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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 685 records · Page 38
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

SDSS-IV DR17: final release of MaNGA PyMorph photometric and deep-learning morphological catalogues

ABSTRACT We present the MaNGA PyMorph photometric Value Added Catalogue (MPP-VAC-DR17) and the MaNGA Deep Learning Morphological VAC (MDLM-VAC-DR17) for the final data release of the MaNGA survey, which is part of the SDSS Data Release 17 (DR17). The MPP-VAC-DR17 provides photometric parameters from Sérsic and Sérsic+Exponential fits to the two-dimensional surface brightness profiles of the MaNGA DR17 galaxy sample in the g, r, and i bands (e.g. total fluxes, half-light radii, bulge-disc fractions, ellipticities, position angles, etc.). The MDLM-VAC-DR17 provides deep-learning-based morphological classifications for the same galaxies. The MDLM-VAC-DR17 includes a number of morphological properties, for example, a T-Type, a finer separation between elliptical and S0, as well as the identification of edge-on and barred galaxies. While the MPP-VAC-DR17 simply extends the MaNGA PyMorph photometric VAC published in the SDSS Data Release 15 (MPP-VAC-DR15) to now include galaxies that were added to make the final DR17, the MDLM-VAC-DR17 implements some changes and improvements compared to the previous release (MDLM-VAC-DR15): Namely, the low end of the T-Types is better recovered in this new version. The catalogue also includes a separation between early or late type, which classifies the two populations in a complementary way to the T-Type, especially at the intermediate types (−1 < T-Type < 2), where the T-Type values show a large scatter. In addition, k-fold-based uncertainties on the classifications are also provided. To ensure robustness and reliability, we have also visually inspected all the images. We describe the content of the catalogues and show some interesting ways in which they can be combined.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2020

Machine Learning for Distributed Acoustic Sensing data (MLDAS) v1.0.1

MLDAS is a Python-written package for exploratory data analysis and deep learning training on Distributed Acoustic Sensing data. The machine learning tools are powered by the PyTorch library and designed to work efficiently on large scale datasets using parallel computing. Various SLURM scripts as well as a tutorial have also been made available to allow geophysicists to quickly and easily implement the available tools in their analysis workflow on supercomputer facilities.

Dumont, Vincent↗
DOE OSTI2024

Metagenome-assembled genomes provide insight into the metabolic potential during early production of Hydraulic Fracturing Test Site 2 in the Delaware Basin

Demand for natural gas continues to climb in the United States, having reached a record monthly high of 104.9 billion cubic feet per day (Bcf/d) in November 2023. Hydraulic fracturing, a technique used to extract natural gas and oil from deep underground reservoirs, involves injecting large volumes of fluid, proppant, and chemical additives into shale units. This is followed by a “shut-in” period, during which the fracture fluid remains pressurized in the well for several weeks. The microbial processes that occur within the reservoir during this shut-in period are not well understood; yet, these reactions may significantly impact the structural integrity and overall recovery of oil and gas from the well. To shed light on this critical phase, we conducted an analysis of both pre-shut-in material alongside production fluid collected throughout the initial production phase at the Hydraulic Fracturing Test Site 2 (HFTS 2) located in the prolific Wolfcamp formation within the Permian Delaware Basin of west Texas, USA. Specifically, we aimed to assess the microbial ecology and functional potential of the microbial community during this crucial time frame. Prior analysis of 16S rRNA sequencing data through the first 35 days of production revealed a strong selection for a Clostridia species corresponding to a significant decrease in microbial diversity. Here, we performed a metagenomic analysis of produced water sampled on Day 33 of production. This analysis yielded three high-quality metagenome-assembled genomes (MAGs), one of which was a Clostridia draft genome closely related to the recently classified Petromonas tenebris. This draft genome likely represents the dominant Clostridia species observed in our 16S rRNA profile. Annotation of the MAGs revealed the presence of genes involved in critical metabolic processes, including thiosulfate reduction, mixed acid fermentation, and biofilm formation. These findings suggest that this microbial community has the potential to contribute to well souring, biocorrosion, and biofouling within the reservoir. Our research provides unique insights into the early stages of production in one of the most prolific unconventional plays in the United States, with important implications for well management and energy recovery.

natural gas↗
DOE OSTI2023

Sanford Underground Research Facility’s approach to school education, community activities, and public outreach

The Sanford Underground Research Facility (SURF) is the deepest underground science facility in the United States. SURF hosts world-leading experiments in neutrino, astroparticle and nuclear physics, as well as projects in biology, geology, and engineering, and is home to a major excavation project making space for Fermi National Accelerator Laboratory’s Long-Baseline Neutrino Facility (LBNF), which will power the Deep Underground Neutrino Experiment (DUNE). An emphasis on outreach and education is embedded in SURF’s mission statement: “to advance world-class science and inspire learning across generations.” To achieve this mission, SURF goes beyond established science communication methods, including operating an open-to-the-public visitor center, hosting multiple public outreach events per month, and an annual city-wide science festival. Furthermore, SURF is training K-12 science educators, developing school curriculum units, and providing classroom materials, based on science researched at the laboratory. The strategic approach, specific methods, and successful outcomes of these programs, which are based on SURF’s science, location, and community, may serve as examples for effective science education, public outreach, and community engagement.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2021

Analysis of Geologic CO 2 Migration Pathways in Farnsworth Field, NW Anadarko Basin

This study reports on analyses of natural, geologic CO 2 migration paths in Farnsworth Oil Field, northern Texas, where CO 2 was injected into the Pennsylvanian Morrow B reservoir as part of enhanced oil recovery and carbon sequestration efforts. We interpret 2D and 3D seismic reflection datasets of the study site, which is located on the western flank of the Anadarko basin, and compare our seismic interpretations with results from a tracer study. Petroleum system models are developed to understand the petroleum system and petroleum- and CO 2 -migration pathways. We find no evidence of seismically resolvable faults in Farnsworth Field, but interpret a karst structure, erosional structures, and incised valleys. These interpretations are compared with results of a Morrow B well-to-well tracer study that suggests that inter-well flow is up-dip or lateral. Southeastward fluid flow is inhibited by dip direction, thinning, and draping of the Morrow B reservoir over a deeper, eroded formation. Petroleum system models predict a deep basin-ward increase in temperature and maturation of the source rocks. In the northwestern Anadarko Basin, petroleum migration was generally up-dip with local exceptions; the Morrow B sandstone was likely charged by formations both below and overlying the reservoir rock. Based on this analysis, we conclude that CO 2 escape in Farnsworth Field via geologic pathways such as tectonic faults is unlikely. Abandoned or aged wellbores remain a risk for CO 2 escape from the reservoir formation and deserve further monitoring and research.

58 GEOSCIENCES↗
DOE OSTI2024

Yet Another Discriminant Analysis (YADA): A Probabilistic Model for Machine Learning Applications

This paper presents a probabilistic model for various machine learning (ML) applications. While deep learning (DL) has produced state-of-the-art results in many domains, DL models are complex and over-parameterized, which leads to high uncertainty about what the model has learned, as well as its decision process. Further, DL models are not probabilistic, making reasoning about their output challenging. In contrast, the proposed model, referred to as Yet Another Discriminate Analysis(YADA), is less complex than other methods, is based on a mathematically rigorous foundation, and can be utilized for a wide variety of ML tasks including classification, explainability, and uncertainty quantification. YADA is thus competitive in most cases with many state-of-the-art DL models. Ideally, a probabilistic model would represent the full joint probability distribution of its features, but doing so is often computationally expensive and intractable. Hence, many probabilistic models assume that the features are either normally distributed, mutually independent, or both, which can severely limit their performance. YADA is an intermediate model that (1) captures the marginal distributions of each variable and the pairwise correlations between variables and (2) explicitly maps features to the space of multivariate Gaussian variables. Numerous mathematical properties of the YADA model can be derived, thereby improving the theoretic underpinnings of ML. Validation of the model can be statistically verified on new or held-out data using native properties of YADA. However, there are some engineering and practical challenges that we enumerate to make YADA more useful.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Multi-scale assessment of a grassland productivity model

Grasslands provide many important ecosystem services globally, and projecting grassland productivity in the coming decades will provide valuable information to land managers. Productivity models can be well calibrated at local scales but generally have some maximum spatial scale in which they perform well. Here we evaluate a grassland productivity model to find the optimal spatial scale for parameterization and thus for subsequently applying it in future productivity projections for North America. We also evaluated the model on new vegetation types to ascertain its potential generality. We find the model most suitable when incorporating only grasslands, as opposed to also including agriculture and shrublands, and only in the Great Plains and eastern temperate forest ecoregions of North America. The model was not well suited to grasslands in North American deserts or northwest forest ecoregions. It also performed poorly in agriculture vegetation, likely due to management activities, and shrubland vegetation, likely because the model lacks representation of deep water pools. This work allows us to perform long-term projections in areas where model performance has been verified, with gaps filled in by future modeling efforts.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Machine Learning Screening of Metal-Ion Battery Electrode Materials

Here, in this work we present deep neural network regression machine learning models (ML) for predicting the average voltage and the percentage change in volume of battery electrodes upon charging and discharging with metal ions. Our models exhibit good performance as measured by the average mean absolute error obtained from a 10-fold cross-validation as well as on independent test sets. We further assess the robustness our ML models by investigating their screening potential beyond the training database. We produce novel Na-ion electrodes by systematically replacing Li-ions in the original database by Na-ions, and then selecting a set of 22 electrodes that exhibit a good performance in energy density as well as small volume variations upon charging and discharging, as predicted by the machine learning model. The ML predictions for these new materials are then compared to quantum-mechanics based calculations. Our results reaffirm the significant role of machine learning techniques in the exploration of materials for battery applications.

,electrode volume change↗
DOE OSTI2021

Effects of coupling a stochastic convective parameterization with the Zhang–McFarlane scheme on precipitation simulation in the DOE E3SMv1.0 atmosphere model

Abstract. A stochastic deep convection parameterization is implemented into the US Department of Energy (DOE) Energy Exascale Earth System Model (E3SM) Atmosphere Model version 1.0 (EAMv1). This study evaluates its performance in simulating precipitation. Compared to the default model, the probability distribution function (PDF) of rainfall intensity in the new simulation is greatly improved. The well-known problem of “too much light rain and too little heavy rain” is alleviated, especially over the tropics. As a result, the contribution from different rain rates to the total precipitation amount is shifted toward heavier rain. The less frequent occurrence of convection contributes to suppressed light rain, while more intense large-scale and convective precipitation contributes to enhanced heavy total rain. The synoptic and intraseasonal variabilities of precipitation are enhanced as well to be closer to observations. The sensitivity of the rainfall intensity PDF to the model vertical resolution is examined. The relationship between precipitation and dilute convective available potential energy in the stochastic simulation agrees better with that in the Atmospheric Radiation Measurement (ARM) observations compared with the standard model simulation. The annual mean precipitation is largely unchanged with the use of the stochastic scheme except over the tropical western Pacific, where a moderate increase in precipitation represents a slight improvement. The responses of precipitation and its extremes to climate warming are similar with or without the stochastic deep convection scheme.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Next-to-next-to-leading power corrections to unpolarized Semi-Inclusive Deep Inelastic Scattering

Semi-Inclusive Deep Inelastic Scattering (SIDIS) is a key tool for exploring the three-dimensional structure of the nucleon through Transverse Momentum Dependent parton distributions and fragmentation functions. While leading-power contributions to the SIDIS cross-section are well established, next-to-leading power (NLP) corrections of order 1/Q and next-to-next-to-leading power (NNLP) corrections of order 1/Q 2 to the hadronic tensor have only recently begun to be systematically investigated. These corrections are essential for reliable phenomenology and interpretation of modern high-precision data. In recent papers by one of the authors, NNLP corrections to the Drell-Yan process were derived using the rapidity factorization formalism. In the present work, we extend this approach to SIDIS and obtain analytic expressions for the unpolarized structure functions. We derive NNLP corrections that include convolutions of unpolarized distributions, f 1 , with unpolarized fragmentation functions, D 1 , and Boer-Mulders functions, ${h}_1^{\perp }$, with Collins fragmentation functions, ${H}_1^{\perp }$. We compare our results with previous formulations, provide numerical studies, confront our predictions with HERMES and COMPASS measurements, and present predictions for future experiments at Jefferson Lab and the Electron-Ion Collider.

deep inelastic scattering↗
DOE OSTI2022

Root and xylem anatomy varies with root length, root order, soil depth and environment in intermediate wheatgrass (Kernza®) and alfalfa

Abstract Background and Aims Deep roots (i.e. >1 m depth) are important for crops to access water when the topsoil is dry. Root anatomy and hydraulic conductance play important roles in the uptake of soil water, particularly water located deep in the soil. We investigated whether root and xylem anatomy vary as a function of root type, order and length, or with soil depth in roots of two deep-rooted perennial crops: intermediate wheatgrass [Thinopyrum intermedium (Kernza®)] and alfalfa (Medicago sativa). We linked the expression of these anatomical traits to the plants’ capacity to take up water from deep soil layers. Methods Using laser ablation tomography, we compared the roots of the two crops for cortical area, number and size of metaxylem vessels, and their estimated root axial hydraulic conductance (ERAHCe). The deepest roots investigated were located at soil depths of 2.25 and at 3.5 m in the field and in rhizoboxes, respectively. Anatomical differences were characterized along 1-m-long individual roots, among root types and orders, as well as between environmental conditions. Key Results For both crops, a decrease in the number and diameter, or both, of metaxylem vessels along individual root segments and with soil depth in the field resulted in a decrease in ERAHCe. Alfalfa, with a greater number of metaxylem vessels per root throughout the soil profile and, on average, a 4-fold greater ERAHCe, took up more water from the deep soil layers than intermediate wheatgrass. Root anatomical traits were significantly different across root types, classes and growth conditions. Conclusions Root anatomical traits are important tools for the selection of crops with enhanced exploitation of deep soil water. The development and breeding of perennial crops for improved subsoil exploitation will be aided by greater understanding of root phenotypes linked to deep root growth and activity.

Plant Sciences↗
DOE OSTI2022

A System Approach to Deep Heating Savings Through Measurement, Management, and Motivation

Across multi-tenant commercial office and multifamily buildings, centrally metered fuel use represents a substantial fraction of whole-building energy use. Energy audit practitioners understand that improving heating distribution efficiency is typically more of an opportunity than combustion efficiency and that differing thermal comfort preferences between tenants are the bane of operators across these building typologies. There is an unmet market need for retrofit technologies that allow for the delivery of the right amount of heat to the right spaces, at the right time. The Energy Management and Information System (EMIS) package fills this gap through enhanced controls and metering, incorporating low-cost sensors and wireless communication infrastructure to provide a platform for ongoing commissioning and tenant feedback, including heat cost allocation. With support from the US DOE Building Technologies Office, Steven Winter Associates, Inc. (SWA) partnered with Sentient Buildings, E Source, building owners, and utility and policy stakeholders, to demonstrate a market viable EMIS that achieves a reduction in space heating energy use by reducing heating load, improving control, and positively impacting behavior while providing an acceptable financial return. In this study, EMIS packages were implemented in two New York City multifamily rental buildings. Both buildings conducted basic mechanical work (e.g., repairing steam traps) to ensure the heating system was operating well before any tenant feedback was layered in. Heating Energy Use Reports (HEUR) were created to provide tenants with social comparisons and energy savings tips to influence their behavior; these were provided monthly to all tenants in both buildings. Additionally, one building allocated heating costs to a portion of the tenants. Heat cost allocation (HCA) has a long history in the European Union (EU), although it is not common in the US or in steam-heated buildings. SWA leveraged existing EU best practices and stakeholder feedback to develop a Heat Cost Allocation algorithm that was considered equitable and intuitive. Energy use and tenant behavior impacts were tracked throughout the study. The basic mechanical repair work saved between 11-20% of heating energy. Those savings rose to 17-24% with the addition of tenant feedback. While it may not be possible to precisely determine the impact of COVID-19 on research studies like this, there may have been additional savings realized had the study taken place in a period of normal occupancy patterns. These types of central heating systems have been a blind spot for utilities, who have traditionally had little visibility into detailed behind-the-meter gas usage. Heating energy savings stayed consistent during the coldest months, indicating the potential for utilities to utilize EMIS packages for peak gas demand reductions or demand response programs. Tenant comfort was also improved. Post installation, room temperatures more closely matched thermostat set points. Perhaps due to this greater level of control, the vast majority of tenants being billed for heating were accepting of the allocation costs. And tenants receiving heat cost allocations were more likely to reduce their thermostat setpoints than tenants receiving behavioral feedback without financial impacts were. Variation in building specifics makes it difficult to provide precise energy and financial savings estimates. But within the range of expected conditions, the study identified a few key variables that can have the greatest impact on financial returns: the cost of fuel, the ability and willingness to allocate heating costs to tenants, and a well-functioning heating system as a starting point. This study focused on two multifamily buildings, but additional use cases, such as commercial buildings and affordable housing, should be explored to better understand the full market potential. While this type of upgrade has the potential for deep energy reductions and cost savings, future projects should take into account the balance of costs and benefits between owners and tenants, especially in the affordable, regulated, or other low-to-moderate income (LMI) segments of the market. Rent credits, utility allowances, or a shared savings program are possible options to accelerate adoption of this strategy in these market segments.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

SECARB Regional Project Assessment

The SECARB Cranfield Early Test Project was designed to safely demonstrate large-scale, long-term CO 2 injection and storage in a CO 2 -enhanced oil recovery (EOR) operation and associated saline reservoir. Storage during EOR operations has the potential to offset commercial costs, holding a significant promise for future large-scale deployment in the southeastern United States. Denbury Onshore LLC began CO 2 -EOR operations in July 2008 at the Cranfield oilfield located east of Natchez, Mississippi (Figure 1). The location offered an ideal setting to investigate storage monitoring at a commercial CO 2 -EOR operation. The field team, led by the Gulf Coast Carbon Center of the Bureau of Economic Geology at the University of Texas at Austin, deployed the largest suite of monitoring, verification, accounting (MVA) technologies to collect data to assess long-term CO 2 utilization and storage. The CO 2 injection interval is within the 3,000-meter-deep fluvial lower Tuscaloosa Formation, a large and regionally extensive saline reservoir, at a broad four-way structural closure that defines the Cranfield oilfield. Tests were conducted in the oil-producing area as well as in the non-oil-producing brine aquifer. The CO 2 used during EOR operation was transported via pipeline from the Jackson Dome, a natural source of CO 2 . The study focused on four integrated research areas: (1) the High-Volume Injection Test area (HiVIT); (2) the Detailed Area of Study (DAS); (3) the Geomechanical area; and (4) the near-surface observatory, also called the “P-site.” CO 2 injection occurred at the HiVIT and the DAS (Figure 2 and Figure 3). The DAS was located down-dip of the oil-water interface of the Cranfield oilfield. The well layout included one injection well and two down-dip observation wells. The team was the first of the regional partnerships to monitor more than 1 million metric tons of CO 2 . At the end of the project, the team monitored more than 11 million metric tons of CO 2 injected and 5 million metric tons of CO 2 stored. The Cranfield Project was the fifth project worldwide, and the first such project in the United States, to reach this CO 2 injection volume while being monitored to demonstrate storage effectiveness.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2024

Investigation of Scale Deposition and Wellbore Corrosion in Carbonated Brine Injection: A Simulation Study

Carbonated brine injection (CBI), which involves dissolving CO2 in produced water to be injected into deep geologic reservoirs, is a method to manage produced brine, carbon dioxide (CO2) sequestration, and reduce anthropogenic greenhouse gas emissions. This low-risk CO2 storage strategy can leverage the existing saltwater disposal infrastructure and well resources. However, the potential for corrosion and scale deposition are a major challenge for carbonated brine which may result in subsidence, wellbore failure, casing failure, and cement failure. The main objective of this research was to evaluate the wellbore materials compatibility with carbonated brine water during the injection process, for repurposing Class II saltwater disposal wells for CBI.

Belarbi, Zineb↗
DOE OSTI2020

Building thermal load prediction through shallow machine learning and deep learning

Building thermal load prediction informs the optimization of cooling plant and thermal energy storage. Physics-based prediction models of building thermal load are constrained by the model and input complexity. In this study, we developed 12 data-driven models (7 shallow learning, 2 deep learning, and 3 heuristic methods) to predict building thermal load and compared shallow machine learning and deep learning. The 12 prediction models were compared with the measured cooling demand. It was found XGBoost (Extreme Gradient Boost) and LSTM (Long Short Term Memory) provided the most accurate load prediction in the shallow and deep learning category, and both outperformed the best baseline model, which uses the previous day's data for prediction. Then, we discussed how the prediction horizon and input uncertainty would influence the load prediction accuracy. Major conclusions are twofold: first, LSTM performs well in short-term prediction (1 h ahead) but not in long term prediction (24 h ahead), because the sequential information becomes less relevant and accordingly not so useful when the prediction horizon is long. Second, the presence of weather forecast uncertainty deteriorates XGBoost's accuracy and favors LSTM, because the sequential information makes the model more robust to input uncertainty. Training the model with the uncertain rather than accurate weather data could enhance the model's robustness. Finally, our findings have two implications for practice. First, LSTM is recommended for short-term load prediction given that weather forecast uncertainty is unavoidable. Second, XGBoost is recommended for long term prediction, and the model should be trained with the presence of input uncertainty.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Light, long-lived B - L gauge and Higgs bosons at the DUNE near detector

The low-energy U(1)B-L gauge symmetry is well-motivated as part of beyond Standard Model physics related to neutrino mass generation. We show that a light B - L gauge boson Z' and the associated U(1) B-L -breaking scalar φ can both be effectively searched for at high-intensity facilities such as the near detector complex of the Deep Underground Neutrino Experiment (DUNE). Without the scalar φ, the Z' can be probed at DUNE up to mass of 1 GeV, with the corresponding gauge coupling g BL as low as 10 -9 . In the presence of the scalar φ with gauge coupling to Z', the DUNE capability of discovering the gauge boson Z' can be significantly improved, even by one order of magnitude in g BL , due to additional production from the decay φ → Z'Z'. The DUNE sensitivity is largely complementary to other long-lived Z' searches at beam-dump facilities such as FASER and SHiP, as well as astrophysical and cosmological probes. On the other hand, the prospects of detecting φ itself at DUNE are to some extent weakened in presence of Z', compared to the case without the gauge interaction.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2022

Development of a plug-and-play anti-noise module for fault diagnosis of rotating machines in nuclear power plants

The health of rotating machines is crucial to the stable operation and safety of nuclear power plants. However, research on machine learning-based fault diagnosis of rotating machines in the nuclear industry is still in its infancy. The signal noise generated in the plant may negatively affect the effectiveness of the analysis. In this paper, a plug-and-play anti-noise machine learning module is proposed to fill the knowledge and capability gap. The modules are loaded into a convolutional neural network called deep residual network (ResNet) to obtain a new model with noise reduction capability. The basic idea is that the module is able to identify noise features and include them in the subsequent analysis, effectively filtering noise at the feature level of the network. Nine variants of the new model are compared with the original ResNet as well as four classical machine learning models to test the effectiveness of the module and to examine the impact of the module's loading modes on the performance of the new model. Finally, this research helps facilitate the application of machine learning in the plant noise environment.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2020

High precision control and deep learning-based corn stand counting algorithms for agricultural robot

This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence rate, biomass, vigor, and stand counting, are measured manually. This is highly labor-intensive and prone to errors. The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements. In this paper, we formulate a Nonlinear Moving Horizon Estimator that identifies key terrain parameters using onboard robot sensors and a learning-based Nonlinear Model Predictive Control that ensures high precision path tracking in the presence of unknown wheel-terrain interaction. Moreover, we develop a machine vision algorithm designed to enable an ultra-compact ground robot to count corn stands by driving through the fields autonomously. The algorithm leverages a deep network to detect corn plants in images, and a visual tracking model to re-identify detected objects at different time steps. We collected data from 53 corn plots in various fields for corn plants around 14 days after emergence (stage V3 - V4). The robot predictions have agreed well with the ground truth with C robot =1.02×C human -0.86 and a correlation coefficient R=0.96. The mean relative error given by the algorithm is -3.78%, and the standard deviation is 6.76%. These results indicate a first and significant step towards autonomous robot-based real-time phenotyping using low-cost, ultra-compact ground robots for corn and potentially other crops.

97 MATHEMATICS AND COMPUTING↗