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

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116 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Modular Accelerator Robotics Framework Implementation For Accelerator Inspection

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khana, M. [Unlisted, US, IL] (ORCID:0009000↗
DOE OSTI2022

A Surface Exposed, Two-Domain Lipoprotein Cargo of a Type XI Secretion System Promotes Colonization of Host Intestinal Epithelia Expressing Glycans

The only known required component of the newly described Type XI secretion system (TXISS) is an outer membrane protein (OMP) of the DUF560 family. TXISS OMPs are broadly distributed across proteobacteria, but properties of the cargo proteins they secrete are largely unexplored. We report biophysical, histochemical, and phenotypic evidence that Xenorhabdus nematophila NilC is surface exposed. Biophysical data and structure predictions indicate that NilC is a two-domain protein with a C-terminal, 8-stranded β-barrel. This structure has been noted as a common feature of TXISS effectors and may be important for interactions with the TXISS OMP . The NilC N-terminal domain is more enigmatic, but our results indicate it is ordered and forms a β-sheet structure, and bioinformatics suggest structural similarities to carbohydrate-binding proteins. X. nematophila NilC and its presumptive TXISS OMP partner NilB are required for colonizing the anterior intestine of Steinernema carpocapsae nematodes: the receptacle of free-living, infective juveniles and the anterior intestinal cecum (AIC) in juveniles and adults. We show that, in adult nematodes, the AIC expresses a Wheat Germ Agglutinin (WGA)-reactive material, indicating the presence of N-acetylglucosamine or N-acetylneuraminic acid sugars on the AIC surface. A role for this material in colonization is supported by the fact that exogenous addition of WGA can inhibit AIC colonization by X. nematophila. Conversely, the addition of exogenous purified NilC increases the frequency with which X. nematophila is observed at the AIC, demonstrating that abundant extracellular NilC can enhance colonization. NilC may facilitate X. nematophila adherence to the nematode intestinal surface by binding to host glycans, it might support X. nematophila nutrition by cleaving sugars from the host surface, or it might help protect X. nematophila from nematode host immunity. Proteomic and metabolomic analyses of wild type X. nematophila compared to those lacking nilB and nilC revealed differences in cell wall and secreted polysaccharide metabolic pathways. Additionally, purified NilC is capable of binding peptidoglycan, suggesting that periplasmic NilC may interact with the bacterial cell wall. Overall, these findings support a model that NilB-regulated surface exposure of NilC mediates interactions between X. nematophila and host surface glycans during colonization. This is a previously unknown function for a TXISS.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS2016

Relativistic Electrons Produced by Foreshock Disturbances Observed Upstream of Earth's Bow Shock

Charged particles can be reflected and accelerated by strong (i.e., high Mach number) astrophysical collisionless shock waves, streaming away to form a foreshock region in communication with the shock. Foreshocks are primarily populated by suprathermal ions that can generate foreshock disturbances-largescale (i.e., tens to thousands of thermal ion Larmor radii), transient (approximately 5-10 per day) structures. They have recently been found to accelerate ions to energies of several keV. Although electrons in Saturn's high Mach number (M > 40) bow shock can be accelerated to relativistic energies (nearly 1000 keV), it has hitherto been thought impossible to accelerate electrons beyond a few tens of keV at Earth's low Mach number (1 ≤M <20) bow shock. Here we report observations of electrons energized by foreshock disturbances to energies up to at least approximately 300 keV. Although such energetic electrons have been previously observed, their presence has been attributed to escaping magnetospheric particles or solar events. These relativistic electrons are not associated with any solar or magnetospheric activity. Further, due to their relatively small Larmor radii (compared to magnetic gradient scale lengths) and large thermal speeds (compared to shock speeds), no known shock acceleration mechanism can energize thermal electrons up to relativistic energies. The discovery of relativistic electrons associated with foreshock structures commonly generated in astrophysical shocks could provide a new paradigm for electron injections and acceleration in collisionless plasmas.

SLAMS↗
NASA NTRS2020

Search and Rescue under the Forest Canopy using Multiple UAS

We consider the problem of multi-robot search and rescue under the forest canopy. Forest is a particularly challenging environment for collaborative mapping and exploration, mainly due to the existence of severe perceptual aliasing, which hinders reliable mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) with onboard sensing and autonomy. Each UAV runs a lightweight filtering algorithm for local state estimation, and a dynamic-aware frontier selection algorithm for fast exploration. The essential and computationally intensive task of collaborative simultaneous localization and mapping (CSLAM) is performed at a central ground station. To handle perceptual aliasing, we make use of stable landmarks extracted from trees, which significantly improve precision and recall during place recognition. Furthermore, to recover from incorrect pairwise data associations during loop closure, we propose a novel procedure for global data association based on recently developed techniques on cycle consistent multiway matching. Our algorithm returns a global data association that is guaranteed to be cycle consistent, and is shown to significantly improve precision compared to the input pairwise associations. The overall multi-UAV system is extensively validated during real-world collaborative exploration missions in a forest at NASA Langley Research Center.

Multi-robot systems↗
NASA NTRS2003

The trajectory of a photon : general relativity light time delay

In this paper, a formula is developed for the total one-way transit time of a photon in the coordinate time of General Relativity. A bending term is identified that contributes about 10 ns to the transit time of a photon that grazes the Sun and is not generally included in other formula in the literature. The results are verified by performing numerical integration of the equations of motion for a photon. A numerical photon ephemeris is computed and compared with the analytic formula.

Tury, Slam G.↗