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DOE OSTI2017

Sampling-Based Motion Planning Algorithms for Replanning and Spatial Load Balancing

The common theme of this dissertation is sampling-based motion planning with the two key contributions being in the area of replanning and spatial load balancing for robotic systems. Here, we begin by recalling two sampling-based motion planners: the asymptotically optimal rapidly-exploring random tree (RRT*), and the asymptotically optimal probabilistic roadmap (PRM*). We also provide a brief background on collision cones and the Distributed Reactive Collision Avoidance (DRCA) algorithm. The next four chapters detail novel contributions for motion replanning in environments with unexpected static obstacles, for multi-agent collision avoidance, and spatial load balancing. First, we show improved performance of the RRT* when using the proposed Grandparent-Connection (GP) or Focused-Refinement (FR) algorithms. Next, the Goal Tree algorithm for replanning with unexpected static obstacles is detailed and proven to be asymptotically optimal. A multi-agent collision avoidance problem in obstacle environments is approached via the RRT*, leading to the novel Sampling-Based Collision Avoidance (SBCA) algorithm. The SBCA algorithm is proven to guarantee collision free trajectories for all of the agents, even when subject to uncertainties in the knowledge of the other agents’ positions and velocities. Given that a solution exists, we prove that livelocks and deadlock will lead to the cost to the goal being decreased. We introduce a new deconfliction maneuver that decreases the cost-to-come at each step. This new maneuver removes the possibility of livelocks and allows a result to be formed that proves convergence to the goal configurations. Finally, we present a limited range Graph-based Spatial Load Balancing (GSLB) algorithm which fairly divides a non-convex space among multiple agents that are subject to differential constraints and have a limited travel distance. The GSLB is proven to converge to a solution when maximizing the area covered by the agents. The analysis for each of the above mentioned algorithms is confirmed in simulations.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2019

Neutron Scattering Instrumentation Research and Development for High Spatial and Temporal Resolution Imaging at Oak Ridge National Laboratory

Neutron scattering facilities like those available at ORNL are enabling the discovery and development of advanced materials include those to be used for next generation energy storage systems. In spite of all the success that neutron imaging has enjoyed in recent years, even higher-impact research is limited by the current temporal and spatial resolution of neutron detection devices. In particular, the spatial resolution of all neutron imaging methods in use and under development is fundamentally limited by the variance introduced by the charged particles emitted from neutron absorption. Thus, we are investigating, designing and demonstrating an array of ~1 micron-sized glass scintillating fibers arranged via photonics-crystal-fiber patterning techniques-- with particle tracking (a must) so that position resolution can be finer than than that allowed by the charged particle ranges. The processes, knowledge and algorithms developed will allow for spatially (1 micron) and time resolved (<100 ns), high throughput neutron transmission imaging in large areas at reasonable costs.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Exploring Multidimensional Spatial-Temporal Hydropower Operational Flexibilities by Modeling and Optimizing Water-Constrained Cascading Hydroelectric Systems

Because of unique characteristics such as clean and cost-competitive electricity as well as fast-ramping and storage abilities, the power industry continues to evolve its operation strategies for cascading hydroelectric (CHE) systems for providing enhanced values to the grid, especially under the deeper renewable resource integration. However, existing operation practices of CHEs predate the integration of renewables, which could prohibit the effective utilization of their inherent flexibilities in delivering maximum financial benefits and providing valuable grid services to the power system and electricity market operations. Indeed, modeling and optimizing these resource-limited while flexible CHE assets with uncertainties and imperfect information across multiple spatial-temporal dimensions present significant challenges. To facilitate CHE facility operators in effectively coordinating water usage and hydropower plant operations across multiple timescales, this project aims to fill the existing gaps by developing a suite of accurate water inflow (WI) forecast models as well as enhanced CHE modeling and optimization approaches with proper consideration of their unique characteristics, which would help explore their multidimensional spatial-temporal operational flexibility potentials. The developed approaches could better align reservoir operation strategies with variability and uncertainty of future water availability. They can also promote more effective utilization of multidimensional spatial-temporal hydropower operational flexibility potentials by designing long-term evacuation plans of reservoirs and short-term operation of CHEs, along with their coordination with other types of renewables. The project leverages various resources to facilitate the research and development activities, including actual characteristics data of CHE systems and a library of current and future cases of Portland General Electric (PGE). These realistic data enable the project team to study how to maximize the value of CHEs under current and future portfolios and evaluate opportunities to improve operation practices.

13 HYDRO ENERGY↗

DOE OSTI2020

Spatial Mapping of Riverbed Grain-Size Distribution Using Machine Learning

Recent alluvial sediments in riverbeds play a significant role in controlling hydrologic exchange flows (HEFs) in river systems. The alluvial layer is usually associated with strong heterogeneity in physical properties (e.g., permeability and hydraulic conductivity), which affects local HEFs and therefore biogeochemical processes. The spatial distribution of these physical properties needs to be determined to inform the numerical models used to reveal the realistic hydro-biogeochemical behaviors. Such information can be obtained based on the intrinsic link between sediment grain-size distribution and hydraulic properties where sediment texture information is available. However, grain-size measurements are usually spatially sparse and do not have adequate coverage and resolution, particularly for a relatively large domain such as the Hanford Reach of the Columbia River. In this paper, we adopted machine learning (ML) approaches for categorizing and mapping the spatial distributions of riverbed substrate grain size and filling in missing areas of substrate data using the ML models along the reach. Such ML models for substrate size mapping were trained at 13,372 locations using measured substrate sizes along with observed and simulated attributes, including bathymetric attributes (e.g., elevation, slope, and aspect ratio) from LIDAR and bathymetric surveys, and hydrodynamic properties (e.g., water depth, velocity, shear stress, and their statistical moments). An ensemble bagging-based ML technique, Random Forest, was adopted to identify the most influential factors as predictors to develop the predictive models with over-fitting issues addressed. The models were evaluated with respect to each individual substrate size class and the lumped group, and then used to generate the final substrate size maps covering all the grid cells in the numerical modeling domain.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

SPATIALLY RESOLVED SPECTROSCOPY OF SUBMILLIMETER GALAXIES AT z ≃ 2

We present near-infrared integral-field spectroscopic observations targeting H α in eight submillimeter galaxies (SMGs) at z = 1.3–2.5 using the Very Large Telescope/Spectrograph for Integral Field Observations in the Near Infrared, obtaining significant detections for six of them. The star formation rates derived from the H α emission are ∼100 M {sub ⊙} yr{sup −1}, which account for only ∼20%–30% of the infrared-derived values, thus suggesting that these systems are very dusty. Two of these systems present [N ii]/H α ratios indicative of the presence of an active galactic nucleus. We mapped the spatial distribution and kinematics of the star-forming regions in these galaxies on kiloparsec scales. In general, the H α morphologies tend to be highly irregular and/or clumpy, showing spatial extents of ∼3–11 kpc. We find evidence for significant spatial offsets, of ∼0.″1–0.″4 or 1.2–3.4 kpc, between the H α and the continuum emission in three of the sources. Performing a kinemetry analysis, we conclude that the majority of the sample is not consistent with disk-like rotation-dominated kinematics. Instead, they tend to show irregular and/or clumpy and turbulent velocity and velocity dispersion fields. This can be interpreted as evidence for a scenario in which these extreme star formation episodes are triggered by galaxy–galaxy interactions and major mergers. In contrast to recent results for SMGs, these sources appear to follow the same relations between gas and star-forming rate densities as less luminous and/or normal star-forming galaxies.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

A Method to Extract Spatially Resolved Polycyclic Aromatic Hydrocarbon Emission from Spitzer Spectra: Application to M51

The mid-infrared spectrum contains rich diagnostics to probe the physical properties of galaxies, among which the pervasive emission features from polycyclic aromatic hydrocarbons (PAHs) offer promising means of estimating the star formation rate (SFR) relatively immune from dust extinction. This paper investigates the effectiveness of PAH emission as a SFR indicator on subkiloparsec scales by studying the Spitzer/IRS mapping-mode observations of the nearby grand-design spiral galaxy M51. We present a new approach of analyzing the spatial elements of the spectral data cube that simultaneously maximizes spatial resolution and spatial coverage, while yielding reliable measurements of the total, integrated 5–20 μm PAH emission. We devise a strategy of extracting robust PAH emission using spectra with only partial spectral coverage, complementing missing spectral regions with properly combined mid-infrared photometry. We find that in M51 the PAH emission correlates tightly with the extinction-corrected far-ultraviolet, near-ultraviolet, and Hα emission, from scales of ∼0.4 kpc close to the nucleus to 6 kpc out in the disk of the galaxy, indicating that PAH serves as an excellent tracer of SFR over a wide range of galactic environments. But regional differences exist. Close to the active nucleus of M51 the 6.2 μm feature is weaker, and the overall level of PAH emission is suppressed. The spiral arms and the central star-forming region of the galaxy emit stronger 7.7 and 8.6 μm PAH features than the inter-arm regions.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2017

A Spatially Resolved Study of Cold Dust, Molecular Gas, H ii Regions, and Stars in the z = 2.12 Submillimeter Galaxy ALESS67.1

We present detailed studies of a z = 2.12 submillimeter galaxy, ALESS67.1, using sub-arcsecond resolution ALMA, adaptive optics-aided VLT/SINFONI, and Hubble Space Telescope (HST)/CANDELS data to investigate the kinematics and spatial distributions of dust emission (870 μm continuum), {sup 12}CO(J = 3–2), strong optical emission lines, and visible stars. Dynamical modeling of the optical emission lines suggests that ALESS67.1 is not a pure rotating disk but a merger, consistent with the apparent tidal features revealed in the HST imaging. Our sub-arcsecond resolution data set allows us to measure half-light radii for all the tracers, and we find a factor of 4–6 smaller sizes in dust continuum compared to all the other tracers, including {sup 12}CO; also, ultraviolet (UV) and Hα emission are significantly offset from the dust continuum. The spatial mismatch between the UV continuum and the cold dust and gas reservoir supports the explanation that geometrical effects are responsible for the offset of the dusty galaxy on the IRX–β diagram. Using a dynamical method we derive an α{sub CO}=1.8±1.0, consistent with other submillimeter galaxies (SMGs) that also have resolved CO and dust measurements. Assuming a single α{sub CO} value we also derive resolved gas and star formation rate surface densities, and find that the core region of the galaxy (≲5 kpc) follows the trend of mergers on the Schmidt–Kennicutt relationship, whereas the outskirts (≳5 kpc) lie on the locus of normal star-forming galaxies, suggesting different star formation efficiencies within one galaxy. Our results caution against using single size or morphology for different tracers of the star formation activity and gas content of galaxies, and therefore argue the need to use spatially resolved, multi-wavelength observations to interpret the properties of SMGs, and perhaps even for z>1 galaxies in general.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2015

Temporal and Spatial Variations in Fine and Coarse Particles in Seoul, Korea

Concentrations of fine (PM2.5) and coarse particles (PM10 -2.5), whose diameters are less 2.5 µm, and between 2.5 and 10 µm, respectively, at ambient air monitoring stations in Seoul between 2002 and 2008 were analyzed. Effects of Asian dust are mainly manifested as concentration spikes of PM10 - 2.5 but were considerable on PM2.5 levels in 2002 when Asian dust storms were the strongest. Excluding the effects of Asian dust, annual average PM2.5 showed a downward trend. Despite a similarity in year - to - year variations, PM10- 2.5, mostly affected by fugitive dust emissions, and CO and NO2, primarily affected by motor vehicle emissions, did not show a decrease. PM2.5 along with CO and NO2 had the highest values during the morning rush hour. PM10 - 2.5 peak lagged about one hour behind that of PM2.5 because of fugitive dust emissions despite an increasing mixing height. On high PM2.5 days, PM2. 5 peaks occurred two hours later than usual as the effects of secondary formation became more important. A test for the spatial variabilities shows that PM10 - 2.5, which is known to be greatly influenced by local effects, is lower in its correlation coeffic ient and higher in its coefficient of divergence (COD, which serves as an indicator for spatial variability) than PM2.5, albeit that the difference between the two is small. The average COD of PM2.5 among monitoring stations was about 0.2 but was lowered t o 0.13 when considering high PM2.5 days only, which signifies that spatial uniformity increases significantly.

Fugitive dust↗

NASA NTRS2015

Experimental Estimation of CLASP Spatial Resolution: Results of the Instrument's Optical Alignment

The Chromospheric Lyman-Alpha SpectroPolarimeter (CLASP) is a sounding-rocket experiment currently being built at the National Astronomical Observatory of Japan. This instrument aims to probe for the first time the magnetic field strength and orientation in the solar upper-chromosphere and lower-transition region. CLASP will measure the polarization of the Lyman-Alpha line (121.6nm) with an unprecedented accuracy, and derive the magnetic field information through the Hanle effect. Although polarization accuracy and spectral resolution are crucial for the Hanle effect detection, spatial resolution is also important to get reliable context image via the slit-jaw camera. As spatial resolution is directly related with the alignment of optics, it is also a good way of ensuring the alignment of the instrument to meet the scientific requirement. This poster will detail the experiments carried out to align CLASP's optics (telescope and spectrograph), as both part of the instrument were aligned separately. The telescope was aligned in double-pass mode, and a laser interferometer (He-Ne) was used to measure the telescope's wavefront error (WFE). The secondary mirror tilt and position were adjusted to remove comas and defocus aberrations from the WFE. Effect of gravity on the WFE measurement was estimated and the final WFE derived in zero-g condition for CLASP telescope will be presented. In addition, an estimation of the spot shape and size derived from the final WFE will also be shown. The spectrograph was aligned with a custom procedure: because Ly-light is absorbed by air, the spectrograph's off-axis parabolic mirrors were aligned in Visible Light (VL) using a custom-made VL grating instead of the flight Ly- grating. Results of the alignment in Visible Light will be shown and the spot shape recorded with CCDs at various position along the slit will be displayed. Results from both alignment experiment will be compared to the design requirement, and will be combined in order to estimate CLASP spatial resolution after its alignment in visible light.

spatial resolution↗

NASA NTRS2017

Traverse Planning with Temporal-Spatial Constraints

We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.

temporal-spatial constraints↗

NASA NTRSDate not supplied

Folded Optical Design for High Fidelity Atmospheric Emulation With A Spatial Light Modulator

Atmospheric emulators based on spatial light modulators offer the ability to test atmospheric propagation effects on a laser communication component’s performance in the laboratory setting. To create a high-fidelity atmospheric emulator, details of the optical design are key. This paper discusses the optical design choices and refinements that enabled the creation of a system that was verified to recreate multi-layer turbulence with high fidelity up to D/r 0 =50. Optical design choices that affect the fidelity discussed in this paper include the characteristics of the input laser, the spatial light modulator, the holograms, the image relay optical components, and the spatial filter. Also included in this paper is a comparison of the chosen folded optical layout to an alternative angled layout.

Atmospheric turbulence↗

NASA NTRSDate not supplied

Folded Optical Design for High Fidelity Atmospheric Emulation With A Spatial Light Modulator

Atmospheric emulators based on spatial light modulators offer the ability to test atmospheric propagation effects on a laser communication component’s performance in the laboratory setting. To create a high-fidelity atmospheric emulator, details of the optical design are key. This paper discusses the optical design choices and refinements that enabled the creation of a system that was verified to recreate multi-layer turbulence with high fidelity up to D/r0 =50. Optical design choices that affect the fidelity discussed in this paper include the characteristics of the input laser, the spatial light modulator, the holograms, the image relay optical components, and the spatial filter. Also included in this paper is a comparison of the chosen folded optical layout to an alternative angled layout.

Atmospheric turbulence↗

DOE OSTI2016

Comparison of observed and simulated spatial patterns of ice microphysical processes in tropical oceanic mesoscale convective systems

To equitably compare the spatial pattern of ice microphysical processes produced by three microphysical parameterizations with each other, observations, and theory, simulations of tropical oceanic mesoscale convective systems (MCSs) in the Weather Research and Forecasting (WRF) model were forced to develop the same mesoscale circulations as observations by assimilating radial velocity data from a Doppler radar. The same general layering of microphysical processes was found in observations and simulations with deposition anywhere above the 0°C level, aggregation at and above the 0°C level, melting at and below the 0°C level, and riming near the 0°C level. Thus, this study is consistent with the layered ice microphysical pattern portrayed in previous conceptual models and indicated by dual-polarization radar data. Spatial variability of riming in the simulations suggests that riming in the midlevel inflow is related to convective-scale vertical velocity perturbations. Lastly, this study sheds light on limitations of current generally available bulk microphysical parameterizations. In each parameterization, the layers in which aggregation and riming took place were generally too thick and the frequency of riming was generally too high compared to the observations and theory. Additionally, none of the parameterizations produced similar details in every microphysical spatial pattern. Discrepancies in the patterns of microphysical processes between parameterizations likely factor into creating substantial differences in model reflectivity patterns. It is concluded that improved parameterizations of ice-phase microphysics will be essential to obtain reliable, consistent model simulations of tropical oceanic MCSs.

58 GEOSCIENCES↗

DOE OSTI2022

Radio-Frequency Rapid Thermal Processing Enabling Spatial Phase Transformation and Nanocrystallization of Soft Magnetic Amorphous Alloys

Thermal processing of soft magnetic amorphous and nanocrystalline alloys is explored under the influence of radio-frequency induction-heating techniques. Direct induction-heating concepts based on longitudinal and transverse flux heating are examined and the details of electromagnetic fields interaction with metallic strips are discussed by analytical calculations as well as finite element analysis. Initial experimental results confirming spatial control of phase transformations and nanocrystallization within a single strip of Finemet Fe-based amorphous ribbons are reported. Here, the degree to which primary and secondary crystallization temperature are achieved depends on the spacing between the ribbon relative to the induction coil as well as the coil design and configuration. For transverse coil configurations, the local temperature and therefore microstructural evolution is different across the lateral dimension of processed ribbons, with reduced gap sizes producing enhanced peak temperatures and larger temperature distributions with greater spatial variation in microstructure. In addition, indirect susceptor-based induction heating under tension is performed and the impact of microstructure is demonstrated. Herein, potential for exploiting spatially optimized phase transformations is illustrated through electromagnetic field–assisted processing in a scalable manufacturing process with amorphous and nanocrystalline soft magnetic alloys.

36 MATERIALS SCIENCE↗

DOE OSTI2018

Vibrational Spectroscopy of Water with High Spatial Resolution

Abstract The ability to examine the vibrational spectra of liquids with nanometer spatial resolution will greatly expand the potential to study liquids and liquid interfaces. In fact, the fundamental properties of water, including complexities in its phase diagram, electrochemistry, and bonding due to nanoscale confinement are current research topics. For any liquid, direct investigation of ordered liquid structures, interfacial double layers, and adsorbed species at liquid–solid interfaces are of interest. Here, a novel way of characterizing the vibrational properties of liquid water with high spatial resolution using transmission electron microscopy is reported. By encapsulating water between two sheets of boron nitride, the ability to capture vibrational spectra to quantify the structure of the liquid, its interaction with the liquid‐cell surfaces, and the ability to identify isotopes including H 2 O and D 2 O using electron energy‐loss spectroscopy is demonstrated. The electron microscope used here, equipped with a high‐energy‐resolution monochromator, is able to record vibrational spectra of liquids and molecules and is sensitive to surface and bulk morphological properties both at the nano‐ and micrometer scales. These results represent an important milestone for liquid and isotope‐labeled materials characterization with high spatial resolution, combining nanoscale imaging with vibrational spectroscopy.

Jokisaari, Jacob R.↗

DOE OSTI2022

Multimorphic Materials: Spatially Tailoring Mechanical Properties via Selective Initiation of Interpenetrating Polymer Networks

Access to multimaterial polymers with spatially localized properties and robust interfaces is anticipated to enable new capabilities in soft robotics, such as smooth actuation for advanced medical and manufacturing technologies. Here, orthogonal initiation is used to create interpenetrating polymer networks (IPNs) with spatial control over morphology and mechanical properties. Base catalyzes the formation of a stiff and strong polyurethane, while blue LEDs initiate the formation of a soft and elastic polyacrylate. IPN morphology is controlled by when the LED is turned “on”, with large phase separation occurring for short time delays (≈1–2 min) and a mixed morphology for longer time delays (>5 min), which is supported by dynamic mechanical analysis, small angle X-ray scattering, and atomic force microscopy. Through tailoring morphology, tensile moduli and fracture toughness can be tuned across ≈1–2 orders of magnitude. Furthermore, a simple spring model is used to explain the observed mechanical behavior. Photopatterning produces “multimorphic” materials, where morphology is spatially localized with fine precision (<100 µm), while maintaining a uniform chemical composition throughout to mitigate interfacial failure. As a final demonstration, the fabrication of hinges represents a possible use case for multimorphic materials in soft robotics.

36 MATERIALS SCIENCE↗

DOE OSTI2023

Universal Polarization Transformations: Spatial Programming of Polarization Scattering Matrices Using a Deep Learning‐Designed Diffractive Polarization Transformer

Abstract Controlled synthesis of optical fields having nonuniform polarization distributions presents a challenging task. Here, a universal polarization transformer is demonstrated that can synthesize a large set of arbitrarily‐selected, complex‐valued polarization scattering matrices between the polarization states at different positions within its input and output field‐of‐views (FOVs). This framework comprises 2D arrays of linear polarizers positioned between isotropic diffractive layers, each containing tens of thousands of diffractive features with optimizable transmission coefficients. After its deep learning‐based training, this diffractive polarization transformer can successfully implement N i N o = 10 000 different spatially‐encoded polarization scattering matrices with negligible error, where N i and N o represent the number of pixels in the input and output FOVs, respectively. This universal polarization transformation framework is experimentally validated in the terahertz spectrum by fabricating wire‐grid polarizers and integrating them with 3D‐printed diffractive layers to form a physical polarization transformer. Through this set‐up, an all‐optical polarization permutation operation of spatially‐varying polarization fields is demonstrated, and distinct spatially‐encoded polarization scattering matrices are simultaneously implemented between the input and output FOVs of a compact diffractive processor. This framework opens up new avenues for developing novel devices for universal polarization control and may find applications in, e.g., remote sensing, medical imaging, security, material inspection, and machine vision.

Optical neural networks↗

DOE OSTI2020

Spatially Resolved Performance Analysis for Perovskite Solar Cells

This review explores the current state of the art in spatially resolved characterization of mixed-halide perovskite solar cells. As the size of perovskite cells and modules continues to grow, quantification of the spatial distribution of key cell parameters will become increasingly valuable in predicting ultimate cell-level performance and tracking process homogeneity. Here, both high resolution microscopic approaches using scanning techniques and camera-based methods for full-area cell and/or module analysis are discussed. The value of this local data in predicting performance losses at the cell level is particularly emphasized. Measurable physical parameters sensitive to losses of voltage, current, fill factor, and efficiency are discussed together with selected experimental results. It is demonstrated that a combination of spatially resolved cell parameter mapping/imaging can be used to quantitatively discriminate various loss contributions at high resolution. The impact and control of inhomogeneities become particularly important when upscaling from small devices to large formats compatible with industrial mass production.

14 SOLAR ENERGY↗