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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Earth-Centered, Earth-Fixed Inertial Navigation System & Error-State Kalman Filter Reference Manual

This is a self-contained reference document that derives the equations necessary to build a combined inertial navigation system and error-state Kalman filter. Coordinate transform, linear time invariant system, inertial sensing, and error-state Kalman filtering theory is built up from first principles. This theory is then leveraged to derive the system equations for two combined inertial navigation system and error-state Kalman filters: (1) a 15-state system modeling white-noise-integrating accelerometer and gyroscope biases, and (2) a 39-state system modeling static and first-order Gauss-Markov accelerometer and gyroscope biases, scale factor errors, and cross-axis sensitivity errors.

42 ENGINEERING↗
DOE OSTI2020

Autonomous Navigation and Control of UGVs' in Nuclear Power Plants - 20381

The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2025

Spatiotemporal Automatic Calibration of Infrastructure Lidar, Radar, and Camera with a Global Navigation Satellite System

Robust and accurate perception is important for modern intelligent transportation systems (ITS), which use sensors of various modalities for data fusion to create a digital twin of an intersection. Sensor calibration is an important process that creates a unified coordinate frame for the sensor output data so that it can be used for data fusion. Classical approaches for sensor calibration are time-consuming, require an overlapping field of view for feature matching, and are not feasible for ITS application as they cause disruptions in the flow of traffic. In this paper, we present a spatiotemporal automatic calibration approach to calibrate multiple infrastructure lidar, radar, and cameras installed at a traffic intersection. The approach uses global navigation satellite system (GNSS) positioning information shared by connected vehicles, and when the vehicle is detected by the sensor, we match the sensor detections with the GNSS coordinates. The proposed algorithm is evaluated with a real-world dataset utilizing detections from two radars, cameras, and lidars with a test vehicle instrumented with a post-processing kinematic (PPK)-corrected GNSS driving past the sensors installed at a four-way traffic intersection. The experimental results show that the proposed automatic calibration approach can achieve the transformation with a root mean squared error of less than 0.5 for radar and lidar and less than 2 for camera detections. The ability to rapidly calibrate sensors not only benefits initial installations, but can also be used for system health monitoring, while utilizing available connected vehicle data to test the real-time sensor fidelity and operational status.

ADVANCED PROPULSION SYSTEMS,ENERGY CONSERVATION, C↗
DOE OSTI2025

Navigating Uncertainty: Challenges in Visualizing Ensemble Data and Surrogate Models for Decision Systems

Uncertainty visualization plays a critical role in transforming ensemble simulation data into actionable insights by effectively communicating various dimensions of uncertainty within a system. The emergence of artificial intelligence-driven surrogate models trained on multirun ensemble data offers a transformative opportunity to replace computationally intensive simulations with fast estimates, enabling users to explore data spaces with unprecedented depth and interactivity. However, integrating ensemble data and surrogate models into decision-making workflows and tools introduces novel challenges for uncertainty visualization. These include reconciling and clearly communicating the unique uncertainties associated with ensembles and their surrogate model estimates, and leveraging these approximations to inform actionable decisions. This work explores these challenges in the context of high-dimensional data visualization, bridging discrete datasets with their continuous representations and addressing the complexities of systems that support iterative navigation between input and output spaces. We evaluate the role of uncertainty visualization in fostering intuitive, actionable interactions and identify critical hurdles in advancing this frontier of computational simulation.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Analysis of the Trusted Inertial Terrain-Aided Navigation Measurement Function

The trusted inertial terrain-aided navigation (TITAN) algorithm leverages an airborne vertical synthetic aperture radar to measure the range to the closest ground points along several prescribed iso-Doppler contours. These TITAN minimum-range, prescribed-Doppler measurements are the result of a constrained nonlinear optimization problem whose optimization function and constraints both depend on the radar position and velocity. Owing to the complexity of this measurement definition, analysis of the TITAN algorithm is lacking in prior work. This publication offers such an analysis, making the following three contributions: (1) an analytical solution to the TITAN constrained optimization measurement problem, (2) a derivation of the TITAN measurement function Jacobian, and (3) a derivation of the Cramér-Rao lower bound on the estimated position and velocity error covariance. These three contributions are verified via Monte Carlo simulations over synthetic terrain, which further reveal two remarkable properties of the TITAN algorithm: (1) the along-track positioning errors tend to be smaller than the cross-track positioning errors, and (2) the cross-track positioning errors are independent of the terrain roughness.

TITAN↗
DOE OSTI2024

Navigating the obstacles of carbon-negative technologies

Nine years after the Paris Agreement was adopted, it is clear that negative-emission technologies are required to keep 1.5°C, or even 2°C, of global warming in reach. Yet carbon dioxide removal (CDR) strategies remain rife with political, technical, economic, environmental, and geographic challenges. Here, this Voices surveys the pitfalls of incorporating carbon-negative technologies into climate mitigation plans and asks: how can we navigate around the challenges to make CDR a reliable component of climate mitigation?

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2023

Navigating the Expansive Landscapes of Soft Materials: A User Guide for High-Throughput Workflows

Synthetic polymers are highly customizable with tailored structures and functionality, yet this versatility generates challenges in the design of advanced materials due to the size and complexity of the design space. Thus, exploration and optimization of polymer properties using combinatorial libraries has become increasingly common, which requires careful selection of synthetic strategies, characterization techniques, and rapid processing workflows to obtain fundamental principles from these large data sets. Herein, we provide guidelines for strategic design of macromolecule libraries and workflows to efficiently navigate these high-dimensional design spaces. We describe synthetic methods for multiple library sizes and structures as well as characterization methods to rapidly generate data sets, including tools that can be adapted from biological workflows. We further highlight relevant insights from statistics and machine learning to aid in data featurization, representation, and analysis. This Perspective acts as a “user guide” for researchers interested in leveraging high-throughput screening toward the design of multifunctional polymers and predictive modeling of structure–property relationships in soft materials.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

Tsunami Early Warning From Global Navigation Satellite System Data Using Convolutional Neural Networks

Abstract We investigate the potential of using Global Navigation Satellite System (GNSS) observations to directly forecast full tsunami waveforms in real time. We train convolutional neural networks to use less than 9 min of GNSS data to forecast the full tsunami waveforms over 6 hr at select locations, and obtain accurate forecasts on a test data set. Our training and test data consists of synthetic earthquakes and associated GNSS data generated for the Cascadia Subduction Zone using the MudPy software, and corresponding tsunami waveforms in Puget Sound computed using GeoClaw. We use the same suite of synthetic earthquakes and waveforms as in earlier work where tsunami waveforms were used for forecasting, and provide a comparison. We also explore varying the number of GNSS stations, their locations, and their observation durations.

Rim, Donsub↗
DOE OSTI2021

Patch selection by bumble bees navigating discontinuous landscapes

Pollen and nectar resources are unevenly distributed over space and bees must make routing decisions when navigating patchy resources. Determining the patch selection process used by bees is crucial to understanding bee foraging over discontinuous landscapes. To elucidate this process, we developed four distinct probability models of bee movement where the size and the distance to the patch determined the attractiveness of a patch. A field experiment with a center patch and four peripheral patches of two distinct sizes and distances from the center was set up in two configurations. Empirical transition probabilities from the center to each peripheral patch were obtained at two sites and two years. The best model was identified by comparing observed and predicted transition probabilities, where predicted values were obtained by incorporating the spatial dimensions of the field experiment into each model’s mathematical expression. Bumble bees used both patch size and isolation distance when selecting a patch and could assess the total amount of resources available in a patch. Bumble bees prefer large, nearby patches. This information will facilitate the development of a predictive framework to the study of bee movement and of models that predict the movement of genetically engineered pollen in bee-pollinated crops.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Navigating phase diagram complexity to guide robotic inorganic materials synthesis

Abstract Efficient synthesis recipes are needed to streamline the manufacturing of complex materials and to accelerate the realization of theoretically predicted materials. Often, the solid-state synthesis of multicomponent oxides is impeded by undesired by-product phases, which can kinetically trap reactions in an incomplete non-equilibrium state. Here we report a thermodynamic strategy to navigate high-dimensional phase diagrams in search of precursors that circumvent low-energy, competing by-products, while maximizing the reaction energy to drive fast phase transformation kinetics. Using a robotic inorganic materials synthesis laboratory, we perform a large-scale experimental validation of our precursor selection principles. For a set of 35 target quaternary oxides, with chemistries representative of intercalation battery cathodes and solid-state electrolytes, our robot performs 224 reactions spanning 27 elements with 28 unique precursors, operated by 1 human experimentalist. Our predicted precursors frequently yield target materials with higher phase purity than traditional precursors. Robotic laboratories offer an exciting platform for data-driven experimental synthesis science, from which we can develop fundamental insights to guide both human and robotic chemists.

Chen, Jiadong (ORCID:0009000476038838)↗
DOE OSTI2021

Polarization control in spin-transparent hadron colliders by weak-field navigators involving lattice enhancement effect

Hadron polarization control schemes for Spin Transparent (ST) synchrotrons are analyzed. The spin dynamics and beam polarization in such synchrotrons are controlled by spin navigators (SN) which are special small insertions of weak magnetic fields. An SN stabilizes the beam polarization and allows for setting any desirable spin orientation at an interaction point in the operational regime, including a frequent spin flip. We present a general approach to design of SNs. We distinguish different types of SNs, namely, those not causing closed orbit perturbation as well as those producing local and global orbit distortions. In the second case, the concept of the spin response function in an ST synchrotron is applied and expanded to reveal the effect of the SN strength enhancement by magnetic lattice of the synchrotron. We provide conceptual schemes for SN designs using longitudinal and transverse magnetic fields allowing for polarization control at low as well as high energies. We also develop the ST concept for ultra-high energies. This development may enable and stimulate interest in polarized beam experiments in possible polarized collider projects such as Large Hadron Collider (LHC), Future Circular Collider (FCC) and Super Proton Proton Collider (SPPC).

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

Navigating the Dynamic Noise Landscape of Variational Quantum Algorithms with QISMET

In the Noisy Intermediate Scale Quantum (NISQ) era, the dynamic nature of quantum systems causes noise sources to constantly vary over time. Transient errors from the dynamic NISQ noise landscape are challenging to comprehend and are especially detrimental to classes of applications that are iterative and/or long-running, and therefore their timely mitigation is important for quantum advantage in real-world applications. The most popular examples of iterative long-running quantum applications are variational quantum algorithms (VQAs). Iteratively, VQA’s classical optimizer evaluates circuit candidates on an objective function and picks the best circuits towards achieving the application’s target. Noise fluctuation can cause a significant transient impact on the objective function estimation of the VQA iterations’ tuning candidates. This can severely affect VQA tuning and, by extension, its accuracy and convergence. Furthermore, this paper proposes QISMET: Quantum Iteration Skipping to Mitigate Error Transients, to navigate the dynamic noise landscape of VQAs. QISMET actively avoids instances of high fluctuating noise which are predicted to have a significant transient error impact on specific VQA iterations. To achieve this, QISMET estimates transient error in VQA iterations and designs a controller to keep the VQA tuning faithful to the transient-free scenario. By doing so, QISMET efficiently mitigates a large portion of the transient noise impact on VQAs and is able to improve the fidelity by 1.3x-3x over a traditional VQA baseline, with 1.6-2.4x improvement over alternative approaches, across different applications and machines.

Ravi, Gokul Subramanian↗
DOE OSTI2020

Technical Resilience Navigator

The Technical Resilience Navigator (TRN) is a systematic approach to identifying vulnerabilities with energy and water systems, and prioritizing solutions that reduce risk. The ultimate outcome of the TRN is a set of actionable resilience solutions that address the site's most important gaps in resilience and enhance the ability to maintain mission continuity. The TRN is designed to step users through this planning process, providing a framework to: assign roles and responsibilities; collect and document information and data; document key inputs and outputs for each of the TRN modules (Site Level Planning, Baseline Development, Risk Assessment, Solution Development, and Solution Prioritization); document prioritized list of resilience solutions; and track progress through the entire process. Currently "software as a service" at the listed website.

Rotondo, Julia↗
DOE OSTI2020

Federal Energy Management Program’s Technical Resilience Navigator: Communications Plan

The Federal Energy Management Program is working to develop a standard, agency-neutral energy and water technical resilience navigator (TRN) to assist federal agencies with their resilience planning efforts, building on agency-expressed needs. The TRN Communications Plan defines how the project team and FEMP will generate awareness of the TRN, recruit validators, encourage its use across federal agencies, increase awareness among various audiences, and solicit user feedback on its usefulness including suggestions for improvement. In support of this purpose, the communications plan characterizes the key audiences, messages, communications channels, and activities needed to help ensure success. The role of communications is to define strategy and ensure leadership and consistency in messaging, writing, outreach, media relations, editing, and design related to the TRN.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2022

WPTO Navigator

Protecting hydroelectric plants from incidents that adversely impact their cyber-physical systems presents unique challenges due to the plants’ widely dispersed geographic locations and varied configurations as well as the relative nascent nature of the cyberattacks targeting these facilities. To help hydroelectric plants better respond to and mitigate cybersecurity incidents, this Department of Energy Water Power Technologies Office Navigator aligns the processes within the National Institute of Standards 800-61r2 Computer Security Incident Handling Guide with the emergency actions within the FEMA 64 Emergency Action Plan Framework. This work is to be used at a hydroelectric plant to quickly understand how the plant responds to a cyber incident in relationship to the actions involved in an emergency action plan involving a hydroelectric plant. In addition to this product, there are three other products meant to be distributed to a hydroelectric plant to assist in their cyber incident response and recovery. The first, a report on the processes of building a R&R flip book based on a large set of existing guidance. The second, a handy flip book meant to be distributed to hydroelectric plants to assist them during a cybersecurity incident occurring on a hydroelectic plant. And the third is a comprehensive set of resources to assist an operator in locating appropriate guidance during the recovery process.

13 HYDRO ENERGY↗
DOE OSTI2023

The Technical Resilience Navigator: Risk-Informed Decision Making to Support Resilience Planning

The Technical Resilience Navigator (TRN) helps organizations manage the risk to critical functions at a site from disruptions in energy and water services. Developed in partnership by the Pacific Northwest National Laboratory and the National Renewable Energy Laboratory, under direction and funding from the Department of Energy’s Federal Energy Management Program, the TRN helps organizations enhance their resilience to a variety of disruptive events, both natural and human-caused, that could interrupt normal operations for an unknown period of time. This report provides an overview of the TRN’s risk-informed approach to resilience planning and formally describes how it uses a streamlined risk model to identify effective strategies for improving resilience.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2023

Embodied Carbon Resource Navigator

The Embodied Carbon Resource Navigator is a guide to help architects, engineers, designers, contractors, and those who want to reduce their embodied carbon impact make more informed design decisions for buildings. The guide is a compilation of embodied carbon resources, organized by experience level to direct the user to the necessary resources.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗