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32 records · Page 2

Component pose reconstruction using a single robotic total station for panelized building envelopes

The construction industry can benefit greatly from increased automation in construction processes in terms of precision, time, and labor costs. This is especially true for prefabricated construction for either new buildings or envelope retrofits. Here, prefabricated components are manufactured offsite according to design specifications and installed onsite. Accurate information on the component’s position and orientation (pose) is needed to achieve this. A tool named “Real-Time Evaluator” (RTE), designed to autonomously track prefabricated components as they are being installed and provide real-time installation instructions, is currently under development using a single robotic total station. This is challenging since at least three points are needed to determine the pose of an object in space. To achieve this goal with a single robotic total station, two key algorithms were developed: the “resection” algorithm aligns the digital twin with the physical twin regardless of the location of the total station, and the “transformation” algorithm gives instructions of translations and rotations to installers to achieve the desired installation pose. The algorithms were evaluated experimentally on a lab-scale demonstration. Results show that the resection algorithm achieved an average error of < 3.1 mm, while the transformation algorithm predicted the rotation angle along a single axis with an error of < 0.5◦.

Tang, Mengjia↗

New principles of self‐organization created through the interplay of DNA condensates, microtubules, and motors

Bioinspired design—which holds great promise for a new generation of materials that are robust to defects, scalable under green manufacture, environmentally responsive, and programmably reconfigurable—requires mastery over molecular self-organization. Yet, from its specific mechanisms to most general architectures, the principles governing self-organization remain poorly understood and not even fully enumerated. For living systems, one obvious architectural principle is the modular reuse of a few simple molecular components in myriad combinations to achieve more complex phenomena. For example, the mechanical tasks of a cell are driven by the nonequilibrium dynamics of cytoskeletal filaments and molecular motors—the same filaments and motors, reprogrammed by a variety of modulators, perform tasks ranging from cell movement to division. Similarly, many compartmentalization tasks are performed by liquid-like condensates of simple components, which act as membraneless organelles to localize particular molecules in space and time (e.g. for gene regulation or RNA processing). In a few cases, condensates combine and interact with the cytoskeleton to create still more complex phenomena, e.g. the nucleation of microtubule asters from the centrosome (a protein condensate) to form the mitotic spindle during cell division. Very little is known about the fundamental mechanisms of such filament-plus-condensate phenomena. Despite few examples, the landscape of behaviors that can be achieved through the combination of condensates, filaments, and motors appears vast. However, exploration has been hindered by a lack of systems that have sufficiently programmable and dynamically tunable interactions between component condensates, filaments, and motors. We proposed to combine programmable DNA condensates, filamentous microtubules, and light-controlled motors into self-organizing systems whose principles go beyond those that have been observed in nature. In one limit, our systems will use microtubules and motors to create the molecular analog of a network of roads, which will organize droplets of DNA condensates capable of carrying molecular cargo. DNA condensates coupled to motors will flow from one microtubule aster hub to another, with their direction and timing controlled by DNA circuits. In another limit, microtubules will swim through bulk DNA condensates and exhibit strong interactions with boundaries between different types of condensates. Microtubule swimmers will reflect, get trapped, or refract at boundaries, under a mechanical analog of the classical optical index of refraction. DNA condensates having different mechanical indexes of refraction will be used to construct the analog of optical lenses, so that microtubule swimmers can be manipulated like light—collimated, diffracted, focused, and sorted based on properties analogous to wavelength. These two limits define two new architectures, within which multiple new mechanistic principles for self-organization will be discovered and explored. To explore these architectures, the motor-based coupling between DNA condensates and filaments will be controlled in time and space through the use of opto-proteins that create reversible links between DNA condensates and motors upon illumination. For each principle of interest, patterns of light will create virtual experiments by defining patterns of activity where DNA condensates walk along filaments, or filaments swim through condensates, and patterns of inactivity which will serve either as controls, or as boundary conditions vital to create the desired phenomena. This research serves the goals of Basic Energy Sciences Biomolecular Material Program by elucidating the principles by which the emergent, nonequilibrium behavior of collections of DNA condensates, motors, and microtubules can be programmed by environmental light patterns to create complex motion and materials transport. Because DNA condensates can be readily coupled to virtually any high performance nanomaterial, from carbon nanotubes, to metal nanoparticles, to light harvesting systems, this work provides a path to the construction, self-maintenance and reconfiguration of materials relevant to the Department of Energy.

60 APPLIED LIFE SCIENCES↗

Development of a liquid-helium free cryogenic sample holder with mK temperature control for autonomous electron microscopy

The automated and autonomous cryogenic transmission electron microscopy (Cryo-EM) demands a sample holder capable of maintaining temperatures below 10 K with precise control, long holding times, and minimal helium use. Rising to this challenge, we initiated an ambitious project to develop a novel closed-cycle cryocooler-based cryogenic sample holder that operates without the use of liquid helium and the consumption of gaseous helium. Here, this article presents the design, construction, and experimental testing of the initial prototype, which achieves an ultimate temperature of 5.6 K with exceptional stability close to 1mK, while providing a wide temperature control range from 295 K to 5.6 K, marking a clear advancement in cryo-EM holder development. While the prototype was not designed for atomic resolution imaging and thus lacks a sturdy support system to mitigate mechanical vibrations from the cryocooler's pulsed tube, this innovative approach successfully demonstrates proof of concept. It offers unprecedented capabilities for state-of-the-art cryogenic microscopy and microanalysis in materials and biological sciences.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Design and simulation of a muon detector to characterize geological overburden

This study presents the design, construction, and simulation of a mobile muon detector tailored for geological overburden characterization. The detector employs plastic scintillator paddles with silicon photomultipliers (SiPMs) and a QuarkNet data acquisition system, offering a portable solution suitable for remote field deployment. The simulator’s modular aluminum frame allows for adjustable geometry and directional sensitivity, while its battery system supports over a week of autonomous operation. Preliminary experimental tests confirmed that its muon flux measurements were consistent with theoretical expectations. A comprehensive simulation framework using Geant4 and CORSIKA was developed to model detector response and overburden effects. Analytical and Monte Carlo methods were used to assess quadrant resolution and infer muon directionality. This work lays the foundation for future overburden mapping and supports the development of reconstruction algorithms for geological applications.

72 - PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

HEPTAPOD: Orchestrating High Energy Physics Workflows Towards Autonomous Agency

Many workflows in high-energy-physics (HEP) stand to benefit from recent advances in transformer-based large language models (LLMs). While early applications of LLMs focused on text generation and code completion, modern LLMs now support orchestrated agency: the coordinated execution of complex, multi-step tasks through tool use, structured context, and iterative reasoning. We introduce the HEP Toolkit for Agentic Planning, Orchestration, and Deployment (HEPTAPOD), an orchestration framework designed to bring this emerging paradigm to HEP pipelines. The framework enables LLMs to interface with domain-specific tools, construct and manage simulation workflows, and assist in common utility and data analysis tasks through schema-validated operations and run-card-driven configuration. To demonstrate these capabilities, we consider a representative Beyond the Standard Model (BSM) Monte Carlo validation pipeline that spans model generation, event simulation, and downstream analysis within a unified, reproducible workflow. HEPTAPOD provides a structured and auditable layer between human researchers, LLMs, and computational infrastructure, establishing a foundation for transparent, human-in-the-loop systems.

Menzo, Tony [Alabama U.; Fermilab] (ORCID:00000002↗

Designing resilient IoT and Edge Computing with federated tinyML

The rapid growth of the Internet of Things (IoT) and Edge Computing (EC) has brought significant conveniences to modern society but has also greatly expanded the cyber attack surfaces, particularly as these technologies are being increasingly integrated into critical systems such as power grids, healthcare, and smart homes. Here, to improve IoT/EC’s cybersecurity posture, we leveraged Artificial Intelligence (AI) and Machine Learning (ML) by employing tinyML to monitor voluminous IoT data for cyber threats while addressing devices’ resource constraints, and utilizing Federated Learning (FL) to share local detection knowledge across the system while preserving privacy. Building on our three-layer architecture combining tinyML and FL to enhance autonomous cyber attack detection, this paper demonstrated that the architecture improves detection accuracy, reduces resource consumption, and enables lightweight, secure IoT device monitoring. These results were validated using the public N-BaIoT dataset as well as real IoT network traffic data collected under multiple attack scenarios from our testbeds. Additionally, we introduced an enhanced FL methodology with a novel preprocessing stage, including federated feature selection and global preprocessor construction, to address IoT/EC data heterogeneity. We developed a physical IoT testbed for attack simulations and data collection, implemented a tinyML-powered detector for realistic model validation, and also built a virtual testbed for scalable evaluations of FL models across diverse network environments.

Cognitive cyber↗

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

Enhancing Operational Safety via Agentic Dialogue Hazard Identification Analysis

Operational safety in high-stakes domains such as industrial process control, autonomous, and safety-critical systems demand reliable hazard identification. While large language models (LLMs) have shown promise in automating safety analysis tasks, single-turn, monolithic inference is brittle: it lacks the self-correction, deliberation, and contextual refinement that safety engineers apply iteratively. In this paper, we introduce HAZDIAL, a framework that investigates whether structured agentic dialogue (multi-agent, multi-turn interactions) improves the quality of NLP-based hazard identification over single-pass baselines. We systematically compare two dialogue modalities: adversarial debate and constructive discussion, and propose an genetic algorithm-based agentic interaction optimization. We evaluate all configurations against a curated golden dataset using standard classification metrics (accuracy, precision, recall, F1) and a novel dialogue metrics. This work advances the intersection of dialogue systems, multi-agent reasoning, and AI safety, providing empirical evidence for dialogue-driven hazard analysis.

Das, Sanjay [ORNL] (ORCID:0009000542591915)↗

SPARTAN and IMPROVE Comparison Experiment (SPICE) Interim Campaign Report

SPICE (the SPARTAN and IMPROVE Comparison Experiment) aims to obtain and quantify comparisons between aerosol PM 2.5 mass concentration measurements from the University of Oklahoma (OU) Surface Particulate Matter Network (SPARTAN) station and the U.S. Environmental Protection Agency (EPA) Interagency Monitoring of Protected Visual Environments (IMPROVE) station hosted by the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) User Facility at ARM’s Southern Great Plains (SGP) observatory in Oklahoma. Aerosols—both natural and anthropogenic—affect human populations in multiple ways. Much of ARM’s research focuses on how aerosols influence weather and climate through their optical and radiative effects, as well as their impacts on clouds and precipitation. However, aerosols also pose direct risks to humans and other organisms through inhalation, with the severity of health impacts depending on particle size, chemical composition, and duration of exposure. The IMPROVE network was established by the U.S. EPA to monitor air quality, including visible clarity as well as total and chemically speciated aerosol mass concentrations. The ARM SGP site hosts the IMPROVE SOGP station. Separately, the SPARTAN network operates a globally distributed set of stations similar to IMPROVE but with an emphasis on remote deployment and semi-autonomous operation for use beyond the borders of the United States (IMPROVE only operates within the U.S.). The University of Oklahoma operates a SPARTAN station. To establish confidence in the OU SPARTAN instrumentation and measurement protocol relative to the EPA-certified IMPROVE station, the OU SPARTAN station is currently deployed at SGP in close proximity to the IMPROVE SOGP station. The SPICE campaign was envisioned as a contiguous calendar-year effort for 2025 to capture seasonal variation in mass loading as well as composition. However, independent of the SPICE campaign, the SPARTAN network adopted a new filter construction part-way through the year, interrupting our contiguous data set. Thus, to obtain a contiguous data set with a uniform consistent configuration, SPICE desires an extension through 2026.

54 ENVIRONMENTAL SCIENCES↗

Siting and sizing of public–private charging stations impacts on household and electric vehicle fleets

To facilitate the provision of electric vehicle charging stations (EVCS) in urban areas, this study investigates the benefits of co-locating fleet-owned chargers with public charging stations to enable construction incentives and cord-sharing cost savings. Shared EVCS can serve charging demand from both user types: private (household) EV owners and those managing fleet vehicles – like shared and fully automated EV (SAEV) fleets. Using POLARIS to simulate all person-travel across the 6-county Austin, Texas region, new EVCS were sited and sized with DC fast-charging (DCFC) plugs to lower operating and construction costs while providing public + private (PP) service across an 81-square-mile core geofence (where 200 SAEVs were active) over 24-hour days. When co-location is permitted, 115 DCFC cords were added to the 23 existing (publicly available) stations to enable SAEVs and household EVs (HHEVs) charging access, within the geofence. Each 250-mile-range SAEV was simulated to travel an average of 330 miles per day, serve over 92 person-trips, and recharge 2.7 times a day (for 2.4 h per session). The new DCFC plugs were primarily added to public EVCS at shopping centers and schools, and in residential settings along freeways. The average plug served 4.8 EVs per day. Most co-located PP EVCS permitted immediate (no-wait) charging, except for 2 stations along freeways that averaged 8 min of wait time to begin charging. In conclusion, the co-location strategy lowered fleet owners’ initial EVCS construction costs by 12 % (thanks to cord-sharing to avoid cord duplication), while reducing SAEV wait times to just 3.1 min (versus 10.7 min if SAEV managers had to build and operate their own EVCS).

EV charging modeling↗

Integrating Machine-learning-assisted Computer Vision with RICH System

Developments in artificial intelligence have vastly expanded the capabilities of robots. Currently, the Spallation Neutron Source (SNS) beamlines at Oak Ridge National Lab (ORNL) have robotic sample loaders to increase the efficiency of running experiments. However, they require retraining if anything about the situation changes, e.g., where the samples are, and cannot notice if errors occur. So, the viability of using computer vision and machine learning to enhance these sample loaders’ functionality was investigated. In this project, the RICH system with a Dobot CR3 6-axis robot present at the VULCAN beamline assisted by an Intel Realsense D435i camera, a unique camera that enables convenient translation of 2D pixel coordinates to 3D world points, was programmed to load ceramic crucibles into a thermogravimetric analyzer (TGA) furnace. An algorithm was constructed in Python with three major phases planned: (1) obtaining a sample, (2) moving it to the target location, and then (3) bringing the sample back to its original location once the experiment finished. In the first phase, the algorithm would dynamically detect sample locations using ArUco markers to recognize the samples’ general location and a custom-trained yolov5 object detection model to locate the crucibles’ centers. Afterward, the robot would be directed to pick up samples based on the crucibles’ calculated positions. In the second phase, the robot would move the sample to a secondary point, reorient its grip, and place the sample at the target location. In the final phase, the robot would determine whether the sample was intact and would bring it back to its original place if it was or raise an alarm. Using this algorithm, the robot was able to pick up different types of crucibles at varying positions. These results indicate that integrating machine-learning-assisted computer vision with robotic sample loaders can result in effective autonomous detection of samples.

97 MATHEMATICS AND COMPUTING↗

Modular Subsurface Sensors and Integrated Software for Advanced Subsurface Characterization and Monitoring using Unoccupied Vehicles

The advent and subsequent proliferation of autonomous airborne, waterborne, and groundbased vehicles (i.e., “drones”) promises to broadly transform the geosciences and associated industries, including fossil energy exploration and development, mineral resource exploration and development, water-resource management, and environmental remediation. For geophysical characterization and monitoring, the prospect of programming highly repeatable and low-cost drone missions for subsurface imaging will allow for deployments in hazardous and previously inaccessible areas. Coupled with autonomous workflows for data processing, management, and visualization, drone-based geophysical characterization and monitoring will enable unprecedented, real-time insight into diverse subsurface properties and processes of scientific and engineering importance. Toward this end, the objectives of this Lab Directed Research and Development (LDRD) project were to develop new (1) instrumentation for dronebased electromagnetic induction (EMI) geophysical imaging, including separated transmitter and receivers and associated electronics, (2) software for real-time data telemetry, processing, management, and visualization. Although EMI has been previously deployed using unoccupied aerial systems (UASs), these applications failed to capitalize on the game-changing capabilities of drone platforms. Whereas drone-based data acquisition allows for collection of rich, three-dimensional (3D) multi-offset/multi-angle configurations between transmitters and receivers, past efforts have relied on conventional instrumentation that was designed for ground-based data collection with the transmitter and a single receiver housed in the same unit; nor did these previous applications demonstrate real-time delivery of results to support rapid management decisions in the field. In this 1-year project, we (1) designed and constructed new lightweight independent transmitter and receiver antenna platforms that communicate with a laptop computer; (2) developed software to control data acquisition, manage/transfer data, and visualize data as its collected; and (3) demonstrated the operation of the new hardware and software systems in a ground-based field test. Our work entails major technological advances for EMI and established a foundation on which to build a new drone-based, real-time geophysical EMI imaging capability to support diverse challenges facing the nation.

47 OTHER INSTRUMENTATION↗

Autonomous Hydrogen Fueling Station

This project “Autonomous Hydrogen Fueling Station” covered the autonomous refueling with both gaseous hydrogen and liquid hydrogen. The part on gaseous hydrogen focused on the development of an autonomous robotic fueling arm that would couple to a fuel cell engine for hydrogen refueling without guidance from the forklift operator and budget period. Research was also covered for the robotic fueling with a commercial vehicle. The second phase of the project created the baseline for an autonomous liquid hydrogen transfer system that would minimize boil off losses by operating at thermodynamically efficient state points. For the development of the robotic fueling arm, testing was conducted to establish a baseline measurement of the accuracy and repeatability of a human operator positioning a lift truck in front of a dispenser. The goal was to establish the range of motion required for an autonomous fueling mechanism to mate a hydrogen nozzle with a receptacle on a fuel cell system installed in a forklift. The final design comprised a selective compliance articulated robot arm (SCARA)-type mechanism with two arms for horizontal motion and a ball screw for vertical movement and color and LIDAR cameras were used for marker identification and proximity awareness to guide the robotic arm to its target receptacle. Initial tests resulted in 199 out of 200 successful attempts at autonomous coupling of the dispensing coupler and a fuel cell engine, without hydrogen. The dispenser prototype was modified to include tubing for both hydrogen fuel and air purge lines, but subsequent tests were confounded by the shoulder motor over current errors which limited the robot from getting to the fully inserted position to achieve a positive latch. Robotic hydrogen refueling was successfully demonstrated over 1.5 hours of testing, Plug completed 29 successful latches with an average number of 4 sequential latches before failure. However, a robot capable of placing the nozzle with more force is required for higher reliability. For budget period two, a small scale (10 kg / transfer) automated control system was designed that would operate valves to control pressure and flow of liquid nitrogen between a source and receiving tank with an aim to minimize boil off losses by operating at the most thermodynamically efficient state points. Control system logic flow and a P&ID were developed prior to system safety characterization via HAZOP. A control narrative and system state points were defined. Delays in approval for a change of project objective and procurement issues precluded the construction and test of the final prototype system.

08 HYDROGEN↗

Data Interfaces for Automated Vehicle Services - A Municipality Perspective

As Automated Vehicle (AV) services proliferate, data sharing between AV operators and municipal agents is assuming greater importance. Information on the dynamic nature of the road system such as incidents to avoid, weather hazards (such as flooding), construction and detours, as well as active safety concerns (e.g. - riots) is important for AV operators. Such information cannot be directly sensed from a vehicle's sensor array, but instead must be communicated in a timely and trustworthy channel. Municipalities are interested in pushing this information to AV operators to support emergency response efforts, reduce traffic in construction zones, and generally improve operation of the system. Similarly, information on vehicle safety such as disengagements, as well as critical information on the use of roadway system (trips, origin and destination patterns) are important performance factors for municipalities to understand utilization and plan for appropriate infrastructure. As mobility shifts to on-demand options, the need for safe and coordinated pick-up and drop-off zones will increase (potentially reducing parking needs). For all of these reasons, communication flows between AV operators and municipalities are becoming increasingly important. This paper investigates the functions, emerging practices and protocols for sharing of such critical data, and identifies gaps in and challenges in existing practices. Additionally, case studies are used to highlight the impacts of data sharing between AV operators and municipalities.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗