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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

2023 Annual Report of Available Drawdowns for Each Oil Storage Cavern in the Strategic Petroleum Reserve

DOE maintains an up-to-date documentation of the number of available full drawdowns of each of the caverns at the U.S. Strategic Petroleum Reserve (SPR). This information is important for assessing the SPR’s ability to deliver oil to domestic oil companies expeditiously if national or world events dictate a rapid sale and deployment of the oil reserves. Sandia was directed to develop and implement a process to continuously assess and report the evolution of drawdown capacity, the subject of this report. This report covers impacts on drawdown availability due to SPR operations during Calendar Year 2022. A cavern has an available drawdown if, after that drawdown, the long-term stability of the cavern, the cavern field, or the oil quality are not compromised. Thus, determining the number of available drawdowns requires the consideration of several factors regarding cavern and wellbore integrity and stability, including stress states caused by cavern geometry and operations, salt damage caused by dilatant and tensile stresses, the effect of enhanced creep on wellbore integrity, and the sympathetic stress effect of operations on neighboring caverns. Finite-element geomechanical models have been used to determine the stress states in the pillars following successive drawdowns. By computing the tensile and dilatant stresses in the salt, areas of potential structural instability can be identified that may represent red flags for additional drawdowns. These analyses have found that many caverns will maintain structural integrity even when grown via drawdowns to dimensions resulting in a pillar-to-diameter ratio of less than 1.0. The analyses have also confirmed that certain caverns should only be completely drawn down one time. As the SPR caverns are utilized and partial drawdowns are performed to remove oil from the caverns (e.g., for oil sales, purchases, or exchanges authorized by the Congress or the President), the changes to the cavern caused by these procedures must be tracked and accounted for so that an ongoing assessment of the cavern’s drawdown capacity may be continued. A methodology for assessing and tracking the available drawdowns for each cavern is reiterated. This report is the latest in a series of annual reports, and it includes the baseline available drawdowns for each cavern, and the most recent assessment of the evolution of drawdown expenditures. A total of 222 million barrels of oil were released in calendar-year 2022. A nearly-equal amount of raw water was injected, resulting in an estimated 34 million barrels of cavern leaching. Twenty caverns have now expended a full drawdown. Cavern BC 18 has expended all its baseline available drawdowns, and has no drawdowns remaining. Cavern BM 103 has expended one of its two baseline drawdowns, and is now a single-drawdown cavern. All other caverns with an expenditure went from at-least-5 to at-least-4 remaining drawdowns.

02 PETROLEUM↗
DOE OSTI2025

Technical Assessment of the Application of Digital Twin and Prognostic Tools for Condition Monitoring

This report was prepared for the U.S. Nuclear Regulatory Commission (NRC) to present use cases of the application of advanced technologies toward meeting the current and future regulatory requirements for maintenance and condition monitoring of structures, systems, and components (SSCs). The advanced technologies considered in this work, collectively referred to as digital twin (DT) technologies, are advanced sensors and instrumentation, data analytics, machine learning and artificial intelligence (ML/AI), and physics-based models. The report presents two use cases of reactor coolant pumps (RCPs) and heat pipes in nuclear power plants (NPPs) with technical and regulatory considerations and opportunities in using advanced technologies for conditional monitoring. Key findings from the exploration of these considerations are as follows: - Uncertainties in sensor data and model predictions must be rigorously addressed through validation and verification processes - Regulatory compliance is paramount, necessitating data driven models to be developed in line with existing codes and standards, as well as considering potential future guidelines for advanced reactors - Explainability and transparency in ML/AI models are essential for developing operator trust and regulatory review, including methods that enhance the interpretability of complex data-driven predictions - Condition monitoring programs must be evaluated for their effectiveness in reducing maintenance-preventable function failures (MPFF) and aligning with plant performance criteria - The deployment of advanced technologies for condition monitoring could lead to a transition from periodic to continuous monitoring, thereby optimizing maintenance schedules - Collaborative efforts between industry stakeholders, regulatory bodies, and technology developers are crucial for the successful adoption of advanced technologies for condition monitoring systems in nuclear facilities In summary, the introduction of advanced technologies into condition monitoring programs represents a significant leap forward in the domain of NPP maintenance. By harnessing the capabilities of advanced sensors, data analytics, and ML/AI, NPP operators can transition from a time-based to a condition-based maintenance approach. This shift can potentially enhance the reliability and safety of critical plant components while optimizing maintenance efforts and minimizing unnecessary outages. The NRC is continuing to explore the regulatory aspects of advanced technologies as part of inservice inspection and inservice testing (ISI and IST) programs by pursuing additional research in this technical area.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2026

Boundary Layer Exploration of Aerosols and Clouds ON Ships (BEACONS)

BEACONS aims to demonstrate autonomous deployment of a shipborne system that routinely observes atmospheric, cloud, and aerosol properties. These observations enable scientists to study aerosol-cloud interactions, advancing energy resilience and the Department of Energy's mission to improve model prediction. Key Project Outcomes Autonomous deployment of aerosol and cloud measurement systems aboard a Pasha Hawaii Marjorie C commercial ship. Six-month campaign for continuous, high-resolution aerosol and cloud data collection with minimal crew intervention. Development and testing of instruments in two phases, advancing from essential to complex systems. AI-ready processed data on the BEACONS Data Platform for near-real-time data access. Validation of aerosol-cloud interaction hypotheses for improved modeling. Establishment of best practices for instrument deployment in marine environments. Scientific collaboration to support the U.S. Department of Energy (DOE) Biological and Environmental Research (BER) mission.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1989

Results of the 1988 NASA/JPL airborne SAR calibration campaign

During the spring of 1988, the NASA/JPL multifrequency, multipolarization SAR (synthetic aperture radar) flew in series of calibration experiments over the Goldstone dry lake bed. An array of calibration devices was deployed, including dihedral and trihedral corner reflectors, polarimetric active radar calibrators, passive receivers, and CW (continuous wave) tone generators. The aim of the campaign was to calibrate both amplitude and phase of the resulting SAR images, over long and short time scales. The results of the analysis of the calibration data collected in the spring of 1988 are presented. Trihedral corner reflector signatures and certain image background measures are used to externally calibrate relative amplitude and phase between polarizations at a given frequency, and to calibrate across frequencies. Assessments are made of the calibration accuracy as a function of image frame position for each frequency, and the stability of the radar calibration over long and short time-scales.

Freeman, A.↗
NASA NTRS2011

Global Cooperation in the Science of Sun-Earth Connection

The international space science community had recognized the importance of space weather more than a decade ago, which resulted in a number of international collaborative activities such as the International Space Weather Initiative (ISWI), the Climate and Weather of the Sun Earth System (CAWSES) by SCOSTEP and the International Living with a Star (ILWS) program. These programs have brought scientists together to tackle the scientific issues related to short and long term variability of the Sun and the consequences in the heliosphere. The ISWI program is a continuation of the successful International Heliophysical Year (IHY) 2007 program in focusing on science, observatory deployment, and outreach. The IHY/ISWI observatory deployment has not only filled voids in data coverage, but also inducted young scientists from developing countries into the scientific community. The ISWI schools and UN workshops are the primary venues for interaction and information exchange among scientists from developing and developed countries that lead to collaborative efforts in space weather. This paper presents a summary of ISWI activities that promote space weather science via complementary approaches in international scientific collaborations, capacity building, and public outreach.

Gopalswamy, Natchimuthuk↗
NASA NTRSDate not supplied

Space Technology Mission Directorate - Game Changing Development Program - Vertical Solar Array Technology Project

The Vertical Solar Array Technology (VSAT) project is focused on the development of solar array technologies necessary for sustained presence on the lunar surface circa 2028. Existing solar array structures and deployment system technologies are designed for either zero-g or horizontal surface deployment. VSAT will explore vertical array deployment on extension masts of up to 10m in length in order to capture near continuous sun light at the lunar south pole.

GCD↗
DOE OSTI2015

Human-In-The-Loop Simulation in Support of Long-Term Sustainability of Light Water Reactors

Reliable instrumentation, information, and control systems technologies are essential to ensuring safe and efficient operation of the U.S. light water reactor (LWR) fleet. These technologies affect every aspect of nuclear power plant (NPP) and balance-of-plant operations. In 1997, the National Research Council conducted a study concerning the challenges involved in modernization of digital instrumentation and control systems in NPPs. Their findings identified the need for new II&C technology integration. The NPP owners and operators realize that this analog technology represents a significant challenge to sustaining the operation of the current fleet of NPPs. Beyond control systems, new technologies are needed to monitor and characterize the effects of aging and degradation in critical areas of key structures, systems, and components. The objective of the efforts sponsored by the U.S. Department of Energy is to develop, demonstrate, and deploy new digital technologies for II&C architectures and provide monitoring capabilities to ensure the continued safe, reliable, and economic operation of the nation’s NPPs.

47 OTHER INSTRUMENTATION↗
NASA NTRS1986

ERBS orbit ascent utilizing continuous low thrust maneuvers

The Earth Radiation Budget Satellite (ERBS) is a National Aeronautics and Space Administration (NASA) spacecraft whose purpose is to investigate the components of the earth's radiation budget. The ERBS was deployed in a 57 degree inclined, 352.2 kilometer altitude circular orbit by the NASA Space Transportation System (STS) on October 5, 1984. The spacecraft then ascended to its 603 kilometer, near-circular mission orbit by a series of continuous low-thrust maneuvers. The ERBS was the first free-flyer mission to rely on continuous low thrust to spiral from one circular orbit to another. Careful planning and monitoring of these maneuvers were essential to their successful execution. Errors in the prediction of the propulsion system performance or in burn duration would result in loss of contact with the spacecraft during a maneuver and could result in a premature end to the maneuver and difficulty in computing a definitive orbit.

Hoge, S. L.↗
NASA NTRS1995

Research in Observations of Oceanic Air/Sea Interaction

The primary purpose of this research has been: (1) to develop an innovative research radar scatterometer system capable of directly measuring both the radar backscatter and the small-scale and large-scale ocean wave field simultaneously and (2) deploy this instrument to collect data to support studies of air/sea interaction. The instrument has been successfully completed and deployed. The system deployment lasted for six months during 1995. Results to date suggest that the data is remarkably useful in air/sea interaction studies. While the data analysis is continuing, two journal and fifteen conference papers have been published. Six papers are currently in review with two additional journal papers scheduled for publication. Three Master's theses on this research have been completed. A Ph.D. student is currently finalizing his dissertation which should be completed by the end of the calendar year. We have received additional 'mainstream' funding from the NASA oceans branch to continue data analysis and instrument operations. We are actively pursuing results from the data expect additional publications to follow. This final report briefly describes the instrument system we developed and results to-date from the deployment. Additional detail is contained in the attached papers selected from the bibliography.

Long, David G.↗
DOE OSTI2020

Southeast Regional CO 2 Utilization and Storage Acceleration Partnership (SECARB-USA): Initial Inventory of Non-Technical Challenges to CCUS Deployment

The “Southeast Regional CO 2 Utilization and Storage Acceleration Partnership” (SECARBUSA) project supports the U.S. Department of Energy (DOE) Office of Fossil Energy's (FE) mission to help the United States meet its need for secure, affordable, and environmentally sound fossil energy supplies by utilizing the advancements made by the current Regional Carbon Sequestration Partnership (RCSP) Initiative to continue to identify and address knowledge gaps. The primary project objective is to identify and address regional onshore storage and transport challenges facing commercial deployment of carbon dioxide (CO 2 ) capture, utilization, and storage (CCUS) technologies. The Research Partners and a selected industry network of experienced CCUS project developers and operators will coordinate their capabilities to accelerate CCUS deployment by achieving four primary research objectives: 1) address key technical challenges; 2) facilitate data collection, sharing and analysis; 3) assess transportation and distribution infrastructure; and 4) promote regional technology transfer and dissemination of knowledge. The SECARB-USA Region includes the states of Alabama, Arkansas, Florida, Georgia, Louisiana, Mississippi, North Carolina, South Carolina, Tennessee, and Virginia and portions of Kentucky, Missouri, Oklahoma, Texas, and West Virginia. Under subtask 5.2: Non-Technical Challenges to CCUS Deployment, the Southern States Energy Board (SSEB) will define and identify An Inventory of Non-Technical Challenges to CCUS Deployment. As an initial step, SSEB organized an Industry and Non-Governmental Organization (NGO) Working Group comprised of knowledgeable market participants to assist in the development of an initial list of non-technical challenges to CCUS development.

42 ENGINEERING↗
DOE OSTI2023

Impact of Detailed Parameter Modeling of Open-Cycle Gas Turbines on Production Cost Simulation: Preprint

Flexible resources are increasingly important as variable renewable energy deployment in the power system increases. Although many systems are transitioning away from fossil fuels, open-cycle gas turbines are likely to play an important balancing role for some time, thus requiring accurate modeling of their operational parameters. This paper explores the impact of detailed representation of three operational parameters - start- up costs, run-up rates, and forced outage rates - in the production cost model of a system as it adopts higher levels of wind and solar. Using PLEXOS simulations of the NREL-118 bus test system, the study examines how more detailed parameter modeling affects outcomes such as the number of start-ups and shutdowns, ramping and total generation costs for open-cycle gas turbines, as renewable energy levels increase. The results suggest the value of detailed parameter modeling and continued research on combustion turbines' ability to provide flexibility.

economic dispatch↗
DOE OSTI2015

Analysis of Vehicle-Based Security Operations

Vehicle-to-vehicle (V2V) communications promises to increase roadway safety by providing each vehicle with 360 degree situational awareness of other vehicles in proximity, and by complementing onboard sensors such as radar or camera in detecting imminent crash scenarios. In the United States, approximately three hundred million automobiles could participate in a fully deployed V2V system if Dedicated Short-Range Communication (DSRC) device use becomes mandatory. The system s reliance on continuous communication, however, provides a potential means for unscrupulous persons to transmit false data in an attempt to cause crashes, create traffic congestion, or simply render the system useless. V2V communications must be highly scalable while retaining robust security and privacy preserving features to meet the intra-vehicle and vehicle-to-infrastructure communication requirements for a growing vehicle population. Oakridge National Research Laboratory is investigating a Vehicle-Based Security System (VBSS) to provide security and privacy for a fully deployed V2V and V2I system. In the VBSS an On-board Unit (OBU) generates short-term certificates and signs Basic Safety Messages (BSM) to preserve privacy and enhance security. This work outlines a potential VBSS structure and its operational concepts; it examines how a vehicle-based system might feasibly provide security and privacy, highlights remaining challenges, and explores potential mitigations to address those challenges. Certificate management alternatives that attempt to meet V2V security and privacy requirements have been examined previously by the research community including privacy-preserving group certificates, shared certificates, and functional encryption. Due to real-world operational constraints, adopting one of these approaches for VBSS V2V communication is difficult. Timely misbehavior detection and revocation are still open problems for any V2V system. We explore the alternative approaches that may be applicable to a VBSS, and suggest some additional research directions in order to find a practical solution that appropriately addresses security and privacy.

Connected Vehicle↗
DOE OSTI2020

Interactive Metadata Integration with Brick

Many different digital representations of a building are produced over the course of its lifecycle. While these representations individually contain metadata required to support different stages of the building's lifecycle, they are largely not interoperable due to differences in structure, syntax and semantics. This impedes the development and deployment of data-driven applications providing fault detection and diagnosis, virtual metering or optimal control. [4] introduces a new platform for the continuous curation of a unified, Brick [1]-based metadata model that can be maintained throughout the building lifecycle. In this demonstration, we present a live proof-of-concept implementation of the platform with support for several metadata representations in the context of a simulated building lifecycle.

Fierro, Gabe↗
DOE OSTI2016

Design of a Symbiotic Device to Harvest Uranium from Seawater through the use of Shell Enclosures

At the current consumption rate, the global conventional reserves of uranium, 7.6 million tonnes, could be depleted in a little over a century. As reserves decrease, future uranium is expected to come from lower quality sites, resulting in higher extraction costs and even greater environmental impact. Fortunately, uranium is present in the ocean as uranyl ions at low concentrations of 3 ppb, which, over the total volume of the oceans, amounts to approximately 4.5 billion tonnes of uranium, nearly a thousand times that of conventional reserves. Methods to extract uranium from seawater have been studied since the early 1960's, when, at a time when uranium production was uncertain, post-World War II Britain desired a secure uranium supply. A recent review of uranium recovery technologies by found that uranium adsorbent by chelating polymers was the most promising in terms of adsorbent capacity, environmental footprint, and cost. In this technology, chelating polymers are deployed in seawater and remain submerged until the amount of captured uranium approaches the adsorption capacity. Then, an elution bath is used to strip metal ions, such as uranium, off the adsorbent polymer. A polymer may be immersed in a number of elution baths before it is regenerated by an alkali wash to free its functional groups, allowing for the reuse of the polymer. The output from the elution process undergoes purification and precipitation typical for mined uranium to produce yellowcake. Offshore systems for the extraction of uranium from seawater have been developed since the early 2000's. In these systems, the adsorbent is deployed and moored for extended periods of time, brought back to shore for the elution process, and redeployed afterward. The first system, developed by, used non-woven adsorbents that were immersed for 30 days in seawater. Due to the low mechanical strength of these fibers, they had to be incorporated into stacks composed of spacer nets and holders placed on large, heavy, floating frames, which resulted in a design that was too costly for implementation. More recently, buoyant braided adsorbents have been studied as a way to decrease the weight and cost of the system. In these systems, continuous polyethylene fibers are braided around a porous polypropylene float that can be made into long lengths. However, because this deployment scheme requires the adsorbent be brought back to shore for the elution process and redeployed afterward, this stand-alone, intermittent operation system has significant practical and economic deployment challenges and to date none of these systems have become economically viable. Detailed economic analysis by found that a major cost driver of seawater uranium extraction is the mooring and recovery of the adsorbent. Based on these results, first developed the development of a system that is attached to an offshore wind turbine and continuously takes the adsorbent from the ocean through an elution process and then returns it to the ocean. More recent designs by further build upon this idea. The integration of the design of a uranium harvesting system into an offshore wind turbine tower is pursued because the development of offshore wind or uranium harvesting by themselves bears a high capital cost for the structures, but if the mooring function can be shared, the overall cost for each will be lower. Furthermore, initial design analysis and prototyping of these symbiotic systems has proven they are technical feasible. (authors)

07 ISOTOPE AND RADIATION SOURCES↗
DOE OSTI2019

SECARB Project Overview Book

In 2003, the United States Department of Energy (DOE) issued awards initiating seven Regional Carbon Sequestration Partnerships (RCSP) spanning the United States and portions of Canada. Managed by DOE’s National Energy Technology Laboratory (NETL), the RCSPs currently represent more than 400 state agencies, universities, and private companies, spanning 43 states, three Native American Organizations, and four Canadian provinces. The Southern States Energy Board (SSEB) received an award on October 1, 2003, which established the Board’s overall management and administration of the Southeast Regional Carbon Sequestration Partnership, or SECARB. The geographical region currently includes 13 states and a network of more than 100 stakeholders. The Nation’s leading scientists, university researchers, national laboratories, industrial representatives, environmental organizations, and many others have taken a proactive approach at identifying and characterizing the most promising options for technology deployment and carbon dioxide (CO2) utilization and storage (CCUS) for the Southeast. The results obtained during these injections will be important to the future commercialization of CCUS technologies and the continued use of fossil fuels as a significant energy source in a manner that is environmentally responsible. Each of the six SECARB project locations has been locally coordinated by its own field team. The field teams assume responsibility for the technical scope of work, local education and outreach, permitting, monitoring, verification, and accounting (MVA), and maintaining the validation test’s schedule and budget. Each team contributes new information to the continued characterization of the region. In addition, a task is dedicated to integrating field data and filling gaps in regional characterization data sets. Data and tools developed in the Continued Characterization task are incorporated into a relational database and geographic information system (GIS). All field tests, the continued characterization project, and the cross-cutting functions are designed to support the DOE roadmap by validating technologies and identifying locations throughout the region that could support full-scale CCUS deployment opportunities. Detailed fact sheets for the SECARB projects are available on the SECARB website at www.secarbon.org (see “Projects” tab).

RCSP↗
DOE OSTI2018

The Role of Input Assumptions and Model Structures in Projections of Variable Renewable Energy: A Multi-Model Perspective of the U.S. Electricity System

Recent wind and solar deployment in the United States has grown at unprecedented rates, but the extent to which this growth will continue is a key question. Energy-economic planning models are often used to develop future projections of these technologies, and although it is well-understood that model outcomes are sensitive to assumptions about technology developments and market conditions, it is less clear how underlying model structures might impact outcomes. For wind and solar technologies, model structures might be an even larger driver due to the complexity required to represent their variability, uncertainty, and location-dependence. Here, we apply three state-of-the-art electric sector planning models to evaluate variable renewable generation under different conditions with both harmonized and native input assumptions to isolate the impact that model structures might have on deployment outcomes. We find growth in wind and solar deployment in all models under a business-as-usual scenario (without new policies), where the median value for variable renewable energy generation share is found to be 27% by 2050 - but with a wide range of estimates (18-43%), types of renewable technologies deployed, and regional distributions across models. With harmonized assumptions about technology costs and market conditions the range narrows slightly, but a large range in penetration outcomes remains (24-41% by 2050) suggesting that model representations play significant roles in projections of future wind and solar deployment. We also assess the implications of achieving 55% wind and solar penetration by 2050 - to assess potential challenges at higher penetration levels - and the magnitude of variable generation under a carbon-constrained future. Finally, we identify research needs to better assess the future deployment of variable renewable energy.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2015

SOAREX-8 Suborbital Experiments 2015 - A New Paradigm for Small Spacecraft Communication

In 2015 NASA plans to launch a payload to 280 Km altitude on a sounding rocket from the Wallops Flight Facility. This payload will contain several novel technologies that work together to demonstrate methodologies for space sample return missions and for nanosatellite communications in general. The payload will deploy and test an Exo-Brake, which slows the payload aerodynamically, providing eventual de-orbit and recovery of future ISS samples through a Small Payload Quick Return project. In addition, this flight addresses future Mars mission entry technology, space-to-space communications using the Iridium Short Messaging Service (SMS), GPS tracking, and wireless sensors using the ZigBee protocol. SOAREX-8 is being assembled and tested at Ames Research Center (ARC) and the NASA Engineering and Safety Center (NESC) is funding sensor and communications work. Open source Arduino technology and software are used for system control. The ZigBee modules used are XBee units that connect analog sensors for temperature, air pressure and acceleration measurement wirelessly to the payload telemetry system. Our team is developing methods for power distribution and module mounting, along with software for sensor integration, data assembly and downlink. We have demonstrated relaying telemetry to the ground using the Iridium satellite constellation on a previous flight, but the upcoming flight will be the first time we integrate useful flight test data from a ZigBee wireless sensor network. Wireless sensor data will measure the aerodynamic efficacy of the Exo-Brake permitting further on orbit flight tests of improved designs. The Exo-Brake is 5 sq m in area and will be stored in a container and deployed during ascent once the payload is jettisoned from the launch vehicle. We intend to further refine the hardware and continue testing on balloon launches, future sounding rocket flights and on nanosatellite missions. The use of standards-based and open source hardware/software has allowed for this project to be completed with a very modest budget and a challenging schedule. There is a wealth of hardware and software available for both the Arduino platform and the XBee, all low-cost or open-source. Along with the Exo-Brake hardware and deployment discussion, this paper will describe in detail the system architecture emphasizing the successful use of open source hardware and software to minimize effort and cost. Testing procedures, radio frequency interference (RFI) mitigation, success criteria and expected results will also be discussed. The use of Iridium short messaging capability for space-to-space links, standards-based wireless sensor networks, and other innovative communications technology are also presented.

aerobrake↗
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗