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NASA NTRS2020

Multi-Agent Motion Planning using Deep Learning for Space Applications

State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of agents. This computational demand is a major stumbling block to the motion planner's application to future NASA missions involving the swarm of space vehicles. We applied a deep neural network to transform computationally demanding mathematical motion planning problems into deep learning-based numerical problems. We showed optimal motion trajectories can be accurately replicated using deep learning-based numerical models in several 2D and 3D systems with multiple agents. The deep learning-based numerical model demonstrates superior computational efficiency with plans generated 1000 times faster than the mathematical model counterpart.

Madani, Ramtin↗

NASA NTRSDate not supplied

Machine-learning Solution for Automatic Spacesuit Motion Recognition and Measurement from Conventional Video

Extravehicular Activity (EVA) spacesuits exhibit unique movement patterns due to their design characteristics. Mobility assessments using traditional motion capture systems are cost prohibitive and not feasible for some training conditions (e.g., simulated lunar outdoor terrain). This paper aims to present the ongoing development of machine learning solutions to quantify suit motions from conventional videos without special sensors or hardware. Preliminary work into this field was promising but given the fast growth in deep/machine learning technologies, external expertise was sought from open-source communities. Partnerships were formed with the NASA JSC Center of Excellence for Collaborative Innovation (CoCEI) and an execution crowdsourcing platform partner to solicit machine learning framework developments from external contenders. NASA provided contenders with images and video clips of spacesuits with simultaneously measured motion capture data during EVA simulation tasks. The contenders used this data to train and develop generalized algorithms to predict motions. At the end of the crowdsourcing event, the top five solutions were selected from 250 submissions. Each submission was tested and scored using video clips not previously disclosed to the contenders. The weighted scoring metrics measured how well the algorithm detected the suit shape, the 2D suit joint detection accuracy, and 3D joint detection accuracy. The winning solution was able to achieve roughly 85% prediction accuracy. Overall, the algorithms could efficiently detect various types of spacesuits and motions across different EVA environments such as the NASA Active Response Gravity Offload System (ARGOS). After continued improvements and validation, the fully developed system will enable EVA stakeholders to quantify suit kinematic patterns, which can help optimize suit, hardware, and task designs.

Linh Vu↗

DOE OSTI2011

Observing Structure and Motion in Molecules with Ultrafast Strong Field and Short Wavelength Laser Radiation

The term "molecular movie" has come to describe efforts to track and record Angstrom-scale coherent atomic and electronic motion in a molecule. The relevant time scales for this range cover several orders of magnitude, from sub-femtosecond motion associated with electron-electron correlations, to 100-fs internal vibrations, to multi-picosecond motion associated with the dispersion and quantum revivals of molecular reorientation. Conventional methods of cinematography do not work well in this ultrafast and ultrasmall regime, but stroboscopic "pump and probe" techniques can reveal this motion with high fidelity. This talk will describe some of the methods and recent progress in exciting and controlling this motion, using both laboratory lasers and the SLAC Linac Coherent Light Source x-ray free electron laser, and will further try to relate the date to the goal of molecular movies.

74 ATOMIC AND MOLECULAR PHYSICS↗

DOE OSTI2012

System and method for generating motion corrected tomographic images

A method and related system for generating motion corrected tomographic images includes the steps of illuminating a region of interest (ROI) to be imaged being part of an unrestrained live subject and having at least three spaced apart optical markers thereon. Simultaneous images are acquired from a first and a second camera of the markers from different angles. Motion data comprising 3D position and orientation of the markers relative to an initial reference position is then calculated. Motion corrected tomographic data obtained from the ROI using the motion data is then obtained, where motion corrected tomographic images obtained therefrom.

47 OTHER INSTRUMENTATION↗

DOE OSTI2011

PARALLAXES OF SOUTHERN EXTREMELY COOL OBJECTS. I. TARGETS, PROPER MOTIONS, AND FIRST RESULTS

We present results from the PARallaxes of Southern Extremely Cool objects (PARSEC) program, an observational program begun in 2007 April to determine parallaxes for 122 L and 28 T southern hemisphere dwarfs using the Wide Field Imager on the ESO 2.2 m telescope. The results presented here include parallaxes of 10 targets from observations over 18 months and a first version proper motion catalog. The proper motions were obtained by combining PARSEC observations astrometrically reduced with respect to the Second US Naval Observatory CCD Astrograph Catalog, and the Two Micron All Sky Survey Point Source Catalog. The resulting median proper motion precision is 5 mas yr{sup -1} for 195,700 sources. The 140 0.3 deg{sup 2} fields sample the southern hemisphere in an unbiased fashion with the exception of the galactic plane due to the small number of targets in that region. The proper motion distributions are shown to be statistically well behaved. External comparisons are also fully consistent. We will continue to update this catalog until the end of the program, and we plan to improve it including also observations from the GSC2.3 database. We present preliminary parallaxes with a 4.2 mas median precision for 10 brown dwarfs, two of which are within 10 pc. These increase the present number of L dwarfs by 20% with published parallaxes. Of the 10 targets, seven have been previously discussed in the literature: two were thought to be binary, but the PARSEC observations show them to be single; one has been confirmed as a binary companion and another has been found to be part of a binary system, both of which will make good benchmark systems. These results confirm that the foreseen precision of PARSEC can be achieved and that the large field of view will allow us to identify wide binary systems. Observations for the PARSEC program will end in early 2011 providing three to four years of coverage for all targets. The main expected outputs are: more than a 100% increase in the number of L dwarfs with parallaxes, increment in the number of objects per spectral subclass up to L9-in conjunction with published results-to at least 10, and to put sensible limits on the general binary fraction of brown dwarfs. We aim to contribute significantly to the understanding of the faint end of the H-R diagram and of the L/T transition region.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2010

DISCOVERIES FROM A NEAR-INFRARED PROPER MOTION SURVEY USING MULTI-EPOCH TWO MICRON ALL-SKY SURVEY DATA

We have conducted a 4030 deg{sup 2} near-infrared proper motion survey using multi-epoch data from the Two Micron All-Sky Survey (2MASS). We find 2778 proper motion candidates, 647 of which are not listed in SIMBAD. After comparison to Digitized Sky Survey images, we find that 107 of our proper motion candidates lack counterparts at B, R, and I bands and are thus 2MASS-only detections. We present results of spectroscopic follow-up of 188 targets that include the infrared-only sources along with selected optical-counterpart sources with faint reduced proper motions or interesting colors. We also establish a set of near-infrared spectroscopic standards with which to anchor near-infrared classifications for our objects. Among the discoveries are six young field brown dwarfs, five 'red L' dwarfs, three L-type subdwarfs, twelve M-type subdwarfs, eight 'blue L' dwarfs, and several T dwarfs. We further refine the definitions of these exotic classes to aid future identification of similar objects. We examine their kinematics and find that both the 'blue L' and 'red L' dwarfs appear to be drawn from a relatively old population. This survey provides a glimpse of the kinds of research that will be possible through time-domain infrared projects such as the UKIDSS Large Area Survey, various VISTA surveys, and WISE, and also through z- or y-band enabled, multi-epoch surveys such as Pan-STARRS and LSST.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2011

ON THE INTERPRETATION OF RECENT PROPER MOTION DATA FOR THE LARGE MAGELLANIC CLOUD

Recent observational studies using the Hubble Space Telescope have derived the center-of-mass proper motion (CMPM) of the Large Magellanic Cloud (LMC). Although these studies carefully treated both rotation and perspective effects in deriving the proper motion (PM) for each of the sampled fields, they did not consider the effects of local random motion in the derivation. This means that the average PM of the fields (i.e., the observed CMPM) could significantly deviate from the true CMPM, because the effect of local random motion cannot be close to zero in making the average PM for the small number of fields ({approx}10). We discuss how significantly the observationally derived CMPM can deviate from the true CMPM by applying the same method as used in the observations for a dynamical model of the LMC with a known true CMPM. We find that the deviation can be as large as {approx}50 km s{sup -1} ({approx}0.21 mas yr{sup -1}), if the LMC has a thick disk and a maximum circular velocity of {approx}120 km s{sup -1}. We also find that the deviation depends both on the total number of sampled fields and on the structure and kinematics of the LMC. We therefore suggest that there is a possibility that the observed CMPM of the LMC deviates from the true one to some extent. We also show that a simple mean of PM for a large number of LMC fields ({approx}1000) can be much closer to the true CMPM.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2011

WATER MASERS IN THE ANDROMEDA GALAXY: THE FIRST STEP TOWARD PROPER MOTION

We have detected and confirmed five water maser complexes in the Andromeda Galaxy (M31) using the Green Bank Telescope. These masers will provide the high brightness temperature point sources needed for proper motion studies of M31, enabling measurement of its full three-dimensional velocity vector and its geometric distance via proper rotation. The motion of M31 is the keystone of Local Group dynamics and a gateway to the dark matter profiles of galaxies in general. Our survey for water masers selected 206 luminous compact 24 {mu}m emitting regions in M31 and was sensitive enough to detect any maser useful for {approx}10 {mu}as yr{sup -1} astrometry. The newly discovered masers span the isotropic luminosity range (0.3-1.9) x 10{sup -3} L{sub sun} in single spectral components and are analogous to luminous Galactic masers. The masers are distributed around the molecular ring, including locations close to the major and minor axes, which is nearly ideal for proper motion studies. We find no correlation between 24 {mu}m luminosity and water maser luminosity, suggesting that while water masers arise in star-forming regions, the nonlinear amplification pathways and beamed nature of the water masers means that they are not predictable based on IR luminosity alone. This suggests that there are additional bright masers to be found in M31. We predict that the geometric distance and systemic proper motion of M31 can be measured in 2-3 years with current facilities. A 'moving cluster' observation of diverging masers as M31 approaches the Galaxy may be possible in the long term.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2011

A VERY HIGH PROPER MOTION STAR AND THE FIRST L DWARF IN THE KEPLER FIELD

We report two nearby high proper motion dwarfs of special interest identified using the Preliminary Data Release of the Wide-field Infrared Survey Explorer (WISE) and the Two Micron All Sky Survey. WISEP J191239.91-361516.4 has a motion of 2.1 arcsec yr{sup -1}. Photometry identifies it as a mid-M dwarf. WISEP J190648.47+401106.8 is a spectroscopically confirmed L1 dwarf in the Kepler Mission field with a motion of 0.48 arcsec yr{sup -1}. The estimated distance is 17 pc. Both lie at relatively low galactic latitudes and demonstrate the possibility of discovering proper motion stars independent of the historic photographic sky surveys.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2018

Broadband (0–4 Hz) Ground Motions for a Magnitude 7.0 Hayward Fault Earthquake With Three‐Dimensional Structure and Topography

Abstract We performed fully deterministic broadband (0–4 Hz) high‐performance computing ground motion simulations of a magnitude 7.0 scenario earthquake on the Hayward Fault (HF) in the San Francisco Bay Area of Northern California. Simulations consider average one‐dimensional (1‐D) and three‐dimensional (3‐D) anelastic structure with flat and topographic free surfaces. Ground motion intensity measures (GMIMs) for the 3‐D model display dramatic differences across the HF due to geologic heterogeneity, with low wave speeds east of the HF amplifying motions. The median GMIMs agree well with Ground Motion Prediction Equations (GMPEs); however, the 3‐D model generates more scatter than the 1‐D model. Ratios of 3‐D/1‐D GMIMs from the same source allow isolation of path and site effects for the 3‐D model. These ratios show remarkably similar trends as site‐specific factors for the GMPE predictions, suggesting that wave propagation effects in our 3‐D simulations are on average consistent with empirical data.

58 GEOSCIENCES↗

DOE OSTI2015

Quantifying intra- and inter-fractional motion in breast radiotherapy

The magnitude of intra- and inter-fractional variation in the set up of breast cancer patients treated with tangential megavoltage photon beams was investigated using an electronic portal imaging device (EPID). Daily cine-EPID images were captured during delivery of the tangential fields for ten breast cancer patients treated in the supine position. Measurements collected from each image included the central lung distance (CLD), central flash distance (CFD), superior axial measurement (SAM) and the inferior axial measurement (IAM). The variation of motion within a fraction (intra-fraction) and the variation between fractions (inter-fraction) was analysed to quantify set up variation and motion due to respiration. Altogether 3775 EPID images were collected from 10 patients. The effect of respiratory motion during treatment was <0.1 cm standard deviation (SD) in the anterior–posterior (AP) direction. The inter-fraction movement caused by variations in daily set up was larger at 0.28 cm SD in the AP direction. Superior–inferior (SI) variation was more difficult to summarise and proved unreliable as the measurements were taken to an ambiguous point on the images. It was difficult to discern true SI movement from that implicated by AP movement. There is minimal intra-fractional chest wall motion due to respiration during treatment. Inter-fractional variation was larger, however, on average it remained within departmental tolerance (0.5 cm) for set up variations. This review of our current breast technique provides confidence in the feasibility of utilising advanced treatment techniques (field-in-field, intensity modulated radiotherapy or volumetric modulated arc therapy) following a review of the current imaging protocol.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2023

Domain wall motion across microstructural features in polycrystalline ferroelectric films

This paper describes the effect of microstructural features such as grain boundaries and triple points on the pinning of domain wall motion in perovskite Pb(Zr 0.52 Ti 0.48 )O 3 (PZT) films on polycrystalline SrRuO 3 /SrTiO 3 substrates. Here, spatial variability in the collective domain wall dynamics was assessed using non-linearity mapping via Band Excitation Piezoresponse Force Microscopy (BE-PFM). Collocating the non-linearity maps with triple point locations (as visualized by EBSD) allowed for exploration of the effects that local microstructure (e.g., grain boundary) have on domain wall motion. It was found that the extrinsic behavior varied with both the misorientation angle and the proximity to the grain boundary. The width of influence of individual grain boundaries on the motion of domain walls was a function of the character of the grain boundary; random grain boundaries exhibit deeper minima in α d /d 33,initial and larger widths of influence (up to 905 nm) compared to coincident site lattice (CSL) boundaries (up to 572 nm). Additionally, triple points containing larger numbers of random boundaries exhibited non-Rayleigh behavior to greater distances, suggesting that the triple point provides either a deep potential minimum or a region where domain wall motion is unfavorable.

36 MATERIALS SCIENCE↗

DOE OSTI2020

Ball Motion and Near-Field Spray Characteristics of a Gasoline Direct Injection Injector using an X-ray Phase-Contrast Imaging Technique under High-Injection Pressures

Here, the purpose of this study is to visualize the ball (needle) motion and near-field spray characteristics of a gasoline direct injection injector under different injection conditions and analyze the effect of the internal structure of the injector on the ball motion, near-field spray velocity, and post-injection process. The injection pressure is set to 10MPa, 20 MPa, and 30 MPa, and the energization duration is fixed at 1.5 ms. An advanced X-ray technique with high transmittance and low scattering, is used to visualize the internal structure and near-field spray characteristics of the injector, which is impossible with general light sources. The ball is found to tilt to the right in the Y-axial direction during stable motion because the driving force of fuel on the ball is larger on the left side owing to the larger distance of the ball from the left wall. In addition, during stable motion, the near-field velocity of a hole with a smaller inlet angle is significantly higher than that of a hole with a larger inlet angle. The hole with a smaller inlet angle display better atomization characteristics during the post-injection process under all values of injection pressure.

47 OTHER INSTRUMENTATION↗

DOE OSTI2010

A Failure Detection Strategy for Intrafraction Prostate Motion Monitoring With On-Board Imagers for Fixed-Gantry IMRT

Purpose: To develop methods to monitor prostate intrafraction motion during fixed-gantry intensity-modulated radiotherapy using MV treatment beam imaging together with minimal kV imaging for a failure detection strategy that ensures prompt detection when target displacement exceeds a preset threshold. Methods and Materials: Real-time two-dimensional (2D) marker position in the MV image plane was obtained by analyzing cine-MV images. The marker's in-line movement, and thus its time-varying three-dimensional (3D) position, was estimated by combining the 2D projection data with a previously established correlative relationship between the directional components of prostate motion. A confirmation request for more accurate localization using MV-kV triangulation was triggered when the estimated prostate displacement based on the cine-MV data was greater than 3 mm. An interventional action alert followed on positive MV-kV confirmation. To demonstrate the feasibility and accuracy of the proposed method, simulation studies of conventional-fraction intensity-modulated radiotherapy sessions were done using 536 Calypso-measured prostate trajectories from 17 radiotherapy patients. Results: A technique for intrafraction prostate motion management has been developed. The technique, using 'freely available' cine-MV images and minimum on-board kV imaging (on average 2.5 images/fraction), successfully limited 3D prostate movement to within a range of 3 mm relative to the MV beam for 99.4% of the total treatment time. On average, only approximately one intervention/fraction was needed to achieve this level of accuracy. Conclusion: Instead of seeking to accurately and continuously localize the prostate target as existing motion tracking systems do, the present technique effectively uses cine-MV data to provide a clinically valuable way to minimize kV usage, while maintaining high targeting accuracy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2013

Self-Management of Patient Body Position, Pose, and Motion Using Wide-Field, Real-Time Optical Measurement Feedback: Results of a Volunteer Study

Purpose: We present the results of a clinical feasibility study, performed in 10 healthy volunteers undergoing a simulated treatment over 3 sessions, to investigate the use of a wide-field visual feedback technique intended to help patients control their pose while reducing motion during radiation therapy treatment. Methods and Materials: An optical surface sensor is used to capture wide-area measurements of a subject's body surface with visualizations of these data displayed back to them in real time. In this study we hypothesize that this active feedback mechanism will enable patients to control their motion and help them maintain their setup pose and position. A capability hierarchy of 3 different level-of-detail abstractions of the measured surface data is systematically compared. Results: Use of the device enabled volunteers to increase their conformance to a reference surface, as measured by decreased variability across their body surfaces. The use of visual feedback also enabled volunteers to reduce their respiratory motion amplitude to 1.7 ± 0.6 mm compared with 2.7 ± 1.4 mm without visual feedback. Conclusions: The use of live feedback of their optically measured body surfaces enabled a set of volunteers to better manage their pose and motion when compared with free breathing. The method is suitable to be taken forward to patient studies.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2025

Impact of representative ground motion level on seismic PSA with the boundary between overestimation and underestimation

One commonly used approach in seismic probabilistic safety assessment (PSA) is the discrete method. This method follows the standard PSA framework and can be applied to various models, such as multi-unit models, while reducing computational costs using standard software. However, due to the inability to subdivide intervals infinitely, the discrete method approximates with a finite number of subintervals. In practice, different numbers of subintervals are applied, and the representative ground motion level is selected based on expert judgment. When employing a smaller number of subintervals, it is important to take caution to prevent underestimation. This study analyzes the impact of the representative ground motion level on seismic risk. It confirms that underestimation can occur with a small number of subintervals depending on the representative ground motion level. This study also proposes a method for determining the boundary of underestimation and overestimation. The method is demonstrated through examples, providing a mathematical foundation for selecting appropriate representative ground motion levels. By avoiding underestimation, this research helps prevent the oversight of significant risk contributors and enhances the understanding of seismic risk.

99 - GENERAL AND MISCELLANEOUS↗

DOE OSTI2022

Time domain probabilistic seismic risk analysis using ground motion prediction equations of Fourier amplitude spectra

Modeling of Fourier amplitude spectra (FAS) of seismic motions has gained much attention in engineering seismology. In the past few years, several ground motion prediction equations (GMPEs) and inter-frequency correlation structure of FAS have been established. Due to many preferable characteristics of FAS, probabilistic seismic hazard/risk analysis is rapidly changing from ergodic, spectrum acceleration Sa(T 0 )-based approach to non-ergodic, site-specific, FAS-based approach. This paper presents time domain intrusive framework for probabilistic seismic risk analysis using GMPE of FAS. Herein, methodology for time domain stochastic ground motion modeling based on GMPEs of FAS is presented in some detail. The simulated uncertain motions are modeled as a random process and represented by polynomial chaos Karhunen-Loève expansion. The random process excitations are further propagated into the uncertain structural system using Galerkin stochastic finite element method (SFEM). Probabilistic evolution of structural response is solved, and such solution is used to develop seismic risk for any damage state. The presented framework is illustrated through seismic risk analysis of a four-story building subjected to possible earthquakes from two strike slip faults. The influences of the epistemic uncertainties in source stress drop Δσ and site attenuation κ0 on seismic risk are investigated. The need for non-ergodic seismic risk analysis with source-specific and site specific characterizations is emphasized.

58 GEOSCIENCES↗

DOE OSTI2016

A hybrid approach to estimate the complex motions of clouds in sky images

Tracking the motion of clouds is essential to forecasting the weather and to predicting the short-term solar energy generation. Existing techniques mainly fall into two categories: variational optical flow, and block matching. In this article, we summarize recent advances in estimating cloud motion using ground-based sky imagers and quantitatively evaluate state-of-the-art approaches. Then we propose a hybrid tracking framework to incorporate the strength of both block matching and optical flow models. To validate the accuracy of the proposed approach, we introduce a series of synthetic images to simulate the cloud movement and deformation, and thereafter comprehensively compare our hybrid approach with several representative tracking algorithms over both simulated and real images collected from various sites/imagers. The results show that our hybrid approach outperforms state-of-the-art models by reducing at least 30% motion estimation errors compared with the ground-truth motions in most of simulated image sequences. Furthermore, our hybrid model demonstrates its superior efficiency in several real cloud image datasets by lowering at least 15% Mean Absolute Error (MAE) between predicted images and ground-truth images.

54 ENVIRONMENTAL SCIENCES↗