Search NASA⌕ Search

SEARCH · Search NASA

Results for “Processing maps”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

A high-throughput approach for statistical process optimization in Laser Powder Bed Fusion

Process variability is inherent in metal additive manufacturing (AM). However, it is often overlooked in process optimization frameworks, constraining the understanding of process uncertainties and their influence on parameter selection. To address this, we present an integrated framework that combines high-throughput single-track experiments, GAN-based melt pool geometry extraction, robust statistical and machine learning modeling, and uncertainty-quantified process mapping. Process variability is characterized through single-track melt pool behaviors, and its influence on defect formation is systematically quantified to enable statistically guided process parameter optimization. This approach is demonstrated on Laser Powder Bed Fusion (L-PBF) of stainless steel 316L, effectively capturing the interplay between process parameters, melt pool variability, and defect probability. By integrating uncertainty quantification into process optimization, this study provides a structured methodology for addressing variability challenges in AM quality control, ultimately contributing to enhanced manufacturing reliability.

Laser Powder Bed Fusion↗
NASA NTRS1996

Mapping Pixel Windows To Vectors For Parallel Processing

Mapping performed by matrices of transistor switches. Arrays of transistor switches devised for use in forming simultaneous connections from square subarray (window) of n x n pixels within electronic imaging device containing np x np array of pixels to linear array of n(sup2) input terminals of electronic neural network or other parallel-processing circuit. Method helps to realize potential for rapidity in parallel processing for such applications as enhancement of images and recognition of patterns. In providing simultaneous connections, overcomes timing bottleneck or older multiplexing, serial-switching, and sample-and-hold methods.

Duong, Tuan A.↗
DOE OSTI2019

Study on the Hot Deformation Behavior and Microstructure Evolution of Cu-Cr-In Alloy

Based on the hot compressive tests in the temperature range of 700-900 °C and strain rate range of 0.01-10 s{sup −1}, the hot deformation behavior of a Cu-Cr-In alloy was investigated. The true stress–strain curves of the alloy were obtained, and a constitutive equation for the alloy was established by the method of equivalent stress. The processing maps were constructed based on the constitutive equation, and the microstructural evolutions were analyzed and correlated with the processing maps. The results show that the true stress of the alloy increased with decreasing strain rate and decreased with increasing temperature. The microstructures of the alloy deformed under different conditions were in good accordance with the processing maps results. According to the processing maps and the microstructures of the alloy with true strains of 0.4 and 0.8, the optimal hot deformation conditions lie in the range of 850-900 °C and strain rate range of 0.01-0.1 s{sup −1}.

36 MATERIALS SCIENCE↗
DOE OSTI2024

XRF-XFS-XAS-Auto v1.0 - Beta release

This software allows to analyze XRF maps, XFS spectra and XAS spectra collected at the Advanced Light Source's Beamline 10.3.2. Features include: 1) XRF maps: - process XRF maps, all elemental maps are saved as bmp automatically and labeled with the incident energy used, the scale bar is also labeled and can be controlled. - XRF elemental correlation plots, save the correlation plots automatically - Extract single or multiple transects in XRF maps on one or several regions of interest, each transect profile is numbered and saved in a corresponding folder, along with the corresponding maps showing transect location. 2) XFS spectra - save in log10 scale the XFS spectra, either a single or multiple files all at once. The files are saved as .bmp. - XFS spectra are labeled according to tabulated fluorescence emission lines. 3) XAS spectra - allows to plot individual scalers in the raw data. - allows calibration of the spectra using an Io internal glitch present in all spectra and performing 1st derivative. - Least-square linear combination fitting of XANES or extended XANES spectra using a database of standards using 1, 2 or 3 components maximum. It also provides the 5 top combinations and provide the user for the possibility of saving the 2nd, 3rd, 4th and 5th best combinations in addition to the best one. The processed spectra (pre-edge background substracted, post-edge normalized), the fits and residuals are automatically saved. A table of the component, with fit% and SSN is provided and saved automatically as well.

Fakra, Sirine↗
DOE OSTI2023

Field Demonstration of the Brick Ontology to Scale up the Deployment of ASHRAE Guideline 36 Control Sequences

Many commercial buildings have a vast network of sensors as part of their building automation systems (BAS) that allows opportunities for energy consumption and cost savings by deploying advanced control sequences. However, this resource is often underutilized since BAS are typically programmed with simple control sequences with limited potential to deliver on these opportunities. The recent availability of ASHRAE Guideline 36 (G36) with advanced HVAC control sequences supports control retrofits in existing buildings to unlock much of the savings potential. However, barriers such as the lack of standard naming convention of building assets and data points, proprietary equipment and BAS, and the inherent uniqueness of buildings and their systems prevent building stakeholders from adopting any “plug-and-play” implementation of G36. Instead, control vendors must often undertake the manual and labor-intensive point mapping process to identify a data stream’s functional and spatial relationship within the HVAC system along with other relevant contexts and map it to the new control sequences. The vendor must carry out the point mapping process in each individual building since the mapping is unlikely to port over to another building. Even for the same building, the point mapping process can occur multiple times if various control vendors implement different control retrofits and/or multiple control retrofits happen over the lifecycle of the building. Then, there is the likelihood that G36 control sequences are programmed uniquely to the building, preventing the same implementation from being reused in another. Therefore, this paper presents a field demonstration of how we leveraged the Brick ontology with BACnet, OpenBuildingControl’s Control Description Language (CDL), and open-source support tools to implement scalable and portable advanced building controls. These tools provide standardized semantic descriptions and relationships of the building’s assets and data points (Brick), standardized communication protocol to read from and write to the building’s BAS (BACnet), and standardized code implementations (CDL) of standardized advanced control strategies (G36). We implemented G36’s hot water supply temperature setpoint reset in a Berkeley, CA building for this field demonstration. This field demonstration aims to show how integrating these tools may streamline the deployment of advanced control sequences such as G36 in a consistent manner regardless of differences found across buildings.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Latent map Gaussian processes for mixed variable metamodeling

Gaussian processes (GPs) are ubiquitously used in sciences and engineering as metamodels. Standard GPs, however, can only handle numerical or quantitative variables. Here we introduce latent map Gaussian processes (LMGPs) that inherit the attractive properties of GPs and are also applicable to mixed data which have both quantitative and qualitative inputs. The core idea behind LMGPs is to learn a continuous, low-dimensional latent space or manifold which encodes all qualitative inputs. To learn this manifold, we first assign a unique prior vector representation to each combination of qualitative inputs. We then use a low-rank linear map to project these priors on a manifold that characterizes the posterior representations. As the posteriors are quantitative, they can be directly used in any standard correlation function such as the Gaussian or Matern. Hence, the optimal map and the corresponding manifold, along with other hyperparameters of the correlation function, can be systematically learned via maximum likelihood estimation. Through a wide range of analytic and real-world examples, we demonstrate the advantages of LMGPs over state-of-the-art methods in terms of accuracy and versatility. In particular, we show that LMGPs can handle variable-length inputs, have an explainable neural network interpretation, and provide insights into how qualitative inputs affect the response or interact with each other. We also employ LMGPs in Bayesian optimization and illustrate that they can discover optimal compound compositions more efficiently than conventional methods that convert compositions to qualitative variables via manual featurization.

42 ENGINEERING↗
NASA NTRS2010

Five-Year Wilkinson Microwave Anisotropy Probe Observations: Data Processing, Sky Maps, and Basic Results

We present new full-sky temperature and polarization maps in five frequency bands from 23 to 94 GHz, based on data from the first five years of the Wilkinson Microwave Anisotropy Probe (WMAP) sky survey. The new maps are consistent with previous maps and are more sensitive. The five-year maps incorporate several improvements in data processing made possible by the additional years of data and by a more complete analysis of the instrument calibration and in-flight beam response. We present several new tests for systematic errors in the polarization data and conclude that W-band polarization data is not yet suitable for cosmological studies, but we suggest directions for further study. We do find that Ka-band data is suitable for use; in conjunction with the additional years of data, the addition of Ka band to the previously used Q- and V-band channels significantly reduces the uncertainty in the optical depth parameter, tau. Further scientific results from the five-year data analysis are presented in six companion papers and are summarized in Section 7 of this paper. With the five-year WMAP data, we detect no convincing deviations from the minimal six-parameter ACDM model: a flat universe dominated by a cosmological constant, with adiabatic and nearly scale-invariant Gaussian fluctuations. Using WMAP data combined with measurements of Type Ia supernovae and Baryon Acoustic Oscillations in the galaxy distribution, we find (68% CL uncertainties): OMEGA(sub b)h(sup 2) = 0.02267(sup +0.00058)(sub -0.00059), OMEGA(sub c)h(sup 2) = 0.1131 plus or minus 0.0034, OMEGA(sub logical and) = 0.726 plus or minus 0.015, ns = .960 plus or minus 0.013, tau = 0.84 plus or minus 0.016, and DELTA(sup 2)(sub R) = (22.445 plus or minus 0.096) x 10(exp -9) at k = 0.002 Mpc(exp -1). From these we derive sigma(sub 8) = 0.812 plus or minus 0.026, H(sub 0) = 70.5 plus or minus 1.3 kilometers per second Mpc(exp -1), OMEGA(sub b) = 0.0456 plus or minus 0.0015, OMEGA(sub c) = .228 plus or minus 0.013, OMEGA(sub m)h(sup 2) = 0.1358(sup +0.0037)(sub -0.0036), z reion = 10.9 plus or minus 1.4, and t(sub 0) = 13.72 plus or minus 0.12 Gyr. The new limit on the tensor-to-scalar ration is r less than 0.22 (95% CL), while the evidence for a running spectral index is insignificant, dn(sub s)/d ln k = -0.028 plus or minus 0.020 (68% CL). We obtain tight, simultaneous limits on the (constant) dark energy equation of state and the spatial curvature of the universe: -0.14 less than 1 + w less than 0.12 (95% CL) and -0.0179 less than OMEGA(sub k) less than 0.0081 (95% CL). The number of relativistic degrees of freedom, expressed in units of the effective number of neutrino species, is found to be N(sub eff) = 4.4 plus or minus 1.5 (69% CL), consistent with the standard value of 3.04. Models with N(sub eff) = 0 are disfavored at greater than 99% confidence. Finally, new limits on physically motivated primordial non-Gaussianity parameters are -9 less than f(sup local)(sub NL) less than 111 (95% CL) and -151 less than f(sup equal)(sub NL) less than 253 (95% CL) for the local and equilateral models, respectively.

Hinshaw, G.↗
DOE OSTI2022

Scan strategies in EBM-printed IN718 and the physics of bulk 3D microstructure development

Three-dimensional (3D) characterization provides opportunities for understanding processing-structure relationships in additively manufactured (AM) materials. Bulk samples of Inconel 718 were fabricated via electron beam melting (EBM) in order to study microstructural development as a function of energy input and beam scan strategy. TriBeam tomography of bulk Inconel 718 microstructures built under steady-state growth conditions reveals the sensitivity of microstructure formation and evolution to machine process parameters. Here, samples manufactured using a narrow range of energy input per unit build area result in varied grain morphologies and crystallographic textures. Using TRUCHAS, a thermal simulation software, the thermal history of bulk scan strategies was predicted, and combined with a calibrated microstructure-processing map to accurately predict bulk grain morphologies. The solidification parameters and the 3D measured nucleation density are used to predict the transition between columnar and equiaxed grain morphologies, providing a process map to guide AM parameter choices to locally control as-printed microstructure. A two-dimensional metric for characterizing bulk grain morphology was also found to agree well with predictions from the process map calibrated by 3D data. Combined with 3D tomography and thermal modelling, the physics of structure development were understood at a new level of detail with respect to the competing processes of grain nucleation and epitaxial growth.

36 MATERIALS SCIENCE↗
NASA NTRS1972

Natural Resource Information System, design analysis

The computer-based system stores, processes, and displays map data relating to natural resources. The system was designed on the basis of requirements established in a user survey and an analysis of decision flow. The design analysis effort is described, and the rationale behind major design decisions, including map processing, cell vs. polygon, choice of classification systems, mapping accuracy, system hardware, and software language is summarized.

Source record↗
DOE OSTI2024

Improving Additive Manufactured Component Performance through Multi-Scale Microstructure Simulation and Process Optimization

The purpose of this project was to utilize computational tools to understand the relationships between processing, microstructure, and properties for additively manufactured (AM) aluminum alloys for automotive applications, and to provide an engineering solution for helping to optimize process conditions. The project leverages ORNL developments in computational modeling, including AM process modeling, phase-field based microstructure evolution predictions, and data analytics techniques for mapping process conditions to material outcomes. The project utilized an Al-Cu-Mn-Zr alloy as a model material for studying formation of defects and microstructural features in response to variations in process conditions. Based on both pre-existing experimental data and simulation results, statistical process maps were constructed to identify regions of process space with minimal defect formation and advantageous microstructures and properties. The software tools used for this purpose were successful disseminated to GM, who were able to successful compile the relevant HPC codes within their own computing ecosystem and perform initial calculations to reproduce ORNL results.

36 MATERIALS SCIENCE↗
DOE OSTI2020

High-throughput experimentation for microstructural design in additively manufactured 316L stainless steel

In the present study, a combination of high-throughput (HT) and low-throughput (LT) techniques was used to rapidly determine the processing window and generate processing maps for Selective Laser Melting (SLM) of 316L stainless steel. The HT method includes the fabrication of hundreds of hex nut-shaped specimens, each processed with a unique combination of laser power, scanning speed, and hatch spacing. An easily removable scaffolding permitted rapid sample extraction from the base plate, thus saving machining cost and time. Hardness and immersion density measurements were used for HT characterization to identify a processing window for maximum strength and density. Within the defined processing window, a low-throughput (LT) microstructural interrogation of specimens were performed. The microstructural analysis included quantification at various length scales (i.e., grains size and morphology, texture, primary dendrite arm spacing, and melt pool geometry analysis). Microstructure-based processing maps as a function of volumetric energy density were generated. The combination of HT and LT methods produced a predictive relationship between hardness and primary dendrite arm spacing using a Hall-Petch relationship. A model is proposed to explain the dependence of microstructure on the melt pool geometry. Here, the HT method can be applied for the microstructural design of SLM-fabricated components in other alloys.

316L stainless steel↗
DOE OSTI2025

Critical statistical assessment of data in metal additive manufacturing

Obtaining high quality data reflecting the relationships between the additive manufacturing (AM) process parameters, material microstructure and mechanical properties is crucial for the use of machine learning in AM. A database of over 4,000 data entries of metal AM was created thanks to a large number of literature studies on key process parameters and indicators of build quality. Meta-analysis reveals critical biases in the literature. Firstly, majority of studies report only high quality builds, these imbalances in reporting result in weak correlation between process parameters, properties and consolidation, limiting the ability of machine learning models to generalize beyond optimized conditions. Nevertheless, the trained models accurately predict yield strength ($R^2 = 0.85$), suggesting that certain process–property relationships are effectively captured within these models. Secondly, quantitative microstructural data are largely absent, limiting the learning of the microstructure-mechanical properties relationships. Finally, current process window identification is based largely on the consolidation, despite significant uncertainty in its measurement. It is important to identify the process map on the basis of not only the consolidation, but also mechanical behaviour under loading. Such a identification shows that 316 L and Inconel have much larger process map (i.e. highly printable) in comparison to the AlSi10Mg and Ti6Al4V.

Additive manufacturing↗
DOE OSTI2025

TRACER-MAP: Mapping Aerosol Processes Across Houston During Convective Cell Events

The Houston, TX Metropolitan area was selected for the 2022 Tracking Aerosol Convection Interactions Experiment (TRACER) due to its high convective storm activity and broad range of polluted aerosol conditions. With the overall TRACER project in mind, we planned TRACER-MAP, a related investigation of the impacts of convective storms on atmospheric composition, chemistry and aerosol processing in Houston. Because the Houston metroplex is large and has a wide range of atmospheric conditions, this project has “MAP-ped” the air chemistry conditions across Houston while atmospheric scientists working in the TRACER project monitor convective storm activity overhead. Specifically, we conducted a series of aerosol, gas, and meteorological measurements in the summer of 2022 that matches measurements from the Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Mobile Facilities. The TRACER-MAP campaign extended from Jul 1 – Sept 3, 2022. TRACER-MAP included two urban sites: Aldine and University of Houston (UH); two industrial sites: San Jacinto Battleground and the main DOE TRACER site at the La Porte Municipal Airport (ARM/La Porte AMF); and one background site in WG Jones State Forest north of Houston.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

EBSD Study on Processing Domain Parameters of Oxide Dispersion Strengthened 18Cr Ferritic Steel

This paper presents the results of an experimental study aimed to identify hot working domains in oxide dispersion strengthened (ODS) 18Cr ferritic steel over a wide range of temperatures (1323-1473 K) and strain rates (0.01-10 s{sup −1}). The experimental data were obtained by uniaxial compression test using the Gleeble-1500D simulator in this range of temperature and strain rate. An inverse relationship with temperature and positive strain rate sensitivity associated with dynamic recovery and recrystallization, which is influenced by temperature and strain rate, was derived from the flow stress. Based on the processing map generated at 0.5 true strain, using rate dynamic material model (DMM) approach and the calculated instability parameter (ξ(ϵ́))>0, the optimum processing domain has been determined for this steel. The most favorable processing parameters are found in the temperature ranges of 1350-1450 K with a strain rate of 0.01 s{sup −1} and 1473 K with a strain rate 0.1 s{sup −1} with peak efficiency of 30 and 35%, respectively. The material flow behavior was studied using scanning electron microscopy (SEM)-based EBSD microstructural characterization. The steel subjected to 1323 K at high strain rate 10 s{sup −1} in the low-efficiency workability region showed low aspect ratio as compared to the elongated bamboo-like initial microstructure; however, minimum strain rate (0.01 s{sup −1}) showing that localized slip/shearing is the key mechanism and fiber texture studied from the intensity distribution of inverse pole figure showed the presence of significant amount of θ-fibers. In contrast, dynamic recrystallization dominated at higher efficiency region in the safe domain of processing map and γ-fiber texture was evident in the specimen deformed at 1373 and 1473 K with strain rate of 0.01 and 0.1 s{sup −1}, respectively, which is responsible for the change in the initial 〈1 1 0〉//ED α-fiber texture.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Fluid Dynamics Effects on Microstructure Prediction in Single Laser Tracks for Additive Manufacturing

The Laser Powder Bed Fusion Additive Manufacturing (LPBFAM) is one of the most important processes for the production of lightweight, cost-effective, complex, and high-performance enduse parts. At present, the cost and time associated with LPBFAM process development is very high due to a lack of fundamental process understanding. In this project, a multi-physics model was developed on a highly parallel open-source code, Truchas, with the ultimate goal of providing experimentally validated process maps for tailoring microstructure to achieve desired performance for LPBFAM. As a critical step towards fully LPBFAM modeling, modeling of single-track laser fusion (STLF) were conducted. Multi-physics simulations were conducted using Truchas for STLF by considering heat transfer, phase-change, fluid dynamics, surface tension phenomena, and evaporation. In order to assess the effect of the fluid dynamics on the solidification and ensuing microstructure, a heat transfer-and-solidification-only (HTS) model and a fully coupled heat-transfer-solidification and fluid-dynamics (HTS-FD) model were considered. In the HTS_FD model, the fluid flow was considered to be laminar while the molten alloy surface is assumed to be flat and non-deformable. This study is one the first attempt to understand the effect of the fluid flow on microstructure in STLF and LPBFAM. The results show that the fluid flow affects the solidification and ensuing microstructure in STLF. In order to validate Truchas for STLF and LPBFAM modeling, experimental data, which was obtained at GE Global Research (GEGR) for liquid pool shape and microstructure, were compared with those from numerical simulation results. For the keyhole regime case, numerical simulation results indicate that the melt-pool shape was typical to that of the conduction case with very large deviations from the measured melt-pool depths. Two sensitivity studies were conducted by varying the evaporation flux and the surface tension coefficient at fixed laser absorptivities of 0.5 and 0.3, respectively. The minimum value for the overall combined error, between the calculated values with the HTS_FD model and measured values for both the width and height of the melt-pool, was attained for a surface tension coefficient of -0.75e-4 N/m. An analytical solidification model for the columnar-to-equiaxed transition (CET) in rapid solidification was used to assess the microstructure variation within the melt-pool. From numerical simulation results, thermal gradient, G, and solidification velocity, V, were obtained in order to predict the microstructure type (e.g., dendritic, cellular). For the fluid-flow HTS_FD model, G was found to exhibit a maximum at the extremity of the solidified pool (i.e., at the free surface). By contrast, for HTS simulations, G was found to exhibit a maximum around the entire edge of the solidified pool. For the HTS_FD simulations, the minimum values of the cooling rate, GV, were found to be approximately half than their corresponding values for HTS simulations. By contrast with the min GV values, the maximum values for GV were found to occur for the HTS_FD simulations. Thus, HTS_FD simulations were found to exhibit a wider range of cooling rates than the HTS simulations. Concerning the solidification maps, the variation of the solidification velocity, V, as function of the thermal gradient, G, was obtained. It was found that the fluid flow model results (HTS_FD) exhibited an increased spread in the V(G) variation within the melt pool with respect to the HTS model results (without the fluid flow). A preliminary correlation model for the primary dendrite arm spacing (PDAS) based on a power law dependence on thermal gradient and solidification velocity was used to estimate PDAS from HTS and HTS_FD simulations. For low laser powers and low laser speeds, the PDAS obtained 6 with the fluid dynamics model (HTS_FD) was larger by more than 30% with respect to the PDAS calculated with the simple HTS model. In the second part of the project, fifty-seven simulations were conducted in order to obtain data on microstructure variables that can be used for process map development. In order to cover the entire processing space, thirty-three cases were selected STLF process simulations at six power levels and six laser scanning speeds. The 57 STLF process simulations were conducted as follows: 33 simulations with the heat-transfer-only (HTS) model and 24 simulations with the fluid flow model (HTS_FD). The solidification map data shows that for all simulations, a columnar dendritic microstructure would be expected. It was found that the minimum, average, and maximum thermal gradient exhibit exponential variations with respect to a process variable defined as the ratio between the power and square root of scan speed.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Development of city buildings dataset for urban building energy modeling

Urban building energy modeling (UBEM) is becoming a proven tool to support energy efficiency programs for buildings in cities. Development of a city-scale dataset of the existing building stock is a critical step of UBEM to automatically generate energy models of urban buildings and simulate their performance. This study introduces data needs, data standards, and data sources to develop city building datasets for UBEM. First, a literature review of data needs for UBEM was conducted. Then, the capabilities of the current data standards for city building datasets were reviewed. Moreover, the existing public data sources from several pioneer cites were studied to evaluate whether they are adequate to support UBEM. The results show that most cities have adequate public data to support UBEM; however, the data are represented in different formats without standardization, and there is a lack of common keys to make the data mapping easier. Finally, a case study is presented to integrate the diverse data sources from multiple city departments of San Francisco. The data mapping process is introduced and discussed. It is recommended to use the unique building identifiers as the common keys in the data sources to simplify the data mapping process. Furthermore, the integration methods and workflow are applied to other U.S. cities for developing the city-scale datasets of their existing building stock, including San Jose, Los Angeles, and Boston.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRSDate not supplied

Astrobee's Multi-year Activities at the International Space Station's Japanese Experimental Module

The Astrobee free-flying robots recently completed their third successful year of operations, housed in the Japanese Experimental Module (JEM) on the International Space Station. We summarize the three years of operation, giving special attention to JAXA's 1st and 2nd Kibo Robot Programming Challenge (RPC) and the mapping processes and tools that make Astrobees' autonomous operation possible. The JEM is an ever changing, dynamic environment where light settings, cargo, payloads, and crew members constantly move and interact with one another. The 1st JAXA Kibo RPC event, a collaboration between JAXA and NASA, was held in 2020. Students from several countries in the Asia-Pacific region competed in programming challenges with a simulated Astrobee. The finalists were then invited to run their code on an actual Astrobee in the JEM. For the final round, students programmed Astrobee to visit three different locations to obtain data that would instruct the robot to complete a final task with the participation of ISS crew. The first competition was a tremendous success, leading to an equally successful 2nd JAXA Kibo RPC in 2021 with even larger participation. The 3rd JAXA Kibo RPC will occur in 2022 expanding further to incorporate US participants. These activities led to several firsts in Astrobee’s history: operation of an Astrobee free-flying robot without crew supervision in preparation for on-orbit operations, autonomous image acquisition towards updates of the navigation map, non-NASA code running on the robot (both from JAXA and participating students), two heterogeneous free-flying robots from two different space agencies working together (Int-Ball and Astrobee) during the final event in 2020, the first payload using Astrobee, and having Astrobee controlled from a non-NASA location (Tsukuba Space Center). The preparation towards these activities involved constant evaluation of the different components of Astrobee's systems, specially mapping and localization. The paper describes the evolution of these systems such as the improvements made in localization to reduce localization drift by using graph-based optimization instead of the extended Kalman Filter localizer. Additionally, it reports on the mapping process and analysis tools created to validate map consistency across different activities in the constantly changing JEM environment. These enhancements have enabled the Astrobee facility to successfully execute over 100 ISS activities supporting over a dozen researchers and partners around the world.

Astrobee↗