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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 811 records · Page 45
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Contrasting Time-Frequency Representations for Unknown Waveform Detection

In real-world applications like spectrum management and interference detection, dealing with unseen electromagnetic waveforms is critical. Although some methods attempt to simulate open set data using generator models, they face challenges in generating synthetic samples for open set while simultaneously selecting an optimal discriminator for accurate classification. This results in difficulties capturing distinctive features across classes, especially in dynamic scenarios where new classes emerge. To detect unseen waveforms, we propose combining time and frequency domain features with cosine similarity loss to enhance feature distinctiveness and enabling more accurate predictions. This approach efficiently captures more comprehensive information than single-domain representations or approaches without cosine loss. Additionally, our model avoids generic feature vectors by extracting class-specific features during training, resulting in improved class representation. The experiment results show that this combined feature approach with cosine loss outperforms single-domain models and improves accuracy by 10\% over models without cosine loss.

99 - GENERAL AND MISCELLANEOUS↗
DOE OSTI2021

Measuring Young Stars in Space and Time. II. The Pre-main-sequence Stellar Content of N44

The Hubble Space Telescope survey Measuring Young Stars in Space and Time (MYSST) entails some of the deepest photometric observations of extragalactic star formation, capturing even the lowest-mass stars of the active star-forming complex N44 in the Large Magellanic Cloud. We employ the new MYSST stellar catalog to identify and characterize the content of young pre-main-sequence (PMS) stars across N44 and analyze the PMS clustering structure. To distinguish PMS stars from more evolved line of sight contaminants, a non-trivial task due to several effects that alter photometry, we utilize a machine-learning classification approach. This consists of training a support vector machine (SVM) and a random forest (RF) on a carefully selected subset of the MYSST data and categorize all observed stars as PMS or non-PMS. Combining SVM and RF predictions to retrieve the most robust set of PMS sources, we find ∼26,700 candidates with a PMS probability above 95% across N44. Employing a clustering approach based on a nearest neighbor surface density estimate, we identify 16 prominent PMS structures at 1σ significance above the mean density with sub-clusters persisting up to and beyond 3σ significance. The most active star-forming center, located at the western edge of N44's bubble, is a subcluster with an effective radius of ∼5.6 pc entailing more than 1100 PMS candidates. Furthermore, we confirm that almost all identified clusters coincide with known H ii regions and are close to or harbor massive young O stars or YSOs previously discovered by MUSE and Spitzer observations.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

A Model Tree Generator (MTG) Framework for Simulating Hydrologic Systems: Application to Reservoir Routing

Data-driven algorithms have been widely used as effective tools to mimic hydrologic systems. Unlike black-box models, decision tree algorithms offer transparent representations of systems and reveal useful information about the underlying process. A popular class of decision tree models is model tree (MT), which is designed for predicting continuous variables. Most MT algorithms employ an exhaustive search mechanism and a pre-defined splitting criterion to generate a piecewise linear model. However, this approach is computationally intensive, and the selection of the splitting criterion can significantly affect the performance of the generated model. These drawbacks can limit the application of MTs to large datasets. To overcome these shortcomings, a new flexible Model Tree Generator (MTG) framework is introduced here. MTG is equipped with several modules to provide a flexible, efficient, and effective tool for generating MTs. The application of the algorithm is demonstrated through simulation of controlled discharge from several reservoirs across the Contiguous United States (CONUS).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Hierarchical Data-Driven Protection for Microgrid with 100% Renewable Penetration: Preprint

The accurate detection and isolation of faults is critical for the reliable operation of microgrids (MGs). Traditional protection approaches are even more challenged for 100% renewable MGs because inverter-based resources (IBRs) are the only sources for fault current which are usually low and unpredictable/non-uniform. This calls for new protection scheme that can identify IBR fault responses and detect faults in MGs. Data-driven based protection can learn the pattern of IBR fault responses and make the correct decision to identify faults. Therefore, this paper presents a data-driven approach for fault localization in island MGs. The approach builds a training dataset of comprehensive fault scenarios that can be used to learn fault characteristics from processed measurements. The localization task is modeled as a binary classification problem at each relay, which simplifies the learning process. Then, a hierarchical decision mechanism is used to identify the fault location. The proposed approach is assessed using an exemplary MG with several grid-forming (GFM) and grid-following (GFL) inverters, where accurate estimation of fault location is achieved. The data-driven based protection approach developed in this paper provides a generic framework and useful guidance for power system protection engineers to achieve reliable protection for MGs with 100% renewables.

artificial intelligence↗
DOE OSTI2022

Machine Learning for Automated Metadata Assignment in Buildings: Cooperative Research and Development (Final Report, CRADA Number CRD-18-00767)

RealTerm Energy and NREL have identified a shared vision to evaluate opportunities to facilitate the organization and assignment of metadata to building control system (BCS) data via industry-informed machine learning (ML). Manual metadata assignment is labor intensive and costly, slowing down any Energy Management and Information System (EMIS) deployment in the building space. This project aims to develop methodologies to accurately assign this metadata and significantly decrease the level of effort associated with deploying EMIS. The objective of this project is to identify/design methodologies to assign metadata to HVAC control points automatically. The identified methodologies will be programmed in analytics algorithms so they can ingest a list of points and produce a detailed tagging following the Haystack classification nomenclature. To validate the efficacy of each methodology, tagging results will be compared utilizing a list of points extracted from RealTerm's building database-as well as data extracted from the NREL campus via the Intelligent Campus program-enabling testing against large datasets with real world challenges. The developed methodologies may leverage building manager/operator input on a limited basis to add context to the classifying algorithms. The partnership aims to advance global efforts in areas related to the DOE missions through improving operational performance of commercial buildings. It is well documented that buildings fall out of commission after they are occupied, wasting significant energy and incurring associated costs simply due to poor operational performance. Emerging EMIS technologies that perform continuous commissioning help to address this issue, yet integration of these systems can be labor intensive both for the technology vendor and the building owner/operator. This project will enable more efficient and cost-effective analytics for buildings, enabling improvement in building operations at lower cost points.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2025

The NASA ACTIVATE Mission

The NASA Aerosol Cloud Meteorology Interactions over the Western Atlantic Experiment (ACTIVATE) conducted 162 joint flights with two aircraft over the northwest Atlantic to study aerosol–cloud interactions (ACIs), which represent the largest uncertainty in estimating total anthropogenic radiative forcing. The combination of a high-flying King Air and low-flying HU-25 Falcon, equipped with remote sensing and in situ instruments, characterized trace gases, aerosol particles, clouds, and meteorological variables with data collected nearly simultaneously below, within, and above marine boundary layer (MBL) clouds. Flights spanning warm and cold seasons across 3 years (2020–22) provided a broad range of conditions associated with aerosol particles, cloud properties (including particle size and phase), and meteorology, ideally suited for robust ACI calculations and assessing how well models simulate a wide range of MBL clouds from stratiform to cumulus. ACTIVATE data suggest that drivers of cloud droplet number concentration N d , including aerosol particles and MBL dynamics, vary between winter and summer months with a stronger potential to convert aerosol particles into cloud droplets in winter. Models of varying complexity not only highlight some skills in simulating winter and summer cloud types but also identify challenges that still need to be addressed such as treatment of turbulence, wet scavenging, and mesoscale organization. Remote sensing advances range from new retrieval methods for N d , cloud phase classification, vertically resolved aerosol and cloud condensation nuclei number concentration, and ocean surface wind speed. This work describes these scientific and technological advances along with efforts in outreach and open data science.

aerosol indirect effect↗
DOE OSTI2023

Ensemble models for circuit topology estimation, fault detection and classification in distribution systems

This paper presents a methodology for simultaneous fault detection, classification, and topology estimation for adaptive protection of distribution systems. The methodology estimates the probability of the occurrence of each one of these events by using a hybrid structure that combines three sub-systems, a convolutional neural network for topology estimation, a fault detection based on predictive residual analysis, and a standard support vector machine with probabilistic output for fault classification. The input to all these sub-systems is the local voltage and current measurements. A convolutional neural network uses these local measurements in the form of sequential data to extract features and estimate the topology conditions. The fault detector is constructed with a Bayesian stage (a multitask Gaussian process) that computes a predictive distribution (assumed to be Gaussian) of the residuals using the input. Since the distribution is known, these residuals can be transformed into a Standard distribution, whose values are then introduced into a one-class support vector machine. The structure allows using a one-class support vector machine without parameter cross-validation, so the fault detector is fully unsupervised. Finally, a support vector machine uses the input to perform the classification of the fault types. All three sub-systems can work in a parallel setup for both performance and computation efficiency. In conclusion, we test all three sub-systems included in the structure on a modified IEEE123 bus system, and we compare and evaluate the results with standard approaches.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2020

Analysis of MINERvA tunings of GENIE based on Hadron Multiplicity using Machine Learning

Scientists with the MINERvA neutrino interaction experiment have long studied distributions of hadrons (protons and pions) to improve the models for these reactions. Until now, most work has relied on easy to find, energetic, and well tracked hadrons. But in order to take full advantage of MINERνA data it is necessary to develop an efficient enough tool to recognize hadron tracks with lower energy, more transverse angle and more challenging patterns of activity. In this analysis, a Machine Learning tool based on Convolutional Neural Network and Transfer Learning has been developed to tackle that issue. It is found to be extremely capable of recognizing hadron activities especially when there are few and not very energetic hadrons, the accuracy is 76%. But it is also found that this network is very reluctant to classify too many hadrons. The classification is also affected by the presence of other particles in the event such photons, hadrons below a threshold or neutrons. This network is used to compare hadron multiplicity of data to the MC models and distinguish between different MC tunes. Some MINERνA tunes are explored in this analysis, but none of them described the data very well, especially not for all different hadrons multiplicities at once. Four combinations of those tunes were more successful, but none of them could be recognized as the best one. Nevertheless, this analysis develops an ML network that sets the basis of further exploration of hadron multiplicity as a tool to analyze MC tunes at MINERνA and beyond.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

UAS Edge Computing of Energy Infrastructure Damage Assessment

Energy infrastructure assessments are needed within 72 hours of natural disasters, and previous data collection methods have proven too slow. We demonstrate a scalable end-to-end solution using a prototype unmanned aerial system that performs on-the-edge detection, classification (i.e., damaged or undamaged), and geo-location of utility poles. The prototype is suitable for disaster response because it requires no local communication infrastructure and is capable of autonomous missions. Collections before, during, and after Hurricane Ida in 2021 were used to test the system. The system delivered an F1 score of 0.65 operating with a 2.7 s/frame processing speed with the YOLOv5 large model and an F1 score of 0.55 with a 0.48 s/frame with the YOLOv5 small model. Geo-location uncertainty in the bottom half of the frame was ~8 m, mostly driven by error in camera pointing measurement. With additional training data to improve performance and detect additional types of features, a fleet of similar drones could autonomously collect actionable post-disaster data.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Real-time confinement regime detection in fusion plasmas with convolutional neural networks and high-bandwidth edge fluctuation measurements

Abstract A real-time detection of the plasma confinement regime can enable new advanced plasma control capabilities for both the access to and sustainment of enhanced confinement regimes in fusion devices. For example, a real-time indication of the confinement regime can facilitate transition to the high-performing wide-pedestal (WP) quiescent H-mode, or avoid unwanted transitions to lower confinement regimes that may induce plasma termination. To demonstrate real-time confinement regime detection, we use the 2D beam emission spectroscopy (BES) diagnostic system to capture localized density fluctuations of long wavelength turbulent modes in the edge region at a 1 MHz sampling rate. BES data from 330 discharges in either L-mode, H-mode, quiescent H (QH)-mode, or WP QH-mode were collected from the DIII-D tokamak and curated to develop a high-quality database to train a deep-learning classification model for real-time confinement detection. We utilize the 6×8 spatial configuration with a time window of 1024 µ s and recast the input to obtain spectral-like features via fast Fourier transform preprocessing. We employ a shallow 3D convolutional neural network for the multivariate time-series classification task and utilize a softmax in the final dense layer to retrieve a probability distribution over the different confinement regimes. Our model classifies the global confinement state on 44 unseen test discharges with an average F 1 score of 0.94, using only ∼1 ms snippets of BES data at a time. This activity demonstrates the feasibility for real-time data analysis of fluctuation diagnostics in future devices such as ITER, where the need for reliable and advanced plasma control is urgent.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

Photometric redshift estimation with convolutional neural networks and galaxy images: Case study of resolving biases in data-driven methods

Deep-learning models have been increasingly exploited in astrophysical studies, but these data-driven algorithms are prone to producing biased outputs that are detrimental for subsequent analyses. In this work, we investigate two main forms of biases: class-dependent residuals, and mode collapse. We do this in a case study, in which we estimate photometric redshift as a classification problem using convolutional neural networks (CNNs) trained with galaxy images and associated spectroscopic redshifts. We focus on point estimates and propose a set of consecutive steps for resolving the two biases based on CNN models, involving representation learning with multichannel outputs, balancing the training data, and leveraging soft labels. The residuals can be viewed as a function of spectroscopic redshift or photometric redshift, and the biases with respect to these two definitions are incompatible and should be treated individually. We suggest that a prerequisite for resolving biases in photometric space is resolving biases in spectroscopic space. Experiments show that our methods can better control biases than benchmark methods, and they are robust in various implementing and training conditions with high-quality data. Our methods hold promises for future cosmological surveys that require a good constraint of biases, and they may be applied to regression problems and other studies that make use of data-driven models. Nonetheless, the bias-variance tradeoff and the requirement of sufficient statistics suggest that we need better methods and optimized data usage strategies.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2026

Explainable machine learning for incipient anomaly detection in compact molten salt heat exchanger with overlapping feature distributions

High-temperature molten salt-cooled reactors (MSCRs) are a promising next-generation nuclear technology option, offering efficient power conversion and inherent safety features. However, the reliability of these systems depends on the robust operation of heat exchangers (HXs), which are susceptible to failure due to temperature gradients and channel plugging caused by fluid freezing. Conventional monitoring methods, relying on inlet and outlet measurements, lack the spatial resolution needed to detect early-stage faults. We propose a novel design of a compact salt-to-salt matrix-type HX design consisting of interleaved arrays of parallel tubes, with integrated synthetic fiber optic distributed temperature sensing (DTS) to enable localized detection of incipient faults. To evaluate performance of this design, we generate high-fidelity synthetic data using heat transfer computational modeling to simulate channel plugging, and introduce sensor noise for realistic modeling of measurements. The dataset comprises of 97% normal operation and 3% anomaly cases, with each anomaly class representing 1% of the data. These early anomalies result in overlapping temperature profiles between normal and faulty channels, producing a non-separable dataset that challenges traditional classification techniques. We benchmark eight supervised machine learning (ML) models and demonstrate that XGBoost achieves the highest performance. To improve transparency, we develop an explainability framework combining Shapley values and partially ordered sets (POSETs) to quantify and structurally analyze feature importance. This approach identifies both dominant predictors and ambiguous feature relationships, enhancing trust and interpretability. Our results highlight the potential of combining DTS and explainable ML with intelligent feature selection to improve predictive maintenance and ensure operational resilience in advanced nuclear systems.

Prantikos, Konstantinos [Argonne National Laborato↗
DOE OSTI2022

Cross-Layered Distributed Data-Driven Framework for Enhanced Smart Grid Cyber-Physical Security

Smart Grid (SG) research and development has drawn much attention from academia, industry and government due to the great impact it will have on society, economics and the environment. Securing the SG is a considerably significant challenge due the increased dependency on communication networks to assist in physical process control, exposing them to various cyber-threats. In addition to attacks that change measurement values using False Data Injection (FDI) techniques, attacks on the communication network may disrupt the power system's real-time operation by intercepting messages, or by flooding the communication channels with unnecessary data. Addressing these attacks requires a cross-layer approach. In this paper a cross-layered strategy is presented, called Cross-Layer Ensemble CorrDet with Adaptive Statistics(CECD-AS), which integrates the detection of faulty SG measurement data as well as inconsistent network inter-arrival times and transmission delays for more reliable and accurate anomaly detection and attack interpretation. Numerical results show that CECD-AS can detect multiple False Data Injections, Denial of Service (DoS) and Man In The Middle (MITM) attacks with a high F1-score compared to current approaches that only use SG measurement data for detection such as the traditional physics-based State Estimation, Ensemble CorrDet with Adaptive Statistics strategy and other machine learning classification-based detection schemes.

cyber-physical security↗
DOE OSTI2026

Enhancing transfer learning in angle-resolved photoemission spectroscopy (ARPES) with spatially-aware representations via graph convolution

A recent application of machine learning has been to spatially-resolved angle-resolved photoemission spectroscopy (ARPES). Here we advance the state-of-the-art by applying representational learning to transform ARPES data into an embedding space of a pre-trained self-supervised learning model, thus enhancing the pipeline that improves the bandstructure classification and domain assignment/segmentation performance compared to a k-means clustering method. In the current iteration, the real-space information is entered into the domain assignment through the graph convolution method, which improves the transfer learning performance of the original self-supervised model. Lastly, an unsupervised automated tool is developed that incorporates these techniques to enable automatic domain assignment.

ARPES↗
DOE OSTI2021

Energy Saving Analysis Using Energy Intensity Usage and Specific Energy Consumption Methods

This study presents the energy saving analysis reached through employing the energy intensity usage and specific energy consumption method. The energy analyses conducted in this study are used for implementing a new technology. However, they are additionally used to evaluate the latest concepts, techniques, processes, and uses for technologies, which are aimed at improvement of energy savings. This study shows the correlation between energy consumption, potential energy savings, and the impact of the energy assessment in different industrial sectors. The correlation is found by using two indicators: (1) the energy intensity usage (EIU) and (2) the specific energy consumption (SEC). The data analysis in this study considers the assessments for 67 industries from 2015 to 2019 and classifies those assessments using the Standard Industrial Classification (SIC) code. The results show that energy savings and energy consumption are linearly related. Also, the energy assessment improves energy performance in a more significant way for smaller companies than for larger industries. Furthermore, these results can be extrapolated by identifying the potential benefits of the energy management system (EMS) implementation.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

Pre-training Vision Models for the Classification of Alerts from Wide-field Time-domain Surveys

Modern wide-field time-domain surveys facilitate the study of transient, variable and moving phenomena by conducting image differencing and relaying alerts to their communities. Machine learning tools have been used on data from these surveys and their precursors for more than a decade, and convolutional neural networks (CNNs), which make predictions directly from input images, saw particularly broad adoption through the 2010s. Since then, continually rapid advances in computer vision have transformed the standard practices around using such models. It is now commonplace to use standardized architectures pre-trained on large corpora of everyday images (e.g., ImageNet). In contrast, time-domain astronomy studies still typically design custom CNN architectures and train them from scratch. Here, we explore the effects of adopting various pre-training regimens and standardized model architectures on the performance of alert classification. We find that the resulting models match or outperform a custom, specialized CNN like what is typically used for filtering alerts. Moreover, our results show that pre-training on galaxy images from Galaxy Zoo tends to yield better performance than pre-training on ImageNet or training from scratch. We observe that the design of standardized architectures are much better optimized than the custom CNN baseline, requiring significantly less time and memory for inference despite having more trainable parameters. On the eve of the Legacy Survey of Space and Time and other image-differencing surveys, these findings advocate for a paradigm shift in the creation of vision models for alerts, demonstrating that greater performance and efficiency, in time and in data, can be achieved by adopting the latest practices from the computer vision field.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

Metagenome-assembled genomes from Wind River Basin floodplain sediments Riverton, Wyoming site (May to September 2017)

Microorganisms play a key role in cycling nutrients and contaminants in the terrestrial environment depending on their genetic potential. Here we present metagenome-assembled genomes (MAGs) for the bacterial and archaeal community in floodplain sediment samples taken roughly every month in the period May 18 to September 13 in 2017 at a location (Pit2) close to DOE Legacy Management well 855 at the Riverton, Wyoming floodplain site in the Wind River Basin (WRB). The groundwater at this site exhibits persistent U, Mo, and sulfate plumes and is one of the field sites in focus for the SLAC Groundwater Quality SFA program. Cores were taken with a hand-auger and separated into 5-20 cm segments based on soil horizonation down to 150 cm depth below surface. Each segment was subsampled for microbial analyses. Corresponding 16S rRNA gene amplicon data is available at the NCBI Single Read Archive (SRA) Database BioProject ID PRJNA626616, and soil geochemistry data at doi:10.15485/1631972. 40 metagenomes were sequenced through JGI and can be found under Gold sequencing project: Gs0142591. Metagenomes were assembled, binned, and refined using metawrap to generate MAGs (>50% complete and < 10% contamination based on checkM scores). This dataset includes a zip file of 6993 MAG fasta files and a csv file with quality, taxonomic classification (GTDB RS220), and metagenome accessions for MAGs generated from the Wind River Basin (WRB). This dataset also includes a file-level metadata (flmd.csv) file that lists each file contained in the dataset with associated metadata and a data dictionary (dd.csv) file that contains column/row headers used throughout the files along with a definition, units, and data type.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Development of the Intelligent, Preventive Infrared (IR) Inspection System Housed in Hybrid Robotic Platforms

Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗