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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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

SU-F-P-42: “To Navigate, Or Not to Navigate: HDR BT in Recurrent Spine Lesions”

Purpose: We compare the accuracy of HDR catheter placement for paraspinal lesions using O-arm CBCT imaging combined with StealthStation navigation and traditional fluoroscopically guided catheter placement. Methods: CT and MRI scans were acquired pre-treatment to outline the lesions and design treatment plans (pre-plans) to meet dosimetric constrains. The pre-planned catheter trajectories were transferred into the StealthStation Navigation system prior to the surgery. The StealthStation is an infra red (IR) optical navigation system used for guidance of surgical instruments. An intraoperative CBCT scan (O-arm) was acquired with reference IR optical fiducials anchored onto the patient and registered with the preplan image study to guide surgical instruments in relation to the patients’ anatomy and to place the brachytherapy catheters along the pre-planned trajectories. The final treatment plan was generated based on a 2nd intraoperative CBCT scan reflecting achieved implant geometry. The 2nd CBCT was later registered with the initial CT scan to compare the preplanned dwell positions with actual dwell positions (catheter placements). Similar workflow was used in placement of 8 catheters (1 patient) without navigation, but under fluoroscopy guidance in an interventional radiology suite. Results: A total of 18 catheters (3 patients) were placed using navigation assisted surgery. Average displacement of 0.66 cm (STD=0.37cm) was observed between the pre-plan source positions and actual source positions in the 3 dimensional space. This translates into an average 0.38 cm positioning error in one direction including registration errors, digitization errors, and the surgeons ability to follow the planned trajectory. In comparison, average displacement of non-navigated catheters was 0.50 cm (STD=0.22cm). Conclusion: Spinal lesion HDR brachytherapy planning is a difficult task. Catheter placement has a direct impact on target coverage and dose to critical structures. While limited to a handful of patients, our experience shows navigation and fluoroscopy guided placement yield similar results.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2014

Plan averaging for multicriteria navigation of sliding window IMRT and VMAT

Purpose: To describe a method for combining sliding window plans [intensity modulated radiation therapy (IMRT) or volumetric modulated arc therapy (VMAT)] for use in treatment plan averaging, which is needed for Pareto surface navigation based multicriteria treatment planning. Methods: The authors show that by taking an appropriately defined average of leaf trajectories of sliding window plans, the authors obtain a sliding window plan whose fluence map is the exact average of the fluence maps corresponding to the initial plans. In the case of static-beam IMRT, this also implies that the dose distribution of the averaged plan is the exact dosimetric average of the initial plans. In VMAT delivery, the dose distribution of the averaged plan is a close approximation of the dosimetric average of the initial plans. Results: The authors demonstrate the method on three Pareto optimal VMAT plans created for a demanding paraspinal case, where the tumor surrounds the spinal cord. The results show that the leaf averaged plans yield dose distributions that approximate the dosimetric averages of the precomputed Pareto optimal plans well. Conclusions: The proposed method enables the navigation of deliverable Pareto optimal plans directly, i.e., interactive multicriteria exploration of deliverable sliding window IMRT and VMAT plans, eliminating the need for a sequencing step after navigation and hence the dose degradation that is caused by such a sequencing step.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2017

Sediment Transport into the Swinomish Navigation Channel, Puget Sound—Habitat Restoration versus Navigation Maintenance Needs

The 11 mile (1.6 km) Swinomish Federal Navigation Channel provides a safe and short passage to fishing and recreational craft in and out of Northern Puget Sound by connecting Skagit and Padilla Bays, US State abbrev., USA. A network of dikes and jetties were constructed through the Swinomish corridor between 1893 and 1936 to improve navigation functionality. Over the years, these river training dikes and jetties designed to minimize sedimentation in the channel have deteriorated, resulting in reduced protection of the channel. The need to repair or modify dikes/jetties for channel maintenance, however, may conflict with salmon habitat restoration goals aimed at improving access, connectivity and brackish water habitat. Several restoration projects have been proposed in the Skagit delta involving breaching, lowering, or removal of dikes. To assess relative merits of the available alternatives, a hydrodynamic model of the Skagit River estuary was developed using the Finite Volume Community Ocean Model (FVCOM). Here, in this paper, we present the refinement and calibration of the model using oceanographic data collected from the years 2006 and 2009 with a focus on the sediment and brackish water transport from the river and Skagit Bay tide flats to the Swinomish Channel. The model was applied to assess the feasibility of achieving the desired dual outcome of (a) reducing sedimentation and shoaling in the Swinomish Channel and (b) providing a direct migration pathway and improved conveyance of freshwater into the Swinomish Channel. Finally, the potential reduction in shoaling through site-specific structure repairs is evaluated. Similarly, the potential to significantly improve of brackish water habitat through dike breach restoration actions using the McGlinn Causeway project example, along with its impacts on sediment deposition in the Swinomish Navigation Channel, is examined

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

A Real-Time Vehicle-Specific Eco-Routing Model for On-Board Navigation Applications Capturing Transient Vehicle Behavior

The paper develops a real-time vehicle-specific eco-routing model for use in on-board navigation systems for both conventional fuel- and battery-powered electric vehicles. The model uses a novel link cost function that retains all microscopic transient behavior along a link by capturing within-link speed, acceleration, and road grade variations. Specifically, eight vehicle-agnostic link-specific variables are transmitted to the cloud and fused with information received from other connected vehicles. The fused data are then sent back to the connected vehicles and used to compute vehicle-specific eco-routes (edge computing). The solution produces an energy-efficient dynamic user-equilibrium traffic assignment that is solved incrementally. A numerical experiment is first designed to test the model, demonstrating the benefits associated with vehicle-specific eco-routes compared to those produced by traditional models. The model is then implemented in a micro-simulation framework to evaluate the network-wide impacts of the proposed energy-efficient user-optimum incremental traffic assignment for different traffic demand levels. Results demonstrate that the proposed model produces lower network-wide energy consumption levels compared to traditional energy-efficient and travel time user-optimum traffic assignment methods for both conventional fuel and electric vehicles. Conventional fuel savings relative to travel time routing decrease with increasing traffic demand levels, while electric power savings do not vary monotonically with congestion levels. Energy savings relative to traditional eco-routing are also demonstrated to not vary monotonically with demand levels. Results of the study also demonstrate that the transportation network layout significantly affects the eco-routing system performance. Finally, the feasibility of the proposed model in real-world applications is discussed and presented.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2019

Oncology Navigation Decreases Time to Treatment in Patients with Pancreatic Malignancy

Background: Care of pancreatic cancer patients has become increasingly complex, which has led to delays in the initiation of therapy. Nurse navigators have been added to care teams, in part, to ameliorate this delay. This study investigated the difference in time from first oncology visit to first treatment date in patients with any pancreatic malignancy before and after the addition of an Oncology Navigator. Methods: A single-institution database of patients with any pancreatic neoplasm evaluated by a provider in radiation, medical, or surgical oncology between 1 October 2015 and 30 September 2017 was analyzed. After 1 October 2016, an Oncology Navigator met patients at their initial visit and coordinated care throughout treatment. The cohort was divided into two groups: patients evaluated prior to the implementation of an Oncology Navigator and patients evaluated after implementation. Patient demographics and time from first visit to first intervention were compared. Results: Overall, 147 patients with a new diagnosis of pancreatic neoplasm were evaluated; 57 patients were seen prior to the start of the Oncology Navigator program and 79 were evaluated after the navigation program was implemented. On univariate analysis, time from first contact by any provider to intervention was 46 days prior to oncology navigation and 26 days after implementation of oncology navigation (p = 0.005). While controlling for other covariates, employment of the Oncology Navigator decreased the time from first contact by any provider to intervention by almost 16 days (p = 0.009). Conclusions: Implementing an oncology navigation program significantly decreased time to treatment in patients with pancreatic malignancy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2020

Magnetic Navigation for GPS-Denied Airborne Applications

Most current flight systems are dependent on GPS for navigation. Recently, however, navigation in GPS-denied environments has become an area of intensive research. Additional navigation sensor data can be obtained from visual observations (stars or terrain), inertial measurement units, radar, measurements of the local magnetic field, or perhaps even gravity. Absolute and relative positioning via magnetic field measurements have been shown to be viable in many applications including ground navigation, low altitude aircraft flight, and spaceflight. There is greater variability in the magnetic field over shorter distances when flying at low altitude and in ground applications, leading to more accurate positioning. However, ground-based magnetic navigation is often heavily influenced by man-made structures, especially in urban environments. This is not the case for airborne magnetic navigation since the influence of buildings, roads, etc. is negligible for typical aircraft altitudes. For absolute magnetic navigation, the positioning accuracy decreases as altitude increases for a given vehicle velocity, but the observed time variability in the field can be reclaimed by traveling faster through the field. Thus, navigation accuracy becomes a balance of speed and altitude since the higher altitude can be counterbalanced by higher velocity. To understand these effects quantitatively, we explored various techniques to aid a simulated inertial measurement unit with magnetic information. Using a technique known as two-dimensional magnetic map matching, we simulated the performance of airborne magnetic navigation at fixed speed while varying the altitude, flight direction, magnetometer data collection time, reference magnetic map bias error, and type of trajectory (over land or over ocean).

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2014

A bronchoscopic navigation system using bronchoscope center calibration for accurate registration of electromagnetic tracker and CT volume without markers

Purpose: Various bronchoscopic navigation systems are developed for diagnosis, staging, and treatment of lung and bronchus cancers. To construct electromagnetically navigated bronchoscopy systems, registration of preoperative images and an electromagnetic tracker must be performed. This paper proposes a new marker-free registration method, which uses the centerlines of the bronchial tree and the center of a bronchoscope tip where an electromagnetic sensor is attached, to align preoperative images and electromagnetic tracker systems. Methods: The chest computed tomography (CT) volume (preoperative images) was segmented to extract the bronchial centerlines. An electromagnetic sensor was fixed at the bronchoscope tip surface. A model was designed and printed using a 3D printer to calibrate the relationship between the fixed sensor and the bronchoscope tip center. For each sensor measurement that includes sensor position and orientation information, its corresponding bronchoscope tip center position was calculated. By minimizing the distance between each bronchoscope tip center position and the bronchial centerlines, the spatial alignment of the electromagnetic tracker system and the CT volume was determined. After obtaining the spatial alignment, an electromagnetic navigation bronchoscopy system was established to real-timely track or locate a bronchoscope inside the bronchial tree during bronchoscopic examinations. Results: The electromagnetic navigation bronchoscopy system was validated on a dynamic bronchial phantom that can simulate respiratory motion with a breath rate range of 0–10 min{sup −1}. The fiducial and target registration errors of this navigation system were evaluated. The average fiducial registration error was reduced from 8.7 to 6.6 mm. The average target registration error, which indicates all tracked or navigated bronchoscope position accuracy, was much reduced from 6.8 to 4.5 mm compared to previous registration methods. Conclusions: An electromagnetically navigated bronchoscopy system was constructed with accurate registration of an electromagnetic tracker and the CT volume on the basis of an improved marker-free registration approach that uses the bronchial centerlines and bronchoscope tip center information. The fiducial and target registration errors of our electromagnetic navigation system were about 6.6 and 4.5 mm in dynamic bronchial phantom validation.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2014

Advantages and limitations of navigation-based multicriteria optimization (MCO) for localized prostate cancer IMRT planning

Efficacy of inverse planning is becoming increasingly important for advanced radiotherapy techniques. This study’s aims were to validate multicriteria optimization (MCO) in RayStation (v2.4, RaySearch Laboratories, Sweden) against standard intensity-modulated radiation therapy (IMRT) optimization in Oncentra (v4.1, Nucletron BV, the Netherlands) and characterize dose differences due to conversion of navigated MCO plans into deliverable multileaf collimator apertures. Step-and-shoot IMRT plans were created for 10 patients with localized prostate cancer using both standard optimization and MCO. Acceptable standard IMRT plans with minimal average rectal dose were chosen for comparison with deliverable MCO plans. The trade-off was, for the MCO plans, managed through a user interface that permits continuous navigation between fluence-based plans. Navigated MCO plans were made deliverable at incremental steps along a trajectory between maximal target homogeneity and maximal rectal sparing. Dosimetric differences between navigated and deliverable MCO plans were also quantified. MCO plans, chosen as acceptable under navigated and deliverable conditions resulted in similar rectal sparing compared with standard optimization (33.7 ± 1.8 Gy vs 35.5 ± 4.2 Gy, p = 0.117). The dose differences between navigated and deliverable MCO plans increased as higher priority was placed on rectal avoidance. If the best possible deliverable MCO was chosen, a significant reduction in rectal dose was observed in comparison with standard optimization (30.6 ± 1.4 Gy vs 35.5 ± 4.2 Gy, p = 0.047). Improvements were, however, to some extent, at the expense of less conformal dose distributions, which resulted in significantly higher doses to the bladder for 2 of the 3 tolerance levels. In conclusion, similar IMRT plans can be created for patients with prostate cancer using MCO compared with standard optimization. Limitations exist within MCO regarding conversion of navigated plans to deliverable apertures, particularly for plans that emphasize avoidance of critical structures. Minimizing these differences would result in better quality treatments for patients with prostate cancer who were treated with radiotherapy using MCO plans.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2026

A Proof for the Unbiased Nature of Range-Doppler Measurements in Coarse-Resolution Dechirp-on-Receive Feedback Synthetic Aperture Radar Navigation

In feedback synthetic aperture radar (SAR) navigation, observables extracted from SAR range-Doppler images correct position and velocity errors accumulated within an associated navigation system. Unlike most other sensors, which produce measurements without input from a navigation system, SARs require a prior estimate of the radar’s position and velocity to adjust the radar’s matched filter during range-Doppler image formation. Consequently, it is possible for position and velocity errors within a navigation system to manifest as additional errors (biases) in the range-Doppler measurement observables. Prior work has not tackled this possibility in the context of feedback SAR navigation with a dechirp-on-receive radar. This paper offers a proof demonstrating that range-Doppler observables extracted from coarse-resolution vertical SAR images formed with a dechirp-on-receive radar may be safely modeled as unbiased measurements of the radar’s true position and velocity despite the presence of moderate navigation errors.

dechirp-on-receive↗
DOE OSTI2020

Systems and methods for augmenting a satellite based navigation system with alternative position and timing data

Various technologies pertaining to integrating a positioning or timing solution from an alternative position, navigation, or timing (PNT) system into a satellite-based-navigation system are described herein. The PNT system generates a position/timing (P/T) solution that indicates a current position or current time of the PNT system. The P/T solution is provided as input to a simulation of a satellite constellation of the satellite-based-navigation system, and a constellation signal is generated based on the simulation and the P/T solution. The constellation signal is formatted according to a navigation signal format of the satellite-based-navigation system such that when the constellation signal is provided to a receiver of the satellite-based-navigation system, the receiver computes a P/T solution that indicates the current position or the current time identified by the PNT system.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2018

Under canopy light detection and ranging–based autonomous navigation

This study describes a light detection and ranging (LiDAR)–based autonomous navigation system for an ultralightweight ground robot in agricultural fields. The system is designed for reliable navigation under cluttered canopies using only a 2D Hokuyo UTM–30LX LiDAR sensor as the single source for perception. Its purpose is to ensure that the robot can navigate through rows of crops without damaging the plants in narrow row–based and high–leaf–cover semistructured crop plantations, such as corn ( Zea mays ) and sorghum ( Sorghum bicolor ). The key contribution of our work is a LiDAR–based navigation algorithm capable of rejecting outlying measurements in the point cloud due to plants in adjacent rows, low–hanging leaf cover or weeds. The algorithm addresses this challenge using a set of heuristics that are designed to filter out outlying measurements in a computationally efficient manner, and linear least squares are applied to estimate within–row distance using the filtered data. Moreover, a crucial step is the estimate validation, which is achieved through a heuristic that grades and validates the fitted row–lines based on current and previous information. The proposed LiDAR–based perception subsystem has been extensively tested in production/breeding corn and sorghum fields. In such variety of highly cluttered real field environments, the robot logged more than 6 km of autonomous run in straight rows. These results demonstrate highly promising advances to LiDAR–based navigation in realistic field environments for small under–canopy robots.

42 ENGINEERING↗
DOE OSTI2019

Comparison of navigator-gated and breath-held image acquisition techniques for multi-echo quantitative dixon imaging of the liver in children and young adults

Purpose: Acquired over a breath hold, multi-echo Dixon (mDixon) magnetic resonance imaging (MRI) of the liver can be used to quantify proton density fat fraction (PDFF) and iron-related signal decay. However, young, obese, and co-morbid patients may have limited breath holding capacity and could benefit from a motion-robust mDixon acquisition. The purpose of this study was to compare hepatic PDFF and R2* values between navigator-gated and breath-held mDixon MRI acquisition techniques in children and young adults with suspected liver disease. Materials and methods: This retrospective study was institutional review board-approved with a waiver of informed consent. Patients who underwent liver MRI with breath-held and navigator-gated mDixon sequences between January 2017 and July 2018 were included. One reviewer, blinded to sequence, measured PDFF and R2* on four images from each sequence. Another blinded reviewer graded respiratory motion (5-point Likert scale). Pearson correlation (r), Lin’s concordance coefficients (r{sub c}), and Bland–Altman analyses were used to assess agreement between techniques. Frequency of clinically limiting motion (score ≥ 3) was compared with Fisher’s exact test. Results: Forty-two patients were included (15 female, 27 male; mean age: 15.7 ± 4.6 years). Mean PDFF and R2* were 16.6 ± 13.1% and 29.3 ± 4.7 s{sup −1} (breath-held) versus 17.0 ± 13.2% and 29.6 ± 5.2 s{sup −1} (navigator-gated). PDFF agreed almost perfectly between sequences (r{sub c} = 0.997, 95% CI 0.994–0.998; mean bias: 0.3%; 95% limits of agreement: − 2.4 to +1.7%), while R2* values correlated very strongly but with poor agreement (r = 0.837, r{sub c} = 0.832, 95% CI 0.716–0.910). Navigator-gated images exhibited significantly higher frequency of clinically limiting respiratory motion (88% vs. 48%, p = 0.0001). Conclusion: Despite greater respiratory motion artifact, a free-breathing navigator-gated mDixon sequence produces PDFF values with almost perfect agreement to a breath-held sequence.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2018

Safeguards Technology Development Program 3rd Quarter FY 2018 Report June 30, 2018 GPS-Free Navigation in Buildings

This is an evaluation of candidate navigation solutions for GPS free inspection tools that can be used in tours of large building interiors. In principle, COTS portable inertial motion unit (IMU) sensors with satisfactory accuracy, SWAP (size, weight, power), low error, and bias drift can provide sufficiently accurate dead reckoning navigation in a large building in the absence of GPS. To explore this assumption, the capabilities of representative IMU navigation sensors to meet these requirements will be evaluated and field tested, starting with a market survey. To test the candidate COTS IMUs drawn from the market survey, we will design and fabricate a person-portable backpack for testing. We will provide a mobile power supply and data collection port. Then, we will test the IMUs on interior building tours at LLNL, finally carrying out an analysis of these sensors’ performance using LLNL’s navigation codes.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

Energy Sector Position, Navigation, and Time Cybersecurity Profile

The Pacific Northwest National Laboratory has developed this positioning, navigation, and timing (PNT) profile for the Energy Sector at the request of the U.S. Department of Energy. The Department of Energy is the sector-specific agency for the Energy Sector and is responsible for providing guidance in the form of this PNT Profile, per Executive Order 13905, Strengthening National Resilience Through Responsible Use of Positioning, Navigation, and Timing Services (Executive Office of the President 2020) issued February 18, 2020. Executive Order 13905 directed the National Institute of Standards & Technology to develop a PNT Profile that is broadly applicable to all sectors and to serve as a foundation for sector-neutral guidance, NISTIR 8323 Foundational PNT Profile: Applying the Cybersecurity Framework for the Responsible Use of Positioning, Navigation, and Timing (PNT) Services. This document builds on NISTIR 8323 to identify and serve as the required Energy Sector specific guidance. For purposes of this PNT Profile, Energy Sector precise time is 0.5 µs (microseconds) to 1 µs accuracy. Currently, the electricity subsector has systems that use this level of precision time, but the oil and natural gas subsector currently does not. While the electricity subsector uses precision timing, it does not use positioning and/or navigation at this level of accuracy. For this reason, this PNT Profile will focus on only precise time for the electricity subsector.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Use of Legacy Maritime Protocols Increases Exploitability of Virtual Aids to Navigation

With increased reliance on Virtual Aid(s) to Navigation (VAtoN) - also known as electronic Aid(s) to Navigation (eAtoN), or virtual buoys - a cyber event is likely to cause disruption to international maritime shipping. VAtoN has no physical hardware for visual reference and displays only on a vessel’s Electronic Chart Display Information System (ECDIS) and Automatic Radar Plotting Aid (ARPA); therefore, mariners must rely on the accuracy of the information provided. As VAtoN uses the National Maritime Electronics Association (NMEA) 0183 protocol for both Global Navigation Satellite System (GNSS) and Automatic Identification System (AIS), an insecure protocol that has been proven susceptible to spoofing, denial, and manipulation, the likelihood of a cyber-related event increases substantially.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
DOE OSTI2015

MiR-21 promoted proliferation and migration in hepatocellular carcinoma through negative regulation of Navigator-3

MicroRNA-21 (miR-21) has been well-established and found to be over-expressed in various human cancers and has been associated with hepatocellular carcinoma (HCC) progression. However, the underlying mechanism of miR-21 involvement in the development and progression of HCC remains to be understood. In the present study, we firstly identified that the Navigator-3 (NAV-3) gene as a novel direct target of miR-21. Knock-down of NAV-3 using shRNA can rescue the effects of anti-miR-21 inhibitor in HCC cell lines, whereas re-expression of miR-21 using transfection with miR-21 mimics phenocopied the NAV-3 knock-down model. Additionally, miR-21 levels inversely correlated with NAV-3 both in HCC cells and tissues. Knock-down of NAV-3 promoted both the proliferation and migration in HCC cells. Together, our findings suggest an important role for miR-21 in the progression of HCC, which negatively regulated Navigator-3 in the migration of HCC. - Highlights: • Navigator-3 (NAV-3) suppresses proliferation, migration and tumorigenesis of HCC cells. • NAV-3 was a novel target of miR-21. • MiR-21 negatively regulates NAV-3 in HCC.

60 APPLIED LIFE SCIENCES↗