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At least 1,315 records · Page 73
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Simulation Based Studies of Low Latency Teleoperations for NASA Exploration Missions

Human exploration of Mars will involve both crewed and robotic systems. Many mission concepts involve the deployment and assembly of mission support assets prior to crew arrival on the surface. Some of these deployment and assembly activities will be performed autonomously while others will be performed using teleoperations. However, significant communications latencies between the Earth and Mars make teleoperations challenging. Alternatively, low latency teleoperations are possible from locations in Mars orbit like Mars' moons Phobos and Deimos. To explore these latency opportunities, NASA is conducting a series of studies to investigate the effects of latency on telerobotic deployment and assembly activities. These studies are being conducted in laboratory environments at NASA's Johnson Space Center (JSC), the Human Exploration Research Analog (HERA) at JSC and the NASA Extreme Environment Mission Operations (NEEMO) underwater habitat off the coast of Florida. The studies involve two human-in-the-loop interactive simulations developed by the NASA Exploration Systems Simulations (NExSyS) team at JSC. The first simulation investigates manipulation related activities while the second simulation investigates mobility related activities. The first simulation provides a simple real-time operator interface with displays and controls for a simulated 6 degree of freedom end effector. The initial version of the simulation uses a simple control mode to decouple the robotic kinematic constraints and a communications delay to model latency effects. This provides the basis for early testing with more detailed manipulation simulations planned for the future. Subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. Subject performance is measured and correlated with three distance-to-target zones of interest. Each zone represents a target distance ranging from beyond 10m in Zone 1, through 1 cm to contact in Zone 5 with a step size factor of 10. Collected data consists of both objective simulation data (time, distance, hand controller inputs, velocity) and subjective questionnaire data. The second simulation provides a simple real-time operator interface with displays and control of a simulated surface rover. The rover traverses a synthetic Mars-like terrain and must be maneuvered to avoid obstacles while progressing to its destination. Like the manipulator simulation, subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. The rover is also operated at three different traverse speeds to assess the correlation between latency and speed. Collected data consisted of both objective simulation data (time, distance, hand controller inputs, braking) and subjective questionnaire data. These studies are exploring relationships between task complexity, operating speeds, operator efficiencies, and communications latencies for low latency teleoperations in support of human planetary exploration. This paper presents early results from these studies along with the current observations and conclusions. These and planned future studies will help to inform NASA on the potential for low latency teleoperations to support human exploration of Mars and inform the design of robotic systems and exploration missions.

Gernhardt, Michael L.↗
DOE OSTI2025

Mineral Scale Formation during Crossflow Reverse Osmosis at Constant Flux and Constant Transmembrane Pressure Conditions

Mineral scale formation on membrane surfaces is a significant challenge in reverse osmosis water purification. Laboratory fouling experiments are typically run such that the transmembrane pressure (TMP) is fixed, and the permeate flux decreases over time as scales accumulate on the membrane surface. However, this change in flux means that the hydrodynamic conditions at the membrane surface are continuously changing, which could affect crystallization and foulant deposition processes. Operating under constant permeate flux conditions, in contrast, is advantageous because it keeps the hydrodynamic conditions relatively consistent, making it possible to compare how membrane properties (e.g., surface chemistry) affect fouling propensity. Industrial reverse osmosis operations are not run strictly in either constant TMP or constant flux mode; while they may start at a constant TMP, feed pressure may be periodically adjusted to maintain permeate water production within a specified range. Here, the scarcity of constant permeate flux reverse osmosis scaling experiments reported in the literature frustrates efforts to compare membrane fouling processes under constant TMP and constant flux conditions. For the first time, the evolution of the fouling layer resistance was compared as a function of cumulative permeate volume per membrane area during constant TMP and constant flux reverse osmosis filtrations. Scaling experiments were conducted by challenging commercial reverse osmosis membranes with a model feed solution nearly saturated with calcium sulfate dihydrate (gypsum). At low fluxes, the increase in fouling layer resistance was quantitatively similar for the two operational modes. In contrast, at high fluxes, the fouling layer resistance increased more rapidly in constant flux filtration than in constant TMP filtration. The mechanism of scale formation in constant TMP and constant flux operation was self-limiting and self-reinforcing, respectively.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Optical tuning of the diamond Fermi level measured by correlated scanning probe microscopy and quantum defect spectroscopy

Quantum technologies based on quantum point defects in crystals require control over the defect charge state. Here we tune the charge state of shallow nitrogen-vacancy and silicon-vacancy centers by locally oxidizing a hydrogenated surface with moderate optical excitation and simultaneous spectral monitoring. The loss of conductivity and change in work function due to oxidation are measured in atmosphere using conductive atomic force microscopy and Kelvin probe force microscopy (KPFM). We correlate these scanning probe measurements with optical spectroscopy of the nitrogen-vacancy and silicon-vacancy centers created via implantation 15–25 nm beneath the diamond surface and annealing. The observed charge state of the defects as a function of optical exposure demonstrates that laser oxidation provides a way to precisely tune the Fermi level over a range of at least 2.00 eV. We also observe a significantly larger oxidation rate for implanted surfaces compared to unimplanted surfaces under ambient conditions. Here, combined with knowledge of the electron affinity of a surface, these results suggest KPFM is a powerful, high-spatial-resolution technique to advance surface Fermi level engineering for charge stabilization of quantum defects.

36 MATERIALS SCIENCE↗
NASA NTRS1999

Frequency and Angular Variations of Land Surface Microwave Emissivities: Can we Estimate SSM/T and AMSU Emissivities from SSM/I Emissivities?

To retrieve temperature and humidity profiles from SSM/T and AMSU, it is important to quantify the contribution of the Earth surface emission. So far, no global estimates of the land surface emissivities are available at SSM/T and AMSU frequencies and scanning conditions. The land surface emissivities have been previously calculated for the globe from the SSM/I conical scanner between 19 and 85 GHz. To analyze the feasibility of deriving SSM/T and AMSU land surface emissivities from SSM/I emissivities, the spectral and angular variations of the emissivities are studied, with the help of ground-based measurements, models and satellite estimates. Up to 100 GHz, for snow and ice free areas, the SSM/T and AMSU emissivities can be derived with useful accuracy from the SSM/I emissivities- The emissivities can be linearly interpolated in frequency. Based on ground-based emissivity measurements of various surface types, a simple model is proposed to estimate SSM/T and AMSU emissivities for all zenith angles knowing only the emissivities for the vertical and horizontal polarizations at 53 deg zenith angle. The method is tested on the SSM/T-2 91.655 GHz channels. The mean difference between the SSM/T-2 and SSM/I-derived emissivities is less than or equal to 0.01 for all zenith angles with an r.m.s. difference of approx. = 0.02. Above 100 GHz, preliminary results are presented at 150 GHz, based on SSM/T-2 observations and are compared with the very few estimations available in the literature.

Prigent, Catherine↗
NASA NTRSDate not supplied

On the Prediction of Surface Melt Over the Greenland Ice Sheet at NWP and S2S Timescales

Greenland surface melt “events” – encompassing large swaths of the ice sheet over approximately 4-10 day periods – have occurred with increasing frequency in the 21st Century. Surface processes are significant to the ice sheet’s overall contribution to sea level. In addition, the sudden onset of widespread surface melt produces hazardous conditions for researchers and for communities adjacent to the ice sheet. The mechanisms producing melt events, their associated large-scale forcing, and timescales of interest are highly variable and poorly understood. Here we examine the predictability of melt events in a numerical weather prediction system (NWP) and a subseasonal-to-seasonal system (S2S). The NASA Global Modeling and Assimilation Office forward processing (GMAO-FP) is an NWP system that incorporates an evolving, global hybrid 4D ensemble–variational (4DEnVar) data assimilation system and a state-of-the-art model that is run twice-daily with forecasts out to five and ten days. The GMAO S2S system is a hindcast-anomaly, coupled-model prediction system initialized with an atmospheric analysis, and in situ and satellite ocean data assimilation. Both systems represent ice sheet surface hydrology and snowpack processes. We examine the performance of the systems over the period 2018-2023, a span that includes approximately nine significant events, against analyses and satellite-derived melt extent. In addition to extent, we examine related conditions and their role in the melt forecast, including the onset of both omega and Rex atmospheric blocking patterns, sea surface temperatures, sea ice extent, water vapor transport, precipitation, and surface preconditioning. We further examine the tendency for false-alarm events in each system and assess reasons for the forecast performance. North Atlantic atmospheric blocking patterns leading to surface melt are well forecast by the NWP system out to around eight days, while the S2S system generally underestimates the magnitude of such events at monthly lead times. These systems suggest that while short term forecasts of ice sheet melt and melt events are relatively robust, S2S predictions of surface conditions are highly dependent on the ability of a coupled system to generate the short-term atmospheric conditions associated with surface melt events.

Richard Cullather↗
NASA NTRS1990

Characteristics of the Martian atmosphere surface layer

Elements of various terrestrial boundary layer models are extended to Mars in order to estimate sensible heat, latent heat, and momentum fluxes within the Martian atmospheric surface ('constant flux') layer. The atmospheric surface layer consists of an interfacial sublayer immediately adjacent to the ground and an overlying fully turbulent surface sublayer where wind-shear production of turbulence dominates buoyancy production. Within the interfacial sublayer, sensible and latent heat are transported by non-steady molecular diffusion into small-scale eddies which intermittently burst through this zone. Both the thickness of the interfacial sublayer and the characteristics of the turbulent eddies penetrating through it depend on whether airflow is aerodynamically smooth or aerodynamically rough, as determined by the Roughness Reynold's number. Within the overlying surface sublayer, similarity theory can be used to express the mean vertical windspeed, temperature, and water vapor profiles in terms of a single parameter, the Monin-Obukhov stability parameter. To estimate the molecular viscosity and thermal conductivity of a CO2-H2O gas mixture under Martian conditions, parameterizations were developed using data from the TPRC Data Series and the first-order Chapman-Cowling expressions; the required collision integrals were approximated using the Lenard-Jones potential. Parameterizations for specific heat and binary diffusivity were also determined. The Brutsart model for sensible and latent heat transport within the interfacial sublayer for both aerodynamically smooth and rough airflow was experimentally tested under similar conditions, validating its application to Martian conditions. For the surface sublayer, the definition of the Monin-Obukhov length was modified to properly account for the buoyancy forces arising from water vapor gradients in the Martian atmospheric boundary layer. It was found that under most Martian conditions, the interfacial and surface sublayers offer roughly comparable resistance to sensible heat and water vapor transport and are thus both important in determining the associated fluxes.

Clow, G. D.↗
DOE OSTI2020

Etching of Si 3 N 4 induced by electron beam plasma from hollow cathode plasma in a downstream reactive environment

An etching system based on the interaction of electrons extracted from a direct current (DC) hollow-cathode (HC) Ar plasma and injected towards a Si3N4 covered silicon substrate located in the downstream reactive environment created by an additional remote CF 4 /O 2 plasma source was developed and evaluated. By controlling the properties of the injected beam electrons, this approach allows to deliver energy to a surface functionalized by exposure to reactive species, and initiate surface etching. The energy of the primary beam electrons is controlled by the acceleration voltage relative to the HC discharge. Ar atoms flow from the high-pressure HC discharge into the low pressure downstream reactive environment in the process chamber. For an acceleration voltage greater than the ionization potential of Ar and/or process gas species, the energetic primary beam electrons produce a secondary plasma in the process chamber, and can also cause additional dissociation. We have characterized the properties of the secondary plasma and also surface etching of Si 3 N 4 as a function of process parameters, including acceleration voltage (0-80 V), discharge current of the HC discharge (1-2 A), pressure (3.5-20 mTorr), source to substrate distance (1.5 to 5 cm), and feed gas composition (20% and 80% O2 in CF 4 /O 2 ). The electron energy probability function (EEPF) measured with a Langmuir probe about 2.5 cm below the extraction ring suggests several major groups of electrons for this situation, including high energy primary beam electrons with an energy that varies as the acceleration voltage is changed and low energy electrons produced by beam electron-induced ionization of the Ar gas in the process chamber. When a remote CF 4 /O 2 plasma is additionally coupled to the process chamber, Si 3 N 4 surfaces can be functionalized, and by varying the energy of the beam electrons, Si 3 N 4 etching can be induced by electron-neutral synergy effect with plasma-surface interaction. For conditions without beam electron injection, the remote plasma etching rate (ER) of Si 3 N 4 depends strongly on the O 2 concentration in the CF 4 /O 2 processing gas mixture and can be suppressed for O 2 -rich process conditions by the formation of a SiONF passivation layer on the Si 3 N 4 surface. The combination of the HC electron beam source with the remote plasma source (HCEB-RP) makes it possible to induce Si 3 N 4 etching for O 2 -rich remote plasma conditions where remote plasma by itself produces negligible Si 3 N 4 etching. The electron enhanced etching of Si 3 N 4 depends strongly on O 2 /CF 4 mixing ratio reflecting changing arrival rates of O and F species at the surface. Optical emission spectroscopy was used to estimate the ratio of gas phase F and O densities and found to be controlled by the gas mixing ratio and independent of HC EB operating conditions. At this time the detailed sequence of events operative in the etching mechanism is unclear. While the increase of the electron energy is ultimately responsible for initiating surface etching, at present we cannot rule out a role of ions from the simultaneously produced secondary plasma in plasma surface interaction mechanisms.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2021

Semi-grand canonical Monte Carlo simulation of the acrolein induced surface segregation and aggregation of AgPd with machine learning surrogate models

The single atom alloy of AgPd has been found to be a promising catalyst for the selective hydrogenation of acrolein. It is also known that the formation of Pd islands on the surface will greatly reduce the selectivity of the reaction. As a result, the surface segregation and aggregation of Pd on the AgPd surface under reaction conditions of selective hydrogenation of acrolein are of great interest. In this work, we lay out a workflow that can predict the surface segregation and aggregation of Pd on a FCC(111) AgPd surface with and without the presence of acrolein. We use machine learning surrogate models to predict the AgPd bulk energy, AgPd slab energy, and acrolein adsorption energy on AgPd slabs. Then, we use the semi-grand canonical Monte Carlo simulation to predict the surface segregation and aggregation under different bulk Pd concentrations. Under vacuum conditions, our method predicts that only trace amount of Pd will exist on the surface at Pd bulk concentrations less than 20%. However, with the presence of acrolein, Pd will start to aggregate as dimers on the surface at Pd bulk concentrations as low as 6.5%.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2019

Sampling tool concepts for Enceladus Lander in-situ analysis

A potential future in-situ lander mission to the surface of Enceladus could be the lowest cost mission to determine if life exists beyond Earth since material from the subsurface ocean, where the presence of hydrothermal activity has been strongly suggested by the Cassini mission, is available on its surface after being ejected by plumes and then settling on the surface. In addition, the low radiation environment of Enceladus would not significantly alter the chemical makeup of samples recently deposited on the surface. A study was conducted to explore various sampling devices that could be used by an in-situ lander mission to provide 1cc to 5cc volume samples to instruments. In addition to temperature and vacuum environmental conditions, the low surface gravity of Enceladus (1% of Earth gravity) represents a new challenge for surface sampling that is not met by sampling systems developed for microgravity (e.g., comets and asteroids) or higher gravity (e.g., Europa 13%g, Moon 16%g, or Mars 38%g) environments. It is desired to acquire surface plume material that has accumulated in the top 1cm to ensure acquisition of the least processed material. Several sampling devices were developed or adapted and then tested in simulated conditions that resemble the Enceladus surface properties. These devices and test results are presented in this paper.

Genta, Giancarlo↗
NASA NTRS1992

An installed nacelle design code using a multiblock Euler solver. Volume 1: Theory document

An efficient multiblock Euler design code was developed for designing a nacelle installed on geometrically complex airplane configurations. This approach employed a design driver based on a direct iterative surface curvature method developed at LaRC. A general multiblock Euler flow solver was used for computing flow around complex geometries. The flow solver used a finite-volume formulation with explicit time-stepping to solve the Euler Equations. It used a multiblock version of the multigrid method to accelerate the convergence of the calculations. The design driver successively updated the surface geometry to reduce the difference between the computed and target pressure distributions. In the flow solver, the change in surface geometry was simulated by applying surface transpiration boundary conditions to avoid repeated grid generation during design iterations. Smoothness of the designed surface was ensured by alternate application of streamwise and circumferential smoothings. The capability and efficiency of the code was demonstrated through the design of both an isolated nacelle and an installed nacelle at various flow conditions. Information on the execution of the computer program is provided in volume 2.

Chen, H. C.↗
DOE OSTI2020

Advanced grazing-emission X-ray fluorescence spectroscopy with small-angle neutron scattering for in-vivo surface composition and defect/morphology surface evolution in tokamak PMI

The dynamic and extreme conditions of thermonuclear fusion tokamak plasmas render material surfaces almost impossible to examine in real-time, surface-sensitive conditions. However, combining particle-probe techniques that are not charge-state dependent open the possibilities of in-vivo diagnosis of the plasma-material interface. The reconstituted surfaces of plasma-facing components ranging from first-wall to divertor-component regions in the device vary depending on the complex plasma transport characteristics of the device. For example, in ITER it is predicted that fluxes of the order 10 22 to 10 24 and incident charged-particle energies of 100’s to 1000’s of eV will reach the surface while in the divertor regions within the private-flux and near the inner and outer-strike points would vary from a few eV to 100’s of eV governed by the complex Chodura magnetic sheath dynamics. This means that the penetration range of most charged-particle fluxes would range between 1-100’s of nm (e.g. for fuel particles of D and T and He).

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1972

Erosion of graphite surface exposed to hot supersonic hydrogen gas

A theoretical model based on laminar boundary layer flow equations was developed to predict the erosion rate of a graphite (AGCarb-101) surface exposed to a hot supersonic stream of hydrogen gas. The supersonic flow in the nozzle outside the boundary layer formed over the surface of the specimen was determined by assuming one-dimensional isentropic conditions. An overall surface reaction rate expression based on experimental studies was used to describe the interaction of hydrogen with graphite. A satisfactory agreement was found between the results of the computation, and the available experimental data. Some shortcomings of the model and further possible improvements are discussed.

Sharma, O. P.↗
NASA NTRS1972

Erosion of graphite surface exposed to hot supersonic hydrogen gas

A theoretical model based on laminar boundary layer flow equations is developed to predict the erosion rate of a graphite (AGCarb-101) surface exposed to a hot supersonic stream of hydrogen gas. The supersonic flow in the nozzle outside the boundary layer formed over the surface of the specimen is determined by assuming one-dimensional isentropic conditions. An overall surface reaction rate expression based on the experimental studies by Clarke and Fox is used to describe the interaction of hydrogen with graphite. A satisfactory agreement is found between the results of the computation, and the available experimental data. Some shortcomings of the model, and further possible improvements are discussed.

Sharma, O. P.↗
NASA NTRS1975

Automated electronic system for measuring thermophysical properties

Phase-charge coatings are used to measure surface temperature accurately under transient heating conditions. Coating melts when surface reaches calibrated phase-charge temperature. Temperature is monitored by infrared thermometer, and corresponding elapsed time is recorded by electronic data-handling system.

Creel, T. R., Jr.↗