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NASA LUNABOTICS ROBOTIC MINING COMPETITION 10TH ANNIVERSARY (2010 – 2019): TAXONOMY AND TECHNOLOGY REVIEW

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Ad-ministration (NASA) Lunabotics Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an over-burden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center. This paper will present the results of the 10 Lunabotics Robotic Mining Competitions held between May 2010 and May 2019. Each year over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 5,000 university students have been part of the competition on-site at KSC. More students and the public were en-gaged via internet broadcasting and social net-working media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regoith. A taxonomy of robotic excavator designs will be presented.

Competition↗
DOE OSTI2014

Rab3A is a new interacting partner of synaptotagmin I and may modulate synaptic membrane fusion through a competitive mechanism

Highlights: • Rab3A has been found to be a novel interacting protein of synaptotagmin I. • Rab3A binds to synaptotagmin I in a Ca{sup 2+}-independent manner. • KKKK motif in C2B domain of synaptotagmin I is a key site for Rab3A binding. • Rab3A competitively inhibits the binding of C2B in synaptotagmin I to syntaxin 1B. • Rab3A may regulate synaptic membrane fusion and exocytosis in a competitive manner. - Abstract: Rab3 and synaptotagmin have been reported to be the key proteins that have opposite actions but cooperatively play critical regulatory roles in selecting and limiting the number of vesicles released at central synapses. However, the exact mechanism has not been fully understood. In this study, Rab3A and synaptotagmin I, the most abundant isoforms of Rab3 and synaptotagmin, respectively, in brain were for the first time demonstrated to directly interact with each other in a Ca{sup 2+}-independent manner, and the KKKK motif in the C2B domain of synaptotagmin I was a key site for the Rab3A binding, which was further confirmed by the competitive inhibition of inositol hexakisphosphate. Further studies demonstrated that Rab3A competitively affected the synaptotagmin I interaction with syntaxin 1B that was involved in membrane fusion during the synaptic vesicle exocytosis. These data indicate that Rab3A is a new synaptotagmin I interacting partner and may participate in the regulation of synaptic membrane fusion and thus the vesicle exocytosis by competitively modulating the interaction of synaptotagmin with syntaxin of the t-SNARE complex in presynaptic membranes.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2021

Leaf Trait Plasticity Alters Competitive Ability and Functioning of Simulated Tropical Trees in Response to Elevated Carbon Dioxide

The response of tropical ecosystems to elevated carbon dioxide (CO 2 ) remains a critical uncertainty in projections of future climate. Here, we investigate how leaf trait plasticity in response to elevated CO 2 alters projections of tropical forest competitive dynamics and functioning. We use vegetation demographic model simulations to quantify how plasticity in leaf mass per area and leaf carbon to nitrogen ratio alter the responses of carbon uptake, evapotranspiration, and competitive ability to a doubling of CO 2 in a tropical forest. Observationally constrained leaf trait plasticity in response to CO 2 fertilization reduces the degree to which tropical tree carbon uptake is affected by a doubling of CO 2 (up to -14.7% as compared to a case with no plasticity; 95% confidence interval [CI95%] -14.4 to -15.0). It also diminishes evapotranspiration (up to -7.0%, CI95% -6.4 to -7.7), and lowers competitive ability in comparison to a tree with no plasticity. Consideration of leaf trait plasticity to elevated CO 2 lowers tropical ecosystem carbon uptake and evapotranspirative cooling in the absence of changes in plant-type abundance. However, “plastic” responses to high CO 2 which maintain higher levels of plant productivity, many of which fall outside of the observed range of response, are potentially more competitively advantageous, thus, including changes in plant type abundance may mitigate these decreases in ecosystem functioning. Models that explicitly represent competition between plants with alternative leaf trait plasticity in response to elevated CO 2 are needed to capture these influences on tropical forest functioning and large-scale climate.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Nonlinear bubble competition of the multimode ablative Rayleigh–Taylor instability and applications to inertial confinement fusion

The self-similar nonlinear evolution of the multimode ablative Rayleigh–Taylor instability (RTI) and the ablation-generated vorticity effect are studied for a range of initial conditions. We show that, unlike classical RTI, the nonlinear multimode bubble-front evolution remains in the bubble competition regime due to ablation-generated vorticity, which accelerates the bubbles, thereby preventing a transition into the bubble-merger regime. We develop an analytical bubble competition model to describe the linear and nonlinear stages of ablative RTI. Here, we show that vorticity inside the multimode bubbles is most significant at small scales with large initial perturbation. Since these small scales persist in the bubble competition regime, the self-similar growth coefficient ab can be enhanced by up to 30% relative to ablative bubble competition without vorticity effects. We use the ablative bubble competition model to explain the hydrodynamic stability boundary observed in OMEGA low-adiabat implosion experiments.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2025

Competition response of cloud supersaturation explains diminished Twomey effect for smoky aerosol in the tropical Atlantic

The Twomey effect brightens clouds by increasing aerosol concentrations, which activates more droplets and decreases cloud supersaturation in response to more competition for water vapor. To quantify this competition response, we used marine low cloud observations in clean and smoky conditions at Ascension Island in the tropical South Atlantic during the Layered Aerosol Smoke Interactions with Cloud (LASIC) campaign. These observations show similar increases in droplet number for increased accumulation-mode particles from surface-based and satellite cloud retrievals, demonstrating the importance of below-cloud aerosol measurements for retrieving aerosol–cloud interactions (ACI) in clean and smoky aerosol conditions. Four methods for estimating cloud supersaturation from aerosol–cloud measurements were compared, with cloud scene-based and parcel-based methods showing sufficient variability for a strong dependence on both aerosol accumulation number concentration and cloud-base updraft velocities. Decomposing aerosol-related changes in cloud albedo and optical depth shows the calculated competition response accounts for dampening the activation response by 12 to 35%, explaining the diminished Twomey effect at high aerosol concentrations observed for smoky conditions at LASIC and previously around the world. This result was consistent for independent supersaturation retrievals by cloud scene-based droplet number and cloud condensation nuclei and parcel-based multimode size-resolving Lagrangian methods. Translating aerosol effects to local radiative forcing with clean conditions as a proxy for preindustrial and smoky conditions for present-day showed that the competition response reduces cooling from the Twomey radiative forcing by 12 to 35%, providing an essential process-specific constraint for improving the representation of aerosol competition in climate model simulation of indirect aerosol forcing.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Temporal Gating of Synaptic Competition in the Amygdala by Cannabinoid Receptor Activation

Abstract The acquisition of fear memories involves plasticity of the thalamic and cortical pathways to the lateral amygdala (LA). In turn, the maintenance of synaptic plasticity requires the interplay between input-specific synaptic tags and the allocation of plasticity-related proteins. Based on this interplay, weakly activated synapses can express long-lasting forms of synaptic plasticity by cooperating with strongly activated synapses. Increasing the number of activated synapses can shift cooperation to competition. Synaptic cooperation and competition can determine whether two events, separated in time, are associated or whether a particular event is selected for storage. The rules that determine whether synapses cooperate or compete are unknown. We found that synaptic cooperation and competition, in the LA, are determined by the temporal sequence of cortical and thalamic stimulation and that the strength of the synaptic tag is modulated by the endocannabinoid signaling. This modulation is particularly effective in thalamic synapses, supporting a critical role of endocannabinoids in restricting thalamic plasticity. Also, we found that the availability of synaptic proteins is activity-dependent, shifting competition to cooperation. Our data present the first evidence that presynaptic modulation of synaptic activation, by the cannabinoid signaling, functions as a temporal gating mechanism limiting synaptic cooperation and competition.

Madeira, Natália↗
DOE OSTI2022

Spatial scales of competition and a growth–motility trade-off interact to determine bacterial coexistence

The coexistence of competing species is a long-lasting puzzle in evolutionary ecology research. Despite abundant experimental evidence showing that the opportunity for coexistence decreases as niche overlap increases between species, bacterial species and strains competing for the same resources are commonly found across diverse spatially heterogeneous habitats. We thus hypothesized that the spatial scale of competition may play a key role in determining bacterial coexistence, and interact with other mechanisms that promote coexistence, including a growth–motility trade-off. To test this hypothesis, we let two Pseudomonas putida strains compete at local and regional scales by inoculating them either in a mixed droplet or in separate droplets in the same Petri dish, respectively. We also created conditions that allow the bacterial strains to disperse across abiotic or fungal hyphae networks. We found that competition at the local scale led to competitive exclusion while regional competition promoted coexistence. When competing in the presence of dispersal networks, the growth–motility trade-off promoted coexistence only when the strains were inoculated in separate droplets. Our results provide a mechanism by which existing laboratory data suggesting competitive exclusion at a local scale is reconciled with the widespread coexistence of competing bacterial strains in complex natural environments with dispersal.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2015

Daily environmental conditions determine the competition–facilitation balance for plant water status

Summary Plants compete with their neighbours for a finite set of limiting resources, and this decreases individual plant performance, growth and survival. However, neighbouring plants also affect each other in positive ways. Positive facilitative effects can occur when neighbouring plants ameliorate harsh abiotic conditions (temperature, wind and high irradiation). Thus, when environmental conditions are severe, the importance of facilitation may increase. The co‐occurrence and masking effects of competition and facilitation among neighbouring plants have made it difficult to tease them apart in the past. We planted bur oak acorns ( Q uercus macrocarpa ) into an experimental diversity gradient in a central MN grassland that provided a gradient in plant biomass. We predicted that greater biomass of neighbours would increase both competition and facilitation as measured by impacts on the minimum leaf water potential reached on any given day. Under moderate conditions, competition should predominate, but under hot/dry conditions, facilitation should become more important. We measured temperature, humidity and soil moisture in these plots for two growing seasons, as well as oak seedling leaf water potential across a range of daily conditions. On cool/humid days, plant interactions were dominated by competition for soil water: leaf water potentials of juvenile oaks were lower in plots with greater herbaceous biomass (and higher diversity). Conversely, on hot/dry days, facilitation of the microclimate determined the net effect of plants on their neighbours: leaf water potentials of juvenile oaks were higher in plots with higher herbaceous diversity and biomass. Synthesis . In terms of plant water status, plant interactions among neighbours can flip from net negative (competition) to net positive (facilitation) depending on daily abiotic conditions. The relative importance of both positive and negative interactions for plant water status may affect the overall performance of plants over time.

Wright, Alexandra↗
DOE OSTI2023

Scaling Up: Growth of the Indy Student Cluster Competition

The Indy Student Cluster Competition (IndySCC) completed its second year of competition, expanding and building upon the fist year. The IndySCC is a fully virtual competition, with a focus on education, and is part of the student program within the Supercomputing (SC) conference series. The competition aims to engage teams who do not get into the in-person, Student Cluster Challenge (SCC) and to build and train inexperienced teams to eventually go on to the SCC. The first year featured 5 teams and in the second year, this grew to 11 accepted teams in 2022. This work aims to provide an update to how the competition has grown, the challenges, and the plans to grow in the future.

Dietz, Dan↗
DOE OSTI2018

CleanTech University Prize (CLEANTECH UP) Competition

The Cleantech UP Competition built on the success of the U.S. Department of Energy’s National Clean Energy Business Plan Competitions (NCEBPC) in inspiring more graduate and undergraduate students to pursue entrepreneurship, innovation, and commercialization of clean energy technologies. The competition addresses remaining challenges for students to pursue cleantech education, entrepreneurship, and careers, including : limited access to energy - industry - tailored education and entrepreneurial trai ning; limited coordination of regional and national resources for students; uneven support between competitions and regions; limited cooperation and best - practice sharing; and inconsistent collection of feedback and learning between student participants. During the first year of the grant, in 2016, Cleantech UP competition was managed by Spark Clean Energy; in partnership with DOE and members of the cleantech and energy ecosystems, VentureWell implemented the National Cleantech University Prize (UP) Competi tion during 2017 and 2018.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS1990

Effects of competition on video-task performance in monkeys (Macaca mulatta)

The effects of competition on performance of a video-formatted task were examined in a series of experiments. Two rhesus monkeys (Macaca mulatta) were trained to manipulate a joystick to shoot at moving targets on a computer screen. The task was made competitive by requiring both animals to shoot at the same target and by rewarding only the animal that hit the target first each trial. The competitive task produced a significant and robust speed-accuracy trade-off in performance. The monkeys hit the target in significantly less time on contested than on uncontested trials. However, they required significantly more shots to hit the target on contested trials in relation to uncontested trials. This effect was unchanged when various schedules of reinforcement were introduced in the uncontested trials. This supports the influence of competition qua competition on performance, a point further bolstered by other findings of behavioral contrast presented here.

Washburn, David A.↗
NASA NTRS2003

High-school Student Teams in a National NASA Microgravity Science Competition

The Dropping In a Microgravity Environment or DIME competition for high-school-aged student teams has completed the first year for nationwide eligibility after two regional pilot years. With the expanded geographic participation and increased complexity of experiments, new lessons were learned by the DIME staff. A team participating in DIME will research the field of microgravity, develop a hypothesis, and prepare a proposal for an experiment to be conducted in a NASA microgravity drop tower. A team of NASA scientists and engineers will select the top proposals and then the selected teams will design and build their experiment apparatus. When completed, team representatives will visit NASA Glenn in Cleveland, Ohio to operate their experiment in the 2.2 Second Drop Tower and participate in workshops and center tours. NASA participates in a wide variety of educational activities including competitive events. There are competitive events sponsored by NASA (e.g. NASA Student Involvement Program) and student teams mentored by NASA centers (e.g. For Inspiration and Recognition of Science and Technology Robotics Competition). This participation by NASA in these public forums serves to bring the excitement of aerospace science to students and educators.Researchers from academic institutions, NASA, and industry utilize the 2.2 Second Drop Tower at NASA Glenn Research Center in Cleveland, Ohio for microgravity research. The researcher may be able to complete the suite of experiments in the drop tower but many experiments are precursor experiments for spaceflight experiments. The short turnaround time for an experiment's operations (45 minutes) and ready access to experiment carriers makes the facility amenable for use in a student program. The pilot year for DIME was conducted during the 2000-2001 school year with invitations sent out to Ohio- based schools and organizations. A second pilot year was conducted during the 2001-2002 school year for teams in the six-state region of Illinois, Indiana, Michigan, Minnesota, Ohio, and Wisconsin. The third year for DIME was conducted during the 2002-2003 school year for teams from the fifty United States, the District of Columbia, and Puerto Rico. An annual national DIME program is planned for the foreseeable future. Presented in this paper will be a description of DIME, an overview of the planning and execution of such a program, results from the first three years, and lessons learned from the first national competition.

DeLombard, Richard↗
NASA NTRS2000

Competitive displacement among post-Paleozoic cyclostome and cheilostome bryozoans

Encrusting bryozoans provide one of the few systems in the fossil record in which ecological competition can be observed directly at local scales. The macroevolutionary history of diversity of cyclostome and cheilostome bryozoans is consistent with a coupled-logistic model of clade displacement predicated on species within clades interacting competitively. The model matches observed diversity history if the model is perturbed by a mass extinction with a position and magnitude analogous to the Cretaceous/Tertiary boundary event, Although it is difficult to measure all parameters in the model from fossil data, critical factors are intrinsic rates of extinction, which can be measured. Cyclostomes maintained a rather low rate of extinction, and the model solutions predict that they would lose diversity only slowly as competitively superior species of cheilostomes diversified into their environment. Thus, the microecological record of preserved competitive interactions between cyclostome and cheilostome bryozoans and the macroevolutionary record of global diversity are consistent in regard to competition as a significant influence on diversity histories of post-Paleozoic bryozoans.

NASA Discipline Exobiology↗
NASA NTRS2010

Lunabotics Mining Competition

This slide presentation describes a competition to design a lunar robot (lunabot) that can be controlled either remotely or autonomously, isolated from the operator, and is designed to mine a lunar aggregate simulant. The competition is part of a systems engineering curriculum. The 2010 competition winners in five areas of the competition were acknowledged, and the 2011 competition was announced.

Mueller, Rob↗
NASA NTRS2011

NASA Lunabotics Mining Competition for Universities: Results and Lessons Learned

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step in Space Resource Utilization. One of the primary goals is to extract propellants from the regolith such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on the exposed topography. The National Aeronautics & Space Administration (NASA) Lunabotics Mining Competition is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA will directly benefit from the competition by encouraging the development of innovative lunar excavation concepts from universities which may result in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center. This paper will present the results of the first and second annual Lunabotics Mining Competitions held in May 2010 and May 2011. In 2010, 22 United States (US) universities competed, and in May 2011 the competition was opened to international participation, with 46 Universities expected to attend. There are 12 international teams and 34 US teams. This combined total directly inspired an estimated 544 university students. More students and the public were engaged via internet broadcasting and social networking media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith.

Mueller, Robert P.↗
NASA NTRS2017

NASA's Robotics Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design to actual tele-operation of the robot in simulated Mars conditions mining and collecting simulated regolith. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team's score for the competition's grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

Stecklein, Jonette↗
DOE OSTI2021

U.S. Department of Energy Solar Decathlon Competition Guide: 2021 Design Challenge and 2023 Build Challenge

The U.S. Department of Energy (DOE) Solar Decathlon® is a collegiate competition, comprising 10 Contests, that challenges student teams to design and build highly efficient and innovative buildings powered by renewable energy. The competition gives teams the option to participate in one of two Challenges: the Design Challenge or the Build Challenge. Teams entering the Design Challenge must select from seven allowable building types ("Divisions") to create their design. Teams entering the Build Challenge will build a residential unit locally and compete nationally. Whether participating in the Design Challenge or the Build Challenge, all teams are evaluated across 10 Contests. The Competition Guide outlines competition history and structure, descriptions of the 10 Contests, and competition details for both the 2021 Design Challenge and 2023 Build Challenge.

30 DIRECT ENERGY CONVERSION↗
DOE OSTI2013

The SEAD global efficiency medal competition: accelerating market transformation for efficient televisions

The Global Efficiency Medal competition, a cornerstone activity of the Super-efficient Equipment and Appliance Deployment (SEAD) Initiative, is an awards program that encourages the production and sale of super-efficient products. SEAD is a voluntary multinational government collaboration of the Clean Energy Ministerial (CEM). This winner-takes-all competition recognizes products with the best energy efficiency, guides early adopter purchasers towards the most efficient product choices and demonstrates the levels of energy efficiency achievable by commercially available and emerging technologies. The first Global Efficiency Medals were awarded to the most energy-efficient flat panel televisions; an iconic consumer purchase. SEAD Global Efficiency Medals were awarded to televisions that have proven to be substantially more energy efficient than comparable models available at the time of the competition (applications closed in the end of May 2012). The award-winning TVs consume between 33 to 44 percent less energy per 2 unit of screen area than comparable LED-backlit LCD televisions sold in each regional market and 50 to 60 percent less energy than CCFL-backlit LCD TVs. Prior to the launch of this competition, SEAD conducted an unprecedented international round-robin test (RRT) to qualify TV test laboratories to support verification testing for SEAD awards. The RRT resulted in increased test laboratory capacity and expertise around the world and ensured that the test results from participating regional test laboratories could be compared in a fair and transparent fashion. This paper highlights a range of benefits resulting from this first SEAD awards competition and encourages further investigation of the awards concept as a means to promote energy efficiency in other equipment types.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗