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This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The Multi-Rover Integrated Science Understanding System (MISUS) combines techniques from planning and scheduling with machine learning to perform autonomous scientific exploration with cooperating rovers.
Purpose: In skin high-dose-rate (HDR) brachytherapy, sources are located outside, in contact with, or implanted at some depth below the skin surface. Most treatment planning systems use the TG-43 formalism, which is based on single-source dose superposition within an infinite water medium without accounting for the true geometry in which conditions for scattered radiation are altered by the presence of air. The purpose of this study is to evaluate the dosimetric limitations of the TG-43 formalism in HDR skin brachytherapy and the potential clinical impact. Methods: Dose rate distributions of typical configurations used in skin brachytherapy were obtained: a 5 cm × 5 cm superficial mould; a source inside a catheter located at the skin surface with and without backscatter bolus; and a typical interstitial implant consisting of an HDR source in a catheter located at a depth of 0.5 cm. Commercially available HDR{sup 60}Co and {sup 192}Ir sources and a hypothetical {sup 169}Yb source were considered. The Geant4 Monte Carlo radiation transport code was used to estimate dose rate distributions for the configurations considered. These results were then compared to those obtained with the TG-43 dose calculation formalism. In particular, the influence of adding bolus material over the implant was studied. Results: For a 5 cm × 5 cm{sup 192}Ir superficial mould and 0.5 cm prescription depth, dose differences in comparison to the TG-43 method were about −3%. When the source was positioned at the skin surface, dose differences were smaller than −1% for {sup 60}Co and {sup 192}Ir, yet −3% for {sup 169}Yb. For the interstitial implant, dose differences at the skin surface were −7% for {sup 60}Co, −0.6% for {sup 192}Ir, and −2.5% for {sup 169}Yb. Conclusions: This study indicates the following: (i) for the superficial mould, no bolus is needed; (ii) when the source is in contact with the skin surface, no bolus is needed for either {sup 60}Co and {sup 192}Ir. For lower energy radionuclides like {sup 169}Yb, bolus may be needed; and (iii) for the interstitial case, at least a 0.1 cm bolus is advised for {sup 60}Co to avoid underdosing superficial target layers. For {sup 192}Ir and {sup 169}Yb, no bolus is needed. For those cases where no bolus is needed, its use might be detrimental as the lack of radiation scatter may be beneficial to the patient, although the 2% tolerance for dose calculation accuracy recommended in the AAPM TG-56 report is not fulfilled.
Purpose: Grid therapy (GT), which generates highly spatially modulated dose distributions, can deliver single- or hypo-fractionated radiotherapy for large tumors without causing significant toxicities. GT may be applied in combination with immunotherapy, in light of recent preclinical data of synergetic interaction between radiotherapy and immunotherapy. However, conventional GT uses only one field, which does not have the advantage of multi-fields in 3D conformal-RT or IMRT. We have proposed a novel MLC-based, inverse-planned multi-field 3D GT technique. This study aims to test its deliverability and dosimetric accuracy. Methods: A lattice of small spheres was created as the boost volume within a large target. A simultaneous boost IMRT plan with 8-Gy to the target and 20-Gy to the boost volume was generated in the Eclipse treatment planning system (AAA v10) with a HD120 MLC. Nine beams were used, and the gantry and couch angles were selected so that the spheres were perfectly aligned in every beams eye view. The plan was mapped to a phantom with dose scaled. EBT3 films were calibrated and used to measure the delivered dose. Results: The IMRT plan generated a highly spatially modulated dose distribution in the target. D95%, D50%, D5% for the spheres and the targets in Gy were 18.5, 20.0, 21.4 and 7.9, 9.8, 16.1, respectively. D50% for a 1cm ring 1cm outside the target was 2.9-Gy. Film dosimetry showed good agreement between calculated and delivered dose, with an overall gamma passing rate of 99.6% (3%/1mm). The point dose differences for different spheres varied from 1–6%. Conclusion: We have demonstrated the deliverability and dose calculation accuracy of the MLC-based inversely optimized multi-field GT technique, which achieved a brachytherapy-like dose distribution. Single-fraction high dose can be delivered to the spheres in a large target with minimal dose to the surrounding normal tissue.
Purpose: Single-isocenter, linac-based SRS for multiple brain metastases (multi-mets) can deliver highly conformal radiation doses and reduce overall patient treatment time compared to other therapy techniques. This study aims to quantify the dosimetric benefits of knowledge-based planning (KBP) for multi-met treatments. Methods: Using a previously-published KBP methodology (an artificial neural network (ANN) trained on single-target linac-based SRS plans), 3D dose distribution predictions for multi-met patients were obtained by treating each brain lesion as a solitary target and subsequently combining individual predictions into a single distribution using a dose-weighted geometric averaging to obtain the best results in the inter-target space. 17 previously-treated multi-met plans, with target numbers ranging from N=2–5, were used to validate the ANN predictions and subsequent KBP auto-planning routine. The fully-deliverable KBP plans were developed by converting dose distribution predictions into patient-specific optimization objectives while maintaining identical target normalizations (typically PTV V100%=D98%). Plan quality improvements were quantified by the difference between SRS quality metrics (QMs): δdQM=QM(clinical)-QM(KBP). QMs of interest were: gradient measure (GM), conformity index (CI), brain V10 and V5, brainstem D0.1cc and heterogeneity index (HI). Finally, overall plan quality was judged via blinded plan comparison by SRS-specializing physicians. Results: Two clinical plans were found to be significant outliers wherein plan quality was dramatically worse than KBP. Despite indicating KBP superiority, these were removed from the QM analysis to prevent skewing the results. In the remaining cases, clinical and KBP QMs were nearly identical with modest improvements in the KBP sample: δGM=0.12±0.56mm, δCI=−0.01±0.04, Brain δV10=0.8±2.6cc, brain δV5=6.3 ±10.7cc, brainstem δD0.1cc=0.06±1.19Gy and δHI= −0.04±0.05. Ultimately, 13/17 KBP plans were deemed superior to the manual plans in blinded physician review. Conclusion: The results demonstrate that KBP-driven automated planning in linac-based single-isocenter treatments for multiple brain metastases is indistinguishable from, or even better than, traditional manual planning. J. Hattangadi: Research Grant; Varian Medical Systems; K.L. Moore: Research Grant: Varian Medical Systems.
Electric utilities have a main responsibility to protect the lives and safety of their workers when they are working on low-, medium-, and high-voltage power lines and distribution circuits. With the anticipated widespread deployment of smart grids, a secure and highly reliable means of maintaining isolation of customer-owned distributed generation (DG) from the affected distribution circuits during maintenance is necessary to provide a fully de-energized work area, ensure utility personnel safety, and prevent hazards that can lead to accidents such as accidental electrocution from unanticipated power sources. Some circuits are serviced while energized (live line work) while others are de-energized for maintenance. For servicing de-energized circuits and equipment, lock-out tag-out (LOTO) programs provide a verifiable procedure for ensuring that circuit breakers are locked in the off state and tagged to indicate that status to operational personnel so that the lines will be checked for voltage to verify they are de-energized. The de-energized area is isolated from any energized sources, which traditionally are the substations. This procedure works well when all power sources and their interconnections are known armed with this knowledge, utility personnel can determine the appropriate circuits to de-energize for isolating the target line or equipment. However, with customer-owned DG tied into the grid, the risk of inadvertently reenergizing a circuit increases because circuit connections may not be adequately documented and are not under the direct control of the local utility. Thus, the active device may not be properly de-energized or isolated from the work area. Further, a remote means of de-energizing and locking out energized devices provides an opportunity for greatly reduced safety risk to utility personnel compared to manual operations. In this paper, we present a remotely controllable LOTO system that allows individual workers to determine the configuration and status of electrical system circuits and permit them to lock out customer-owned DG devices for safety purposes using a highly secure and ultra-reliable radio signal. The system consists of: (1) individual personal lockout devices, (2) lockout communications and logic module at circuit breakers, which are located at all DG devices, and (3) a database and configuration control process located at the utility operations center. The lockout system is a close permissive, i.e., loss of control power or communications will cause the circuit breaker to open. Once the DG device is tripped open, a visual means will provide confirmation of a loss of voltage and current that verifies the disconnected status of the DG. Further the utility personnel will be able to place their own lock electronically on the system to ensure a lockout functionally. The proposed LOTO system provides enhanced worker safety and protection against unintended energized lines when DG is present. The main approaches and challenges encountered through designing the proposed region-wide LOTO system are discussed in this paper. These approaches include: (1) evaluating the reliability of the proposed approach under N-modular redundancy with voter/spares configurations and (2) conducting a system level risk assessment study using the failure modes and effects analysis (FMEA) technique to identify and rank failure modes by probability of occurrence, probability of detection, and severity of consequences. This ranking allows a cost benefits analysis to be conducted such that dollars and efforts will be applied to the failures that provide greatest incremental gains in system capability (resilience, survivability, security, reliability, availability, etc.) per dollar spent whether capital, operations, or investment. Several simulation scenarios and their results are presented to demonstrate the viability of these approaches.
Distributed photovoltaic (DPV) hosting capacity is widely used by distribution system operators to evaluate how much DPV the distribution networks can accommodate without violating operational constraints. If the proliferation of DPV deployment is appropriately managed, it offers an excellent opportunity to mitigate the energy inequity issue in electric grids. Hosting capacity improvement plans that neglect energy equity can exacerbate unequal DPV access. To consider energy equity in distribution network planning to enhance DPV accommodation, hosting capacity evaluations should be improved to consider equity constraints endogenously. This paper proposes a DPV hosting capacity evaluation method that considers equitable DPV access among sub-regions of a distribution feeder partitioned by socioeconomic indicators, such as income level. The results demonstrate that considering equity in DPV hosting capacity evaluations can provide a valuable reference in the equitable energy transition. This work provides guidance for future distribution network upgrade planning for equitable DPV deployment.
Purpose: To evaluate performance of three commercially available treatment planning systems for stereotactic body radiation therapy (SBRT) of lung cancer using the following algorithms: Boltzmann transport equation based algorithm (AcurosXB AXB), convolution based algorithm Anisotropic Analytic Algorithm (AAA); and Monte Carlo based algorithm (XVMC). Methods: A total of 10 patients with early stage non-small cell peripheral lung cancer were included. The initial clinical plans were generated using the XVMC based treatment planning system with a prescription of 54Gy in 3 fractions following RTOG0613 protocol. The plans were recalculated with the same beam parameters and monitor units using AAA and AXB algorithms. A calculation grid size of 2mm was used for all algorithms. The dose distribution, conformity, and dosimetric parameters for the targets and organs at risk (OAR) are compared between the algorithms. Results: The average PTV volume was 19.6mL (range 4.2–47.2mL). The volume of PTV covered by the prescribed dose (PTV-V100) were 93.97±2.00%, 95.07±2.07% and 95.10±2.97% for XVMC, AXB and AAA algorithms, respectively. There was no significant difference in high dose conformity index; however, XVMC predicted slightly higher values (p=0.04) for the ratio of 50% prescription isodose volume to PTV (R50%). The percentage volume of total lungs receiving dose >20Gy (LungV20Gy) were 4.03±2.26%, 3.86±2.22% and 3.85±2.21% for XVMC, AXB and AAA algorithms. Examination of dose volume histograms (DVH) revealed small differences in targets and OARs for most patients. However, the AAA algorithm was found to predict considerable higher PTV coverage compared with AXB and XVMC algorithms in two cases. The dose difference was found to be primarily located at the periphery region of the target. Conclusion: For clinical SBRT lung treatment planning, the dosimetric differences between three commercially available algorithms are generally small except at target periphery. XVMC and AXB algorithms are recommended for accurate dose estimation at tissue boundaries.
Purpose: This research investigates the use of Mult-ileaf Collimator (MLC) dynalog files to modify a Volumetric Arc Therapy (VMAT) DICOM Radiotherapy Treatment file from the Treatment Planning System (TPS) for quality assurance and treatment plan verification. Methods: Actual MLC positions and gantry angles where retrieved from the MLC Dynalog files of an approved and treated VMAT plan. The treatment machine used was a Novalis TX linac equipped with high definition MLC. The DICOM RT file of the plan was exported from the TPS (Eclipse, Varian Medical Systems) and the actual MLC leaf positions and gantry angles were inserted in place of the planned positions for each control point. The modified DICOM RT file was then imported back into the TPS where dose calculations were performed. The resulting dose distributions were then exported to VeriSoft (PTW) where a 3D gamma was calculated using 3mm-3% and 2mm-2% criteria. A 2D gamma was also calculated using dose measurements on the Delta4 (Sandidose) phantom. Results: A 3D gamma was calculated in Verisoft at 3mm-3% of 99.5% and at 2mm-2% of 99.2%. The pretreatment verification on the Delta4 yielded a 2D gamma at 3mm-3% of 97.9% and at 2mm-2% of 88.5%. The dose volume histograms of the approved plan and the dynalog plan are virtually identical. Conclusion: Initial results show good agreement of the dynalog dose distribution with the approved plan. Future work on this research will aim to increase the number of patients and replace the planned fractionated dose per control point with the actual fractionated dose.
The history of the Apollo very-high-frequency ranging system development program is presented from the program-planning stage through the final-test and flight-evaluation stages. Block diagrams of the equipment are presented, and a description of the theory of operation is outlined. A sample of the distribution of errors measured in the aircraft-flight test program is included. The report is concluded with guidelines or recommendations for the management of development programs having the same general constraints.
The Research Institute for Advanced Computer Science (RIACS) was established at the NASA Ames Research Center in June of 1983. RIACS is privately operated by the Universities Space Research Association (USRA), a consortium of 64 universities with graduate programs in the aerospace sciences, under several Cooperative Agreements with NASA. RIACS's goal is to provide preeminent leadership in basic and applied computer science research as partners in support of NASA's goals and missions. In pursuit of this goal, RIACS contributes to several of the grand challenges in science and engineering facing NASA: flying an airplane inside a computer; determining the chemical properties of materials under hostile conditions in the atmospheres of earth and the planets; sending intelligent machines on unmanned space missions; creating a one-world network that makes all scientific resources, including those in space, accessible to all the world's scientists; providing intelligent computational support to all stages of the process of scientific investigation from problem formulation to results dissemination; and developing accurate global models for climatic behavior throughout the world. In working with these challenges, we seek novel architectures, and novel ways to use them, that exploit the potential of parallel and distributed computation and make possible new functions that are beyond the current reach of computing machines. The investigation includes pattern computers as well as the more familiar numeric and symbolic computers, and it includes networked systems of resources distributed around the world. We believe that successful computer science research is interdisciplinary: it is driven by (and drives) important problems in other disciplines. We believe that research should be guided by a clear long-term vision with planned milestones. And we believe that our environment must foster and exploit innovation. Our activities and accomplishments for the calendar year 1987 and our plans for 1988 are reported.
DI is short for Distributed Intelligence for Ground/Space Systems and the DI Study is one in a series of ESA projects concerned with the development of new concepts and architectures for future autonomous spacecraft systems. The kick-off of DI was in January 1994 and the planned duration is three years. The background of DI is the desire to design future ground/space systems with a higher degree of autonomy than seen in today's missions. The aim of introducing autonomy in spacecraft systems is to: (1) lift the role of the spacecraft operators from routine work and basic troubleshooting to supervision; (2) ease access to and increase availability of spacecraft resources; (3) carry out basic mission planning for users; (4) enable missions which have not yet been feasible due to eg. propagation delays, insufficient ground station coverage etc.; and (5) possibly reduce mission cost. The study serves to identify the feasibility of using state-of-the-art technologies in the area of planning, scheduling, fault detection using model-based diagnosis and knowledge processing to obtain a higher level of autonomy in ground/space systems.
This paper summarizes both the vision and the early public-private collaborative research for the Small Aircraft Transportation System (SATS). The paper outlines an operational definition of SATS, describes how SATS conceptually differs from current air transportation capabilities, introduces four SATS operating capabilities, and explains the relation between the SATS operating capabilities and the potential for expanded air mobility. The SATS technology roadmap encompasses on-demand, widely distributed, point-to-point air mobility, through hired-pilot modes in the nearer-term, and through self-operated user modes in the farther-term. The nearer-term concept is based on aircraft and airspace technologies being developed to make the use of smaller, more widely distributed community reliever and general aviation airports and their runways more useful in more weather conditions, in commercial hired-pilot service modes. The farther-term vision is based on technical concepts that could be developed to simplify or automate many of the operational functions in the aircraft and the airspace for meeting future public transportation needs, in personally operated modes. NASA technology strategies form a roadmap between the nearer-term concept and the farther-term vision. This paper outlines a roadmap for scalable, on-demand, distributed air mobility technologies for vehicle and airspace systems. The audiences for the paper include General Aviation manufacturers, small aircraft transportation service providers, the flight training industry, airport and transportation authorities at the Federal, state and local levels, and organizations involved in planning for future National Airspace System advancements.
Completed Ring Bus IC V&V Phase - Ring Bus Test Plan Completed for SIM Project - Applicable to Other Projects Implemented a Avionics Bus Based upon the IEEE 1393 Standard - Excellent Starting Point for a General Purpose High-Speed Spacecraft Bus - Designed to Meet SIM Requirements for - Real-time deterministic, distributed systems. - Control system requirements - Fault detection and recovery Other JPL Projects Considering Implementation F'light Software Ring Bus Driver Module Began in 2006, Continues Participating in Standard Revision. Search for Earth-like planets orbiting nearby stars and measure the masses and orbits of the planets it finds. Survey 2000 nearby stars for planetary systems to learn whether our Solar System is unusual, or typical. Make a new catalog of star position 100 times more accurate than current measurements. Learn how our galaxy formed and will evolve by studying the dynamics of its stars. Critically test models of exactly how stars shine, including exotic objects like black holes, neutron stars and white dwarfs.
A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.
This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.
This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.
After over a century of petroleum dominance many anticipate that electrification could disrupt the transportation energy landscape. At the same time, the electric power systems are undergoing profound changes: variable renewables are displacing conventional generation sources; distributed generation is disrupting utility business models; energy storage and other new technologies are emerging; and the traditional system based on the premise that generation is dispatched to match an inelastic demand is evolving to create a system with greater participation in power system planning and operations from traditionally passive consumers. In this context, it is important to understand how transportation electrification will impact electricity demand and in turn electricity supply, including changes in the load shapes that characterize the system and the opportunity to leverage flexible electric vehicle (EV) charging to better integrate demand and supply. Assessing the impacts of electrification on the energy system requires an understanding of how it might impact the amount and shape of electricity consumption, and how this electricity can be supplied. In particular, increased adoption of electric vehicles introduces a new source of demand altogether, potentially very flexible. Moreover, electrification could shift the consumption of natural gas between sectors, thereby affecting the economics for natural gas-fired generation relative to other electricity generation options. Several factors will impact the evolution of the power system under a widespread electrified future, which, in turn, could have far-reaching effects on future energy costs and emissions.
In this Energy Storage Control Algorithms project, Stem sought to develop tools and control algorithms to increase the value and reduce balance-of-system and grid integration costs associated with adding distributed solar generation to the grid. These advances fell under the headings SolarScope and SolarController. Stem sought to create initial market traction with a fully commercialized product for the solar industry to size storage systems (SolarScope) as well as a solar intermittency-mitigation framework for utilities (SolarController) in the course of the project. The company sought to align strategic growth plans and enable the rollout of the products to broader audiences in multiple geographic regions by leveraging the major solar companies in the national market as partners. Both final products were both intended to be commercialized. They are: SolarScope: Analysis tool to identify viable PV + storage projects and thereby expedite the sales and interconnection processes. SolarScope combines customer load data, PV production estimates, utility rate tariff, and simulated storage into a simple user interface for PV developers. Developers can easily identify viable solar + storage sites without the need for complex and time consuming, site-by-site spreadsheet modeling. SolarContoller: Tool to autonomously dispatch distributed storage in order to mitigate voltage fluctuation and reduce curtailment. SolarController co-optimizes, in real time, storage dispatch for circuit stability and curtailment reduction, enabling higher penetrations of PV. SolarController is automated, not requiring utility dispatch or management, as Stem hardware senses grid voltage, frequency, customer load, PV production, and power factor. In the end the two products met with different outcomes. SolarScope was tested by potential users, and continues to be used as a foundational platform for partnership with key solar industry partners. SolarController, on the other hand, was successful in lab testing but was not commercialized due to a lack of marketability and lack of interested customer base. Together the development of these two products marked a material step forward for Stem; and a new milestone along the pathway of integration for the solar and storage industries. SolarScope is leading to real, out-of-the-lab project development in storage + solar for the commercial customer sector. Meanwhile SolarController has opened the eyes of regulators and utility executives alike to the potential of distributed solar and by doing so, has moved the conversation forward for the integration of distributed energy resources more broadly on the grid.