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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 1,063 records · Page 59
All sourcesNASA NTRSDOE OSTI
NASA NTRS2010

Photogrammetric Measurements of an EH-60L Brownout Cloud

There is a critical lack of quantitative data regarding the mechanism of brownout cloud formation. Recognizing this, tests were conducted during the Air Force Research Lab 3D-LZ Brownout Test at the US Army Yuma Proving Ground. Photogrammetry was utilized during two rounds of flight tests with an instrumented EH-60L Black Hawk to determine if this technique could quantitatively measure the formation and evolution of a brownout cloud. Specific areas of interest include the location, size, and average convective velocity of the cloud, along with the characteristics of any defined structures within it. Following the first flight test, photogrammetric data were validated through comparison with onboard vehicle data. Lessons learned from this test were applied to the development of an improved photogrammetry system. A second flight test, utilizing the improved system, demonstrated that obtaining quantitative measurements of the brownout cloud are possible. Results from these measurements are presented in the paper. Flow visualization with chalk dust seeding was also tested. It was observed that pickup forces of the brownout cloud appear to be very low. Overall, these tests demonstrate the viability of photogrammetry as a means for quantifying brownout cloud formation and evolution.

Wong, Oliver D.↗
NASA NTRS2001

Left ventricular endocardial surface detection based on real-time 3D echocardiographic data

OBJECTIVE: A new computerized semi-automatic method for left ventricular (LV) chamber segmentation is presented. METHODS: The LV is imaged by real-time three-dimensional echocardiography (RT3DE). The surface detection model, based on level set techniques, is applied to RT3DE data for image analysis. The modified level set partial differential equation we use is solved by applying numerical methods for conservation laws. The initial conditions are manually established on some slices of the entire volume. The solution obtained for each slice is a contour line corresponding with the boundary between LV cavity and LV endocardium. RESULTS: The mathematical model has been applied to sequences of frames of human hearts (volume range: 34-109 ml) imaged by 2D and reconstructed off-line and RT3DE data. Volume estimation obtained by this new semi-automatic method shows an excellent correlation with those obtained by manual tracing (r = 0.992). Dynamic change of LV volume during the cardiac cycle is also obtained. CONCLUSION: The volume estimation method is accurate; edge based segmentation, image completion and volume reconstruction can be accomplished. The visualization technique also allows to navigate into the reconstructed volume and to display any section of the volume.

Non-NASA Center↗
DOE OSTI2016

Critical point cancellation in 3D vector fields: Robustness and discussion

Vector field topology has been successfully applied to represent the structure of steady vector fields. Critical points, one of the essential components of vector field topology, play an important role in describing the complexity of the extracted structure. Simplifying vector fields via critical point cancellation has practical merit for interpreting the behaviors of complex vector fields such as turbulence. However, there is no effective technique that allows direct cancellation of critical points in 3D. This work fills this gap and introduces the first framework to directly cancel pairs or groups of 3D critical points in a hierarchical manner with a guaranteed minimum amount of perturbation based on their robustness, a quantitative measure of their stability. In addition, our framework does not require the extraction of the entire 3D topology, which contains non-trivial separation structures, and thus is computationally effective. Furthermore, our algorithm can remove critical points in any subregion of the domain whose degree is zero and handle complex boundary configurations, making it capable of addressing challenging scenarios that may not be resolved otherwise. Here, we apply our method to synthetic and simulation datasets to demonstrate its effectiveness.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2015

MO-F-CAMPUS-J-05: Toward MRI-Only Radiotherapy: Novel Tissue Segmentation and Pseudo-CT Generation Techniques Based On T1 MRI Sequences

Purpose: To develop and validate a 4 class tissue segmentation approach (air cavities, background, bone and soft-tissue) on T1 -weighted brain MRI and to create a pseudo-CT for MRI-only radiation therapy verification. Methods: Contrast-enhanced T1-weighted fast-spin-echo sequences (TR = 756ms, TE= 7.152ms), acquired on a 1.5T GE MRI-Simulator, are used.MRIs are firstly pre-processed to correct for non uniformity using the non parametric, non uniformity intensity normalization algorithm. Subsequently, a logarithmic inverse scaling log(1/image) is applied, prior to segmentation, to better differentiate bone and air from soft-tissues. Finally, the following method is enrolled to classify intensities into air cavities, background, bone and soft-tissue:Thresholded region growing with seed points in image corners is applied to get a mask of Air+Bone+Background. The background is, afterward, separated by the scan-line filling algorithm. The air mask is extracted by morphological opening followed by a post-processing based on knowledge about air regions geometry. The remaining rough bone pre-segmentation is refined by applying 3D geodesic active contours; bone segmentation evolves by the sum of internal forces from contour geometry and external force derived from image gradient magnitude.Pseudo-CT is obtained by assigning −1000HU to air and background voxels, performing linear mapping of soft-tissue MR intensities in [-400HU, 200HU] and inverse linear mapping of bone MR intensities in [200HU, 1000HU]. Results: Three brain patients having registered MRI and CT are used for validation. CT intensities classification into 4 classes is performed by thresholding. Dice and misclassification errors are quantified. Correct classifications for soft-tissue, bone, and air are respectively 89.67%, 77.8%, and 64.5%. Dice indices are acceptable for bone (0.74) and soft-tissue (0.91) but low for air regions (0.48). Pseudo-CT produces DRRs with acceptable clinical visual agreement to CT-based DRR. Conclusion: The proposed approach makes it possible to use T1-weighted MRI to generate accurate pseudo-CT from 4-class segmentation.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2018

Furthering Precision in Sentinel Node Navigational Surgery for Oral Cancer: a Novel Triple Targeting System

To describe an innovative sentinel lymph node (SLN) guidance approach using a radionuclide tracer, 3D augmented reality-guided imaging, and near infrared (NIR) fluorescence over-lay imaging with hand-held probes to optimize accuracy, efficiency, and precise navigation for sentinel node (SN) localization in head and neck cancer. In a cT1N0M0 squamous cell carcinoma of the tongue, pre-operative radionuclide lymphoscintigraphy was performed with a sentinel node-specific radiolabeled tracer. Intraoperatively, a 3D hand-held augmented reality (AR) scanning SPECT probe assessed concordance of the SN with pre-operative SPECT-CT images. The real-time optical video was linked to the SPECT-CT images for added precision. Final guidance to the SN was performed using ICG fluorescence imaging. Dynamic and SPECT-CT showed bilateral lymphatic drainage from the tumor. The 3D hand-held AR SPECT probe SN localization was concordant with pre-operative imaging. The optical video successfully demonstrated the lymphatic drainage in real-time through a unique overlay fluorescence image. The ICG localized to the same nodes identified by both the SPECT-CT and hand-held SPECT images. The use of dual radiation and fluorescence tracers improved SN detection, especially for SN close to the injection site. The hand-held probes allowed the surgeon to dissect continuously, without needing to change tools. The combination of augmented reality, nuclear medicine, and over-lay fluorescence imaging allowed greater accuracy for matching the preoperative imaging with intraoperative identification and precisely guiding the dissection. This method uniquely permitted the surgeon to efficiently dissect the SN with accurate visualization and optimal precision.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2025

Multimode turbulent flow measurements using magnetic resonance imaging- and laser-based techniques and computational fluid dynamics simulations

We studied the flow field characteristics of a turbulent flow over a regularized cube array with a perpendicular injection flow through the floor between the second and third cubical elements, representing the complex flow interactions of a 3D jet and the wake flows behind cubical obstacles. Four different experimental measurements were performed: two magnetic resonance imaging-based measurements for three-dimensional three-component velocity (MRV) and concentration (MRC) and two laser-based techniques, particle image velocimetry (PIV) and planar laser-induced fluorescence (PLIF), for two-dimensional two-component velocity and concentration measurement, respectively. The mainstream Reynolds number is Re = 15 000⁠, based on the primary inlet velocity U m and channel height D H ⁠, whereas the injector Reynolds number is Re j = 3400⁠, based on the injector velocity U j and the injector's exit width D j ⁠. Numerical simulations were performed for the studied flow configuration of turbulent flow over a regularized cube array using Reynolds-averaged Navier–Stokes (RANS) and large-eddy simulation (LES) approaches. Results obtained from experimental measurements—including MRV, MRC, PIV, and PLIF—as well as RANS and LES simulations are discussed and compared along several horizontal and vertical planes of the studied configuration. In addition, 3D turbulent flow structures, such as leading-edge vortex, horseshoe vortex, and jet shear-layer vortex, and the isosurfaces of scalar concentration successfully revealed by MRV and MRC techniques were found to be in very good agreement with those 3D features extracted from RANS and LES simulations. In conclusion, the high-resolution experimental and numerical database obtained from this study could be useful for validation and verification of numerical codes.

Computational fluid dynamics↗
DOE OSTI2016

Micro-CT scouting for transmission electron microscopy of human tissue specimens

Transmission electron microscopy (TEM) provides sub-nanometre-scale details in volumetric samples. Samples such as pathology tissue specimens are often stained with a metal element to enhance contrast, which makes them opaque to optical microscopes. As a result, it can be a lengthy procedure to find the region of interest inside a sample through sectioning. Here, we describe micro-CT scouting for TEM that allows noninvasive identification of regions of interest within a block sample to guide the sectioning step. In a tissue pathology study, a bench-top micro-CT scanner with 10 m resolution was used to determine the location of patches of the mucous membrane in osmium-stained human nasal scraping samples. Furthermore, once the regions of interest were located, the sample block was sectioned to expose that location, followed by ultra-thin sectioning and TEM to inspect the internal structure of the cilia of the membrane epithelial cells with nanometre resolution. This method substantially reduced the time and labour of the search process from typically 20 sections for light microscopy to three sections with no added sample preparation. Lay description Electron microscopy provides very high levels of detail in a small area, and thus the question of where to look in an opaque sample, such as a stained tissue specimen, needs to be answered by sectioning the sample in small steps and examining the sections under a light microscope, until the region of interest is found. The search process can be lengthy and labor intensive, especially for a study involving a large number of samples. Small areas of interest can be missed in the process if not enough regions are examined. We also describe a method to directly locate the region of interest within a whole sample using micro-CT imaging, bypassing the need of blindly sectioning. Micro-CT enables locating the region within 3D space; this information provides a guide for sectioning the sample to expose that precise location for high resolution electron microscopy imaging. In a human tissue specimen study, this method considerably reduced the time and labor of the search process.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2025

FY25 MOOSE Usability Improvements: 3D Meshing Capabilities, Initiation of Geometry Support for Monte Carlo Tools, and Enhancement of MOOSE/Workbench User Input Interactions

Usability improvements have been made to MOOSE and Workbench in FY25 to enhance usability and user workflows. Assorted enhancement have been made to MOOSE’s intrinsic meshing capabilities in order to enable more flexible and complex meshing of nuclear reactor systems, in particular for 3D applications. Mesh generators have been added to perform operations such as batch mesh generation, surface mesh generation, and creation of 3D transition layers. These mesh generation capabilities make it much easier to generate high quality non-extruded 3D meshes. Additionally, work to integrate Monte Carlo reactor physics simulations into MOOSE-based multi-physics workflows has reached another milestone with the implementation of the Constructive Solid Geometry (CSG) base framework. This framework lays the foundation for mesh generators to offer the user a generic CSG output option (as opposed to a finite element mesh). To support users, workshop on the MOOSE Reactor Module was delivered which featured hands-on examples using the NEAMS Workbench on INL’s High Performance Computing system. Recent updates to the NEAMS Workbench, WASP, and the MOOSE language server have introduced several improvements aimed at making MOOSE-based simulation setup and input management faster, more accurate, and easier to use. Key capabilities that have been added include multi-tab-stop autocompletion, visual input diagnostics, developer-directed data visualizations, upgraded ParaView integration, and Workspace-level file tracking. Together, these changes make it easier for users to build, validate, and manage complex MOOSE-based simulation models — especially those involving reusable components, included files, and datasets. The improvements are designed to save time, reduce input errors, and help users get to a successful simulation run faster, with more confidence in the results.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2026

Integrated fluorescence light microscopy-guided cryo-focused ion beam-milling for in situ montage cryo-ET

Cryogenic-electron tomography (cryo-ET) permits the in situ visualization of biological macromolecules at the molecular level. Owing to the variable thickness of cells, tissues and organisms, frozen specimens may need to be thinned by cryo-focused ion beam (FIB) milling to produce thin (<500 nm) cryo-lamellae suitable for cryo-ET. Locating regions of interest remains a challenge because untargeted milling can lead to inadvertent ablation and removal of regions of interest. Correlative light and electron microscopy, combined with cryo-FIB milling, can guide the identification of labeled targets in the cellular milieu. Multiple transfers between cryo-imaging instruments, cumbersome correlation algorithms, limited accuracy and low throughput have hindered the routine adoption of cryo-FIB milling within a multimodal correlative workflow for in situ structural biology. Here, in this study, we present a workflow for 3D correlative cryo-fluorescence light microscopy-FIB-ET that streamlines fluorescence light microscopy-guided FIB milling, improving throughput while preserving both structural and contextual information. The complete integration of hardware and software described here minimizes sample contamination from cross-platform exchanges and greatly enhances the efficiency of 3D targeting in cryo-milling. We then describe procedures for implementing montage parallel array cryo-ET (MPACT), which can be easily adapted to any modern life-science transmission electron microscope. MPACT supports high-throughput cryo-ET acquisitions (10 tilt series in 1.5 h) for structure determination and comprehensive contextual understanding of macromolecules within their native surroundings. A complete session from sample preparation to MPACT data processing takes 5−7 d for an individual experienced in both cryo-EM and cryo-FIB milling.

Yang, Jie E. [Univ. of Wisconsin, Madison, WI (Uni↗
DOE OSTI2020

Towards Feature-Preserving 2D and 3D Vector Field Compression

The objective of this work is to develop error-bounded lossy compression methods to preserve topological features in 2D and 3D vector fields. Specifically, we explore the preservation of critical points in piecewise linear vector fields. We define the preservation of critical points as, without any false positive, false negative, or false type change in the decompressed data, (1) keeping each critical point in its original cell and (2) retaining the type of each critical point (e.g., saddle and attracting node). The key to our method is to adapt a vertex-wise error bound for each grid point and to compress input data together with the error bound field using a modified lossy compressor. Our compression algorithm can be also embarrassingly parallelized for large data handling and in situ processing. We benchmark our method by comparing it with existing lossy compressors in terms of false positive/negative/type rates, compression ratio, and various vector field visualizations with several scientific applications.

critical points↗
NASA NTRS1999

3D Multistage Simulation of Each Component of the GE90 Turbofan Engine

A 3D multistage simulation of each component of the GE90 Turbofan engine has been made. This includes 49 blade rows. A coupled simulation of all blade rows will be made very soon. The simulation is running using two levels of parallelism. The first level is on a blade row basis with information shared using files. The second level is using a grid domain decomposition with information shared using MPI. Timings will be shown for running on the SP2, an SGI Origin and a distributed system of HP workstations. On the HP workstations, the CHIMP version of MPI is used, with queuing supplied by LSF (Load Sharing Facility). A script-based control system is used to ensure reliability. An MPEG movie illustrating the flow simulation of the engine has been created using PV3, a parallel visualization library created by Bob Haimes of MIT. PVM is used to create a virtual machine from 10 HP workstations and display on an SGI workstation. A representative component simulation will be compared to rig data to demonstrate its usefulness in turbomachinery design and analysis.

Turner, Mark↗
NASA NTRS2016

Holodeck Testbed Project

The main objective of the Holodeck Testbed is to create a cost effective, realistic, and highly immersive environment that can be used to train astronauts, carry out engineering analysis, develop procedures, and support various operations tasks. Currently, the Holodeck testbed allows to step into a simulated ISS (International Space Station) and interact with objects; as well as, perform Extra Vehicular Activities (EVA) on the surface of the Moon or Mars. The Holodeck Testbed is using the products being developed in the Hybrid Reality Lab (HRL). The HRL is combining technologies related to merging physical models with photo-realistic visuals to create a realistic and highly immersive environment. The lab also investigates technologies and concepts that are needed to allow it to be integrated with other testbeds; such as, the gravity offload capability provided by the Active Response Gravity Offload System (ARGOS). My main two duties were to develop and animate models for use in the HRL environments and work on a new way to interface with computers using Brain Computer Interface (BCI) technology. On my first task, I was able to create precise computer virtual tool models (accurate down to the thousandths or hundredths of an inch). To make these tools even more realistic, I produced animations for these tools so they would have the same mechanical features as the tools in real life. The computer models were also used to create 3D printed replicas that will be outfitted with tracking sensors. The sensor will allow the 3D printed models to align precisely with the computer models in the physical world and provide people with haptic/tactile feedback while wearing a VR (Virtual Reality) headset and interacting with the tools. Getting close to the end of my internship the lab bought a professional grade 3D Scanner. With this, I was able to replicate more intricate tools at a much more time-effective rate. The second task was to investigate the use of BCI to control objects inside the hybrid reality ISS environment. This task looked at using an Electroencephalogram (EEG) headset to collect brain state data that could be mapped to commands that a computer could execute. On this Task, I had a setback with the hardware, which stopped working and was returned to the vendor for repair. However, I was still able to collect some data, was able to process it, and started to create correlation algorithms between the electrical patterns in the brain and the commands we wanted the computer to carry out. I also carried out a test to investigate the comfort of the headset if it is worn for a long time. The knowledge gained will benefit me in my future career. I learned how to use various modeling and programming tools that included Blender, Maya, Substance Painter, Artec Studio, Github, and Unreal Engine 4. I learned how to use a professional grade 3D scanner and 3D printer. On the BCI Project I learned about data mining and how to create correlation algorithms. I also supported various demos including a live demo of the hybrid reality lab capabilities at ComicPalooza. This internship has given me a good look into engineering at NASA. I developed a more thorough understanding of engineering and my overall confidence has grown. I have also realized that any problem can be fixed, if you try hard enough, and as an engineer it is your job to not only fix problems but to embrace coming up with solutions to those problems.

Arias, Adriel↗
NASA NTRS2019

Cluster Analysis of IRIS Spectroscopic Line Profiles and SDO/AIA EUV Emission in Observations and RMHD Simulations of the Solar Atmosphere

Spatially-resolved observations from the IRIS and SDO/AIA satellites, especially when coupled with realistic 3D RMHD simulations, are a powerful tool for analysis of processes in the solar chromosphere, transition region, and corona. However, the complexity of the data makes understanding the observations and modeling results difficult. In this work, we apply unsupervised clustering algorithms for analysis of observational and synthetic chromospheric Mg II h&k 2796Å&2803Å and transition region C II 1334Å&1335Å line profiles observed by IRIS, and extreme ultraviolet (EUV) emission observed by SDO/AIA, for various types of problems. The synthetic line profiles are computed for simulations of the quiescent solar atmosphere (using the StellarBox and RH1.5 codes). The K-Means clustering algorithm is applied, and the selection of an optimal number of clusters is supported by the average silhouette width technique. We discuss applications of the line profile clustering method to 1) visualization of computational and observational spectroscopic imaging data; 2) understanding of evolutionary trends and behavior patterns of quiet Sun emission and during solar flares; and 3) recognition of heating events and shock waves.

Sadykov, Viacheslav↗
DOE OSTI2016

Nanomaterial datasets to advance tomography in scanning transmission electron microscopy

Electron tomography in materials science has flourished with the demand to characterize nanoscale materials in three dimensions (3D). Access to experimental data is vital for developing and validating reconstruction methods that improve resolution and reduce radiation dose requirements. This work presents five high-quality scanning transmission electron microscope (STEM) tomography datasets in order to address the critical need for open access data in this field. The datasets represent the current limits of experimental technique, are of high quality, and contain materials with structural complexity. Included are tomographic series of a hyperbranched Co 2 P nanocrystal, platinum nanoparticles on a carbon nanofibre imaged over the complete 180° tilt range, a platinum nanoparticle and a tungsten needle both imaged at atomic resolution by equal slope tomography, and a through-focal tilt series of PtCu nanoparticles. A volumetric reconstruction from every dataset is provided for comparison and development of post-processing and visualization techniques. Researchers interested in creating novel data processing and reconstruction algorithms will now have access to state of the art experimental test data.

36 MATERIALS SCIENCE↗
DOE OSTI2017

Metamesh, Version 1.0

Metamesh is a general-purpose C++ language library for creating data structures that represent meshes. An important difference between Metamesh and other "mesh" libraries is that Metamesh does not provide a specific mesh format, in the usual sense, or tools or a GUI by which users build specific meshes. Rather, it provides a mechanism by which mesh formats themselves can be built, based on their constituent parts and the relationships between them.Consider that a mesh in up to three space dimensions can, in principle, contain nodes (0d entities, or points), edges (1d entities), faces (2d entities), and cells (3d, or volumetric, entities). A node might be defined in terms of (x), (x,y), or (x,y,z) in Cartesian coordinates; or perhaps something else, in a different coordinate system. An edge is typically defined from two nodes; say, "edge E goes from node A=(ax,ay) to node B=(bx,by)." Faces can reasonably be defined in terms of nodes or edges, and cells in terms of nodes, edges, or faces. Note also that someone might wish to support general faces or cells, or only specific variants - say, triangular faces and tetrahedral cells, or quadrilateral faces and hexahedral cells. Or, perhaps, both triangular and quadrilateral faces (but no others), with prisms for each cell. Consider also that a mesh can have the same or a lesser dimension than that of its enclosing space. In 3d, for example, one could have a full 3d mesh, a 2d "sheet" mesh with no cells, a 1d "parametrized curve" with neither faces nor cells, or even a 1d "point cloud." And, in addition to defining a mesh scheme, a user might wish to place additional data onto one or more mesh entities. Imagine, for example, a velocity at each node, a flux across each edge or face, and a mass or average density per cell. Metamesh supports all of this, through the use of C++ class and function templates, and template metaprogramming techniques. Programmers begin with constructs that Metamesh provides (or, users can define their own), and assemble them in particular ways in order to create particular mesh formats. Metamesh then provides functionality automatically to meshes that are constructed in this manner. Finally, Metamesh provides very general functions for spinning, extruding, visualizing, and performing input/output of whatever meshes a user builds with it.

Staley, Martin↗
DOE OSTI2014

Property Improvement in CZT via Modeling and Processing Innovations . Te-particles in vertical gradient freeze CZT: Size and Spatial Distributions and Constitutional Supercooling

A section of a vertical gradient freeze CZT boule approximately 2100-mm 3 with a planar area of 300-mm 2 was prepared and examined using transmitted IR microscopy at various magnifications to determine the three-dimensional spatial and size distributions of Te-particles over large longitudinal and radial length scales. The boule section was approximately 50-mm wide by 60-mm in length by 7-mm thick and was doubly polished for TIR work. Te-particles were imaged through the thickness using extended focal imaging to locate the particles in thickness planes spaced 15-µm apart and then in plane of the image using xy-coordinates of the particle center of mass so that a true three dimensional particle map was assembled for a 1-mm by 45-mm longitudinal strip and for a 1-mm by 50-mm radial strip. Te-particle density distributions were determined as a function of longitudinal and radial positions in these strips, and treating the particles as vertices of a network created a 3D image of the particle spatial distribution. Te-particles exhibited a multi-modal log-normal size density distribution that indicated a slight preference for increasing size with longitudinal growth time, while showing a pronounced cellular network structure throughout the boule that can be correlated to dislocation network sizes in CZT. Higher magnification images revealed a typical Rayleigh-instability pearl string morphology with large and small satellite droplets. This study includes solidification experiments in small crucibles of 30:70 mixtures of Cd:Te to reduce the melting point below 1273 K (1000°C). These solidification experiments were performed over a wide range of cooling rates and clearly demonstrated a growth instability with Te-particle capture that is suggested to be responsible for one of the peaks in the size distribution using size discrimination visualization. The results are discussed with regard to a manifold Te-particle genesis history as 1) Te-particle direct capture from melt-solid growth instabilities, 2) Te-particle formation from dislocation core diffusion and the formation and breakup of Te-tubes, and 3) Te-particle formation due to classical nucleation and growth as precipitates.

36 MATERIALS SCIENCE↗
DOE OSTI2020

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

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

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

Approach to using 3D laser-induced breakdown spectroscopy (LIBS) data to explore the interaction of FLiNaK and FLiBe molten salts with nuclear-grade graphite

Nuclear graphite has historically been a key component of many nuclear reactor designs and has emerged as key to numerous advanced nuclear reactor design concepts. Molten salt reactors (MSRs) are one broad group of advanced reactor designs currently being pursued by industry for commercialization. Several MSR designs under consideration use graphitic materials that directly interface with a molten salt, whether it is a fuel salt, coolant salt, or both. Therefore, the interaction of graphite materials with molten salts must be understood. To gain this required understanding, a range of data is needed including porosity, strength, and composition as a function of different salt exposure parameters. In this study, a laser-induced breakdown spectroscopy (LIBS) measurement and data analysis methodology was developed to obtain spatially resolved elemental composition information for graphite samples exposed to a molten fluoride salt. Traditional univariate emission line analysis of atomic, ionic, and molecular optical emission signals was coupled via correlation analysis with spectral decomposition of the data using principal component analysis. Elemental depth profiling and elemental mapping were also performed to visualize salt–graphite interactions. LIBS was demonstrated to be useful for measuring key analytes such as fluorine and hydrogen, which are troublesome for other analysis techniques. Evidence for complex behavior was found, thereby demonstrating the usefulness of the developed approach for future systematic studies.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗