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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS1999

Multi-Scale Interactions Associated with the Monsoon Onset Over South China Sea and Adjacent Regions during SCSMEX-98

Using data collected during The South China Sea Monsoon Experiment (SCSMEX) (1998) as well as from the TRMM Microwave-Imager (TMI) and precipitation radar (PR), we have studied the multi-scale interactions (meso-synoptic-intraseasonal) associated with monsoon onset over South China Sea (SCS) and its subsequent evolution. Results show that the monsoon onset (defined by development of steady wind direction and heavy precipitation) over the northern SCS occurred around May 15 -17. Prevailing southerlies and southwesterlies developed over the central SCS after May 20. Shortly after, monsoon convection developed over the whole SCS region around May 23-27. The entire onset process appeared to be delayed by about a week to 10 days compared with climatology. During late spring of 1998, mid-latitude frontal systems were particularly active. These systems strongly impacted the northern SCS convection and may have been instrumental in triggering the onset of the SCS monsoon. The Tropical Oceans and Global Atmosphere (TOGA) and Bureau of Meteorology Research Centre (BMRC) radar showed a wide variety of convective systems over the Intensive Flux Array, from frontal bands to shear-banded structure, deep convection, pop-corn type shallow convection, slow moving "fine lines" to water spout. Analysis of SSM/I wind and moisture data suggested that the delayed convective activity over the SCS may be linked to the weakened northward propagation of monsoon rain band, hence contributing to a persistence of the rainband south of the Yangtze River and the disastrous flood that occurred over this region during mid to late June, 1998.

Lau, William K. M.↗
DOE OSTI2022

60 GHz Outdoor Propagation Measurements and Analysis Using Facebook Terragraph Radios

The high attenuation of millimeter-wave (mmWave) would significantly reduce the coverage areas, and hence it is critical to study the propagation characteristics of mmWave in multiple deployment scenarios. In this work, we investigated the propagation and scattering behavior of 60 GHz mmWave signals in outdoor environments at a travel distance of 98 m for an aerial link (rooftop to rooftop), and 147 m for a ground link (light-pole to light-pole). Measurements were carried out using Facebook Terragraph (TG) radios. Results include received power, path loss, signal-to-noise ratio (SNR), and root mean square (RMS) delay spread for all beamforming directions supported by the antenna array. Strong line-of-sight (LOS) propagation exists in both links. We also observed rich multipath components (MPCs) due to edge scatterings in the aerial link, while only LOS and ground reflection MPCs in the other link.

60 GHz↗
DOE OSTI2022

Stress-controlled fatigue of HfNbTaTiZr high-entropy alloy and associated deformation and fracture mechanisms

The stress-controlled fatigue tests are carried out at a stress ratio of 0.1 and a frequency of 10 Hz, and span both low-cycle and high-cycle regimes by varying the applied stress amplitudes. The high-cycle fatigue regime gives a fatigue strength of 497 MPa and a fatigue ratio of 0.44. At equivalent conditions, the alloy's fatigue strength is greater than all other high-entropy alloys (HEAs) with reported high-cycle fatigue data, dilute body-centered cubic alloys, and many structural alloys such as steels, titanium alloys, and aluminum alloys. Through in-depth analyses of crack-propagation trajectories, fracture-surface morphologies and deformation plasticity by means of various microstructural analysis techniques and theoretical frameworks, the alloy's remarkable fatigue resistance is attributed to delayed crack initiation in the high-cycle regime, which is achieved by retarding the formation of localized persistent slip bands, and its good resistance to crack propagation in the low-cycle regime, which is accomplished by intrinsic toughening backed up by extrinsic toughening. Additionally, the stochastic nature of the fatigue data is neatly captured with a 2-parameter Weibull model.

36 MATERIALS SCIENCE↗
DOE OSTI2026

Los Alamos Portable Pulser (LAPP) Marx Bank and Digitizer System Characterization

Over the duration of June 22 nd to July 15 th , I interned at Los Alamos National Laboratory within ISR-2 on the Los Alamos Portable Pulser (LAPP) Program. This program concerns a radar dish used for characterizing signal propagation through earth’s ionosphere. The bulk of my internship consisted of characterizing the delay of a Marx Bank Generator and writing hardware-interface C/C++ code for the pulse-recording Digitizer System.

47 OTHER INSTRUMENTATION↗
NASA NTRS2011

Separating Direct and Indirect Turbofan Engine Combustion Noise While Estimating Post-Combustion (Post-Flame) Residence Time Using the Correlation Function

A previous investigation on the presence of direct and indirect combustion noise for a full-scale turbofan engine using a far-field microphone at 130 is extended by also examining signals obtained at two additional downstream directions using far-field microphones at 110 deg and 160 deg. A generalized cross-correlation function technique is used to study the change in propagation time to the far field of the combined direct and indirect combustion noise signal as a sequence of low-pass filters are applied. The filtering procedure used produces no phase distortion. As the low-pass filter frequency is decreased, the travel time increases because the relative amount of direct combustion noise is reduced. The indirect combustion noise signal travels more slowly because in the combustor entropy fluctuations move with the flow velocity, which is slow compared to the local speed of sound. The indirect combustion noise signal travels at acoustic velocities after reaching the turbine and being converted into an acoustic signal. The direct combustion noise is always propagating at acoustic velocities. The results show that the estimated indirect combustion noise time delay values (post-combustion residence times) measured at each angle are fairly consistent with one another for a relevant range of operating conditions and demonstrate source separation of a mixture of direct and indirect combustion noise. The results may lead to a better idea about the acoustics in the combustor and may help develop and validate improved reduced-order physics-based methods for predicting turbofan engine core noise.

Miles, Jeffrey Hilton↗
DOE OSTI2020

First Direct Observations of Propagation of Discrete Chorus Elements From the Equatorial Source to Higher Latitudes, Using the Van Allen Probes and Arase Satellites

Whistler mode chorus waves have recently been established as the most likely candidate for scattering relativistic electrons to produce the electron microbursts observed by low altitude satellites and balloons. These waves would have to propagate from the equatorial source region to significantly higher magnetic latitude in order to scatter electrons of these relativistic energies. This theoretically proposed propagation has never been directly observed. We present the first direct observations of the same discrete rising tone chorus elements propagating from a near equatorial (Van Allen Probes) to an off-equatorial (Arase) satellite. The chorus is observed first on the more equatorial satellite and is found to be more oblique and significantly attenuated at the off-equatorial satellite. Further, this is consistent with the prevailing theory of chorus propagation and with the idea that chorus must propagate from the equatorial source region to higher latitudes. Ray tracing of chorus at the observed frequencies confirms that these elements could be generated parallel to the field at the equator, and propagate through the medium unducted to Van Allen Probes A and then to Arase with the observed time delay, and have the observed obliquity and intensity at each satellite.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1997

Ultrasonic wave velocity measurement in small polymeric and cortical bone specimens

A system was refined for the determination of the bulk ultrasonic wave propagation velocity in small cortical bone specimens. Longitudinal and shear wave propagations were measured using ceramic, piezoelectric 20 and 5 MHz transducers, respectively. Results of the pulse transmission technique were refined via the measurement of the system delay time. The precision and accuracy of the system were quantified using small specimens of polyoxymethylene, polystyrene-butadiene, and high-density polyethylene. These polymeric materials had known acoustic properties, similarity of propagation velocities to cortical bone, and minimal sample inhomogeneity. Dependence of longitudinal and transverse specimen dimensions upon propagation times was quantified. To confirm the consistency of longitudinal wave propagation in small cortical bone specimens (< 1.0 mm), cut-down specimens were prepared from a normal rat femur. Finally, cortical samples were prepared from each of ten normal rat femora, and Young's moduli (Eii), shear moduli (Gij), and Poisson ratios (Vij) were measured. For all specimens (bone, polyoxymethylene, polystyrene-butadiene, and high-density polyethylene), strong linear correlations (R2 > 0.997) were maintained between propagation time and distance throughout the size ranges down to less than 0.4 mm. Results for polyoxymethylene, polystyrene-butadiene, and high-density polyethylene were accurate to within 5 percent of reported literature values. Measurement repeatability (precision) improved with an increase in the wave transmission distance (propagating dimension). No statistically significant effect due to the transverse dimension was detected.

Non-NASA Center↗
DOE OSTI2026

Phase instability-coupled fracture behavior in garnet LLZO solid electrolytes: a machine learning-enabled atomistic study

Fracture in the garnet-type solid electrolyte Li 7 La 3 Zr 2 O 12 (LLZO) poses a critical threat to both the performance and safety of solid-state batteries. To unravel the coupled chemomechanical processes that govern fracture in LLZO under external loading, we carry out large-scale molecular-dynamics simulations with a validated machine-learning force field. Our results demonstrate that triaxial stresses at crack flanks trigger a localized cubic-to-tetragonal phase transformation, which is accompanied by Li-ion rearrangement. The emergent tetragonal domains feature lattice contraction normal to the fracture plane, imposing coherent misfit strains that provide an additional driving force for further crack propagation. Crucially, introducing Li deficiencies stabilizes the cubic phase, postponing the phase transition and thereby delaying fracture initiation. These findings highlight the role of intrinsic phase instability in dictating LLZO's fracture resistance and its critical connection to local Li concentration. This chemomechanical coupling points toward targeted strategies to enhance the mechanical robustness of garnet electrolytes, including tuning Li content, ensuring dopant homogeneity, and refining processing protocols.

Materials science↗
NASA NTRS1986

Observations of fatigue crack growth rate and closure behavior in 7475-T731 aluminum under variable amplitude loading

Simultaneous measures of fatigue crack propagation rate and crack closure were taken from 7475-T731 aluminum alloy center cracked tensile specimens under variable amplitude loading conditions. Results indicate the presence of load interaction in a variety of repeated variable amplitude loading blocks. Load interaction results in retardation of the propagation rate for most loading blocks examined in the study. Closure did not explain observed delay behavior associated with high stress ratio and single peak overloads. Primary influences on the crack opening stress intensity level include the maximum stress intensity of the repeated loading block, the minimum stress intensity of the block, and the number of fatigue cycles between overloads of the block.

Turner, Charles C.↗
NASA NTRS1993

Time-dependent modulation of galactic cosmic rays by merged interaction regions

Models that solve the one-dimensional, solar modulation equation have reproduced the 11-year galactic cosmic ray using functional representations of global merged interaction regions (MIRs). This study extends those results to the solution of the modulation equation with explicit time dependence. The magnetometers on Voyagers 1 and 2 provide local magnetic field intensities at regular intervals, from which one calculates the ratio of the field intensity to the average local field. These ratios in turn are inverted to form diffusion coefficients. Strung together in radius and time, these coefficents then fall and rise with the strength of the interplanetary magnetic field, becoming representations of MIRs. These diffusion coefficients, calculated locally, propagate unchanged from approx. 10 AU to the outer boundary (120 AU). Inside 10 AU, all parameters, including the diffusion coefficient are assumed constant in time and space. The model reproduces the time-intensity profiles of Voyager 2 and Pioneer 10. Radial gradient data from 1982-1990 between Pioneer 10 and Voyager 2 are about the same magnitude as those calculated in the model. It is also shows agreement in rough magnitude with the radial gradient between Pioneer 10 and 1 AU. When coupled with enhanced, time-dependent solar wind speed at the probe's high latitude, as measured by independent observers, the model also follows Voyager 1's time-intensity profile reasonably well, providing a natural source the model also follows Voyager 1's time-intensity profile reasonably well, providing a natural source for the observed negative latitudinal gradients. The model exhibits the 11-year cyclical cosmic ray intensity behavior at all radii, including 1 AU, not just at the location of the spacecraft where the magnetic fields are measured. In addition, the model's point of cosmic ray maximum correctly travels at the solar wind speed, illustrating the well-known propagation of modulation. Finally, at least in the inner heliosphere this model accounts for the delay experienced by lower-rigidity protons in reaching their time-intensity peak. The actual delays in this model, however, are somewhat smaller than the data. In the outer heliosphere the models sees no delays, and the data are ambiguous as to their existence. It appears that strong magnetic field compression regions (merged interaction regions) that are 3-4 times the average field strength can, at least in a helioequatorial band, disrupt effects, such as drifts, that could dominate in quieter magnetic fields. The question remains: Is the heliosphere ever quiet enough to allow such effects to be unambiguously measured, at least in the midlatitudes?

Perko, J. S.↗
NASA NTRS2003

Possible Stick-Slip Mechanism for Whillans Ice Stream

Tidally-induced stick-slip motion in the mouth of Whillans Ice Stream provides a unique natural experiment in ice-stream response behavior and fiom which we might learn a great deal about subglacial till properties and sub-ice-stream conditions. At the IGS Symposium on Fast Glacier Flow (Yakutat, 2002), we reported our observations of stick- slip motion and demonstrated its synchronicity with tidal forcing. Recently, we have completed additional processing of our GPS data in differential mode. It reveals more details of the stick-slip events and illustrates that within 30 seconds, the temporal interval of our data, the ice stream accelerates to a speed corresponding to a completely lubricated bed. While details of individual events vary, there seems to be strong evidence of an elastic rebound on the time scale of one hour following most events. This suggests the event involves the release of stored elastic strain energy in the ice. The similar displacements of events suggest further that till or subglacial hydrologic properties limit the amount of elastic strain released in any single event. We follow a line of reasoning that dilatant strengthening limits the slip displacement and present model of the stick-slip process. To match the observed delay between the peak ocean tide and stick-slip events, our model includes a propagating pressure wave in the subglacial hydrologic system between the grounding line, where the rising tide first increases the subglacial water pressure and regions upstream where stored elastic strain increases the basal shear stress. This high-tide event is released when the increased water pressure reaches the region of increased shear stress. Dilatant strengthening stops the event by increasing pore volume and lowering the water pressure. Following this event, falling tide increases the normal forces, compresses the till and increases pore pressure again, leading to the second falling-tide event we observe every tidal cycle.

Bindschadler, Robert↗
NASA NTRS2003

Possible Stick-Slip Mechanism for Whillans Ice Stream

Tidally-induced stick-slip motion in the mouth of Whillans Ice Stream provides a unique natural experiment in ice-stream response behavior and from which we might learn a great deal about subglacial till properties and sub-ice-stream conditions. At the IGS Symposium on Fast Glacier Flow (Yakutat, 2002), we reported our observations of stick- slip motion and demonstrated its synchronicity with tidal forcing. Recently, we have completed additional processing of our GPS data in differential mode. It reveals more details of the stick-slip events and illustrates that within 30 seconds, the temporal interval of our data, the ice stream accelerates to a speed corresponding to a completely lubricated bed. While details of individual events vary, there seems to be strong evidence of an elastic rebound on the time scale of one hour following most events. This suggests the event involves the release of stored elastic strain energy in the ice. The similar displacements of events suggest further that till or subglacial hydrologic properties limit the amount of elastic strain released in any single event. We follow a line of reasoning that dilatant strengthening limits the slip displacement and present model of the stick-slip process. To match the observed delay between the peak ocean tide and stick-slip events, our model includes a propagating pressure wave in the subglacial hydrologic system between the grounding line, where the rising tide first increases the subglacial water pressure and regions upstream where stored elastic strain increases the basal shear stress. This high-tide event is released when the increased water pressure reaches the region of increased shear stress. Dilatant strengthening stops the event by increasing pore volume and lowering the water pressure. Following this event, falling tide increases the normal forces, compresses the till and increases pore pressure again, leading to the second falling-tide event we observe every tidal cycle.

Bindschadler, Robert↗
NASA NTRS1981

Fresnel zone structure in planetary occultations

The structures of the Fresnel zones of an occulting body with a substantial atmosphere are analyzed. The first Fresnel zone is defined as the set of all contiguous points connected to the transmitter and receiver via paths with a combined length within one half wavelength of the stationary value, and calculated by the application of the Huygens-Fresnel principle to a wave front frozen in time as it traverses the region of interest, taking into account wave front curvature of waves undergoing refraction. Calculations of the Fresnel zones of a planet determined by the meeting of wave fronts represented as tori reveal that the zone along the propagation path traversing the nearest portion of the limb to the transmitter has a shape similar to an ellipse, while that of the far zone resembles the letter X. The phase delay along the farside path is found to be a stationary point rather than a minimum, since delay is distributed in the form of a hyperbolic paraboloid near the ray and in the form of a torus intersection for greater separations. Examples are presented for S band propagation deep in the atmospheres of Venus and Jupiter.

Croft, T. A.↗
NASA NTRS2013

Multimode Directional Coupler for Utilization of Harmonic Frequencies from TWTAs

A novel waveguide multimode directional coupler (MDC) intended for the measurement and potential utilization of the second and higher order harmonic frequencies from high-power traveling wave tube amplifiers (TWTAs) has been successfully designed, fabricated, and tested. The design is based on the characteristic multiple propagation modes of the electrical and magnetic field components of electromagnetic waves in a rectangular waveguide. The purpose was to create a rugged, easily constructed, more efficient waveguide- based MDC for extraction and exploitation of the second harmonic signal from the RF output of high-power TWTs used for space communications. The application would be a satellitebased beacon source needed for Qband and V/W-band atmospheric propagation studies. The MDC could function as a CW narrow-band source or as a wideband source for study of atmospheric group delay effects on highdata- rate links. The MDC is fabricated from two sections of waveguide - a primary one for the fundamental frequency and a secondary waveguide for the second harmonic - that are joined together such that the second harmonic higher order modes are selectively coupled via precision- machined slots for propagation in the secondary waveguide. In the TWTA output waveguide port, both the fundamental and the second harmonic signals are present. These signals propagate in the output waveguide as the dominant and higher order modes, respectively. By including an appropriate mode selective waveguide directional coupler, such as the MDC presented here at the output of the TWTA, the power at the second harmonic can be sampled and amplified to the power level needed for atmospheric propagation studies. The important conclusions from the preliminary test results for the multimode directional coupler are: (1) the second harmonic (Ka-band) can be measured and effectively separated from the fundamental (Ku-band) with no coupling of the latter, (2) power losses in the fundamental frequency are negligible, and (3) the power level of the extracted second harmonic is sufficient for further amplification to power levels needed for practical applications. It was also demonstrated that third order and potentially higher order harmonics are measurable with this device. The design is frequency agnostic, and with the appropriate choice of waveguides, is easily scaled to higher frequency TWTs. The MDC has the same function but with a number of important advantages over the conventional diplexer.

Simmons, Rainee N.↗
NASA NTRS1983

Plausible mechanisms for rapid acceleration of protons during solar flares

The distinctive physical features of 20 gamma-ray line flares observed during Solar Maximum Mission are discussed. The average energy deposition by nonthermal electrons in the impulsive phase of the flare event of April 27, 1980 is calculated, on the basis of spectral data from the Hinotori satellite. Analysis of the hard X-ray spectral evolution of the flare events of June 21, 1980 and April 27, 1981, showed a very hot (about 10 to the 8th K) thermal component with an emission measure of 3 x 10 to the 47th per cu cm. Some possible mechanisms for the particle acceleration observed during the flare events are discussed, including: the delay of high-energy hard X-rays; first-order Fermi acceleration by shocks propagating in a closed flare loop; and the compression of accelerated particles by upstream and downstream scattering centers around a shock front. In addition to the above mechanisms, sotchastic acceleration by turbulence is identified as a possible mechanism for rapid proton acceleration during solar flare events.

Bai, T.↗
NASA NTRS2004

COTS MEMS Flow-Measurement Probes

As an alternative to conventional tubing instrumentation for measuring airflow, designers and technicians at Glenn Research Center have been fabricating packaging components and assembling a set of unique probes that contain commercial off-the-shelf (COTS) microelectromechanical systems (MEMS) sensor chips. MEMS sensor chips offer some compelling advantages over standard macroscopic measurement devices. MEMS sensor technology has matured through mass production and use in the automotive and aircraft industries. At present, MEMS are the devices of choice for sensors in such applications as tire-pressure monitors, altimeters, pneumatic controls, cable leak detectors, and consumer appliances. Compactness, minimality of power demand, rugged construction, and moderate cost all contribute to making MEMS sensors attractive for instrumentation for future research. Conventional macroscopic flow-measurement instrumentation includes tubes buried beneath the aerodynamic surfaces of wind-tunnel models or in wind-tunnel walls. Pressure is introduced at the opening of each such tube. The pressure must then travel along the tube before reaching a transducer that generates an electronic signal. The lengths of such tubes typically range from 20 ft (approx.= 6 m) to hundreds of feet (of the order of 100 m). The propagation of pressure signals in the tubes damps the signals considerably and makes it necessary to delay measurements until after test rigs have reached steady-state operation. In contrast, a MEMS pressure sensor that generates electronic output can take readings continuously under dynamic conditions in nearly real time. In order to use stainless-steel tubing for pressure measurements, it is necessary to clean many tubes, cut them to length, carefully install them, delicately deburr them, and splice them. A cluster of a few hundred 1/16-in.- (approx.=1.6-mm-) diameter tubes (such clusters are common in research testing facilities) can be several inches (of the order of 10 cm) in diameter and could weigh enough that two technicians are needed to handle it. Replacing hard tubing with electronic chips can eliminate much of the bulk. Each sensor would fit on the tip of a 1/16-in. tube with room to spare. The Lucas NovaSensor P592 piezoresistive silicon pressure sensor was chosen for this project because of its cost, availability, and tolerance to extreme ambient conditions. The sensor chip is 1 mm square by 0.6 mm thick (about 0.039 by 0.039 by 0.024 in.) and includes 0.12-mm (approx.=0.005-in.) wire connection tabs. The figure shows a flow-angularity probe that was built by use of three such MEMS chips. It is planned to demonstrate this MEMS probe as an alternative to a standard tube-type "Cobra" probe now used routinely in wind tunnels and aeronautical hardware. This MEMS probe could be translated across a flow field by use of a suitable actuator, so that its accuracy and the shortness of its response time could be exploited to obtain precise dynamic measurements of a sort that cannot be made by use of conventional tubing-based instrumentation.

Redding, Chip↗
NASA NTRS2004

Tunable Optical True-Time Delay Devices Would Exploit EIT

Tunable optical true-time delay devices that would exploit electromagnetically induced transparency (EIT) have been proposed. Relative to prior true-time delay devices (for example, devices based on ferroelectric and ferromagnetic materials) and electronically controlled phase shifters, the proposed devices would offer much greater bandwidths. In a typical envisioned application, an optical pulse would be modulated with an ultra-wideband radio-frequency (RF) signal that would convey the information that one seeks to communicate, and it would be required to couple differently delayed replicas of the RF signal to the radiating elements of a phased-array antenna. One or more of the proposed devices would be used to impose the delays and/or generate the delayed replicas of the RF-modulated optical pulse. The beam radiated or received by the antenna would be steered by use of a microprocessor-based control system that would adjust operational parameters of the devices to tune the delays to the required values. EIT is a nonlinear quantum optical interference effect that enables the propagation of light through an initially opaque medium. A suitable medium must have, among other properties, three quantum states (see Figure 1): an excited state (state 3), an upper ground state (state 2), and a lower ground state (state 1). These three states must form a closed system that exhibits no decays to other states in the presence of either or both of two laser beams: (1) a probe beam having the wavelength corresponding to the photon energy equal to the energy difference between states 3 and 1; and (2) a coupling beam having the wavelength corresponding to the photon energy equal to the energy difference between states 3 and 2. The probe beam is the one that is pulsed and modulated with an RF signal.

Kulikov, Igor↗
NASA NTRS2021

Mass Inferencing Model Creation And Deployment To Lunar Excavation Robot, RASSOR

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. This research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. Radio wave propagation time to the Moon and back is ~2.56 seconds. Though teleoperation is possible with this delay, autonomous capability that enables RASSOR to plan and execute excavation missions intelligently and efficiently is preferred. 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 (e.g. knowledge of whether drums are full informs the task of highest priority, whether it be continuing to dig, or returning to a processing plant to offload regolith). A configurable data reduction and analysis pipeline was created to allow for straightforward incorporation of new data, such as that from lunar excavation, to improve model performance in new environments. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All four models take in system states and output a mass prediction for each set of the robot’s bucket drums. Initial results from deployment to RASSOR and testing in a simulated lunar environment show that the models have <10% mean error during robot operation. Future work includes refinement of a model that estimates regolith mass in real-time during excavation as well as further testing of the developed models on the hardware.

ROS↗