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All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Utilizing Reinforcement Learning to Continuously Improve a Primitive-Based Motion Planner

We report in this paper describes how the performance of motion primitive-based planning algorithms can be improved using reinforcement learning. Specifically, we describe and evaluate a framework that autonomously improves the performance of a primitive-based motion planner. The improvement process consists of three phases: exploration, extraction, and reward updates. This process can be iterated continuously to provide successive improvement. The exploration step generates new trajectories, and the extraction step identifies new primitives from these trajectories. These primitives are then used to update rewards for continued exploration. This framework required novel shaping rewards, development of a primitive extraction algorithm, and modification of the Hybrid A* algorithm. The framework is tested on a navigation task using a nonlinear F-16 model. The framework autonomously added 91 motion primitives to the primitive library and reduced average path cost by 21.6 seconds, or 35.75% of the original cost. The learned primitives are applied to an obstacle field navigation task, which was not used in training, and reduced path cost by 16.3 seconds, or 24.1%. Additionally, two heuristics for the modified Hybrid A* algorithm are designed to improve effective branching factor.

42 ENGINEERING↗
DOE OSTI2022

Examining Autonomous Inspection of Geologic Repositories

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out-standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static as activities must encompass verification of the design prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material, including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, it discusses the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed loop autonomation to complete tasks. The feasibility of using rovers for these verification tasks is explored, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Finally, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system

autonomous monitoring↗
DOE OSTI2022

Optimal vocabulary selection approaches for privacy-preserving deep NLP model training for information extraction and cancer epidemiology

With the use of artificial intelligence and machine learning techniques for biomedical informatics, security and privacy concerns over the data and subject identities have also become an important issue and essential research topic. Without intentional safeguards, machine learning models may find patterns and features to improve task performance that are associated with private personal information. The privacy vulnerability of deep learning models for information extraction from medical textural contents needs to be quantified since the models are exposed to private health information and personally identifiable information. The objective of the study is to quantify the privacy vulnerability of the deep learning models for natural language processing and explore a proper way of securing patients’ information to mitigate confidentiality breaches. The target model is the multitask convolutional neural network for information extraction from cancer pathology reports, where the data for training the model are from multiple state population-based cancer registries. This study proposes the following schemes to collect vocabularies from the cancer pathology reports; (a) words appearing in multiple registries, and (b) words that have higher mutual information. We performed membership inference attacks on the models in high-performance computing environments. The comparison outcomes suggest that the proposed vocabulary selection methods resulted in lower privacy vulnerability while maintaining the same level of clinical task performance.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Memory-Related Frontal Brainwaves Predict Transition to Mild Cognitive Impairment in Healthy Older Individuals Five Years Before Diagnosis

Background: Early prognosis of high-risk older adults for amnestic mild cognitive impairment (aMCI), using noninvasive and sensitive neuromarkers, is key for early prevention of Alzheimer’s disease. We have developed individualized measures in electrophysiological brain signals during working memory that distinguish patients with aMCI from age-matched cognitively intact older individuals. Objective: Here we test longitudinally the prognosis of the baseline neuromarkers for aMCI risk. We hypothesized that the older individuals diagnosed with incident aMCI already have aMCI-like brain signatures years before diagnosis. Methods: Electroencephalogram (EEG) and memory performance were recorded during a working memory task at baseline. The individualized baseline neuromarkers, annual cognitive status, and longitudinal changes in memory recall scores up to 10 years were analyzed. Results: Seven of the 19 cognitively normal older adults were diagnosed with incident aMCI for a median 5.2 years later. The seven converters’ frontal brainwaves were statistically identical to those patients with diagnosed aMCI (n = 14) at baseline. Importantly, the converters’ baseline memory-related brainwaves (reduced mean frontal responses to memory targets) were significantly different from those who remained normal. Furthermore, differentiation pattern of left frontal memory-related responses (targets versus nontargets) was associated with an increased risk hazard of aMCI (HR = 1.47, 95% CI 1.03, 2.08). Conclusion: The memory-related neuromarkers detect MCI-like brain signatures about five years before diagnosis. The individualized frontal neuromarkers index increased MCI risk at baseline. These noninvasive neuromarkers during our Bluegrass memory task have great potential to be used repeatedly for individualized prognosis of MCI risk and progression before clinical diagnosis.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2025

Defining quantum-ready primitives for hybrid HPC-QC supercomputing: a case study in Hamiltonian simulation

As computational demands in scientific applications continue to rise, hybrid high-performance computing (HPC) systems integrating classical and quantum computers (HPC-QC) are emerging as a promising approach to tackling complex computational challenges. One critical area of application is Hamiltonian simulation, a fundamental task in quantum physics and other large-scale scientific domains. This paper investigates strategies for quantum-classical integration to enhance Hamiltonian simulation within hybrid supercomputing environments. By analyzing computational primitives in HPC allocations dedicated to these tasks, we identify key components in Hamiltonian simulation workflows that stand to benefit from quantum acceleration. To this end, we systematically break down the Hamiltonian simulation process into discrete computational phases, highlighting specific primitives that could be effectively offloaded to quantum processors for improved efficiency. Our empirical findings provide insights into system integration, potential offloading techniques, and the challenges of achieving seamless quantum-classical interoperability. We assess the feasibility of quantum-ready primitives within HPC workflows and discuss key barriers such as synchronization, data transfer latency, and algorithmic adaptability. These results contribute to the ongoing development of optimized hybrid solutions, advancing the role of quantum-enhanced computing in scientific research.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Distance-Weighted Graph Neural Networks on FPGAs for Real-Time Particle Reconstruction in High Energy Physics

Graph neural networks have been shown to achieve excellent performance for several crucial tasks in particle physics, such as charged particle tracking, jet tagging, and clustering. An important domain for the application of these networks is the FGPA-based first layer of real-time data filtering at the CERN Large Hadron Collider, which has strict latency and resource constraints. We discuss how to design distance-weighted graph networks that can be executed with a latency of less than one μs on an FPGA. To do so, we consider a representative task associated to particle reconstruction and identification in a next-generation calorimeter operating at a particle collider. We use a graph network architecture developed for such purposes, and apply additional simplifications to match the computing constraints of Level-1 trigger systems, including weight quantization. Using the hls4ml library, we convert the compressed models into firmware to be implemented on an FPGA. Performance of the synthesized models is presented both in terms of inference accuracy and resource usage.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2022

Graph Neural Networks for Charged Particle Tracking on FPGAs

The determination of charged particle trajectories in collisions at the CERN Large Hadron Collider (LHC) is an important but challenging problem, especially in the high interaction density conditions expected during the future high-luminosity phase of the LHC (HL-LHC). Graph neural networks (GNNs) are a type of geometric deep learning algorithm that has successfully been applied to this task by embedding tracker data as a graph—nodes represent hits, while edges represent possible track segments—and classifying the edges as true or fake track segments. However, their study in hardware- or software-based trigger applications has been limited due to their large computational cost. In this paper, we introduce an automated translation workflow, integrated into a broader tool called hls4ml , for converting GNNs into firmware for field-programmable gate arrays (FPGAs). We use this translation tool to implement GNNs for charged particle tracking, trained using the TrackML challenge dataset, on FPGAs with designs targeting different graph sizes, task complexites, and latency/throughput requirements. This work could enable the inclusion of charged particle tracking GNNs at the trigger level for HL-LHC experiments.

Elabd, Abdelrahman↗
DOE OSTI2023

Editorial: Edge computation and digital distribution networks

The development of digital technologies is penetrating all areas of energy revolution. Based on the in-depth integration of advanced digital technologies, distribution networks are gradually transforming into digital distribution networks (DDNs) with tremendous changes from the structure to the operation mode. DDNs is the digitalized appearance of the physical distribution network, in which ubiquitous connections and massive data are the basic characteristics (Huo et al., 2022). It is an important task to utilize the massive data and propose novel operation modes to construct more efficient and intelligent distribution networks (Jian et al., 2022). Among the advanced digital technologies in DDNs, edge computing has received wide attention (Zhao et al., 2022). It has superior performance in local sensing and intelligent computation, which can effectively relieve huge communication pressure. However, the limited computing resources and the complex computing tasks at the edge side significantly challenge the collaboration of distribution network regulation and advanced digital technologies (Hu et al., 2022). It is necessary to find out proper methods to utilize advanced digital technology to construct DDNs. This Research Topic is organized to introduce the recent progress in the construction, operation and advanced computational methods for DDNs. Finally, seven papers have been accepted, which can be sorted into the following three categories: 1) Evolution and technical features of DDNs, 2) Intelligent operation control of DDNs, 3) Advanced simulation for large-scale DDNs. The three sections below respectively introduce the major research and contributions of the papers covered in each category.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

A nuclear power plant digital twin for developing robot navigation and interaction

As robot technologies are rapidly improving, an increasing number of new ideas on utilizing robots for automated operation and maintenance tasks in nuclear power plants (NPPs) are being studied. However, due to safety concerns, researchers hardly found opportunities to test their new robot solutions on physical NPPs. In that sense, an efficient and realistic simulation environment plays a vital role in the development of automation systems for an NPP. In this paper, we propose the design of a 3D digital twin system capable of simulating NPP in real-time. This system obtains the data from a full-scope NPP simulator to reproduce the operating conditions of the plant. In addition, a scenario of a team of robots performing inspection tasks like temperature and pressure measurements will highlight its usability. This system enables development of intelligent robot swarms to deploy for inspection and maintenance purposes. It will positively impact autonomous control and operations for many types of reactors by reducing uncertainty in autonomous control and providing the tools necessary for remote intervention.

Energy & Fuels↗
DOE OSTI2023

Efficient human activity recognition with spatio-temporal spiking neural networks

In this study, we explore Human Activity Recognition (HAR), a task that aims to predict individuals' daily activities utilizing time series data obtained from wearable sensors for health-related applications. Although recent research has predominantly employed end-to-end Artificial Neural Networks (ANNs) for feature extraction and classification in HAR, these approaches impose a substantial computational load on wearable devices and exhibit limitations in temporal feature extraction due to their activation functions. To address these challenges, we propose the application of Spiking Neural Networks (SNNs), an architecture inspired by the characteristics of biological neurons, to HAR tasks. SNNs accumulate input activation as presynaptic potential charges and generate a binary spike upon surpassing a predetermined threshold. This unique property facilitates spatio-temporal feature extraction and confers the advantage of low-power computation attributable to binary spikes. We conduct rigorous experiments on three distinct HAR datasets using SNNs, demonstrating that our approach attains competitive or superior performance relative to ANNs, while concurrently reducing energy consumption by up to 94%.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

Rethinking skip connections in Spiking Neural Networks with Time-To-First-Spike coding

Time-To-First-Spike (TTFS) coding in Spiking Neural Networks (SNNs) offers significant advantages in terms of energy efficiency, closely mimicking the behavior of biological neurons. In this work, we delve into the role of skip connections, a widely used concept in Artificial Neural Networks (ANNs), within the domain of SNNs with TTFS coding. Our focus is on two distinct types of skip connection architectures: (1) addition-based skip connections, and (2) concatenation-based skip connections. We find that addition-based skip connections introduce an additional delay in terms of spike timing. On the other hand, concatenation-based skip connections circumvent this delay but produce time gaps between after-convolution and skip connection paths, thereby restricting the effective mixing of information from these two paths. To mitigate these issues, we propose a novel approach involving a learnable delay for skip connections in the concatenation-based skip connection architecture. This approach successfully bridges the time gap between the convolutional and skip branches, facilitating improved information mixing. We conduct experiments on public datasets including MNIST and Fashion-MNIST, illustrating the advantage of the skip connection in TTFS coding architectures. Additionally, we demonstrate the applicability of TTFS coding on beyond image recognition tasks and extend it to scientific machine-learning tasks, broadening the potential uses of SNNs.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Learned adaptive properties for mitigation of weight perturbations in embedded spiking networks

Recent years have seen an increased importance of neural network inference in edge-based scenarios, which impose size and power constraints requiring novel computing devices. These same edge scenarios may require operating over long periods of time, or exposure to extreme environments, resulting in a drift of neural network weights that cause degraded performance. In searching for ways to develop neural network approaches that perform robustly under these conditions, we propose a biologically-inspired mechanism for the dynamic adaptation of within-neuron parameters that is guided by a global context signal carrying information about perturbations and variability in incoming stimuli. Specifically, we demonstrate that adaptive voltage thresholds or neuronal time constants, when informed by a global context signal, can enable network-level mechanisms to recover from perturbed synaptic weights. Consistent with prior literature, the context-modulated approach is effective for recurrent, but not feedforward networks, by modulating network level dynamics. We demonstrate this approach successfully recovers performance in image classification tasks and spatiotemporal tracking tasks under idealized and Gaussian noise as well as for realistic perturbations from a memristive device when exposed to ionizing radiation. Finally, we discuss how this approach enables the design of robust and energy-efficient neuromorphic systems that perform well, even in resource-constrained scenarios with extreme environments such as edge processing.

context modulation↗
DOE OSTI2025

Variance Preserving Spectral Subsampling

Generating statistically faithful short-duration gamma-ray spectra from a single long measurement is essential in nuclear safeguards, supporting tasks such as algorithm development and machine-learning applications, especially when list-mode data are unavailable. Existing subsampling methods often distort the statistical characteristics of genuine short-duration measurements, leading to biased or unreliable analytical outcomes and thereby undermining downstream tasks. In this work, we compare five subsampling approaches using a benchmark set of 156 genuine replicate spectra collected with a high-purity germanium detector. We evaluate each method with respect to run-to-run variance, channel-to-channel variance, and preservation of total counts (losslessness). Across a wide range of subsampling ratios, only binomial subsampling without replacement consistently reproduces the statistical properties of genuine short-duration spectra, maintaining proper dispersion even in sparse spectral regions and perfectly preserving total counts. These results provide a mathematically principled and practically validated framework for generating synthetically shortened spectra when true short-duration measurements are unavailable.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2019

Simplified 2D Skin Lattice Models for Multi-Axial Camber Morphing Wing Aircraft

Conventional fixed wing aircraft require a selection of certain thickness of skin material that guarantees structural strength for aerodynamic loadings in various flight modes. However, skin structures of morphing wings are expected to be flexible as well as stiff to structural and coupled aerodynamic loadings from geometry change. Many works in the design of skin structures for morphing wings consider only geometric compliance. Among many morphing classifications, we consider camber rate change as airfoil morphing that changes its rate of the airfoil that induces warping, twisting, and bending in multi-axial directions, which makes compliant skin design for morphing a challenging task. It is desired to design a 3D skin structure for a morphing wing; however, it is a computationally challenging task in the design stage to optimize the design parameters. Therefore, it is of interest to establish the structure design process in rapid approaches. As a first step, the main theme of this study is to numerically validate and suggest simplified 2D plate models that fully represents multi-axial 3D camber morphing. In addition to that, the authors show the usage of lattice structures for the 2D plate models’ skin that will lead to on-demand design of advanced structure through the modification of selected structure.

Alsaidi, Bashir↗
DOE OSTI2025

Development of a Multi-Robot System for Autonomous Inspection of Nuclear Waste Tank Pits

This paper introduces the overall design plan, development timeline, and preliminary progress of the Autonomous Pit Exploration System project. This project aims to develop an advanced multi-robot system for the efficient inspection of nuclear waste-storage tank pits. The project is structured into three phases: Phase 1 involves data collection and interface definition in collaboration with Hanford Site experts and university partners, focusing on tank riser geometry and hardware solutions. Phase 2 includes the selection of sensors and robot components, detailed mechanical design, and prototyping. Phase 3 integrates all components into a cohesive system managed by a master control package which also incorporates digital twin and surrogate models, and culminates in comprehensive testing and validation at a simulated tank pit at the Idaho National Laboratory. Additionally, the system’s communication design ensures coordinated operation through shared data, power, and control signals. For transportation and deployment, an electric vehicle (EV) is chosen to support the system for a full 10 h shift with better regulatory compliance for field deployment. A telescopic arm design is selected for its simple configuration and superior reach capability and controllability. Preliminary testing utilizes an educational robot to demonstrate the feasibility of splitting computational tasks between edge and cloud computers. Successful simultaneous localization and mapping (SLAM) tasks validate our distributed computing approach. More design considerations are also discussed, including radiation hardness assurance, SLAM performance, software transferability, and digital twinning strategies.

Nuclear waste management↗
DOE OSTI2024

Hybrid Quantum Vision Transformers for Event Classification in High Energy Physics

Models based on vision transformer architectures are considered state-of-the-art when it comes to image classification tasks. However, they require extensive computational resources both for training and deployment. The problem is exacerbated as the amount and complexity of the data increases. Quantum-based vision transformer models could potentially alleviate this issue by reducing the training and operating time while maintaining the same predictive power. Although current quantum computers are not yet able to perform high-dimensional tasks, they do offer one of the most efficient solutions for the future. In this work, we construct several variations of a quantum hybrid vision transformer for a classification problem in high-energy physics (distinguishing photons and electrons in the electromagnetic calorimeter). We test them against classical vision transformer architectures. Our findings indicate that the hybrid models can achieve comparable performance to their classical analogs with a similar number of parameters.

Unlu, Eyup B. (ORCID:0000000266836463)↗
DOE OSTI2023

Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity

We consider a route planning problem in which two unmanned vehicles are required to complete a set of tasks present at distinct locations, referred to as targets, with minimum energy consumption. The mission environment is hazardous, and to ensure a safe operation, the UVs are required to communicate with each other at every target they visit. The problem objective is to determine the allocation of the tasks to the UVs and plan tours for the UVs to visit the targets such that the weighted sum of the distances traveled by the UVs and the distances traveled by the communicating signals between them is minimized. We formulate this problem as an Integer program and show that naively solving the problem using commercially available off-the-shelf solvers is insufficient in determining scalable solutions efficiently. To address this computational challenge, we develop an approximation and a heuristic algorithm, and employ them to compute high-quality solutions to a special case of the problem where equal weights are assigned to the distances traveled by the vehicles and the communicating signals. For this special case, we show that the approximation algorithm has a fixed approximation ratio of 3.75. We also develop lower bounds to the optimal cost of the problem to evaluate the performance of these algorithms on large-scale instances. We demonstrate the performance of these algorithms on 500 randomly generated instances with the number of targets ranging from 6 to 100, and show that the algorithms provide high-quality solutions to the problem swiftly; the average computation time of the algorithmic solutions is within a fraction of a second for instances with at most 100 targets. Finally, we show that the approximation ratio has a variable ratio for the weighted case of the problem. Specifically, if ρ denotes the ratio of the weights assigned to the distances representing the communication and travel costs, the algorithm has an a posteriori ratio of $3 + \frac{3ρ}{4}$ when ρ ≥ 1, and $\frac{3}{ρ}$ + $\frac{3}{4}$ when ρ ≤ 1.

42 ENGINEERING↗
DOE OSTI2023

Assessment and Commissioning of Electrical Substation Grid Testbed with a Real-Time Simulator and Protective Relays/Power Meters in the Loop

Electrical utility substations are wired with intelligent electronic devices (IEDs), such as protective relays, power meters, and communication switches. Substation engineers commission these IEDs to assess the appropriate measurements for monitoring, control, power system protection, and communication applications. Like real electrical utility substations, complex electrical substation grid testbeds (ESGTs) need to be assessed for measuring current and voltage signals in monitoring, power system protection, control (synchro check), and communication applications that are limited by small measurement percentage errors. In the process of setting an ESGT with real-time simulators and IEDs in the loop, protective relays, power meters, and communication devices must be commissioned before running experiments. In this study, an ESGT with IEDs and distributed ledger technology was developed. The ESGT with a real-time simulator and IEDs in the loop was satisfactorily assessed and commissioned. The commissioning and problem-solving tasks of the testbed are described to define a method with flowcharts to assess possible trouble-shooting in ESGTs. This method was based on comparing the simulations versus IED measurements for the phase current and voltage magnitudes, three-phase phasor diagrams, breaker states, protective relay times with selectivity coordination at electrical faults, communication data points, and time-stamp sources.

Piesciorovsky, Emilio↗