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DOE OSTI2014

Quantum dot ternary-valued full-adder: Logic synthesis by a multiobjective design optimization based on a genetic algorithm

A methodology is proposed for designing a low-energy consuming ternary-valued full adder based on a quantum dot (QD) electrostatically coupled with a single electron transistor operating as a charge sensor. The methodology is based on design optimization: the values of the physical parameters of the system required for implementing the logic operations are optimized using a multiobjective genetic algorithm. The searching space is determined by elements of the capacitance matrix describing the electrostatic couplings in the entire device. The objective functions are defined as the maximal absolute error over actual device logic outputs relative to the ideal truth tables for the sum and the carry-out in base 3. The logic units are implemented on the same device: a single dual-gate quantum dot and a charge sensor. Their physical parameters are optimized to compute either the sum or the carry out outputs and are compatible with current experimental capabilities. The outputs are encoded in the value of the electric current passing through the charge sensor, while the logic inputs are supplied by the voltage levels on the two gate electrodes attached to the QD. The complex logic ternary operations are directly implemented on an extremely simple device, characterized by small sizes and low-energy consumption compared to devices based on switching single-electron transistors. The design methodology is general and provides a rational approach for realizing non-switching logic operations on QD devices.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

DOE OSTI2022

ADAPTIVE GROUP TESTING WITH MISMATCHED MODELS

Accurate detection of infected individuals is one of the critical steps in stopping any pandemic. When the underlying infection rate of the disease is low, testing people in groups, instead of testing each individual in the population, can be more efficient. In this work, we consider noisy adaptive group testing design with specific test sensitivity and specificity that select the optimal group given previous test results based on pre-selected utility function. As in prior studies on group testing, we model this problem as a sequential Bayesian Optimal Experimental Design (BOED) to adaptively design the groups for each test. We analyze the required number of group tests when using the updated posterior on the infection status and the corresponding Mutual Information (MI) as our utility function for selecting new groups. More importantly, we study how the potential bias on the ground-truth noise of group tests may affect the group testing sample complexity.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1975

Remote sensing of atmospheric temperature profiles with the Nimbus 5 microwave spectrometer

The paper discusses the accuracy of atmospheric vertical temperature profile measurements performed by the Nimbus 5 microwave spectrometer and compares results obtained during the first 6 months of its operation with independent ground-truth measurements (coincident radiosonde measurements). The microwave spectrometer can measure temperature profiles averaged over the instrument weighting function (about 10 km) layers with a root-mean-square accuracy of a few tenths of a degree K for measurement integration times of 16 s. Lower tropospheric temperature data from the spectrometer measurements is used in the numerical weather prediction model of the National Meteorological Center.

Waters, J. W.↗

NASA NTRS1984

Getting Mental Models and Computer Models to Cooperate

A qualitative theory of supervisory control is outlined wherein the mental models of one or more human operators are related to the knowledge representations within automatic controllers (observers, estimators) and operator decision aids (expert systems, advice-givers). Methods of quantifying knowledge and the calibration of one knowledge representation to another (human, computer, or objective truth) are discussed. Ongoing experiments in the use of decision aids for exploring one's own objective function or exploring system constraints and control strategies are described.

Sheridan, T. B.↗

DOE OSTI2013

Investigation of realistic PET simulations incorporating tumor patient's specificity using anthropomorphic models: Creation of an oncology database

Purpose: The GATE Monte Carlo simulation toolkit is used for the implementation of realistic PET simulations incorporating tumor heterogeneous activity distributions. The reconstructed patient images include noise from the acquisition process, imaging system's performance restrictions and have limited spatial resolution. For those reasons, the measured intensity cannot be simply introduced in GATE simulations, to reproduce clinical data. Investigation of the heterogeneity distribution within tumors applying partial volume correction (PVC) algorithms was assessed. The purpose of the present study was to create a simulated oncology database based on clinical data with realistic intratumor uptake heterogeneity properties.Methods: PET/CT data of seven oncology patients were used in order to create a realistic tumor database investigating the heterogeneity activity distribution of the simulated tumors. The anthropomorphic models (NURBS based cardiac torso and Zubal phantoms) were adapted to the CT data of each patient, and the activity distribution was extracted from the respective PET data. The patient-specific models were simulated with the Monte Carlo Geant4 application for tomography emission (GATE) in three different levels for each case: (a) using homogeneous activity within the tumor, (b) using heterogeneous activity distribution in every voxel within the tumor as it was extracted from the PET image, and (c) using heterogeneous activity distribution corresponding to the clinical image following PVC. The three different types of simulated data in each case were reconstructed with two iterations and filtered with a 3D Gaussian postfilter, in order to simulate the intratumor heterogeneous uptake. Heterogeneity in all generated images was quantified using textural feature derived parameters in 3D according to the ground truth of the simulation, and compared to clinical measurements. Finally, profiles were plotted in central slices of the tumors, across lines with heterogeneous activity distribution for visual assessment.Results: The accuracy of the simulated database was assessed against the original clinical images. The PVC simulated images matched the clinical ones best. Local, regional, and global features extracted from the PVC simulated images were closest to the clinical measurements, with the exception of the size zone variability and the mean intensity values, where heterogeneous tumors showed better reproducibility. The profiles on PVC simulated tumors after postfiltering seemed to represent the more realistic heterogeneous regions with respect to the clinical reference.Conclusions: In this study, the authors investigated the input activity map heterogeneity in the GATE simulations of tumors with heterogeneous activity distribution. The most realistic heterogeneous tumors were obtained by inserting PVC activity distributions from the clinical image into the activity map of the simulation. Partial volume effect (PVE) can play a crucial role in the quantification of heterogeneity within tumors and have an important impact on applications such as patient follow-up during treatment and assessment of tumor response to therapy. The development of such a database incorporating patient anatomical and functional variability can be used to evaluate new image processing or analysis algorithms, while providing control of the ground truth, which is not available when dealing with clinical datasets. The database includes all images used and generated in this study, as well as the sinograms and the attenuation phantoms for further investigation. It is freely available to the interested reader of the journal at http://www.med.upatras.gr/oncobase/.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2023

Mathematical nuances of Gaussian process-driven autonomous experimentation

Abstract The fields of machine learning (ML) and artificial intelligence (AI) have transformed almost every aspect of science and engineering. The excitement for AI/ML methods is in large part due to their perceived novelty, as compared to traditional methods of statistics, computation, and applied mathematics. But clearly, all methods in ML have their foundations in mathematical theories, such as function approximation, uncertainty quantification, and function optimization. Autonomous experimentation is no exception; it is often formulated as a chain of off-the-shelf tools, organized in a closed loop, without emphasis on the intricacies of each algorithm involved. The uncomfortable truth is that the success of any ML endeavor, and this includes autonomous experimentation, strongly depends on the sophistication of the underlying mathematical methods and software that have to allow for enough flexibility to consider functions that are in agreement with particular physical theories. We have observed that standard off-the-shelf tools, used by many in the applied ML community, often hide the underlying complexities and therefore perform poorly. In this paper, we want to give a perspective on the intricate connections between mathematics and ML, with a focus on Gaussian process-driven autonomous experimentation. Although the Gaussian process is a powerful mathematical concept, it has to be implemented and customized correctly for optimal performance. We present several simple toy problems to explore these nuances and highlight the importance of mathematical and statistical rigor in autonomous experimentation and ML. One key takeaway is that ML is not, as many had hoped, a set of agnostic plug-and-play solvers for everyday scientific problems, but instead needs expertise and mastery to be applied successfully. Graphical abstract

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2026

Water Observations of Flow/No-Flow for the East-Taylor Watershed, Colorado (June-July 2025 and 2026)

This dataset provides multi-year, ground-truth visual observations of surface water flow/no-flow conditions within the East-Taylor Watershed, Colorado, collected during June and July of 2025 and 2026. In June and July 2025, on-the-ground visual observations of flow/no-flow were collected as part of the Watershed Function Scientific Focus Area (SFA) and Rocky Mountain Biological Laboratory (RMBL) Colorado Headwaters Ecological Spectroscopy Study (CHESS) campaign (further details are provided within the CHESS Project Description). We obtained 377 water observations of flow/no-flow within the East-Taylor Watershed, Colorado. These ground-truth observations were collected to validate classification maps from remote sensing data and model results within the East-Taylor Watershed. In 2025, flow/no-flow measurements were collected using a field-based app for the CHESS Campaign (Zerion iForm). Within the field app, a water observation form was created to collect coordinates and metadata about the observation. Information collected for the water observation points included information about visually-assessed streamflow presence/absence (standard question obtained from Colorado State University’s StreamTracker project), flow estimate, stream or ponded area width, canopy cover, manganese films, iron seeps, and beaver activity. For 2025 water observations, this dataset contains: (1) a data file with the water observations and coordinates (2025_Water_Observations.csv); (2) a Keyhole Markup Language Zipped (KMZ) with the water observation locations and metadata (2025_Water_Observations_Locations.kmz); (3) photos (.jpg and .jpeg) of the water observation points, organized by location, contained within 2025_Water_Observations_FieldPhotographs.zip file; and (4) water observation protocols and figures (2025_Water_Observation_Protocols.pdf). In June and July 2026, on-the-ground visual observations of flow/no-flow were collected as part of the Watershed Function SFA project. We obtained 365 water observations of flow/no-flow within the East-Taylor Watershed, Colorado. The 2026 observations focused on collecting repeat measurements at the 2025 flow/no-flow observation locations conducted as part of the CHESS campaign. These ground-truth observations were collected to understand differences in flow/no-flow in 2026, given the unprecedented 2026 drought in Colorado. In 2026, flow/no-flow measurements were collected using ArcGIS (Geographic Information System) Survey123. Within the field app, a water observation form was created to collect coordinates and metadata about the observation. Information collected for the water observation points included repeat information from the 2025 water observation effort, including visually-assessed streamflow presence/absence (standard question obtained from Colorado State University’s StreamTracker project), flow estimate, stream or ponded area width, canopy cover, manganese films, iron seeps, beaver activity, and a new metadata component of estimated stream depth (for select locations). For 2026 water observations, this dataset contains: (1) a data file with the water observations and coordinates (2026_Water_Observations.csv); (2) a Keyhole Markup Language Zipped (KMZ) with the water observation locations and metadata (2026_Water_Observations_Locations.kmz); (3) photos (.jpg) of the water observation points, organized by location, contained within 2026_Water_Observations_FieldPhotographs.zip file; and (4) water observation protocols and figures (2026_Water_Observation_Protocols.pdf). For 2025 and 2026 water observations, this dataset contains: (1) a location metadata file (locations.csv); (6) a file-level metadata (flmd.csv) file that lists each file contained in the dataset with associated metadata; and (7) a data dictionary (dd.csv) file that contains column/row headers used throughout the files along with a definition, units, and data type. CHESS Project Description: The Colorado Headwaters Ecological Spectroscopy Study (CHESS) comprised a multi-week airborne remote sensing and field observation campaign in the Upper Gunnison Basin, Colorado, conducted in June and July of 2025. Airborne remote sensing was conducted by the National Ecological Observatory Network Airborne Observation Platform (NEON AOP), concurrent with a field campaign run by the Rocky Mountain Biological Laboratory (RMBL), the Lawrence Berkeley National Laboratory (LBNL) and SLAC National Accelerator Laboratory Watershed Function Science Focus Area (SFA), and NASA-JPL (Jet Propulsion Laboratory) Earth Surface Mineral Dust Source Investigation (EMIT) program. Between June 10 and July 18, 2025, the NEON AOP flight team collected high-resolution aerial imaging spectroscopy and Light Detection and Ranging (LiDAR) data over three domains: the Upper East River (CRBU), Almont Triangle (ALMO), and the Upper Taylor Basin (UPTA). In coordination with the flights, a field campaign acquired ground-truth observations, including observations of vegetation composition, foliar traits, forest demography, and subsurface properties in 18 core sampling areas within the domains. Additional surface water observations were taken at over 380 point locations. All CHESS campaign datasets can be found within the CHESS ESS-DIVE data portal: https://data.ess-dive.lbl.gov/portals/chess. This work was supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231. 2026-09-02: This dataset was updated to include 2026 water observation measurements. The 2025 observation files were also updated to ensure a consistent file naming convention across water observation years.

2018 NEON and 2025 CHESS Campaigns↗

DOE OSTI2015

Models for predicting objective function weights in prostate cancer IMRT

Purpose: To develop and evaluate the clinical applicability of advanced machine learning models that simultaneously predict multiple optimization objective function weights from patient geometry for intensity-modulated radiation therapy of prostate cancer. Methods: A previously developed inverse optimization method was applied retrospectively to determine optimal objective function weights for 315 treated patients. The authors used an overlap volume ratio (OV) of bladder and rectum for different PTV expansions and overlap volume histogram slopes (OVSR and OVSB for the rectum and bladder, respectively) as explanatory variables that quantify patient geometry. Using the optimal weights as ground truth, the authors trained and applied three prediction models: logistic regression (LR), multinomial logistic regression (MLR), and weighted K-nearest neighbor (KNN). The population average of the optimal objective function weights was also calculated. Results: The OV at 0.4 cm and OVSR at 0.1 cm features were found to be the most predictive of the weights. The authors observed comparable performance (i.e., no statistically significant difference) between LR, MLR, and KNN methodologies, with LR appearing to perform the best. All three machine learning models outperformed the population average by a statistically significant amount over a range of clinical metrics including bladder/rectum V53Gy, bladder/rectum V70Gy, and dose to the bladder, rectum, CTV, and PTV. When comparing the weights directly, the LR model predicted bladder and rectum weights that had, on average, a 73% and 74% relative improvement over the population average weights, respectively. The treatment plans resulting from the LR weights had, on average, a rectum V70Gy that was 35% closer to the clinical plan and a bladder V70Gy that was 29% closer, compared to the population average weights. Similar results were observed for all other clinical metrics. Conclusions: The authors demonstrated that the KNN and MLR weight prediction methodologies perform comparably to the LR model and can produce clinical quality treatment plans by simultaneously predicting multiple weights that capture trade-offs associated with sparing multiple OARs.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2021

URANIUM HOLDUP MONITORING WITH COMPTON IMAGING AS FUNCTION OF DEPTH AND MASS

Mass quantification using standoff gamma detection is a logical progression for MC&A applications in uranium processing facilities. While obtaining a ground truth from physical collection and weighing of masses is ideal and routine, it poses a logistical problem from both a standpoint of ALARA programs as well as interruptions to operations. The standard approach is the Generalized Geometry in Holdup (GGH) method that can apply for many cases where geometries of the holdup match simulated models; however, there are many cases where a model may not exist or a feature of the holdup geometry is such that it does not match a model particularly well.1 Gamma imaging at standoff distances and outside process equipment has potential to address these shortcomings and improve mass estimations while reducing personnel exposure; however, algorithms still require a significant degree of benchmarking to build sufficient confidence in algorithms before displacing GGH in some procedures. This paper presents the creation of a set of laboratory standards of depleted U3O8 in fixed size containers covering a range of masses and effective thicknesses up to the infinite thickness for the 185-keV line. These blocks are identically sized aluminum boxes loaded such that a thin, flat face is placed towards the imager, while the back side contains closed cell foam to apply pressure to keep the powder in a fixed position at the front face as the sources are manipulated for measurements. Included is an analysis of the mass estimation using a commercially available Compton imaging instrument where multiple geometries are created showing limitations in current methodologies.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2011

Properties of jets measured from tracks in proton-proton collisions at center-of-mass energy √s=7 TeV with the ATLAS detector

Jets are identified and their properties studied in center-of-mass energy √s=7 TeV proton-proton collisions at the Large Hadron Collider using charged particles measured by the ATLAS inner detector. Events are selected using a minimum bias trigger, allowing jets at very low transverse momentum to be observed and their characteristics in the transition to high-momentum fully perturbative jets to be studied. Jets are reconstructed using the anti-k t algorithm applied to charged particles with two radius parameter choices, 0.4 and 0.6. An inclusive charged jet transverse momentum cross section measurement from 4 GeV to 100 GeV is shown for four ranges in rapidity extending to 1.9 and corrected to charged particle-level truth jets. The transverse momenta and longitudinal momentum fractions of charged particles within jets are measured, along with the charged particle multiplicity and the particle density as a function of radial distance from the jet axis. Comparison of the data with the theoretical models implemented in existing tunings of Monte Carlo event generators indicates reasonable overall agreement between data and Monte Carlo. These comparisons are sensitive to Monte Carlo parton showering, hadronization, and soft physics models.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS1981

Dynamic study of the upper Sao Francisco River and the Tres Marias reservoir using MSS/LANDSAT images

The use of LANDSAT multispectral ban scanner imagery to verify the relationship between the behavior of the Tres Marias reservoir and the dynamics of the Sao Francisco River supply basin is described. The dispersion of suspended sediments and their concentration in the surface layers of the water are considered. A five year survey of the region during both dry and rainy seasons was performed. The drainage network was analyzed based on the patterns of dessication, water rises and soil use in the supply basin. Surface layers of the reservoir were tabulated as a function of the levels of gray in the imagery. In situ observations of water depth and reflectance were performed. Ground truth and LANDSAT data were correlated to determine the factors affecting the dynamics of the supply basin.

Dejesusparada, N.↗

NASA NTRS1992

Melt production in large-scale impact events: Planetary observations and implications

Differences in scaling relationships for crater formation and the generation of impact melt should lead to a variety of observable features and phenomena. These relationships infer that the volume of the transient cavity (and final crater) relative to the volume of impact melt (and the depth to which melting occurs) decreases as the effects of gravity and impact velocity increase. Since planetary gravity and impact velocity are variables in the calculation of cavity and impact-melt volumes, the implications of the model calculation will vary between planetary bodies. Details of the model calculations of impact-melt generation as a function of impact and target physical conditions were provided elsewhere, as were attempts to validate the model through ground-truth data on melt volumes, shock attenuation, and morphology from terrestrial impact craters.

Cintala, Mark J.↗

DOE OSTI2019

Inferring Atmospheric Release Characteristics in a Large Computer Experiment using Bayesian Adaptive Splines

An atmospheric release of hazardous material, whether accidental or intentional, can be catastrophic for those in the path of the plume. Predicting the path of a plume based on characteristics of the release (location, amount and duration) and meteorological conditions is an active research area highly relevant for emergency and long-term response to these releases. As a result, researchers have developed particle dispersion simulators to provide plume path predictions that incorporate release characteristics and meteorological conditions. However, since release characteristics and meteorological conditions are often unknown, the inverse problem is of great interest, that is, based on all the observations of the plume so far, what can be inferred about the release characteristics? This is the question we seek to answer using plume observations from a controlled release at the Diablo Canyon Nuclear Power Plant in Central California. With access to a large number of evaluations of a computationally expensive particle dispersion simulator that includes continuous and categorical inputs and spatio-temporal output, building a fast statistical surrogate model (or emulator) presents many statistical challenges, but is an essential tool for inverse modeling and sensitivity analysis. We achieve accurate emulation using Bayesian adaptive splines to model weights on empirical orthogonal functions. Here, we use this emulator as well as appropriately identifiable simulator discrepancy and observational error models to calibrate the simulator, thus finding a posterior distribution of characteristics of the release. Since the release was controlled, these characteristics are known, making it possible to compare our findings to the truth.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2015

Method and Apparatus for Simultaneous Processing of Multiple Functions

Electronic logic gates that operate using N logic state levels, where N is greater than 2, and methods of operating such gates. The electronic logic gates operate according to truth tables. At least two input signals each having a logic state that can range over more than two logic states are provided to the logic gates. The logic gates each provide an output signal that can have one of N logic states. Examples of gates described include NAND/NAND gates having two inputs A and B and NAND/NAND gates having three inputs A, B, and C, where A, B and C can take any of four logic states. Systems using such gates are described, and their operation illustrated. Optical logic gates that operate using N logic state levels are also described.

Stoica, Adrian↗

NASA NTRS2017

Method and Apparatus for Simultaneous Processing of Multiple Functions

Stoica, Adrian↗

DOE OSTI2016

The PAndAS view of the andromeda satellite system. II. Detailed properties of 23 M31 dwarf spheroidal galaxies

We present a comprehensive analysis of the structural properties and luminosities of the 23 dwarf spheroidal galaxies that fall within the footprint of the Pan-Andromeda Archaeological Survey (PAndAS). These dwarf galaxies represent the large majority of Andromeda’s known satellite dwarf galaxies and cover a wide range in luminosity (−11.6≲M{sub V}≲−5.8 or 10{sup 4.2}≲L≲10{sup 6.5} L{sub ⊙}) and surface brightness (25.1≲μ{sub 0}≲29.3 mag arcsec{sup −2}). We confirm most previous measurements, but we find And XIX to be significantly larger than before (r{sub h}=3065{sub −935}{sup +1065} pc, M{sub V}=−10.1{sub −0.4}{sup +0.8}) and cannot derive parameters for And XXVII as it is likely not a bound stellar system. We also significantly revise downward the luminosities of And XV and And XVI, which are now M{sub V}∼−7.5 or L∼10{sup 5} L{sub ⊙}. Finally, we provide the first detailed analysis of Cas II/And XXX, a fairly faint system (M{sub V}=−8.0{sub −0.3}{sup +0.4}) of typical size (r{sub h}=270±50 pc), located in close proximity to the two bright elliptical dwarf galaxies NGC 147 and NGC 185. Combined with the set of homogeneous distances published in an earlier contribution, our analysis dutifully tracks all relevant sources of uncertainty in the determination of the properties of the dwarf galaxies from the PAndAS photometric catalog. We further publish the posterior probability distribution functions of all the parameters we fit for in the form of MCMC chains available online; these inputs should be used in any analysis that aims to remain truthful to the data and properly account for covariance between parameters.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2011

The Voronoi Tessellation Cluster Finder in 2 1 Dimensions

We present a detailed description of the Voronoi Tessellation (VT) cluster finder algorithm in 2+1 dimensions, which improves on past implementations of this technique. The need for cluster finder algorithms able to produce reliable cluster catalogs up to redshift 1 or beyond and down to 10{sup 13.5} solar masses is paramount especially in light of upcoming surveys aiming at cosmological constraints from galaxy cluster number counts. We build the VT in photometric redshift shells and use the two-point correlation function of the galaxies in the field to both determine the density threshold for detection of cluster candidates and to establish their significance. This allows us to detect clusters in a self-consistent way without any assumptions about their astrophysical properties. We apply the VT to mock catalogs which extend to redshift 1.4 reproducing the ?CDM cosmology and the clustering properties observed in the Sloan Digital Sky Survey data. An objective estimate of the cluster selection function in terms of the completeness and purity as a function of mass and redshift is as important as having a reliable cluster finder. We measure these quantities by matching the VT cluster catalog with the mock truth table. We show that the VT can produce a cluster catalog with completeness and purity >80% for the redshift range up to {approx}1 and mass range down to {approx}10{sup 13.5} solar masses.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS2020

Vibration-based health characterization of multiple IMUs in UAV applications

Inertial measurement units (IMUs) are vital in UAV navigation for vehicle attitude and position estimation, especially in the frequently-occurring case of temporary loss of GPS capabilities. Degradation in these units could yield inaccurate position estimates, resulting in incorrect input for vehicle control systems. A wide variety of these units exist to meet the needs of UAV operators, general aviation, and military vehicles. In recent decades, lightweight and inexpensive MEMS sensors have grown in popularity with respect to UAVs. Studies into the failure modes of MEMS devices suggest that vibration is one of the leading causes of MEMS degradation. MEMS sensors are generally encased in their own hermetic packaging, as their small size and sensitivity cause them to be particularly vulnerable to air damping and particulate contamination when exposed. Exposure to excessive vibration can cause cracking in this packaging as well as damage to connecting electronics, with recorded results that cause sensors to act outside of their specifications, potentially providing unreliable input to controllers. A prior study from the Politecnico di Torino looked into the degradation of MEMS IMUs, specifically the AXIS-AIS402, for aerospace and vibrating environments. In the study, the authors found that after exposing MEMS IMUs to simulated vibrations from working conditions of aerospace applications, the sensors showed increased noise and increased bias instability. At NASA Ames, several widely-used MEMS IMUs were selected for a new IMU degradation study, comparing accelerometer performance before and after exposure to similar levels of vibration simulating aerospace conditions. The IMUs were selected from the Pixhawk autopilot systems, hobby sUAS, or prior experimental studies at NASA. Additionally, the industrial grade VectorNav-100 IMU was selected as a ground truth reference point to which the performance of the test sensors can be compared. In the study, each sensor is exposed to functional levels of UAV vibration as replicated on a single-frequency vibratory table in the NASA Ames SHARP Laboratory, and each accelerometer is characterized for bias, drift, and noise characteristics both before and after vibratory exposure. The focus of this study is to monitor the health of the IMU sensors and determine if sensor degradation can be detected from output error and frequency spectrum analysis, rather than from microscopic examination of the sensors. In this case, sensor degradation and faulty data can be more easily detectable by non-experts hoping to use these sensors as an important piece of an integrated package. In addition, specific sensor degradation modes potentially leading to in-flight hazards could be identified, such as accelerated levels of drift and altered temperature response. The overall goal of this work is to increase levels of safety for future users of these sensors and to provide a clear analysis of sensor limitations currently lacking in most sensor specification documentation.

IMUs↗