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DOE OSTI2026

Xanthos-Lake Dataset

The Xanthos-Lake v1.0 dataset provides the input data, trained machine-learning models, and simulation outputs needed to characterize lake water balance, snow and ice conditions, and mixing-layer temperature within the Xanthos global hydrological modeling framework. The dataset supports lake representation across a wide range of lake sizes and hydroclimatic conditions by combining xLSIM, a basin-specific machine-learning emulator of lake snow, ice, ice-cover fraction, and mixing-layer temperature, with the Xanthos-Lake water-balance model. The archive contains NetCDF datasets used to train and evaluate xLSIM, trained model weights, processed meteorological and lake-property inputs, and basin- and lake-category-specific simulation outputs. These materials are organized into four primary data groups, described below. Snowice_model_inputs: Contains the NetCDF input data used to train xLSIM. The xLSIM machine-learning framework uses three lake-based datasets. The meteorological forcing dataset provides monthly relative humidity, specific humidity, surface wind speed, maximum and minimum air temperature, downward longwave and shortwave radiation, snowfall, surface air pressure, and total precipitation. Lake surface area is included as an additional static predictor. The target-state dataset provides lake ice thickness, snow depth, snow cover, and lake mixing-layer temperature, while a companion lake-surface dataset provides the lake ice-cover fraction. Before training, ice thickness and snow depth are converted from meters to centimeters, mixing-layer temperature is converted from kelvin to degrees Celsius and constrained to nonnegative values, and ice-cover fraction is converted from a fraction to a percentage. The predictor variables are normalized using statistics calculated across the selected lakes and time steps. Snowice_model_outputs: Contains the NetCDF outputs generated by xLSIM. For each basin, xLSIM produces a file containing observed and predicted lake-state variables for the training, validation, and testing periods. The modeled variables include lake ice thickness, snow depth, snow cover, mixing-layer temperature, and lake ice-cover fraction. For basins without a sufficiently persistent snow-and-ice signal, the emulator predicts only mixing-layer temperature. The outputs also include training and validation loss histories, the selected model configuration, identifiers of the lakes used in training, and SHAP-based feature-importance information at the global, lake, and seasonal-regime levels. The trained machine-learning model weights are provided separately within the dataset archive. Together, these files support model evaluation and subsequent coupling with the Xanthos-Lake water-balance framework. XanthosLAKES: Contains the NetCDF input data used by the Xanthos-Lake framework. Monthly meteorological inputs include relative and specific humidity, downward shortwave and longwave radiation, mean, maximum, and minimum air temperature, wind speed, precipitation, snowfall, and surface air pressure. Static lake-property datasets provide lake identifiers, geographic locations, surface area, volume, mean depth, elevation, drainage area, fetch, outlet-routing information, and associated Xanthos grid-cell attributes. Separate bathymetric datasets provide the coefficients of the area–depth and volume–depth relationships for each aggregated lake unit. GLEV-based records provide observed lake surface area and evaporation data used to initialize lake states, define reference conditions, and calibrate and evaluate the model. Xanthos-Lake Outputs: Contains the basin- and lake-category-specific NetCDF outputs generated by Xanthos-Lake. Monthly variables include lake surface area, storage volume, outlet discharge, evaporation rate, evaporation volume, lake–groundwater exchange, lake inflow, ice thickness, snow depth, snow-cover fraction, ice-cover fraction, and mixing-layer temperature. The files also contain lake-specific calibration and validation statistics, including normalized root-mean-square error, mean absolute error, Nash–Sutcliffe efficiency, Kling–Gupta efficiency, and percent bias. Stored calibrated and derived parameters include the weir discharge coefficient, fractional freeboard, groundwater exchange coefficient, reference water level, corresponding reference surface area and storage volume, weir-width adjustment factor, and the fraction of routed inflow entering the lake. Basin identifiers, lake category, simulation period, calibration and validation periods, and parameter-schema information are retained as NetCDF metadata.

Abeshu, Guta [Pacific Northwest National Laborator↗

DOE OSTI2024

Measuring Muon Antineutrino Charged-Current Interactions Without Mesons in the Final State, in the NOvA Near Detector

NOvA is a long-baseline neutrino experiment based at Fermilab in the US, with the primary aim of measuring neutrino and antineutrino oscillations. This will enhance our understanding of electroweak interactions by measuring the neutrino mixing angles, CP-violating phase and neutrino mass ordering. To measure these oscillations, we first need to have a deep understanding of how neutrinos and antineutrinos interact with matter. Antineutrino interaction cross sections are, at present, particularly poorly constrained, and processes such as meson exchange currents are not well understood in the antineutrino sector. This analysis will develop a cross-section measurement of muon antineutrino interactions without mesons (e.g. pions or kaons) in the final state, in the NOvA near detector. A high-statistics, high-purity sample is obtained through a cut-based selection process implementing machine learning techniques. The sample is dominated by quasi-elastic and meson exchange current interactions which are sensitive to nuclear effects such as Final-State Interactions. The cross section will be extracted as a function of the incoming neutrino energy and the kinematics of the outgoing particles.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Measuring Muon Antineutrino Charged-Current Interactions without Mesons in the Final State, in the NOvA Near Detector

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS2011

What We've Learned from Approximately 12 Years of MISR Aerosol Observations

The NASA Earth Observing System's Multi-angle Imaging SpectroRadiometer (MISR) has been imaging the planet about once per week for nearly 12 years. These data contain a wealth of information about the current state, as well as the variability of Earth's surface and atmosphere. For airborne particles specifically, horizontal distributions of aerosol optical depth, aerosol type, and near-source aerosol plume height are now routinely derived. The results are being applied to a wide range of problems, from constraining aerosol direct radiative forcing of climate and assessing its seasonal and secular trends, to material transports of smoke and dust, to mapping volcanic ash plumes and near-surface aerosol pollution. The value of these data is multiplied many times by combining it with data from other sources, and using the aggregate to constrain models. This talk will summarize the latest developments, and will also discuss current work aimed at making further advancements in these areas.

Kahn, Ralph↗

NASA NTRS2015

The CHARIS IFS for high contrast imaging at Subaru

The Coronagraphic High Angular Resolution Imaging Spectrograph (CHARIS) is an integral field spectrograph (IFS) being built for the Subaru telescope. CHARIS will take spectra of brown dwarfs and hot Jovian planets in the coronagraphic image provided by the Subaru Coronagraphic Extreme Adaptive Optics (SCExAO) and AO188 adaptive optics systems. The system is designed to detect objects five orders of magnitude dimmer than their parent star down to an 80 milliarcsecond inner working angle. For characterization, CHARIS has a high-resolution prism providing an average spectral resolution of R82, R69, and R82 in J, H, and K bands respectively. The so-called discovery mode uses a second low-resolution prism with an average spectral resolution of R19 spanning 1.15-2.37 microns (J+H+K bands). This is unique compared to other high contrast IFS designs. It augments low inner working angle performance by reducing the separation at which we can rely on spectral differential imaging. The principal challenge for a high-contrast IFS is quasi-static speckles, which cause undue levels of spectral crosstalk. CHARIS has addressed this through several key design aspects that should constrain crosstalk between adjacent spectral features to be below 1%. Sitting on the Nasmyth platform, the alignment between the lenslet array, prism, and detector will be highly stable, key for the performance of the data pipeline. Nearly every component has arrived and the project is entering its final build phase. Here we review the science case, the resulting design, status of final construction, and lessons learned that are directly applicable to future exoplanet instruments.

Subaru Coronagraphic Extreme Adaptive Optics (SCEx↗

DOE OSTI2025

TRIM: AI Guided Random Number Generation for Resource-Constrained IoT Systems

Random numbers often serve as the backbone for many security solutions in diverse domains such as cryptography, side channel leakage prevention, and moving target defense. However, generating true random numbers requires a physical source of entropy (e.g. hardware, quantum, environmental phenomenon) making it difficult to realize at a large scale and at a low cost. On the flip side, pseudorandom number generators (easy to implement) following a specific distribution (e.g. Gaussian) can be easily compromised given a sufficient amount of traces. In this work, we have developed a machine learning-guided generative approach that can be used to create portable, resource-efficient, and cost-effective random number generators with high throughput and true randomness characteristics. We implement the proposed approach as a highly parameterized framework and perform extensive evaluation for different settings. The framework was able to learn from true random sources such as irrational numbers and environmental audio noise and imitate those sources towards generating new good quality random numbers on demand. We have generated more than 1 billion bits and observed robust performance in terms of true randomness metrics obtained from NIST SP 800-22 and FIPS 140-1 randomness test suites achieving a throughput of up to 142.85 Mbps. Compared to the state-of-the-art (SOTA) technique, the iso-cost setup of our framework can achieve more than 500 Mbps in a distributed setting. We have evaluated the efficacy of running the true randomness imitation AI models on target edge devices such as Raspberry Pi 4 (Model B), Nvidia Jetson Nano, Nvidia Jetson Orin Nano and Nvidia Jetson Xavier. We have also looked at the security of the TRIM framework itself against different adversarial threat models.

Cybersecurity↗

NASA NTRS2018

What Could Be Learned About the Geochronology of Mars from Samples Collected by M-2020

Based on meteoritic evidence, Mars accreted as early as 2 Ma after the formation of the first solids in the solar system from material with an O-Ti-Cr-Ni isotopic provenance distinct from the Earth- Moon system. It likely formed a magma ocean within approx. 100 Ma after solar system formation, from which the martian core last equilibrated with its mantle at pressures of approx. 14 GPa. The formation of most of the mass of the Martian crust is constrained to have occurred by 4.35 Ga. Remanent magnetization in martian meteorite ALH 84001 demonstrates a dynamo had initiated on Mars at or before 4.1 Ga. Sample return is necessary because meteorites lack geologic context and their orientation with respect to the paleomagnetic field is not known.

Source record↗

DOE OSTI2026

Model-independent measurement of the Higgs boson associated production with two jets and decaying to a pair of W bosons in proton-proton collisions at $\sqrt{s}=13$ TeV

A model-independent measurement of the differential production cross section of the Higgs boson decaying into a pair of W bosons, with a final state including two jets produced in association, is presented. In the analysis, events are selected in which the decay products of the two W bosons consist of an electron, a muon, and missing transverse momentum. The model independence of the measurement is maximized by employing a discriminating variable, developed through machine learning, that is agnostic to the signal hypothesis. The analysis is based on proton-proton collision data at $\sqrt{s}=13$ TeV collected with the CMS detector from 2016–2018, corresponding to an integrated luminosity of 138 fb −1 . The production cross section is measured as a function of the difference in azimuthal angle between the two jets. The differential cross section measurements are used to constrain Higgs boson couplings within the standard model effective field theory framework.

Hadron-Hadron Scattering↗

NASA NTRSDate not supplied

From Apollo to Artemis: How Processing ANGSA Core Samples 73001/2 Can Help to Prepare for Future Sample Return Missions to the Moon and Beyond.

Introduction: Apollo Sample 73001/2 is a ~71cm long double drive tube consisting of an upper part (73002) and a lower part (73001) that contains regolith collected near Lara Crater at the Apollo 17 site, Station 3. The double drive tube is believed to have penetrated a lunar landslide deposit that was transported from the slope of the South Massif into the Taurus-Littrow Valley [1]. As part of the ANGSA (Apollo Next Generation Sample Analyses) initiative, preparing a preliminary examination (PE) catalog of 73001/2 is a crucial first step for the early identification of material types such as rock fragments and potential stratigraphy within the core. Many new curation and scientific tools such as X-ray computed tomography (XCT) [3], multi-spectral imaging [4], and gas extraction manifold with piercing tool [5-7], have been applied to the ANGSA core to benefit curation strategy, PE efforts, sample allocation to the planetary science community, and ultimately help to prepare for future sample return missions like Artemis. 73001/2 Preliminary Examination and Processing: Sample 73002 was successfully opened and extruded in Nov. 2019 and fully dissected at the end of 2021. Sample 73001 (Fig. 1) was successfully extruded in March 2022 after careful planning before opening the Core Sample Vacuum Container (CSVC) that was holding the drive tube of 73001. XCT, as part of PE, was used to scan the bottom and top part of the 73001 core tube within the CSVC prior to opening it to 1) facilitate non-destructive, rapid detection of any contamination potentials due to piercing of the CSVC during gas extraction [7]; and 2) to aid in the Artemis sample tool development and provide data on the knife edge seal of the CSVC. This knowledge will help us connect the mechanics of the implemented design (i.e., XCT data) to the performance of the seal (i.e., data on the gas samples will tell us how well the seal preserved the volatile record of lunar samples). Both type of information will feed forward into Artemis tool and storage strategies for future samples. Results and Lessons learned: The XCT data of the CSVC and core tube within showed that the bottom Teflon cap was not pierced during gas extraction (Fig. 1c) and thus, the sample integrity remained guaranteed during piercing and subsequent gas extraction. However, the XCT scan of the top of the core (Fig. 1b) revealed that the drive tube was overfilled with lunar soil and the tool that keeps the soil constrained within the drive tube was not fully deployed. These preliminary data allowed us to implement the necessary steps to prevent loss of sample integrity, including any potential stratigraphy shifts during extrusion. Processing Apollo core 73001/2, creating an informative PE catalog, and applying new and refined tools and technologies for sample analyses are invaluable activities that will assist in circumventing any potential pitfalls, aid in the characterization of samples, and help in the assessment of how well any lunar material has been collected and preserved in the past. This will aid in designing future sample collections and curation procedures and help to prepare for future human exploration and sampling missions such as Artemis. References: [1] Schmitt H. (2017) Icarus 298, 2-33. [3] Zeigler et al. (2021) LPSC 52nd, #2632; [4] Sun et al. (2021), LPSC 52nd, #1789; [5] Parai et al. (2021), LPSC 52nd #2665; [6] Schild et al. (2021) LPSC 52nd #1888; [7] McDonald (2022) ESL 2022.

ANGSA↗

NASA NTRS2005

Adaptable Constrained Genetic Programming: Extensions and Applications

An evolutionary algorithm applies evolution-based principles to problem solving. To solve a problem, the user defines the space of potential solutions, the representation space. Sample solutions are encoded in a chromosome-like structure. The algorithm maintains a population of such samples, which undergo simulated evolution by means of mutation, crossover, and survival of the fittest principles. Genetic Programming (GP) uses tree-like chromosomes, providing very rich representation suitable for many problems of interest. GP has been successfully applied to a number of practical problems such as learning Boolean functions and designing hardware circuits. To apply GP to a problem, the user needs to define the actual representation space, by defining the atomic functions and terminals labeling the actual trees. The sufficiency principle requires that the label set be sufficient to build the desired solution trees. The closure principle allows the labels to mix in any arity-consistent manner. To satisfy both principles, the user is often forced to provide a large label set, with ad hoc interpretations or penalties to deal with undesired local contexts. This unfortunately enlarges the actual representation space, and thus usually slows down the search. In the past few years, three different methodologies have been proposed to allow the user to alleviate the closure principle by providing means to define, and to process, constraints on mixing the labels in the trees. Last summer we proposed a new methodology to further alleviate the problem by discovering local heuristics for building quality solution trees. A pilot system was implemented last summer and tested throughout the year. This summer we have implemented a new revision, and produced a User's Manual so that the pilot system can be made available to other practitioners and researchers. We have also designed, and partly implemented, a larger system capable of dealing with much more powerful heuristics.

Janikow, Cezary Z.↗

NASA NTRS2021

A Survey of CubeSat Deployable Structures: The First Decade

In the past decade CubeSats have made their way into the spotlight. They have evolved from small, university educational opportunities, to industry and governments using them make new discoveries and monetize space. However, with the small, constrained CubeSat form factor; there is often a need to expand the CubeSat through deployable mechanisms once the satellite is in space. This paper is a survey of deployable structures and their actuating mechanisms for CubeSats. The goal of this paper is to provide the applications within which deployable structures have been used in the past for CubeSats, the mechanisms with regards to how they deploy, the lessons learned, and limitations of the various types of deployables. The inputs to this paper come from a relational database in development to track launched CubeSat missions with deployable structures. From this database we can find insightful trends. This paper specifically focuses on the first decade of CubeSat deployables, from 2000 to 2010.

Arya, Manan↗

DOE OSTI2025

Advancing 3D surface imaging: single-axis structured light illumination plenoptic camera with machine learning integration

Structured light illumination (SLI) is a configurable 3D surface imaging modality that can function largely independently of surface texture. At the same time, machine learning (ML) approaches are providing new ways to capture relevant information from SLI patterns, avoiding the need to develop advanced computer vision algorithms. By projecting an optical pattern onto a surface and measuring the apparent distortion of that pattern, one can determine surface topography from a single image. Common realizations of SLI 3D imaging use off-axis SLI to allow for parallax-based determination of depth; however, in constrained geometries, the ability to make single-axis measurements can be of major benefit. While plenoptic imaging (PI) cameras have long been developed for the purpose of single-axis 3D imaging, they are generally reliant on the surface texture of the measured object, thus making them unreliable in certain experimental conditions. Therefore, we present a single-axis 3D SLI plenoptic camera, which combines the single-axis benefits of PI technology while using coaxial SLI to maintain indifference to surface conditions. We also present a study of the camera capabilities paired with the development of several algorithms, including traditional feature tracking methods as well as ML methods, which are found to enhance resolution and range. We report depth sensitivity down to 0.2% $\frac{dz}{z_0}$. The single-axis SLI 3D plenoptic camera demonstrates potential applicability for in-situ topographical measurements under a wide range of conditions including, but not limited to, objects without trackable surface texture, high temperatures, and constrained geometry environments.

Imaging systems↗

DOE OSTI2025

CSP Plant Optimization Study for the California Power Market (“CalCSP”) (Final Technical Report)

Concentrating Solar Power (CSP) with thermal energy storage offers a unique and strategic opportunity to support California’s clean energy transition. Unlike photovoltaic (PV) systems, CSP with thermal storage can generate electricity after sunset and during periods of high demand, making it a valuable complement to intermittent renewable resources. CSP also provides synchronous, inertia-contributing generation, long-duration storage, and flexible dispatch—capabilities increasingly important as thermal plants retire. This report summarizes the findings of the CSP Plant Optimization Study for the California Power Market or “CalCSP study,” which evaluated the technical, economic, environmental, and policy factors that influence the deployment of CSP technologies in California. The CalCSP study was conducted to assess how CSP can contribute to California’s long-term decarbonization goals while enhancing grid reliability, supporting local economic development, and making efficient use of land and transmission resources. It draws on detailed modeling of CSP performance and costs, site suitability analysis, policy reviews, and stakeholder engagement across utilities, regulators, developers, and community organizations. The analysis focuses on mature molten-salt tower technology and incorporates lessons learned from the global CSP fleet, distinguishing today’s CSP from earlier first-of-a-kind projects in the U.S. The findings support a more prominent role for CSP in California’s evolving clean energy landscape. With strategic planning, targeted policy support, and continued cost improvements, CSP can complement PV and batteries to deliver reliable, around-the-clock clean electricity—especially in areas with high solar resource and constrained grid capacity.

14 SOLAR ENERGY↗

NASA NTRS2014

Analysis and Prediction of Weather Impacted Ground Stop Operations

When the air traffic demand is expected to exceed the available airport's capacity for a short period of time, Ground Stop (GS) operations are implemented by Federal Aviation Administration (FAA) Traffic Flow Management (TFM). The GS requires departing aircraft meeting specific criteria to remain on the ground to achieve reduced demands at the constrained destination airport until the end of the GS. This paper provides a high-level overview of the statistical distributions as well as causal factors for the GSs at the major airports in the United States. The GS's character, the weather impact on GSs, GS variations with delays, and the interaction between GSs and Ground Delay Programs (GDPs) at Newark Liberty International Airport (EWR) are investigated. The machine learning methods are used to generate classification models that map the historical airport weather forecast, schedule traffic, and other airport conditions to implemented GS/GDP operations and the models are evaluated using the cross-validations. This modeling approach produced promising results as it yielded an 85% overall classification accuracy to distinguish the implemented GS days from the normal days without GS and GDP operations and a 71% accuracy to differentiate the GS and GDP implemented days from the GDP only days.

Analysis↗

DOE OSTI2024

Data-driven prediction of scaling and ignition of inertial confinement fusion experiments

Recent advances in inertial confinement fusion (ICF) at the National Ignition Facility (NIF), including ignition and energy gain, are enabled by a close coupling between experiments and high-fidelity simulations. Neither simulations nor experiments can fully constrain the behavior of ICF implosions on their own, meaning pre- and postshot simulation studies must incorporate experimental data to be reliable. Linking past data with simulations to make predictions for upcoming designs and quantifying the uncertainty in those predictions has been an ongoing challenge in ICF research. We have developed a data-driven approach to prediction and uncertainty quantification that combines large ensembles of simulations with Bayesian inference and deep learning. The approach builds a predictive model for the statistical distribution of key performance parameters, which is jointly informed by past experiments and physics simulations. The prediction distribution captures the impact of experimental uncertainty, expert priors, design changes, and shot-to-shot variations. We have used this new capability to predict a 10× increase in ignition probability between Hybrid-E shots driven with 2.05 MJ compared to 1.9 MJ, and validated our predictions against subsequent experiments. We describe our new Bayesian postshot and prediction capabilities, discuss their application to NIF ignition and validate the results, and finally investigate the impact of data sparsity on our prediction results.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2025

Multivariate environmental and trait-based controls of transpiration in the Central Amazon Rainforest

Tropical forest tree mortality is increasing due to more severe droughts, yet our understanding of how tree traits and life strategies are linked to drought stress has been limited by measurement scarcity. The BIONTE (BIOmass and NuTrient Experiment) near Manaus, Brazil hosts one of the world’s largest sap flow installations, with sensors in 90 canopy trees across a wood density gradient monitored since June 2022. The 2023 El Niño drought provided a unique opportunity to evaluate how water availability impacts tree transpiration. An interpretable machine learning framework was used to study the complex interactions between transpiration and multiple environmental variables such as soil water availability and vapor pressure deficit (VPD), and how these interactions vary with wood density and individual trees. We found varying responses of transpiration from different trees during the El Niño drought. Transpiration generally increased with temperature, with stronger effects in wetter areas and in trees with low to medium wood density. However, this response was modulated by stomatal sensitivity to VPD, which constrained transpiration under high atmospheric demand, particularly in intermediate-moisture area. The inflection in transpiration rate at high temperatures (>32°C) underscores the role of stomatal and hydraulic regulation in limiting water loss and protecting trees from excessive evaporative demand. Analysis of soil water contribution to transpiration revealed unimodal patterns in wetter area, with peak contributions near 0.45 cm 3 cm -3 of surface soil water and declining or flat responses beyond that threshold, suggesting a shift from water- to energy-limited transpiration. In contrast, drier areas exhibited limited transpiration sensitivity to soil water conditions and minimal trait-based variation in VPD responses, indicating supply-limited conditions. Despite higher wood density trees being generally more resilient, this study shows diverse tree drought resilience, prompting further investigation into the specific traits and dynamics between environmental variables in regulating transpiration and other physiological processes in trees.

Drought↗

DOE OSTI2024

Neural simulation-based inference of the neutron star equation of state directly from telescope spectra

Neutron stars provide a unique opportunity to study strongly interacting matter under extreme density conditions. The intricacies of matter inside neutron stars and their equation of state are not directly visible, but determine bulk properties, such as mass and radius, which affect the star's thermal X-ray emissions. However, the telescope spectra of these emissions are also affected by the stellar distance, hydrogen column, and effective surface temperature, which are not always well-constrained. Uncertainties on these nuisance parameters must be accounted for when making a robust estimation of the equation of state. In this study, we develop a novel methodology that, for the first time, can infer the full posterior distribution of both the equation of state and nuisance parameters directly from telescope observations. This method relies on the use of neural likelihood estimation, in which normalizing flows use samples of simulated telescope data to learn the likelihood of the neutron star spectra as a function of these parameters, coupled with Hamiltonian Monte Carlo methods to efficiently sample from the corresponding posterior distribution. Our approach surpasses the accuracy of previous methods, improves the interpretability of the results by providing access to the full posterior distribution, and naturally scales to a growing number of neutron star observations expected in the coming years.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2011

SRMS History, Evolution and Lessons Learned

Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.

Jorgensen, Glenn↗