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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

Multiscale Dynamics of Polymers in Particle-Rich Nanocomposites

In this paper we report on the dynamics of entangled polymers in polymer–nanoparticle composites (PNCs) with moderate and high particle loadings. Using composites comprised of poly(ethylene glycol) (PEG)-tethered silica (SiO 2 ) nanoparticles and poly(methyl methacrylate) (PMMA), we show by means of small-angle X-ray scattering (SAXS) analysis that the nanoparticles are uniformly dispersed over a range of particle concentrations. From oscillatory shear rheology measurements, we find that the time–temperature superposition (TTS) principle holds for these SiO 2 -PEG/PMMA PNCs up to a particle concentration Φ G ≈ 11% where the materials begin to exhibit soft glassy rheological properties. At particle concentrations below Φ G , we take advantage of TTS to create dynamic maps for PNCs that span time scales ranging from fast segmental motions to slow terminal relaxation of polymer chains. These maps reveal that at low Φ and depending on the host polymer (PMMA) molecular weight ( M w ), hairy nanoparticles may either speed up or slow down terminal relaxation of the host. In contrast, at high Φ, nanoparticles slow down polymer dynamics on intermediate and long time scales, irrespective of the host polymer M w . The slowdown coincides with particle concentrations at which the mean interparticle spacing lies below the equilibrium tube diameter of the entangled PMMA host and is thought to reflect the onset of confinement dynamics of polymer chains in PNCs. Studies of PNCs in the confinement regime reveal important analogies between glassy attributes of 3D-confined polymer chains in nanocomposites with those of polymer thin films supported on attractive substrates.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

Corrosion Detection with PaDiM - Observations [Slides]

PaDiM (Patch Distribution Modeling) is an unsupervised approach capable of segmenting anomalies from anomaly score maps. The purpose of this presentation is to demonstrate the optimal performance of PaDiM on a corrosion dataset, what parameters lead to better performances, and other insights.

42 ENGINEERING↗
DOE OSTI2025

Secure Route: Roadway Risk Mapping for Transportation Planners

The secure transport of sensitive materials across U.S. road networks pose unique challenges for local, state, and federal agencies. Threats range from random events (e.g., accidents, medical emergencies, mechanical failures) to opportunistic or organized tactical assaults. Although the probability of such attacks is very low, the consequences of material loss to foreign states or terrorists can be catastrophic, qualifying these scenarios as “grey swan” events—low-probability, high-impact occurrences that are predictable but difficult to quantify. Traditional risk assessments struggle in these contexts, necessitating a shift toward subjective risk perception to inform planning. Risk perception in transport planning is shaped by various factors, including knowledge of adversarial capabilities, vehicle defenses, manifest details, and geographic features along the route. Geographic features such as bridges, tunnels, roadside elevation, and gaps in cellular coverage introduce vulnerabilities, while mitigative features include safe havens, police stations, and medical services. Temporal variables such as congestion, accidents, and weather further complicate route planning. Despite their importance, existing routing tools like Google Maps and commercial software do not explicitly account for geographic risk features, requiring planners to rely on personal familiarity with routes—a time-intensive, non-scalable approach. This work addresses these gaps by: (1) developing datasets that catalog geographic risk features along U.S. roadways, (2) eliciting risk perceptions from experienced transportation security experts, and (3) linking these perceptions to roadway conditions and geographic data. We implement these capabilities within Secure Route a novel mapping tool for classifying route segment risks associated with roadway conditions. This system provides transportation planners with an intuitive interface to assess and contextualize risk along potential routes, improving decision-making for secure transport. We present current progress in this effort and identify next steps.

Stewart, Robert [ORNL] (ORCID:0000000281867559)↗
DOE OSTI2016

SU-F-I-79: Validation of a Monte Carlo Radiographic Simulation

Purpose: To validate a radiographic simulation in order to estimate patient dose due to clinically-used radiography protocols. Methods: A Monte Carlo simulation was created to simulate a radiographic x-ray beam using GEANT4. Initial validation was performed according to a portion of TG 195. Computational NURBS-based phantoms were used simulate patients of varying ages and sizes. The deposited energy in the phantom is output by the simulation. The exposure in air from a clinically used radiography unit was measured at 100 cm for various tube potentials. 10 million photons were simulated with 1 cubic centimeter of air located 100 cm from the source, and the total absorbed dose was noted. The normalization factor was determined by taking a ratio of the measured dose in air to the simulated dose in air. Dose to individual voxels is calculated using the energy deposition map along with the voxelized and segmented phantom and the normalization factor. Finally, the effective dose is calculated using the ICRP methodology and tissue weighting factors. Results: This radiography simulation allows for the calculation and visualization of the energy deposition map within a voxelized phantom. The ratio of exposure, measured using an ionization chamber, to air in the simulation was determined. Since the simulation output is calibrated to match the exposure of a given clinical radiographic x-ray tube, the dose map may be visualized. This will also allow for absorbed dose estimation in specific organs or tissues as well as a whole body effective dose estimation. Conclusion: This work indicates that our Monte Carlo simulation may be used to estimate the radiation dose from clinical radiographic protocols. This will allow for an estimate of radiographic dose from various examinations without the use of traditional methods such as thermoluminescent dosimeters and body phantoms.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2025

A Region-Growing Segmentation Approach to Delineating Timberline from Satellite-Derived Tree Fractional Cover Products

Timberline marks the transitions from continuous forests to sparse forests and tundra landscapes. As the spatial distribution and dynamics of timberline are closely associated with regional energy and carbon balance, mapping timberline is important to a wide range of environmental and ecological studies. However, current timberline delineation approaches remain under-developed. We proposed an automatic timberline delineation method based on a seeded region-growing segmentation technique and satellite-derived products of tree fractional cover. We applied our approach to the West Siberian Plain and Alaska treeline regions as defined by the Circumpolar Arctic Vegetation Map. The results demonstrate the effectiveness of the proposed method for the accurate delineation of the timberlines that spatially align well with very-high-resolution satellite images. Based on the delineated timberlines, we find regional-scale tree encroachment to be not as substantial as previously reported. The proposed approach can be applied to understanding climate-induced forest responses and inform forest management practices.

Circumpolar Arctic Vegetation Map↗
DOE OSTI2015

SU-E-T-303: Dosimetric Comparison of a LINAC Fallback Plan Generated From Tomotherapy System

Purpose: Quantitatively evaluate the Multi Criteria Optimization (MCO) based MLC step and shoot (sMLC) fallback plan derived from Tomotherapy of multiple lesions lung SBRT Methods: Inter-comparison of various IMRT planning systems tends to be difficult due to the vendor-specific functionalities. The methodology of defining dose constraints and beam geometries is challenging. Raysearch™ planning system offers an alternative replanning to deliver same intensity map from Tomotherapy without modifying original fluence. This intuitive comparison comes from the final fluence map converted without any embedded system dependent dose optimization. This planner independent approach could be utilized to study the merits of individual machines. The term “fallback” was utilized to (A) transfer plans in among treatment delivery systems; (B) maintain acceptable plan qualities; and (C) minimize the biological dose impact due to machine breakdown. The Tomotherapy specific DICOM RT dose and plan are retrieved into Raystation’s pre-defined sMLC protocol. Based on specific machine characteristics, same fluence maps were converted to generate equivalent deliverable segments. Therefore, the treatment plans were evaluated among two planning tools, Tomotherapy and MCO based sMLC delivery plans. Results: By converting the fluence map with the pre-defined machine characteristics, the 9-fields fallback plan has similar ITV coverage compared to the original Tomotherapy plan. ITV average doses, the D95 consisted of 0.9% variation. The total lung doses of fallback plan drifted from 17.4% to 30.5% which represents the limitations of the static beam delivery. D2 of fallback spinal cord increased from 22.4% to 36.4% but still within tolerances. Ipsilateral lung changed from 11.0% to 22.6%. Low dose region between ITVs presented increased dose to the normal lung tissues. Conclusion: Acceptable fallback plan for Tomotherapy SBRT has similar ITVs coverage, but lack of the normal tissues avoidance due to the limitation of geometrical factors to reduce doses in between ITVs.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2015

SU-E-J-113: Effects of Deformable Registration On First-Order Texture Maps Calculated From Thoracic Lung CT Scans

Purpose: To determine the stability of eight first-order texture features following the deformable registration of serial computed tomography (CT) scans. Methods: CT scans at two different time points from 10 patients deemed to have no lung abnormalities by a radiologist were collected. Following lung segmentation using an in-house program, texture maps were calculated from 32×32-pixel regions of interest centered at every pixel in the lungs. The texture feature value of the ROI was assigned to the center pixel of the ROI in the corresponding location of the texture map. Pixels in the square ROI not contained within the segmented lung were not included in the calculation. To quantify the agreement between ROI texture features in corresponding pixels of the baseline and follow-up texture maps, the Fraunhofer MEVIS EMPIRE10 deformable registration algorithm was used to register the baseline and follow-up scans. Bland-Altman analysis was used to compare registered scan pairs by computing normalized bias (nBias), defined as the feature value change normalized to the mean feature value, and normalized range of agreement (nRoA), defined as the range spanned by the 95% limits of agreement normalized to the mean feature value. Results: Each patient’s scans contained between 6.8–15.4 million ROIs. All of the first-order features investigated were found to have an nBias value less than 0.04% and an nRoA less than 19%, indicating that the variability introduced by deformable registration was low. Conclusion: The eight first-order features investigated were found to be registration stable. Changes in CT texture maps could allow for temporal-spatial evaluation of the evolution of lung abnormalities relating to a variety of diseases on a patient-by-patient basis. SGA and HA receives royalties and licensing fees through the University of Chicago for computer-aided diagnosis technology. Research reported in this publication was supported by the National Institute Of General Medical Sciences of the National Institutes of Health under Award Number R25GM109439.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2013

Template-based CTA to x-ray angio rigid registration of coronary arteries in frequency domain with automatic x-ray segmentation

Purpose: A key challenge for image guided coronary interventions is accurate and absolutely robust image registration bringing together preinterventional information extracted from a three-dimensional (3D) patient scan and live interventional image information. In this paper, the authors present a novel scheme for 3D to two-dimensional (2D) rigid registration of coronary arteries extracted from preoperative image scan (3D) and a single segmented intraoperative x-ray angio frame in frequency and spatial domains for real-time angiography interventions by C-arm fluoroscopy.Methods: Most existing rigid registration approaches require a close initialization due to the abundance of local minima and high complexity of search algorithms. The authors' method eliminates this requirement by transforming the projections into translation-invariant Fourier domain for estimating the 3D pose. For 3D rotation recovery, template Digitally Reconstructed Radiographs (DRR) as candidate poses of 3D vessels of segmented computed tomography angiography are produced by rotating the camera (image intensifier) around the DICOM angle values with a specific range as in C-arm setup. The authors have compared the 3D poses of template DRRs with the segmented x-ray after equalizing the scales in three domains, namely, Fourier magnitude, Fourier phase, and Fourier polar. The best rotation pose candidate was chosen by one of the highest similarity measures returned by the methods in these domains. It has been noted in literature that frequency domain methods are robust against noise and occlusion which was also validated by the authors' results. 3D translation of the volume was then recovered by distance-map based BFGS optimization well suited to convex structure of the authors' objective function without local minima due to distance maps. A novel automatic x-ray vessel segmentation was also performed in this study.Results: Final results were evaluated in 2D projection space for patient data; and with ground truth values and landmark distances for the images acquired with a solid phantom vessel. Results validate that rotation recovery in frequency domain is robust against differences in segmentations in two modalities. Distance-map translation is successful in aligning coronary trees with highest possible overlap.Conclusions: Numerical and qualitative results show that single view rigid alignment in projection space is successful. This work can be extended with multiple views to resolve depth ambiguity and with deformable registration to account for nonrigid motion in patient data.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2021

Toward In Situ Synchrotron Mapping of Crystal Selection Processes during Crystal Growth

In this work, we present an automated and rapid method for non-destructive mapping of crystal grains in a rod-shaped sample. The approach was designed for application to in situ float-zone crystal growth experiments at an x-ray synchrotron source, but could be useful in other applications. The methods have been tested on a TiO 2 boule grown in an optical float zone furnace. The approach applies a statistical filter to polycrystalline diffraction patterns on 2D detectors to rapidly determine the degree of powder-quality 1of the signal. When larger crystals emerge in the growth, their position, size and shape can be tracked using an automated blob-tracking algorithm that follows individual Bragg peaks as a function of position in a grid-scan, even when multiple crystals are contributing spots to diffraction images. This method is found to be robust as the same crystal shape can be independently reconstructed using different sets of Bragg reflections. Image segmentation methods are then used to map out the polycrystalline grains. We also note that other information about crystal quality, such as mosaicity or strain state, may be inferred and mapped from the intensity variation of the Bragg peaks at different locations within the sample.

36 MATERIALS SCIENCE↗
DOE OSTI2014

Evaluation of the Lactate-to-N-Acetyl-aspartate Ratio Defined With Magnetic Resonance Spectroscopic Imaging Before Radiation Therapy as a New Predictive Marker of the Site of Relapse in Patients With Glioblastoma Multiforme

Purpose: Because lactate accumulation is considered a surrogate for hypoxia and tumor radiation resistance, we studied the spatial distribution of the lactate-to-N-acetyl-aspartate ratio (LNR) before radiation therapy (RT) with 3D proton magnetic resonance spectroscopic imaging (3D-{sup 1}H-MRSI) and assessed its impact on local tumor control in glioblastoma (GBM). Methods and Materials: Fourteen patients with newly diagnosed GBM included in a phase 2 chemoradiation therapy trial constituted our database. Magnetic resonance imaging (MRI) and MRSI data before RT were evaluated and correlated to MRI data at relapse. The optimal threshold for tumor-associated LNR was determined with receiver-operating-characteristic (ROC) curve analysis of the pre-RT LNR values and MRI characteristics of the tumor. This threshold was used to segment pre-RT normalized LNR maps. Two spatial analyses were performed: (1) a pre-RT volumetric comparison of abnormal LNR areas with regions of MRI-defined lesions and a choline (Cho)-to- N-acetyl-aspartate (NAA) ratio ≥2 (CNR2); and (2) a voxel-by-voxel spatial analysis of 4,186,185 voxels with the intention of evaluating whether pre-RT abnormal LNR areas were predictive of the site of local recurrence. Results: A LNR of ≥0.4 (LNR-0.4) discriminated between tumor-associated and normal LNR values with 88.8% sensitivity and 97.6% specificity. LNR-0.4 voxels were spatially different from those of MRI-defined lesions, representing 44% of contrast enhancement, 64% of central necrosis, and 26% of fluid-attenuated inversion recovery (FLAIR) abnormality volumes before RT. They extended beyond the overlap with CNR2 for most patients (median: 20 cm{sup 3}; range: 6-49 cm{sup 3}). LNR-0.4 voxels were significantly predictive of local recurrence, regarded as contrast enhancement at relapse: 71% of voxels with a LNR-0.4 before RT were contrast enhanced at relapse versus 10% of voxels with a normal LNR (P<.01). Conclusions: Pre-RT LNR-0.4 in GBM indicates tumor areas that are likely to relapse. Further investigations are needed to confirm lactate imaging as a tool to define additional biological target volumes for dose painting.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2014

3D characterization of trans- and inter-lamellar fatigue crack in (α + β) Ti alloy

This paper presents a three dimensional image processing strategy that has been developed to quantitatively analyze and correlate the path of a fatigue crack with the lamellar microstructure found in Ti-6246. The analysis is carried out on X-ray microtomography images acquired in situ during uniaxial fatigue testing. The crack, the primary β-grain boundaries and the α lamellae have been segmented separately and merged for the first time to allow a better characterization and understanding of their mutual interaction. This has particularly emphasized the role of translamellar crack growth at a very high propagation angle with regard to the lamellar orientation, supporting the central role of colonies favorably oriented for basal 〈a〉 slip to guide the crack in the fully lamellar microstructure of Ti alloy. - Highlights: • 3D tomography images reveal strong short fatigue crack interaction with α lamellae. • Proposed 3D image processing methodology makes their segmentation possible. • Crack-lamellae orientation maps show prevalence of translamellar cracking. • Angle study comforts the influence of basal/prismatic slip on crack path.

36 MATERIALS SCIENCE↗
DOE OSTI2015

TU-F-CAMPUS-I-02: Contrast Enhanced Cone Beam CT Imaging with Dual- Gantry Image Acquisition and Constrained Iterative Reconstruction-a Simulation Study for Liver Imaging Application

Purpose: Contrast time-density curves may help differentiate malignant tumors from normal tissues or benign tumors. Repetitive scans using conventional CT or cone beam CT techniques, which Result in unacceptably high dose, may not achieve the desired temporal resolution. In this study we describe and demonstrate a 4D imaging technique for imaging and quantifying contrast flows requiring only one or two 360° scans. Methods: A dual-gantry system is used to simultaneously acquire two projection images at orthogonal orientations. Following the scan, each or both of the two 360° projection sets are used to reconstruct an average contrast enhanced image set which is then segmented to form a 3D contrast map. Alternatively, a pre-injection scan may be made and used to reconstruct a pre-injection image set which is subtracted from the post-injection image set to form the 3D contrast map. Each of the two 360° projection sets is divided into 12 subsets, thus creating 12 pairs of 30° limited angle projection sets, each corresponding to a time spanning over 1/12 of the scanning time. Each pair of the projection sets are reconstructed as a time specific 3D image set with the maximum likelihood estimation iterative algorithm using the contrast map as the constraint. As a demonstration, a 4D abdominal phantom was constructed from clinical CT images with blood flow through the normal tissue and a tumor modeled and imaging process simulated. Results: We have successfully generated a 4D image phantom, and calculated the projection images. The time density curves derived from the reconstructed image set matched well with the flow model used to generate the phantom. Conclusion: Dual-gantry image acquisition and constrained iterative reconstruction algorithm may help to obtain time-density curves of contrast agents in blood flows, which may help differentiate malignant tumors from normal tissues or benign tumors.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2021

Development of Automated Pipeline for Time-Resolved Link-Wise Vehicular Energy Consumption in the Chattanooga, TN Road Network

The Department of Energy (DOE) has shown strong interest in detecting energy inefficiencies in regional road networks, so as to derive energy consumed at a high spatial temporal resolution. We have developed a workflow to automate the estimation of time-resolved vehicular energy consumption over each link in a road network of interest. The road network used in the current work is centered around the city of Chattanooga, Tennessee and its bordering regions. Utilizing the most mature road network for the Chattanooga, TN region, vehicle speed & count data from TomTom in conjunction with machine learning methods, we have developed an automated pipeline to estimate energy consumption for every link in the network. The first step in the pipeline is ingesting vehicle probe counts and speed estimates from TomTom API. In the next step, the probe counts, speed profiles and other exogenous data (i.e. road types, weather data, ground-truth volume counts and more) were used as input to a supervised learning algorithm to estimate the number of vehicles throughout the entire region for each road segment. These volume estimates were then mapped to a unified road network that contained additional important information such as percentage change in gradient across a link, number of lanes and link lengths that are features in pre-trained single vehicle energy-consumption models available with the RouteE software developed at NREL. The per vehicle energy consumption on each road link predicted using appropriate RouteE vehicular models were multiplied by the volume estimate for the corresponding link over a given time period to predict energy consumed per link for the time interval of interest. Currently, work is underway to improve both the RouteE per vehicle energy estimate and the volume estimates derived from TomTom probe counts. We have also explored the correlation of the link-wise energy estimates with the features of the pre-trained RouteE machine learning model in order to gain insight into what factors contribute most to the link-wise energy consumption.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION,↗
DOE OSTI2014

MO-C-17A-11: A Segmentation and Point Matching Enhanced Deformable Image Registration Method for Dose Accumulation Between HDR CT Images

Purpose: To propose and validate a novel and accurate deformable image registration (DIR) scheme to facilitate dose accumulation among treatment fractions of high-dose-rate (HDR) gynecological brachytherapy. Method: We have developed a method to adapt DIR algorithms to gynecologic anatomies with HDR applicators by incorporating a segmentation step and a point-matching step into an existing DIR framework. In the segmentation step, random walks algorithm is used to accurately segment and remove the applicator region (AR) in the HDR CT image. A semi-automatic seed point generation approach is developed to obtain the incremented foreground and background point sets to feed the random walks algorithm. In the subsequent point-matching step, a feature-based thin-plate spline-robust point matching (TPS-RPM) algorithm is employed for AR surface point matching. With the resulting mapping, a DVF characteristic of the deformation between the two AR surfaces is generated by B-spline approximation, which serves as the initial DVF for the following Demons DIR between the two AR-free HDR CT images. Finally, the calculated DVF via Demons combined with the initial one serve as the final DVF to map doses between HDR fractions. Results: The segmentation and registration accuracy are quantitatively assessed by nine clinical HDR cases from three gynecological cancer patients. The quantitative results as well as the visual inspection of the DIR indicate that our proposed method can suppress the interference of the applicator with the DIR algorithm, and accurately register HDR CT images as well as deform and add interfractional HDR doses. Conclusions: We have developed a novel and robust DIR scheme that can perform registration between HDR gynecological CT images and yield accurate registration results. This new DIR scheme has potential for accurate interfractional HDR dose accumulation. This work is supported in part by the National Natural ScienceFoundation of China (no 30970866 and no 81301940)

60 APPLIED LIFE SCIENCES↗
DOE OSTI2026

Patch-Based Convolutional Neural Networks for Multiple Microstructural Features Detection in FIB-SEM Micrographs of Irradiated Nuclear Fuel

Focused ion beam scanning electron microscopy (FIB-SEM) tomography has increasingly been utilized for acquiring three-dimensional (3D) microstructure features at the sub-micron scale in irradiated nuclear materials. This technique involves sequential ion beam slicing followed by electron beam imaging and compositional mapping using energy dispersive spectroscopy (EDS). Despite its growing use, several challenges persist. These include the time-intensive nature of data collection of EDS data, difficulties in distinguishing between various microstructures, and issues with image alignment. These challenges currently limit the broader application of FIB-SEM tomography in the field. To overcome these limitations, we propose using convolutional neural networks (CNNs) to automate microstructure identification in SEM images. Our study introduces a new framework for identifying microstructures in irradiated U-10Zr (wt. %) metallic fuel with limited annotated data. The framework includes the creation of a reliable annotated dataset with paired SEM and ground truth data from EDS maps, the applications of CNNs for microstructure identification, and the validation of model performance. Specifically, we employed the Segment Anything Model (SAM) to align SEM images with corresponding EDS maps and focused ion beam (FIB) tomography SEM data. We evaluate several models, including Patch-based U-Net, Attention U-Net, and Residual U-Net, finding that patch-based U-Net exhibits superior segmentation performance and consistency. This approach reduces reliance on EDS detectors and aids in accelerating nuclear material analysis process, highlighting the potential of advanced deep learning techniques to improve microstructural understanding in nuclear material. This is the first framework to integrate SAM and Patch-based CNN models for semantic segmentation of irradiated nuclear materials, with potential applicability to other tomography datasets.

36 - MATERIALS SCIENCE↗
DOE OSTI2019

R and DE Robotic Sensor Intern Team: Sensor Suite Software and User Interface

The sensor tree developed for the H-Canyon tunnel inspection project produces a large quantity of camera and Lidar data. A postprocessing pipeline was created to facilitate the analysis of these data. The pipeline follows the following routine: 1) Registration - Salient local features in subsequent scans are identified and used to align the scans with one another. This allows production of a single cohesive map of the tunnel. 2) Sensor Fusion - RGB camera data is 'painted' onto the depth data created by the Lidar. 3) Segmentation - Individual surfaces from within the scene are segmented out separately for individual analysis. 4) Degradation Analysis - Automatic mapping of local deviation from the plane in position or surface normal is performed, as is detection of exposed rebar using Lidar return intensity. 5) Obstacle Detection - Lidar data is also used in real time to detect obstacles in the environment. This could give feedback to the operator to successfully drive in the tunnel. 6) Graphic User Interface - a custom GUI was created to facilitate customer use of the system. The system provides real-time feedback from both the cameras and Lidar. During alignment, local features are used to recognize points within the walls that are especially unique and noticeable (salient) based on their deviation from the expected surface of the wall. These are used as landmarks to register the clouds, which also informs precise localization of the base at each scan point. After registration, clouds are 'painted' with RGB data from the spherical cameras, as shown below. The painted clouds provide a 3D, colorized model of the environment which improves the realism of the experience for the user. Painting also labels high-resolution color imagery from the 3D cameras with depth values. Following sensor fusion, individual walls and cylindrical duct surfaces are segmented from the scene for individual analysis using a Random Sample Consensus algorithm. This algorithm allows segmentation of planar walls and cylindrical ducts. Once individual walls are identified, each point within the wall can be compared to its neighbors and the wall overall in order to detect local areas with damaged concrete. Automatic rebar detection is also performed using the contrast in Lidar return intensity between iron and concrete. The Lidar point-cloud data is also used for obstacle detection. As the Lidar spins, various algorithms are run to analyze the current 'slice' and obstacles in the environment are determined and registered on a cost-map. A Graphical User Interface (GUI) was developed to allow the user to easily command the crawler to set the rotational speed of the Lidar, perform a scan, and register and save the 3D generated cloud after a scan is done. For the good of the crawler, a critical aspect of the GUI design is to allow the user to cancel a scan any time after it is commanded and before it is saved.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

R and DE Robotic Sensor Intern Team: Advanced Sensor Suite Prototype

The Department of Energy (DOE) nuclear complex includes many hazardous and challenging environments that must be inspected remotely and routinely for structural integrity evaluation and long-term planning purposes. The H-Canyon Air Exhaust (HCAEX) Tunnel is an example of such an environment where a biannual inspection is currently performed. Presently inspections are performed by teleoperated robotic crawlers which provide low-res video feedback to the structural engineers. Advanced sensors: including Lidar and panospheric hi-res cameras have the potential to provide additional valuable data in future inspections. The primary goal of the sensor suite is to provide an internal 3D map of the HCAEX tunnel. Possible sensors were a stereo camera, a 3D Lidar, or a 2D Lidar that would need to be spun around. The issues with the stereo camera were that it does not have a large field-of-view and that its depth information was not nearly as accurate as even the baseline Lidars. The Hokuyo UTM-30LX-EW shown below provides a 270 deg. FOV with high accuracy and resolution while the largest FOV on a 3D Lidar is 40 deg. This was the reason a 2D Lidar was chosen over the 3D Lidar. Even though the 2D Lidar requires additional components and software to generate a 3D map, its FOV advantage is too great given that the HCAEX tunnel is a relatively confined space. Along with the Lidar, a camera sensor, IMU sensor, pan-tit unit, and on board computer needed to be identified. The two panospheric cameras allow for full 360 deg. FOV. The IMU will give data on the state of the robot inside the tunnel. The computer is used to gather and process data on board and to control the pan-tilt system. Mounts were designed and 3D printed to build the prototype of the sensor suite. It was designed to have the Lidar on top With its full FOV free while having the camera below and as close to together as possible while still leaving much of their FOV visible. The design also managed the cables such that they were unlikely to be damaged if in tension and so that they did not intrude much on the cameras vision. The sensor tree developed for the H-Canyon tunnel inspection project produces a large quantity of camera and Lidar data. a postprocessing pipeline was created to facilitate the analysis of these data. The pipeline follows the following routine: 1) Registration - Salient local features in subsequent scans are identified and used to align the scans With one another. This allows production of a single cohesive map of the tunnel. 2) Sensor Fusion - RGB camera data is 'painted' onto the depth data created by the Lidar. 3) Segmentation - Individual surfaces from within the scene are segmented out separately for individual analysis. 4) Degradation Analysis - Automatic mapping of local deviation from the plane in position or surface normal is performed, as is detection of exposed rebar using Lidar return intensity. 2) Obstacle Detection - Lidar data is also used in real time to detect obstacles in the environment. This could give feedback to the operator to successfully drive in the tunnel. 6) Graphic User Interface - a custom GUI was created to facilitate customer use of the system. The system provides real-time feedback from both the cameras and Lidar. The Lidar point-cloud data is also used for obstacle detection. As the Lidar spins, various algorithms are run to analyze the current 'slice' and obstacles in the environment are determined and registered on a cost-map. A Graphical User Interface (GUI) was developed to allow the user to easily command the crawler to set the rotational speed of the Lidar, perform a scan, and register and save the 3D generated cloud after a scan is done. For the good of the crawler, a critical aspect of the GUI design is to allow the user to cancel a scan any time after it is commanded and before it is saved. The sensor trees depth accuracy was evaluated in comparison to a high end commercial FARO Terrestrial Laser Scanner (TLS) with specifications for millimeter accuracy at distances above 10 m. For the purposes of these tests, the depth measurements produced by the TLS were taken as ground truth. Example test wall panels were scanned with the TLS and postprocessed with its proprietary software, and subsequently scanned with the sensor tree system. The two scans were manually aligned and for each point in the output cloud from the sensor tree, the distance to the nearest ground truth point in the FARO cloud was determined. 98.7% of all produced points were within the specified target range of 6 mm, with an average deviation of 1.75 mm. The test walls used have an overall in-wall depth variation of around 40 mm.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗