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At least 289 records · Page 16

CLARAty Functional-Layer Software

Functional-layer software for the Coupled Layer Architecture for Robotics Autonomy (CLARAty) is being developed. [CLARAty was described in Coupled-Layer Architecture for Advanced Software for Robots (NPO-21218), NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 48. To recapitulate: CLARAty was proposed to improve the modularity of robotic software while tightening the coupling between planning/execution and control subsystems. Whereas prior robotic software architectures have typically contained three levels, the CLARAty architecture contains two layers: a decision layer and a functional layer.] Just as an operating system provides abstraction from computational hardware, the CLARAty functional-layer software provides for abstraction for the different robotic systems. The functional-layer software establishes interrelated, object-oriented hierarchies that contain active and passive objects that represent the different levels of system abstrations and components. The functional-layer software is decomposed into a set of reusable core components and a set of extended components that adapt the reusable set to specific hardware implementations. The reusable components (a) provide behavior and interface definitions and implementations of basic functionality, (b) provide local executive capabilities, (c) manage local resources, and (d) support state and resource queries by the decision layer. Software for robotic systems can be built by use of these components.

Nesnas, Issa↗

Computational Tools for Predictive Modeling of Properties in Complex Actinide Systems

In this chapter we focus on methodological and computational aspects that are key to accurately modeling the spectroscopic and thermodynamic properties of molecular systems containing actinides within the density functional theory (DFT) framework. Our focus is on properties that require either an accurate relativistic all-electron description or an accurate description of the dynamical behavior of actinide species in an environment at finite temperature, or both. The implementation of the methods and the calculations discussed in this chapter were done with the NWChem software suite (Valiev et al. 2010). In the first two sections we discuss two methods that account for relativistic effects, the ZORA and the X2C Hamiltonian. Section 1.2.1 discusses the implementation of the approximate relativistic ZORA Hamiltonian and its extension to magnetic properties. Section 1.3 focuses on the exact X2C Hamiltonian and the application of this methodology to obtain accurate molecular properties. In Section 1.4 we examine the role of a dynamical environment at finite temperature as well as the presence of other ions on the thermodynamics of hydrolysis and exchange reaction mechanisms. Finally, Section 1.5 discusses the modeling of XAS (EXAFS, XANES) properties in realistic environments accounting for both the dynamics of the system and (for XANES) the relativistic effects.

actinide↗

PIPER: Performance Insights for Programmers and Exascale Runtimes

During the lifetime of the project, the PIPER at the University of Utah worked in collaboration with the team from the partner institutions to establish a set of software tools for analyzing and improving the performance parallel computing tools. These activities complement and complete the work performed by the other X-Stack 2 projects with the definition of a common data models and computing infrastructures, which have been a central element in the targeted performance analysis pipeline and new programming models. The University of Utah team have focused mainly on developing data analysis and visualization systems to facilitate exploration, comparison and evaluation of the behavior and performance of complex algorithms in modern HPC infrastructures. This is involved several demonstrations of the performance achieved and presentation of the results in a way that facilitates the users understand bottlenecks and ways to overcome them. One major focus of the University of Utah activities has been the analysis of the performance characteristics of Fat-Tree and Dragonfly topology networks. The work involved the development of practical visualization systems especially in collaboration with the team at LLNL, and published several papers and gave invited talks at prestigious venues such as the Salishan Conference on High-Speed Computing or the International Conference on High Performance Computing, Data, and Analytics. In addition, the university of Utah team has advanced the core activities on analyzing the performance characteristics of I/O and other data movement systems and their practical use for scaling Uintah and other simulation codes poised for use in the exascale computing environments of the future.

42 ENGINEERING↗

2019 Computing Sciences Strategic Plan

Computing has transformed nearly every aspect of scientific inquiry — across disciplines and across scales — from the behavior of subatomic particles to the formation of structures in the early universe, from the assembly of the human genome to the evolution of earth systems. Over the past two decades, computing has become an integral part of how Berkeley Lab is “Bringing Science Solutions to the World.” Advances in computing and mathematics have been key, with new mathematical models of complex physical phenomena, new methods for analyzing complex data, new algorithms for accuracy and scaling and sophisticated software systems that encapsulate these techniques into open, reusable tools. The performance of NERSC computers and the ESnet network have grown by several orders of magnitude, along with our understanding of how to map scientific computations and workflows onto these systems. From research to facility operations, the passion, talent and dedication of the Computing Sciences Area staff has been the cornerstone of our success. The plan outlined in this document describes the next step in a journey to expand the influence and impact of our efforts, building an increasingly connected global enterprise for science that places more powerful instruments in the hands of scientists, along with more powerful methods and tools for modeling, analysis and prediction.

97 MATHEMATICS AND COMPUTING↗

A knowledge based software engineering environment testbed

The Carnegie Group Incorporated and Boeing Computer Services Company are developing a testbed which will provide a framework for integrating conventional software engineering tools with Artifical Intelligence (AI) tools to promote automation and productivity. The emphasis is on the transfer of AI technology to the software development process. Experiments relate to AI issues such as scaling up, inference, and knowledge representation. In its first year, the project has created a model of software development by representing software activities; developed a module representation formalism to specify the behavior and structure of software objects; integrated the model with the formalism to identify shared representation and inheritance mechanisms; demonstrated object programming by writing procedures and applying them to software objects; used data-directed and goal-directed reasoning to, respectively, infer the cause of bugs and evaluate the appropriateness of a configuration; and demonstrated knowledge-based graphics. Future plans include introduction of knowledge-based systems for rapid prototyping or rescheduling; natural language interfaces; blackboard architecture; and distributed processing

Gill, C.↗

NASA Tech Briefs, May 2004

Topics include: Embedded Heaters for Joining or Separating Plastic Parts; Curing Composite Materials Using Lower-Energy Electron Beams; Aluminum-Alloy-Matrix/Alumina-Reinforcement Composites; Fibrous-Ceramic/Aerogel Composite Insulating Tiles; Urethane/Silicone Adhesives for Bonding Flexing Metal Parts; Scalable Architecture for Multihop Wireless ad Hoc Networks; Improved Thermoplastic/Iron-Particle Transformer Cores; Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration Dual-Frequency Airborne Scanning Rain Radar Antenna System Eight-Channel Continuous Timer Reduction of Phase Ambiguity in an Offset-QPSK Receiver Ambient-Light-Canceling Camera Using Subtraction of Frames Lightweight, Flexible, Thin, Integrated Solar-Power Packs Windows(Registered Trademark)-Based Software Models Cyclic Oxidation Behavior Software for Analyzing Sequences of Flow-Related Images Improved Ball-and-Socket Docking Mechanism Two-Stage Solenoid Ordered Nanostructures Made Using Chaperonin Polypeptides Low-Temperature Plasma Functionalization of Carbon Nanotubes Improved Cryostat for Cooling a Wide Panel Current Pulses Momentarily Enhance Thermoelectric Cooling Hand-Held Color Meters Based on Interference Filters Calculating Mass Diffusion in High-Pressure Binary Fluids Fresnel Lenses for Wide-Aperture Optical Receivers Increasing Accuracy in Computed Inviscid Boundary Conditions Higher-Order Finite Elements for Computing Thermal Radiation Radar for Monitoring Hurricanes from Geostationary Orbit Time-Transfer System for Two Orbiting Spacecraft

Source record↗

Methodology for assessing the safety of Hydrogen Systems: HyRAM 1.0 technical reference manual

The HyRAM software toolkit provides a basis for conducting quantitative risk assessment and consequence modeling for hydrogen infrastructure and transportation systems. HyRAM is designed to facilitate the use of state-of-the-art science and engineering models to conduct robust, repeatable assessments of hydrogen safety, hazards, and risk. HyRAM is envisioned as a unifying platform combining validated, analytical models of hydrogen behavior, a standardized, transparent QRA approach, and engineering models and generic data for hydrogen installations. HyRAM is being developed at Sandia National Laboratories for the U. S. Department of Energy to increase access to technical data about hydrogen safety and to enable the use of that data to support development and revision of national and international codes and standards. This document provides a description of the methodology and models contained in the HyRAM version 1.0. HyRAM 1.0 includes generic probabilities for hydrogen equipment failures, probabilistic models for the impact of heat flux on humans and structures, and computationally and experimentally validated analytical and first order models of hydrogen release and flame physics. HyRAM 1.0 integrates deterministic and probabilistic models for quantifying accident scenarios, predicting physical effects, and characterizing hydrogen hazards (thermal effects from jet fires, overpressure effects from deflagrations), and assessing impact on people and structures. HyRAM is a prototype software in active development and thus the models and data may change. This report will be updated at appropriate developmental intervals.

08 HYDROGEN↗

On the performance of exponential integrators for problems in magnetohydrodynamics

Exponential integrators have been introduced as an efficient alternative to explicit and implicit methods for integrating large stiff systems of differential equations. Over the past decades these methods have been studied theoretically and their performance was evaluated using a range of test problems. While the results of these investigations showed that exponential integrators can provide significant computational savings, the research on validating this hypothesis for large scale systems and understanding what classes of problems can particularly benefit from the use of the new techniques is in its initial stages. Resistive magnetohydrodynamic (MHD) modeling is widely used in studying large scale behavior of laboratory and astrophysical plasmas. In many problems numerical solution of MHD equations is a challenging task due to the temporal stiffness of this system in the parameter regimes of interest. In this paper we evaluate the performance of exponential integrators on large MHD problems and compare them to a state-of-the-art implicit time integrator. Both the variable and constant time step exponential methods of EPIRK-type are used to simulate magnetic reconnection and the Kevin–Helmholtz instability in plasma. Performance of these methods, which are part of the EPIC software package, is compared to the variable time step variable order BDF scheme included in the CVODE (part of SUNDIALS) library. We study performance of the methods on parallel architectures and with respect to magnitudes of important parameters such as Reynolds, Lundquist, and Prandtl numbers. We find that the exponential integrators provide superior or equal performance in most circumstances and conclude that further development of exponential methods for MHD problems is warranted and can lead to significant computational advantages for large scale stiff systems of differential equations such as MHD.

97 MATHEMATICS AND COMPUTING↗

PSCF+: An Extended and Improved Open-Source Software Package for Polymer Self-Consistent Field Calculations

This work introduces PSCF+, a freely available open‑source software tool for modeling how block copolymers self‑assemble into ordered nanoscale structures. The software allows researchers to study a wide range of polymer models and interaction types, making it possible to directly compare theoretical predictions with molecular and simulation‑based studies in a consistent way. PSCF+ incorporates several recently developed numerical methods that significantly reduce computer memory requirements and speed up calculations, enabling efficient use of modern GPU hardware. Here, it also provides automated tools to calculate free‑energy landscapes and phase boundaries, which are essential for understanding and predicting material behavior. Together, these advances make PSCF+ a powerful and flexible platform for studying polymer self‑assembly and support the design of new polymeric materials for scientific and technological applications.

Chemical calculations↗

A learning apprentice for software parts composition

An overview of the knowledge acquisition component of the Bauhaus, a prototype computer aided software engineering (CASE) workstation for the development of domain-specific automatic programming systems (D-SAPS) is given. D-SAPS use domain knowledge in the refinement of a description of an application program into a compilable implementation. The approach to the construction of D-SAPS was to automate the process of refining a description of a program, expressed in an object-oriented domain language, into a configuration of software parts that implement the behavior of the domain objects.

Allen, Bradley P.↗

Device Scale Modeling of Solvent Absorption using MFIX-TFM

Recent climate change is largely attributed to greenhouse gases (e.g., carbon dioxide, methane) and fossil fuels account for a large majority of global CO 2 emissions. That said, fossil fuels will continue to play a significant role in the generation of power for the foreseeable future. The extent to which CO 2 is emitted needs to be reduced, however, carbon capture and sequestration are also necessary actions to tackle climate change. Different approaches exist for CO 2 capture including both post-combustion and pre-combustion technologies, oxy-fuel combustion and/or chemical looping combustion. The focus of this effort is on post-combustion solvent-absorption technology. To apply CO 2 technologies at commercial scale, the availability and maturity and the potential for scalability of that technology need to be considered. Solvent absorption is a proven technology but not at the scale needed by typical power plant. The scale up and down and design of laboratory and commercial packed bed reactors depends heavily on the specific knowledge of two-phase pressure drop, liquid holdup, the wetting efficiency and mass transfer efficiency as a function of operating conditions. Simple scaling rules often fail to provide proper design. Conventional reactor design modeling approaches will generally characterize complex non-ideal flow and mixing patterns using simplified and/or mechanistic flow assumptions. While there are varying levels of complexity used within these approaches, none of these models resolve the local velocity fields. Consequently, they are unable to account for important design factors such as flow maldistribution and channeling from a fundamental perspective. Ideally design would be aided by development of predictive models based on truer representation of the physical and chemical processes that occur at different scales. Computational fluid dynamic (CFD) models are based on multidimensional flow equations with first principle foundations. CFD models can include a more accurate physical description of flow processes and be modified to include more complex behavior. Wetting performance and spatial liquid distribution inside the absorber are recognized as weak areas of knowledge requiring further investigation. CFD tools offer a possible method to investigating such topics and gaining a better understanding of their influence on reactor performance. This report focuses first on describing a hydrodynamic model for countercurrent gas-liquid flow through a packed column and then on the chemistry, heat and mass transfer specific to CO 2 absorption using monoethanolamine (MEA). The indicated model is implemented in MFIX, a CFD open source software package. The user defined functions needed to build this model are described in detail along with the keywords for the corresponding input file. A test case is outlined along with a few results. The example serves to briefly illustrate the developed CFD tool and its potential capability to investigate solvent absorption.

09 BIOMASS FUELS↗

Evaluation of Computational Method of High Reynolds Number Slurry Flow for Caverns Backfilling

The abandonment of salt caverns used for brining or product storage poses a significant environmental and economic risk. Risk mitigation can in part be addressed by the process of backfilling which can improve the cavern geomechanical stability and reduce the risk of fluid loss to the environment. This study evaluates a currently available computational tool, Barracuda, to simulate such processes as slurry flow at high Reynolds number with high particle loading. Using Barracuda software, a parametric sequence of simulations evaluated slurry flow at Reynolds number up to 15000 and loading up to 25%. Limitations come into the long time required to run these simulations due in particular to the mesh size requirement at the jet nozzle. This study has found that slurry-jet width and centerline velocities are functions of Reynolds number and volume fraction. The solid phase was found to spread less than the water-phase with a spreading rate smaller than 1, dependent on the volume fraction. Particle size distribution does seem to have a large influence on the jet flow development. This study constitutes a first step to understand the behavior of highly loaded slurries and their ultimate application to cavern backfilling.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Implementation of ANL’s Mechanics Based Evolutionary Fatigue Modeling Through ABAQUS-WARP3D Based High-Performance Computing Framework

This report presents an update on the environmental fatigue research that is being conducted at Argonne National Laboratory in support of the Department of Energy’s Light Water Reactor Sustainability (LWRS) program. Argonne is developing a fully mechanistic fatigue evaluation approach without using empirical fatigue (S~N) curves. This approach is based on the fundamental concept of the time evolution of progressive fatigue damage rather than on the conventional S~N curve approaches using end-of-life data. In FY 2017, we performed extensive validation of this approach with respect to fatigue test data for 316 stainless steel [1]. This validation was performed for different loading cases, including constant, variable, and random amplitude. In the present FY 2018 semi-annual report, we present the further advances of Argonne’s environmental fatigue research work in the context for more practical applications. In this report, we discuss a methodology for fully mechanistic (i.e., not using S~N curves) fatigue life evaluation of reactor components subjected to realistic loading cycles, namely, design-basis loading cycles. The loading cycles include plant heat-up, full-power, and cool-down operations. As a test case, we considered a typical pressurized water reactor surge line, which is made of 316 SS. To perform the fatigue simulation for thousands of fatigue cycles in a computationally cost effective way, we modified our previous desktop-based finite element (FE) modeling approach to work in a high-performance computing (HPC) framework. For the HPC implementation, we developed a hybrid framework based on commercial FE software (ABAQUS), open-source FE software (WARP3D), and Argonne-developed evolutionary cyclic-plasticity modeling methods. We validated this HPC-based cycle-by-cycle damage model for the entire fatigue life of a Pressurized Water Reactor (PWR) surge line (SL) pipe with respect to assumed loading cycles. The simulated fatigue life was found to be 5855 cycles, which is 85% accurate as compared to the corresponding small-specimen-based experimental fatigue life (6914 cycles). Also, the simulated stress history captures the cyclic hardening and softening behavior of the material for entire fatigue cycles. The FE simulation of the PWR SL pipe was conducted in a reasonable time of 12.5 days. These results show the promise that a fully mechanistic (not using S~N curves) fatigue life evaluation of a safety-critical nuclear reactor component (or even other safety critical components like those in aircraft, aero-engines, etc.) is possible. We anticipate that this type of methodology will drastically reduce the uncertainly associated with conventional fatigue life estimates based on empirical S~N curves. We also proposed an FE model that is based on a hybrid full-component and single-element approach and that can readily be used by industry if HPC resources are not available. In this approach, a single-cycle FE simulation has to be performed first for the required loading cycle. Then, the resulting strain/stress profile at the hotspot (highest strain/stress location) is used as input strain/stress loading to the single-element FE model. The single-element FE model is run under multiple fatigue cycles as long as the failure criteria are achieved. The cycle number at failure gives the fatigue life of the component in question. This cost-effective framework does not require expensive HPC hardware and can be performed in a reasonable time by using a desktop computer. We demonstrated this approach with respect to PWR SL fatigue evaluation under two realistic design-basis loading cycles (simple and detailed). The associated results were validated with respect to test data obtained through fatigue testing of uniaxial specimens under the in-air condition at 300 °C. The approach is in the development stage and requires further improvement and validation.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

STAR-CCM+ Verification and Validation Plan

The commercial Computational Fluid Dynamics (CFD) code STAR-CCM+ provides general purpose finite volume method solutions for fluid dynamics and energy transport. This document defines plans for verification and validation (V&V) of the base code and models implemented within the code by the Consortium for Advanced Simulation of Light water reactors (CASL). The software quality assurance activities described herein are port of the overall software life cycle defined in the CASL Software Quality Assurance (SQA) Plan [Sieger, 2015]. STAR-CCM+ serves as the principal foundation for development of an advanced predictive multi-phase boiling simulation capability within CASL. The CASL Thermal Hydraulics Methods (THM) team develops advanced closure models required to describe the subgrid-resolution behavior of secondary fluids or fluid phases in multiphase boiling flows within the Eulerian-Eulerian framework of the code. These include wall heat partitioning models that describe the formation of vapor on the surface and the forces the define bubble/droplet dynamic motion. The CASL models are implemented as user coding or field functions within the general framework of the code. This report defines procedures and requirements for V&V of the multi-phase CFD capability developed by CASL THM. Results of V&V evaluations will be documented in a separate STAR-CCM+ V&V assessment report. This report is expected to be a living document and will be updated as additional validation cases are identified and adopted as part of the CASL THM V&V suite.

97 MATHEMATICS AND COMPUTING↗

Aspect-Oriented Programming

Computer science has experienced an evolution in programming languages and systems from the crude assembly and machine codes of the earliest computers through concepts such as formula translation, procedural programming, structured programming, functional programming, logic programming, and programming with abstract data types. Each of these steps in programming technology has advanced our ability to achieve clear separation of concerns at the source code level. Currently, the dominant programming paradigm is object-oriented programming - the idea that one builds a software system by decomposing a problem into objects and then writing the code of those objects. Such objects abstract together behavior and data into a single conceptual and physical entity. Object-orientation is reflected in the entire spectrum of current software development methodologies and tools - we have OO methodologies, analysis and design tools, and OO programming languages. Writing complex applications such as graphical user interfaces, operating systems, and distributed applications while maintaining comprehensible source code has been made possible with OOP. Success at developing simpler systems leads to aspirations for greater complexity. Object orientation is a clever idea, but has certain limitations. We are now seeing that many requirements do not decompose neatly into behavior centered on a single locus. Object technology has difficulty localizing concerns invoking global constraints and pandemic behaviors, appropriately segregating concerns, and applying domain-specific knowledge. Post-object programming (POP) mechanisms that look to increase the expressiveness of the OO paradigm are a fertile arena for current research. Examples of POP technologies include domain-specific languages, generative programming, generic programming, constraint languages, reflection and metaprogramming, feature-oriented development, views/viewpoints, and asynchronous message brokering. (Czarneclu and Eisenecker s book includes a good survey of many of these technologies).

Elrad, Tzilla↗

Multiresolution molecular mechanics: Implementation and efficiency

Atomistic/continuum coupling methods combine accurate atomistic methods and efficient continuum methods to simulate the behavior of highly ordered crystalline systems. Coupled methods utilize the advantages of both approaches to simulate systems at a lower computational cost, while retaining the accuracy associated with atomistic methods. Many concurrent atomistic/continuum coupling methods have been proposed in the past; however, their true computational efficiency has not been demonstrated. The present work presents an efficient implementation of a concurrent coupling method called the Multiresolution Molecular Mechanics (MMM) for serial, parallel, and adaptive analysis. First, we present the features of the software implemented along with the associated technologies. The scalability of the software implementation is demonstrated, and the competing effects of multiscale modeling and parallelization are discussed. Then, the algorithms contributing to the efficiency of the software are presented. These include algorithms for eliminating latent ghost atoms from calculations and measurement-based dynamic balancing of parallel workload. The efficiency improvements made by these algorithms are demonstrated by benchmark tests. The efficiency of the software is found to be on par with LAMMPS, a state-of-the-art Molecular Dynamics (MD) simulation code, when performing full atomistic simulations. Speed-up of the MMM method is shown to be directly proportional to the reduction of the number of the atoms visited in force computation. Finally, an adaptive MMM analysis on a nanoindentation problem, containing over a million atoms, is performed, yielding an improvement of 6.3–8.5 times in efficiency, over the full atomistic MD method. For the first time, the efficiency of a concurrent atomistic/continuum coupling method is comprehensively investigated and demonstrated.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Autonomous elemental characterization enabled by a low cost robotic platform built upon a generalized software architecture

Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to the lack of generalized methodologies and the high cost of hardware. This paper focuses on the automation of characterization tasks necessary for reducing cost while maintaining generalization and proposes a software architecture for building robotic systems in scientific laboratory environments. A dual-layer (Socket.IO and ROS) action server design is the basic building block, which facilitates the implementation of a web-based front end for user-friendly operation and the use of ROS Behavior Trees for convenient task planning and execution. A robotic platform for automating mineral and material sample characterization is built upon the architecture, with an open-source, low-cost three-axis computer numerical control gantry system serving as the main robot. A handheld laser induced breakdown spectroscopy (LIBS) analyzer is integrated with a 3D printed adapter, enabling (1) automated 2D chemical mapping and (2) autonomous sample measurement (with the support of an RGB-Depth camera). We demonstrate the utility of automated chemical mapping by scanning the surface of a spodumene-bearing pegmatite core sample with a 1071-point dense hyperspectral map acquired at a rate of 1520 bits per second. Furthermore, we showcase the autonomy of the platform in terms of perception, dynamic decision-making, and execution, through a case study of LIBS measurement of multiple mineral samples. The platform enables controlled and autonomous chemical quantification in the laboratory that complements field-based measurements acquired with the same handheld device, linking resource exploration and processing steps in the supply chain for lithium-based battery materials.

Cao, Xuan [Lawrence Berkeley National Laboratory (↗

Device Feasibility Analysis of Multi-level FeFETs for Neuromorphic Computing

As an emerging non-volatile memory device technology, Ferroelectric Field-Effect Transistors (FeFETs) can enable low-power, adaptive intelligent system design. However, device dimension and operating voltage dependent reliability issues of scaled FeFETs can ultimately lead to degraded performance in solving machine learning tasks. In this article, detailed experimental characterization of FeFET devices of different dimensions have been carried out to explicitly evaluate the non-ideal behavior in device conductance programming properties like number of programming states, cycle-to-cycle (C2C) variations, device-to-device (D2D) variations, and state retention. A hardware-aware software simulation approach has been adopted to capture the adversarial effects of the non-idealities on recognition accuracy through algorithm-level performance assessment by including them in NeuroSim, a popular neural network hardware simulator, to execute a neural network model considering all other hardware constraints. With the added non-idealities, significant accuracy degradation has been observed compared to the ideal scenarios where D2D variations play the most critical role. Thereafter, feasibility of a variation-aware training method has been evaluated to tackle the accuracy drop.

42 ENGINEERING↗