motor adaptation will take place during six-month transit missions to and from Mars. Could intermittent or continuous artificial gravity be used to offset these effects? To what degree would the effects of adaptation to this rotational cure affect its potential benefits? Also, little information exists regarding the gravity thresholds for maintaining functional performance of complex sensory-motor tasks such as balance control and locomotion. Will sensory-motor coordination systems adapt to 30-90 days of 1/6 g on the lunar surface or 18 months of 3/8 g on the Martian surface? Would some form of gravity replacement therapy be required on the surface? And, will transitions between 0 g and 1/6 g or 1/3 g present as great a challenge to the vestibular system as transitions between 0 g and 1 g? Concerted research and development efforts will be required to obtain the answers.

Paloski, William H.↗
NASA NTRS2006

Computing Isentropic Flow Properties of Air/R-134a Mixtures

MACHRK is a computer program that calculates isentropic flow properties of mixtures of air and refrigerant R-134a (tetrafluoroethane), which are used in transonic aerodynamic testing in a wind tunnel at Langley Research Center. Given the total temperature, total pressure, static pressure, and mole fraction of R-134a in a mixture, MACHRK calculates the Mach number and the following associated flow properties: dynamic pressure, velocity, density, static temperature, speed of sound, viscosity, ratio of specific heats, Reynolds number, and Prandtl number. Real-gas effects are taken into account by treating the gases comprising the mixture as both thermally and calorically imperfect. The Redlich-Kwong equation of state for mixtures and the constant-pressure ideal heat-capacity equation for the mixture are used in combination with the departure- function approach of thermodynamics to obtain the equations for computing the flow properties. In addition to the aforementioned calculations for air/R-134a mixtures, a research version of MACHRK can perform the corresponding calculations for mixtures of air and R-12 (dichlorodifluoromethane) and for air/SF6 mixtures. [R-12 was replaced by R-134a because of environmental concerns. SF6 has been considered for use in increasing the Reynolds-number range.]

Kvaternik, Ray↗