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DOE OSTI2015

THE ROLE OF TURBULENCE IN NEUTRINO-DRIVEN CORE-COLLAPSE SUPERNOVA EXPLOSIONS

The neutrino-heated ''gain layer'' immediately behind the stalled shock in a core-collapse supernova is unstable to high-Reynolds-number turbulent convection. We carry out and analyze a new set of 19 high-resolution three-dimensional (3D) simulations with a three-species neutrino leakage/heating scheme and compare with spherically symmetric (one-dimensional, 1D) and axisymmetric (two-dimensional, 2D) simulations carried out with the same methods. We study the postbounce supernova evolution in a 15 M {sub ☉} progenitor star and vary the local neutrino heating rate, the magnitude and spatial dependence of asphericity from convective burning in the Si/O shell, and spatial resolution. Our simulations suggest that there is a direct correlation between the strength of turbulence in the gain layer and the susceptibility to explosion. 2D and 3D simulations explode at much lower neutrino heating rates than 1D simulations. This is commonly explained by the fact that nonradial dynamics allows accreting material to stay longer in the gain layer. We show that this explanation is incomplete. Our results indicate that the effective turbulent ram pressure exerted on the shock plays a crucial role by allowing multi-dimensional models to explode at a lower postshock thermal pressure and thus with less neutrino heating than 1D models. We connect the turbulent ram pressure with turbulent energy at large scales and in this way explain why 2D simulations are erroneously exploding more easily than 3D simulations.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2022

Three-dimensional simulations of reshocked inclined Richtmyer-Meshkov instability: Effects of initial perturbations

The effect of initial perturbations on the evolution of the inclined Richtmyer-Meshkov turbulent mixing layer before and after reshock initiated by a shock wave with Mach number 1.55 is investigated through three-dimensional (3D) simulations using the flash code. The 3D simulations aim to reproduce both predominantly single-mode and multimode interfaces between light and heavy gases (N 2 -CO 2 , Atwood number, A≈0.22; amplitude to wavelength ratio of 0.088) which were created in an inclined shock tube facility to analyze the effects of initial conditions on mixing development in the entire flow field. The two-dimensional center slices of 3D simulations are compared with the experimental results to validate the computational code. Mixing width, mixed mass, mixed-mass thickness, and circulation in addition to concentration fields are shown to be in good agreement with the experimental data. The three-dimensional density and vorticity fields are first presented to qualitatively describe the flow behavior before and after reshock. Several measured density/velocity-related quantities indicate that the growth of the mixing material is strongly dependent on initial conditions. Before reshock and at early times after reshock, flow is clearly maintaining the memory of initial perturbations. However, at late time after reshock, although the large wavelength feature still dominates the flow motion, and the morphology of the two different interfaces indicates several differences, by breakdown of large-scale coherent structures to much finer scales, the memory of small scales of the multimode initial perturbation is not as clear as pre-reshock. Regarding three-dimensionality of the flow, before reshock in the multimode case, the baroclinic vorticity production, circulation, turbulent kinetic energy, and turbulent mass flux suggest that the small-scale roll-up features along the large inclined wavelength quickly evolves in all three dimensions. The coherent vortex tubes break down to smaller wormlike vortex structures, and turbulent fluctuations in the out-of-plane dimension are comparable to the spanwise direction. After reshock, this three-dimensionality of mixing growth was observed in the flow for both initial conditions. The results of this work represent a significant extension of previous computational studies performed on this specific topic. A different code with a different numerical method is validated through comparison with the experimental data. The initial perturbations are directly measured from the experimental results. Moreover, the entire three-dimensional experimental shock tube domain is simulated, and more quantities are investigated to understand the mixing mechanism and instability evolution in all three dimensions.

42 ENGINEERING↗

DOE OSTI2025

Analysis of Seismic Wave Amplification in Sedimentary Basins Using 3D Wavefield Simulations: Nenana Basin, Central Alaska

We investigate seismic wave amplification in Nenana basin, central Alaska, using 3D seismic wavefield simulations. We quantify frequency-dependent amplification by comparing synthetic seismograms among four different seismic velocity models: (a) a tomographic model, (b) a tomographic model with the uppermost 6.5 km replaced by a 1D basin profile, (c) a tomographic model with an embedded ellipsoidal basin, and (d) a tomographic model with an embedded realistic basin. For each model we perform wavefield simulations accurate up to 2 Hz for a set of 10 different earthquakes, which provide a range of frequencies and incident angles for waves interacting with the basin. Average amplification ratios are four on the horizontal components and seven on the vertical component. The dominant influence of the amplification is the 3D geometry of the basin, not the slow-velocity profile near the surface. Our synthetic amplification ratios are in general agreement with amplification estimates obtained from 14 stations that recorded the same set of earthquakes. Our approach offers a general strategy for documenting frequency-dependent basin amplification for a region with realistic basin structures and local earthquakes.

Geosciences↗

NASA NTRS2000

Effect of Single-Electron Interface Trapping in Decanano MOSFETs: A 3D Atomistic Simulation Study

We study the effect of trapping/detrapping of a single-electron in interface states in the channel of n-type MOSFETs with decanano dimensions using 3D atomistic simulation techniques. In order to highlight the basic dependencies, the simulations are carried out initially assuming continuous doping charge, and discrete localized charge only for the trapped electron. The dependence of the random telegraph signal (RTS) amplitudes on the device dimensions and on the position of the trapped charge in the channel are studied in detail. Later, in full-scale, atomistic simulations assuming discrete charge for both randomly placed dopants and the trapped electron, we highlight the importance of current percolation and of traps with strategic position where the trapped electron blocks a dominant current path.

Asenov, Asen↗

NASA NTRS2000

Hierarchical Statistical 3D ' Atomistic' Simulation of Decanano MOSFETs: Drift-Diffusion, Hydrodynamic and Quantum Mechanical Approaches

When MOSFETs are scaled to deep submicron dimensions the discreteness and randomness of the dopant charges in the channel region introduces significant fluctuations in the device characteristics. This effect, predicted 20 year ago, has been confirmed experimentally and in simulation studies. The impact of the fluctuations on the functionality, yield, and reliability of the corresponding systems shifts the paradigm of the numerical device simulation. It becomes insufficient to simulate only one device representing one macroscopical design in a continuous charge approximation. An ensemble of macroscopically identical but microscopically different devices has to be characterized by simulation of statistically significant samples. The aims of the numerical simulations shift from predicting the characteristics of a single device with continuous doping towards estimating the mean values and the standard deviations of basic design parameters such as threshold voltage, subthreshold slope, transconductance, drive current, etc. for the whole ensemble of 'atomistically' different devices in the system. It has to be pointed out that even the mean values obtained from 'atomistic' simulations are not identical to the values obtained from continuous doping simulations. In this paper we present a hierarchical approach to the 'atomistic' simulation of aggressively scaled decanano MOSFETs. A full scale 3D drift-diffusion'atomostic' simulation approach is first described and used for verification of the more economical, but also more restricted, options. To reduce the processor time and memory requirements at high drain voltage we have developed a self-consistent option based on a thin slab solution of the current continuity equation only in the channel region. This is coupled to the Poisson's equation solution in the whole simulation domain in the Gummel iteration cycles. The accuracy of this approach is investigated in comparison with the full self-consistent solution. At low drain voltage only single solution of the nonlinear Poisson equation is sufficient to extract the current with satisfactory accuracy. A pilot version of a hydrodynamic 'atomistic' simulator has been developed in order to study the effect of the nonequilibrium, non local transport in decanano MOSFETs on the random dopant induced current fluctuations. For the first time we have also applied the density gradient approach in 3D to investigate the effect of the quantum confinement on the threshold voltage fluctuations. The developed 'atomistic' simulation techniques have been applied to study various fluctuation resistant MOSFET architectures including epitaxial and delta doped devices.

Asenov, Asen↗

DOE OSTI2015

Plasmoid Instabilities Mediated Three-Dimensional Magnetohydrodynamic Turbulent Reconnection

After some introductory remarks on fast reconnection in resistive MHD due to plasmoid instability, oblique tearing modes in 3D, and previous studies on 3D turbulent reconnection, the subject is presented under the following topics: 3D simulation setup, time evolution of the 3D simulation, comparison with Sweet-Parker and 2D plasmoid reconnection, and diagnostics of the turbulent state (decomposition of mean fields and fluctuations, power spectra of energy fluctuations, structure function and eddy anisotropy with respect to local magnetic field). Three primary conclusions were reached: (1) The results suggest that 3D plasmoid instabilities can lead to self-generated turbulent reconnection (evidence of energy cascade and development of inertial range, energy fluctuations preferentially align with the local magnetic field, which is one of the characteristics of MHD turbulence); (2) The turbulence is highly inhomogeneous, due to the presence of magnetic shear and outflow jets (conventional MHD turbulence theories or phenomenologies may not be applicable – e.g. scale-dependent anisotropy as predicted by Goldreich & Sridhar is not found); (3) 3D turbulent reconnection is different from 2D plasmoid-dominated reconnection in many aspects. However, in fully developed state, reconnection rates in 2D and 3D are comparable — this result needs to be further checked in higher S.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2015

HYSTERESIS BETWEEN DISTINCT MODES OF TURBULENT DYNAMOS

Nonlinear mean-field models of the solar dynamo show long-term variability, which may be relevant to different states of activity inferred from long-term radiocarbon data. This paper is aimed at probing the dynamo hysteresis predicted by the recent mean-field models of Kitchatinov and Olemskoy with direct numerical simulations. We perform three-dimensional (3D) simulations of large-scale dynamos in a shearing box with helically forced turbulence. As an initial condition, we either take a weak random magnetic field or we start from a snapshot of an earlier simulation. Two quasi-stable states are found to coexist in a certain range of parameters close to the onset of the large-scale dynamo. The simulations converge to one of these states depending on the initial conditions. When either the fractional helicity or the magnetic Prandtl number is increased between successive runs above the critical value for onset of the dynamo, the field strength jumps to a finite value. However, when the fractional helicity or the magnetic Prandtl number is then decreased again, the field strength stays at a similar value (strong field branch) even below the original onset. We also observe intermittent decaying phases away from the strong field branch close to the point where large-scale dynamo action is just possible. The dynamo hysteresis seen previously in mean-field models is thus reproduced by 3D simulations. Its possible relation to distinct modes of solar activity such as grand minima is discussed.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2025

Validation of 3D MHD simulations of Ne/D 2 mixed shattered pellet injection in JET

Nonlinear 3D magnetohydrodynamic (MHD) modeling of shattered pellet injection (SPI) in JET tokamak plasmas is performed with the JOREK code. The study focuses on the validation of simulation result with respect to experimental observations, addressing in particular figures of merit for the efficiency of the SPI, as a technique to mitigate thermal loads by injecting radiative impurities like neon during the thermal quench (TQ) phase of disruptions. A set of JET pulses with neon/deuterium atomic mixture ratio in the shattered pellet varying from 10% to 100% provides the experimental data to be compared with. Simulations using different models for the ablation of solid fragments and the radiation of neon impurities are considered. Synthetic diagnostics are employed for a direct quantitative comparison with key JET diagnostic systems providing in particular radiation, electron temperature and density, and magnetic measurements. 3D radiation structures from MHD simulations are analyzed to estimate the toroidal asymmetry of radiation, which is difficult to measure in JET due to the presence of only two toroidally displaced multi-channel bolometry systems. JOREK simulations show that, before the TQ, the bulk of the radiation is concentrated in a toroidal region enclosing the radiating fragments that is missed by both multi-channel bolometers, suggesting a possible underestimation of the total radiation by such diagnostic systems in the pre-TQ phase. On the other hand, JOREK predicts that during the TQ the radiation becomes more toroidally symmetric, with positive implications for the heat load to plasma facing components.

JOREK↗

DOE OSTI2022

Black hole to breakout: 3D GRMHD simulations of collapsar jets reveal a wide range of transients

We present a suite of the first 3D GRMHD collapsar simulations, which extend from the self-consistent jet launching by an accreting Kerr black hole (BH) to the breakout from the star. We identify three types of outflows, depending on the angular momentum, l, of the collapsing material and the magnetic field, B, on the BH horizon: (i) subrelativistic outflow (low l and high B), (ii) stationary accretion shock instability (SASI; high l and low B), (iii) relativistic jets (high l and high B). In the absence of jets, free-fall of the stellar envelope provides a good estimate for the BH accretion rate. Jets can substantially suppress the accretion rate, and their duration can be limited by the magnetization profile in the star. We find that progenitors with large (steep) inner density power-law indices (≳ 2), face extreme challenges as gamma-ray burst (GRB) progenitors due to excessive luminosity, global time evolution in the light curve throughout the burst and short breakout times, inconsistent with observations. Our results suggest that the wide variety of observed explosion appearances (supernova/supernova + GRB/low-luminosity GRBs) and the characteristics of the emitting relativistic outflows (luminosity and duration) can be naturally explained by the differences in the progenitor structure. Our simulations reveal several important jet features: (i) strong magnetic dissipation inside the star, resulting in weakly magnetized jets by breakout that may have significant photospheric emission and (ii) spontaneous emergence of tilted accretion disc-jet flows, even in the absence of any tilt in the progenitor.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2015

3D MHD SIMULATION OF FLARE SUPRA-ARCADE DOWNFLOWS IN A TURBULENT CURRENT SHEET MEDIUM

Supra-arcade downflows (SADs) are sunward, generally dark, plasma density depletions originated above posteruption flare arcades. In this paper, using 3D MHD simulations we investigate whether the SAD cavities can be produced by a direct combination of the tearing mode and Kelvin–Helmholtz instabilities leading to a turbulent current sheet (CS) medium or if the current sheet is merely the background where SADs are produced, triggered by an impulsive deposition of energy. We find that to give an account of the observational dark lane structures an addition of local energy, provided by a reconnection event, is required. We suggest that there may be a closed relation between characteristic SAD sizes and CS widths that must be satisfied to obtain an observable SAD.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2011

First Lunar Wake Passage of ARTEMIS: Discrimination of Wake Effects and Solar Wind Fluctuations by 3D Hybrid Simulations

The spacecraft P1 of the new ARTEMIS (Acceleration, Reconnection, Turbulence, and Electrodynamics of the Moon's Interaction with the Sun) mission passed the lunar wake for the first time on February 13, 2010. We present magnetic field and plasma data of this event and results of 3D hybrid simulations. As the solar wind magnetic field was highly dynamic during the passage, a simulation with stationary solar wind input cannot distinguish whether distortions were caused by these solar wind variations or by the lunar wake; therefore, a dynamic real-time simulation of the flyby has been performed. The input values of this simulation are taken from NASA OMNI data and adapted to the P1 data, resulting in a good agreement between simulation and measurements. Combined with the stationary simulation showing non-transient lunar wake structures, a separation of solar wind and wake effects is achieved. An anisotropy in the magnitude of the plasma bulk flow velocity caused by a non-vanishing magnetic field component parallel to the solar wind flow and perturbations created by counterstreaming ions in the lunar wake are observed in data and simulations. The simulations help to interpret the data granting us the opportunity to examine the entire lunar plasma environment and, thus, extending the possibilities of measurements alone: A comparison of a simulation cross section to theoretical predictions of MHD wave propagation shows that all three basic MHD modes are present in the lunar wake and that their expansion governs the lunar wake refilling process.

Wiehle, S.↗

DOE OSTI2026

Thermal Performance of Spandrel Assemblies in Glazed Wall Systems: Laboratory Test Design – Challenges and Test Results

Accurate thermal performance calculation procedures for opaque spandrel areas in curtain wall and window wall systems are essential for rating systems when comparing spandrel systems. However, there is a lack of consensus in thermal modeling needed for accurately characterizing heat transfer through spandrel assemblies due to the complex arrangement of materials and structural components. Several studies indicate that conventional 2D thermal simulations may overestimate R-values by 30% compared to physical testing and 3D simulations. Detailed simulations and well-curated laboratory test data are necessary to build confidence in simulation models, which will later be used to develop correlations to improve widely used conventional 2D thermal simulations. This study aims to experimentally test heat transfer through various spandrel assemblies to validate 3D simulation models. Also, the challenges of conducting a thorough testing design along with the solutions would be documented. The team developed a design for testing spandrel assemblies, making appropriate modifications to the existing heat, air, and moisture (HAM) chamber to accommodate the testing needs. Two moveable baffles were designed and fabricated to guide airflow direction parallel to the test article surface. The data acquisition capabilities in the chamber were upgraded to add more than two hundred sensors to the climate and indoor side of the chamber. The goal is to provide a quality dataset for validating complex 3D modeling simulations, which will be used to develop improved thermal simulation techniques that more accurately represent the thermal behavior of spandrel assemblies and their integration within the building envelope. This paper will summarize the results for the boundary conditions of the testing and the temperature variation across different locations of the spandrel assemblies.

Kunwar, Niraj [ORNL] (ORCID:0000000263457652)↗

NASA NTRSDate not supplied

3D Climate Simulations of Earth-Like Planets with A Range of Atmospheric Composition, Radiative Transfer, Ocean, And Resolution Configurations, Using the New Version of ROCKE-3D

Understanding the climate of terrestrial planetary atmospheres has been increasingly the focus of research worldwide, in light of the increasing amount of rocky planet discoveries orbiting other stars in or near their habitable zone. Here we present simulations with the new version of the 3D climate model ROCKE-3D, whose version 2.0 will soon become publicly available. A wide range of configurations will be supported, compared to a handful ones in its predecessor, version 1.0 (Way et al., 2017). These include two model resolutions (4x5 and 2x2.5), two radiation schemes (GISS and SOCRATES), three atmospheric configurations (Earth-like, Earth-like without O3 and aerosols, and N2-dominated), and three ocean setups (prescribed sea-surface temperatures and ice cover, q-flux, and dynamic). Simulations of all different configuration combinations have been performed and will become available for use by the community. Key results will be presented across those configurations, together of the role of the structural uncertainty in model setup in the resulting climate calculated by the model.

climate simulations of Earth-like planets↗

DOE OSTI2016

The thermal regime of the Campi Flegrei magmatic system reconstructed through 3D numerical simulations

In this paper, we illustrate a quantitative conductive/convective thermal model incorporating a wide range of geophysical, petrological, geological, geochemical and isotopical observations that constrain the thermal evolution and present state of the Campi Flegrei caldera (CFc) magmatic system. The proposed model has been computed on the basis of the current knowledge of: (1) the volcanic and magmatic history of the volcano over the last 44 ka, (2) its underlying crustal structure, and (3) the physical properties of the erupted magmas. 3D numerical simulations of heat conduction and convection within heterogeneous rock/magma materials with evolving heat sources and boundary conditions that simulate magma rise from a deep (≥ 8 km depth) to shallow (2–6 km) reservoirs, magma chamber formation, magma extrusion, caldera collapse, and intra-caldera hydrothermal convection, have been carried out. The evolution of the CFc magmatic system through time has been simulated through different steps related to its changes in terms of depth, location and size of magma reservoirs and their replenishment. The thermal modeling results show that both heat conduction and convection have played an important role in the CFc thermal evolution, although with different timing. Finally, the simulated present heat distribution is in agreement with the measured geothermal profiles (Agip, 1987), reproduces the thermal gradient peaks at the CFc margins in correspondence to the anomalies in surface gradients (Corrado et al., 1998), and suggests temperatures of 700 °C at depth of 4 km in the central portion of the caldera, in agreement with the estimated temperature for the brittle-ductile transition (Hill, 1992).

3D conductive/convective model↗

DOE OSTI2020

3D xRAGE simulation of inertial confinement fusion implosion with imposed mode 2 laser drive asymmetry

Low-mode asymmetries represent an important obstacle to achieving high-gain inertial confinement fusion implosions. As a step in learning how to control such effects, an OMEGA experiment with imposed mode 2 laser drive asymmetries was done to study the expected signatures of this type of asymmetry [M. Gatu Johnson et al., PRE 2018]. In the present work, a 3D xRAGE simulation including the stalk mount has been brought to bear on the data from that experiment. Furthermore, comprehensive comparisons between simulated and measured observables are made. Good agreement between simulated and measured x-ray image-inferred shell trajectories, bang times and neutron emission widths are seen, showing that the hydrodynamics are well captured in the simulation. Asymmetries seen in simulated and measured time-resolved and time-integrated x-ray images and areal densities also compare well, showing impact of both stalk and mode 2. On the other hand, important differences in measured and simulated neutron emission histories, yield, and ion temperature (T ion ) asymmetries are seen, suggesting that the simulation is overestimating shock yield. Overall, the results clearly demonstrate the importance of considering all asymmetry sources when interpreting measured signatures of asymmetry.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2015

3D numerical simulation of the long range propagation of acoustical shock waves through a heterogeneous and moving medium

Many situations involve the propagation of acoustical shock waves through flows. Natural sources such as lightning, volcano explosions, or meteoroid atmospheric entries, emit loud, low frequency, and impulsive sound that is influenced by atmospheric wind and turbulence. The sonic boom produced by a supersonic aircraft and explosion noises are examples of intense anthropogenic sources in the atmosphere. The Buzz-Saw-Noise produced by turbo-engine fan blades rotating at supersonic speed also propagates in a fast flow within the engine nacelle. Simulating these situations is challenging, given the 3D nature of the problem, the long range propagation distances relative to the central wavelength, the strongly nonlinear behavior of shocks associated to a wide-band spectrum, and finally the key role of the flow motion. With this in view, the so-called FLHOWARD (acronym for FLow and Heterogeneous One-Way Approximation for Resolution of Diffraction) method is presented with three-dimensional applications. A scalar nonlinear wave equation is established in the framework of atmospheric applications, assuming weak heterogeneities and a slow wind. It takes into account diffraction, absorption and relaxation properties of the atmosphere, quadratic nonlinearities including weak shock waves, heterogeneities of the medium in sound speed and density, and presence of a flow (assuming a mean stratified wind and 3D turbulent ? flow fluctuations of smaller amplitude). This equation is solved in the framework of the one-way method. A split-step technique allows the splitting of the non-linear wave equation into simpler equations, each corresponding to a physical effect. Each sub-equation is solved using an analytical method if possible, and finite-differences otherwise. Nonlinear effects are solved in the time domain, and others in the frequency domain. Homogeneous diffraction is handled by means of the angular spectrum method. Ground is assumed perfectly flat and rigid. Due to the 3D aspect, the code was massively parallelized using the single program, multiple data paradigm with the Message Passing Interfaces (MPI) for distributed memory architectures. This allows us to handle problems in the order of a thousand billion mesh points in the four dimensions (3 dimensions of space plus time). The validity of the method has been thoroughly evaluated on many cases with known solutions: linear piston, scattering of plane wave by a heterogeneous sphere, propagation in a waveguide with a shear flow, scattering by a finite amplitude vortex and nonlinear propagation in a thermoviscous medium. This validation process allows for a detailed assessment of the advantages and limitations of the method. Finally, applications to atmospheric propagation of shock waves will be presented.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2020

3D Numerical Simulation of Kink-driven Rayleigh–Taylor Instability Leading to Fast Magnetic Reconnection

Fast magnetic reconnection involving non-MHD microscale physics is thought to underlie both solar eruptions and laboratory plasma current disruptions. While there is extensive research on both the MHD macroscale physics and the non-MHD microscale physics, the process by which large-scale MHD couples to the microscale physics is not well understood. An MHD instability cascade from a kink to a secondary Rayleigh–Taylor instability in the Caltech astrophysical jet laboratory experiment provides new insights into this coupling and motivates a 3D numerical simulation of this transition from large to small scale. A critical finding from the simulation is that the axial magnetic field inside the current-carrying dense plasma must exceed the field outside. In addition, the simulation verifies a theoretical prediction and experimental observation that, depending on the strength of the effective gravity produced by the primary kink instability, the secondary instability can be Rayleigh–Taylor or mini-kink. Finally, it is shown that the kink-driven Rayleigh–Taylor instability generates a localized electric field sufficiently strong to accelerate electrons to very high energy.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗