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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 865 records · Page 48
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Improved Performance of Asymptotically Optimal Rapidly Exploring Random Trees

Three algorithms that improve the performance of the asymptotically optimal Rapidly exploring Random Tree (RRT*) are presented here. First, we introduce the Goal Tree (GT) algorithm for motion planning in dynamic environments where unexpected obstacles appear sporadically. The GT reuses the previous RRT* by pruning the affected area and then extending the tree by drawing samples from a shadow set. The shadow is the subset of the free configuration space containing all configurations that have geodesics ending at the goal and are in conflict with the new obstacle. Smaller, well defined, sampling regions are considered for Euclidean metric spaces and Dubins' vehicles. Next, the Focused-Refinement (FR) algorithm, which samples with some probability around the first path found by an RRT*, is defined. The third improvement is the Grandparent-Connection (GP) algorithm, which attempts to connect an added vertex directly to its grandparent vertex instead of parent. The GT and GP algorithms are both proven to be asymptotically optimal. Finally, the three algorithms are simulated and compared for a Euclidean metric robot, a Dubins' vehicle, and a seven degrees-of-freedom manipulator.

42 ENGINEERING↗
DOE OSTI2012

EXACTRAC x-ray and beam isocenters--What's the difference?

Purpose: To evaluate the geometric accuracy of the isocenter of an image-guidance system, as implemented in the exactrac system from brainlab, relative to the linear accelerator radiation isocenter. Subsequently to correct the x-ray isocenter of the exactrac system for any geometric discrepancies between the two isocenters. Methods: Five Varian linear accelerators all equipped with electronic imaging devices and exactrac with robotics from brainlab were evaluated. A commercially available Winston-Lutz phantom and an in-house made adjustable base were used in the setup. The electronic portal imaging device of the linear accelerators was used to acquire MV-images at various gantry angles. Stereoscopic pairs of x-ray images were acquired using the exactrac system. The deviation between the position of the external laser isocenter and the exactrac isocenter was evaluated using the commercial software of the exactrac system. In-house produced software was used to analyze the MV-images and evaluate the deviation between the external laser isocenter and the radiation isocenter of the linear accelerator. Subsequently, the deviation between the radiation isocenter and the isocenter of the exactrac system was calculated. A new method of calibrating the isocenter of the exactrac system was applied to reduce the deviations between the radiation isocenter and the exactrac isocenter. Results: To evaluate the geometric accuracy a 3D deviation vector was calculated for each relative isocenter position. The 3D deviation between the external laser isocenter and the isocenter of the exactrac system varied from 0.21 to 0.42 mm. The 3D deviation between the external laser isocenter and the linac radiation isocenter ranged from 0.37 to 0.83 mm. The 3D deviation between the radiation isocenter and the isocenter of the exactrac system ranged from 0.31 to 1.07 mm. Using the new method of calibrating the exactrac isocenter the 3D deviation of one linac was reduced from 0.90 to 0.23 mm. The results were complicated due to routine maintenance of the linac, including laser calibration. It was necessary to repeat the measurements in order to perform the calibration of the exactrac isocenter. Conclusions: The deviations between the linac radiation isocenter and the exactrac isocenter were of an order that may have clinical relevance. An alternative method of calibrating the isocenter of the exactrac system was applied and reduced the deviations between the two isocenters.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2012

NPIP: A skew line needle configuration optimization system for HDR brachytherapy

Purpose: In this study, the authors introduce skew line needle configurations for high dose rate (HDR) brachytherapy and needle planning by integer program (NPIP), a computational method for generating these configurations. NPIP generates needle configurations that are specific to the anatomy of the patient, avoid critical structures near the penile bulb and other healthy structures, and avoid needle collisions inside the body. Methods: NPIP consisted of three major components: a method for generating a set of candidate needles, a needle selection component that chose a candidate needle subset to be inserted, and a dose planner for verifying that the final needle configuration could meet dose objectives. NPIP was used to compute needle configurations for prostate cancer data sets from patients previously treated at our clinic. NPIP took two user-parameters: a number of candidate needles, and needle coverage radius, {delta}. The candidate needle set consisted of 5000 needles, and a range of {delta} values was used to compute different needle configurations for each patient. Dose plans were computed for each needle configuration. The number of needles generated and dosimetry were analyzed and compared to the physician implant. Results: NPIP computed at least one needle configuration for every patient that met dose objectives, avoided healthy structures and needle collisions, and used as many or fewer needles than standard practice. These needle configurations corresponded to a narrow range of {delta} values, which could be used as default values if this system is used in practice. The average end-to-end runtime for this implementation of NPIP was 286 s, but there was a wide variation from case to case. Conclusions: The authors have shown that NPIP can automatically generate skew line needle configurations with the aforementioned properties, and that given the correct input parameters, NPIP can generate needle configurations which meet dose objectives and use as many or fewer needles than the current HDR brachytherapy workflow. Combined with robot assisted brachytherapy, this system has the potential to reduce side effects associated with treatment. A physical trial should be done to test the implant feasibility of NPIP needle configurations.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

Elastomeric vitrimers from designer polyhydroxyalkanoates with recyclability and biodegradability

Cross-linked elastomers are stretchable materials that typically are not recyclable or biodegradable. Medium-chain-length polyhydroxyalkanoates (mcl-PHAs) are soft and ductile, making these bio-based polymers good candidates for biodegradable elastomers. Elasticity is commonly imparted by a cross-linked network structure, and covalent adaptable networks have emerged as a solution to prepare recyclable thermosets via triggered rearrangement of dynamic covalent bonds. Here, we develop biodegradable and recyclable elastomers by chemically installing the covalent adaptable network within biologically produced mcl-PHAs. Specifically, an engineered strain of Pseudomonas putida was used to produce mcl-PHAs containing pendent terminal alkenes as chemical handles for postfunctionalization. Thiol-ene chemistry was used to incorporate boronic ester (BE) cross-links, resulting in PHA-based vitrimers. mcl-PHAs cross-linked with BE at low density (<6 mole %) affords a soft, elastomeric material that demonstrates thermal reprocessability, biodegradability, and denetworking at end of life. The mechanical properties show potential for applications including adhesives and soft, biodegradable robotics and electronics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

A buckling-sheet ring oscillator for electronics-free, multimodal locomotion

Locomotion of soft robots typically relies on control of multiple inflatable actuators by electronic computers and hard valves. Soft pneumatic oscillators can reduce the demand on controllers by generating complex movements required for locomotion from a single, constant input pressure, but either have been constrained to low rates of flow of air or have required complex fabrication processes. Here, we describe a pneumatic oscillator fabricated from flexible, but inextensible, sheets that provides high rates of airflow for practical locomotion by combining three instabilities: out-of-plane buckling of the sheets, kinking of tubing attached to the sheets, and a system-level instability resulting from connection of an odd number of pneumatic inverters made from these sheets in a loop. This device, which we call a “buckling-sheet ring oscillator” (BRO), directly generates movement from its own interaction with its surroundings and consists only of readily available materials assembled in a simple process—specifically, stacking acetate sheets, nylon film, and double-sided tape, and attaching an elastomeric tube. A device incorporating a BRO is capable of both translational and rotational motion over varied terrain (even without a tether) and can climb upward against gravity and downward against the buoyant force encountered under water.

Robotics↗
DOE OSTI2017

Managing the Performance/Error Tradeoff of Floating-point Intensive Applications

Modern embedded systems are becoming more reliant on real-valued arithmetic as they employ mathematically complex vision algorithms and sensor signal processing. Double-precision floating point is the most commonly used precision in computer vision algorithm implementations. A single-precision floating point can provide a performance boost due to less memory transfers, less cache occupancy, and relatively faster mathematical operations on some architectures. However, adopting it can result in loss of accuracy. Identifying which parts of the program can run in single-precision floating point with low impact on error is a manual and tedious process. In this paper, we propose an automatic approach to identify parts of the program that have a low impact on error using shadow-value analysis. Our approach provides the user with a performance/error tradeoff, using which the user can decide how much accuracy can be sacrificed in return for performance improvement. We illustrate the impact of the approach using a well known implementation of Apriltag detection used in robotics vision. In conclusion, we demonstrate that an average 1.3x speedup can be achieved with no impact on tag detection, and a 1.7x speedup with only 4% false negatives.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

TEAMER: Electrically Engaged Undulation System for Unmanned Underwater Vehicles

This TEAMER RFTS 1 (Request for Technical Support) project supported the flume tank testing of a long range, high endurance unmanned underwater vehicle (UUV) to monitor maritime space. Today, battery-powered remotely operated vehicles (ROVs) lack the duration to make persistent, wide-area data collection possible.The proposed solution, an Electrically Engaged UnduLation (EEL) drone, can sustain missions for longer duration through hydrodynamic energy harvesting. Power is provisioned via the piezoelectric effect, a material-led phenomenon that converts applied stress into electricity. The EEL subsystems include power, propulsion, navigation, ballast, telemetry, and instrumentation. By mimicking the gait of aquatic eels, EEL can counter currents during maneuvering and level-flight. The identified opportunity is in the future capability of extreme endurance UUVs in swarms. The specific goal for the EEL development is to expand the spatio-temporal coverage of the existing ocean observation mission by overcoming significant challenges of autonomous robotics. Some of the challenges presented include novel compliant mechanism for robust actuation, bio-inspired design to emulate efficient locomotion, smart material-based energy harvesting for sustained power, and swarming architecture through enabled autonomy.

16 TIDAL AND WAVE POWER↗
DOE OSTI2012

Hybrid AI/Cognitive Tactical Behavior Framework for LVC (LDRD Project Final Report)

This Lab-Directed Research and Development (LDRD) sought to develop technology that enhances scenario construction speed, entity behavior robustness, and scalability in Live-Virtual-Constructive (LVC) simulation. We investigated issues in both simulation architecture and behavior modeling. We developed path-planning technology that improves the ability to express intent in the planning task while still permitting an efficient search algorithm. An LVC simulation demonstrated how this enables 'one-click' layout of squad tactical paths, as well as dynamic re-planning for simulated squads and for real and simulated mobile robots. We identified human response latencies that can be exploited in parallel/distributed architectures. We did an experimental study to determine where parallelization would be productive in Umbra-based force-on-force (FOF) simulations. We developed and implemented a data-driven simulation composition approach that solves entity class hierarchy issues and supports assurance of simulation fairness. Finally, we proposed a flexible framework to enable integration of multiple behavior modeling components that model working memory phenomena with different degrees of sophistication.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2014

241-AY-102 Leak Detection Pit Drain Line Inspection Report

This document provides a description of the design components, operational approach, and results from the Tank AY-102 leak detection pit drain piping visual inspection. To perform this inspection a custom robotic crawler with a deployment device was designed, built, and operated by IHI Southwest Technologies, Inc. for WRPS to inspect the 6-inch leak detection pit drain line.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Scalable Electrolytic Systems for Renewable Hydrogen Production (Cooperative Research and Development Final Report, CRADA Number CRD-18-747)

The project focuses on offshore wind energy which is an emergent renewable energy source in the United States. Onsite hydrogen production for this sector is not available. The overall goal of GTA's work is development of scalable multi-megawatt water electrolysis systems that exclude platinum group metals, are constructed from readily available commodity materials and are mass produced using advanced manufacturing and robotics. They fabricated and successfully tested a scalable TRL 4 laboratory prototype that demonstrated promising results for achieving the goal. They further performed calculations and prepared scale drawings for an envisioned onsite TRL 8 electrolytic hydrogen production system at an offshore 8 MW wind turbine. The work plan of the CRADA proposal between NREL and GTA focuses on validation of the current TRL 4 prototype with potential development and refinement for advancement to a TRL 5 system. GTA, Inc. proposes joining the H2@Scale consortium to leverage DOE funds, benefit from and contribute to the common knowledge-base and work with NREL as a CRADA partner.

30 DIRECT ENERGY CONVERSION↗
DOE OSTI2018

Management of Digital Equipment in Preproduction by Means of Uniform Numeric Control Language

The requirements on preproduction and the control software for various digital machining systems (numerically controlled machine tools, robot manipulators, additive manufacturing equipment) in flexible production are considered. By analysis of existing programming languages for digital equipment, UNCL (Uniform Numeric Control Language) has been developed for standard representation of control commands. The use of UNCL in verifying program operation on a machining simulator is considered. Software for the translation of control programs (specified in CLDATA formats and in ISO code) to the invariant format of the universal language is described. The postprocessing of control software from the universal language into programs in commonly used digital control systems is also considered.

42 ENGINEERING↗
DOE OSTI2018

Improvements in Turbine-Blade Manufacture

A completely automated manufacturing technology for turbine blades is proposed. The system includes automatic loading and unloading of the workpiece; its automated orientation in the coordinate system of a multifunctional grinding center; and automated geometric monitoring of the components by means of a coordinate-measurement center. A robot system implementing this technology is described.

42 ENGINEERING↗
DOE OSTI2024

Advanced manufacturing and digital twin technology for nuclear energy*

Advanced manufacturing techniques and digital twin technology are rapidly transforming the nuclear industry, offering the potential to enhance productivity, safety, and cost-effectiveness. Customized parts are being produced using additive manufacturing, automation, and robotics, while digital twin technology enables the virtual modeling and optimization of complex systems. These advanced technologies can significantly improve operational efficiency, predict system behavior, and optimize maintenance schedules in the nuclear energy sector, leading to heightened safety and reduced downtime. However, the nuclear industry demands the highest levels of safety and security, as well as intricate manufacturing processes and operations. Thus, challenges such as data management and cybersecurity must be addressed to fully realize the potential of advanced manufacturing techniques and digital twin technology in the nuclear industry. This comprehensive review highlights the critical role of digital twin technology with advanced manufacturing toward nuclear energy to improve performance, minimize downtime, and heighten safety, ultimately contributing to the global energy mix by providing dependable and low-carbon electricity.

36 MATERIALS SCIENCE↗
DOE OSTI2025

AI-powered municipal solid waste management: a comprehensive review from generation to utilization

The accumulation of municipal solid waste (MSW) continues to rise due to burgeoning population, rapid global urbanization and economic growth, intensifying ecological concerns associated with landfills and greenhouse gas (GHG) emissions. Over the past 2 decades, global waste generation has surged by 50%, with one-third remaining uncollected and about 70% sent to landfills. This review examines the critical role of integrating emerging technologies, such as advanced sensors and artificial intelligence (AI), into end-to-end MSW management to alleviate landfill burdens. The suitability of various AI tools for different stages of MSW management is assessed, alongside the deployment of advanced sensors including hyperspectral cameras, computer vision systems, and internet of things (IoT) devices for material identification. Applications of genetic algorithms and reinforcement learning for optimizing collection routes, reducing costs, and lowering emissions are highlighted. Life cycle assessment (LCA) across all stages of MSW management is also reviewed, along with future trends in leveraging generative AI, natural language processing (NLP), and agent-based AI systems to analyze waste generation patterns and public sentiment. Efficient collection and handling can be enhanced through route optimization with geographic information systems and real-time bin-level monitoring. Furthermore, sensor-embedded, real-time object detection systems paired with robotics enable material characterization and automated sorting, thereby lowering costs and diverting waste from landfills into value-added products for diverse industrial sectors including packaging, chemicals, textiles, metals and glass, transportation, and electronics industries. Without intervention, global waste is projected to reach 4.54 billion tons by 2050, contributing direct economic costs of $\$$400 billion and roughly 2.38 billion tons of CO 2 -equivalent emissions annually. This review demonstrates how AI-driven, end-to-end solutions for MSW management can mitigate economic and environmental challenges, while directly supporting the United Nations Sustainable Development (UNDP) goals related to innovation and infrastructure (SDG 9), sustainable cities (SDG 11), responsible consumption and production (SDG 12), and climate action (SDG 13).

09 BIOMASS FUELS↗
DOE OSTI2016

Carbon Flux Explorers

Jim Bishop, senior scientist at Berkeley Lab and professor at UC Berkeley, is leading a project to deploy robotic floats that provide data on how microorganisms sequester carbon in the ocean. He recently led a research team on a 10-day voyage, funded by the National Science Foundation, to put the Carbon Flux Explorers to the test.

42 ENGINEERING↗
DOE OSTI2018

Adapting to Artificial Intelligence

There is no need to be afraid of the emerging advances in artificial intelligence, says Argonne’s Marius Stan, Program Lead for Intelligent Materials Design. Although artificial intelligence may upend the job market in some ways, he says, it may also create new industries and positions as employees begin to designing and making robots. “It’s the problem and the solution,” Stan says. Meanwhile, artificial intelligence is playing a significant role in defining new research methods that bring us to resolution or discovery more quickly than ever before. Argonne is using or developing many of these technologies as AI extends to new branches of science and technology, sprouting new buds that represent various facets of human function and cognition — from learning to language processing to visual recognition.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2018

A DESI ‘Petal’ in Bloom: Time-Lapse Video

This time-lapse video sequence shows how how components are assembled for a single wedge-shaped petal that is part of the Dark Energy Spectroscopic Instrument’s focal plane. This video condenses the work on this petal – which took several weeks – down to about 5 minutes. In all, the focal plane will be composed of 10 petals, each holding 500 robotic positioners. Each of these positioners carries a fiber-optic cable, and the cables will be individually pointed at preset sequences of distant galaxies to gather their light. The light signatures from these galaxies will form the basis for the largest 3-D map of the universe. Each positioner is outfitted with a 3-meter length of fiber-optic cable that will be precisely fused with a 50-meter cable. The focal plane will sit high atop the Mayall Telescope at Kitt Peak National Observatory near Tucson, Arizona. (Credit: Berkeley Lab)

47 OTHER INSTRUMENTATION↗