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All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

A three-point velocity estimation method for two-dimensional coarse-grained imaging data

Time delay and velocity estimation methods have been widely studied subjects in the context of signal processing, with applications in many different fields of physics. The velocity of waves or coherent fluctuation structures is commonly estimated as the distance between two measurement points divided by the time lag that maximizes the cross correlation function between the measured signals, but this is demonstrated to result in erroneous estimates for two spatial dimensions. We present an improved method to accurately estimate both components of the velocity vector, relying on three non-aligned measurement points. We introduce a stochastic process describing the fluctuations as a superposition of uncorrelated pulses moving in two dimensions. Using this model, we show that the three-point velocity estimation method, using time delays calculated through cross correlations, yields the exact velocity components when all pulses have the same velocity. The two- and three-point methods are tested on synthetic data generated from realizations of such processes for which the underlying velocity components are known. The results reveal the superiority of the three-point technique. Finally, we demonstrate the applicability of the velocity estimation on gas puff imaging data of strongly intermittent plasma fluctuations due to the radial motion of coherent, blob-like structures at the boundary of the Alcator C-Mod tokamak.

Materials Science↗
DOE OSTI2015

EMMA: an adaptive mesh refinement cosmological simulation code with radiative transfer

EMMA is a cosmological simulation code aimed at investigating the reionization epoch. It handles simultaneously collisionless and gas dynamics, as well as radiative transfer physics using a moment-based description with the M1 approximation. Field quantities are stored and computed on an adaptive three-dimensional mesh and the spatial resolution can be dynamically modified based on physically motivated criteria. Physical processes can be coupled at all spatial and temporal scales. We also introduce a new and optional approximation to handle radiation: the light is transported at the resolution of the non-refined grid and only once the dynamics has been fully updated, whereas thermo-chemical processes are still tracked on the refined elements. Such an approximation reduces the overheads induced by the treatment of radiation physics. A suite of standard tests are presented and passed by EMMA, providing a validation for its future use in studies of the reionization epoch. The code is parallel and is able to use graphics processing units (GPUs) to accelerate hydrodynamics and radiative transfer calculations. Depending on the optimizations and the compilers used to generate the CPU reference, global GPU acceleration factors between ×3.9 and ×16.9 can be obtained. As a result, vectorization and transfer operations currently prevent better GPU performance and we expect that future optimizations and hardware evolution will lead to greater accelerations.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2017

Baryon Effective Theories and Phenomenology in the 1/ N C Expansion

Chiral perturbation theory (ChPT) and the 1/ N C expansion provide systematic frameworks to investigate the strong interaction at low energy. There are two main focuses of this dissertation. First, analyzing the masses of baryons in the framework of the 1/ N C expansion, using the available physical masses and masses calculated in lattice QCD. Second, combining both ChPT and the 1/ N C expansion into a single framework and applying it to the phenomenology of baryons with three light-quark flavors. In the first focus, the baryon states are organized into irreducible representations of SU(6)×O(3), where the [56,ℓ P = 0 + ] contains the ground state and radially excited baryons, and the [56,2 + ] and [70,1 - ] contain orbitally excited states are analyzed. The analyses are carried out to O(1/ N C ) and first order in the quark masses. The issue of state identifications is discussed. Numerous parameter independent mass relations and the famous Gell-Mann-Okubo (GMO) and Equal-Spacing (ES) relations are tested. Also, the quark mass dependence of the operator coefficients for baryon mass is discussed. In the second focus, a small scale expansion of the combined approach is defined as the ξ-expansion, in which the power counting of 1/ N C and chiral expansions are linked as O(p) = O(1/ N C ) = O(ξ). A calculation of one-loop corrections to the ground state baryon masses, vector and axial-vector currents up to O(x&i; 3 ) is presented. Moreover, the physical and lattice QCD masses are considered in order to understand the quark mass dependence, along with an analysis of the violations to GMO, ES and Gürsey-Radicati (GR) mass relations, and their dependence on N C .

Fernando, Madappuli Arachchige Ishara↗
DOE OSTI2023

Using optimal estimation to retrieve winds from velocity-azimuth display (VAD) scans by a Doppler lidar

Abstract. Low-powered commercially available coherent Doppler lidar (CDL) wind profilers provide continuous measurement of vertical profiles of wind in the lower troposphere, usually close to or up to the top of the planetary boundary layer. The vertical extent of these wind profiles is limited by the availability of scatterers and thus varies substantially throughout the day and from one day to the next. This makes it challenging to develop continuous products that rely on CDL-observed wind profiles. In order to overcome this problem, we have developed a new method for wind profile retrievals from CDL that combines the traditional velocity-azimuth display (VAD) technique with optimal estimation (OE) to provide continuous wind profiles up to 3 km. The new method exploits the level-to-level covariance present in the wind profile to fill in the gaps where the signal-to-noise ratio of the CDL return is too low to provide reliable results using the traditional VAD method. Another advantage of the new method is that it provides the full error covariance matrix of the solution and profiles of information content, which more easily facilitates the assimilation of the observed wind profiles into numerical weather prediction models. This method was tested using yearlong CDL measurements at the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) Central Facility in 2019. Comparison with the ARM operational CDL wind profile product and collocated radiosonde wind measurements shows excellent agreement (R2>0.99) with no degradation in results where the traditional VAD provided a valid solution. In the region where traditional VAD does not provide results, the OE wind speed and wind vector have uncertainties of 3.44 and 4.33 m s−1, respectively. As a result, the new method provides additional information over the standard technique and increases the effective range of existing CDL systems without the need for additional hardware.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

A new high-order spectral difference method for simulating viscous flows on unstructured grids with mixed-element meshes

In the present study, a spectral difference (SD) method is developed for viscous flows on meshes with a mixture of triangular and quadrilateral elements. The standard SD method for triangular elements, which employs Lagrangian interpolating functions for fluxes, is not stable when the designed accuracy of spatial discretization is third order or higher. Unlike the standard SD method, the method examined here uses vector interpolating functions in the Raviart-Thomas (RT) spaces to construct continuous flux functions on reference elements. The spectral-difference Raviart-Thomas (SDRT) method was originally proposed by Balan et al. and implemented on triangular-element meshes for invisid flow only. Our present results demonstrated that the SDRT method is stable and high-order accurate in two dimensions (2D) for a number of test problems by using triangular-, quadrilateral-, and mixed-element meshes for both inviscid and viscous flows. A stability analysis is also performed for mixed elements. Furthermore, we found our current SDRT scheme is stable for fourth-order accurate spatial discretizations. However, a stable fifth-order SDRT scheme remains to be identified.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

Automated Stellar Spectra Classification with Ensemble Convolutional Neural Network

Large sky survey telescopes have produced a tremendous amount of astronomical data, including spectra. Machine learning methods must be employed to automatically process the spectral data obtained by these telescopes. Classification of stellar spectra by applying deep learning is an important research direction for the automatic classification of high-dimensional celestial spectra. In this paper, a robust ensemble convolutional neural network (ECNN) was designed and applied to improve the classification accuracy of massive stellar spectra from the Sloan digital sky survey. We designed six classifiers which consist six different convolutional neural networks (CNN), respectively, to recognize the spectra in DR16. Then, according the cross-entropy testing error of the spectra at different signal-to-noise ratios, we integrate the results of different classifiers in an ensemble learning way to improve the effect of classification. The experimental result proved that our one-dimensional ECNN strategy could achieve 95.0% accuracy in the classification task of the stellar spectra, a level of accuracy that exceeds that of the classical principal component analysis and support vector machine model.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

Machine Learned Empirical Numerical Integrator from Simulated Data

Recently, a number of state-of-the-art surrogate machine learning (ML) models have been designed for global weather and climate prediction, which have been trained using reanalysis data products. Reanalysis data products are constructed using numerical model simulations that combine numerical integration of partial differential equations and parameterization schemes. These products are typically only archived and made available using coarsened spatial and temporal resolutions. This study explores the impact of the numerical generation methods used to produce the training datasets and the temporal resolution of those datasets on machine learning surrogate models. Using the nonlinear vector autoregression (NVAR) machine as an explainable ML technique, simple dynamical systems are emulated with ML models trained on data produced by three classical numerical integration schemes. NVAR is validated as a skillful ML method, capable of producing accurate predictions and, more importantly, reconstructing both the underlying dynamics and the numerical integration scheme used to generate the training data. However, the machine fails to generalize predictions on unseen test data generated by different numerical integration schemes, despite the underlying dynamical system being the same. This result provides a word of caution for the growing field of machine learning emulation of weather and climate dynamics. Furthermore, we illustrate using NVAR that training on temporally coarsened data may increase the required complexity of ML models and potentially introduce new numerical challenges. Finally, we discover that empirical integration schemes with arbitrary time-stepping sizes can be constructed directly from the data, which implies a potential for the development of empirical numerical integration schemes.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Attention-Augmented Parametric Kernel Graph Neural Network (APKGNN) for Node Classification

We present a new graph neural network, the Attention-based Parametric-Kernel augmented Graph Neural Network (APKGNN), developed for node classification tasks. Despite extensive work on modeling multi-faceted relationships between connected nodes of a graph, the effect of attention on edge features mapped to relationships has not yet been analyzed through learning representation. This study derives such an attention vector by first calculating node features corresponding to endpoints of an edge and then aggregating these with extracted local intrinsic patches of a given graph to generate augmented local patch vectors. This process uses a parametric kernel based on Gaussian mixture models (GMMs) to embed local neighborhoods of the graph in local patches. The patch vectors then convolve with the above node features to produce an updated node representation. We show that this new learning representation (APKGNN) achieves higher node classification accuracy on tasks - both standard benchmarks (Cora, PubMed, Citeseer) and new experimental short text corpora where nodes correspond to text documents and words. This implementation of the GNN convolution layer outperforms state-of-the-art (SOTA) algorithms, achieving higher training, validation, and test accuracy by a significant margin on three standard benchmark data sets under both SOTA experimental settings and those for new testbeds.

Bose, Avishek↗
DOE OSTI2017

Roofline Analysis in the Intel® Advisor to Deliver Optimized Performance for applications on Intel® Xeon Phi™ Processor

In this session we show, in two case studies, how the roofline feature of Intel Advisor has been utilized to optimize the performance of kernels of the XGC1 and PICSAR codes in preparation for Intel Knights Landing architecture. The impact of the implemented optimizations and the benefits of using the automatic roofline feature of Intel Advisor to study performance of large applications will be presented. This demonstrates an effective optimization strategy that has enabled these science applications to achieve up to 4.6 times speed-up and prepare for future exascale architectures. # Goal/Relevance of Session The roofline model [1,2] is a powerful tool for analyzing the performance of applications with respect to the theoretical peak achievable on a given computer architecture. It allows one to graphically represent the performance of an application in terms of operational intensity, i.e. the ratio of flops performed and bytes moved from memory in order to guide optimization efforts. Given the scale and complexity of modern science applications, it can often be a tedious task for the user to perform the analysis on the level of functions or loops to identify where performance gains can be made. With new Intel tools, it is now possible to automate this task, as well as base the estimates of peak performance on measurements rather than vendor specifications. The goal of this session is to demonstrate how the roofline feature of Intel Advisor can be used to balance memory vs. computation related optimization efforts and effectively identify performance bottlenecks. A series of typical optimization techniques: cache blocking, structure refactoring, data alignment, and vectorization illustrated by the kernel cases will be addressed. # Description of the codes ## XGC1 The XGC1 code [3] is a magnetic fusion Particle-In-Cell code that uses an unstructured mesh for its Poisson solver that allows it to accurately resolve the edge plasma of a magnetic fusion device. After recent optimizations to its collision kernel [4], most of the computing time is spent in the electron push (pushe) kernel, where these optimization efforts have been focused. The kernel code scaled well with MPI+OpenMP but had almost no automatic compiler vectorization, in part due to indirect memory addresses and in part due to low trip counts of low-level loops that would be candidates for vectorization. Particle blocking and sorting have been implemented to increase trip counts of low-level loops and improve memory locality, and OpenMP directives have been added to vectorize compute-intensive loops that were identified by Advisor. The optimizations have improved the performance of the pushe kernel 2x on Haswell processors and 1.7x on KNL. The KNL node-for-node performance has been brought to within 30% of a NERSC Cori phase I Haswell node and we expect to bridge this gap by reducing the memory footprint of compute intensive routines to improve cache reuse. ## PICSAR is a Fortran/Python high-performance Particle-In-Cell library targeting at MIC architectures first designed to be coupled with the PIC code WARP for the simulation of laser-matter interaction and particle accelerators. PICSAR also contains a FORTRAN stand-alone kernel for performance studies and benchmarks. A MPI domain decomposition is used between NUMA domains and a tile decomposition (cache-blocking) handled by OpenMP has been added for shared-memory parallelism and better cache management. The so-called current deposition and field gathering steps that compose the PIC time loop constitute major hotspots that have been rewritten to enable more efficient vectorization. Particle communications between tiles and MPI domain has been merged and parallelized. All considered, these improvements provide speedups of 3.1 for order 1 and 4.6 for order 3 interpolation shape factors on KNL configured in SNC4 quadrant flat mode. Performance is similar between a node of cori phase 1 and KNL at order 1 and better on KNL by a factor 1.6 at order 3 with the considered test case (homogeneous thermal plasma).

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2016

Stability of a tachyon braneworld

Within the braneworld paradigm the tachyonic scalar field has been used to generate models that attempt to solve some of the open problems that physics faces nowadays, both in cosmology and high energy physics as well. When these field configurations are produced by the interplay of higher dimensional warped gravity with some matter content, braneworld models must prove to be stable under the whole set of small fluctuations of the gravitational and matter fields background, among other consistency tests. Here we present a complete proof of the stability under scalar perturbations of tachyonic thick braneworlds with an embedded maximally symmetric 4D space-time, revealing its physical consistency. This family of models contains a recently reported tachyonic de Sitter thick braneworld which possesses a series of appealing properties. These features encompass complete regularity, asymptotic flatness (instead of being asymptotically dS or AdS) even when it contains a negative bulk cosmological constant, a relevant 3-brane with dS metric which naturally arises from the full set of field equations of the 5D background (it is not imposed), qualitatively describing the inflationary epochs of our Universe, and a graviton spectrum with a single zero mode bound state that accounts for the 4D graviton localised on the brane and is separated from the continuum of Kaluza-Klein massive graviton excitations by a mass gap. The presence of this mass gap in the graviton spectrum makes the extra-dimensional corrections to Newton’s law decay exponentially. Gauge vector fields with a single massless bound state in its mass spectrum are also localised on this braneworld model a fact that allows us to recover the Coulomb’s law of our 4D world. All these properties of the above referred tachyonic braneworld together with the positive stability analysis provided in this work, constitute a firm step towards the construction of realistic cosmological models within the braneworld paradigm.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2018

LncRNA NKILA upregulation mediates oxygen glucose deprivation/re-oxygenation-induced neuronal cell death by inhibiting NF-κB signaling

Highlights: • OGDR induces NKILA expression to inhibit NF-κB activation in neuronal cells. • NKILA shRNA attenuates OGDR-induced NF-κB inhibition and neuronal cell death. • NKILA overexpression augments OGDR-induced neuronal cell death. • miR-103/107 downregulation mediates NKILA upregulation by OGDR in neuronal cells. Oxygen glucose deprivation (OGD)/re-oxygenation (OGDR) induces severe injury to neuronal cells. The expression and potential function of NKILA (NF-κB Interacting LncRNA) in OGDR-treated neuronal cells were tested in this study. We show that OGDR induced NKILA upregulation to in-activate NF-κB signaling in SH-SY5Y cells and primary murine hippocampal neurons. Conversely, shRNA-mediated NKILA silencing almost reversed OGDR-induced NF-κB inhibition. OGDR-induced neuronal cell viability reduction, apoptosis and necrosis were largely attenuated by NKILA shRNA as well. Conversely, ectopic overexpression of NKILA by a lentiviral vector enhanced OGDR-induced SH-SY5Y cell death. For the mechanism study, we show that OGDR downregulated miR-103 and miR-107 to induce NKILA upregulation in neuronal cells. Transfection of miR-103 mimic or miR-107 mimic almost reversed OGDR-induced NKILA upregulation, NF-κB in-activation and SH-SY5Y cell death. Taken together, OGDR induces NKILA upregulation to in-activate NF-κB signaling, which mediates subsequent neuronal cell death. NKILA could be a novel therapeutic target of ischemic neuronal injury.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2021

Constraining $\mathcal{f(R)}$ gravity with a $\mathcal{k}$-cut cosmic shear analysis of the Hyper Suprime-Cam first-year data

Here, using Subaru Hyper Suprime-Cam (HSC) year 1 data, we perform the first k-cut cosmic shear analysis constraining both Λ CDM and f(R) Hu-Sawicki modified gravity. To generate the f(R) cosmic shear theory vector, we use the matter power spectrum emulator trained on COLA (COmoving Lagrangian Acceleration) simulations [Phys. Rev. D 103, 123525 (2021)]. The k-cut method is used to significantly down-weight sensitivity to small scale (k > 1h Mpc -1 ) modes in the matter power spectrum where the emulator is less accurate, while simultaneously ensuring our results are robust to baryonic feedback model uncertainty. We have also developed a test to ensure that the effects of poorly modeled small scales are nulled as intended. For Λ CDM we find S 8 =σ 8 (Ω m /0.3) 0.5 =0.789$^{+0.039}_{-0.022}$, while the constraints on the f(R) modified gravity parameters are prior dominated. In the future, the k-cut method could be used to constrain a large number of theories of gravity where computational limitations make it infeasible to model the matter power spectrum down to extremely small scales.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2014

Forecasting longitudinal changes in oropharyngeal tumor morphology throughout the course of head and neck radiation therapy

Purpose: To create models that forecast longitudinal trends in changing tumor morphology and to evaluate and compare their predictive potential throughout the course of radiation therapy. Methods: Two morphology feature vectors were used to describe 35 gross tumor volumes (GTVs) throughout the course of intensity-modulated radiation therapy for oropharyngeal tumors. The feature vectors comprised the coordinates of the GTV centroids and a description of GTV shape using either interlandmark distances or a spherical harmonic decomposition of these distances. The change in the morphology feature vector observed at 33 time points throughout the course of treatment was described using static, linear, and mean models. Models were adjusted at 0, 1, 2, 3, or 5 different time points (adjustment points) to improve prediction accuracy. The potential of these models to forecast GTV morphology was evaluated using leave-one-out cross-validation, and the accuracy of the models was compared using Wilcoxon signed-rank tests. Results: Adding a single adjustment point to the static model without any adjustment points decreased the median error in forecasting the position of GTV surface landmarks by the largest amount (1.2 mm). Additional adjustment points further decreased the forecast error by about 0.4 mm each. Selection of the linear model decreased the forecast error for both the distance-based and spherical harmonic morphology descriptors (0.2 mm), while the mean model decreased the forecast error for the distance-based descriptor only (0.2 mm). The magnitude and statistical significance of these improvements decreased with each additional adjustment point, and the effect from model selection was not as large as that from adding the initial points. Conclusions: The authors present models that anticipate longitudinal changes in tumor morphology using various models and model adjustment schemes. The accuracy of these models depended on their form, and the utility of these models includes the characterization of patient-specific response with implications for treatment management and research study design.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

TMD program at JLab

Measurements of multiplicities and asymmetries of multiparticle final states in wide kinematics, including dihadrons and vector mesons, will be crucial for a separation of different structure functions, and different contributions to specific structure functions, used in phenomenological studies of Semi-Inclusive DIS (SIDIS). Measurements of various beam Single Spin Asymmetries are discussed as a possible tool to separate different kinematical regions as well as different dynamical contributions. Precision measurements in JLab, including detailed studies of the $Q^2$ dependences of observables, would also allow testing the impact of several theoretical assumptions used in phenomenological studies of generalized PDFs (GPDs, TMDs) , also providing a mechanism for validation of the extraction frameworks, which is critical for the proper evaluation of systematic uncertainties.

Avagyan, Harutyun↗
DOE OSTI2013

Fluid simulations with atomistic resolution: a hybrid multiscale method with field-wise coupling

We present a new hybrid method for simulating dense fluid systems that exhibit multiscale behaviour, in particular, systems in which a Navier–Stokes model may not be valid in parts of the computational domain. We apply molecular dynamics as a local microscopic refinement for correcting the Navier–Stokes constitutive approximation in the bulk of the domain, as well as providing a direct measurement of velocity slip at bounding surfaces. Our hybrid approach differs from existing techniques, such as the heterogeneous multiscale method (HMM), in some fundamental respects. In our method, the individual molecular solvers, which provide information to the macro model, are not coupled with the continuum grid at nodes (i.e. point-wise coupling), instead coupling occurs over distributed heterogeneous fields (here referred to as field-wise coupling). This affords two major advantages. Whereas point-wise coupled HMM is limited to regions of flow that are highly scale-separated in all spatial directions (i.e. where the state of non-equilibrium in the fluid can be adequately described by a single strain tensor and temperature gradient vector), our field-wise coupled HMM has no such limitations and so can be applied to flows with arbitrarily-varying degrees of scale separation (e.g. flow from a large reservoir into a nano-channel). The second major advantage is that the position of molecular elements does not need to be collocated with nodes of the continuum grid, which means that the resolution of the microscopic correction can be adjusted independently of the resolution of the continuum model. This in turn means the computational cost and accuracy of the molecular correction can be independently controlled and optimised. The macroscopic constraints on the individual molecular solvers are artificial body-force distributions, used in conjunction with standard periodicity. We test our hybrid method on the Poiseuille flow problem for both Newtonian (Lennard-Jones) and non-Newtonian (FENE) fluids. The multiscale results are validated with expensive full-scale molecular dynamics simulations of the same case. Very close agreement is obtained for all cases, with as few as two micro elements required to accurately capture both the Newtonian and non-Newtonian flowfields. Our multiscale method converges very quickly (within 3–4 iterations) and is an order of magnitude more computationally efficient than the full-scale simulation.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

Automated extraction of interfacial dislocations and disconnections from atomistic data

Here we introduce Interfacial Line Defect Analysis (ILDA), a method for identifying and extracting interfacial dislocations and disconnections with little-to-no input from the user on the nature of the interface. By simply providing the orientations and coherency strains for the crystals in a coherent reference state of the interface, ILDA provides exact Burgers vectors. Alternatively, these orientations and strains can be estimated using local atomic deformation gradients, making ILDA fully automated and providing estimated Burgers vectors. ILDA also determines the step height associated with each defect line segment, in case the associated defect is a disconnection. The heart of the method is the identification of atoms residing at co-incidence sites between the two crystals and the construction of a surface mesh connecting these sites that is used to compose Burgers circuits and insert defect line segments. We demonstrate the performance of ILDA in two test cases: a twist grain boundary and a phase boundary.

36 MATERIALS SCIENCE↗
DOE OSTI2023

SCOMAP-XD : atomistic deuterium contrast matching for small-angle neutron scattering in biology

The contrast-variation method in small-angle neutron scattering (SANS) is a uniquely powerful technique for determining the structure of individual components in biomolecular systems containing regions of different neutron scattering length density ρ . By altering the ρ of the target solute and the solvent through judicious incorporation of deuterium, the scattering of desired solute features can be highlighted. Most contrast-variation methods focus on highlighting specific bulk solute elements, but not on how the scattering at specific scattering vectors q , which are associated with specific structural distances, changes with contrast. Indeed, many systems exhibit q -dependent contrast effects. Here, a method is presented for calculating both bulk contrast-match points and q -dependent contrast using 3D models with explicit solute and solvent atoms and SASSENA , an explicit-atom SANS calculator. The method calculates the bulk contrast-match points within 2.4% solvent D 2 O accuracy for test protein–nucleic acid and lipid nanodisc systems. The method incorporates a general model for the incorporation of deuterium at non-exchangeable sites that was derived by performing mass spectrometry on green fluorescent protein. The method also decomposes the scattering profile into its component parts and identifies structural features that change with contrast. The method is readily applicable to a variety of systems, will expand the understanding of q -dependent contrast matching and will aid in the optimization of next-generation neutron scattering experiments.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2015

Human machine interface to manually drive rhombic like vehicles such as transport casks in ITER

The Cask and Plug Remote Handling System (CPRHS) and the respective Cask Transfer System (CTS) are designed to transport activated components between the reactor and the hot cell buildings of ITER during maintenance operations. In nominal operation, the CPRHS/CTS shall operate autonomously under human supervision. However, in some unexpected situations, the automatic mode must be overridden and the vehicle must be remotely guided by a human operator due to the harsh conditions of the environment. The CPRHS/CTS is a rhombic-like vehicle with two independent steerable and drivable wheels along its longitudinal axis, giving it omni-directional capabilities. During manual guidance, the human operator has to deal with four degrees of freedom, namely the orientations and speeds of two wheels. This work proposes a Human Machine Interface (HMI) to manage the degrees of freedom and to remotely guide the CPRHS/CTS in ITER taking the most advantages of rhombic like capabilities. Previous work was done to drive each wheel independently, i.e., control the orientation and speed of each wheel independently. The results have shown that the proposed solution is inefficient. The attention of the human operator becomes focused in a single wheel. In addition, the proposed solution cannot assure that the commands accomplish the physical constrains of the vehicle, resulting in slippage or even in clashes. This work proposes a solution that consists in the control of the vehicle looking at the position of its center of mass and its heading in the world frame. The solution is implemented using a rotational disk to control the vehicle heading and a common analogue joystick to control the vector speed of the center of the mass of the vehicle. The number of degrees of freedom reduces to three, i.e., two angles (vehicle heading and the orientation of the vector speed) and a scalar (the magnitude of the speed vector). This is possible using a kinematic model based on the vehicle Instantaneous Center of Rotation (ICR): a geometric approach where, at each time instant, the vehicle describes a circumference (either with a finite or infinite radius). The inverse of the kinematic model transforms the three input parameters of the center of mass into the four parameters for the wheels, preserving the omni-directional capabilities. The solution is implemented and tested using a HMI with a control disk and an analog joystick with two axis. The control disk was specially designed for this solution and implemented using a programmable micro-controller. In the first set of experiments, the HMI communicates with a computer running a simulator of the CPRHS/CTS, with the vehicle kinematics and dynamics, moving in a map of the ITER buildings. In the second set of experiments, the HMI communicates with a scaled prototype of the CPRHS running in a mock-up scenario to obtain more realistic results. Several type of tests were performed to evaluate the usability of the HMI. Different human operators without knowledge neither experience with this interface were invited to test the HMI. The operators had to drive the vehicle from an initial place to a final destination under the following conditions: with a pre-computed path to help guidance, without any path, with the information of the closest obstacles and without any help. The performance was evaluated using the time duration of the operation, the energy required to perform the described path, the risk of collision and, in case of a pre-computed path, the comparison between paths. In addition, each operator tested the HMI several times to evaluate the performance along consecutive trials. (authors)

42 ENGINEERING↗