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At least 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Quantifying Error in Photovoltaic Installation Metadata: Preprint

In this research, we quantify the level of metadata error for a fleet of 2860 photovoltaic (PV) systems, using metadata values provided by fleet owners. Using satellite imagery and time series analysis techniques available in open-source Python packages Panel-Segmentation and PVAnalytics, respectively, we evaluate the accuracy of PV system metadata such as location, azimuth, tilt, and mounting configuration (fixed tilt vs. tracking). We find that approximately 75% of provided latitude-longitude coordinates are within 190 meters of the actual solar installation. We were unable to link 7.8% of latitude-longitude coordinates to any solar installation via satellite imagery analysis. We evaluate the level of error in owner-provided mounting configuration (fixed tilt vs. single-axis tracking), finding only 8 systems with an incorrect mounting configuration. When evaluating azimuth and tilt parameters, we find that approximately 64% of the data is correct, with data for 860 systems (approximately 30%) not provided by system owners. To illustrate the importance of having correct solar metadata, we evaluate how incorrect metadata affects solar performance estimates by modeling system AC energy output at ground-truth vs. incorrect latitude-longitude coordinates, mounting configurations, and azimuth-tilt configurations. Energy output estimates can vary significantly if incorrect metadata parameters are used, with incorrect mounting configuration leading to the largest discrepancy with over 20% variation in expected energy output.

azimuth↗
DOE OSTI2017

Vertex reconstruction of neutrino interactions using deep learning

Deep learning offers new tools to improve our understanding of many important scientific problems. Neutrinos are the most abundant particles in existence and are hypothesized to explain the matter-antimatter asymmetry that dominates our universe. Definitive tests of this conjecture require a detailed understanding of neutrino interactions with a variety of nuclei. Many measurements of interest depend on vertex reconstruction -- finding the origin of a neutrino interaction using data from the detector, which can be represented as images. Traditionally, this has been accomplished by utilizing methods that identify the tracks coming from the interaction. However, these methods are not ideal for interactions where an abundance of tracks and cascades occlude the vertex region. Manual algorithm engineering to handle these challenges is complicated and error prone. Deep learning extracts rich, semantic features directly from raw data, making it a promising solution to this problem. In this work, deep learning models are presented that classify the vertex location in regions meaningful to the domain scientists improving their ability to explore more complex interactions.

Terwilliger, Adam↗
DOE OSTI2014

MO-C-BRD-01: SBRT I: Overview of Simulation, Planning, and Delivery

SBRT is having a dramatic impact on radiation therapy of early-stage, locally advanced cancers. Treatment planning of SBRT is characterized by precise target volume delineation, highly conformal dose distribution, sharp dose gradient outside the target volume, and meticulous tumor motion management. Stringent dose volume constraints of SBRT require the treatment planning to be highly personalized. Not only the complete patient's medical information (anatomy, tumor size/shape/location/motion, breathing pattern, health status) should be taken into consideration during planning, but also a wide range of factors including imaging techniques (imaging modality, breathing control, immobilization, patient position, etc.), treatment planning techniques (3D-conformal, dynamic conformal arcs, IMRT, VMAT, etc.), image guidance techniques (CBCT, orthogonal X-Ray, fiducial marker tracking, fluoroscopy, etc.), and delivery techniques (FFF, gating, tracking, etc.). In addition, potential pitfalls may exist in SBRT techniques and processes, such as target volume error in 4DCT and image registration error in image guidance. How to manage these affecting factors to achieve optimal, personalized SBRT treatment plans remains a great challenge. In this proposal, we will review technologies, share experiences, and discuss strategies concerning SBRT simulation, planning, and delivery. Learning Objectives: Understand requirements and challenges of SBRT treatment planning Discuss information-driven strategies of developing optimal SBRT plans Discuss practical considerations and potential pitfalls of SBRT treatment planning.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2017

Numerical Solutions for the Orbital Motion of the Solar System over the Past 100 Myr: Limits and New Results

I report results from accurate numerical integrations of solar system orbits over the past 100 Myr with the integrator package HNBody. The simulations used different integrator algorithms, step sizes, and initial conditions, and included effects from general relativity, different models of the Moon, the Sun’s quadrupole moment, and up to 16 asteroids. I also probed the potential effect of a hypothetical Planet 9, using one set of possible orbital elements. The most expensive integration (Bulirsch–Stoer) required 4 months of wall-clock time with a maximum relative energy error ≲3×10{sup −13}. The difference in Earth’s eccentricity (Δe{sub E}) was used to track the difference between two solutions, considered to diverge at time τ when max |Δe{sub E}| irreversibly crossed ∼10% of mean e{sub E} (∼0.028×0.1). The results indicate that finding a unique orbital solution is limited by initial conditions from current ephemerides and asteroid perturbations to ∼54 Myr. Bizarrely, the 4-month Bulirsch–Stoer integration and a symplectic integration that required only 5 hr of wall-clock time (12-day time step, with the Moon as a simple quadrupole perturbation), agree to ∼63 Myr. Internally, such symplectic integrations are remarkably consistent even for large time steps, suggesting that the relationship between time step and τ is not a robust indicator of the absolute accuracy of symplectic integrations. The effect of a hypothetical Planet 9 on Δe{sub E} becomes discernible at ∼65 Myr. Using τ as a criterion, the current state-of-the-art solutions all differ from previously published results beyond ∼50 Myr. I also conducted an eigenmode analysis, which provides some insight into the chaotic nature of the inner solar system. The current study provides new orbital solutions for applications in geological studies.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2017

On-line monitoring for turbine bypass system based on real-time simulation - 108

Faults may occur in nuclear power plants, but it is difficult for operators to recognize the situation and take effective measures quickly. However, on-line monitoring may help operators to detect the abnormalities so that the safety of nuclear power plants will be improved. As Turbine Bypass System runs during transient processes, quantitative simulation model is utilized for on-line monitoring. In addition, analyzing for residual errors of simulated and corresponding measured values are done by principle component analysis. Under normal operation, the methodology allows real-time tracking to set dynamic thresholds. While a failure occurs, faults can be detected. Simulation analysis show the effectiveness and accuracy of this methodology. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2016

A hybrid approach to estimate the complex motions of clouds in sky images

Tracking the motion of clouds is essential to forecasting the weather and to predicting the short-term solar energy generation. Existing techniques mainly fall into two categories: variational optical flow, and block matching. In this article, we summarize recent advances in estimating cloud motion using ground-based sky imagers and quantitatively evaluate state-of-the-art approaches. Then we propose a hybrid tracking framework to incorporate the strength of both block matching and optical flow models. To validate the accuracy of the proposed approach, we introduce a series of synthetic images to simulate the cloud movement and deformation, and thereafter comprehensively compare our hybrid approach with several representative tracking algorithms over both simulated and real images collected from various sites/imagers. The results show that our hybrid approach outperforms state-of-the-art models by reducing at least 30% motion estimation errors compared with the ground-truth motions in most of simulated image sequences. Furthermore, our hybrid model demonstrates its superior efficiency in several real cloud image datasets by lowering at least 15% Mean Absolute Error (MAE) between predicted images and ground-truth images.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2016

SU-G-JeP1-01: A Combination of Real Time Electromagnetic Localization and Tracking with Cone Beam Computed Tomography in Stereotactic Radiosurgery for Brain Tumors

Purpose: 1. online verification of patient position during treatment using calypso electromagnetic localization and tracking system. 2. Verification and comparison of positional accuracy between cone beam computed tomography and calypso system. 3. Presenting the advantage of continuation localization in Stereotactic radiosurgery treatments. Methods: Ten brain tumor cases were taken for this study. Patients with head mask were under gone Computed Tomography (CT). Before scanning, mask was cut on the fore head area to keep surface beacons on the skin. Slice thickness of 0.65 mm were taken for this study. x, y, z coordinates of these beacons in TPS were entered into tracking station. Varian True Beam accelerator, equipped with On Board Imager was used to take Cone beam Computed Tomography (CBCT) to localize the patient. Simultaneously Surface beacons were used to localize and track the patient throughout the treatment. The localization values were compared in both systems. For localization CBCT considered as reference. Tracking was done throughout the treatment using Calypso tracking system using electromagnetic array. This array was in tracking position during imaging and treatment. Flattening Filter free beams of 6MV photons along with Volumetric Modulated Arc Therapy was used for the treatment. The patient movement was observed throughout the treatment ranging from 2 min to 4 min. Results: The average variation observed between calypso system and CBCT localization was less than 0.5 mm. These variations were due to manual errors while keeping beacon on the patient. Less than 0.05 cm intra-fraction motion was observed throughout the treatment with the help of continuous tracking. Conclusion: Calypso target localization system is one of the finest tools to perform radiosurgery in combination with CBCT. This non radiographic method of tracking is a real beneficial method to treat patients confidently while observing real-time motion information of the patient.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2026

4D beam matrix reconstruction in particle accelerators

Transverse beam parameters in particle accelerators are commonly described using the Twiss parameters, which are experimentally accessible yet inherently limited because they neglect correlations between different transverse coordinates. Such correlations frequently arise from uncompensated cathode magnetic fields or misaligned focusing quadrupoles, affecting beam quality and accelerator performance. To address this limitation, we propose and validate a novel diagnostic method for the complete four-dimensional (4D) transverse beam matrix. Our method involves passing the beam through a beamline comprising both conventional and skew quadrupole magnets, followed by downstream measurements of the resulting two-dimensional (2D) beam profiles. These measurements represent distinct 2D projections of the underlying 4D transverse phase–space distribution. By systematically varying quadrupole strengths, multiple independent projections of the beam phase space are obtained. We reconstruct the original 4D beam matrix from these measured projections using an optimization-based least-square fit, providing fast and robust reconstruction regardless of the specific beamline configuration. Through extensive numerical simulations and realistic particle-tracking studies, we demonstrate the diagnostic’s accuracy, robustness, and capability to achieve reconstruction uncertainties smaller than measurement errors, particularly when employing sufficient numbers of quadrupole scans. This method presents a powerful and flexible approach for comprehensive beam characterization and accelerator tuning.

43 PARTICLE ACCELERATORS↗
DOE OSTI2011

Mobile C-arm cone-beam CT for guidance of spine surgery: Image quality, radiation dose, and integration with interventional guidance

Purpose: A flat-panel detector based mobile isocentric C-arm for cone-beam CT (CBCT) has been developed to allow intraoperative 3D imaging with sub-millimeter spatial resolution and soft-tissue visibility. Image quality and radiation dose were evaluated in spinal surgery, commonly relying on lower-performance image intensifier based mobile C-arms. Scan protocols were developed for task-specific imaging at minimum dose, in-room exposure was evaluated, and integration of the imaging system with a surgical guidance system was demonstrated in preclinical studies of minimally invasive spine surgery. Methods: Radiation dose was assessed as a function of kilovolt (peak) (80-120 kVp) and milliampere second using thoracic and lumbar spine dosimetry phantoms. In-room radiation exposure was measured throughout the operating room for various CBCT scan protocols. Image quality was assessed using tissue-equivalent inserts in chest and abdomen phantoms to evaluate bone and soft-tissue contrast-to-noise ratio as a function of dose, and task-specific protocols (i.e., visualization of bone or soft-tissues) were defined. Results were applied in preclinical studies using a cadaveric torso simulating minimally invasive, transpedicular surgery. Results: Task-specific CBCT protocols identified include: thoracic bone visualization (100 kVp; 60 mAs; 1.8 mGy); lumbar bone visualization (100 kVp; 130 mAs; 3.2 mGy); thoracic soft-tissue visualization (100 kVp; 230 mAs; 4.3 mGy); and lumbar soft-tissue visualization (120 kVp; 460 mAs; 10.6 mGy) - each at (0.3 x 0.3 x 0.9 mm{sup 3}) voxel size. Alternative lower-dose, lower-resolution soft-tissue visualization protocols were identified (100 kVp; 230 mAs; 5.1 mGy) for the lumbar region at (0.3 x 0.3 x 1.5 mm{sup 3}) voxel size. Half-scan orbit of the C-arm (x-ray tube traversing under the table) was dosimetrically advantageous (prepatient attenuation) with a nonuniform dose distribution ({approx}2 x higher at the entrance side than at isocenter, and {approx}3-4 lower at the exit side). The in-room dose (microsievert) per unit scan dose (milligray) ranged from {approx}21 {mu}Sv/mGy on average at tableside to {approx}0.1 {mu}Sv/mGy at 2.0 m distance to isocenter. All protocols involve surgical staff stepping behind a shield wall for each CBCT scan, therefore imparting {approx}zero dose to staff. Protocol implementation in preclinical cadaveric studies demonstrate integration of the C-arm with a navigation system for spine surgery guidance-specifically, minimally invasive vertebroplasty in which the system provided accurate guidance and visualization of needle placement and bone cement distribution. Cumulative dose including multiple intraoperative scans was {approx}11.5 mGy for CBCT-guided thoracic vertebroplasty and {approx}23.2 mGy for lumbar vertebroplasty, with dose to staff at tableside reduced to {approx}1 min of fluoroscopy time ({approx}40-60 {mu}Sv), compared to 5-11 min for the conventional approach. Conclusions: Intraoperative CBCT using a high-performance mobile C-arm prototype demonstrates image quality suitable to guidance of spine surgery, with task-specific protocols providing an important basis for minimizing radiation dose, while maintaining image quality sufficient for surgical guidance. Images demonstrate a significant advance in spatial resolution and soft-tissue visibility, and CBCT guidance offers the potential to reduce fluoroscopy reliance, reducing cumulative dose to patient and staff. Integration with a surgical guidance system demonstrates precise tracking and visualization in up-to-date images (alleviating reliance on preoperative images only), including detection of errors or suboptimal surgical outcomes in the operating room.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

Quantifying structural errors in cloud condensation nuclei activity from reduced representation of aerosol size distributions

Aerosol effects on clouds and radiation are the dominant contribution to uncertainty in radiative forcing relative to the pre-industrial atmosphere. While previous studies have assessed the impact of parametric uncertainty on modeled forcing, structural errors from the numerical representation of particle distributions have not been well quantified. Here we present a framework for quantifying error in aerosol size distributions and cloud condensation nuclei activity, which we apply to the widely used 4-mode version of the Modal Aerosol Module (MAM4). Box model predictions from the MAM4 are evaluated against the Particle Monte Carlo Model for Simulating Aerosol Interactions and Chemistry (PartMC-MOSAIC), a benchmark model that tracks the evolution of individual particles. We show that size distributions simulated by MAM4 diverge from those simulated by PartMC-MOSAIC after only a few hours of aging by condensation and coagulation in polluted conditions, which leads to large errors in modeled cloud condensation nuclei concentrations. We find that differences between MAM4 and PartMC-MOSAIC are largest under polluted conditions, where the size distribution evolves rapidly though aging by condensation of semi-volatile substances and coagulation among particles. These findings suggest that structural error in modeled aerosol properties contributes to the large inter-model variability in aerosol radiative forcing.

Fierce, Laura M.↗
DOE OSTI2015

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system

Purpose: To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Methods: Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio–caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on the target phantom during a reproduction of the patient’s tumor motion. A substitute target with the patient’s tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors’ QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients’ tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Results: Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). Conclusions: The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

Evaluating the Interplay between Trajectory Segmentation and Mode Inference Error

Travel behavior changes are essential to transportation decarbonization. Travel diaries, consisting of sequences of trips between places, are typically used to instrument human travel behavior. However, these diaries are only as accurate as the underlying methods used to construct them. Travel diary algorithms have been a popular research topic since the advent of Global Positioning System tracking surveys. These algorithms have typically been validated using prompted recall of presegmented trips, thus disregarding the continuity of mode inference. Phone operating systems have adopted battery-conserving techniques, but the resulting data collection errors have not been studied extensively. We introduce a framework to evaluate the accuracy of trip length computations and mode inference by analyzing continuous mode-segmented trajectories for groups of trips. We then use the framework to identify the input data quality and the impact of postprocessing. Our primary inputs to this evaluation are MobilityNet, a public dataset containing information from three artificial timelines covering 15 different travel modes, and sample open-source travel diary creation algorithms from the OpenPATH project. Our framework concretely shows that the variance of the distance error drops from (0.217, 0.0848) to (o.011, 0.0407) (Android, iOS) after postprocessing. Similarly, the weighted F-scores for mode inference increase from (0.25, 0.29) to (0.60, 0.74) (iOS, Android) between random forest and geographic information system-based models. We hope that this standardized method will be adapted to evaluate other, potentially proprietary, travel diary algorithms. Finally, the results can be used to understand and improve the state of the art in the travel diary creation field.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2023

A semi-Lagrangian method for detecting and tracking deep convective clouds in geostationary satellite observations

Automated methods for the detection and tracking of deep convective clouds in geostationary satellite imagery have a vital role in both the forecasting of severe storms and research into their behaviour. Studying the interactions and feedbacks between multiple deep convective clouds (DCC), however, poses a challenge for existing algorithms due to the necessary compromise between false detection and missed detection errors. We utilise an optical flow method to determine the motion of deep convective clouds in GOES-16 ABI imagery in order to construct a semi-Lagrangian framework for the motion of the cloud field, independently of the detection and tracking of cloud objects. The semi-Lagrangian framework allows severe storms to be simultaneously detected and tracked in both spatial and temporal dimensions. For the purpose of this framework we have developed a novel Lagrangian convolution method and a number of novel implementations of morphological image operations that account for the motion of observed objects. These novel methods allow the accurate extension of computer vision techniques to the temporal domain for moving objects such as DCCs. By combining this framework with existing methods for detecting DCCs (including detection of growing cores through cloud top cooling and detection of anvil clouds using brightness temperature), we show that the novel framework enables reductions in errors due to both false and missed detections compared to any of the individual methods, reducing the need to compromise when compared with existing frameworks. The novel framework enables the continuous tracking of anvil clouds associated with detected deep convection after convective activity has stopped, enabling the study of the entire life cycle of DCCs and their associated anvils. Furthermore, we expect this framework to be applicable to a wide range of cases including the detection and tracking of low-level clouds and other atmospheric phenomena. In addition, this framework may be used to combine observations from multiple sources, including satellite observations, weather radar and reanalysis model data.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2015

Technical Note: Motion-perturbation method applied to dosimetry of dynamic MLC target tracking—A proof-of-concept

Purpose: Previous studies show that dose to a moving target can be estimated using 4D measurement-guided dose reconstruction based on a process called virtual motion simulation, or VMS. A potential extension of VMS is to estimate dose during dynamic multileaf collimator (MLC)-tracking treatments. The authors introduce a modified VMS method and quantify its performance as proof-of-concept for tracking applications. Methods: Direct measurements with a moving biplanar diode array were used to verify accuracy of the VMS dose estimates. A tracking environment for variably sized circular MLC apertures was simulated by sending preprogrammed control points to the MLC while simultaneously moving the accelerator treatment table. Sensitivity of the method to simulated tracking latency (0–700 ms) was also studied. Potential applicability of VMS to fast changing beam apertures was evaluated by modeling, based on the demonstrated dependence of the cumulative dose on the temporal dose gradient. Results: When physical and virtual latencies were matched, the agreement rates (2% global/2 mm gamma) between the VMS and the biplanar dosimeter were above 96%. When compared to their own reference dose (0 induced latency), the agreement rates for VMS and biplanar array track closely up to 200 ms of induced latency with 10% low-dose cutoff threshold and 300 ms with 50% cutoff. Time-resolved measurements suggest that even in the modulated beams, the error in the cumulative dose introduced by the 200 ms VMS time resolution is not likely to exceed 0.5%. Conclusions: Based on current results and prior benchmarks of VMS accuracy, the authors postulate that this approach should be applicable to any MLC-tracking treatments where leaf speeds do not exceed those of the current Varian accelerators.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2014

Motion tracking in the liver: Validation of a method based on 4D ultrasound using a nonrigid registration technique

Purpose: Treatments like radiotherapy and focused ultrasound in the abdomen require accurate motion tracking, in order to optimize dosage delivery to the target and minimize damage to critical structures and healthy tissues around the target. 4D ultrasound is a promising modality for motion tracking during such treatments. In this study, the authors evaluate the accuracy of motion tracking in the liver based on deformable registration of 4D ultrasound images. Methods: The offline analysis was performed using a nonrigid registration algorithm that was specifically designed for motion estimation from dynamic imaging data. The method registers the entire 4D image data sequence in a groupwise optimization fashion, thus avoiding a bias toward a specifically chosen reference time point. Three healthy volunteers were scanned over several breathing cycles (12 s) from three different positions and angles on the abdomen; a total of nine 4D scans for the three volunteers. Well-defined anatomic landmarks were manually annotated in all 96 time frames for assessment of the automatic algorithm. The error of the automatic motion estimation method was compared with interobserver variability. The authors also performed experiments to investigate the influence of parameters defining the deformation field flexibility and evaluated how well the method performed with a lower temporal resolution in order to establish the minimum frame rate required for accurate motion estimation. Results: The registration method estimated liver motion with an error of 1 mm (75% percentile over all datasets), which was lower than the interobserver variability of 1.4 mm. The results were only slightly dependent on the degrees of freedom of the deformation model. The registration error increased to 2.8 mm with an eight times lower temporal resolution. Conclusions: The authors conclude that the methodology was able to accurately track the motion of the liver in the 4D ultrasound data. The authors believe that the method has potential in interventions on moving abdominal organs such as MR or ultrasound guided focused ultrasound therapy and radiotherapy, pending the method is enabled to run in real-time. The data and the annotations used for this study are made publicly available for those who would like to test other methods on 4D liver ultrasound data.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2017

Imaging cellulose synthase motility during primary cell wall synthesis in the grass Brachypodium distachyon

The mechanism of cellulose synthesis has been studied by characterizing the motility of cellulose synthase complexes tagged with a fluorescent protein; however, this approach has been used exclusively on the hypocotyl of Arabidopsis thaliana. Here we characterize cellulose synthase motility in the model grass, Brachypodium distachyon. We generated lines in which mEGFP is fused N-terminal to BdCESA3 or BdCESA6 and which grew indistinguishably from the wild type (Bd21-3) and had dense fluorescent puncta at or near the plasma membrane. Measured with a particle tracking algorithm, the average speed of GFP-BdCESA3 particles in the mesocotyl was 164 ± 78 nm min -1 (error gives standard deviation [SD], n = 1451 particles). Mean speed in the root appeared similar. For comparison, average speed in the A. thaliana hypocotyl expressing GFP-AtCESA6 was 184 ± 86 nm min -1 (n = 2755). For B. distachyon, we quantified root diameter and elongation rate in response to inhibitors of cellulose (dichlorobenylnitrile; DCB), microtubules (oryzalin), or actin (latrunculin B). Neither oryzalin nor latrunculin affected the speed of CESA complexes; whereas, DCB reduced average speed by about 50% in B. distachyon and by about 35% in A. thaliana. Evidently, between these species, CESA motility is well conserved.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2016

SU-D-207A-05: Investigating Sparse-Sampled MRI for Motion Management in Thoracic Radiotherapy

Purpose: Sparse sampling and reconstruction-based MRI techniques represent an attractive strategy to achieve sufficiently high image acquisition speed while maintaining image quality for the task of radiotherapy guidance. In this study, we examine rapid dynamic MRI using a sparse sampling sequence k-t BLAST in capturing motion-induced, cycle-to-cycle variations in tumor position. We investigate the utility of long-term MRI-based motion monitoring as a means of better characterizing respiration-induced tumor motion compared to a single-cycle 4DCT. Methods: An MRI-compatible, programmable, deformable lung motion phantom with eleven 1.5 ml water marker tubes was placed inside a 3.0 T whole-body MR scanner (Philips Ingenia). The phantom was programmed with 10 lung tumor motion traces previously recorded using the Synchrony system. 2D+t image sequences of a coronal slice were acquired using a balanced-SSFP sequence combined with k-t BLAST (accn=3, resolution=0.66×0.66×5 mm3; acquisition time = 110 ms/slice). kV fluoroscopic (ground truth) and 4DCT imaging was performed with the same phantom setup and motion trajectories. Marker positions in all three modalities were segmented and tracked using an opensource deformable image registration package, NiftyReg. Results: Marker trajectories obtained from rapid MRI exhibited <1 mm error compared to kv Fluoro trajectories in the presence of complex motion including baseline shifts and changes in respiratory amplitude, indicating the ability of MRI to monitor motion with adequate geometric fidelity for the purpose of radiotherapy guidance. In contrast, the trajectory derived from 4DCT exhibited significant errors up to 6 mm due to cycle-to-cycle variations and baseline shifts. Consequently, 4DCT was found to underestimate the range of marker motion by as much as 50%. Conclusion: Dynamic MRI is a promising tool for radiotherapy motion management as it permits for longterm, dose-free, soft-tissue-based monitoring of motion, yielding richer and more accurate information about tumor position and motion range compared to the current state-of-the-art, 4DCT. This work was partially supported through research funding from National Institutes of Health (R01CA169102).

60 APPLIED LIFE SCIENCES↗
DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗