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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Advanced Microwave Precipitation Radiometer (AMPR) for remote observation of precipitation

The design, development, and tests of the Advanced Microwave Precipitation Radiometer (AMPR) operating in the 10 to 85 GHz range specifically for precipitation retrieval and mesoscale storm system studies from a high altitude aircraft platform (i.e., ER-2) are described. The primary goals of AMPR are the exploitation of the scattering signal of precipitation at frequencies near 10, 19, 37, and 85 GHz together to unambiguously retrieve precipitation and storm structure and intensity information in support of proposed and planned space sensors in geostationary and low earth orbit, as well as storm-related field experiments. The development of AMPR will have an important impact on the interpretation of microwave radiances for rain retrievals over both land and ocean for the following reasons: (1) A scanning instrument, such as AMPR, will allow the unambiguous detection and analysis of features in two dimensional space, allowing an improved interpretation of signals in terms of cloud features, and microphysical and radiative processes; (2) AMPR will offer more accurate comparisons with ground-based radar data by feature matching since the navigation of the ER-2 platform can be expected to drift 3 to 4 km per hour of flight time; and (3) AMPR will allow underflights of the SSM/I satellite instrument with enough spatial coverage at the same frequencies to make meaningful comparisons of the data for precipitation studies.

Galliano, J. A.↗
DOE OSTI2026

Electromagnetic production of kaons on the nucleon

Studies of the electromagnetic production of strange quarks started in the 1950s as something of a curiosity that puzzled experimentalists and theorists alike. Eventually, a nascent understanding of these processes began to take shape through the first pioneering experiments dedicated to explore photo- and electroproduction that were carried out in the period from the 1950s to the 1980s. As the datasets increased, concomitant advances in theoretical models were realized. However, these initial studies also made clear that more precise data was essential to continue to move forward. A paradigm shift occurred in the 1990s with the development of second-generation facilities at ELSA, MAMI, SPring-8, and JLab. High-intensity, high duty-factor accelerators, coupled with novel detector systems and advances in computing and readout electronics, brought nuclear physics experiments forward by orders of magnitude in counting statistics compared to the first-generation efforts. This was an utter boon to strangeness physics investigations, and to date, more than 50 dedicated experiments in kaon photo- and electroproduction have been completed at facilities around the world, leading to a host of experimental observables that have enabled significant advances in the exploration of strongly interacting systems that decay via $s\bar{s}$ quark pair creation. These data have proven to be an essential complementary pathway to study the spectrum and structure of the excited states of the nucleon, and the search for missing and exotic baryon configurations. As well, investigations in these channels are requisite for exploring hypernuclear production as a probe of the $YN$ interaction and for studies of the electromagnetic form factors of strange mesons. This review was designed to provide the first-ever in-depth overview of both the experimental and theoretical progress in the field of the electromagnetic production of strangeness. This work looks back over 70 years of past developments, discusses ongoing work and near-term plans, and details future possibilities being considered for third-generation facilities. Extensive lists of the available datasets and theoretical models are provided, together with a comprehensive supporting bibliography of the field. Throughout this work, the primary impacts of these explorations are highlighted, along with connections to a wide range of related phenomenological applications. An important goal of this review is to provide a complete, (reasonably) self-contained guide into this field prepared at a level that is relevant for both new and seasoned scientists, whether experimentalists, phenomenologists, or theorists, to better understand what has been accomplished by so many dedicated folks-each building on what has come before-and to appreciate the exciting future potential for continued studies in this area.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2022

Wash Vehicle Fleet Sizing for Contingency Planning Against Dust Storms

Wash vehicles containing either high- or low-pressure water sprayers, a collection of rotating brushes, or a combination of these, are frequently utilized in concentrating solar power (CSP) plants to maintain a high level of optical efficiency in the solar field. In recent years, multiple modeling approaches have been developed to obtain fleet sizes and mirror-washing schedules that optimize the tradeoff of vehicle capital and use costs and labor versus lost revenues due to soiling. These planning models cover normal operating conditions well but do not consider rare events such as dust storms which can cause a significant reduction in receiver productivity, or shut down operations until most or all of the solar field's mirrors have been cleaned. To that end, we propose a methodology that evaluates whether additional capital should be deployed to hedge against these events by weighing the net present value of the expected benefits against the capital costs. The output of this method is a breakeven frequency, a metric we sue to determine whether an additional vehicle should be purchased to address the contingency of dust storms by comparing it to the expected annual storm frequency We develop a small collection of case studies using commercial-scale CSP tower plants and obtain breakeven frequencies that mostly fall between 0.1 and 1.0 storms per year, depending on the existing fleet size and storm severity.

concentrating solar power↗
DOE OSTI2021

Wash Vehicle Fleet Sizing for Contingency Planning Against Dust Storms: Preprint

Wash vehicles containing either high- or low-pressure water sprayers, a collection of rotating brushes, or a combination of these, are frequently utilized in concentrating solar power (CSP) plants to maintain a high level of optical efficiency in the solar field. In recent years, multiple modeling approaches have been developed to obtain fleet sizes and mirror-washing schedules that optimize the tradeoff of vehicle capital and use costs and labor versus lost revenues due to soiling. These planning models cover normal operating conditions well but do not consider rare events such as dust storms which can a significant reduction in receiver productivity, or shut down operations until most or all of the solar field’s mirrors have been cleaned. To that end, we propose a methodology that evaluates whether additional capital should be deployed to hedge against these events by weighing the net present value of the expected benefits against the capital costs. The output of this method is a breakeven frequency, a metric we sue to determine whether an additional vehicle should be purchased to address the contingency of dust storms by comparing it to the expected annual storm frequency We develop a small collection of case studies using commercial-scale CSP tower plants and obtain breakeven frequencies that mostly fall between 0.1 and 1.0 storms per year, depending on the existing fleet size and storm severity.

41 EE - Solar Energy Technologies Office (EE-4S)↗
DOE OSTI2024

Field Evaluation of the Caney Shale as an Emerging Unconventional Play, Southern Oklahoma

The Mississippian-age Caney Shale is an emerging unconventional oil and gas (UOG) resource play in the southern Midcontinent and is prospective in the Anadarko, Ardmore, Marietta and western Arkoma basins. This play is enigmatic in that time equivalent Fayetteville Shale in the eastern Arkoma basin and Barnett Shale in the Ft. Worth Basin are major unconventional plays, whereas Caney Shale production is sparse and unpredictable (Cardott, 2017). In the Anadarko, Ardmore and Marietta basins, the Caney Shale is in the oil window, but its resource potential has not been adequately assessed. The Caney reservoir is about 60-300 m thick, is rich in total organic carbon, contains a large oil resource base, and has a strong natural gas drive; however, development has been hampered by high clay content and reactivity of the formation with water. The main objective of this initial four-year research project was to address these issues by establishing a Caney Shale Field Laboratory in the Ardmore Basin of southern Oklahoma to (a) conduct a comprehensive field characterization (b) perform field experiments, and (c) validate cost-effective technologies that will lead to a comprehensive and efficient development strategy plan for Caney Shale.

02 PETROLEUM↗
DOE OSTI2022

OVERVIEW OF PARTICLE DEPOSITION MODELS FOR SPENT NUCLEAR FUEL STORAGE SYSTEMS

Deposition models were built to evaluate contaminant deposition on spent nuclear fuel (SNF) canisters. The primary contaminant of concern is chloride, which is dispersed in the atmosphere and then deposits onto the canisters. During dry storage, the primary degradation process is likely to be Chloride Induced Stress Corrosion Cracking (CISCC) at the heat-affected zones of the canister welds. It is known that stainless steel canisters are susceptible to CISCC; however, the rate of chloride deposition onto the canisters is poorly known, based on sparse field data from a small number of sites. The models presented in this study could be useful for determining the rate of deposition on the canisters and the likelihood of CISCC to help with SNF canister ageing management. The deposition models were developed with the commercial computational fluid dynamics (CFD) code STAR-CCM+. Various deposition mechanisms were considered and incorporated into the models, and a sensitivity study was conducted to determine the most important mechanisms for deposition within a SNF storage system. The models included both a vertical and horizontal configuration storage system: NAC International’s Modular, Advanced Generation, Nuclear All-purpose STORage System (MAGNASTOR®) and a NUHOMS® horizontal storage module respectively. The resulting canister deposition on the horizontal canister is visually compared with inspection data taken onsite at the Calvert Cliffs Nuclear Power Plant. These models are preliminary, and development of the models will continue. Future validation exercises are currently being planned, including the Canister Deposition Field Demonstration (CDFD) effort funded by U.S. Department of Energy office of Nuclear Energy office of Spent Fuel Waste Science and Technology. The goal of the modeling presented is to demonstrate a potential modeling technique that could be used to plan and inform SNF canister ageing management programs with predictive models for the timing and occurrence of canister CISCC.

Suffield, Sarah R.↗
NASA NTRS2011

Development and Demonstration of Sustainable Surface Infrastructure for Moon/Mars Exploration

For long-term human exploration of the Moon and Mars to be practical, affordable, and sustainable, future missions must be able to identify and utilize resources at the site of exploration. The ability to characterize, extract, processes, and separate products from local material, known as In-Situ Resource Utilization (ISRU), can provide significant reductions in launch mass, logistics, and development costs while reducing risk through increased mission flexibility and protection as well as increased mission capabilities in the areas of power and transportation. Making mission critical consumables like propellants, fuel cell reagents and life support gases, as well as in-situ crew/hardware protection and energy storage capabilities can significantly enhance robotic and human science and exploration missions, however other mission systems need to be designed to interface with and utilize these in-situ developed products and services from the start or the benefits will be minimized or eliminated. This requires a level of surface and transportation system development coordination not typically utilized during early technology and system development activities. An approach being utilized by the US National Aeronautics and Space Administration and the Canadian Space Agency has been to utilize joint analogue field demonstrations to focus technology development activities to demonstrate and integrate new and potentially game changing. mission critical capabilities that would enable an affordable and sustainable surface infrastructure for lunar and Mars robotic and human exploration. Two analogue field tests performed in November 2008 and February 2010 demonstrated first generation capabilities for lunar resource prospecting, exploration site preparation, and oxygen extraction from regolith while initiating integration with mobility, science, fuel cell power, and propulsion disciplines. A third analogue field test currently planned for June 2012 will continue and expand the fidelity and integration of these surface exploration and infrastructure capabilities while adding Mars exploration technologies, improving remote operations and control of hardware, and promoting the use of common software, interfaces, & standards for control and operation for surface exploration and science. The next field test will also attempt to include greater involvement by industry, academia, and other countries/space agencies. This paper will provide an overview of the development and demonstration approach utilized to date, the results of the previous two ISRU-focused field analogue tests in Hawaii, and the current objectives and plans for the 3rd international Hawaii analogue field test.

Sanders, Gerald B.↗
NASA NTRSDate not supplied

Exploring the Moon: Training Astronauts for Artemis Missions

For the first time in over 50 years, NASA scientists are training astronauts assigned to lunar missions. The successful Artemis 1 test flight in 2022 set the stage for future human missions to the Moon. The Artemis II mission will send astronauts to fly by the Moon, providing the first opportunity since Apollo for humans to directly observe and document the lunar surface from a few thousand kilometers, including the lunar far side. Artemis III will be the first human mission to land and explore the Moon’s surface near the lunar South Pole. To prepare for Artemis exploration, geology training for the Artemis II crew and detailed training plans for Artemis III and beyond are in full swing. NASA scientists have been working for several years with the Flight Operations Directorate (FOD) at the Johnson Space Center on a progressive geology training program that starts with incoming astronaut classes, offers opportunities to maintain the geology proficiency between flight assignments, and trains the broader engineering-operations-management community in geology and field operations. In the spring of 2023, our team developed an introductory week-long class called Lunar Fundamentals and delivered this content to the Artemis II crew, as well as key NASA Flight Control Team members. The Lunar Fundamentals curriculum combines basic geographic and geologic information about the Moon; includes detailed content on major geologic processes, the lunar environment, lunar volatiles, and sample science; provides historical context of our growing knowledge about the Moon; and introduces new lunar data sets and tools for exploring the lunar surface. With the Lunar Fundamentals foundation, we continue development of the advanced planetary science classroom content for the Artemis III crew, together with field training science objectives and plans. Partnering with our FOD colleagues, we are building an integrated training plan for lunar science, exploration field methods, and operational skills to ensure that the Artemis astronauts exploring the Moon will have the necessary foundation in geology and lunar science to achieve mission success.

Astronauts training↗
DOE OSTI2021

COVID-19 Vaccine-Induced Radiation Recall Phenomenon

Radiation recall phenomenon (RRP) is an uncommon, late occurring, acute inflammatory skin reaction that emerges in localized areas coincident with previously irradiated radiation therapy (RT) treatment fields. RRP has been known to be triggered by a number of chemotherapy agents. To the best of our knowledge, this report is the first description of RRP after administration of the Pfizer-BioNTech vaccine for COVID-19, or any other currently available vaccine against COVID-19. Acute skin reactions were observed in 2 RT patients with differing timelines of RT and vaccinations. In both cases however, the RRP presented within days of the patient receiving the second dose of vaccine. For each RT course, the treatment planning dosimetry of the radiation fields was compared with the area of the observable RRP. RRP developed within the borders of treatment fields where prescription dose constraints were prioritized over skin sparing. Our observation is currently limited to 2 patients. The actual incidence of RRP in conjunction with Pfizer-BioNTech vaccine or any other vaccine against COVID-19 is unknown. For patients with cancer being treated with radiation with significant dose to skin, consideration should be given to the probability of RRP side effects from vaccinations against COVID-19.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS1984

Space research in the era of the space station

The historical development of U.S. space technology is examined as a basis for future programs planned in the field of astrophysics, meteorological and land sciences, and planetary exploration. The background of the NASA space station project is described, as well as other current programs: Voyager II for Uranus and Neptune exploration, Galileo mission for sending probes into the Jovian atmosphere, Venus Radar Mapper, Mars Geochemistry and Climatology Orbiter, and the International Solar Polar mission. Recent advances in in-orbit assembly, refurbishment and repairs are discussed through the example of the Solar Maximum mission spacecraft repair in 1984 and the use of the RMS tool. The U.S. space observatory project with a 20-meter reflector telescope, currently in the early definition stage, is also discussed. Finally, the Soviet Salyut and Soyuz missions, together with the Soviet Union's study of long term flight conditions are mentioned as possible comparison with the NASA work.

Frost, K. J.↗
NASA NTRS1992

Plant growth modeling at the JSC variable pressure growth chamber - An application of experimental design

This paper describes the approach and results of an effort to characterize plant growth under various environmental conditions at the Johnson Space Center variable pressure growth chamber. Using a field of applied mathematics and statistics known as design of experiments (DOE), we developed a test plan for varying environmental parameters during a lettuce growth experiment. The test plan was developed using a Box-Behnken approach to DOE. As a result of the experimental runs, we have developed empirical models of both the transpiration process and carbon dioxide assimilation for Waldman's Green lettuce over specified ranges of environmental parameters including carbon dioxide concentration, light intensity, dew-point temperature, and air velocity. This model also predicts transpiration and carbon dioxide assimilation for different ages of the plant canopy.

Miller, Adam M.↗
NASA NTRS2001

GSFC IVS Technology Development Center Report

This report summarizes the activities of the Goddard Space Flight Center's (GSFC's) International Very Long Base Interferometry (VLBI) Service (IVS)Technology Development Center from the establishment of IVS to the end of 2000. The report forecasts activities planned for the year 2001. The GSFC IVS Technology Development Center (TDC) develops station software including the Field System (FS), scheduling software (SKED), hardware including tools for station timing and meteorology, scheduling algorithms, operational procedures, and provides a pool of individuals to assist with station implementation, check-out, upgrades, and training.

Himwich, Ed↗
NASA NTRS2010

Medical Response, Search and Recovery during the Space Shuttle Columbia Accident Investigation

On February 1, 2003, the Space Shuttle Columbia broke apart during atmospheric re-entry on mission STS-107. After an event such as this, with high visibility and international interest, the operational challenge of recovering the crewmembers could not be underestimated. The Space Shuttle Program is organized to respond to a vehicle mishap using the resources of the Mishap Investigation Team (MIT). On the afternoon of Feb. 1, 2003, the MIT deployed to Barksdale Air Force Base (AFB), Louisiana. This location became the investigative center and interim storage location for crewmembers received from the Lufkin, Texas Disaster Field Office (DFO). The Lufkin DFO served as the primary area for all operations, including staging assets and deploying field teams for search, recovery and security of crewmember remains. More than 2,000 people from numerous organizations were involved with the recovery of the crew. All seven crewmembers of STS-107 were recovered and ceremonial last rights were administered. Astronaut and military personnel escorted the crew with honor to the MIT at Barksdale AFB, Louisiana. At Barksdale AFB a temporary morgue was established in an aircraft hangar and operated for approximately two weeks during which time coordination with the DFO field recovery teams, Armed Forces Institute of Pathology (AFIP) medical personnel, and the crew surgeons was on going. Families of crewmembers and NASA management were notified daily of the current findings. Working under the leadership of the MIT Lead, the medical team developed and executed a short-term plan to identify and relocate the crew with a military honor guard and protocol to the medical examiner at the Armed Forces Port Mortuary, Dover AFB, Delaware. After operations at Barksdale AFB were concluded the medical team transitioned back to Houston and a long-term plan was developed and implemented which involved the Air Force Mortuary Affairs at Randolph AFB, Texas. This plan was coordinated with search teams in the field, Barksdale AFB Mortuary Affairs, KSC security, AFIP, and the crew surgeons at JSC.

Stepaniak, Philip C.↗
NASA NTRS1973

An evaluation of EREP (Skylab) and ERTS imagery for integrated natural resources survey

The author has identified the following significant results. An experimental procedure has been devised and is being tested for natural resource surveys to cope with the problems of interpreting and processing the large quantities of data provided by Skylab and ERTS. Some basic aspects of orbital imagery such as scale, the role of repetitive coverage, and types of sensors are being examined in relation to integrated surveys of natural resources and regional development planning. Extrapolation away from known ground conditions, a fundamental technique for mapping resources, becomes very effective when used on orbital imagery supported by field mapping. Meaningful boundary delimitations can be made on orbital images using various image enhancement techniques. To meet the needs of many developing countries, this investigation into the use of satellite imagery for integrated resource surveys involves the analysis of the images by means of standard visual photointerpretation methods.

Vangenderen, J. L.↗
DOE OSTI2021

Collisionless losses of fast ions in the Divertor Tokamak Test due to toroidal field ripple

In this paper we analyze fast ion motion in the Divertor Tokamak Test device. DTT is planned to be heated through a mix of 45 MW heating power, including 15 MW negative-ion-based Neutral Beam heating (NNBI) which is currently being developed by Consorzio RFX in Padova, Italy. An issue for DTT is that a Toroidal Field (TF) ripple with a maximum value of about 0.42% (with respect to the on-axis magnetic field $B_0$) is expected on the low-field side (LFS), and this ripple interacts with fast ions through rather well-known phenomena of ripple-precession resonances, in addition to prompt losses of ions which do not complete a full orbit in the poloidal plane. We will show that, with the planned geometry of NNBI, prompt losses are negligible, and ripple-precession losses amount to a maximum 0.15%. The calculations are performed with the guiding center code ORBIT using two different equilibria, and a beam with energy 400 keV and injection angle $\alpha_{inj} = 40^{\circ}$ (measured w.r.t. the first wall), which corresponds to a pitch of injected particles $\lambda = v_{\parallel}/v \approx \sin{\alpha_{inj}} = 0.65$. Main resonances are of the form $\omega_b - n N \omega_d = 0$, $\omega_b$ and $\omega_d$ being the bounce and precession frequency, respectively, $N=18$ the ripple periodicity and $3 \le n \le 6$ are the toroidal wavenumbers of the resonances. Although collisionless interaction with the TF ripple does not pose a serious threat to the NNBI project, an open question remains whether the presence of these resonances will interact with fast particles accelerated by \alfven eigenmodes, and if stochastization of the resonances is possible in DTT, as it was observed in the past in TORE SUPRA.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2021

Autonomous Tools for Attack Surface Reduction (Final Report)

The electric power grid is a complex critical infrastructure that forms the lifeline of modern society, and its secure and reliable operation is of paramount importance to national security and economic wellbeing. However, recent findings documented in authoritative sources indicate the threat of cyber-based attacks growing in numbers and sophistication. However, securing the grid against stealthy cyberattacks is a challenging task due to legacy nature of the infrastructure coupled with dynamic nature of threat landscape and ever-growing sophistication of the adversaries. Additionally, the grid’s attack surface continues to grow with the increased dependence on digital communications and control that now extends to each consumer through smart meters and distributed energy resources. Unfortunately, this expansive surface increases the grid’s vulnerability and further exposes critical control systems in both substations and control centers. To respond to this emerging need, we had successfully assembled an interdisciplinary team with academic- industry partnership to successfully conduct research, development, evaluation, demonstration, and commercialization of attack surface reduction tools, whose goal was to significantly reduce the cyber attack surface in the North American power grid. Our proposed project was a synergistic collaborative effort leveraging the synergistic expertise of the team members across power systems, cyber security and CPS security, testbeds, field deployments and demonstration, and successful commercialization. The following are the specific tasks that have been successfully completed two phases (2016-2020). Phase I: Task 1: Developed and implemented a robust Project Management and Data Management Plan, coupled with a well thought out Risk Mitigation Plan. Task 2.1: Developed a comprehensive framework that continually assesses and autonomously reduces the attack surface for the power grid control environment spanning across substations, control center and the SCADA network to significantly reduce the risks of cyber attacks. Task 2.2: Developed attack surface analysis techniques, metrics, and tools that assess the attack surface at multiple levels including the control center, substations, and the SCADA network. Task 2.3: Developed attack surface reduction techniques and tools that dynamically reduce attack surface and hence increase attacker’s cost without interfering in the critical functions of the system. Task 2.4: Prototyped, implemented, and quantitatively evaluated/validated the techniques and tools on a realistic industrial CPS security testbed environment by leveraging the unique resources of the team. Task 3: Developed Commercialization plan to transition the developed tools into power system industry stakeholders for a broader adoption by leveraging the expertise of our industrial members. Phase II: Task 4: Successfully completed field demonstration, verification, and evaluation of the effectiveness of the attack surface analysis and reduction techniques on a realistic utility testbed environment. This also involved the development of realistic scenarios, sound metrics, data sets, evaluation criteria, and documentation. Technology integration & Field demonstration: The project had significantly advanced the state-of-the-art research and practice in improving the cybersecurity of our nation’s power grid infrastructure against cyber threats. In particular, the proposed, designed, and deployed attack surface analysis and reduction algorithms and tools have contributed to significantly reducing the exposure and risk of the devices, substations, and the integrated SCADA/EMS/ DMS grid environment to cyber threat. Strong demonstration and evaluation techniques have verified the feasibility of the developed techniques on realistic cyber-physical testbeds and utility partner's real grid environment, and collaborative research and evaluation of attack surface reduction techniques (for wide-are monitoring and control) within a vendor (GE) EMS platform. The Attack Host Analyzer (AHA) tool that was developed through this project was made available through GitHub.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2011

Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide insights not accessible by deterministic methods; for example, one can evaluate variability and risk associated with different scenarios, rather than only viewing the expected outcome.

Wolf, Michael↗