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All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Monitoring by Use of Clusters of Sensor-Data Vectors

The inductive monitoring system (IMS) is a system of computer hardware and software for automated monitoring of the performance, operational condition, physical integrity, and other aspects of the health of a complex engineering system (e.g., an industrial process line or a spacecraft). The input to the IMS consists of streams of digitized readings from sensors in the monitored system. The IMS determines the type and amount of any deviation of the monitored system from a nominal or normal ( healthy ) condition on the basis of a comparison between (1) vectors constructed from the incoming sensor data and (2) corresponding vectors in a database of nominal or normal behavior. The term inductive reflects the use of a process reminiscent of traditional mathematical induction to learn about normal operation and build the nominal-condition database. The IMS offers two major advantages over prior computational monitoring systems: The computational burden of the IMS is significantly smaller, and there is no need for abnormal-condition sensor data for training the IMS to recognize abnormal conditions. The figure schematically depicts the relationships among the computational processes effected by the IMS. Training sensor data are gathered during normal operation of the monitored system, detailed computational simulation of operation of the monitored system, or both. The training data are formed into vectors that are used to generate the database. The vectors in the database are clustered into regions that represent normal or nominal operation. Once the database has been generated, the IMS compares the vectors of incoming sensor data with vectors representative of the clusters. The monitored system is deemed to be operating normally or abnormally, depending on whether the vector of incoming sensor data is or is not, respectively, sufficiently close to one of the clusters. For this purpose, a distance between two vectors is calculated by a suitable metric (e.g., Euclidean distance) and "sufficiently close" signifies lying at a distance less than a specified threshold value. It must be emphasized that although the IMS is intended to detect off-nominal or abnormal performance or health, it is not necessarily capable of performing a thorough or detailed diagnosis. Limited diagnostic information may be available under some circumstances. For example, the distance of a vector of incoming sensor data from the nearest cluster could serve as an indication of the severity of a malfunction. The identity of the nearest cluster may be a clue as to the identity of the malfunctioning component or subsystem. It is possible to decrease the IMS computation time by use of a combination of cluster-indexing and -retrieval methods. For example, in one method, the distances between each cluster and two or more reference vectors can be used for the purpose of indexing and retrieval. The clusters are sorted into a list according to these distance values, typically in ascending order of distance. When a set of input data arrives and is to be tested, the data are first arranged as an ordered set (that is, a vector). The distances from the input vector to the reference points are computed. The search of clusters from the list can then be limited to those clusters lying within a certain distance range from the input vector; the computation time is reduced by not searching the clusters at a greater distance.

Iverson, David L.↗
NASA NTRSDate not supplied

Autonomous Ocean World Exploration: Advancement of a Virtual Testbed

The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].

K Michael Dalal↗
NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗
NASA NTRS2023

State-of-the-Art: Small Spacecraft Technology

When the first edition of NASA’s Small Spacecraft Technology State-of-the-art report was published in 2013, 247 CubeSats and 105 other non-CubeSat small spacecraft under 50 kilograms (kg) had been launched worldwide, representing less than 2% of launched mass into orbit over multiple years. In 2013 alone, around 60% of the total spacecraft launched had a mass under 600 kg, and of those under 600 kg, 83% were under 200 kg and 37% were nanosatellites (1). Of the total 1,849 spacecraft launched in 2021, 94% were small spacecraft with an overall mass under 600 kg, and of those under 600 kg, 40% were under 200 kg, and 11% were nanosatellites (1). Since 2013, the fight heritage for small spacecraft has increased by over 30% and has become the primary source to space access for commercial, government, private, and academic institutions. The total number of spacecraft launched in the past 10 years is 5,681 and 45% of those had a mass. As with all previous editions of this report, the 2022 edition captures and distills a wealth of new information available on small spacecraft systems from NASA and other publicly available sources. This report is limited to publicly available information and cannot reflect major advances in development that are not publicly disclosed. We encourage any opportunity to publish mission outcomes and technology development milestones (e.g., via conference papers, press releases, company website) so they can be reflected in this report. Overall, this report is a survey of small spacecraft technologies sourced from open literature; it does not endeavor to be an original source, and only considers literature in the public domain to identify and classify devices. Commonly used sources for data include manufacturer datasheets, press releases, conference papers, journal papers, public filings with government agencies, news articles, presentations, the compendium of databases accessed via NASA’s Small Spacecraft Systems Virtual Institute (S3VI) Information Search, and engagement with companies. Data not appropriate for public dissemination, such as proprietary, export controlled, or otherwise restricted data, are not considered. As a result, this report includes many dedicated hours of desk research performed by subject matter experts reviewing resources noted above. Content in this 2022 edition is based on data available by October 2022. This report should not be considered as a comprehensive overview of all the technologies but a great reference for the current state-of-the-art SmallSat technologies. The organizational approach for each chapter is relatively consistent with previous editions and includes an introduction of the technology, current development status of the technology’s procurable systems, and summary tables of technologies surveyed. The content in each chapter is uniquely organized to present a mini-stand-alone report on spacecraft subsystems. As in previous years, chapters include information from previous editions but are updated with new and maturating technologies and reference missions. Tables in each section provide a convenient summary of the technologies discussed, with explanations and references in the body text. The authors have attempted to isolate trends in the small spacecraft industry to point out which technologies have been adopted after successful demonstration missions. Lastly, the authors tried to use the terms “SmallSat,” “microsatellite,” “nanosatellite,” and “CubeSat” in a consistent manner, even as these terms are often used interchangeably in the space industry. Every subsystem chapter contains updated information to reflect the growth in the small spacecraft market. Significant changes are included in several chapters. The “Complete Spacecraft Platforms” chapter now includes information on the two main market options, hosted payload services and dedicated buses. The “Power” chapter provides information on the development of solid-state batteries with significantly higher energy than the current state-of-theart lithium-ion batteries. A large effort was made to update the “Communications” chapter to appropriately capture the recent technology maturation of optical communications for SmallSats. The “Ground Data Systems and Mission Operations” chapter was updated to reflect the recent establishment of the Near Space Network and influx of SmallSat Optical Ground Stations. The “Guidance, Navigation and Control” chapter was updated to include Lidar sensor technology. The “Deorbit Systems” chapter includes a discussion of recently proposed changes by the Federal Communications Commission (FCC) to limit a spacecraft’s lifetime to no longer than 5 years after end-of-mission. The “Identification and Tracking” Chapter includes updated information on the progress of SmallSat tracking. Finally, this report now encompasses technology funded by NASA’s Small Spacecraft Technology (SST) program’s SmallSat Technology Partnerships (STP) initiative which is described further in this Introduction. The reader can find the included SST technology in the “On the Horizon” section of the “Thermal Systems”, “Communications”, and “Guidance, Navigation, and Control” chapters. A central element of this report is to list state-of-the-art technologies by NASA standard Technology Readiness Level (TRL) as defined by the 2020 NASA Engineering Handbook, found in NASA NPR 7123.1C NASA Systems Engineering Processes and Requirements. The authors have endeavored to independently verify the TRL value of each technology by reviewing and citing published test results or publicly available data to the best of their ability. Where test results and data disagree with vendors’ own advertised TRL, the authors have attempted to engage the vendors to discuss the discrepancy. Readers are strongly encouraged to follow the references cited in the literature describing the full performance range and capabilities of each technology. Readers of this report should reach out to individual companies to further clarify information. It is important to note that this report takes a broad system-level view. To attain a high TRL, the subsystem must be in a flight-ready configuration with all supporting infrastructure—such as mounting points, power conversion, and control algorithms—in an integrated unit. An accurate TRL assessment requires a high degree of technical knowledge on a subject device, and an in-depth understanding of the mission (including interfaces and environment) on which the device was flown. There is variability in TRL values depending on design factors for a specific technology. For example, differences in TRL assessment based on the operating environment may result from the thermal environment, mechanical loads, mission duration, or radiation exposure. If a technology has flown on a mission without success, or without providing valid confirmation to the operator, such claimed “flight heritage” was discounted. The authors believe TRLs are most accurately determined when assessed within the context of a program’s unique requirements. While the overall capability of small spacecraft has matured since the 2021 edition of this report, technologies are still being developed to make deep space SmallSat missions more routine and more cost effective. Future editions of this report may include content dedicated to the rapidly growing fields of assembly, integration, and testing services, and mission modeling and simulation–all of which are now extensively represented at small spacecraft conferences. Many of these subsystems and services are still in their infancy, but as they evolve and reliable conventions and standards emerge, the next iteration of this report may also evolve to include additional chapters.

Bruce Yost↗
DOE OSTI2020

Design and pre-flight performance of SPIDER 280 GHz receivers

In this work we describe upgrades to the Spider balloon-borne telescope in preparation for its second flight, currently planned for December 2021. The Spider instrument is optimized to search for a primordial B-mode polarization signature in the cosmic microwave background at degree angular scales. During its first flight in 2015, Spider mapped ~10% of the sky at 95 and 150 GHz. The payload for the second Antarctic flight will incorporate three new 280 GHz receivers alongside three refurbished 95- and 150 GHz receivers from Spider's first flight. In this work we discuss the design and characterization of these new receivers, which employ over 1500 feedhorn-coupled transition-edge sensors. We describe pre-flight laboratory measurements of detector properties, and the optical performance of completed receivers. These receivers will map a wide area of the sky at 280 GHz, providing new information on polarized Galactic dust emission that will help to separate it from the cosmological signal.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2026

The anaerobic fungus Caecomyces churrovis produces H 2 via a non-bifurcating NADH-dependent enzyme complex

ABSTRACT Hydrogenosomes are mitochondria-derived organelles that produce ATP and H 2 to support energy metabolism in anaerobic eukaryotes. H 2 production allows reoxidation of reduced cofactors generated during fermentative metabolism; however, the metabolic mechanisms for H 2 production in anaerobic eukaryotes remains incompletely understood. In particular, it remains unclear whether anaerobic fungi (AF) hydrogenosomes use a ferredoxin-dependent pathway or a distinct mechanism to regenerate NAD(P) + and link electron transfer to H 2 formation. Here, by combining genomic search, proteomic analysis, and enzymology, we reveal the molecular mechanism for H 2 production in the AF strain Caecomyces churrovis . Our enzyme assays on the organelle fraction of C. churrovis revealed the activity of H 2 :NAD + oxidoreductase but not pyruvate:ferredoxin oxidoreductase, which is usually linked to H 2 formation. We identified genes encoding [FeFe] hydrogenase (Hyd) and NADH dehydrogenase subunits E and F (NuoE, NuoF) in C. churrovis , and confirmed their expression in the isolated hydrogenosomal fractions by proteomic analysis. Combining the individually purified enzymes, we found Hyd and NuoEF proteins formed H 2 directly from NADH independently of ferredoxin, functioning as a non-bifurcating NADH-dependent enzyme rather than an electron-bifurcating enzyme. We identified homologs of hydrogenosomal NuoE, NuoF, and Hyd in many other AF, indicating this pathway is commonly shared among the AF. This work demonstrates the existence of a non-bifurcating NADH-dependent enzyme complex in eukaryotes. Moreover, this complex could potentially be exploited as a target for controlling AF H 2 production and altering fungal metabolism. IMPORTANCE H 2 production is a prominent feature of anaerobic energy metabolism, yet our understanding of eukaryotic mechanisms remains limited. Anaerobic fungi (AF) are key decomposers of lignocellulose and contribute to hydrogen flux in anaerobic environments. Although it has been more than 40 years since the H 2 production from AF was first reported, the molecular mechanism for hydrogenosomal H 2 production and redox balance remains unclear. We demonstrate that AF produce H 2 from NADH utilizing a non-bifurcating NADH-dependent enzyme complex rather than an electron-bifurcating, ferredoxin-dependent variant. We show that this enzyme complex is conserved across multiple AF lineages and thus demonstrate the occurrence of a non-bifurcating NADH-dependent enzyme in eukaryotes. This discovery expands our understanding of eukaryotic hydrogenosomal metabolism, reveals a previously unknown strategy for redox balancing, and highlights potential targets for manipulating H 2 production. These insights have broad implications for microbial energy metabolism, anaerobic ecosystems, and bioengineering of H 2 -producing systems.

Zhang, Bo [Department of Chemical Engineering, Uni↗
DOE OSTI2025

Spontaneous generation of athermal phonon bursts within bulk silicon causing excess noise, low energy background events, and quasiparticle poisoning in superconducting sensors

Solid state phonon detectors used in the search for dark matter and coherent neutrino nucleus interactions (CE $v$ NS) require excellent energy resolution (eV-scale or below) and low backgrounds. An unknown source of phonon bursts, the low energy excess (LEE), dominates other above-threshold backgrounds and generates excess shot noise from subthreshold bursts. Here, in this paper, we measure these phonon bursts for 12 days after cooldown in two nearly identical 1 cm 2 silicon detectors that differ only in the thickness of their substrate (1 vs 4 mm thick). We find that both the channel-correlated shot noise and near-threshold shared LEE relax with time since cooldown. Additionally, both the correlated shot noise and LEE rates scale linearly with substrate thickness. When combined with previous measurements of other silicon phonon detectors with different substrate geometries and mechanical support strategies, these measurements strongly suggest that the dominant source of both above and below threshold LEE is the bulk substrate. By monitoring the relation between bias power and excess phonon shot noise, we estimate that the energy scale for subthreshold noise events is 0.68 ± 0.38 meV. In our final dataset, we report a world-leading energy resolution of 258.5 ± 0.4 meV in the 1 mm thick detector. Simple calculations suggest that these silicon substrate phonon bursts are likely a significant source of quasiparticle poisoning in superconducting qubits operated in well shielded and vibration free environments.

Chang, C. L. [Argonne National Laboratory 1 , 9700↗
DOE OSTI2023

Patterns, drivers, and a predictive model of dam removal cost in the United States

Given the burgeoning dam removal movement and the large number of dams approaching obsolescence in the United States, cost estimating data and tools are needed for dam removal prioritization, planning, and execution. We used the list of removed dams compiled by American Rivers to search for publicly available reported costs for dam removal projects. Total cost information could include component costs related to project planning, dam deconstruction, monitoring, and several categories of mitigation activities. We compiled reported costs from 455 unique sources for 668 dams removed in the United States from 1965 to 2020. The dam removals occurred within 571 unique projects involving 1–18 dams. When adjusted for inflation into 2020 USD, cost of these projects totaled $\$1.522$ billion, with per-dam costs ranging from $\$1$ thousand (k) to $\$268.8$ million (M). The median cost for dam removals was $\$157$k, $\$823$k, and $\$6.2$M for dams that were< 5 m, between 5–10 m, and > 10 m in height, respectively. Geographic differences in total costs showed that northern states in general, and the Pacific Northwest in particular, spent the most on dam removal. The Midwest and the Northeast spent proportionally more on removal of dams less than 5 m in height, whereas the Northwest and Southwest spent the most on larger dam removals > 10 m tall. We used stochastic gradient boosting with quantile regression to model dam removal cost against potential predictor variables including dam characteristics (dam height and material), hydrography (average annual discharge and drainage area), project complexity (inferred from construction and sediment management, mitigation, and post-removal cost drivers), and geographic region. Dam height, annual average discharge at the dam site, and project complexity were the predominant drivers of removal cost. The final model had an R 2 of 57% and when applied to a test dataset model predictions had a root mean squared error of $\$5.09$M and a mean absolute error of $\$1.45$M, indicating its potential utility to predict estimated costs of dam removal. We developed a R shiny application for estimating dam removal costs using customized model inputs for exploratory analyses and potential dam removal planning.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2020

Design improvements to cables and connectors in the Majorana Demonstrator

The Majorana Demonstrator is an experiment constructed to search for neutrinoless double-beta decays in germanium-76 and to demonstrate the feasibility to deploy a ton-scale experiment in a phased and modular fashion. It consists of two modular arrays of natural and 76 Ge-enriched germanium p-type point contact detectors totaling 44.1 kg, located at the 4850 level of the Sanford Underground Research Facility in Lead, South Dakota, USA. The Demonstrator uses custom high voltage cables to bias the detectors, as well as custom signal cables and connectors to read out the charge deposited at the point contact of each detector. These low-mass cables and connectors must meet stringent radio purity requirements while being subjected to thermal and mechanical stress. A number of issues have been identified with the currently installed cables and connectors. An improved set of cables and connectors for the Majorana Demonstrator are being developed with the aim of increasing their overall reliability and connectivity. In conclusion, we will discuss some of the issues encountered with the current cables and connectors as well as our improved designs and their initial performance.

42 ENGINEERING↗
DOE OSTI2025

Search for events with one displaced vertex from long-lived neutral particles decaying into hadronic jets in the ATLAS muon spectrometer in 𝑝⁢𝑝 collisions at $\sqrt{𝑠}$ = 13 TeV

A search for events with one displaced vertex from long-lived particles using data collected by the ATLAS detector at the Large Hadron Collider is presented, using 140 fb −1 of proton-proton collision data at $\sqrt{𝑠}$ =13 TeV recorded in 2015–2018. The search employs techniques for reconstructing vertices of long-lived particles decaying into hadronic jets in the muon spectrometer displaced between 3 m and 14 m from the primary interaction vertex. The observed number of events is consistent with the expected background and limits for several benchmark signals are determined. A scalar-portal model and a Higgs-boson-portal baryogenesis model are considered. A dedicated analysis channel is employed to target Z-boson associated long-lived particle production, including an axionlike particle and a dark photon model. For the Higgs boson model, branching fractions above 1% are excluded at 95% confidence level for long-lived particle proper decay lengths ranging from 5 cm to 40 m. For the photophobic axionlike particle model considered, this search produces the strongest limits to date for proper decay lengths greater than 𝒪⁡(10) cm.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Search for Quasiparticle Scattering in the Quark-Gluon Plasma with Jet Splittings in 𝑝⁢𝑝 and Pb-Pb Collisions at $\sqrt{s_{NN}}$ = 5.02 TeV

The ALICE Collaboration reports measurements of the large relative transverse momentum (𝑘 𝑇 ) component of jet substructure in 𝑝⁢𝑝 and Pb-Pb collisions at center-of-mass energy per nucleon pair $\sqrt{s_{NN}}$ = 5.02 TeV. Enhancement in the yield of such large-𝑘 T emissions in head-on Pb-Pb collisions is predicted to arise from partonic scattering with quasiparticles of the quark-gluon plasma. The analysis utilizes charged-particle jets reconstructed by the anti-𝑘 T algorithm with resolution parameter 𝑅 = 0.2 in the transverse-momentum interval 60 < 𝑝 T,ch,jet < 80 GeV/𝑐. The soft drop and dynamical grooming algorithms are used to identify high transverse momentum splittings in the jet shower. Comparison of measurements in Pb-Pb and 𝑝⁢𝑝 collisions shows medium-induced narrowing, corresponding to yield suppression of high-𝑘 𝑇 splittings, in contrast to the expectation of yield enhancement due to quasiparticle scattering. The measurements are compared to theoretical model calculations incorporating jet modification due to jet-medium interactions (“jet quenching”), both with and without quasiparticle scattering effects. These measurements provide new insight into the underlying mechanisms and theoretical modeling of jet quenching.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

Search for diphoton resonances in the 66 to 110 GeV mass range using pp collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

A search is performed for light, spin-0 bosons decaying into two photons in the 66 to 110 GeV mass range, using 140 fb −1 of proton-proton collisions at $\sqrt{s}$ = 13 TeV produced by the Large Hadron Collider and collected by the ATLAS detector. Multivariate analysis techniques are used to define event categories that improve the sensitivity to new resonances beyond the Standard Model. A model-independent search for a generic spin-0 particle and a model-dependent search for an additional low-mass Higgs boson are performed in the diphoton invariant mass spectrum. No significant excess is observed in either search. Mass-dependent upper limits at the 95% confidence level are set in the model-independent scenario on the fiducial cross-section times branching ratio into two photons in the range of 8 fb to 53 fb. Similarly, in the model-dependent scenario upper limits are set on the total cross-section times branching ratio into two photons as a function of the Higgs boson mass in the range of 19 fb to 102 fb.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

Gold Nanoparticles AuNP Decorated on Fused Graphene-like Materials for Application in a Hydrogen Generation

The search for a sustainable, alternative fuel source to replace fossil fuels has led to an increased interest in hydrogen fuel. This combustible gas is not only clean-burning but can readily be produced via the hydrolysis of sodium borohydride. The main drawback of this reaction is that the reaction occurs relatively slowly and requires a catalyst to improve efficiency. This study explored a novel composite material made by combining gold nanoparticles and fused graphene-like materials (AuFGLM) as a catalyst for generating hydrogen via sodium borohydride. The novel fused graphene-like material (FGLM) was made with a sustainable dextrose solution and by using a pressure-processing method. Imaging techniques showed that FGLM appears to be an effective support template for nanoparticles. Transmission electron microscopy (TEM), scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDS), Fourier-transform infrared spectroscopy (FTIR), X-ray diffraction (XRD) and Raman spectroscopy were used to characterize and determine the size, shape, and structure of nanoparticles and composites. The TEM study characterized the fused carbon backbone as it began to take on a rounder shape. The TEM images also revealed that the average diameter of the gold nanoparticle was roughly 23 nm. The FTIR study confirmed O-H, C-C, and C=O as functional groups in the materials. The EDS analysis showed that the composite contained approximately 6.3% gold by weight. The crystal structures of FGLM and AuFGLM were identified via P-XRD analysis. Various reaction conditions were used to test the catalytic ability of AuFGLM, including various solution pHs, temperatures, and doses of NaBH 4 . It was observed that optimal reaction conditions included high temperature, an acidic solution pH, and a higher dose of NaBH 4 . The activation energy of the reaction was determined to be 45.5 kJ mol -1 , and it was found that the catalyst could be used multiple times in a row with an increased volume of hydrogen produced in ensuing trials. The activation energy of this novel catalyst is competitive compared to similar catalysts and its ability to produce hydrogen over multiple uses makes the material an exciting choice for catalyzing the hydrolysis of NaBH 4 for use as a hydrogen fuel source.

08 HYDROGEN↗
DOE OSTI2025

Search for boosted low-mass resonances decaying into hadrons produced in association with a photon in pp collisions at $ \sqrt{s}$ = 13 TeV with the ATLAS detector

Many extensions of the Standard Model, including those with dark matter particles, propose new mediator particles that decay into hadrons. This paper presents a search for such low mass narrow resonances decaying into hadrons using 140 fb −1 of proton-proton collision data recorded with the ATLAS detector at a centre-of-mass energy of 13 TeV. The resonances are searched for in the invariant mass spectrum of large-radius jets with two-pronged substructure that are recoiling against an energetic photon from initial state radiation, which is used as a trigger to circumvent limitations on the maximum data recording rate. This technique enables the search for boosted hadronically decaying resonances in the mass range 20–100 GeV hitherto unprobed by the ATLAS Collaboration. The observed data are found to agree with Standard Model predictions and 95% confidence level upper limits are set on the coupling of a hypothetical new spin-1 Z′ resonance with Standard Model quarks as a function of the assumed Z′-boson mass in the range between 20 and 200 GeV.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Search for long-lived charged particles using large specific ionisation loss and time of flight in 140 fb −1 of pp collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

This paper presents a search for massive, charged, long-lived particles with the ATLAS detector at the Large Hadron Collider using an integrated luminosity of 140 fb −1 of proton-proton collisions at $\sqrt{s}$ = 13 TeV. These particles are expected to move significantly slower than the speed of light. In this paper, two signal regions provide complementary sensitivity. In one region, events are selected with at least one charged-particle track with high transverse momentum, large specific ionisation measured in the pixel detector, and time of flight to the hadronic calorimeter inconsistent with the speed of light. In the other region, events are selected with at least two tracks of opposite charge which both have a high transverse momentum and an anomalously large specific ionisation. The search is sensitive to particles with lifetimes greater than about 3 ns with masses ranging from 200 GeV to 3 TeV. The results are interpreted to set constraints on the supersymmetric pair production of long-lived R-hadrons, charginos and staus, with mass limits extending beyond those from previous searches in broad ranges of lifetime.

beyond Standard Model↗
DOE OSTI2025

Search for cascade decays of charged sleptons and sneutrinos in final states with three leptons and missing transverse momentum in 𝑝⁢𝑝 collisions at $\sqrt{𝑠} = 13$ TeV with the ATLAS detector

A search for cascade decays of charged sleptons and sneutrinos using final states characterized by three leptons (electrons or muons) and missing transverse momentum is presented. The analysis is based on a dataset with 140 fb −1 of proton-proton (pp) collisions at a center-of-mass energy of $\sqrt{𝑠} = 13$ TeV recorded by the ATLAS detector at the Large Hadron Collider. This paper focuses on a supersymmetric scenario that is motivated by the muon anomalous magnetic moment observation, dark-mattter relic density abundance, and electroweak naturalness. A mass spectrum involving light Higgsinos and heavier sleptons with a bino at intermediate mass is targeted. No significant deviation from the Standard Model expectation is observed. This search enables us to place stringent constraints on this model, excluding at the 95% confidence level charged slepton and sneutrino masses up to 450 GeV when assuming a lightest neutralino mass of 100 GeV and mass-degenerate selectrons, smuons and sneutrinos.

extensions of Higgs sector↗
DOE OSTI2025

Search for triple Higgs boson production in the 6⁢𝑏 final state using 𝑝⁢𝑝 collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

A search for the production of three Higgs bosons (𝐻⁡𝐻⁡𝐻) in the $b\bar{b}b\bar{b}b\bar{b}$ final state is presented. The search uses 126 fb −1 of proton-proton collision data at $\sqrt{s}$ =13 TeV collected with the ATLAS detector at the Large Hadron Collider. The analysis targets both nonresonant and resonant production of 𝐻⁡𝐻⁡𝐻. The resonant interpretations primarily consider a cascade decay topology of 𝑋 →𝑆⁢𝐻 → 𝐻⁡𝐻⁡𝐻 with masses of the new scalars 𝑋 and 𝑆 up to 1.5 and 1 TeV, respectively. In addition to scenarios where 𝑆 is off-shell, the nonresonant interpretation includes a search for Standard Model 𝐻⁡𝐻⁡𝐻 production, with limits on the trilinear and quartic Higgs self-coupling set. No evidence for 𝐻⁡𝐻⁡𝐻 production is observed. An upper limit of 59 fb is set, at the 95% confidence level, on the cross section for Standard Model 𝐻⁡𝐻⁡𝐻 production.

Artificial neural networks↗
NASA NTRSDate not supplied

EVA Swab Kit: Tools and Techniques for Collecting Aseptic Samples from Crewed Space Missions

Introduction: When we send humans to search for life on other planets, we'll need to know what we brought with us versus what may already be there. To ensure our crewed spacecraft meet planetary protection requirements—and to protect our science from human contamination—we'll need to assess and verify whether micro-organisms may be leaking/venting from our spacesuits. This requires collecting samples under Extravehicular Activity (EVA) conditions. Detailed, systematic research on forward contamination from robotic spacecraft has been steadily progressing since the Viking missions, but systematic studies of contamination from space suits has not been conducted in many years. The modern EMU (Extravehicular Mobility Unit) suit used by NASA is designed to leak at rates as high as 100 cc/min. Before humans land on Mars there is a critical need to understand the types and quantities of microbes that could be introduced via space suits. The Human Forward Contamination Assessment team at NASA’s Johnson Space Center (JSC) has developed a prototype EVA swab tool [1,2,3,4] designed for use in space to sample cleaned and uncleaned space suits to determine the present day microbial load and eventually the rate of leakage. The ability to assess microbial leakage early in advanced space suit and life support system design cycles will help avoid costly hardware redesign later. Test Objectives: The primary objective of EMU testing was to characterize the type of micro-organisms typically found on or near selected suit pressure joints under suit differential pressure conditions. Most human-borne microbes can fit through a 0.5 to 1.0 µm gap. Knowing which joints are more likely to leak will inform hardware design decisions. Knowing which types of micro-organisms may leak from EVA suits provides a basis for subsequent studies to characterize the viability of those organisms under destination conditions, as well as how far they might spread through natural or human-influenced processes. That data, in turn, will inform exploration mission operations and hardware design. The secondary objective of testing was to evaluate the interface between a fully suited test subject and the EVA swab tool at vacuum. Bulky EVA suits can restrict movement and limit visibility through the helmet visor. Fully suited testing is important for identifying tool design issues prior to flight. At exploration destinations, such as Mars, suited crew may be required to periodically sample their suits as part of an environmental monitoring protocol. Suit Microbial Sampling Results: This report details results of microbial swabs collected from current flight suit configurations worn by crew members assigned to upcoming ISS expedition missions as well as swabs collected from prototype suits intended for use on the Orion spacecraft. These tests were intended to characterize the types of contaminants found on flight suits under current, typical handling conditions. No attempt was made to change suit handling procedures, provide additional sterilization, or to limit typical potential contaminant sources. Using culture based techniques, we cultivated 235 CFU (colony forming units) comprised of 26 bacterial species and one fungal species on the outside of the suits. The fungal species and 14 of the bacterial species were unique to the suit surfaces and were not detected in any of the background samples collected within the chambers. We sequenced 755,434 ribosomal fragments on all of the suit surfaces from swab samples. 557,016 of these sequences represent DNA that survived at least 4 hours at vacuum. These sequences formed 2,464 OTU's (Operational Taxonomic Units, 97% similarity) showing low diversity in the samples. The most abundant sequences that survived vacuum belong to the genera Staphyloccocus, Ralstona, Bacillus and Rhodobacter all of which are common to the human microbiome. [5] See Danko et al., (2021) for more complete details of these first analyses. Further analysis of EVA suit materials with respect to the efficacy of various cleaning protocols and engineered containment solutions is planned to inform suit design for NASA’s Artemis Moon to Mars program crew testing. Swab Tool Function Results: The kit was demonstrated for fit and function in suited subject vacuum tests to determine how well the tool worked as an aseptic microbial sampling device as well as to identify any design elements that could be upgraded for EVA task specific improvement. It was found that sample acquisition efficacy could be enhanced by redesign of the sample canister to end-effector interface. Several modifications of the sample caddy assemblies to optimize EVA safety and functionality were also identified. Consequently, fabrication of the redesigned sample canister to end-effector assembly interfaces and and the sample caddy assemblies are required. Fabrication of sixteen flight sample canister assemblies (8 per each of two EVA Swab Kits) and two sample caddy assemblies are in process to be followed by hardware testing and certification to produce two flight-certified EVA Swab Kits for transport to ISS no earlier than summer of 2022. Sampling Strategy: The International Space Station is an ideal testbed for systematic studies of contamination from crewed vehicles since it has been continuously occupied for 20 years and exposed to non-terrestrial conditions. We will sample the exterior of the ISS during EVA using a purpose-built swab tool capable of maintaining sterility while undergoing temperature changes from -151 to +121°C under hard vacuum. Prior to each EVA, the project team will work with ISS mission managers to identify precise sampling locations, which will vary by EVA based on the translation paths and worksites scheduled for that particular EVA. Ideally, translation path handrails and areas near ECLSS (Environmental Control and Life Support System) external vent openings on a spacecraft would be assessed. There are currently more than a dozen ECLSS external vents on the ISS. Some are connected to systems that vent waste products, while others are intended to equalize cabin pressure. As EVA opportunity allows, microbial samples from any of these external vents would provide a valuable data point, though some will be more useful than others. Four criteria have been identified to help prioritize sampling sites near vents: • EVA Accessibility: To minimize cost, it is desired to piggy-back onto a planned EVA. Therefore, the sampling location must be readily accessible by an EVA crew • Type of Vented Products: Vent products that have been in direct contact with crew, such as cabin air, are more likely to contain microorganisms than vent products associated with isolated systems, such as experiment module combustion products. • Mass of Vented Products: Higher-flow vents are more likely to contain detectible levels of microbial contaminants than lower-flow vents. • Local Environment: Sample locations with relatively benign local conditions, such as warm surfaces shielded from direct ultraviolet (UV) radiation exposure, may be more likely to support microbial growth than locations with harsher local environmental conditions. Because EVA accessibility is the most important criteria, the proposal team worked with an astronaut and flight controllers using the Dynamic Onboard Ubiquitous Graphics (DOUG) tool. The DOUG virtual environment allows an operator to “fly” around the current ISS vehicle configuration to assess EVA translation paths, attach points, and keep-out zones. While analysis on station or rapid return to Earth would be preferable, samples collected from the exterior of the ISS have already been exposed to temperature variations between -157 and +121 °C as well as hard vacuum. Therefore, they should be fairly stable and robust. We hypothesize that samples collected from the ISS exterior could be stored for up to 6 months at -80°C without degradation. Sample canisters will be returned to Earth while frozen at -80°C for analysis, and sterilized canisters can be re-flown back to ISS to support additional sampling opportunities Relevance to NASA Exploration Objectives: These data will allow us to identify new or improved methods, technologies, and procedures for spacecraft sterilization and leakage mitigation to minimize the amount of contamination introduced to the environment by human explorers. This work is funded by NASA research grant: NNH18ZDA001N-PPR References: [1] Bell, M.S. et al. (2015) LPS XLVI, Abst. #1832 [2] Rucker et al. (2018) 42nd COSPAR (PPP.3) [3] Bell, M.S. et al. (2019) Mars Extant Life Conference, Abst. #5096.[4] Bell, M.S. et al., (2020) 43rd COSPAR (BO.2).[5] Danko D, et.al.,(2021)Front.Microbiol.12:608478.

Mary Suzanne Bell↗