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Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Glass, Brian

Volatiles Loss from Water Bearing Regolith Simulant at Lunar Environments

In-Situ Resource Utilization (ISRU) enables future planetary exploration by using local resources to acquire mission consumables. Water-bearing regolith has been identified on the moon in the permanently shadowed craters. Missions designed to retrieve these resources will require testing in relevant environments. The Planetary Surface Simulation Facility (otherwise known as VF-13) at the NASA Glenn Research Center can create these relevant environments for ground based testing. This dirty thermal vacuum chamber is 3.6 m tall, 1.5 m in diameter, and can achieve pressures on the order of 10-6 Torr. The internal wall of the chamber and the soil bin are separately temperature controlled using liquid nitrogen. For the past four years, the chamber has been used by NASA's Resource Prospector to characterize volatiles loss during regolith sampling operations. Observations from 43 samples suggest agitating the sample during delivery has a significant impact on the volatiles loss. Calculated mass loss rates are consistent for similar size samples. However, the variations in moisture loss do not clearly correlate with measured conditions. Continued testing will examine the impacts of the mechanical sample delivery process.

In Situ Resource Utilization

Subsurface Energy Systems Mapping Inquiry Tool (MapIT)

The Subsurface Energy Systems Mapping Inquiry Tool (MapIT) is an online web mapping tool designed to help users discover available public-sourced data to facilitate data exploration for subsurface energy exploration and characterization efforts for resource identification (e.g. critical minerals, hydrocarbons, geothermal) as well as injection of geologic sequestration of carbon dioxide (e.g. enhanced oil recovery, saline storage, etc.). Modules within the tool curate data related to geology, faults, fractures, injection and confining zones, hydrologic information, groundwater, groundwater wells, geomechanical and petrophysical data, and geochemical data. User documentation on how to use the tool is also provided. Data have been collected from authoritative national, state, and local sources and made available in this tool. The data is also available as a data catalog and Esri Geodatabase at: https://edx.netl.doe.gov/dataset/mapit-database Disclaimer: There is no guarantee of completeness or appropriateness for individual user’s requirements. Use of this tool is solely at the discretion of the user. See full Federal Disclaimer for further information (https://netl.doe.gov/home/disclaimer). This project was funded by the United States Department of Energy, National Energy Technology Laboratory, in part, through a site support contract. Neither the United States Government nor any agency thereof, nor any of their employees, nor the support contractor, nor any of their employees, makes any warranty, express or implied, or assumes any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, or represents that its use would not infringe privately owned rights. Reference herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States Government or any agency thereof. The views and opinions of authors expressed herein do not necessarily state or reflect those of the United States Government or any agency thereof. https://www.netl.doe.gov/home/disclaimer

Carbon Sequestration

Report of activities of the advanced coal extraction systems definition project, 1979 - 1980

During this period effort was devoted to: formulation of system performance goals in the areas of production cost, miner safety, miner health, environmental impact, and coal conservation, survey and in depth assessment of promising technology, and characterization of potential resource targets. Primary system performance goals are to achieve a return on incremental investment of 150% of the value required for a low risk capital improvement project and to reduce deaths and disability injuries per million man-hour by 50%. Although these performance goals were developed to be immediately applicable to the Central Appalachian coal resources, they were also designed to be readily adaptable to other coals by appending a geological description of the new resource. The work done on technology assessment was concerned with the performance of the slurry haulage system.

Lavin, M. L.

A Reconnaissance of the 900-1200 A Spectra of Early O Stars in the Magellanic Clouds

Far-UV spectrograms of ten very hot stars in the Magellanic Clouds were obtained with the Hopkins Ultraviolet Telescope during the Astro-2 mission in March 1995. Very few normal OB stars were observed during Astro-1, and the only significant prior sample of such objects in this wavelength range was that obtained by Copernicus of stars near the Sun. The Magellanic Cloud sample offers the advantages of low reddening, a range in metallicity, and more extreme temperatures and luminosities than represented in the near solar neighborhood. Several interesting phenomena were found in the HUT MC sample, including very strong O VI wind profiles in O3 spectra; anomalous CNO wind features corresponding to abundances altered by stellar nucleosynthesis; weak wind features due to the metal deficiency of the Small Magellanic Cloud; and interstellar molecular hydrogen features originating in the MCs. The results were presented and discussed as a small atlas, and they were shown at the Pittsburgh AAS meeting in June 1995. A correlative atlas of Copernicus data was also prepared and published under the auspices of this grant. These publications will serve as resources for the characterization of the FUSE observations of related objects to hopefully be obtained soon. I believe that the large differences among the strong wind features in the HUT data, corresponding to CNO and systemic metallicity effects, are amenable to some relative quantitative analysis, and I shall endeavor to promote such in conjunction with HST data at longer wavelengths for the same stars (which has also not yet been completely analyzed) at a future opportunity.

Walborn, Nolan

Using Grid Benchmarks for Dynamic Scheduling of Grid Applications

Navigation or dynamic scheduling of applications on computational grids can be improved through the use of an application-specific characterization of grid resources. Current grid information systems provide a description of the resources, but do not contain any application-specific information. We define a GridScape as dynamic state of the grid resources. We measure the dynamic performance of these resources using the grid benchmarks. Then we use the GridScape for automatic assignment of the tasks of a grid application to grid resources. The scalability of the system is achieved by limiting the navigation overhead to a few percent of the application resource requirements. Our task submission and assignment protocol guarantees that the navigation system does not cause grid congestion. On a synthetic data mining application we demonstrate that Gridscape-based task assignment reduces the application tunaround time.

Frumkin, Michael

Drilling Automation Tests At A Lunar/Mars Analog Site

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. The limited mass, energy and manpower in planetary drilling situations makes application of terrestrial drilling techniques problematic. The Drilling Automation for Mars Exploration (DAME) project is developing drilling automation and robotics for projected use in missions to the Moon and Mars in the 2011-15 period. This has been tested recently, drilling in permafrost at a lunar/martian analog site (Haughton Crater, Devon Island, Canada).

Glass, B.

The Next Landsat Satellite: The Landsat Data Continuity Mission

The Landsat program is one of the longest running satellite programs for Earth observations from space. The program was initiated by the launch of Landsat 1 in 1972. Since then a series of six more Landsat satellites were launched and at least one of those satellites has been in operations at all times to continuously collect images of the global land surface. The Department of Interior (DOI) U.S. Geological Survey (USGS) preserves data collected by all of the Landsat satellites at their Earth Resources Observation and Science (EROS) Center in Sioux Falls, South Dakota. This 40-year data archive provides an unmatched record of the Earth's land surface that has undergone dramatic changes in recent decades due to the increasing pressure of a growing population and advancing technologies. EROS provides the ability for anyone to search the archive and order digital Landsat images over the internet for free. The Landsat data are a public resource for observing, characterizing, monitoring, trending, and predicting land use change over time providing an invaluable tool for those addressing the profound consequences of those changes to society. The most recent launch of a Landsat satellite occurred in 1999 when Landsat 7 was placed in orbit. While Landsat 7 remains in operation, the National Aeronautics and Space Administration (NASA) and the DOI/ USGS are building its successor satellite system currently called the Landsat Data Continuity Mission (LDCM). NASA has the lead for building and launching the satellite that will carry two Earth-viewing instruments, the Operational Land Imager (OLI) and the Thermal Infrared Sensor (TIRS). The OLI will take images that measure the amount of sunlight reflected by the land surface at nine wavelengths of light with three of those wavelengths beyond the range of human vision. T1RS will collect coincident images that measure light emitted by the land surface as a function of surface temperature at two longer wavelengths well beyond the range of human vision. The DOI/USGS is developing the ground system that will command and control the LDCM satellite in orbit and manage the OLI and TIRS data transmitted by the satellite. DOI/USGS will thus operate the satellite and collect, archive, and distribute the image data as part of the EROS archive. DOI/USGS has committed to renaming LDCM as Landsat 8 following launch. By either name the satellite and its sensors will extend the 40-year archive with images sufficiently consistent with data from earlier Landsat satellites to allow multi-decadal, broad-area studies of our dynamic landscapes. The next Landsat satellite and ground system are on schedule for a January, 2013 launch.

Rons, James R.

Advancing Geothermal Research: Fiscal Year 2025 Accomplishments Report

This is a summary of geothermal work done at the National Renewable Energy Laboratory (NREL) in Fiscal Year 2025. This year brought increased attention to the geothermal industry and NREL's geothermal research portfolio. With more than 70 active projects, NREL research spanned the areas of resource exploration and characterization; conventional and next-generation geothermal technologies; subsurface thermal energy storage; heating and cooling; co-production of geothermal with critical minerals and oil and gas; modeling and analysis leveraging expertise in data science and machine learning; and more.

15 GEOTHERMAL ENERGY

Advancing Geothermal Research: Fiscal Year 2025 Accomplishments Report

This is a summary of geothermal work done at the National Laboratory of the Rockies in Fiscal Year 2025. This year brought increased attention to the geothermal industry and NLR's geothermal research portfolio. With more than 70 active projects, NLR research spanned the areas of resource exploration and characterization; conventional and next-generation geothermal technologies; subsurface thermal energy storage; heating and cooling; co-production of geothermal with critical minerals and oil and gas; modeling and analysis leveraging expertise in data science and machine learning; and more.

15 GEOTHERMAL ENERGY

Artificial-Intelligence Aided Design and Synthesis of Novel Layered 2D Multi-Principal Element Materials for Energy Storage (Final Report)

This DOE-EPSCoR project aimed to predict, synthesize, and characterize novel layered two-dimensional (2D) high-entropy materials (HEMs). These 2D-HEMs, composed of multiple principal elements in nearly equal concentrations, are distinct from traditional 2D materials (typically containing two or three elements) and conventional alloys (dominated by a single primary element with minor secondary additions). Their unique structural and compositional features enable significant lattice strain accommodation, resulting in enhanced electrode performance and potential applications in catalysis, hydrogen storage, sensing, quantum information technologies, and flexible electronics. The research focused on addressing four fundamental questions: (i) What combinations of elements can form stable and synthesizable 2D-HEMs? (ii) What mechanisms drive the stability and synthesizability of crystalline single-phase 2D-HEMs? (iii) How do local chemical disorder and defects influence the macroscopic electronic and mechanical properties? and (iv) What charge storage mechanisms are active in selectively synthesized 2D-HEMs for battery and supercapacitor electrode applications? To achieve these goals, the project employed an integrated theory-experiment approach, incorporating high-throughput first-principles calculations, theoretical modeling, data mining, experimental synthesis, and advanced characterization techniques. The advanced computing resources and state-of-the-art experimental characterization facilities at Oak Ridge National Laboratory (ORNL) were leveraged through collaboration. Beyond scientific advancements, the project contributed to workforce development. Two postdoctoral researchers and three graduate students at the University of Maine were trained through co-advising by ORNL scientists and collaborative interactions, strengthening their expertise in cutting-edge materials science.

36 MATERIALS SCIENCE

NASA Space Engineering Research Center for utilization of local planetary resources

The University of Arizona and NASA have joined to form the UA/NASA Space Engineering Research Center. The purpose of the Center is to discover, characterize, extract, process, and fabricate useful products from the extraterrestrial resources available in the inner solar system (the moon, Mars, and nearby asteroids). Individual progress reports covering the center's research projects are presented and emphasis is placed on the following topics: propellant production, oxygen production, ilmenite, lunar resources, asteroid resources, Mars resources, space-based materials processing, extraterrestrial construction materials processing, resource discovery and characterization, mission planning, and resource utilization.

Ramohalli, Kumar

Collectives for Multiple Resource Job Scheduling Across Heterogeneous Servers

Efficient management of large-scale, distributed data storage and processing systems is a major challenge for many computational applications. Many of these systems are characterized by multi-resource tasks processed across a heterogeneous network. Conventional approaches, such as load balancing, work well for centralized, single resource problems, but breakdown in the more general case. In addition, most approaches are often based on heuristics which do not directly attempt to optimize the world utility. In this paper, we propose an agent based control system using the theory of collectives. We configure the servers of our network with agents who make local job scheduling decisions. These decisions are based on local goals which are constructed to be aligned with the objective of optimizing the overall efficiency of the system. We demonstrate that multi-agent systems in which all the agents attempt to optimize the same global utility function (team game) only marginally outperform conventional load balancing. On the other hand, agents configured using collectives outperform both team games and load balancing (by up to four times for the latter), despite their distributed nature and their limited access to information.

Tumer, K.

Electrocatalytic benchmarking of ruthenium-based bimetallic anodes for the electrocatalytic oxidation of biomass-derived wastewater

In this paper, we report on the synthesis, characterization, and use of ruthenium oxide (RuO 2 ) doped with a secondary metal (M2) to enhance electrochemical activity and stability for the electrocatalytic oxidation (ECO) of biomass-derived wastewaters. We used different electrochemical methods such as cyclic voltammetry (CV), electrochemical surface area (ECSA), and Tafel analysis as well as physical characterization such as grazing incidence X-ray diffraction, X-ray photoelectron spectroscopy, and scanning electron microscopy to understand how the introduction of M2 affects electrochemical performance. Our results show that including an M2 improves the ECO performance regardless of the composition of the electrolyte. Specifically, we saw increase in ECSA, which could be due to enhanced charge transfer for the pH ranges evaluated. Furthermore, the introduction of organic compounds in wastewater generated during the hydrothermal liquefaction of food waste affected the ECO performance differently, depending on M2, the electrolyte composition, and anodic half-cell potential, highlighting the need to properly control the reaction conditions when testing and characterizing the electrocatalysts under different reaction regimes. We developed an in situ electrocatalytic benchmarking protocol, Boruah – Lopez-Ruiz – Strange (BLoRS), to quickly assess if the presence of M2 improves the ECO performance; thus, saving time and resources in ex situ characterization, testing, and product analysis. This foundational work provides the basis for characterization and benchmarking of electrodes of the ECO of organic compounds.

Electrocatalysis

Chapter 13: Errors and Uncertainties Associated with Quasi-Global Satellite Precipitation Products

Measuring precipitation on a global scale is only possible from satellite platforms. Satellite precipitation estimates are based on geosynchronous infrared sensors on geostationary satellites, characterized by high sampling frequency, and polar-orbiting microwave sensors on low-Earth-orbiting satellites with less-frequent sampling. Assessing satellite product performance is fundamental to infer the reliability of such estimates and effectively use them in water resources management, extreme event characterization, disease control, or weather forecasting. Nevertheless, errors and uncertainties associated with satellite precipitation products are often masked due to temporal and spatial sampling, as well as bias-corrections against a reference dataset. Moreover, the verification of satellite precipitation products is easier over land areas, where rain gauges and ground radars are available as benchmark, but extremely limited over the oceans. Substantial work still remains to better quantify relative and absolute errors and uncertainties within satellite-based precipitation products over land and oceans.

Viviana Maggioni

John F. Kennedy Space Center's Technology Development and Application 2006-2007 Report

Topics covered include: Reversible Chemochromic Hydrogen Detectors; Determining Trajectory of Triboelectrically Charged Particles, Using Discrete Element Modeling; Using Indium Tin Oxide To Mitigate Dust on Viewing Ports; High-Performance Polyimide Powder Coatings; Controlled-Release Microcapsules for Smart Coatings for Corrosion Applications; Aerocoat 7 Replacement Coatings; Photocatalytic Coatings for Exploration and Spaceport Design; New Materials for the Repair of Polyimide Electrical Wire Insulation; Commodity-Free Calibration; Novel Ice Mitigation Methods; Crack Offset Measurement With the Projected Laser Target Device; New Materials for Structural Composites and Protective Coatings; Fire Chemistry Testing of Spray-On Foam Insulation (SOFI); Using Aerogel-Based Insulation Material To Prevent Foam Loss on the Liquid-Hydrogen Intertank; Particle Ejection and Levitation Technology (PELT); Electrostatic Characterization of Lunar Dust; Numerical Analysis of Rocket Exhaust Cratering; RESOLVE Projects: Lunar Water Resource Demonstration and Regolith Volatile Characterization; Tribocharging Lunar Soil for Electrostatic Beneficiation; Numerically Modeling the Erosion of Lunar Soil by Rocket Exhaust Plumes; Trajectory Model of Lunar Dust Particles; Using Lunar Module Shadows To Scale the Effects of Rocket Exhaust Plumes; Predicting the Acoustic Environment Induced by the Launch of the Ares I Vehicle; Measuring Ultrasonic Acoustic Velocity in a Thin Sheet of Graphite Epoxy Composite; Hail Size Distribution Mapping; Launch Pad 39 Hail Monitor Array System; Autonomous Flight Safety System - Phase III; The Photogrammetry Cube; Bird Vision System; Automating Range Surveillance Through Radio Interferometry and Field Strength Mapping Techniques; Next-Generation Telemetry Workstation; GPS Metric Tracking Unit; and Space-Based Range.

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