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Mass Inferencing Model Creation and Deployment to the RASSOR Lunar Excavation Robot

The Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. The Intelligent Capabilities Enhanced RASSOR research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. To teleoperate or run autonomously, it is crucial for the quantity of regolith mass ingested by RASSOR to be available as a system state for efficient operation. For example, during autonomous operation, RASSOR should navigate and move to a processing plant to offload the collected regolith when the drums are full; without knowledge of how much mass is in the drums, this type of high-level planning is not possible. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All take in system states, such as arm/drum positions, velocities, currents, voltages, and robot pose, and output a mass prediction for each set of the robot’s bucket drums.1) A neural network model that takes a vector of normalized system states; 2) A model that uses the integrated power consumption of an arm-raise (normalized by velocity); 3) A model that uses average drum current over a variable length interval of the drum disengaged from the surface; and 4) A real-time estimation model that aggregates excavation drum current. The developed models run in real time, outputting predictions for the front and rear drums, timestamp of the last prediction, and total mass in RASSOR’s drums. Further testing is required to validate the arm-raise model (2), though initial tests indicate reasonable performance (<10% mean error) on the hardware. The linear fit of average drum-current model (3) had a front value of r^2=0.99 and a rear value of r^2=0.98 on the validation dataset. This model currently has the best performance on unseen data. The real time model (4) is still in development, though initial results on a small subset of the training data show that it has high accuracy in predicting the increase in mass during excavation. Though work remains to be done with deploying a high-fidelity model to the physical system that makes predictions with error below the desired threshold, the modular architecture for model development allows quick adjustment of parameters to increase model fidelity. This architecture can also be adapted to use lunar excavation data to create models that are reflective of RASSOR’s dynamics when operating on the lunar surface. The results are promising as it has been shown that models can be developed that accurately estimate excavated regolith mass.

rassor↗

DOE OSTI2017

Displacement data assimilation

We show that modifying a Bayesian data assimilation scheme by incorporating kinematically-consistent displacement corrections produces a scheme that is demonstrably better at estimating partially observed state vectors in a setting where feature information is important. While the displacement transformation is generic, here we implement it within an ensemble Kalman Filter framework and demonstrate its effectiveness in tracking stochastically perturbed vortices.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2019

Feature Design for Protein Interface Hotspots Using KFC2 and Rosetta

Protein–protein interactions regulate many essential biological processes and play an important role in health and disease. The process of experimentally characterizing protein residues that contribute the most to protein–protein interaction affinity and specificity is laborious. Thus, developing models that accurately characterize hotspots at protein–protein interfaces provides important information about how to inhibit therapeutically relevant protein–protein interactions. During the course of the ICERM WiSDM workshop 2017, we combined the KFC2a protein–protein interaction hotspot prediction features with Rosetta scoring function terms and interface filter metrics. A two-way and three-way forward selection strategy was employed to train support vector machine classifiers, as was a reverse feature elimination strategy. From these results, we identified subsets of KFC2a and Rosetta combined features that show improved performance over KFC2a features alone.

Seeger, Franziska↗

DOE OSTI2026

Polarization Control via Artificial Optical Nonlinearity in Dielectric Metasurfaces

Nonlinear optical phenomena are generally governed by geometry in matter systems, as they depend on the spatial arrangement of atoms within materials or molecules. Metasurfaces, through precisely designed geometries on a subwavelength scale, allow the optical response of a material to be tailored far beyond its natural properties. Therefore, metasurfaces are highly appealing for enabling the engineering of nonlinear optical interactions. Current studies of nonlinear metasurfaces predominantly focus on the phase control of the generated light. Nonetheless, investigating the tensorial nature of the nonlinearity of metasurfaces and its effect on the polarization of the generated light is critical to fully unlocking a range of applications, such as nonlinear vector beam generation and nonlinear polarization imaging. Here, we study the artificial optical nonlinearity of a dielectric metasurface originating from its meta-atom symmetry and describe the third-order nonlinear behavior by considering the polarization degree of freedom. We establish an effective nonlinear medium model that serves as a design toolbox for developing amorphous silicon-based geometric metasurfaces with customizable features for third-harmonic generation. We further extract quantitative values of the artificial nonlinear susceptibility tensor elements related to the investigated nonlinear process and geometry. The implemented functional devices demonstrate the versatility of dielectric metasurfaces in shaping the emitted light in terms of amplitude, phase, and polarization for the precise engineering of advanced nonlinear architectures targeting applications in nonlinear imaging and complex light generation.

Diffraction↗

DOE OSTI2024

Detecting damage in composites using volume decomposition analysis of tomographic data

Detection of damage in a single tow ceramic matrix composite specimen has been achieved using orthogonal decomposition of volumetric tomographic datasets collected at four tensile loads. This decomposition approach has been applied at two different length scales: (i) individual fibres and (ii) bulk volumes containing fibres and matrix material. Volumes were first decomposed to feature vectors, orders of magnitude smaller than the original volume they describe, and then comparisons between datasets at different load levels were made in feature vector space. The results show quantitative measurements of damage location, damage morphology and the relative growth of this damage with increased load when compared with a dataset with less or no damage. No prior knowledge of the dataset or training of algorithms is required for damage to be detected, it is only necessary that at least two datasets are available for comparison, e.g. from in situ or repeated scanning measurements. Results are generated on significantly shorter timescales when compared with previous automated approaches to tomography data processing. This approach has the potential to be applied to damage detection in a range of materials through comparisons of volumetric datasets from a range of measurement or computational techniques.

Middleton, Ceri A.↗

DOE OSTI2026

Semi-inclusive deep-inelastic scattering on a polarized spin-1 target. II. Deuteron and spectator nucleon tagging

We develop the theoretical framework for semi-inclusive deep-inelastic scattering on a polarized spin-1 target and apply it to scattering on the polarized deuteron with spectator nucleon tagging. In Part I (previous article), we present the general form of the semi-inclusive cross section and polarization observables for the spin-1 target. In Part II (this article), we consider deep-inelastic scattering on the polarized deuteron with spectator nucleon tagging as a special case of target fragmentation. Methods of light-front quantization are employed to separate nuclear and hadronic structure in the high-energy process and achieve a composite description. The light-front wave function of the polarized deuteron is obtained from a rotationally covariant three-dimensional wave function in the center-of-mass frame of the proton-neutron system. The tagged structure functions are computed in the impulse approximation. The momentum and spin distribution of the active nucleon are controlled by the deuteron polarization and the detected spectator momentum (𝐷/𝑆 wave ratio). The cross section and spin asymmetries are evaluated for general deuteron polarization (vector and tensor, longitudinal and transverse) as functions of the spectator momentum. Tensor-polarized spin asymmetries of order unity are achieved for spectator momenta of approximately 300 MeV, which select configurations with a large 𝐷 wave. Sum rules for the tagged spin structure functions are derived. The results can be used for simulations of spectator tagging in future polarized fixed-target experiments (Jefferson Lab) or at the Electron-Ion Collider.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Search for leptoquark pair production decaying into $te^- \bar{t}e^+$ or $t\mu ^- \bar{t}\mu ^+$ in multi-lepton final states in pp collisions at $\sqrt{s} = 13\,\textrm{TeV}$ with the ATLAS detector

A search for leptoquark pair production decaying into $te^- \bar{t}e^+$ or $t\mu ^- \bar{t}\mu ^+$ in final states with multiple leptons is presented. The search is based on a dataset of pp collisions at $\sqrt{s}=13~\text {TeV}$ recorded with the ATLAS detector during Run 2 of the Large Hadron Collider, corresponding to an integrated luminosity of 139 fb -1 . Four signal regions, with the requirement of at least three light leptons (electron or muon) and at least two jets out of which at least one jet is identified as coming from a b-hadron, are considered based on the number of leptons of a given flavour. The main background processes are estimated using dedicated control regions in a simultaneous fit with the signal regions to data. No excess above the Standard Model background prediction is observed and 95% confidence level limits on the production cross section times branching ratio are derived as a function of the leptoquark mass. Under the assumption of exclusive decays into $te^{-}$ ($t\mu ^{-}$ ), the corresponding lower limit on the scalar mixed-generation leptoquark mass $m_{\textrm{LQ}_{\textrm{mix}}^{\textrm{d}}}$ is at 1.58 (1.59) TeV and on the vector leptoquark mass $m_{{\tilde{U}}_1}$ at 1.67 (1.67) TeV in the minimal coupling scenario and at 1.95 (1.95) TeV in the Yang–Mills scenario.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS1994

Automated path planning of the Payload Inspection and Processing System

The Payload Changeout Room Inspection and Processing System (PIPS) is a highly redundant manipulator intended for performing tasks in the crowded and sensitive environment of the Space Shuttle Orbiter payload bay. Its dexterity will be exploited to maneuver the end effector in a workspace populated with obstacles. A method is described by which the end effector of a highly redundant manipulator is directed toward a target via a Lyapunov stability function. A cost function is constructed which represents the distance from the manipulator links to obstacles. Obstacles are avoided by causing the vector of joint parameters to move orthogonally to the gradient of the workspace cost function. A C language program implements the algorithm to generate a joint history. The resulting motion is graphically displayed using the Interactive Graphical Robot Instruction Program (IGRIP) produced by Deneb Robotics. The graphical simulation has the potential to be a useful tool in path planning for the PIPS in the Shuttle Payload Bay environment.

Byers, Robert M.↗

NASA NTRS2015

A Metric to Quantify Shared Visual Attention in Two-Person Teams

Introduction: Critical tasks in high-risk environments are often performed by teams, the members of which must work together efficiently. In some situations, the team members may have to work together to solve a particular problem, while in others it may be better for them to divide the work into separate tasks that can be completed in parallel. We hypothesize that these two team strategies can be differentiated on the basis of shared visual attention, measured by gaze tracking. 2) Methods: Gaze recordings were obtained for two-person flight crews flying a high-fidelity simulator (Gontar, Hoermann, 2014). Gaze was categorized with respect to 12 areas of interest (AOIs). We used these data to construct time series of 12 dimensional vectors, with each vector component representing one of the AOIs. At each time step, each vector component was set to 0, except for the one corresponding to the currently fixated AOI, which was set to 1. This time series could then be averaged in time, with the averaging window time (t) as a variable parameter. For example, when we average with a t of one minute, each vector component represents the proportion of time that the corresponding AOI was fixated within the corresponding one minute interval. We then computed the Pearson product-moment correlation coefficient between the gaze proportion vectors for each of the two crew members, at each point in time, resulting in a signal representing the time-varying correlation between gaze behaviors. We determined criteria for concluding correlated gaze behavior using two methods: first, a permutation test was applied to the subjects' data. When one crew member's gaze proportion vector is correlated with a random time sample from the other crewmember's data, a distribution of correlation values is obtained that differs markedly from the distribution obtained from temporally aligned samples. In addition to validating that the gaze tracker was functioning reasonably well, this also allows us to compute probabilities of coordinated behavior for each value of the correlation. As an alternative, we also tabulated distributions of correlation coefficients for synthetic data sets, in which the behavior was modeled as a first-order Markov process, and compared correlation distributions for identical processes with those for disparate processes, allowing us to choose criteria and estimate error rates. 3) Discussion: Our method of gaze correlation is able to measure shared visual attention, and can distinguish between activities involving different instruments. We plan to analyze whether pilots strategies of sharing visual attention can predict performance. Possible measurements of performance include expert ratings from instructors, fuel consumption, total task time, and failure rate. While developed for two-person crews, our approach can be applied to larger groups, using intra-class correlation coefficients instead of the Pearson product-moment correlation.

Gontar, Patrick↗

NASA NTRS2019

TESS Science Processing Operations Center Pipeline and Data Products

TESS launched 18-4-2018 to conduct a two-year, near all-sky survey for at least 50 nearby exoplanets for which masses can be. TESS just completed surveying the southern hemisphere, identifying hundreds of candidate exoplanet systems and unveiling a plethora of exciting non-exoplanet astrophysics results, such as asteroseismology, asteroids, and supernova. The TESS Science Processing Operations Center (SPOC) at NASA Ames Research Center processes the image data downlinked from TESS every two weeks to generate a variety of data products hosted at the Mikulski Archive for Space Telescopes (MAST). For each ~1 month sector, the SPOC calibrates the image data for both 30-min Full Frame Images (FFIs) and up to 20,000 pre-selected 2-min target star postage stamps. Simple aperture photometry and systematic error-corrected flux time series are generated for the 2-min data. The data products also include co-trending basis vectors (CBVs) and calibration files, such as the Pixel Response Functions (PRF). The archival files are modeled after Kepler's for ease of use, and include Target Pixel Files (TPFs) containing original and calibrated 2-min image data, Light Curve files (LCs) containing the photometric time series for each 2-min target, as well as the Data Validation products. New products derived from the FFIs include light curves for the 2-min targets and CBVs. The TESS Mission is funded by NASA's Science Mission Directorate as an Astrophysics Explorer Mission.

Jenkins, Jon M.↗

DOE OSTI2017

Towards understanding thermal history of the Universe through direct and indirect detection of dark matter

We examine the question to what extent prospective detection of dark matter by direct and indirect- detection experiments could shed light on what fraction of dark matter was generated thermally via the freeze-out process in the early Universe. By simulating putative signals that could be seen in the near future and using them to reconstruct WIMP dark matter properties, we show that, in a model- independent approach this could only be achieved in a thin sliver of the parameter space. However, with additional theoretical input the hypothesis about the thermal freeze-out as the dominant mechanism for generating dark matter can potentially be verified. We illustrate this with two examples: an effective field theory of dark matter with a vector messenger and a higgsino or wino dark matter within the MSSM.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1994

Estimation and classification by sigmoids based on mutual information

An estimate of the probability density function of a random vector is obtained by maximizing the mutual information between the input and the output of a feedforward network of sigmoidal units with respect to the input weights. Classification problems can be solved by selecting the class associated with the maximal estimated density. Newton's s method, applied to an estimated density, yields a recursive maximum likelihood estimator, consisting of a single internal layer of sigmoids, for a random variable or a random sequence. Applications to the diamond classification and to the prediction of a sun-spot process are demonstrated.

Baram, Yoram↗

NASA NTRS2000

SUMI: The Solar Ultraviolet Magnetograph Investigation

A major focus of solar physics is the measurement of the temporal and spatial variability of solar magnetic fields from the photosphere into the lower corona, together with the study of how their behavior produces the dynamic phenomena in this region such as flares and Coronal Mass Injection (CMEs). Considerable success has been achieved in the characterization of the full vector field in the photosphere, where P, the ratio of the gas pressure to the magnetic pressure, is greater than or equal to 1. At higher levels in the atmosphere where beta is less than 1, the magnetic field (through the Lorentz force) controls the structure and dynamics of the solar atmosphere, and rapid changes in structure with release of energy become possible. However, observations of the field at these higher levels have proven to be difficult, placing a serious limitation on our understanding of the physical processes occurring there. This poster will discuss the Solar Ultraviolet Magnetograph Investigation (SUMI), a hardware development study for an instrument capable of measuring the polarization in ultraviolet lines of C IV and Mg II formed in the transition region and upper chromosphere. We are currently developing optical technologies necessary to build an instrument that will achieve a major advance in performance over that of earlier attempts (e.g., SMM/UVSP). Initially configured as a sounding rocket payload, such a UV magnetograph would allow us to make exploratory measurements extending the observation of solar magnetic fields into new and dynamic regimes. This work is supported by NASA through the SEC Program in Solar Physics and the program for Technology Development for Explorer Missions and Sofia.

Davis, John M.↗

DOE OSTI2024

Search for a scalar or pseudoscalar dilepton resonance produced in association with a massive vector boson or top quark-antiquark pair in multilepton events at s = 13 TeV

A search for beyond the standard model spin-0 bosons, ϕ , that decay into pairs of electrons, muons, or tau leptons is presented. The search targets the associated production of such bosons with a W or Z gauge boson, or a top quark-antiquark pair, and uses events with three or four charged leptons, including hadronically decaying tau leptons. The proton-proton collision data set used in the analysis was collected at the LHC from 2016 to 2018 at a center-of-mass energy of 13 TeV, and corresponds to an integrated luminosity of 138 fb - 1 . The observations are consistent with the predictions from standard model processes. Upper limits are placed on the product of cross sections and branching fractions of such new particles over the mass range of 15 to 350 GeV with scalar, pseudoscalar, or Higgs-boson-like couplings, as well as on the product of coupling parameters and branching fractions. Several model-dependent exclusion limits are also presented. For a Higgs-boson-like ϕ model, limits are set on the mixing angle of the Higgs boson with the ϕ boson. For the associated production of a ϕ boson with a top quark-antiquark pair, limits are set on the coupling to top quarks. Finally, limits are set for the first time on a fermiophilic dilaton-like model with scalar couplings and a fermiophilic axion-like model with pseudoscalar couplings.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Search for non-resonant Higgs boson pair production in the $2b+2\ell +{E}_{\textrm{T}}^{\textrm{miss}}$ final state in pp collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

A search for non-resonant Higgs boson pair (HH) production is presented, in which one of the Higgs bosons decays to a b-quark pair ($b\bar{b}$) and the other decays to WW * , ZZ * , or τ + τ – , with in each case a final state with ℓ + ℓ – + neutrinos (ℓ = e, μ). The analysis targets separately the gluon-gluon fusion and vector boson fusion production modes. Data recorded by the ATLAS detector in proton-proton collisions at a centre-of-mass energy of 13 TeV at the Large Hadron Collider, corresponding to an integrated luminosity of 140 fb –1 , are used in this analysis. Events are selected to have exactly two b-tagged jets and two leptons with opposite electric charge and missing transverse momentum in the final state. These events are classified using multivariate analysis algorithms to separate the HH events from other Standard Model processes. No evidence of the signal is found. The observed (expected) upper limit on the cross-section for non-resonant Higgs boson pair production is determined to be 9.7 (16.2) times the Standard Model prediction at 95% confidence level. The Higgs boson self-interaction coupling parameter κ λ and the quadrilinear coupling parameter κ 2V are each separately constrained by this analysis to be within the ranges [–6.2, 13.3] and [–0.17, 2.4], respectively, at 95% confidence level, when all other parameters are fixed.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Prospects for exotic h → 4 τ decays in single and di-Higgs boson production at the LHC and future hadron colliders

We study the prospects for observing exotic decays of the Standard Model Higgs boson h into light beyond the Standard Model scalars a with mass m a ≲ m h / 2 in the single Higgs and Higgs pair production channels at the high luminosity run of the Large Hadron Collider (HL-LHC). Discovery prospects for single Higgs production in the gluon-gluon fusion and vector boson fusion modes with the Higgs boson decaying via the exotic mode h → a a → 4 τ are analyzed at the HL-LHC. The projected sensitivity for exotic Higgs decays in the nonresonant Higgs pair production channel p p → h h → ( h → b b ¯ ) ( h → a a → 4 τ ) → 2 b 4 τ at the HL-LHC and a future s = 100 TeV hadron collider (FCC-hh) are also estimated. Furthermore, we study HL-LHC’s potential reach for the Higgs-strahlung process in the 2 b 4 τ channel, taking into account the contamination from nonresonant Higgs pair production. Finally, the potential reach for resonant Higgs pair production in the 2 b 4 τ channel at the HL-LHC is also explored for several choices of { m H , m a } . Our studies suggest that significant improvements over existing bounds are achievable in several production channels, motivating new dedicated searches for h → a a → 4 τ at the HL-LHC and future colliders. Published by the American Physical Society 2024

Astronomy & Astrophysics↗

DOE OSTI2023

Reliability Improvement by Fault-Tolerant Operation of NPC Inverter for Motor Driving

The high-reliability operation of three-level inverters is crucial to prevent equipment damage, process downtime, and economic losses. This article investigates a three-level neutral-point-clamped inverter under all possible combinations of open-circuit and short-circuit faults and proposes a new postfault operation method without adding extra hardware. This method provides comprehensive solution for operations after single and multiple-device failures, increasing the inverter reliability by 24%. This article classified postfault modulations and uncovered previously unknown fault scenarios that can be addressed using the proposed control method. A new postfault modulation based on space vector modulation with virtual vectors is proposed. The feasibility of the proposed control method is verified by simulation and an experiment for one fault scenario in a three-level neutral-point-clamped inverter with a 3.73 kW motor load. Furthermore, this article contributes to improving the reliability of three-level inverters.

42 ENGINEERING↗

NASA NTRS1993

Estimating Conical Motion From Magnetometer Measurements

Method of digital processing of outputs of magnetometer mounted on scientific instrument or other assembly provides estimates of parameters of slow oscillatory motion of assembly at constant or nearly constant frequency, in which motion one axis of assembly describes elliptical cone about nominal fixed or nearly fixed axis. Conceived for use in estimating rotational-and-vibrational motion of small instrumented satellite and 20-km-long tether anchored at lower end to Space Shuttle. Applicable to almost any situation in which assembly moves conically about known axis while measuring known vector.

Polites, M. E.↗