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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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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2019

Development of a Semi-autonomous Miniature Rover for Inspection of Double Shell Tank Floors - 19575

Leaks in the primary liner of double-shell tank (DST) 241-AY-102 at Hanford have prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. Last year, Florida International University (FIU) has continued to improve inspection tools that were developed in the previous years, to ensure that the resultant tools are able to overcome the challenges posed by the DSTs. Experimental testing conducted last year at the full-scale sectional mock-up of the DST's refractory slots revealed some shortcomings of the miniature rover, particularly in traversing over weld seams of different heights. The weld seams are the results of welded steel plate-joints for the DST. It was advised by the site engineers that the weld seams height could range from 6.35 mm - 9.525 mm (1/4 to 3/8 inches), and with 12.7 mm (1/2 inches) width. As the rover traverses over a weld seam, the gap between the rover's magnets and tank surface increases, causing the adhesive force to drop. The rover loses its surface contact if this adhesive force drops below its weight, jeopardizing the inspection tasks. In this paper, we present the numerical studies to calculate the minimum magnetic force required for the miniature rover to traverse over weld seams with different heights and the corresponding modifications to the rover design. Initial bench scale tests were conducted using a steel bar with 5 welds of varying heights. The testing validated the results from the simulation studies and established the rover's capability in traversing weld seams. Another challenge for the miniature rover is the use of a joystick or keypad for manual control. Utilizing these controls will likely be difficult for the operators due to the tight channels underneath the tank. Having a semi-autonomous navigational capability would alleviate the complexity of the inspection tasks and allow the operator to focus on the channel inspection. The goal is to implement lane-keeping capability, akin to that of a driverless car, for the inspection tool, so that it will maintain its relative position with respect to the wall of the channels. Am image processing pipeline has been developed using both the Robot Operating System (ROS) and OpenCV to process the image stream coming from the onboard camera, for the purpose of lane identification. Additionally, a PID controller has been implemented to navigate the miniature rover along the central location of the detected lane, while allowing the operator to control the tool's forward and backward motion. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

The SuperCam remote sensing instrument suite for the Mars 2020 rover mission: A preview

We present that the SuperCam remote sensing instrument suite under development for the National Aeronautics and Space Administration’s (NASA) Mars 2020 rover performs laser-induced breakdown spectroscopy (LIBS), remote Raman spectroscopy, visible and infrared (VISIR) reflectance spectroscopy, acoustic sensing, and high-resolution color imaging. The instrument builds on the successful architecture of the ChemCam instrument, which provides LIBS and panchromatic images on the Curiosity rover, adding remote Raman spectroscopy by frequency doubling the laser and using a gated intensified detector to obtain Raman signals at distances to 12 m. To the visible reflectance spectroscopy used by ChemCam, an acousto-optic tunable filter (AOTF)-based IR spectrometer is added to cover the 1.3–2.6 µm range that contains important mineral signatures. A complementary metal-oxide semiconductor (CMOS) detector provides color (Bayer filter) images at a pixel resolution of 19 µrad and an optical resolution of 30 µrad. Sounds are recorded via a Knowles Electret microphone, which is the same one that was included but not used on two earlier missions. The acoustic signals of the LIBS plasmas will provide information on the hardness of the targets, while other sounds (wind, rover sounds) will also be recorded. The laser, telescope, IR spectrometer, and camera reside on the rover’s mast and are provided by the Centre national d’etudes spatiales (CNES), while the LIBS, Raman, and VIS spectrometers and data processing unit are built by Los Alamos National Laboratory (LANL) and reside in the rover body. A calibration target assembly provided by the University of Valladolid, Spain, resides on the back of the rover. Lastly, the overall mass of the instrument suite is 10.7 kg.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

The SuperCam Instrument Suite on the NASA Mars 2020 Rover: Body Unit and Combined System Tests

The SuperCam instrument suite provides the Mars 2020 rover, Perseverance, with a number of versatile remote-sensing techniques that can be used at long distance as well as within the robotic-arm workspace. These include laser-induced breakdown spectroscopy (LIBS), remote time-resolved Raman and luminescence spectroscopies, and visible and infrared (VISIR; separately referred to as VIS and IR) reflectance spectroscopy. A remote micro-imager (RMI) provides high-resolution color context imaging, and a microphone can be used as a stand-alone tool for environmental studies or to determine physical properties of rocks and soils from shock waves of laser-produced plasmas. SuperCam is built in three parts: The mast unit (MU), consisting of the laser, telescope, RMI, IR spectrometer, and associated electronics, is described in a companion paper. The on-board calibration targets are described in another companion paper. Here we describe SuperCam’s body unit (BU) and testing of the integrated instrument. The BU, mounted inside the rover body, receives light from the MU via a 5.8 m optical fiber. The light is split into three wavelength bands by a demultiplexer, and is routed via fiber bundles to three optical spectrometers, two of which (UV and violet; 245–340 and 385–465 nm) are crossed Czerny-Turner reflection spectrometers, nearly identical to their counterparts on ChemCam. The third is a high-efficiency transmission spectrometer containing an optical intensifier capable of gating exposures to 100 ns or longer, with variable delay times relative to the laser pulse. This spectrometer covers 535–853 nm ( $105\text{--}7070~\text{cm}^{-1}$ Raman shift relative to the 532 nm green laser beam) with $12~\text{cm}^{-1}$ full-width at half-maximum peak resolution in the Raman fingerprint region. The BU electronics boards interface with the rover and control the instrument, returning data to the rover. Thermal systems maintain a warm temperature during cruise to Mars to avoid contamination on the optics, and cool the detectors during operations on Mars.Results obtained with the integrated instrument demonstrate its capabilities for LIBS, for which a library of 332 standards was developed. Examples of Raman and VISIR spectroscopy are shown, demonstrating clear mineral identification with both techniques. Luminescence spectra demonstrate the utility of having both spectral and temporal dimensions. Finally, RMI and microphone tests on the rover demonstrate the capabilities of these subsystems as well.

47 OTHER INSTRUMENTATION↗
DOE OSTI2019

In-Field Whole-Plant Maize Architecture Characterized by Subcanopy Rovers and Latent Space Phenotyping

Core Ideas * Subcanopy rovers enabled 3D characterization of thousands of hybrid maize plots. * Machine learning produces heritable latent traits that describe plant architecture. * Rover-based phenotyping is far more efficient than manual phenotyping. * Latent phenotypes from rovers are ready for application to plant biology and breeding. Collecting useful, interpretable, and biologically relevant phenotypes in a resource-efficient manner is a bottleneck to plant breeding, genetic mapping, and genomic prediction. Autonomous and affordable subcanopy rovers are an efficient and scalable way to generate sensor-based datasets of in-field crop plants. Rovers equipped with lidar can produce three-dimensional reconstructions of entire hybrid maize (Zea mays L.) fields. In this study, we collected 2103 lidar scans of hybrid maize field plots and extracted phenotypic data from them by latent space phenotyping. We performed latent space phenotyping by two methods, principal component analysis and a convolutional autoencoder, to extract meaningful, quantitative latent space phenotypes (LSPs) describing whole-plant architecture and biomass distribution. The LSPs had heritabilities of up to 0.44, similar to some manually measured traits, indicating that they can be selected on or genetically mapped. Manually measured traits can be successfully predicted by using LSPs as explanatory variables in partial least squares regression, indicating that the LSPs contain biologically relevant information about plant architecture. These techniques can be used to assess crop architecture at a reduced cost and in an automated fashion for breeding, research, or extension purposes, as well as to create or inform crop growth models.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Reaction Rover

Reaction Rover is a software application designed to enable reaction optimization with little or no human intervention and to provide a flexible platform to facilitate rapid testing, automation, and implementation of new reaction optimization algorithms. Toward these goals, Reaction Rover is designed to be modular, allowing the optimization algorithm, analyzer, and reactor components to be changed for any given process using easily integrated plugins. The Reaction Rover platform is a key development that enables the testing, use, and automation of machine learning (ML) and non-ML optimizers in a variety of laboratory situations.

Windus, Theresa↗
DOE OSTI2017

Wheel-Walking Propulsion Unit of a Planetary Rover with Active Suspension

The scheme of the propulsion unit with walking mechanism for a wheeled planetary rover is considered. The walking mechanism permits to convert the chassis in a transport position, displacement of rover’s center of mass so as to optimize the load on motor wheels. In wheeled motion the walking mechanism realize function of the active suspension for adaptation of the locomotion system to the surface features. On friable soils where wheeled locomotion is difficult or impossible, wheel-walking mode improves trafficability.

42 ENGINEERING↗
DOE OSTI2021

The SuperCam Instrument Suite on the Mars 2020 Rover: Science Objectives and Mast-Unit Description

On the NASA 2020 rover mission to Jezero crater, the remote determination of the texture, mineralogy and chemistry of rocks is essential to quickly and thoroughly characterize an area and to optimize the selection of samples for return to Earth. As part of the Perseverance payload, SuperCam is a suite of five techniques that provide critical and complementary observations via Laser-Induced Breakdown Spectroscopy (LIBS), Time-Resolved Raman and Luminescence (TRR/L), visible and near-infrared spectroscopy (VISIR), high-resolution color imaging (RMI), and acoustic recording (MIC). SuperCam operates at remote distances, primarily 2–7 m, while providing data at sub-mm to mm scales. We report on SuperCam’s science objectives in the context of the Mars 2020 mission goals and ways the different techniques can address these questions. The instrument is made up of three separate subsystems: the Mast Unit is designed and built in France; the Body Unit is provided by the United States; the calibration target holder is contributed by Spain, and the targets themselves by the entire science team. This publication focuses on the design, development, and tests of the Mast Unit; companion papers describe the other units. The goal of this work is to provide an understanding of the technical choices made, the constraints that were imposed, and ultimately the validated performance of the flight model as it leaves Earth, and it will serve as the foundation for Mars operations and future processing of the data.

47 OTHER INSTRUMENTATION↗
DOE OSTI2017

Chemistry, Mineralogy, and Grain Properties at Namib and High Dunes, Bagnold Dune Field, Gale Crater, Mars: A Synthesis of Curiosity Rover Observations: Bagnold Dune Sands Composition

The Mars Science Laboratory Curiosity rover performed coordinated measurements to examine the textures and compositions of aeolian sands in the active Bagnold dune field. The Bagnold sands are rounded to subrounded, very fine- to medium- sized (~45-500 µm) with ≥6 distinct grain colors. In contrast to sands examined by Curiosity in a dust-covered, inactive bedform called Rocknest and soils at other landing sites, Bagnold sands are darker, less red, better sorted, have fewer silt-sized or smaller grains, and show no evidence for cohesion. Nonetheless, Bagnold mineralogy and Rocknest mineralogy are similar with plagioclase, olivine, and pyroxenes in similar proportions comprising >90% of crystalline phases, along with a substantial amorphous component (35% ± 15%). Yet, Bagnold and Rocknest bulk chemistry differ. Bagnold sands are Si-enriched relative to other soils at Gale crater, and H 2 O, S, and Cl are lower relative to all previously measured martian soils and most Gale crater rocks. Mg, Ni, Fe, and Mn are enriched in the coarse-sieved fraction of Bagnold sands, corroborated by VNIR spectra that suggest enrichment of olivine. Together, patterns in major element chemistry and volatile release data indicate two distinctive volatile reservoirs in martian soils: (1) amorphous components in the sand-sized fraction (represented by Bagnold) that are Si-enriched, hydroxylated alteration products and/or impact or volcanic glasses; and (2) amorphous components in the fine fraction (<40 µm; represented by Rocknest and other bright soils) that are Fe-, S-, and Cl-enriched with low Si and adsorbed and structural H 2 O.

58 GEOSCIENCES↗
DOE OSTI2022

The Curiosity Rover's Exploration of Glen Torridon, Gale Crater, Mars: An Overview of the Campaign and Scientific Results

The Mars Science Laboratory rover, Curiosity, explored the clay mineral-bearing Glen Torridon region for 1 Martian year between January 2019 and January 2021, including a short campaign onto the Greenheugh pediment. The Glen Torridon campaign sought to characterize the geology of the area, seek evidence of habitable environments, and document the onset of a potentially global climatic transition during the Hesperian era. Curiosity roved 5 km in total throughout Glen Torridon, from the Vera Rubin ridge to the northern margin of the Greenheugh pediment. Curiosity acquired samples from 11 drill holes during this campaign and conducted the first Martian thermochemolytic-based organics detection experiment with the Sample Analysis at Mars instrument suite. The lowest elevations within Glen Torridon represent a continuation of lacustrine Murray formation deposits, but overlying widespread cross bedded sandstones indicate an interval of more energetic fluvial environments and prompted the definition of a new stratigraphic formation in the Mount Sharp group called the Carolyn Shoemaker formation. Glen Torridon hosts abundant phyllosilicates yet remains compositionally and mineralogically comparable to the rest of the Mount Sharp group. Glen Torridon samples have a great diversity and abundance of sulfur-bearing organic molecules, which are consistent with the presence of ancient refractory organic matter. The Glen Torridon region experienced heterogeneous diagenesis, with the most striking alteration occurring just below the Siccar Point unconformity at the Greenheugh pediment. Results from the pediment campaign show that the capping sandstone formed within the Stimson Hesperian aeolian sand sea that experienced seasonal variations in wind direction.

58 GEOSCIENCES↗
DOE OSTI2026

Corundum Discovered by SuperCam and the Perseverance Rover at Jezero Crater, Mars

Minerals provide clues to the type of geologic environments in which they form. The primary types of minerals that have been identified on Mars indicate a history dominated by volcanism followed by interaction with water. However, other minerals are sometimes found. Here we present results from the SuperCam instrument on the Perseverance rover in which the mineral corundum (α-Al2O3) has been identified using a technique called time-resolved luminescence spectroscopy. Corundum has a unique light-emitting (luminescence) feature based on two well-known peaks as well as the time it takes for this light to fade after being excited by a laser, which is referred to as the lifetime. Corundum forms in specific environments that are enriched in aluminum and depleted in silicon and have been subjected to high temperature and pressure. Such places include deep subsurface magmas or shallower locations that have been exposed to high temperature through tectonic processes or meteorite impacts. Given their small size, association with a mineral called plagioclase, and location on the heavily impacted crater rim, we propose that these corundum minerals formed through impact processes.

58 GEOSCIENCES↗
DOE OSTI2017

ROVER

ROVER Is an application for distributed-memory volume rendering and simulated radiography focused on many-core architectures (e.g., GPU, CPU, and MIC). Volume rendering, also known as volume visualization, is a commonly used scientific visualization algorithm that enables users to visualize an entire scalar field at once by mapping scalar values to colors and transparency. Simulated radiography Is a generalization of the volume rendering algorithm from four color channels (I.e., red, green, blue, and transparency) to an arbitrary number of channels representing material opacities in discrete energy groups, measured In electron volts.

Larsen, Matthew↗
DOE OSTI2017

ATDM Rover Milestone Report STDA02-1 (FY2017 Q4)

We have successfully completed the MS-4/Y1 Milestone STDA02-1 for the Rover Project. This document describes the milestone and provides an overview of the technical details and artifacts of the milestone. This milestone is focused on building a GPU accelerated ray tracing package capable of doing multi-group radiography, both back-lit and with self-emission as well as serving as a volume rendering plot in VisIt and other VTK-based visualization tools. The long term goal is a package with in-situ capability, but for this first version integration into VisIt is the primary goal. Milestone Execution Plan: Create API for GPU Raytracer that supports multi-group transport (up to hundreds of groups); Implement components into one or more of: VTK-m, VisIt, and a new library/package implementation to be hosted on LLNL Bitbucket (initially), before releasing to the wider community.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2019

ROVER ATDM Milestone Report

Implement a higher-order hardware accelerated volume rendering and multi-group radiography capability in ROVER based on the MFEM finite element library. Explore adding single scattering to the renderer.

97 MATHEMATICS AND COMPUTING↗