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At least 1,153 records · Page 64

Terminal Descent Sensor Simulation

Sulcata software simulates the operation of the Mars Science Laboratory (MSL) radar terminal descent sensor (TDS). The program models TDS radar antennas, RF hardware, and digital processing, as well as the physics of scattering from a coherent ground surface. This application is specific to this sensor and is flexible enough to handle end-to-end design validation. Sulcata is a high-fidelity simulation and is used for performance evaluation, anomaly resolution, and design validation. Within the trajectory frame, almost all internal vectors are represented in whatever coordinate system is used to represent platform position. The trajectory frame must be planet-fixed. The platform body frame is specified relative to arbitrary reference points relative to the platform (spacecraft or test vehicle). Its rotation is a function of time from the trajectory coordinate system specified via dynamics input (file for open loop, callback for closed loop). Orientation of the frame relative to the body is arbitrary, but constant over time. The TDS frame must have a constant rotation and translation from the platform body frame specified at run time. The DEM frame has an arbitrary, but time-constant, rotation and translation with respect to the simulation frame specified at run time. It has the same orientation as sigma0 frame, but is possibly translated. Surface sigma0 has the same arbitrary rotation and translation as DEM frame.

Chen, Curtis W.↗

Assessment of CTF for Steady-state and Transient Post-CHF Conditions in Support of Time-at-Temperature Modeling Applications

The US nuclear industry is exploring options to improve operational economics and uprate the current fleet of light-water reactors by investigating transitioning to cladding performance–based safety criteria as opposed to the current limit, which requires complete avoidance of critical heat flux (CHF)/dryout. Past experience has shown that not all events leading to a dryout are severe enough to cause fuel performance degradation. Allowing temporary dryout of the fuel—that is, using a time-at-temperature (TaT) strategy—could allow for economic improvements via large power uprates and enhanced operational flexibility for current plants without compromising fuel integrity. To support this effort, the US Department of Energy is executing a comprehensive program that includes generating cladding material data under TaT conditions, developing new mechanistic models, and demonstrating modeling and simulation capabilities for transients of interest. This paper presents work performed to assess the CTF thermal-hydraulics subchannel code. CTF is a package used in the VERA core simulator, which will ultimately be used for TaT analysis. CTF will provide the thermal-hydraulic boundary conditions that will be needed for fuel performance analysis in the BISON code. Quantifying both the accuracy and uncertainty of post-CHF models will therefore be necessary. This paper outlines the strategy for the assessment of TaT and presents the results of using the steady-state and transient dryout experiments of the Boiling Fine-mesh Bundle Tests for CTF validation. The results show that the current model tends to overpredict steady-state critical power. This behavior translates to the transient tests, in which CTF is unable to capture transient dryout behavior. Some discussion of sensitivity analysis work being performed is provided to indicate which models must be further analyzed to properly model transient dryout and its uncertainty.

Salko Jr, Robert [ORNL] (ORCID:0000000253566679)↗

Revealing the loss mechanisms of a 3D superconducting microwave cavity for use in a dark matter search

Superconducting microwave cavities have found applications in many areas including quantum computing, particle accelerators, and dark matter searches. Their extremely high quality factors translate to very narrow bandwidth, which makes them key components of sensitive detectors. In this study, we aim to understand the loss mechanisms of an aluminium cavity, with a fundamental mode frequency of about 2.5123 GHz, and how they change as the cavity material transitions from the superconducting to normal state. We found that at temperatures not much lower than the transition temperature $T_c$, losses are dominated by quasiparticle excitations and are well described by the Bardeen–Cooper–Schrieffer theory. The exponential decrease of the quasiparticle density below $T_c$ results in a 1000-fold increase of the quality factor, as well as a shift of the resonance frequency due to the change of the kinetic inductance of the superconductor. At very low temperatures, losses due to two-level systems begin to dominate giving a peak in the quality factor of about 2.76 x 10 7 at 130 mK. Understanding the loss mechanisms is invaluable, as the working temperature of the cavity may vary during operation regardless of its application.

Physics - Physics of elementary particles and fiel↗

Carbon-Based Quantum Information Science with Symmetry Protected Topological States (Final Report, DOE-BES award DE-SC0023105)

This research program established the scientific foundation for the rational, bottom-up design, synthesis, isolation, and investigation of symmetry-protected topological (SPT) electron spin qubits embedded in graphene nanoribbons (GNRs). The work focused on integrating atomically precise low-dimensional carbon nanostructures with emerging quantum logic architectures, providing a pathway toward scalable quantum materials for next-generation computing and sensing technologies. A central component of the program was the elucidation of fundamental relationships between real-space molecular architecture, local spin density distributions, electronic band dispersion, and energy level alignment in atomically precise GNR systems. These correlations define key operational parameters of SPT qubits and were systematically investigated to establish quantitative benchmarks against established molecular and solid-state spin qubit platforms. Attention was given to properties critical for quantum device performance, e.g. decoherence times, spectral sharpness of energy transitions, and tunable exchange interactions between spin states. The research demonstrated that these parameters can be engineered with atomic precision through scalable bottom-up synthetic strategies. Theory-guided design played a central role in identifying candidate structures hosting topologically protected spin states. Experimental validation was performed using both ensemble measurements and single-molecule characterization. In addition to advances in quantum materials synthesis, the program developed and applied spin-sensitive scanning probe microscopy techniques capable of directly probing quantum states and dynamic processes with atomic-scale spatial resolution. These capabilities enabled direct observation and characterization of quantum structures at the single-atom level. While the research activities were primarily hypothesis-driven fundamental investigations, the program adopted a comprehensive materials-by-design framework aimed at translating scientific discoveries into technological concepts compatible with scalable and intelligent manufacturing approaches.

36 MATERIALS SCIENCE↗

Operational Techniques in Microgravity for Cryogenic Fluid Management

Management of cryogens in microgravity is a critical challenge for exploration missions to the Moon and Mars. Operational strategies to aid in cryogenic fluid management (CFM) are proposed and demonstrated using computational fluid dynamics simulations. Application of axial settling thrust is an essential – but potentially expensive – tool for CFM. Demonstrations show that its utilization and timing are important during certain unsettling events, such as engine cutoff. At other times, substantial savings can be realized by reducing the average acceleration (through pulsing thrusters, for example). If the metric for reaching a settled condition is a particular number of slosh periods, then fewer settling resources are needed with a lower acceleration. Alternatively, if a target wave amplitude is the settling objective, then a lower average acceleration will also allow for a higher allowable amplitude for the same heat transfer. Savings can also be obtained by rolling the vehicle, which can mitigate lateral slosh. Advantages and disadvantages of anti-slosh baffles are also discussed along with practical examples of their impact on CFM and ullage collapse. Ullage collapse examples are presented along with recommendations for slewing a vehicle with angular and translational acceleration to mitigate mixing between liquid and ullage.

Cryogenic Fluid Management↗

Developing a Digital Twin for SRF Cavity Assembly at Fermilab

When assembling Superconducting Radio Frequency (SRF) Cavities, maintaining an environment devoid of particulates like dust and other small particles is essential. If a single spec of dust enters the cavity a significant degradation of performance can occur. To avoid a cavity failure Fermilab assembles the SRF cavities within a ISO-4 (Class 10) environment. This environment though is still susceptible to foreign contaminants when technicians enter and new components are added to the cleanroom. To reduce the risk even more Fermilab has introduced a cobot manipulator into the cleanroom environment to speed up the assembly time which will reduce the time that the technicians operate in the cleanroom. But, this still leaves the potential of contaminants to enter the cleanroom if new components need to be tested within the cleanroom. This project aims to lay the groundwork to develop a Digital Twin environment of the cleanroom to aid in manufacturing processes and testing. In its simplest form, a digital twin is a bidirectional link between a physical system and its digital counterpart or twin. NVIDIA Isaac Sim is used as the digital twin foundation for the digital representation of the cleanroom, specifically for the UR16e assembly area. A simulated UR16e was used to validate the performance of Isaac Sim as a testing environment by comparing the tool center points (TCP) positional data between the simulated and digital representation of the UR16e. Due to a new vision based robotic assembly process being introduced to the cleanroom a digital representation of the physical camera was tested and validated to ensure that it will produce close to the same outcome as the physical environment. The TCP comparison results showed a peak translational error of approximately 0.1mm and rotational errors of up to 8 between the simulated and digital UR16es. While the camera validation performed with high repeatability across multiple runs, it still requires minor tuning before it can accurately replicate a physical camera.

Imburgia, Joseph [Northern Illinois U.]↗

Attentional Ptycho-Tomography (APT) for three-dimensional nanoscale X-ray imaging with minimal data acquisition and computation time

Abstract Noninvasive X-ray imaging of nanoscale three-dimensional objects, such as integrated circuits (ICs), generally requires two types of scanning: ptychographic, which is translational and returns estimates of the complex electromagnetic field through the IC; combined with a tomographic scan, which collects these complex field projections from multiple angles. Here, we present Attentional Ptycho-Tomography (APT), an approach to drastically reduce the amount of angular scanning, and thus the total acquisition time. APT is machine learning-based, utilizing axial self-Attention for Ptycho-Tomographic reconstruction. APT is trained to obtain accurate reconstructions of the ICs, despite the incompleteness of the measurements. The training process includes regularizing priors in the form of typical patterns found in IC interiors, and the physics of X-ray propagation through the IC. We show that APT with ×12 reduced angles achieves fidelity comparable to the gold standard Simultaneous Algebraic Reconstruction Technique (SART) with the original set of angles. When using the same set of reduced angles, then APT also outperforms Filtered Back Projection (FBP), Simultaneous Iterative Reconstruction Technique (SIRT) and SART. The time needed to compute the reconstruction is also reduced, because the trained neural network is a forward operation, unlike the iterative nature of these alternatives. Our experiments show that, without loss in quality, for a 4.48 × 93.2 × 3.92 µm 3 IC (≃6 × 10 8 voxels), APT reduces the total data acquisition and computation time from 67.96 h to 38 min. We expect our physics-assisted and attention-utilizing machine learning framework to be applicable to other branches of nanoscale imaging, including materials science and biological imaging.

47 OTHER INSTRUMENTATION↗

Enhancing Radionuclide Production Capabilities at the Duke University Medical Center Cyclotron with a Focus on Astatine-211

Radionuclides play an important role in a diverse array of fields including physics, chemistry, agriculture, materials science, national security, medical research and patient care. Establishing a reliable domestic supply of key radionuclides is critical to our national competitiveness in these areas. Regarding medical applications, targeted alpha-particle therapy (TAT) has become of great interest to basic researchers and clinicians alike and is emerging as a valuable and cost-effective approach for cancer treatment. Unfortunately, progress in TAT, particularly with regard to its clinical translation, has been severely hampered by the limited availability of the most promising radionuclides at a reasonable cost, and with appropriate chemical and radiochemical purity. In this project, we have attempted to address this problem by focusing on production of the 7.2-h half-life α-particle emitter, 211 At, which has long been considered to be one of the most promising radionuclides for TAT. We note that he critical importance of improving the supply of 211 At in the United States was noted in the Funding Opportunity Announcement related to this project. At Duke University, we have a CS-30 cyclotron that is one of the few accelerators in the United States that has an alpha-particle beam that has enough energy to make useful quantities of 211 At. With this cyclotron, we have been able to produce more 211 At than anywhere else in the world because of our unique internal cyclotron target system. However, the CS-30 cyclotron is nearly 40 years old and was no longer reliable. In addition, its operation required considerable skill, largely because it had analog control systems, and vital parts including old-fashioned power supplies, were becoming unavailable. For these reasons, the current project was undertaken to evaluate all the subsystems of the CS-30 cyclotron and replace, repair, and update them. With help from our consultant, Ionetix, this has now been accomplished. We believe that because of this work, the CS-30 can reliably supply 211 At for basic research and clinical trials both at Duke and beyond.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Application of advanced computational codes in the design of an experiment for a supersonic throughflow fan rotor

Increased emphasis on sustained supersonic or hypersonic cruise has revived interest in the supersonic throughflow fan as a possible component in advanced propulsion systems. Use of a fan that can operate with a supersonic inlet axial Mach number is attractive from the standpoint of reducing the inlet losses incurred in diffusing the flow from a supersonic flight Mach number to a subsonic one at the fan face. The design of the experiment using advanced computational codes to calculate the components required is described. The rotor was designed using existing turbomachinery design and analysis codes modified to handle fully supersonic axial flow through the rotor. A two-dimensional axisymmetric throughflow design code plus a blade element code were used to generate fan rotor velocity diagrams and blade shapes. A quasi-three-dimensional, thin shear layer Navier-Stokes code was used to assess the performance of the fan rotor blade shapes. The final design was stacked and checked for three-dimensional effects using a three-dimensional Euler code interactively coupled with a two-dimensional boundary layer code. The nozzle design in the expansion region was analyzed with a three-dimensional parabolized viscous code which corroborated the results from the Euler code. A translating supersonic diffuser was designed using these same codes.

Wood, Jerry R.↗

Application of advanced computational codes in the design of an experiment for a supersonic throughflow fan rotor

Increased emphasis on sustained supersonic or hypersonic cruise has revived interest in the supersonic throughflow fan as a possible component in advanced propulsion systems. Use of a fan that can operate with a supersonic inlet axial Mach number is attractive from the standpoint of reducing the inlet losses incurred in diffusing the flow from a supersonic flight Mach number to a subsonic one at the fan face. The design of the experiment using advanced computational codes to calculate the components required is described. The rotor was designed using existing turbomachinery design and analysis codes modified to handle fully supersonic axial flow through the rotor. A two-dimensional axisymmetric throughflow design code plus a blade element code were used to generate fan rotor velocity diagrams and blade shapes. A quasi-three-dimensional, thin shear layer Navier-Stokes code was used to assess the performance of the fan rotor blade shapes. The final design was stacked and checked for three-dimensional effects using a three-dimensional Euler code interactively coupled with a two-dimensional boundary layer code. The nozzle design in the expansion region was analyzed with a three-dimensional parabolized viscous code which corroborated the results from the Euler code. A translating supersonic diffuser was designed using these same codes.

Wood, Jerry R.↗

Even Higher-Level Synthesis: An Exploration of AI Hardware Accelerators using HLS4ML

With the rise of artificial intelligence, the popularization of deep learning, and a constantly evolving industry, the demand for flexible and efficient tools has never been greater. As algorithms grow more complex, their runtime and energy consumption increase exponentially. Customized hardware accelerators, long used for specific mathematical operations, remain essential for managing modern applications' computational and power demands. Hardware accelerators can speed up complex computations by orders of magnitude, but their manual design and verification processes are often challenging and time-consuming. High-Level Synthesis (HLS) provides a solution by transforming high-level algorithm descriptions, typically written in C++ or SystemC, into synthesizable RTL suitable for hardware implementation. This approach reduces development time for RTL engineers while offering flexibility beyond what traditional handwritten RTL can provide. We extended this capability to the machine-learning domain with the open-source framework hls4ml, which allows neural networks trained in Python frameworks like Tensorflow or PyTorch to be synthesized into efficient hardware representations for the traditional FPGA and ASIC flows. This breakthrough addresses the growing need for reduced design turnaround and easy verification of ML hardware accelerators with low latency and power efficiency constraints. During this tutorial, we will demonstrate how Python complements HLS by simplifying the ML design process, bridging the gap between software and hardware development. Attendees will explore how we translate neural networks modeled in Python into fixed-point C++ models suitable for HLS workflows. We will dive into strategies like Value-Range Analysis and Quantization-Aware Training, which optimize these designs for deployment and evaluate their accuracy, power consumption, and energy efficiency. To exemplify these concepts, experts from Fermilab will share their experiences applying this technology to high-energy physics experiments, where real-time, low-latency processing is critical. Over the years, Fermilab engineers have demonstrated how deep neural networks, optimized for hardware using hls4ml, can meet the stringent requirements of trigger systems at the CERN Large Hadron Collider. These systems rely on rapid decision-making to process immense data volumes while retaining only the most relevant events for further analysis. The application of hls4ml has also been extended to innovative technologies like smart pixel arrays. These smart pixels integrate ML inference capabilities directly into sensor devices, enabling localized data processing at the pixel level. This approach drastically reduces the need to transmit raw data to external processing units, significantly decreasing power consumption and latency. By embedding neural networks within the pixel architecture, the smart pixels can identify and prioritize relevant data in real time, providing a highly efficient solution for edge computing in scenarios such as particle detectors and imaging systems. Fermilab's work highlights the potential of hardware-accelerated ML in scenarios where both speed and power efficiency are mission-critical. Through this tutorial, attendees will gain valuable insights into the challenges and solutions of deploying ML in hardware. Understanding how HLS and hls4ml streamline the development of neural network-based hardware accelerators is fundamental for the industry's future. Participants will learn how these technologies are shaping the future of AI and scientific computing.

Di Guglielmo, Giuseppe [Fermilab]↗

Practical Probabilistic Programming

Recent advances in probabilistic programming languages (PPLs) have provided the capability for exact inference: computing a closed-form probability distribution for a given probabilistic program. In particular, the new language Roulette uses a language oriented programming (LOP) approach, wherein analysts build new programming languages on top of a set of primitives provided by Roulette, which then translates these structures into a weighted model counting problem which can be solved by automated reasoning tools. However, because Roulette provides few convenience features, developing these new languages is challenging even for expert users. We developed a standard library of common probability functions for Roulette with the goal of improved usability. This included approximation of continuous probability density functions using discrete probability mass functions. We demonstrated this approach by modeling a cosmic ray striking a RAM controller. We found that Roulette provides a powerful interface for highly expressive probabilistic programs to be generated. In collaboration with the NNSA Advanced Simulation and Computing program, which resulted in development of a tool called Circulette, we were able to model complex circuits expressed in Verilog using probabilistic programs with an expressivity not previously possible. Our research question that motivated the development of a Roulette standard library was to determine whether non-experts could use a PPL to model relevant problems regarding radiation effects on microelectronics. This standard library improved the expressivity of Roulette by implementing common probability density functions, mathematical operators on distributions, and support for empirical distributions. While Roulette is a powerful modeling language, the untyped, LOP approach makes error messages difficult to understand and requires expert aid. We recommend further research on Roulette, especially with its error messages, to enable improved usability. At the same time, this project demonstrated that for users familiar with Roulette and the LOP approach, Roulette provides powerful new capabilities that can be integrated with other Sandia modeling capabilities.

97 MATHEMATICS AND COMPUTING↗

Three Degree of Freedom Parallel Mechanical Linkage

A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.

Adelstein, Bernard D.↗

The Flux of Impact Ejecta on the Lunar Surface from Scaling Considerations: Implications for Operational Hazards and Geomorphic Forcing

The impact cratering process has been critical to the evolution of the Moon’s surface over its geologic history and remains an important ongoing process today. Impact events have a major local effect, but also excavate ejecta particles that re-impact the lunar surface over a wide area. Quantifying the flux of ejecta to a given point on the Moon is the subject of this work. We also estimate how this flux is partitioned into different particle sizes and different ejecta velocities. Motivation: There are two main factors motivating this work. First, and most critically, is the assessment of the hazard posed by impact ejecta for future surface exploration (i.e., to infrastructure, spacesuits, etc.). LROC observations of new craters have led to the reemphasized need to consider this hazard. In fact, a hazard assessment of this type was made prior to Apollo, although some of the underlying assumptions of that work are now clearly obsolete (see [4]). We also now know much more about the impactor flux, scaling of impact events, and scaling of ejecta than was known in the 1960's, so revisiting this hazard assessment is appropriate.We note that also have recently revisited the earlier hazard estimates and independently revised them downward using an entirely different analytical approach. The second motivation is that several recent papers have argued that the flux of distal ejecta is the controlling factor in how fast the lunar surface evolves. For this reason, improving understanding of the ejecta mass flux and how the flux translates into geomorphic work is of interest. To be clear, it is obvious that the ejecta mass flux is much larger than the primary impactor mass flux – indeed, this is self-evident because the craters excavated by hypervelocity impacts are much larger than their impactors. On the other hand, the energy delivered by a given primary to the surface is larger than the sum of the energy delivered by all its associated ejecta, as required by conservation, aggravated by the fact that not all of an impactor’s kinetic energy is partitioned into ejecta excavation. If distal ejecta and secondaries control lunar geomorphic evolution, this suggests that re-impacting ejecta must more efficiently translate their energy into geomorphic work than primaries. It is also easy to imagine the relative efficiency of primary and secondary impacts to do geomorphic work varying with the size of the primary. Considering the details of this process is thus of significant interest for lunar geomorphology.

Fassett, C. I.↗

Multimodal Platform Control for Robotic Planetary Exploration Missions

Planetary exploration missions pose unique problems for astronauts seeking to coordinate and control exploration vehicles. These include working in an environment filled with abrasive dust (e.g., regolith compositions), a desire to have effective hands-free communication, and a desire to have effective analog control of robotic platforms or end effectors. Requirements to operate in pressurized suits are particularly problematic due to the increased bulk and stiffness of gloves. As a result, researchers are considering alternative methods to perform fine movement control, for example capitalizing on higher-order voice actuation commands to perform control tasks. This paper presents current research at NASA s Neuro Engineering Laboratory that explores one method-direct bioelectric interpretation-for handling some of these problems. In this type of control system, electromyographic (EMG) signals are used both to facilitate understanding of acoustic speech in pressure-regulated suits 2nd to provide smooth analog control of a robotic platform, all without requiring fine-gained hand movement. This is accomplished through the use of non-invasive silver silver-chloride electrodes located on the forearm, throat, and lower chin, positioned so as to receive electrical activity originating from the muscles during contraction. For direct analog platform control, a small Personal Exploration Rover (PER) built by Carnegie Mellon University Robotics is controlled using forearm contraction duration and magnitudes, measured using several EMG channels. Signal processing is used to translate these signals into directional platform rotation rates and translational velocities. higher order commands were generated by differential contraction patterns called "clench codes."

Jorgensen, Charles↗

TE/TM Simulations of Interferometric Measurements

Interferometric synthetic aperture radar (IFSAR) measurements at X-, C-, L-, and P-band are used to derive ground topography at meter level resolution. Interpretation of the derived topography requires attention due to the complex interaction of the radar signal with ground cover. The presence of penetrable surfaces such as vegetation, and tree canopies poses a challenge since the depth of penetration depends on a number of parameters such as the operating radar frequency, polarization, incident angle, as well as terrain structure. The dependence of the reconstructed topography on polarization may lead to the characterization of the ground cover. Simulation of interferometric measurements is useful for interpretation of the derived topography (B. Houshmand, Proceedings of URSI, 314, 1997). In this talk , time domain simulations for interferometric measurement for TE- and TM- polarization are presented. Time domain simulation includes the effects of the surface material property as well geometry comparable the radar signal wavelength (B. Houshmand, Proceedings of the URSI, 25, 1998). The IFSAR simulation is carried out in two steps. First, the forward scattering data is generated based on full wave analysis. Next, the electromagnetic information is inverted to generate surface topography. This inversion is based on the well known IFSAR processing technique which is composed of signal compression, and formation of an interferogram. The full wave forward scattering data is generated by the scattered-field formulation of the FDTD algorithm. The simulation is carried out by exciting the computational domain by a radar signal. The scattered field is then computed and translated to the receiving interferometric antennas using the time-domain Huygen's principle. The inversion process starts by compressing the time-domain data. The range compressed data from both receivers are then coregistered to form an interferogram. The resulting interferogram is then related to the ground topography using the radar imaging geometry. In this talk, the simulation results are compared with the C-band TM IFSAR derived topography, and the TE/TM SAR images at L-Band.

Houshmand, Bijan↗

NASA Lunabotics Robotic Mining Competition 10th Anniversary (2010-2019): Taxonomy and Technology Review

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Administration (NASA) "Lunabotics" Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a "lunabot", which can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an overburden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar regolith simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote-control center or operate it autonomously. This paper will present the results of the ten Lunabotics Robotic Mining Competitions held between May 2010 and May 2019. Each year over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 6,000 university students have been part of the on-site competition at KSC. Even more students and the public were engaged via internet broadcasting and social networking media. The various designs have been cataloged and categorized here to provide information to future Lunabotics RMC mining robot designers and competitors. Categories will focus on both the mechanical design as well as the autonomy architecture/design. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith. A taxonomy of robotic excavator designs has been presented. In addition, the paper will discuss changes in learning paradigms occurring in the current generation of students, and how this competition leverages those changes to challenge students to develop skills in graduate level concepts and apply them. Examples of how this translates to hiring opportunities for commercial sponsors has also been discussed.

Robert P Mueller↗

Self-Referencing Hartmann Test for Large-Aperture Telescopes

A method is proposed for end-to-end, full aperture testing of large-aperture telescopes using an innovative variation of a Hartmann mask. This technique is practical for telescopes with primary mirrors tens of meters in diameter and of any design. Furthermore, it is applicable to the entire optical band (near IR, visible, ultraviolet), relatively insensitive to environmental perturbations, and is suitable for ambient laboratory as well as thermal-vacuum environments. The only restriction is that the telescope optical axis must be parallel to the local gravity vector during testing. The standard Hartmann test utilizes an array of pencil beams that are cut out of a well-corrected wavefront using a mask. The pencil beam array is expanded to fill the full aperture of the telescope. The detector plane of the telescope is translated back and forth along the optical axis in the vicinity of the nominal focal plane, and the centroid of each pencil beam image is recorded. Standard analytical techniques are then used to reconstruct the telescope wavefront from the centroid data. The expansion of the array of pencil beams is usually accomplished by double passing the beams through the telescope under test. However, this requires a well-corrected, autocollimation flat, the diameter or which is approximately equal to that of the telescope aperture. Thus, the standard Hartmann method does not scale well because of the difficulty and expense of building and mounting a well-corrected, large aperture flat. The innovation in the testing method proposed here is to replace the large aperture, well-corrected, monolithic autocollimation flat with an array of small-aperture mirrors. In addition to eliminating the need for a large optic, the surface figure requirement for the small mirrors is relaxed compared to that required of the large autocollimation flat. The key point that allows this method to work is that the small mirrors need to operate as a monolithic flat only with regard to tip/tilt and not piston because in collimated space piston has no effect on the image centroids. The problem of aligning the small mirrors in tip/tilt requires a two-part solution. First, each mirror is suspended from a two-axis gimbal. The orientation of the gimbal is maintained by gravity. Second, the mirror is aligned such that the mirror normal is parallel to gravity vector. This is accomplished interferometrically in a test fixture. Of course, the test fixture itself needs to be calibrated with respect to gravity.

Korechoff, Robert P.↗