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NASA NTRS1995

Virtual Reality Calibration and Preview/Predictive Displays for Telerobotics

A virtual reality (VR) calibration technique of matching a virtual environment of simulated 3-D graphic models with actual camera views of the remote site task environment has been developed. This VR calibration enables high-fidelity preview/predictive displays with calibrated graphics overlay on live video. Reliable and accurate calibration is achieved by operator-interactive camera calibration and object localization procedures based on new linear/nonlinear least-squares algorithms that can handle multiple-camera views.

Virtual↗

DOE OSTI2024

DECOVALEX-2023: Task C Final Report

The Full-scale Emplacement (FE) heater experiment at the Mont Terri Underground Rock Laboratory (URL) was designed and conducted by Nagra to replicate an emplacement tunnel of Nagra’s reference repository design at 1:1 scale. Alongside testing the technical feasibility of constructing disposal tunnels, emplacing waste containers in the tunnels and then backfilling them, the main goals of the FE experiment are (1) to obtain a better understanding of the coupled effects of induced thermo-hydro-mechanical (THM) processes that may occur and (2) to validate existing coupled THM models (Müller et al., 2017). A key aspect of ensuring safety for repositories located in low-permeability rock involves minimizing any damage to the rock itself, thereby preserving its integrity and promoting a stable environment Amongst a number of processes that could damage the rock is the increase in pore pressure due to thermal loading caused by heat emitted from the waste. To reduce the potential damage of the rock, it is important to analyse the evolution of heat over time due to the heat load of the containers and assess possible consequences by coupled THM models. The aim of Task C of DECOVALEX-2023 was to build 3D numerical models of the FE experiment, focussing in particular on the heating induced pore pressure change in the Opalinus Clay. Data from a large number of sensors were available from the FE experiment for model comparison. These sensors measured temperature and relative humidity in the bentonite around the heaters, and temperature, pressure and displacement/strain in the surrounding Opalinus clay. Data were available from the start of excavation (April 2012) up to August 2020 for most sensors (more than 5 years from the start of heating in December 2014). To fulfil the overall aim of the task, the work was broken down into a number of steps, starting with simpler models to build confidence in each team’s approach and then moving to more complex models that better represent the FE experiment. Step 0 consisted of 2D benchmark models, gradually increasing the number of processes that are represented from thermal (T) only models in Step 0a, to coupled thermal hydraulic (TH) models in Step 0b with a representation of changing porosity, to coupled thermo-hydro-mechanical (THM) models in Step 0c, where porosity changes are calculated by the mechanical model. A detailed specification of processes, parameters, initial and boundary conditions was provided for this step, with the ambition that all teams would work towards close agreement in their model results, thus building confidence in the model implementations. vi It was not straightforward to achieve agreement between the teams, so additional steps (Step 0b2, 0b3, 0c2, 0c3) were added along with derivation of some analytical solutions against which the models could be compared. The reasons for the differences between teams were investigated and found to be caused primarily by different conceptual model assumptions (including temperature dependence of the thermal expansion of water), different model formulations (including porosity evolution) and differences in modelled domain sizes, boundary conditions and grid discretisation. This demonstrates that comparisons between multiple modelling teams and/or comparison with analytical results and experimental data are highly beneficial in providing an indication of uncertainty in model predictions. At the conclusion of Step 0, almost all teams had achieved a close agreement in model results and those that had not achieved an agreement knew the reason for this. Step 1 moved from 2D models to 3D models of the FE experiment without adding technical features like shotcrete or EDZ, and only considering the heating phase. Initially the 3D model was tightly specified to continue to build confidence in the model implementations (Step 1a). The results of Step 1a were compared to the data from the FE-experiment without the teams seeing the data. The teams were then provided with a sub-set of the data from the FE-experiment and invited to consider how best to use the large dataset for model comparison (Step 1b). Teams were then asked to use the data provided to calibrate their models, only changing material property values rather than adding features or processes to their models (Step 1c). In Step 1, teams were asked to only model the heating phase of the experiment, so pressure in the Opalinus Clay was reported as change in pressure since the initial conditions were specified rather than modelled. The change from 2D to 3D models was accompanied by an increase in the dispersion of results between the teams. Some of this was resolved during the task, but some remained and is potentially due to model discretisation. Calibration of parameters was useful in improving the fit of the models to the data but the remaining differences indicated that the models were missing features or processes. In Step 2, the teams were asked to update their models with additional features and processes as well as calibrating parameters to try and improve the fit of the models to the data. Teams were encouraged to represent ventilation of the open FE tunnel prior to backfilling with heaters and bentonite and in Step 2, the absolute pressure in the Opalinus Clay was compared between the teams. Teams took different approaches, but there was consideration of adding shotcrete and an EDZ into the model, representing stress change during excavation and different approaches to modelling ventilation of the FE tunnel. Overall, the documented results showed a very good agreement for temperature. The results for porewater pressure evolution showed a significant improvement for most teams compared to Step 1c with a good agreement to the measurements for several teams whereas some teams overpredicted the pressure increase and others overpredicted the drainage effect especially for the sensors close to the heater. Step 3 was an opportunity for teams to use the models developed in Step 1 and Step 2 to make predictions about the temperature and pressure changes that will be expected at the FE experiment over the next few years in light of the planned changes in thermal output of the heaters.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1992

Fuzzy set methods for object recognition in space applications

Progress on the following tasks is reported: feature calculation; membership calculation; clustering methods (including initial experiments on pose estimation); and acquisition of images (including camera calibration information for digitization of model). The report consists of 'stand alone' sections, describing the activities in each task. We would like to highlight the fact that during this quarter, we believe that we have made a major breakthrough in the area of fuzzy clustering. We have discovered a method to remove the probabilistic constraints that the sum of the memberships across all classes must add up to 1 (as in the fuzzy c-means). A paper, describing this approach, is included.

Keller, James M.↗

DOE OSTI2020

A fast particle-based approach for calibrating a 3-D model of the Antarctic ice sheet

We consider the scientifically challenging and policy-relevant task of understanding the past and projecting the future dynamics of the Antarctic ice sheet. The Antarctic ice sheet has shown a highly nonlinear threshold response to past climate forcings. Triggering such a threshold response through anthropogenic greenhouse gas emissions would drive drastic and potentially fast sea level rise with important implications for coastal flood risks. Previous studies have combined information from ice sheet models and observations to calibrate model parameters. These studies have broken important new ground but have either adopted simple ice sheet models or have limited the number of parameters to allow for the use of more complex models. These limitations are largely due to the computational challenges posed by calibration as models become more computationally intensive or when the number of parameters increases. Here, we propose a method to alleviate this problem: a fast sequential Monte Carlo method that takes advantage of the massive parallelization afforded by modern high-performance computing systems. We use simulated examples to demonstrate how our sample-based approach provides accurate approximations to the posterior distributions of the calibrated parameters. The drastic reduction in computational times enables us to provide new insights into important scientific questions, for example, the impact of Pliocene era data and prior parameter information on sea level projections. These studies would be computationally prohibitive with other computational approaches for calibration such as Markov chain Monte Carlo or emulation-based methods. We also find considerable differences in the distributions of sea level projections when we account for a larger number of uncertain parameters. For example, based on the same ice sheet model and data set, the 99th percentile of the Antarctic ice sheet contribution to sea level rise in 2300 increases from 6.5 m to 13.1 m when we increase the number of calibrated parameters from three to 11. With previous calibration methods, it would be challenging to go beyond five parameters. Here, this work provides an important next step toward improving the uncertainty quantification of complex, computationally intensive and decision-relevant models.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2022

Machine Learning Based Network Parameter Estimation Using AMI Data

The expansion of distribution power system and the growing penetration of distributed energy resources present new challenges for situational awareness. Calibrating the extended system model with sensor measurements and maintaining the usability is critical for utilities. This paper presents a distribution network parameter estimation (DNPE) approach using machine learning (ML) and metering data that improve the quality of extended distribution power system modeling. The reliability model can improve the ability of endpoint data to be translated into network-level situational awareness in real time and help distribution system operators (DSOs) solve branch flow and voltage problems. In addition, a data analytic and automate processing scheme is proposed to improve the sensor data quality and prevent misleading information. The effectiveness of the proposed method is verified with actual advanced metering infrastructure (AMI) data on a real utility feeder model, while considering the higher penetration of photovoltaic power generation. The test of DNPE and study results are demonstrated in this paper.

Parameter estimation, machine learning, power dist↗

NASA NTRS1995

Calibration to surface reflectance of terrestrial imaging spectrometry data: Comparison of methods

Many algorithms for spectral analysis of imaging spectroscopy data of the Earth's surface require that the data be calibrated to surface reflectance. Calibration requires removing instrumental response, solar irradiance, atmospheric transmittance, and atmospheric scattering from the radiance detected at the sensor. Depending on the amount of support data, this can be a formidable task. This paper examines four methods of calibration: (1) a radiative transfer model from the University of Colorado (ATREM: Gao and Goetz, 1990; Gao et al., 1992), (2) a MODTRAN-based method developed at the Jet Propulsion Lab by Green et al., (1191), (3) a ground calibration using known sites as standards, and (4) a combined approach using radiative transfer methods and ground calibration. Data from the Airborne Visual and Infra-Red Imaging Spectrometer (AVIRIS) instrument were evaluated from data sets obtained over multiple years and multiple sites.

Clark, Roger N.↗

NASA NTRSDate not supplied

Langley Automated Sensor Inter-calibration System (LASICS): Open Access Tools for Satellite Imager Inter- Calibration

Arun Gopalan↗

NASA NTRSDate not supplied

Langley Automated Sensor Inter-calibration System (LASICS): Open Access Tools for Satellite Imager Inter-Calibration

Satellite imager calibration teams are tasked with maintaining stable measurement records to facilitate reliable monitoring of geophysical parameters and ensure dependable input for weather forecast models. Satellite imagers are neither uniformly calibrated nor radiometrically scaled to a common reference. Consistent inter-calibration between various earth-orbiting satellite imager pairs is a critical step in the creation of seamless earth-scene reflectance data records over time for input to higher level algorithms that retrieve earth system climate-sensitive properties. Each imager inherently by virtue of its optics (and associated properties like Spectral Response etc.) will have a unique measurement of the same earth-scene reflected signal. A key part of this is the identification and prediction of events where the imager pairs from their respective earth-orbits view the same stable terrestrial targets with nearly identical viewing and solar geometry. Langley Automated Sensor Inter-calibration System (LASICS) will provide the Earth remote sensing community with a foundation for the harmonization of these remote sensing records by the development of an intuitive, user-friendly, interactive web-based open access service that will leverage, an existing extensive and ever-growing database of earth-imager channel spectral response functions, on-demand capabilities for computation and visualization of spectral band adjustment factors using a variety of external hyper-spectral earth observation sources (e.g. SCIAMACHY, GOME-2 for VIS and IASI, AIRS for IR) and a variety of Solar Irradiance Spectra.

Arun Gopalan↗

NASA NTRS1994

Virtual Reality Calibration for Telerobotic Servicing

A virtual reality calibration technique of matching a virtual environment of simulated graphics models in 3-D geometry and perspective with actual camera views of the remote site task environment has been developed to enable high-fidelity preview/predictive displays with calibrated graphics overlay on live video.

error measurements↗

DOE OSTI2024

Reduced-dimension Bayesian optimization for model calibration of transient vapor compression cycles

Development and calibration of first-principles dynamic models of vapor compression cycles (VCCs) is of critical importance for applications that include control design and fault detection and diagnostics. Nevertheless, the inherent complexity of models that are represented by large systems of differential–algebraic equations leads to significant challenges for model calibration processes that utilize classical gradient-based methods. Bayesian optimization (BO) is a sample-efficient and gradient-free approach using a probabilistic surrogate model and optimal search over a feasible parameter space. Despite the benefits of BO in reducing computational costs, challenges remain in dealing with a high-dimensional calibration task resulting from a large set of parameters that have significant impacts on system behavior and need to be calibrated simultaneously. This paper presents a reduced-dimension BO framework for calibrating transient VCCs models where the calibration space is projected to a low-dimensional subspace for accelerating convergence of the solution algorithm and consequently reducing the number of transient simulations. The proposed approach was demonstrated via two case studies associated with different VCC applications where 10 parameters were calibrated in each case using laboratory measurements. The reduced-dimension BO framework only required 1 / 8 th of the iterations associated with a standard BO method that deals with high-dimensional calibration parameters for converged solutions and yielded comparable accuracy. Furthermore, both calibrated models revealed significant accuracy improvements compared to uncalibrated models.

Ma, Jiacheng↗

DOE OSTI2026

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗

DOE OSTI2025

Unifying simulation and inference with normalizing flows

There have been many applications of deep neural networks to detector calibrations and a growing number of studies that propose deep generative models as automated fast detector simulators. We show that these two tasks can be unified by using maximum likelihood estimation (MLE) from conditional generative models for energy regression. Unlike direct regression techniques, the MLE approach is prior independent and non-Gaussian resolutions can be determined from the shape of the likelihood near the maximum. Using an ATLAS-like calorimeter simulation, we demonstrate this concept in the context of calorimeter energy calibration. Published by the American Physical Society 2025

Hadronic calorimiters↗

DOE OSTI2023

M4 Summary of EBS International Activity

Thermal-Hydrologic (TH) modeling of DECOVALEX 2023, Task C has continued in FY23. This report summarizes progress in TH modeling of Step 1c, with calibration modeling and the addition of shotcrete. The work involves 3-D modeling of the full-scale emplacement experiment at the Mont Terri Underground Rock Laboratory (Nagra, 2019). While Step 1 is focused on modeling the heating phase of the FE experiment with changes in pore pressure in the Opalinus clay resulting from heating, Step 1c is focused on calibration of models using available data.

36 MATERIALS SCIENCE↗

NASA NTRS1988

Automatic calibration of space based manipulators and mechanisms

Four tasks in manipulator kinematic calibration are summarized. Calibration of a seven degree of freedom manipulator was simulated. A calibration model is presented that can be applied on a closed-loop robot. It is an expansion of open-loop kinematic calibration algorithms subject to constraints. A closed-loop robot with a five-bar linkage transmission was tested. Results show that the algorithm converges within a few iterations. The concept of model differences is formalized. Differences are categorized as structural and numerical, with emphasis on the structural. The work demonstrates that geometric manipulators can be visualized as points in a vector space with the dimension of the space depending solely on the number and type of manipulator joint. Visualizing parameters in a kinematic model as the coordinates locating the manipulator in vector space enables a standard evaluation of the models. Key results include a derivation of the maximum number of parameters necessary for models, a formal discussion on the inclusion of extra parameters, and a method to predetermine a minimum model structure for a kinematic manipulator. A technique is presented that enables single point sensors to gather sufficient information to complete a calibration.

Everett, Louis J.↗

DOE OSTI2024

A Method for Producing Hierarchical and Statistically Calibrated Predictions of Nuclear Material Properties from Existing Models

Computer vision-based analysis of micrographs of nuclear materials is an emerging technique for property prediction, synthetic route identification, and other material analysis tasks. These analysis tasks play a pivotal role in many material characterization applications such as signature development for treaty verification, process optimization, etc. The backbone in many of the recent computer vision-based techniques is a deep learning model, which takes a fixed-size set of pixels and provides a class prediction for that set of pixels. For example, previous work developed a deep convolutional neural network (CNN) to predict the synthetic route from a 256 px x 256 px patch taken from a larger image of uranium ore concentrates. In this work, we present several methods for first calibrating these models in a manner that they can provide accurate probabilities of their predictions’ veracity, and several methods of combining these probabilities. Overall, the combination of these two steps into a pipeline allows for full-image and even full-sample (where a sample has many images) predictions with associated confidence values. Finally, we show that one can also use the patch predictions and confidence to produce a visualization to map predicted constituents through the image. Results and examples for predicting and mapping uranium ore concentrates’ synthetic process from imagery will be presented.

artificial intelligence↗

DOE OSTI2024

Quarterly Research Performance Progress Report (Q8)

As part of Task 1, we have started by testing our modeling capabilities by reproducing isothermal DFIT simulations presented in the literature. Once satisfied with the results we have started by targeting the modeling of the DFITs at conducted at well 58-32. We have a identified a specific test (cycle 4 in zone 2) as the most interesting to be model with GEOS hydraulic fracturing module. Thus, we have first produced results with an isothermal model and adjusted model parameters to get a satisfying match with field pressure data. The, we have added thermal effects and compared the modeling results with and without thermal effects to estimate how thermal effects may influence test interpretation. Models seem to suggest that, for small volumes of fluid, thermal effects are moderate. In Task 2, we have adapted GEOS phase-field formulation to be able to simulate near-wellbore hydraulic fracture nucleation and propagation. We have devised a novel formulation that, compared to other existing ones, incorporates rock strengths. We have submitted a journal publication about our work. We are currently employing this phase-field formulation to model the experiments taking place at U Pitt and help us understand the effect of various parameters. In Task 3, we have built a model of the region surround well 16A and have started modeling stage 3 stimulation because of its simpler planar geometry. After calibrating simulation parameters using known analytical solutions, we have simulated the stage 3 stimulation using our isothermal hydraulic fracturing module, varying the permeability field, the stress conditions including different physics to get a better understanding of the numerical challenges and of the effects of varying these parameters on the simulation results. In Task 4 laboratory experimentation, a set of specialized drilling and injection tools has been customized and constructed to accommodate an inclined well with an orientation of up to 30 degrees relative to material anisotropy or principal stress axes. These inclined samples have also undergone thermal stress and hydraulic fracturing at a temperature of 190 degrees Celsius. Furthermore, both vertical and deviated sampling testing setups enable an extended analysis of post-peak pressure behaviors, facilitating post-test pressure analyses such as the G-function, step rate, and fracture reopening measurements. Thus, the key components of in-situ stress estimation can be extracted and validated through our experiment, providing a solid foundation for validating existing in-situ stress estimation theories or proposing new ones. Simultaneously, we are integrating computer vision techniques with traditional experimental fracture observation methods such as multi-overcore/slicing and water-penetration fracture observation. This combination will prove beneficial in populating the hydraulic fracture patterns database, generated under challenging EGS conditions. This approach aims to deepen our understanding of the complexities in EGS reservoirs and pave the way for future data-driven investigations. Additionally, PITT has also equipped the ELE International compression machine, which is now prepared for conducting indirect tensile and fracture toughness tests. These tests will aid in characterizing how rock fabrics influence the resulting fracture patterns. Additionally, we have completed the required personnel training and gained access to Scanning Electron Microscopy (SEM) and Energy Dispersive Spectroscopy (EDS) for conducting more detailed characterization and analysis of rock fabrics, as well as the examination of thermal and hydraulically induced fracture patterns. Thus, the PITT team has effectively demonstrated the capabilities of our experimental apparatuses in exploring the thermal effects, well deviation angles, material anisotropy, and operational choices (such as circulation rate, injection fluid viscosity, and injection rate) and their impact on pressure responses and fracture trajectories under the Utah FORGE conditions.

15 GEOTHERMAL ENERGY↗

DOE OSTI2020

UNESE Data Analysis-Disko Elm Gas Transport Characteristics (NA-22 Quarterly Report)

Recently published papers have demonstrated the impact of sorption mechanisms on gas transport in the subsurface following an underground nuclear explosion. To include sorption processes in the multi-physics models of noble gas production and transport, researchers have conducted experiments of gas sorption in geologic materials and calibrated a linear (Henry’s law) sorption model for all gases in various geologic materials. As a part of Task #4, we requested the experimental data from Sandia Laboratories and derived a dual-mode (Henry’s absorption and Langmuir adsorption) sorption model. The derived model better describes the nonlinear sorption mechanism with much higher fitness with the experimental data. When gas concentrations are relatively low (in the conditions of field experiments or underground nuclear explosions) compared to those used sorption experiments, the nonlinear sorption model can be approximated as a linear sorption model. The equivalent Henry’s constant, which equals the product of Langmuir capacity and affinity, is systematically higher than the literature values. Further analyses and comparison of sorption models are planned in FY2020 Q4 and the sorption model will be coupled in models of nonisothermal multiphase transport for studying noble gas detectability.

58 GEOSCIENCES↗

NASA NTRS1977

Strain gage calibration of a complex wing

Modern complex structural arrangements have complicated the task of measuring flight loads with calibrated strain gages. This paper examines the use of a relatively simple structural model to characterize the load responses of strain gages located on various spars of a delta wing. Strains measured during a laboratory load calibration of a wing structure are compared with calculations obtained from a simplified NASA structural analysis (NASTRAN) model. Calculated and measured influence coefficient plots that show the shear, bending, and torsion characteristics of typical strain-gage bridges are presented. Typical influence coefficient plots are given for several load equations to illustrate the derivation of the equations from the component strain-gage bridges. A relatively simple structural model was found to be effective in predicting the general nature of strain distributions and influence coefficient plots. The analytical processes are shown to be useful in obtaining a good load calibration. The analytical processes cannot, however, be used in lieu of an actual load calibration of an aircraft wing.

Jenkins, J. M.↗