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At least 1,693 records · Page 94

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NASA NTRSDate not supplied

REACTER: A Versatile Tool for Large-Scale Reactive Molecular Dynamics

Accurately describing reactive events over long length and time scales remains a grand challenge of computational materials science. REACTER is a general protocol for modeling chemical reactions using classical force fields, and is implemented in the popular molecular dynamics software LAMMPS. REACTER has a growing user base and has been used as a model-building tool for a variety of materials, including thermoplastics, thermosets, glassy materials and composites. The method has also been applied to accelerated modeling of reversible chemical reactions, such as the formation of electrochemical components for batteries. Recently, the REACTER protocol has received some major upgrades to enhance its ability to predict when reactions occur and to make it easier to use. Force field parameters can now be automatically assigned to newly created bonds, angles and other interactions. Advanced reaction constraints have also been added, including an Arrhenius constraint to enforce an effective activation energy, a root-mean-square-deviation option for complex geometrical constraints, and a constraint based on the total potential energy of the atoms involved in a reactive site. This potential energy constraint allows for the accurate reproduction of DFT-based tight-binding (DFTB3) predicted bond dissociation curves for mechanically induced bond breaking.

polymer simulations, molecular dynamics↗

NASA NTRSDate not supplied

Integrating Earth Observations and Socioeconomic Data to Address Health, Equity, and Environmental Justice

Access to reliable data about the characteristics of populations is a crucial component of decision making, policy development, and the assessment of progress towards strategic goals. Social determinants of health provide insight into the status of social and economic conditions within populations that have profound effects on public health, equity, and vulnerability. International frameworks such as the Sustainable Development Goals (SDGs) fundamentally focus on equality, but to efficiently address targets and indicators, socioeconomic data and Earth observations must be integrated to help identify populations most vulnerable to the impacts of climate change, natural disasters, health disparities, and poor policy planning. The ability to identify vulnerable populations with data analysis has the potential to empower community stakeholders with spatial awareness needed to inform decision-making that addresses equity and environmental justice issues within their communities. The EPA defines environmental justice (EJ) as “the fair treatment and meaningful involvement of all people regardless of race, color, national origin, or income with respect to the development, implementation and enforcement of environmental laws, regulations and policies.” NASA’s Earth Science Division (ESD) recognizes the benefits that Earth observations with NASA satellites create by equipping individuals with the knowledge to address community challenges. NASA’s Socioeconomic Data and Applications Center (SEDAC) supports the integration of socioeconomic and Earth science data as an “informational gateway.” This integration of data is advancing health, equity, and environmental justice initiatives.

Natasha Johnson-Griffin↗

NASA NTRSDate not supplied

Lightweight Surveillance and Target Acquisition Radar Characterization For High Density Vertiplex Beyond Visual Line of Sight Operations

With the growth of the National Aeronautics and Space Administration (NASA) National Campaign, it is becoming increasingly important for government and enforcement agencies to be able to monitor and safely track urban air traffic that will take place in the coming years. The performance of the Lightweight Surveillance and Target Acquisition Radar (LSTAR) is investigated and statistically characterized. The compact LSTAR is mounted on a building at NASA Langley Research Center (LaRC) and operated to track a SR-22 aircraft. Performance data of the LSTAR tracking is presented by comparing the LSTAR-tracked flight against the onboard flight records and statistical characteristics are presented. Implications of findings to operations within High Density Vertiplex (HDV) at LaRC are discussed. The LSTAR ultimately proves to be a compact method to safely track and monitor small aircraft and other unmanned aerial vehicles.

Nicholas M. Gaug↗

NASA NTRSDate not supplied

Decoupling the Effects of Anthropogenic Emission Reductions from the Meteorology and Natural Emissions in TROPOMI NO 2 Retrievals During the 2020 COVID-19 Lockdowns

Satellite measurements during the COVID-19 lockdowns that began in 2020 revealed unprecedented reductions in NO 2 tropospheric vertical column densities (VCD). These reductions have largely been attributed to reduced anthropogenic emissions associated with abrupt decreases in road traffic and other power consuming business activities. Although decreased emissions tended to be the main contributor to the observed NO 2 VCD reduction, meteorological variability also played a role. Whereas the observed VCD changes were predominantly negative in places where public health policies were strictly enforced, meteorology had both positive and negative effects over short time intervals. Here, we present results from a global study of the NO 2 reductions aimed at disentangling the meteorological and natural emission variability from the anthropogenic emissions over the world’s most populated megacities. For this study, NASA’s TROPOMI NO 2 algorithm was used in conjunction with the Global Modeling Initiative (GMI) chemical transport model to separate the contributions due emissions and meteorology. A priori NO 2 profiles were generated from two GMI simulations performed for 2020 at a resolution of 0.25° longitude x 0.25° latitude. The first simulation used updated, COVID-impacted NOX emissions based on Forster et al. (2020), while the second simulation used the 2019 emissions with the 2020 meteorology, referred to here as 2020BAU. The 2020BAU data set allowed for the decoupling of the emission component from the meteorology. When compared to the same period in 2019, NO 2 column amounts during the lockdowns were reduced in 35 out of 36 cities. While reduced emissions contributed most to the observed total change in NO 2 during the lockdowns, the effects of meteorology were significant, ranging between 40% (Chennai) and 15% (Beijing). In China, an increase in NO 2 levels due to meteorology were observed in five out of the seven cities considered in the study. Use of different a-priori NO 2 profiles from the two simulations in our TROPOMI retrievals allowed for a determination of retrieval errors that ranged from -1.7% to -11.0%. We used the quality assurance flag > 0.75 to select the highest quality scenes in the study period. Using the GMI, we estimated the sampling biases to be in the range -11% to 10% of the total change for the cities in our study.

Brad Fisher↗

NASA NTRSDate not supplied

Gulf of Mexico Health & Air Quality: Mapping Methane Emission Plumes Using Sunglint-configured Imagery for Monitoring Offshore Oil and Gas Activity

We had three project objectives that we set out to accomplish. The first objective is to demonstrate how remote sensing can complement the current bottom-up methane emission assessments. Currently, quantities of disposed gas vented and flared are self-reported by operators to BOEM and BSEE. Meanwhile, inspections are uncommon, and ground sensors are non-existent. Therefore, remote sensing may be the agencies' best bet in verifying these operator accounts. The second objective is to identify methane plumes in the Gulf of Mexico, Asia, and elsewhere using Sentinel-2, LandSat, and PRISMA images, and then present an estimate of their emission rate. While methane retrievals from oil and gas infrastructure on-shore has been relatively well-documented, doing so on the offshore oil and gas platforms is more difficult, less prevalent, and contingent on the presence of specific conditions. The final objective is to give our partners, BOEM and BSEE, a more robust understanding of methane emissions from oil and gas production in the Gulf of Mexico. This increased knowledge, paired with a demonstration of methane monitoring, is intended to help our partners think about how they can incorporate remote sensing into their monitoring, regulatory and enforcement framework.

Ben Dahan↗

NASA NTRSDate not supplied

Machine-Learned Committor Functions for Reactive Molecular Dynamics

Reactive molecular dynamics (MD) is a powerful tool for atomistic-scale modeling of a diverse range of chemical processes. However, scaling these simulations to large systems and long times scales remains a challenge because of the complexity of the potential energy function required. The authors previously developed a heuristic approach, called REACTER, that incorporates reactivity in MD simulations in a less general but much more computationally efficient manner. REACTER uses standard, fixed valence force fields as the underlying potentialenergy surface for describing all interatomic interactions but adds a procedure for enforcing user-defined reactions that occur when certain geometric constraints on relative atomic positions are satisfied. Further, these bonding changes can be accepted or rejected with a probability related tothe local thermal energy. This work seeks to generalize this approach by replacing the set of user defined geometric constraints and energetic criteria with a committor function that specifies the probability of a reaction occurring on the basis of the local atomic configuration. The committor function is a useful mathematical tool for modeling rare events but, unfortunately, is very difficult to compute for realistic systems in a general way. This work describes a method for approximating the committor function using a machine learning approach, specifically a deep neural network trained with data from reactive MD and DFT-based dynamics simulations. This network is coupled to the existing REACTER protocol, as implemented in the LAMMPS MD package, and used to make on-the-fly predictions of reaction probabilities without the more extensive user input previously required. The new method is demonstrated using the polymerization of polystyrene as a case study. Although very dependent on the quality and quantity of training data, machine-learned committor functions show promise as a method for incorporating reaction probability from higher level calculations into highly scalable MD simulations.

polymer simulations↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Drone usage has been on the rise in recent years with applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. Once regulations and safety policies are put in place to allow for the widespread use of unmanned drones, the number of aircraft in the National Airspace System (NAS) is expected to skyrocket to millions, potentially congesting the airspace which increases the likelihood of separation violations and possibly incidents. Currently, flight infrastructure can only support a few thousand aircraft flying over the United States National Airspace System (NAS) at any given time. A delay at one airport can send ripple effects throughout the system, causing more delays and missed connections. In air traffic control, separation is the concept of keeping an “ownship” aircraft outside a minimum distance from “intruder” aircraft to reduce the risk of the aircraft colliding, as well as preventing accidents due to secondary factors, such as wake turbulence. Maintaining proper separation is often a safety critical property for fixed-wing drones in the airspace. This paper addresses drone separation in time and distance for high volume corridors (en route) and lanes (on ground), merging as well as crossing intersections of multiple corridors/lanes. In this paper, the term drone is applied to both Unmanned Aerial Vehicle (UAV) and small Unmanned Aircraft System (UAS) vehicles operating autonomously. There exists a gamut of approaches to the merging and crossing problems. At one end of the extreme are the conservative yet low cost and verifiable solutions of today that deal with two drones at a time. At the other end are complex Machine Learning-based solutions with high computing requirements for fully autonomous drones of the future that are expected to handle all contentions. This paper presents a feasible and verifiable strategic approach to these problems that is based on distributed cooperation between the drones and the infrastructure. Three phases of the strategic approach (Prepare, Adjust, Commit) are presented. Simulation results are presented that show the proposed approach is stable and resilient to induced perturbations and guarantees a set of fixed-wing drones to merge and cross intersections by adjusting their speed based on their distance to the aircraft in front of them while remaining in the equilibrium state. The equilibrium state is defined as the state when a set of n aircraft move at a relatively constant speed and uniform spacing from each other in a congested system. A congested system is defined as the state when at least one aircraft cannot move at its maximum allowed speed. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Simulation results are presented that assess the feasibility of the approach.

Distributed↗

NASA NTRSDate not supplied

Sunglint-aided Methane Retrieval: Using Sentinel-2 to Quantify Offshore Oil and Gas Emissions

The extraction, production, and transportation of oil and gas via activities such as intentional venting and fugitive emissions are leading contributors to anthropogenic methane emissions. Offshore operations comprise a significant percentage of all oil and gas operations, yet emission monitoring over the ocean is insufficient. Due to low surface reflectance over the ocean, remote sensing measurements offshore are limited. Therefore offshore contributions to the overall global methane budget are unknown. Regulators such as the Bureau of Ocean and Energy Management (BOEM) and the Bureau of Safety and Environmental Enforcement (BSEE) are unable to validate operator-reported methane emission estimates. The NASA DEVELOP Program partnered with BOEM, BSEE, and SkyTruth to identify potential offshore methane sources in the Gulf of Mexico. Drawing upon existing retrieval methods to detect and quantify onshore methane emissions (Varon et al., 2021), we selected sunglint scenes to detect methane plumes over the ocean in Sentinel-2 imagery. We detected two methane plumes at the Constitution complex in the Gulf of Mexico and off the coast of Pointe-Noire, Congo. If expanded, these methods could serve a vital role in validating operator reporting and quantifying climate impacts of offshore oil and gas operations - complementing those of next generation satellites.

Katherine Howell↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Distributed↗

NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Drone usage has been on the rise in recent years with applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. This paper addresses drone separation in time and distance for high volume corridors (en route) and lanes (on ground), merging as well as crossing intersections of multiple corridors/lanes. There exists a gamut of approaches to solving merging and intersection crossing problems. At one end of the extreme are the conservative yet low cost and verifiable solutions of today that deal with two drones at a time. At the other end are complex Machine Learning-based solutions with high computing requirements for fully autonomous drones of the future that are expected to handle all contentions. This paper presents a feasible and verifiable strategic approach to solving these problems that is based on distributed cooperation between the UAVs/UASs and the infrastructure. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Three phases of the strategic approach (Prepare, Adjust, Commit) are presented. Simulation results are presented that show the proposed approach is stable and resilient to induced perturbations and guarantees a set of fixed-wing UAVs/UASs to merge and cross intersections by adjusting their speed based on their distance to the aircraft in front of them.

Distributed↗

NASA NTRSDate not supplied

Numerical Simulations of A Conceptual MSR-EES Shoulder Recession

The present study demonstrates our in-house material response solver, Icarus's capability to simulate the ablative conditions, including pyrolysis effects due to the interaction between hypersonic boundary layers and the thermal protection system (TPS). A conceptual aeroshell shoulder design, which undergoes mission-relevant flow and material conditions, is selected for the demonstration purpose. LAURA, a structured flow solver, is used to solve flow around the shoulder at several trajectory points of a flight path. The aerothermal dataset obtained from LAURA is used to enforce boundary conditions on the aeroshell wall to simulate ablation processes. The two-layered material system is stacked with HEEET (TPS) and Aluminum (actual material). A set of base parameters, such as the angle of material orientation with respect to the flow direction, convective heat-transfer co-efficient, and aerothermal boundary conditions on the rear end of the HEEET material layer, is selected to conduct a base-case simulation. A small amount of recession was observed, indicating that the design should be fine to go through the selected flow and material conditions. Furthermore, the parameters mentioned above are individually altered and are observed to affect the shoulder design's recession compared to the base case. Verification of our Icarus setup was also carried out using a one-dimensional grid and FIAT, a one-dimensional material-response solver, to build credibility for our results. As the current work is an uncoupled fluid-material-response simulation, a local sharp mesh deformation in the recessed surface near the shoulder corner is observed.

Prakash Shrestha↗

NASA NTRS2019

Shortsighted Evolution Constrains the Efficacy of Long-Term Bet Hedging

To survive unpredictable environmental change, many organisms adopt bet-hedging strategies that are initially costly but provide a long-term fitness benefit. The temporal extent of these deferred fitness benefits determines whether bet-hedging organisms can survive long enough to realize them. In this article, we examine a model of microbial bet hedging in which there are two paths to extinction: unpredictable environmental change and demographic stochasticity. In temporally correlated environments, these drivers of extinction select for different switching strategies. Rapid phenotype switching ensures survival in the face of unpredictable environmental change, while slower-switching organisms become extinct. However, when both switching strategies are present in the same population, then demographic stochasticity—enforced by a limited population size—leads to extinction of the faster-switching organism. As a result, we find a novel form of evolutionary suicide whereby selection in a fluctuating environment can favor bet-hedging strategies that ultimately increase the risk of extinction. Population structures with multiple subpopulations and dispersal can reduce the risk of extinction from unpredictable environmental change and shift the balance so as to facilitate the evolution of slower-switching organisms.

Bet hedging↗

NASA NTRS2022

Overcoming Universal Restrictions on Metal Selectivity by Protein Design

Selective metal coordination is central to the functions of metalloproteins:1,2 each metalloprotein must pair with its cognate metallocofactor to fulfl its biological role3 . However, achieving metal selectivity solely through a three-dimensional protein structure is a great challenge, because there is a limited set of metal-coordinating amino acid functionalities and proteins are inherently fexible, which impedes steric selection of metals3,4 . Metal-binding afnities of natural proteins are primarily dictated by the electronic properties of metal ions and follow the Irving–Williams series5 (Mn2+ < Fe2+ < Co2+ < Ni2+ Zn2+) with few exceptions6,7 . Accordingly, metalloproteins overwhelmingly bind Cu2+ and Zn2+ in isolation, regardless of the nature of their active sites and their cognate metal ions1,3,8 . This led organisms to evolve complex homeostatic machinery and non-equilibrium strategies to achieve correct metal speciation1,3,8–10. Here we report an artifcial dimeric protein, (AB)2, that thermodynamically overcomes the Irving–Williams restrictions in vitro and in cells, favouring the binding of lower-Irving–Williams transition metals over Cu2+, the most dominant ion in the Irving–Williams series. Counter to the convention in molecular design of achieving specifcity through structural preorganization, (AB)2 was deliberately designed to be fexible. This fexibility enabled (AB)2 to adopt mutually exclusive, metal-dependent conformational states, which led to the discovery of structurally coupled coordination sites that disfavour Cu2+ ions by enforcing an unfavourable coordination geometry. Aside from highlighting fexibility as a valuable element in protein design, our results illustrate design principles for constructing selective metal sequestration agents.

Tae Su Choi↗

NASA NTRS2022

Solar Polar Flux Redistribution Based on Observed Coronal Holes

We explore the use of observed polar coronal holes (CHs) to constrain the flux distribution within the polar regions of global solar magnetic field maps in the absence of reliable quality polar field observations. Global magnetic maps, generated by the Air Force Data Assimilative Photospheric flux Transport (ADAPT) model, are modified to enforce field unipolarity thresholds both within and outside observed CH boundaries. The polar modified and unmodified maps are used to drive Wang–Sheeley–Arge (WSA) models of the corona and solar wind (SW). The WSA-predicted CHs are compared with the observations, and SW predictions at the WIND and Ulysses spacecraft are also used to provide context for the new polar modified maps. We find that modifications of the polar flux never worsen and typically improve both the CH and SW predictions. We also confirm the importance of the choice of the domain over which WSA generates the coronal magnetic field solution but find that solutions optimized for one location in the heliosphere can worsen predictions at other locations. Finally, we investigate the importance of low-latitude (i.e., active region) magnetic fields in setting the boundary of polar CHs, determining that they have at least as much impact as the polar fields themselves.

Solar coronal holes↗

NASA NTRS2022

Gulf of Mexico Health & Air Quality Ii: Mapping Methane Emission Plumes Using Sunglint-Configured Imagery for Monitoring Offshore Oil and Gas Activity

Offshore oil and gas production in the United States is a major source of anthropogenic greenhouse gas emissions and accounts for nearly 30% of global oil and gas production. Methane venting and flaring are primary contributors to offshore emissions, and monitoring these activities is crucial for mitigating greenhouse gas emissions. Limited ground truthing and intermittent offshore satellite revisits make monitoring venting and flaring challenging. The Bureau of Ocean Energy Management (BOEM) and the Bureau of Safety and Environmental Enforcement (BSEE) oversee offshore oil and gas activity but rely primarily on operator-reported data. The non-profit organization SkyTruth monitors natural resources like methane and identifies sources of fugitive emissions. By combining BOEM and BSEE’s operational data along with observations from Sentinel-2 Multispectral Instrument (MSI), Landsat 8 Operational Land Imager (OLI) and Landsat 9 OLI-2, and PRecursore IperSpettrale della Missione Applicativa (PRISMA), the team further identified ultra-emitter point sources in the Gulf of Mexico using sunglint-configured imagery. We quantified these plume emission rates using the methodology from Varon et al. (2020). The team found three plumes in the Gulf of Mexico occurring between 2020 and 2022 using Sentinel-2 MSI and Landsat 9 OLI-2 imagery, in addition to the single plume identified by the Gulf of Mexico Health & Air Quality I team, and successfully quantified three plumes. Our statistical retrieval of three PRISMA images tasked over areas of interest yielded no methane plumes, despite a successful test of a known plume in Assam, India. These analyses serve as a proof of concept for the utility of remote sensing for methane emission monitoring offshore, which can complement regulator emission inventories and validate self-reported operator records.

sunglint↗

NASA NTRS2022

Global Premature Mortality By Dust and Pollution PM 2.5 Estimated From Aerosol Reanalysis of the Modern-Era Retrospective Analysis for Research and Applications, Version 2

This study quantifies global premature deaths attributable to long-term exposure of ambient PM 2.5 , or PM 2.5 -attributable mortality, by dust and pollution sources. We used NASA’s Modern-Era Retrospective Analysis for Research and Applications, Version 2 (MERRA-2) aerosol reanalysis product for PM 2.5 and the cause-specific relative risk (RR) from the integrated exposure-response (IER) model to estimate global PM2.5-attributable mortality for five causes of deaths, namely ischaemic heart disease (IHD), cerebrovascular disease (CEV) or stroke, lung cancer (LC), chronic obstructive pulmonary disease (COPD), and acute lower respiratory infection (ALRI). The estimated yearly global PM 2.5 -attributable mortality in 2019 amounts to 2.89 (1.38–4.48) millions, which is composed of 1.19 (0.73–1.84) million from IHD, 1.01 (0.35–1.55) million from CEV, 0.29 (0.11–0.48) million from COPD, 0.23 (0.14–0.33) million from ALRI, and 0.17 (0.04–0.28) million from LC (the numbers in parentheses represent the estimated mortality range due corresponding to RR spread at the 95% confidence interval). The mortality counts vary with geopolitical regions substantially, with the highest number of deaths occurring in Asia. China and India account for 40% and 23% of the global PM 2.5 -attributable deaths, respectively. In terms of sources of PM 2.5 , about 22% of the global all-cause PM 2.5 -attributable deaths are caused by desert dust. The largest dust attribution is 37% for ALRI. The relative contributions of dust and pollution sources vary with the causes of deaths and geographical regions. Enforcing air pollution regulations to transfer areas from PM 2.5 nonattainment to PM2.5 attainment can have great health benefits. Being attainable with the United States air quality standard (AQS) of 15 μg/m 3 globally would have avoided nearly 40% or 1.2 million premature deaths. The most recent update of PM 2.5 guideline from 10 to 5 μg/m 3 by the World Health Organization (WHO) would potentially save additional one million lives. Our study highlights the importance of distinguishing aerodynamic size from geometric size in accurately assessing the global health burden of PM 2.5 and particularly for dust. A use of geometric size in diagnosing dust PM 2.5 from the model simulation, a common approach in current health burden assessment, could overestimate the PM 2.5 level in the dust belt by 40–170%, leading to an overestimate of global all-cause mortality by 1 million or 32%.

PM2.5↗

NASA NTRS2022

Foraging with MUSHROOMS: A Mixed-integer Linear Programming Scheduler for Multimessenger Target of Opportunity Searches with the Zwicky Transient Facility

Electromagnetic follow-up of gravitational-wave detections is very resource intensive, taking up hours of limited observation time on dozens of telescopes. Creating more efficient schedules for follow-up will lead to a commensurate increase in counterpart location efficiency without using more telescope time. Widely used in operations research and telescope scheduling, mixed-integer linear programming is a strong candidate to produce these higher-efficiency schedules, as it can make use of powerful commercial solvers that find globally optimal solutions to provided problems. We detail a new target-of-opportunity scheduling algorithm designed with Zwicky Transient Facility in mind that uses mixed-integer linear programming. We compare its performance to gwemopt, the tuned heuristic scheduler used by the Zwicky Transient Facility and other facilities during the third LIGO–Virgo gravitational-wave observing run. This new algorithm uses variable-length observing blocks to enforce cadence requirements and to ensure field observability, along with having a secondary optimization step to minimize slew time. We show that by employing a hybrid method utilizing both this scheduler and gwemopt, the previous scheduler used, in concert, we can achieve an average improvement in detection efficiency of 3%–11% over gwemopt alone for a simulated binary neutron star merger data set consistent with LIGO–Virgo's third observing run, highlighting the potential of mixed-integer target of opportunity schedulers for future multimessenger follow-up surveys.

B Parazin↗

NASA NTRS2022

Should’ve Could’ve: Progress in the Systems Engineering of the Mars2020 On-Board Planner

Mars rover operations has traditionally controlled behavior using meticulously compiled, so-called “Master” sequences that enforce deterministic timing and ordering of activities. While the approach is effective at managing risk and complexity, it can also be inefficient. Extended operations of the Mars2020 rover envisions a fundamentally different scheduling and execution approach. Atomic activities are constrained by mission operators in time, resource usage, and a structure of dependencies. The rover flight software will create and re-create schedules, responding to available energy, data volume, actual activity durations and execution status, observed temperatures, and other on-board state. Schedules are expected to change substantially in the course of execution. The solution space is prohibitively large and probabilistic in nature. A range of emergent behavior is accessible depending on the interaction between actual on-board state and a given formulation of constraints. For years, the specification and implementation of this capability have been considered and refined, as testing and analysis have mapped the contours of the system. Many concepts that could have been adopted were rejected, and in some cases, emergent properties have been exposed and beaten back with approaches to steer the behavior. This paper discusses some of the design history and underlying reasoning in the systems engineering of the first autonomous activity planner on Mars.

Kuhn, Stephen R↗