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NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗

DOE OSTI2025

Mathematical Foundation for Quantum Computing of Electromagnetic Wave Propagation in Dielectric Media

Can quantum computers effectively simulate the propagation and scattering of electromagnetic waves in a classical plasma? This chapter introduces some of the basic concepts in mathematics and physics essential to answering that question. The numerical simulations of Maxwell equations for wave propagation in dielectrics are constrained by technological limitations of the present-day computers. In contrast, there has been ample fanfare around quantum computers and their potential to far exceed the performance of traditional computers. Whether the enhanced capabilities of a quantum computer can be put to use for simulating topics in classical physics is a source of intrigue and curiosity.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2025

In search of truth: In memory of Balraj Singh

Born in Punjab (India) in December 1941, Balraj Singh is not only the single most prolific nuclear data evaluator and disseminator of nuclear structure and decay data with 148 evaluations in Nuclear Data Sheets — 85 as the first and often only author — plus other journals, but his upmost curiosity and dedication brought him to be one of the finest nuclear physicists, with an everlasting influence on many of us. Furthermore, Balraj passed away about a year ago on 9 October 2023 in Ottawa, Ontario (Canada) at the age of 81, and at Atomic Data and Nuclear Data Tables we would like to commemorate some of his scientific achievements.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2026

Electromagnetic production of kaons on the nucleon

Studies of the electromagnetic production of strange quarks started in the 1950s as something of a curiosity that puzzled experimentalists and theorists alike. Eventually, a nascent understanding of these processes began to take shape through the first pioneering experiments dedicated to explore photo- and electroproduction that were carried out in the period from the 1950s to the 1980s. As the datasets increased, concomitant advances in theoretical models were realized. However, these initial studies also made clear that more precise data was essential to continue to move forward. A paradigm shift occurred in the 1990s with the development of second-generation facilities at ELSA, MAMI, SPring-8, and JLab. High-intensity, high duty-factor accelerators, coupled with novel detector systems and advances in computing and readout electronics, brought nuclear physics experiments forward by orders of magnitude in counting statistics compared to the first-generation efforts. This was an utter boon to strangeness physics investigations, and to date, more than 50 dedicated experiments in kaon photo- and electroproduction have been completed at facilities around the world, leading to a host of experimental observables that have enabled significant advances in the exploration of strongly interacting systems that decay via $s\bar{s}$ quark pair creation. These data have proven to be an essential complementary pathway to study the spectrum and structure of the excited states of the nucleon, and the search for missing and exotic baryon configurations. As well, investigations in these channels are requisite for exploring hypernuclear production as a probe of the $YN$ interaction and for studies of the electromagnetic form factors of strange mesons. This review was designed to provide the first-ever in-depth overview of both the experimental and theoretical progress in the field of the electromagnetic production of strangeness. This work looks back over 70 years of past developments, discusses ongoing work and near-term plans, and details future possibilities being considered for third-generation facilities. Extensive lists of the available datasets and theoretical models are provided, together with a comprehensive supporting bibliography of the field. Throughout this work, the primary impacts of these explorations are highlighted, along with connections to a wide range of related phenomenological applications. An important goal of this review is to provide a complete, (reasonably) self-contained guide into this field prepared at a level that is relevant for both new and seasoned scientists, whether experimentalists, phenomenologists, or theorists, to better understand what has been accomplished by so many dedicated folks-each building on what has come before-and to appreciate the exciting future potential for continued studies in this area.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Ensemble methods for quantification of potassium oxide in ChemCam Mars and laboratory spectra

In this paper we test new approaches for predicting the amount of element oxides in rock samples from the ChemCam instrument suite onboard the NASA Curiosity rover by focusing on K 2 O. Using the expanded dataset compiled by Gasda et al. (2021) with and without the Earth to Mars (E2M and NoE2M) transformation discussed in Clegg et al. (2017) we trained blended submodels using the “double blending” technique and compared these to ensemble methods (Random Forest, ExtraTrees, and Gradient Boosting Regression). We found that ensemble methods performed similar to blended submodels when looking at RMSE-P on the laboratory spectra and provided significant advantages when looking at spectra coming from Mars. For the full model, blended submodels achieved an RMSE-P of 0.62 and 0.60 (E2M and NoE2M respectively) while Gradient Boosting Regression resulted in a slightly improved RMSE-P of 0.59 and 0.60. More importantly, by employing a local RMSE-P estimation technique where model performance is evaluated based on nearby test samples we found that using ensemble methods can lower the quantification limit for K 2 O from the current value of ≈0.6 wt% to ≈0.08 wt% using Extra Trees and Random Forest. This would allow for a much larger range of K 2 O values to be quantified on Mars with greater certainty given that most targets seen on Mars tend to have <1 wt% K2O. Finally, we used both Mean Decrease in Impurity (MDI) and permutation importance techniques to investigate the wavelengths used by the ensemble methods and found that they correspond to known potassium emission lines. This suggests that ensemble methods can provide an easier to train and improved alternative to blended submodels for predicting potassium compositions from Laser Induced Breakdown Spectroscopy (LIBS) data.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2024

Manganese-Rich Sandstones as an Indicator of Ancient Oxic Lake Water Conditions in Gale Crater, Mars

Manganese has been observed on Mars by the NASA Curiosity rover in a variety of contexts and is an important indicator of redox processes in hydrologic systems on Earth. Within the Murray formation, an ancient primarily fine-grained lacustrine sedimentary deposit in Gale crater, Mars, have observed up to 45× enrichment in manganese and up to 1.5× enrichment in iron within coarser grained bedrock targets compared to the mean Murray sediment composition. This enrichment in manganese coincides with the transition between two stratigraphic units within the Murray: Sutton Island, interpreted as a lake margin environment, and Blunts Point, interpreted as a lake environment. On Earth, lacustrine environments are common locations of manganese precipitation due to highly oxidizing conditions in the lakes. Here, we explore three mechanisms for ferromanganese oxide precipitation at this location: authigenic precipitation from lake water along a lake shore, authigenic precipitation from reduced groundwater discharging through porous sands along a lake shore, and early diagenetic precipitation from groundwater through porous sands. All three scenarios require highly oxidizing conditions and we discuss oxidants that may be responsible for the oxidation and precipitation of manganese oxides. This work has important implications for the habitability of Mars to microbes that could have used Mn redox reactions, owing to its multiple redox states, as an energy source for metabolism.

58 GEOSCIENCES↗

DOE OSTI2026

Constraining the Hydration of Clay Minerals and Abundances of Amorphous Phases in Gale Crater, Mars

Both water and organic matter are required for the development and persistence of life. Phyllosilicates (clay minerals) have high surface areas that easily sorb water and organic matter. The Curiosity rover has investigated several hundred meters of stratigraphy in Gale crater, including where clays were detected from orbit. Previous results have suggested that subsurface hydration is greatest in units with the most abundant clays, suggesting that these minerals may be hydrated. Organics have also been found throughout Gale crater. Smectites are the most common and abundant phyllosilicates in Gale crater samples and can expand and sorb water and organics in interlayer sites. The most common organic sorption processes on Earth typically involve water or hydroxyl, so hydrated phyllosilicates are good candidates for organic preservation. Using newly derived subsurface hydration results with previously published mineralogy and geochemistry, we derived modeled constraints on the abundances of hydrated amorphous phases, “excess” water, and “excess” cations. These “excess” phases are not accounted for by published crystalline phase abundances or by amorphous phases constrained here. We found correlations between smectites and both “excess” water and “excess” cation abundances, indicating that smectites in Gale crater are hydrated and that cation bridging could be a mechanism for sorption of organics. Our results also show the persistence of amorphous sulfates, opal-A, and volcanic or impact glass, which indicate low water-rock interactions. Increased abundances of sulfates and glass in stratigraphically higher samples may indicate lower water availability and environmental aridification during the time these units were being deposited.

58 GEOSCIENCES↗

DOE OSTI2024

Celebrating Notable Advances in Compound Semiconductors: A Tribute to Dr. Wladyslaw Walukiewicz

The Special Topic "Native Defects, Impurities and the Electronic Structure of Compound Semiconductors" is dedicated to Dr. Wladyslaw (Wladek) Walukiewicz, our esteemed colleague who passed away on November 9, 2022, at age 76. It is not often that a scientist is able to profoundly impact more than one to two scientific topics in their lifetime. Dr. Walukiewicz, a condensed matter theorist by training, arguably did that for at least four. While his scientific accomplishments tell the story of a successful career and valuable contributions, it does not convey the entire story. For the rest, one has only to look at the community of researchers he brought together across the globe. Dr. Walukiewicz conducted his work with curiosity, integrity, and respect for others that elevated those around him. Here, we pay tribute to Dr. Walukiewicz's ideas and the legacy he leaves behind.

defects↗

DOE OSTI2025

Future of condensed matter physics for the next 10 years

This perspective outlines a selection of research directions that members of the JPCM editorial board anticipate may shape the frontier of condensed matter physics over the next decade. Rather than a comprehensive review or formal roadmap, this perspective reflects a set of informed views drawn from diverse areas of expertise. Our intention is to spark curiosity, provoke discussion, and encourage readers to imagine—and pursue—the exciting possibilities that lie ahead.

chemical physics↗

DOE OSTI2025

Simulating evaporative wet and dry cycles in Gale crater, Mars using thermochemical modeling techniques

The aim of this work is to provide a model‐backed hypothesis for the formation of evaporites—sulfates, borates—in Gale crater using thermochemical modeling to determine constraints on their formation. We test the hypothesis that primary evaporites required multiple wet–dry cycles to form, akin to how evaporite assemblages form on Earth. Starting with a basalt‐equilibrated Mars fluid, Mars‐relevant concentrations of B and Li were added, and then equilibrated with Gale lacustrine bedrock. We simulated the cycles of evaporation followed by groundwater recharge/dilution to establish an approximate minimum number of wet–dry cycles required to form primary evaporites. We determine that a minimum of 250 wet–dry cycles may be required to start forming primary evaporites that consist of borates and Ca‐sulfates. We estimate that ~14,250 annual cycles (~25.6 k Earth years) of wet and dry periods may form primary borates and Ca‐sulfates in Gale crater. These primary evaporites could have been remobilized during secondary diagenesis to form the veins that the Curiosity rover observes in Gale crater. No Li salts form after 14,250 cycles modeled for the Gale‐relevant scenario (approximately 10 6 cycles would be needed) which implies Li may be leftover in a groundwater brine after the time of the lake. No major deposits of borates are observed to date in Gale crater which also implies that B may be leftover in the subsequent groundwater brine that formed after evaporites were remobilized into Ca‐sulfate veins.

58 GEOSCIENCES↗

DOE OSTI2025

Wave ripples formed in ancient, ice-free lakes in Gale crater, Mars

Symmetrical wave ripples identified with NASA’s Curiosity rover in ancient lake deposits at Gale crater provide a key paleoclimate constraint for early Mars: At the time of ripple formation, climate conditions must have supported ice-free liquid water on the surface of Mars. These features are the most definitive examples of wave ripples on another planet. The ripples occur in two stratigraphic intervals within the orbitally defined Layered Sulfate Unit: a thin but laterally extensive unit at the base of the Amapari member of the Mirador formation, and a sandstone lens within the Contigo member of the Mirador formation. In both locations, the ripples have an average wavelength of ~4.5 centimeters. Internal laminae and ripple morphology show an architecture common in wave-influenced environments where wind-generated surface gravity waves mobilize bottom sediment in oscillatory flows. Their presence suggests formation in a shallow-water (<2 meters) setting that was open to the atmosphere, which requires atmospheric conditions that allow stable surface water.

Science & Technology - Other Topics↗

DOE OSTI2024

Peter Higgs (1929–2024)

Peter Ware Higgs, a particle physics icon, died on 8 April at the age of 94. Higgs illuminated the path to understanding how exact symmetries obeyed by the laws of nature might be masked by an asymmetric ground state that is an outcome of symmetrical laws. In 1964, he posited that a field filling all of space could be the agent that hides the underlying symmetries of the fundamental interactions. Additionally, when excited, the field reveals itself as a massive unstable particle. In the context of a joint theory of electromagnetism and the weak interaction, that particle—popularly called the Higgs boson—emerged as the keystone of the standard model of particle physics. The decades-long search for the boson engaged the passion of thousands of scientists and engineers and stirred the curiosity of the public the world over.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Manganese-rich sandstones as an indicator of ancient oxic lake water conditions in Gale crater, Mars

58 GEOSCIENCES↗

DOE OSTI2024

Passivated Contacts for Direct Wafer Product (Final Technical Report)

This TCF project developed a thin-oxide (SiO 2 )/polycrystalline silicon (poly-Si) passivated contact solar cell on CubicPV's (formally 1366 Technologies, Inc.) Direct Wafer® Product (DWP) kerfless wafers. The project used two NREL-developed technologies described in U.S. Patent No. 9,911,873, Hydrogenation of Passivated Contacts and U.S. Patent Application Serial No. 15/890,172, Doped Passivated Contacts . The project was motivated by a potential higher efficiency cell (compared to a PERC cell) using passivated contacts on the ultra-low cost kerfless wafers grown using the Direct Wafer process. The hope was to accelerate market adoption of the cell and wafer by delivering the lowest LCOE in the PV industry. The project tested both n-type and p-type SiO 2 /poly-Si passivated contacts grown by thermal oxidation and plasma enhanced chemical vapor deposition (PECVD) of the poly-Si layer on DWP with varying wafer resistivities. Both deposition techniques are industry standards and thus economically viable methods for commercializing the contacts. The results indicated that both n-type and p-type poly-Si passivated contacts can be formed on polycrystalline DWP wafers, but implied open-circuit voltages (i Voc ) were limited to below 0.65 mV (compared with ~ 730 mV on n-Cz wafers). Diffusion of H to the Si/SiO 2 /poly-Si interface was key to obtaining high i Voc values. In this study, H was diffused from a high-temperature SiN x layer deposited over the poly-Si layer during a high-temperature firing step, similar to one used for screen printed metals. The study concluded that poly-Si passivated contacts on DWP wafers passivated the surface of the wafers as well as PERC passivated surfaces, which use a less expensive dielectric layer stack. The project showed that Direct Wafer Product wafers grown by CubicPV could produce high i Voc values (~0.647 mV), which could produce a cell over 20% efficient with proper processing and metallization. These cells, though not economically viable in 2024 as a stand-alone cell, could be integrated with a wide-bandgap top solar cell to form a two-junction tandem cell that could be viable under certain circumstances. This is because the bottom cell of a 30%, two-terminal tandem only needs to be a 20% cell under one-sun conditions. Thus, the DWP could be an ideal low-cost wafer for tandems. The project also revealed that a TOPCon type cell could be formed on a p-type DWP wafer using a P-diffused emitter and a p-type poly-Si contact. In fact, the p-type version of the poly-Si contact out-performed the n-type version for a variety of wafer resistivities, from highly doped to lowly doped. This curiosity requires more work to understand because on Cz wafers, the n-type poly-Si contact is of much higher quality than the p-type version.

14 SOLAR ENERGY↗

DOE OSTI2025

Geochemistry of Mars with Laser-Induced Breakdown Spectroscopy (LIBS): ChemCam, SuperCam, and MarSCoDe

Laser-induced breakdown spectroscopy (LIBS) has been used to explore the chemistry of three regions of Mars on respective missions by NASA and CNSA, with CNES contributions. All three LIBS instruments use ~100 mm diameter telescopes projecting pulsed infrared laser beams of 10–14 mJ to enable LIBS at 2–10 m distances, eliminating the need to position the rover and instrument directly onto targets. Over 1.3 million LIBS spectra have been used to provide routine compositions for eight major elements and several minor and trace elements on >3000 targets on Mars. Onboard calibration targets common to all three instruments allow careful intercomparison of results. Operating over thirteen years, ChemCam on Curiosity has explored lacustrine sediments and diagenetic features in Gale crater, which was a long-lasting (>1 My) lake during Mars’ Hesperian period. SuperCam on Perseverance is exploring the ultramafic igneous floor, fluvial–deltaic features, and the rim of Jezero crater. MarSCoDe on the Zhurong rover investigated for one year the local blocks, soils, and transverse aeolian ridges of Utopia Planitia. The pioneering work of these three stand-off LIBS instruments paves the way for future space exploration with LIBS, where advantages of light-element (H, C, N, O) quantification can be used on icy regions.

47 OTHER INSTRUMENTATION↗

DOE OSTI2026

The Road to Useful Quantum Computers

Building a useful quantum computer is a grand science and engineering challenge, currently pursued intensely by teams around the world. In the 1980s, Richard Feynman and Yuri Manin observed independently that computers based on quantum mechanics might enable better simulations of quantum phenomena. Their vision remained an intellectual curiosity until Peter Shor published his famous quantum algorithm for integer factoring, and shortly thereafter a proof that errors in quantum computations can be corrected. Since then, quantum computing R&D has progressed rapidly, from small-scale experiments in university physics laboratories to well-funded industrial efforts and prototypes. Hype notwithstanding, quantum computers have yet to solve scientifically or practically important problems -- a target often called quantum utility. In this article, we describe the capabilities of contemporary quantum computers, compare them to the requirements of quantum utility, and illustrate how to track progress from today to utility. We highlight key science and engineering challenges on the road to quantum utility, touching on relevant aspects of our own research.

Emerging Technologies (cs.ET)↗

NASA NTRS1977

Techniques of Global analysis applied to gravitation theories: A cosmological black hole?

An elementary model of freely falling observers and emitters within a black hole's radius is examined to determine the redshift spectrum reaching a typical observer. The model is independent of scale, the fundamental unit being the radius (mass) of the black hole. The observers/emitters all follow the same kinds of trajectories: radially inward and starting from rest at spatial infinity. The test-particle role is assumed throughout; i.e., the observers/emitters do not themselves contribute to the gravitational field of the system. By means of redshift formulas and luminosity distance to the emitters, a picture of actual redshifts and blueshifts, with their intensities, emerges for an observer within the black hole's radius. No luminosity distances greater than approximately one-half the radius are considered in this particular study; nevertheless, redshifts and blueshifts up to approximately 0.6 are seen in portions of the observer's celestial sphere. An exotic application can be made, as a curiosity, to a black hole the size of the universe, resulting in a particular anisotropic "cosmology."

Debney, G.↗

NASA NTRS1978

On phase and ray directions of magnetosonic waves

The behavior of phase speed for 'slow' and 'fast' magnetosonic waves is well documented in the literature. Not so well documented is the behavior of the ray direction and its relation to the phase direction - indeed the ray behavior recorded in most of the standard plasma physics texts has not been found. This situation is rectified, and some of the curiosities associated with the direction of the 'slow' ray relative to the direction of the 'slow' phase wave are indicated. These calculations have been performed as a necessary basis for discussion of phase and ray evolution of magnetosonic waves in differentially shearing plasmas.

Lerche, I.↗