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NASA NTRS2015

Aircraft Measurements of BrO, IO, Glyoxal, NO2, H2O, O2-O2 and Aerosol Extinction Profiles in the Tropics: Comparison with Aircraft-/Ship-Based in Situ and Lidar Measurements

Tropospheric chemistry of halogens and organic carbon over tropical oceans modifies ozone and atmospheric aerosols, yet atmospheric models remain largely untested for lack of vertically resolved measurements of bromine monoxide (BrO), iodine monoxide (IO) and small oxygenated hydrocarbons like glyoxal (CHOCHO) in the tropical troposphere. BrO, IO, glyoxal, nitrogen dioxide (NO2), water vapor (H2O) and O2-O2 collision complexes (O4/ were measured by the University of Colorado Airborne Multi-AXis Differential Optical Absorption Spectroscopy (CU AMAXDOAS) instrument, aerosol extinction by high spectral resolution lidar (HSRL), in situ aerosol size distributions by an ultra high sensitivity aerosol spectrometer (UHSAS) and in situ H2O by vertical-cavity surface-emitting laser (VCSEL) hygrometer. Data are presented from two research flights (RF12, RF17) aboard the National Science Foundation/ National Center for Atmospheric Research Gulfstream V aircraft over the tropical Eastern Pacific Ocean (tEPO) as part of the "Tropical Ocean tRoposphere Exchange of Reactive halogens and Oxygenated hydrocarbons" (TORERO) project (January/February 2012). We assess the accuracy of O4 slant column density (SCD) measurements in the presence and absence of aerosols. Our O4-inferred aerosol extinction profiles at 477 nm agree within 6% with HSRL in the boundary layer and closely resemble the renormalized profile shape of Mie calculations constrained by UHSAS at low (sub-Rayleigh) aerosol extinction in the free troposphere. CU AMAX-DOAS provides a flexible choice of geometry, which we exploit to minimize the SCD in the reference spectrum (SCDREF, maximize signal-to-noise ratio) and to test the robustness of BrO, IO and glyoxal differential SCDs. The RF12 case study was conducted in pristine marine and free tropospheric air. The RF17 case study was conducted above the NOAA RV Ka'imimoana (TORERO cruise, KA-12-01) and provides independent validation data from ship-based in situ cavity-enhanced DOAS and MAX-DOAS. Inside the marine boundary layer (MBL) no BrO was detected (smaller than 0.5 pptv), and 0.2-0.55 pptv IO and 32-36 pptv glyoxal were observed. The near-surface concentrations agree within 30% (IO) and 10% (glyoxal) between ship and air-craft. The BrO concentration strongly increased with altitude to 3.0 pptv at 14.5 km (RF12, 9.1 to 8.6 deg N; 101.2 to 97.4 deg W). At 14.5 km, 5-10 pptv NO2 agree with model predictions and demonstrate good control over separating tropospheric from stratospheric absorbers (NO2 and BrO). Our profile retrievals have 12-20 degrees of freedom (DoF) and up to 500m vertical resolution. The tropospheric BrO vertical column density (VCD) was 1.5 x 10(exp 13) molec cm(exp -2) (RF12) and at least 0.5 x 10(exp 13) molec cm(exp -2) (RF17, 0- 10 km, lower limit). Tropospheric IO VCDs correspond to 2.1 x 10(exp 12) molec cm(exp -2) (RF12) and 2.5 x 10(exp 12) molec cm(exp -2) (RF17) and glyoxal VCDs of 2.6 x 10(exp 14) molec cm(exp -2) (RF12) and 2.7 x 10(exp 14) molec cm(exp -2) (RF17). Surprisingly, essentially all BrO as well as the dominant IO and glyoxal VCD fraction was located above 2 km (IO: 58 plus or minus 5 %, 0.1-0.2 pptv; glyoxal: 52 plus or minus 5 %, 3-20 pptv). To our knowledge there are no previous vertically resolved measurements of BrO and glyoxal from aircraft in the tropical free troposphere. The atmospheric implications are briefly discussed. Future studies are necessary to better understand the sources and impacts of free tropospheric halogens and oxygenated hydrocarbons on tropospheric ozone, aerosols, mercury oxidation and the oxidation capacity of the atmosphere.

Volkamer, R.↗

NASA NTRS2004

Subsurface Sampling and Sensing Using Burrowing Moles

Finding evidence for life on Mars will likely require accessing the subsurface since the Martian surface is both hostile to life and to preservation of biosignatures due to the cold dry conditions, the strong W environment, and the presence of strong oxidants. Systems are needed to probe beneath the sun and oxidant baked surface of Mars and return samples to the surface for analysis or to bring the instrument sensing underground. Recognizing this need, the European Space Agency incorporated a small subsurface penetrometer or Mole onto the Beagle 2 Mars lander. Had the 2003 landing been successful, the Mole would have collected samples from 1-1.5 m depth and delivered them to an organic analysis instrument on the surface. The de- vice called the Planetary Underground Tool (PLUTO), also measured soil mechanical and thermophysical properties. Constrained by the small mass and volume allowance of the Beagle lander, the PLUTO mole was a slender cylinder only 2 cm diameter and 28 cm long equipped with a small sampling device designed to collect samples and bring them to the surface for analysis by other instrument. The mass of the entire system including deployment mechanism and tether was 1/2 kg. sensor package underground to make in situ measurements. The Mars Underground Mole (MUM) is a larger Mole based on the PLUTO design but incorporating light collection optics that interface to a fiber optic cable in the tether that transmits light to a combined stimulated emission Raman Spectrometer and Short Wave Infrared (SWIR) reflectance Spectrometer with sensitivity from 0.7 to 2.5 micrometers. This instrument is called the Dual Spectral Sensor and uses a Digital Array Scanning Interferometer as the sensor technology, a type of fourier transform interferometer that uses fixed element prisms and thus is highly rugged compared to a Michaelson interferometer. Due to the size limitations of an on-Mole instrument compartment, and the availability of a tether, the sensor head, light sources, and control electronics for the instrument are on the surface. The DSS sensor is capable of sensing a wide range of minerals relevant to Mars Astrobiology objectives including hydrated minerals, clays, carbonates, sulfates, and ice. Additionally, Raman spectroscopy is effective for detecting organics. The MUM is designed to achieve a maximum depth of penetration of 5 m in Mars regolith and can be repeatedly deployed and retrieved. The ability to perform repeated sampling, combined with the low mass and power requirements, means that Moles could be incorporated into a rover mission as well as used on a stationary platform. The Mole mechanism is a pointed slender cylinder that advances into soil by way of an internal sliding hammer mechanism. Part of the energy released by the spring-loaded hammer with each shock is transferred to the Mole casing and from there to the soil, resulting in penetration by displacing and compressing the surrounding soil. A backwards-directed impulse as a re- action to each forward shock is transferred via a suppressor mass against a second weaker spring allowing forward motion without requiring reactive forces provided by the lander. The Mole tip can be opened to collect soil samples. The Mole casing is tethered to a supporting mechanism that supplies power. Components supporting the Mole on the surface include a launch tube, tether reel and winch for pulling in tether, in addition to the tether itself.

Stoker, C. R.↗

DOE OSTI2021

Magnetic-Confinement Fusion—Plasma Theory: Tokamak Magnetohydrodynamic Equilibrium and Stability

Magnetohydrodynamics (MHD) provides a useful model to describe the crucial plasma macroscopic equilibrium and stability behaviors in toroidal tokamak devices by considering the plasma as a conducting fluid interacting with a surrounding confining electromagnetic field. MHD is the most basic plasma model, incorporating most large-scale phenomena, including plasma equilibrium and all major instabilities. MHD equations are obtained by taking moments of the Boltzmann equations for different plasma species. They provide a set of comprehensive physics constrains to compute and optimize the equilibrium plasma shape and pressure and current profiles that are critical to its stability and performance. In the ideal case, the equations have special properties that lead to efficient numerical calculation schemes, the most important of which is the ideal MHD energy principle for linear stability against small departures from equilibrium. In a tokamak plasma, equilibrium pressure is mostly destabilizing for MHD modes, whereas equilibrium current is also often a major driving force. Plasma resistivity creates new freedom for a MHD instability to grow, but there are also cases where the plasma resistivity plays a stabilizing role. Equilibrium toroidal flow and/or flow shear can affect MHD instabilities. Principal MHD instabilities include the internal kink mode, sawtooth, fishbone, external kink, resistive wall mode, resistive interchange, tearing and neoclassical tearing modes (NTMs), locked modes, toroidal Alfven eigenmodes (TAEs), and edge localized modes (ELMs). Fast-growing MHD instabilities can lead to an abrupt plasma disruption and termination that can potentially damage the device plasma facing components (PFCs) and in-vessel structures. Furthermore, an important MHD application is to develop robust techniques to mitigate and control MHD instabilities.

Dispersive pellet injection↗

DOE OSTI2020

Landscape responses to intraplate deformation in the Kalahari constrained by sediment provenance and chronology in the Okavango Basin

The structural depression that occupies the Okavango Basin in southern Africa comprises a depo-centre within the intracratonic Kalahari Basin where sediments of the Cenozoic Kalahari Group have accumulated. The Okavango Basin has been formed due to stretching and subsidence at an area of diffused deformation, southwestwards to the main East African Rift System (EARS). Sediments from two full Kalahari Group sequences, located on opposite sides of the Gumare Fault that forms a major fault within the Okavango Basin, were studied to determine their provenance and chronology. Terrestrial Cosmogenic Nuclide (TCN) 26 Al/ 10 Be burial dating was used to constrain a chronostratigraphical framework, and Pb, Sr, and Nd isotopic ratios combined with geochemical and sedimentological analyses were applied to track the source areas of the sediments.Results indicate the following sequence of basin filling: (a) Accumulation between ca. 4–3 Ma during which the currently downthrown (southern) block received a mixture of sediments mostly from the Choma-Kalomo, Ghanzi-Chobe, and Damara terranes, and possibly from the Lufilian Belt and/or Karoo basalts during earlier stages of deposition. Simultaneously, the upthrown (northern) block received sediments from more distant Archean sources in the Zimbabwe and/or Kasai cratons, (b) Hiatus in sedimentation occurred at both sites between ca. 3–2 Ma, (c) Sediments on both sides of the Gumare Fault share a similar source (Angolan Shield) with minor distinct contributions to the downthrown block from the Kasai Craton and local sources input to the upthrown block, and (d) Regional distribution of aeolian sand since at least 1 Ma. The change in source areas is attributed to rearrangements of the drainage systems that were probably linked to vertical crustal movements on the margins of the Okavango Basin. The tectonically induced morphodynamics controlled the landscape evolution of the endorheic basin where vast lakes, wetlands and salt pans have developed through time.

58 GEOSCIENCES↗

NASA NTRS2019

Integrating Remote Sensing Observations with NASA's GEOS-5 Modeling Framework in Support of Retrospective Analyses and Seasonal Prediction of Biosphere-Atmosphere CO2 Flux

The absorption of nearly half of all anthropogenic carbon dioxide (CO2) emissions by terrestrial and marine ecosystems has played a critical role in mitigating climate change. However, a persistent lack of understanding of these uptake processes impedes attribution, and thereby introduces large uncertainties into projections of the trajectory of carbon and climate in coming decades. A better understanding and quantification of the seasonal and interannual variability of carbon flux between the atmosphere and ocean and terrestrial biospheres is critically needed to improve predictions from Earth system models. We propose to bring together a diverse suite of remote sensing observations, mechanistic models, and NASA's Goddard Earth Observing System, version 5 (GEOS-5) model to address two objective 1) quantify the processes controlling the temporal variability of biosphere-atmosphere CO2 flux on seasonal and interannual timescales from 1989 to 2018 and 2) evaluating the predictability of the components of carbon flux on seasonal timescales. Because GEOS-5 has been developed to incorporate a variety of Earth system observations and includes a complete and physically consistent depiction of the atmosphere, land, and ocean carbon cycles, it represents a unique and ideal synthesis framework for this effort. By expanding the realism of processes that could be included in GEOS-5 seasonal forecasts, this effort supports NASA's goals toward an integrated Earth system modeling and prediction framework.We propose to integrate a number of observations into the GEOS-5 modeling system to refine retrospective estimates of both terrestrial and marine carbon flux and to test hypotheses regarding the effects of climate drivers on terrestrial carbon flux. This will include assimilating several satellite ocean color products in the NASA Ocean Biogeochemistry Model (NOBM) to improve the representation of ocean biology. We will also utilize remote sensing datasets to increase the temporal resolution of global land-use change estimates and fire emissions to better constrain the temporal variability of the terrestrial carbon cycle. This information will be incorporated into two NASA terrestrial biosphere models Catchment-CN, a dynamic vegetation model that is integrated within GEOS-5 and the Ecosystem Demography (ED) model, a core modeling resource supporting the Global Ecosystem Dynamics Investigation (GEDI) mission to map biomass. Fluxes will be evaluated through 1) comparison to top-down flux estimates inferred from surface CO2 observations and 2) comparison against available aircraft and satellite observations.By combining predictions of net ecosystem exchange and air-sea CO2 flux from land and ocean models with statistical predictions of land use change, fire, and fossil fuel emissions, we propose to create the first dynamical CO2 forecast on seasonal timescales. Because of the experimental nature of this endeavor, an important project objective will be to evaluate the limits to the predictability of different carbon cycle processes over lead times of 1-12 months using different satellite and surface data streams.

Ott, Lesley↗

NASA NTRSDate not supplied

Coupling of Dust Mineralogy to Radiation in NASA GISS ModelE: Impact Upon Dust Optical Properties and Direct Radiative Effect

Estimates of dust direct radiative effect (DRE) are still largely uncertain mainly due to the poor constraining of regional variations of dust absorption, whose known connection with mineral composition is still largely neglected by most Earth System Models. The inaccurate knowledge of soil mineralogy and insufficient measurements of dust physical and optical properties still present the main challenges for a proper representation of the dust-radiation interaction in climate models. We recently upgraded the coupling of dust minerals to shortwave radiation in the NASA GISS ModelE. In particular, we extended the interaction to online-calculated minerals and implemented two different mixing configurations: i) external mixing of three main mineral components and ii) internal mixing of all minerals, allowing a dynamic fraction of iron oxides. We used a semi-empirical approach for the optical calculations, mostly based on aerosol chamber measurements from natural soils, aiming to reduce the influence of uncertain assumptions on the optical properties and mixing state of individual minerals. In this contribution, we present the results of our first calculations of dust optical properties and DREs based on different mixing configurations of interactive minerals. We show the changes to dust optical depth and single scattering albedo, with respect to the control case using homogeneous dust composition, and the consequent global and regional variations in dust DREs at the top of atmosphere and at surface. We also compare the model optical properties with AERONET data, filtered to identify dust scenes. We find that accounting for the diverse properties of dust minerals modifies the pattern of regional dust absorption and therefore its impact upon climate. We also show that the mineralogy effect is sensitive to the assumed mixing state of minerals.

dust direct radiative effect↗

NASA NTRS2005

Formal Safety Certification of Aerospace Software

In principle, formal methods offer many advantages for aerospace software development: they can help to achieve ultra-high reliability, and they can be used to provide evidence of the reliability claims which can then be subjected to external scrutiny. However, despite years of research and many advances in the underlying formalisms of specification, semantics, and logic, formal methods are not much used in practice. In our opinion this is related to three major shortcomings. First, the application of formal methods is still expensive because they are labor- and knowledge-intensive. Second, they are difficult to scale up to complex systems because they are based on deep mathematical insights about the behavior of the systems (t.e., they rely on the "heroic proof"). Third, the proofs can be difficult to interpret, and typically stand in isolation from the original code. In this paper, we describe a tool for formally demonstrating safety-relevant aspects of aerospace software, which largely circumvents these problems. We focus on safely properties because it has been observed that safety violations such as out-of-bounds memory accesses or use of uninitialized variables constitute the majority of the errors found in the aerospace domain. In our approach, safety means that the program will not violate a set of rules that can range for the simple memory access rules to high-level flight rules. These different safety properties are formalized as different safety policies in Hoare logic, which are then used by a verification condition generator along with the code and logical annotations in order to derive formal safety conditions; these are then proven using an automated theorem prover. Our certification system is currently integrated into a model-based code generation toolset that generates the annotations together with the code. However, this automated formal certification technology is not exclusively constrained to our code generator and could, in principle, also be integrated with other code generators such as RealTime Workshop or even applied to legacy code. Our approach circumvents the historical problems with formal methods by increasing the degree of automation on all levels. The restriction to safety policies (as opposed to arbitrary functional behavior) results in simpler proof problems that can generally be solved by fully automatic theorem proves. An automated linking mechanism between the safety conditions and the code provides some of the traceability mandated by process standards such as DO-178B. An automated explanation mechanism uses semantic markup added by the verification condition generator to produce natural-language explanations of the safety conditions and thus supports their interpretation in relation to the code. It shows an automatically generated certification browser that lets users inspect the (generated) code along with the safety conditions (including textual explanations), and uses hyperlinks to automate tracing between the two levels. Here, the explanations reflect the logical structure of the safety obligation but the mechanism can in principle be customized using different sets of domain concepts. The interface also provides some limited control over the certification process itself. Our long-term goal is a seamless integration of certification, code generation, and manual coding that results in a "certified pipeline" in which specifications are automatically transformed into executable code, together with the supporting artifacts necessary for achieving and demonstrating the high level of assurance needed in the aerospace domain.

Denney, Ewen↗

DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗

DOE OSTI2022

Field observational constraints on the controllers in glyoxal (CHOCHO) reactive uptake to aerosol

Abstract. Glyoxal (CHOCHO), the simplest dicarbonyl in the troposphere, is a potential precursor for secondary organic aerosol (SOA) and brown carbon (BrC) affecting air quality and climate. The airborne measurement of CHOCHO concentrations during the KORUS-AQ (KORea–US Air Quality study) campaign in 2016 enables detailed quantification of loss mechanisms pertaining to SOA formation in the real atmosphere. The production of this molecule was mainly from oxidation of aromatics (59 %) initiated by hydroxyl radical (OH). CHOCHO loss to aerosol was found to be the most important removal path (69 %) and contributed to roughly ∼ 20 % (3.7 µg sm−3 ppmv−1 h−1, normalized with excess CO) of SOA growth in the first 6 h in Seoul Metropolitan Area. A reactive uptake coefficient (γ) of ∼ 0.008 best represents the loss of CHOCHO by surface uptake during the campaign. To our knowledge, we show the first field observation of aerosol surface-area-dependent (Asurf) CHOCHO uptake, which diverges from the simple surface uptake assumption as Asurf increases in ambient condition. Specifically, under the low (high) aerosol loading, the CHOCHO effective uptake rate coefficient, keff,uptake, linearly increases (levels off) with Asurf; thus, the irreversible surface uptake is a reasonable (unreasonable) approximation for simulating CHOCHO loss to aerosol. Dependence on photochemical impact and changes in the chemical and physical aerosol properties “free water”, as well as aerosol viscosity, are discussed as other possible factors influencing CHOCHO uptake rate. Our inferred Henry's law coefficient of CHOCHO, 7.0×108 M atm−1, is ∼ 2 orders of magnitude higher than those estimated from salting-in effects constrained by inorganic salts only consistent with laboratory findings that show similar high partitioning into water-soluble organics, which urges more understanding on CHOCHO solubility under real atmospheric conditions.

Kim, Dongwook (ORCID:0000000221723588)↗

DOE OSTI2026

Characterization of the Polarization Beam Response of SPT-3G Using Point Sources

Precise measurements of cosmic microwave background (CMB) polarization require rigorous control of instrumental systematics. For the South Pole Telescope's third-generation camera (SPT-3G), which observes in three bands centered near 95, 150, and 220 GHz, accurate beam characterization is critical for interpreting the polarized mm-wave sky. We present direct measurements of SPT-3G's polarized beam response from observations of 100 bright extragalactic point sources. Previous SPT-3G power spectrum analyses introduced a phenomenological parameter, $β_{\rm pol}$, to describe the polarization preserved in beam sidelobes, and found evidence for significant depolarization from the requirement of inter-frequency polarization power spectrum consistency. Our direct measurements yield $β_{\rm pol}=0.89\pm0.10$ at 95 GHz, $1.08\pm0.10$ at 150 GHz, and $0.90\pm0.22$ at 220 GHz, indicating minimal sidelobe depolarization. We validate these results with systematic tests of posterior sampling versus bootstrap resampling, real-space versus Fourier-space analysis, temperature-to-polarization leakage handling, covariance determination, and source selection. Compared to values inferred from previous cosmological analyses, our results differ by an effective $1.3σ$. This apparent discrepancy is model dependent, because the point source analysis derives much of its $β_{\rm pol}$ constraining power from higher multipoles than the power spectrum analysis. These measurements therefore admit three explanations for the frequency-dependent residuals observed in the power spectrum analysis: a statistical fluctuation, the need for more sophisticated polarized beam models, or systematics other than beam depolarization.

de Haan, T. [KEK, Tsukuba]↗

DOE OSTI2022

Comparison of basin-scale in situ and meteoric 10 Be erosion and denudation rates in felsic lithologies across an elevation gradient at the George River, northeast Tasmania, Australia

Long-term erosion rates in Tasmania, at the south ern end of Australia’s Great Dividing Range, are poorly known; yet, this knowledge is critical for making informed land-use decisions and improving the ecological health of coastal ecosystems. Here, we present quantitative, geologically relevant estimates of erosion rates for the George River basin, in northeast Tasmania, based on in situ-produced 10 Be ( 10 Be i ) measured from stream sand at two trunk channel sites and seven tributaries (mean: 24.1 ± 1.4 Mg km -2 yr -1 ; 1σ). These new 10 Bei-based erosion rates are strongly related to elevation, which appears to control mean annual precipitation and temperature, suggesting that elevation-dependent surface processes influence rates of erosion in northeast Tas mania. Erosion rates are not correlated with slope in contrast to erosion rates along the mainland portions of Australia’s Great Dividing Range. We also extracted and measured meteoric 10 Be ( 10 Be m ) from grain coatings of sand-sized stream sediment at each site, which we normalize to measured concentrations of reactive 9 Be and use to estimate 10 Be m -based denudation rates for the George River. 10 Bem/ 9 Be reac denudation rates replicate 10 Be i erosion rates within a factor of 3 but are highly sensitive to the value of 9 Be that is found in bedrock ( 9 Be parent ), which was unmeasured in this study. 10 Bem/ 9 Be reac denudation rates seem sensitive to recent mining, forestry, and agricultural land use, all of which resulted in widespread topsoil disturbance. Our findings suggest that 10 Bem/ 9 Be reac denudation metrics will be most useful in drainage basins that are geologically homogeneous, where recent disturbances to topsoil profiles are minimal, and where 9 Be parent is well constrained.

58 GEOSCIENCES↗

NASA NTRS2011

Evolution of the Space Shuttle Primary Avionics Software and Avionics for Shuttle Derived Launch Vehicles

As a result of recommendation from the Augustine Panel, the direction for Human Space Flight has been altered from the original plan referred to as Constellation. NASA s Human Exploration Framework Team (HEFT) proposes the use of a Shuttle Derived Heavy Lift Launch Vehicle (SDLV) and an Orion derived spacecraft (salvaged from Constellation) to support a new flexible direction for space exploration. The SDLV must be developed within an environment of a constrained budget and a preferred fast development schedule. Thus, it has been proposed to utilize existing assets from the Shuttle Program to speed development at a lower cost. These existing assets should not only include structures such as external tanks or solid rockets, but also the Flight Software which has traditionally been a "long pole" in new development efforts. The avionics and software for the Space Shuttle was primarily developed in the 70 s and considered state of the art for that time. As one may argue that the existing avionics and flight software may be too outdated to support the new SDLV effort, this is a fallacy if they can be evolved over time into a "modern avionics" platform. The technology may be outdated, but the avionics concepts and flight software algorithms are not. The reuse of existing avionics and software also allows for the reuse of development, verification, and operations facilities. The keyword is evolve in that these assets can support the fast development of such a vehicle, but then be gradually evolved over time towards more modern platforms as budget and schedule permits. The "gold" of the flight software is the "control loop" algorithms of the vehicle. This is the Guidance, Navigation, and Control (GNC) software algorithms. This software is typically the most expensive to develop, test, and verify. Thus, the approach is to preserve the GNC flight software, while first evolving the supporting software (such as Command and Data Handling, Caution and Warning, Telemetry, etc.). This can be accomplished by gradually removing the "support software" from the legacy flight software leaving only the GNC algorithms. The "support software" could be re-developed for modern platforms, while leaving the GNC algorithms to execute on technology compatible with the legacy system. It is also possible to package the GNC algorithms into an emulated version of the original computer (via Field Programmable Gate Arrays or FPGAs), thus becoming a "GNC on a Chip" solution where it could live forever to be embedded in modern avionics platforms.

Ferguson, Roscoe C.↗

NASA NTRS2015

Characterization of Meteorites by Focused Ion Beam Sectioning: Recent Applications to CAIs and Primitive Meteorite Matrices

Focused ion beam (FIB) sectioning has revolutionized preparation of meteorite samples for characterization by analytical transmission electron microscopy (TEM) and other techniques. Although FIB is not "non-destructive" in the purest sense, each extracted section amounts to no more than nanograms (approximately 500 cubic microns) removed intact from locations precisely controlled by SEM imaging and analysis. Physical alteration of surrounding material by ion damage, fracture or sputter contamination effects is localized to within a few micrometers around the lift-out point. This leaves adjacent material intact for coordinate geochemical analysis by SIMS, microdrill extraction/TIMS and other techniques. After lift out, FIB sections can be quantitatively analyzed by electron microprobe prior to final thinning, synchrotron x-ray techniques, and by the full range of state-of-the-art analytical field-emission scanning transmission electron microscope (FE-STEM) techniques once thinning is complete. Multiple meteorite studies supported by FIB/FE-STEM are currently underway at NASA-JSC, including coordinated analysis of refractory phase assemblages in CAIs and fine-grained matrices in carbonaceous chondrites. FIB sectioning of CAIs has uncovered epitaxial and other overgrowth relations between corundum-hibonite-spinel consistent with hibonite preceding corundum and/or spinel in non-equilibrium condensation sequences at combinations of higher gas pressures, dust-gas enrichments or significant nebular transport. For all of these cases, the ability of FIB to allow for coordination with spatially-associated isotopic data by SIMS provides immense value for constraining the formation scenarios of the particular CAI assemblage. For carbonaceous chondrites matrix material, FIB has allowed us to obtain intact continuous sections of the immediate outer surface of Murchison (CM2) after it has been experimentally ion processed to simulate solar wind space weathering. The surface amorphization and loss of OH produced by the irradiation provides important clues regarding space weathering on primitive asteroids such as the OSIRIS-Rex target 101955 Bennu.

Christoffersen, Roy↗

NASA NTRSDate not supplied

Automated Multi-Robot Assembly of Compliance Optimized Structures

Autonomous assembly of large structures is one of the fundamental challenges on the way towards NASA’s objectives of deep space exploration. In this work, we propose an algorithmic framework to optimize the assembly process of a prescribed target structure by constraining the assembly effort as well as maintaining structural soundness throughout the process. This framework uses structural topology optimization with assembly effort metrics to generate checkpoints for robotic traversal algorithms. Assembly effort is quantified by the Wasserstein metric between consecutive structural configurations during the assembly process. The robotic assembly task is split into two subtasks, where we first optimize for a set of key frames, then perform reconfiguration between consecutive frames. Key frames are optimized by adopting topology optimization techniques to reduce assembly effort and maintain structural integrity during the assembly process, while reconfiguration between key frames is performed using a path planning algorithm with a minimum weight maximum matching approach on a bipartite graph. We employ a Crystalline robot model in which each structural element is capable of locomotion through the structure and locking into place with neighboring elements after reaching its destination. An example assembly of a two-dimensional cantilever beam under volume constraints and structural compliance considerations is presented to demonstrate the approach. Finally, we conclude by discussing possible future extensions to this work, including adoption of better metrics, extension to three-dimensional large-scale problems, and exacting finer control of structural integrity during the path-planning phase.

robotic assembly↗

DOE OSTI2026

Automated tape-target centering based on template matching for construction measurement tasks using robotic total station

Robotic total stations have transformed surveying and construction mapping through precise, efficient, and automated measurements. These instruments integrate a theodolite, which measures horizontal and vertical angles, with an electronic distance measurement (EDM) unit to determine distances, allowing accurate 3D measurement of observable points. Traditionally, users manually aimed the total station at a target. Recent advancements in robotic motor control and integration of cameras now enable automatic rotation and aiming, typically requiring only a single operator to position the target. Automated aiming is commonly performed using retroreflector prisms, which reflect light back to the source with minimal scattering, enabling high-precision measurements over long distances. However, retroreflectors, especially those designed for 360 degree, can be expensive and impractical for certain applications. This paper presents an algorithm for automating the center detection of low-cost disposable tape targets using the total station's onboard camera and a template matching algorithm. The algorithm identifies the target's center pixel in the image, and the instrument is commanded to aim at that location. We evaluated the performance of this template-matching-based centering method under various distances, angles, lighting conditions, and field environments, comparing its results to both manual aiming and conventional automated aiming of tape targets. Manual aiming was used as the baseline operational reference in the absence of an independent ground-truth measurement. The proposed approach achieves target centering results comparable to the manual baseline. This method provides a cost-effective alternative for high-precision applications where retroreflector targets are constrained by budget or logistics.

Harrington, Joshua [ORNL]↗

DOE OSTI2023

A new process-based and scale-aware desert dust emission scheme for global climate models – Part I: Description and evaluation against inverse modeling emissions

Desert dust accounts for most of the atmosphere's aerosol burden by mass and produces numerous important impacts on the Earth system. However, current global climate models (GCMs) and land-surface models (LSMs) struggle to accurately represent key dust emission processes, in part because of inadequate representations of soil particle sizes that affect the dust emission threshold, surface roughness elements that absorb wind momentum, and boundary-layer characteristics that control wind fluctuations. Furthermore, because dust emission is driven by small-scale (~ 1 km or smaller) processes, simulating the global cycle of desert dust in GCMs with coarse horizontal resolutions (~ 100 km) presents a fundamental challenge. This representation problem is exacerbated by dust emission fluxes scaling nonlinearly with wind speed above a threshold wind speed that is sensitive to land-surface characteristics. Here, we address these fundamental problems underlying the simulation of dust emissions in GCMs and LSMs by developing improved descriptions of (1) the effect of soil texture on the dust emission threshold, (2) the effects of nonerodible roughness elements (both rocks and green vegetation) on the surface wind stress, and (3) the effects of boundary-layer turbulence on driving intermittent dust emissions. We then use the resulting revised dust emission parameterization to simulate global dust emissions in a standalone model forced by reanalysis meteorology and land-surface fields. We further propose (4) a simple methodology to rescale lower-resolution dust emission simulations to match the spatial variability of higher-resolution emission simulations in GCMs. The resulting dust emission simulation shows substantially improved agreement against regional dust emissions observationally constrained by inverse modeling. We thus find that our revised dust emission parameterization can substantially improve dust emission simulations in GCMs and LSMs.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2009

Human Research Program Space Human Factors Engineering (SHFE) Standing Review Panel (SRP)

The Space Human Factors Engineering (SHFE) Standing Review Panel (SRP) evaluated 22 gaps and 39 tasks in the three risk areas assigned to the SHFE Project. The area where tasks were best designed to close the gaps and the fewest gaps were left out was the Risk of Reduced Safety and Efficiency dire to Inadequate Design of Vehicle, Environment, Tools or Equipment. The areas where there were more issues with gaps and tasks, including poor or inadequate fit of tasks to gaps and missing gaps, were Risk of Errors due to Poor Task Design and Risk of Error due to Inadequate Information. One risk, the Risk of Errors due to Inappropriate Levels of Trust in Automation, should be added. If astronauts trust automation too much in areas where it should not be trusted, but rather tempered with human judgment and decision making, they will incur errors. Conversely, if they do not trust automation when it should be trusted, as in cases where it can sense aspects of the environment such as radiation levels or distances in space, they will also incur errors. This will be a larger risk when astronauts are less able to rely on human mission control experts and are out of touch, far away, and on their own. The SRP also identified 11 new gaps and five new tasks. Although the SRP had an extremely large quantity of reading material prior to and during the meeting, we still did not feel we had an overview of the activities and tasks the astronauts would be performing in exploration missions. Without a detailed task analysis and taxonomy of activities the humans would be engaged in, we felt it was impossible to know whether the gaps and tasks were really sufficient to insure human safety, performance, and comfort in the exploration missions. The SRP had difficulty evaluating many of the gaps and tasks that were not as quantitative as those related to concrete physical danger such as excessive noise and vibration. Often the research tasks for cognitive risks that accompany poor task or information design addressed only part, but not all, of the gaps they were programmed to fill. In fact the tasks outlined will not close the gap but only scratch the surface in many cases. In other cases, the gap was written too broadly, and really should be restated in a more constrained way that can be addressed by a well-organized and complementary set of tasks. In many cases, the research results should be turned into guidelines for design. However, it was not clear whether the researchers or another group would construct and deliver these guidelines.

Wichansky, Anna↗

NASA NTRS2001

Constraining the Mean Crustal Thickness on Mercury

The topography of Mercury is poorly known, with only limited radar and stereo coverage available. However, radar profiles reveal topographic contrasts of several kilometers over wavelengths of approximately 1000 km. The bulk of Mercury's geologic activity took place within the first 1 Ga of the planet's history), and it is therefore likely that these topographic features derive from this period. On Earth, long wavelength topographic features are supported either convectively, or through some combination of isostasy and flexure. Photographic images show no evidence for plume-like features, nor for plate tectonics; I therefore assume that neither convective support nor Pratt isostasy are operating. The composition and structure of the crust of Mercury are almost unknown. The reflectance spectrum of the surface of Mercury is similar to that of the lunar highlands, which are predominantly plagioclase. Anderson et al. used the observed center-of-mass center-of-figure offset together with an assumption of Airy isostasy to infer a crustal thickness of 100-300 km. Based on tidal despinning arguments, the early elastic thickness (T(sub e)) of the (unfractured) lithosphere was approximately equal to or less than 100 km. Thrust faults with lengths of up to 500 km and ages of about 4 Ga B.P. are known to exist on Mercury. Assuming a semicircular slip distribution and a typical thrust fault angle of 10 degrees, the likely vertical depth to the base of these faults is about 45 km. More sophisticated modelling gives similar or slightly smaller answers. The depth to the base of faulting and the elastic layer are usually similar on Earth, and both are thought to be thermally controlled. Assuming that the characteristic temperature is about 750 K, the observed fault depth implies that the heat flux at 4 Ga B.P. is unlikely to be less than 20 mW m(exp -2) for a linear temperature gradient. For an elastic thickness of 45 km, topography at 1000 km wavelength is likely to be about 60% compensated. There are thus likely to be considerable lateral variations in crustal thickness. Additional information is contained in the original extended abstract.

Nimmo, F.↗