Search NASA⌕ Search

SEARCH · Search NASA

Results for “pose estimation”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Multilevel and multifidelity uncertainty quantification for cardiovascular hemodynamics

Standard approaches for uncertainty quantification in cardiovascular modeling pose challenges due to the large number of uncertain inputs and the significant computational cost of realistic three-dimensional simulations. Here, we propose an efficient uncertainty quantification framework utilizing a multilevel multifidelity Monte Carlo (MLMF) estimator to improve the accuracy of hemodynamic quantities of interest while maintaining reasonable computational cost. This is achieved by leveraging three cardiovascular model fidelities, each with varying spatial resolution to rigorously quantify the variability in hemodynamic outputs. We employ two low-fidelity models (zero- and one-dimensional) to construct several different estimators. Our goal is to investigate and compare the efficiency of estimators built from combinations of these two low-fidelity model alternatives and our high-fidelity three-dimensional models. We demonstrate this framework on healthy and diseased models of aortic and coronary anatomy, including uncertainties in material property and boundary condition parameters. Our goal is to demonstrate that for this application it is possible to accelerate the convergence of the estimators by utilizing a MLMF paradigm. Therefore, we compare our approach to single fidelity Monte Carlo estimators and to a multilevel Monte Carlo approach based only on three-dimensional simulations, but leveraging multiple spatial resolutions. We demonstrate significant, on the order of 10 to 100 times, reduction in total computational cost with the MLMF estimators. We also examine the differing properties of the MLMF estimators in healthy versus diseased models, as well as global versus local quantities of interest. As expected, global quantities such as outlet pressure and flow show larger reductions than local quantities, such as those relating to wall shear stress, as the latter rely more heavily on the highest fidelity model evaluations. Similarly, healthy models show larger reductions than diseased models. In all cases, our workflow coupling Dakota’s MLMF estimators with the SimVascular cardiovascular modeling framework makes uncertainty quantification feasible for constrained computational budgets.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2020

Phase estimation algorithm for the multibeam optical metrology

Unitary Fourier transform lies at the core of the multitudinous computational and metrological algorithms. Here we show experimentally how the unitary Fourier transform-based phase estimation protocol, used namely in quantum metrology, can be translated into the classical linear optical framework. The developed setup made of beam splitters, mirrors and phase shifters demonstrates how the classical coherence, similarly to the quantum coherence, poses a resource for obtaining information about the measurable physical quantities. Our study opens route to the reliable implementation of the small-scale unitary algorithms on path-encoded qudits, thus establishing an easily accessible platform for unitary computation.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS2012

Validation of MODIS FLH and In Situ Chlorophyll a from Tampa Bay, Florida (USA)

Satellite observation of phytoplankton concentration or chlorophyll-a (chla) is an important characteristic, critically integral to monitoring coastal water quality. However, the optical properties of estuarine and coastal waters are highly variable and complex and pose a great challenge for accurate analysis. Constituents such as suspended solids and dissolved organic matter and the overlapping and uncorrelated absorptions in the blue region of the spectrum renders the blue-green ratio algorithms for estimating chl-a inaccurate. Measurement of suninduced chlorophyll fluorescence, on the other hand, which utilizes the near infrared portion of the electromagnetic spectrum may, provide a better estimate of phytoplankton concentrations. While modelling and laboratory studies have illustrated both the utility and limitations of satellite algorithms based on the sun induced chlorophyll fluorescence signal, few have examined the empirical validity of these algorithms or compared their accuracy against bluegreen ratio algorithms . In an unprecedented analysis using a long term (2003-2011) in situ monitoring data set from Tampa Bay, Florida (USA), we assess the validity of the FLH product from the Moderate Resolution Imaging Spectrometer against a suite of water quality parameters taken in a variety of conditions throughout this large optically complex estuarine system. . Overall, the results show a 106% increase in the validity of chla concentration estimation using FLH over the standard chla estimate from the blue-green OC3M algorithm. Additionally, a systematic analysis of sampling sites throughout the bay is undertaken to understand how the FLH product responds to varying conditions in the estuary and correlations are conducted to see how the relationships between satellite FLH and in situ chlorophyll-a change with depth, distance from shore, from structures like bridges, and nutrient concentrations and turbidity. Such analysis illustrates that the correlations between FLH and in situ chla measurements increases with increasing distance between monitoring sites and structures like bridges and shore. Due probably to confounding factors, expected improvement in the FLH- chla relationship was not clearly noted when increasing depth and distance from shore alone (not including bridges). Correlations between turbidity and nutrient concentrations are discussed further and principle component analyses are employed to address the relationships between the multivariate data sets. A thorough understanding of how satellite FLH algorithms relate to in situ water quality parameters will enhance our understanding of how MODIS s global FLH algorithm can be used empirically to monitor coastal waters worldwide.

Fischer, Andrew↗
DOE OSTI2022

Simple and statistically sound recommendations for analysing physical theories

Physical theories that depend on many parameters or are tested against data from many different experiments pose unique challenges to statistical inference. Many models in particle physics, astrophysics and cosmology fall into one or both of these categories. These issues are often sidestepped with statistically unsound ad hoc methods, involving intersection of parameter intervals estimated by multiple experiments, and random or grid sampling of model parameters. Whilst these methods are easy to apply, they exhibit pathologies even in low-dimensional parameter spaces, and quickly become problematic to use and interpret in higher dimensions. In this article we give clear guidance for going beyond these procedures, suggesting where possible simple methods for performing statistically sound inference, and recommendations of readily-available software tools and standards that can assist in doing so. Our aim is to provide any physicists lacking comprehensive statistical training with recommendations for reaching correct scientific conclusions, with only a modest increase in analysis burden. Furthermore, our examples can be reproduced with the code publicly available at Zenodo.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2022

Tallo: A global tree allometry and crown architecture database

Abstract Data capturing multiple axes of tree size and shape, such as a tree's stem diameter, height and crown size, underpin a wide range of ecological research—from developing and testing theory on forest structure and dynamics, to estimating forest carbon stocks and their uncertainties, and integrating remote sensing imagery into forest monitoring programmes. However, these data can be surprisingly hard to come by, particularly for certain regions of the world and for specific taxonomic groups, posing a real barrier to progress in these fields. To overcome this challenge, we developed the Tallo database, a collection of 498,838 georeferenced and taxonomically standardized records of individual trees for which stem diameter, height and/or crown radius have been measured. These data were collected at 61,856 globally distributed sites, spanning all major forested and non‐forested biomes. The majority of trees in the database are identified to species (88%), and collectively Tallo includes data for 5163 species distributed across 1453 genera and 187 plant families. The database is publicly archived under a CC‐BY 4.0 licence and can be access from: https://doi.org/10.5281/zenodo.6637599 . To demonstrate its value, here we present three case studies that highlight how the Tallo database can be used to address a range of theoretical and applied questions in ecology—from testing the predictions of metabolic scaling theory, to exploring the limits of tree allometric plasticity along environmental gradients and modelling global variation in maximum attainable tree height. In doing so, we provide a key resource for field ecologists, remote sensing researchers and the modelling community working together to better understand the role that trees play in regulating the terrestrial carbon cycle.

Jucker, Tommaso↗
NASA NTRS2007

Solutions Network Formulation Report. Landsat Data Continuity Mission Simulated Data Products for Bureau of Land Management and Environmental Protection Agency Abandoned Mine Lands Decision Support

Presently, the BLM (Bureau of Land Management) has identified a multitude of abandoned mine sites in primarily Western states for cleanup. These sites are prioritized and appropriate cleanup has been called in to reclaim the sites. The task is great in needing considerable amounts of agency resources. For instance, in Colorado alone there exists an estimated 23,000 abandoned mines. The problem is not limited to Colorado or to the United States. Cooperation for reclamation is sought at local, state, and federal agency level to aid in identification, inventory, and cleanup efforts. Dangers posed by abandoned mines are recognized widely and will tend to increase with time because some of these areas are increasingly used for recreation and, in some cases, have been or are in the process of development. In some cases, mines are often vandalized once they are closed. The perpetrators leave them open, so others can then access the mines without realizing the danger posed. Abandoned mine workings often fill with water or oxygen-deficient air and dangerous gases following mining. If the workings are accidentally entered into, water or bad air can prove fatal to those underground. Moreover, mine residue drainage negatively impacts the local watershed ecology. Some of the major hazards that might be monitored by higher-resolution satellites include acid mine drainage, clogged streams, impoundments, slides, piles, embankments, hazardous equipment or facilities, surface burning, smoke from underground fires, and mine openings.

Estep, Leland↗
DOE OSTI2025

Coupled geomechanical investigation of depletion-induced fault reactivation

Fault reactivation during subsurface fluid production pose significant challenges to safe and sustainable resource extraction. Here, this study presents a three-dimensional coupled geomechanical framework to investigate the processes driving fault reactivation, capturing the interactions between reservoir dynamics and geomechanical responses. Verification against theoretical estimations based on linear poroelasticity confirms the model's capacity in representing reservoir background stress responses. However, the study reveals that relying solely on background stress states can underestimate or overestimate fault reactivation potential, emphasizing the importance of including localized stress perturbations such as differential compaction and stress redistribution. Applied to a fault (M1) inspired by the geological characteristics of the Groningen field, the model shows slip initiation at 2965 m depth with 16.0 MPa depletion, aligning with field observations where seismicity occurred at approximately 3 km depth after 15.8 MPa depletion. Parametric studies reveal: (1) inelastic reservoir compaction delays fault reactivation and mitigates fault slip by reducing stress concentration, (2) higher intermediate in-situ stress magnitudes decrease the Coulomb Failure Stress (CFS) increase rate and reduce fault slip, (3) larger fault offsets amplify shear stress near the offset zone, promoting earlier reactivation and longer rupture propagation, and (4) fault permeability significantly influences pressure diffusion, with low-permeability faults leading to sharper stress changes and earlier fault destabilization. These insights highlight the critical role of geological and mechanical parameters in fault reactivation and provide a predictive framework for mitigating induced seismicity risks.

Coupled geomechanical modeling↗
DOE OSTI2026

Enabling probabilistic learning on manifolds through double diffusion maps

Here, we present a generative learning framework for probabilistic sampling that extends Probabilistic Learning on Manifolds (PLoM), which is designed to generate statistically consistent realizations of a random vector in a finite-dimensional Euclidean space, informed by a (representative) set of observations. In its original form, PLoM constructs a reduced-order probabilistic model by combining three main components: (a) kernel density estimation to approximate the underlying probability measure, (b) Diffusion Maps to characterize the manifold of the data, and (c) a reduced-order Itô Stochastic Differential Equation (ISDE) to sample from the learned distribution. However, its sampling dynamics are posed in the ambient space and the retained number of reduced coordinates is chosen by projection-reconstruction error. In practice, this often (i) requires more coordinates than the data’s intrinsic dimension to achieve stable sampling and (ii) lacks a smooth, basis-independent lifting back to the data domain; moreover, standard Diffusion Maps emphasize harmonic eigenfunctions and can miss non-harmonic latent structure. We address these limitations by decoupling geometry learning from sampling: a first Diffusion Maps pass identifies non-harmonic coordinates on which we formulate a full-order ISDE directly in the latent space, while Double Diffusion Maps captures multiscale geometric features and Geometric Harmonics (GH) learns a smooth lifting map to the ambient variables that is independent of the particular diffusion basis. This hybrid design preserves the system’s dynamical richness with a compact geometric representation and enables principled out-of-sample inference. The effectiveness and robustness of the proposed method are illustrated through two numerical studies: one based on data generated from two-dimensional Hermite polynomial functions and another based on high-fidelity simulations of a detonation wave in a reactive flow.

Double diffusion maps↗
DOE OSTI2021

Measurement of radiolytic hydrogen generation and impact of drying treatments on reactor exposed and surrogate aluminum materials

Technical challenges associated with dry storage of Aluminum-clad Spent Nuclear Fuel (ASNF) include a need to better understand the potential extent of gaseous molecular hydrogen (H 2 ) production through radiolytic degradation of the aluminum (oxy)hydroxide films present on ASNF. The characterization of radiolytic gas generation from ASNF (oxy)hydroxide layers has been identified as a key knowledge gap which poses a technical challenge to the long-term storage of ASNF. Task 2 of the action plan for the extended (>50 years) dry storage of ASNF addresses this gap. Previous radiolysis studies performed under Task 2 established baseline estimates of H 2 generation rates from the attendant hydrated oxides. The results confirmed that net radiolytic H 2 production has a dependency on absorbed gamma dose, as well as relative humidity and cover gas composition (air, nitrogen, and argon). Further experiments revealed that the physisorbed water on the samples may significantly impact the radiolytic H 2 yield. This phenomenon complicates the determination of H 2 generation rates for hydrated oxides, which may lead to inaccurate modeling predictions of the long-term H 2 yields in sealed storage systems containing ASNF, particularly when compared to spent fuel casks which have undergone some drying process intended to remove physically- and chemically-bound water. This report describes the testing methods utilized and the hydrogen generation results obtained in an investigation of the effects of gamma irradiation on aluminum materials for a variety of (oxy)hydroxide surface compositions and drying conditions. The testing methods included small-area aluminum material testing in ampules, and large-area aluminum material testing in steel vessels. Test material preparation, irradiation, and radiolytic H 2 measurement methods are summarized. The measured H 2 concentrations, which reflect the variable initial hydrated inventory and drying treatments, are compared to one another as well as to previously published data, to identify the primary factors affecting radiolytic H 2 generation rates and potential equilibrium H 2 concentrations.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS2004

Bias Reduction in Short Records of Satellite Soil Moisture

Although surface soil moisture data from different sources (satellite retrievals, ground measurements, and land model integrations of observed meteorological forcing data) have been shown to contain consistent and useful information in their seasonal cycle and anomaly signals, they typically exhibit very different mean values and variability. These biases pose a severe obstacle to exploiting the useful information contained in satellite retrievals through data assimilation. A simple method of bias removal is to match the cumulative distribution functions (cdf) of the satellite and model data. However, accurate cdf estimation typically requires a long record of satellite data. We demonstrate here that by wing spatial sampling with a 2 degree moving window we can obtain local statistics based on a one-year satellite record that are a good approximation to those that would be derived from a much longer time series. This result should increase the usefulness of relatively short satellite data records.

Reichle, Rolf H.↗
DOE OSTI2026

Quantifying mean, variability, and uncertainty in indoor radon exposure in Pennsylvania using random forest and quantile regression forest models

Radon is a naturally occurring radioactive gas that poses a serious health risk as the primary cause of lung cancer in non-smokers. Despite the well-known adverse association with health outcomes, current radon exposure assessments are limited to county-level or average-level estimates, which fail to capture regional variability. This study uses Machine Learning models, including Random Forest (RF) and Quantile Regression Forest (QRF), to estimate the indoor radon concentrations at the ZCTA (Zip code tabulation area)-level and characterize uncertainties in model estimates. Incorporating geological, meteorological, and building-specific data, the models aim to improve radon risk assessment by capturing mean exposure, variability, and extreme concentration levels. Processed radon test data (n = 718,111) were analyzed using average, variability, and quantile prediction methods. Models that estimate the average radon exposure at the ZCTA-level can yield promising model-fit results, but they do not capture the underlying variability of indoor radon exposure within a ZCTA. We utilize volatility analyses to identify characteristics indicative of high variability of indoor radon exposure. We also show that a QRF model can be used to estimate upper quantiles of residential radon exposure, thereby uncovering localized areas of elevated exposure that were not apparent in mean estimates. The results highlighted the need for a deep characterization of exposure risk and show that regions with moderate average exposure levels could still harbor extreme outliers with implications for evaluating health risks. Utilizing multiple radon exposure models allows for a deeper characterization of radon risk within a geographic area and can better identify high-risk areas. The results from this study provide a foundation for developing mitigation strategies and examining associations between radon exposure and health outcomes at fine scales. Future research should extend the geographic scope and incorporate additional environmental risk factors to establish a comprehensive framework for risk assessment.

Lee, Heechan [ORNL]↗
NASA NTRS1990

Local sensory control of a dexterous end effector

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Pinto, Victor H.↗
NASA NTRS1999

Meteoroids and Meteor Storms: A Threat to Spacecraft

Robust system design is the best protection against meteoroid damage. Impacts by small meteoroids are common on satellite surfaces, but impacts by meteoroids large enough to damage well designed systems are very rare. Estimating the threat from the normal meteoroid environment is difficult. Estimates for the occasional "storm" are even more uncertain. Common sense precautions are in order for the 1999 Leonids, but wide-spread catastrophic damage is highly unlikely. Strong Leonid showers are also expected in 2000 and 2001, but these pose much less threat than 1999.

Anderson, B. Jeffrey↗
NASA NTRSDate not supplied

Sensitivity Study of Dust-Induced Surface Erosion during Martian Planetary Entry

Large, global dust storms that periodically form in the Martian atmosphere pose a threat to NASA missions due to a lack of understanding of how they will affect the heat loading and mass loss of the entry vehicle’s thermal protection system (TPS). Previous studies have laid out viable methodologies for estimating the amount of surface recession from a significant dust storm, but rely on underlying modeling assumptions that are difficult to validate. The current work utilizes the DUST library, which is a Lagrangian particle solver under development at NASA Ames Research Center. DUST includes variable-fidelity fluid-particle coupling and has been tested for a wide range of problem types. The DUST library is used in conjunction with the US3D Naiver-Stokes solver. Using these tools, a sensitivity study is performed to determine the influence of the underlying dust modeling (drag coefficient, Nusselt number, and size distribution) on the surface erosion through a hypersonic Martian entry trajectory. The surface erosion was found to be insensitive to the drag and heating models, but was affected significantly by the size distributions parameters. The total recession was comparable to the thermochemical ablation predicted by material response codes, but the lack of a particle erosion model for PICA limits the predictive capability of the current work.

Thermal Protection Systems↗
DOE OSTI2022

Estimating the energy requirement for hydrogen production in proton exchange membrane electrolysis cells using rapid operando hydrogen crossover analysis

Hydrogen (H 2 ) crossover in proton exchange membrane water electrolyzers refers to the process by which hydrogen produced at the cathode traverses the membrane and mixes with the oxygen produced at the anode. This phenomenon reduces efficiency and may pose flammability hazards. In this work we present a method for quantifying the H 2 content of the anode exhaust gas using a gas chromatograph that is capable of sampling data every 2 min. Subsequent theory is presented to calculate the crossover flux, overall H 2 efficiency, and H 2 energy requirements. Results the effects of membrane thickness using Nafion TM N117 (178 um) and Nafion TM NR212 (51 um) membranes. Furthermore, it was found that thinner membranes lead to improved VI performance but exhibit higher crossover rates. Despite their increased crossover, leading to decreased hydrogen efficiency, the calculated required energy for NR212 membrane-electrode assemblies (MEAs) was significantly lower than that of N117 MEAs.

08 HYDROGEN↗
DOE OSTI2025

Monthly hydropower generation data for Western Canada to support Western-US interconnect power system studies

Hydroelectric power generation in Western Canada significantly contributes to power grid operations of the North American Western Interconnection through substantial generation, some of which is exported to the United States (U.S.). However, the lack of publicly available hydropower generation datasets poses challenges for future market projections and resource adequacy evaluations. We present a simulation-based monthly power system model-ready hydropower generation dataset for 110 facilities in British Columbia and Alberta from 1981 to 2019. These monthly hydropower generation estimates are developed from integrated hydrologic model simulations of runoff and reservoir-operated streamflow, followed by scaling that considers diversion inflow constraints based on hydropower water license information. To address the lack of comparable hydropower generation records, we conduct step-by-step evaluations for simulated runoff, regulated streamflow, and hydropower generation using available observations or estimates. The presented hydropower dataset aims to enhance the representation of hydropower resources in Western Canada, supporting power grid system studies for the Western Interconnection of the U.S. and Canada.

13 HYDRO ENERGY↗
DOE OSTI2021

Reconstructing magnetic deflections from sets of proton images using differential evolution

Proton imaging is a powerful technique for imaging electromagnetic fields within an experimental volume, in which spatial variations in proton fluence are a result of deflections to proton trajectories due to interaction with the fields. When deflections are large, proton trajectories can overlap, and this nonlinearity creates regions of greatly increased proton fluence on the image, known as caustics. The formation of caustics has been a persistent barrier to reconstructing the underlying fields from proton images. We have developed a new method for reconstructing the path-integrated magnetic fields, which begins to address the problem posed by caustics. Our method uses multiple proton images of the same object, each image at a different energy, to fill in the information gaps and provide some uniqueness when reconstructing caustic features. We use a differential evolution algorithm to iteratively estimate the underlying deflection function, which accurately reproduces the observed proton fluence at multiple proton energies simultaneously. We test this reconstruction method using synthetic proton images generated for three different, cylindrically symmetric field geometries at various field amplitudes and levels of proton statistics and present reconstruction results from a set of experimental images. Here, the method we propose requires no assumption of deflection linearity and can reliably solve for fields underlying linear, nonlinear, and caustic proton image features for the selected geometries and is shown to be fairly robust to noise in the input proton intensity.

47 OTHER INSTRUMENTATION↗