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NASA NTRS2011

Visual SLAM Using Variance Grid Maps

An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance maps are much better for representing the structure of vegetated or rocky terrain.

Howard, Andrew B.↗

DOE OSTI2022

Lighting application efficacy: A framework for holistically measuring lighting use in buildings

Lighting consumes significant energy in buildings, but current measurements of lighting efficiency are inadequate in capturing the spatial and temporal effectiveness of light. The most widely used lighting energy efficiency measure, luminous efficacy, quantifies the amount of light generated by individual light sources. While luminous efficacy provides manufacturers and designers with a useful metric for quantifying the energy efficiency of individual lighting devices, it does not fully address the use of lighting in architectural spaces. Instead, application efficacy, the relationship between the electrical power consumed by lighting hardware and the amount of light that contributes to the visual perception of building occupants, must be measured. Here, we propose a framework for calculating lighting application efficacy (LAE) based on the primary pathway of light in architectural settings: the generation and emission of light from a luminaire, the travel of the light throughout the space and into occupants’ eyes, and the process of visual perception. The LAE framework will include the development of computational methods for estimating the proportion of emitted light that is directed to task areas and areas corresponding to occupants’ visual fields using ray-tracing lighting design software. Future modeling and validation work will quantify energy efficiency of buildings.

Durmus, Dorukalp↗

DOE OSTI2020

First-principles prediction of incipient order in arbitrary high-entropy alloys: exemplified in Ti 0.25 CrFeNiAl

High-temperature disordered multi-component alloys, including high-entropy alloys, experience either segregation or partially-ordered phases to reach low-temperature phases. For Ti 0.25 CrFeNiAl x (0 ≤ x ≤ 1), experiments suggest a partially-ordered B2 phase, whereas CALculation of PHAse Diagrams (CALPHAD) predicts a region of L21+B2 coexistence. We employ first-principles KKR-CPA to assess stability of phases with arbitrary order and a KKR-CPA linear-response theory to predict atomic short-range order (SRO) in the disorder phase that reveals the competing long-range ordered (LRO) phases in a given Bravais lattice. The favorable SRO provides a specific concentration-waves (site occupation probabilities and partially-ordered unit cells) and estimated energy gains that can then be assess directly by KKR-CPA formation enthalpies. Our results are in good agreement with experiments and CALPHAD in Al-poor regions (x ≤ 0.75) and with CALPHAD in Al-rich region (1≥ x >0.75). Our first-principles KKR-CPA and SRO-based concentration-wave analysis is shown to be a powerful and fast method to assess competing LRO phases in complex solid-solution alloys, and our results suggests more careful experiments in Al-rich region are needed.

36 MATERIALS SCIENCE↗

DOE OSTI2024

Weighted Composition Operators for Learning Nonlinear Dynamics

Operator theoretic methods in dynamical system have been dominated by the use of Koopman operators and their continuous time counterparts, such as Koopman Generators and Liouville Operators. The advantage gained from their use primarily stems from the ability to extract subspaces and eigenfunctions within a space of observables that are invariant with respect to the Koopman operator over that space. When this occurs, a dynamic mode decomposition of the systems state provides a linear model for the dynamical system. Not all Koopman operators have eigenfunctions that may be exploited in this manner. However, the framework can still be leveraged for approximations using other operators. In this setting, we present a different operator for the study of dynamical systems, the weighted composition operator. These operators are compact for a wide range of dynamics and spaces, and through their interactions with occupation kernels and vector valued kernels, they admit an estimation of the underlying dynamics. Here, this manuscript presents a new algorithm for the data driven study of dynamical systems from data, and also provides two numerical experiments where convergence is achieved as a proof of concept.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2022

Hydrogen Plus Other Alternative Fuels Risk Assessment Models (HyRAM+) Version 4.1 Technical Reference Manual

The HyRAM+ software toolkit provides a basis for conducting quantitative risk assessment and consequence modeling for hydrogen, methane, and propane systems. HyRAM+ is designed to facilitate the use of state-of-the-art models to conduct robust, repeatable assessments of safety, hazards, and risk. HyRAM+ integrates deterministic and probabilistic models for quantifying accident scenarios, predicting physical effects, characterizing hazards (thermal effects from jet fires, overpressure effects from delayed ignition), and assessing impacts on people. HyRAM+ is developed at Sandia National Laboratories to support the development and revision of national and international codes and standards, and to provide developed models in a publicly-accessible toolkit usable by all stakeholders. This document provides a description of the methodology and models contained in HyRAM+ version 4.1. The two most significant changes for HyRAM+ version 4.1 from HyRAM+ version 4.0 are direct incorporation of unconfined overpressure into the QRA calculations and modification of the models for cryogenic liquid flow through an orifice. In QRA mode, the user no longer needs to input peak overpressure and impulse values that were calculated separately; rather, the unconfined overpressure is estimated for the given system inputs, leak size, and occupant location. The orifice flow model now solves for the maximum mass flux through the orifice at constant entropy while conserving energy, which does not require a direct speed of sound calculation. This does not affect the mass flow for all-gaseous releases; the method results in the same speed of sound for choked flow. However, this method does result in a higher (and more realistic) mass flow rate for a given leak size for liquid releases than was previously calculated.

08 HYDROGEN↗

DOE OSTI2023

The CMS Phase II Outer Tracker Upgrade at Fermilab

● Extracted threshold in electrons from S-curve measurement ● Estimated cut for noisy channels based on maximum module occupancy 10−6 ● ~40 channels offline masked ● Measured efficiencies and noise occupancies as a function of the threshold ● Source of inefficiency in the pixels due to punch through structure ● Inefficiencies in the strips after irradiation being investigated, the threshold used was not correct

Salimbeni, Nicolò↗

DOE OSTI2014

A Prospective Study of Ventilation Rates and Illness Absence in California Office Buildings

Background – This study investigated the associations of ventilation rates (VRs), estimated from indoor CO2 concentrations, in offices with the amount of respiratory infections, illness absences, and building-related health symptoms in occupants. Methods – Office buildings were recruited from three California climate zones. In one or more study spaces within each building, real-time logging sensors measured carbon dioxide, temperature, and relative humidity for one year. Ventilation rates were estimated using daily peak CO2 levels, and also using an alternative metric. Data on occupants and health outcomes were collected through web-based surveys every three months. Multivariate models were used to assess relationships between metrics of ventilation rate or CO2 and occupant outcomes. For all outcomes, negative associations were hypothesized with VR metrics, and positive associations with CO2 metrics. Results – Difficulty recruiting buildings and low survey response limited sample size and study power. In 16 studied spaces within 9 office buildings, VRs were uniformly high over the year, from twice to over nine times the California office VR standard (7 L/s or 15 cfm per person). VR and CO2 metrics had no statistically significant relationships with occupant outcomes, except for a small significantly positive association of the alternative VR metric with respiratory illness-related absence, contrary to hypotheses. Conclusions– The very high time-averaged VRs in the California office buildings studied presumably resulted from “economizer cycles” bringing in large volumes of outdoor air; however, in almost all buildings even the estimated minimum VRs supplied (without the economizer) substantially exceeded the minimum required VR. These high VRs may explain the absence of hypothesized relationships with occupant outcomes. Among uniformly high VRs, little variation in contaminant concentration and occupant effects would be expected. These findings may provide initial evidence for an upper bound of the range of VRs within which increased VRs provide benefits in reducing illness absence.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Estimating internal moisture generation rates in recently constructed, occupied homes in the southeastern United States

Internal moisture generation (IMG), or moisture generated by building occupants via activities such as respiration, cooking, bathing, and cleaning, is a critical input required for design, analysis, and simulation of building enclosure and heating, ventilation, and air conditioning (HVAC) systems. Based on previously published values, ASHRAE Standard 160-2021 provides guidance for estimating IMG rates for moisture control design analysis, which is based on occupied home datasets collected in the 1980s and 1990s. Residential energy use simulation software also utilizes estimates for IMG for energy rating, energy analysis, and code compliance calculations, as specified in ANSI/RESNET/ICC Standard 301. Data quantifying IMG rates in newer homes is useful in determining the continued relevance of current design and simulation guidance, and whether the guidance represents conditions found in new housing stock. ASHRAE Research Project 1844, conducted by the Florida Solar Energy Center (FSEC), a research institute of the University of Central Florida, estimated IMG rates in newer occupied homes built since 2013 in the southeastern US using a moisture balance model approach. Furthermore, the project obtained occupied home data in cooperation with a US Department of Energy Building America research project to characterize indoor air quality (IAQ) in newer US homes, along with presence, functionality, and occupant use of control measures. Full-scale laboratory homes operating with known IMG rates were used to validate a moisture balance model and quantify the accuracy of estimates obtained when the model is applied to data from occupied homes with unknown IMG rates.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2000

Dose limits for astronauts

Radiation exposures to individuals in space can greatly exceed natural radiation exposure on Earth and possibly normal occupational radiation exposures as well. Consequently, procedures limiting exposures would be necessary. Limitations were proposed by the Radiobiological Advisory Panel of the National Academy of Sciences/National Research Council in 1970. This panel recommended short-term limits to avoid deterministic effects and a single career limit (of 4 Sv) based on a doubling of the cancer risk in men aged 35 to 55. Later, when risk estimates for cancer had increased and were recognized to be age and sex dependent, the NCRP, in Report No. 98 in 1989, recommended a range of career limits based on age and sex from 1 to 4 Sv. NCRP is again in the process of revising recommendations for astronaut exposure, partly because risk estimates have increased further and partly to recognize trends in limiting radiation exposure occupationally on the ground. The result of these considerations is likely to be similar short-term limits for deterministic effects but modified career limits.

Review↗

DOE OSTI2022

Hierarchical Model-Free Transactive Control of Residential Building Loads: An Actual Deployment

The transformation of electricity systems into more sustainable configurations brought some new challenges. The uncertain, intermittent, and variable nature of renewable energy sources require a significant amount of load demand flexibility, in which grid-interactive buildings (GEBs) are important flexible assets for electricity systems. In this regard, many demand response (DR) tools have been developed to harness this demand flexibility. However, such tools are mostly simulation-based or deal with a single load, which may not be sufficient to demonstrate their effectiveness. Towards this end, this paper presents a real-world field implementation and testing of a hierarchical model-free transactive DR control approach on actual GEBs. The control implementation incorporates elements of virtual battery, game theory, and model-free control mechanisms. The proposed approach was tested using a total of five GEBs, each having three zones. The results show that the proposed approach can mostly achieve all intended objectives, including flexibility estimation, peak load reduction, power tracking, and controlling GEBs while maintaining occupants’ comfort.

Amasyali, Kadir↗

DOE OSTI2020

Spectrum of embrittling potencies and relation to properties of symmetric-tilt grain boundaries

Grain boundaries in metallic materials can exist in a wide range of stable and metastable structures. In addition, the properties of a grain boundary may be altered through solute segregation. In this work, we present a formulation that combines the spectrum of embrittling potencies associated with solute segregation with site-occupancy statistics. As a prototype problem, we illustrate the relation between segregation and embrittlement in the case of S segregation to grain boundaries in Ni. To obtain a population of site segregation energies, we perform molecular statics calculations on 378 different symmetric-tilt grain boundaries and their free surface equivalents, using an embedded-atom method interatomic potential developed specifically for studying embrittlement. Our results show that it is important to consider both the energies associated with embrittlement and the probability of occupancy to describe the general embrittling nature of a grain boundary. When analyzed in isolation, certain grain boundaries show large embrittling potencies; however, that effect is diminished when the probability of S segregation to that grain boundary is considered within a polycrystal. We propose a new quantity, the embrittling estimator, which not only categorizes grain boundaries as embrittling or strengthening, but also considers site occupancy probabilities, so that the embrittlement behavior of grain boundaries within a network of grain boundaries can be compared. Finally, we examine the relationship between embrittlement behavior and innate grain boundary properties, such as the free volume, and find statistical evidence that the complex nature of embrittlement cannot be explained by linear correlations with excess volumes or energies. Ultimately, this combined approach provides a theoretical tool to assist grain boundary engineering of metastable alloys.

36 MATERIALS SCIENCE↗

DOE OSTI2015

Cyclic evolution of the electron temperature and density in dusty low-pressure radio frequency plasmas with pulsed injection of hexamethyldisiloxane

Optical emission spectroscopy was used to analyze the very-low-frequency cyclic evolution of the electron energy and density caused by repetitive formation and loss of dust nanoparticles in argon plasmas with pulsed injection of hexamethyldisiloxane (HMDSO, [CH{sub 3}]{sub 6}Si{sub 2}O). After elaborating a Boltzmann diagram for Ar high-lying levels and a collisional-radiative model for Ar 2p (Paschen notation) states, temperatures characterizing the low- and high-energy parts of the electron population were calculated. Relative electron densities were also estimated from relative line emission intensities. Both temperatures increase when the dust occupation increases, and then decrease when dust is lost. The opposite trend was observed for the electron density. Such cyclic behaviors of the electron energy and electron density in the HMDSO-containing plasmas are in good agreement with the evolution processes in dusty plasmas, in which the formation of negative ions followed by an electron attachment on the surfaces of the nanoparticles is a critical phenomenon driving dust growth.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2019

Advanced Modeling of Contaminant Fate and Transport in Soil and Groundwater from F-Canyon and the Central Laboratory Facility

F-Canyon (221-F) was constructed in the early 1950's and, together with FB Line, began operations in 1954 as the main processing facilities in FArea of SRS. The primary operations conducted in F-Canyon and FB Line included the separation and recovery of Pu-239 and U-238 from irradiated materials and the stabilization of plutonium residues. The F/H Laboratory Complex consists of buildings 772-F, 772-1F, and 772-4F which began operations in 1954, 1987, and 1993, respectively. The primary mission of the F/H Laboratory Complex for the last 45 years has been to support the chemical separations processing activities at Building 221-F and H-Canyon. The objective of this study is to determine the radionuclide and hazardous material holdup in F-Canyon and its support facilities, and to evaluate In-Situ Disposal (ISD) alternatives for deactivation and decommissioning (D and D) of these facilities to ensure groundwater protection and environmental compliance with the South Carolina Department of Health and Environmental Services (SCDHES) and the United States Environmental Protection Agency (USEPA). GoldSim is a dynamic probabilistic simulation software that allows modeling of chemical mass transport through engineered and environmental systems For this study, it will model the potential future release of radiological contamination through the vadose zone, Upper Three Runs (UTR) Aquifer and the Upper Three Runs Creek. Using a GoldSim model developed for building 235-F D and D, contaminant inventories as well as building geometry were updated to create the basis of the new F-Canyon model. The inventories from F-Canyon, FB Line, and the 800 Series Tanks (Tanks 804, 808, and 809) as well as F/H labs (including buildings 772-F, 772-1F, and 772- 4F) were used to make a total of four sources. The concentrations of total uranium and beta-gamma are within compliance for the study, while radium and alpha concentrations exceed their MCL's around 30,000 years and total effective water dose exceeds its MCL around 1,200 years. This suggests that some level of action will be needed to meet SCDHES and USEPA requirements. This evaluation was conducted only for the no-action alternative. Consideration and modeling of other alternatives will be required in the future to determine the best ISD alternative for D and D of F-Canyon and F/H labs with regard to groundwater protection, worker safety, and financial cost.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2015

Integrating decontamination strategies into a waste estimation support tool for radiological incidents - 15284

In the planning and preparedness stages for a response to a radiological incident, it is important to include waste management considerations when developing the decontamination/demolition/cleanup approach because waste management can be a driver for time and cost. An individualized type of strategy based on the occupancy of affected buildings may be an effective approach. The U.S. Environmental Protection Agency's (EPA's) Waste Estimation Support Tool (WEST) is a novel application of the Federal Emergency Management Agency (FEMA) Hazus-MH software. WEST enables users to estimate the characteristics, amount, and residual radioactivity of waste generated from remediation and cleanup activities after a radiological incident, including incidents caused by radiological dispersal devices and improvised nuclear devices, as well as nuclear power plant accidents. This paper will describe the recently released update to WEST, which includes the ability to export the waste estimate results back into ArcGIS for further visualization. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2024

Assessing thermal comfort and participation in residential demand flexibility programs

Residential space-conditioning-based demand flexibility (DF) has become an increasingly sought-after method for demand-side load management to enhance grid reliability and facilitate integration of renewable energy generation. However, predicting the effectiveness and flexibility of residential DF resources is challenging due to the variability in household energy use behaviors. Current estimates show that only 50 % of projected savings from DF resources are actualized due to regulatory, technological, and social barriers. From a household perspective, concerns over thermal comfort during space conditioning-based DF events significantly impact participation decisions. Currently, there is a very limited understanding of how thermal comfort during space-conditioning-based DF events in real-world settings impacts household energy use behaviors and, consequently, the success of DF programs in achieving targeted savings. This paper proposes a method to comprehensively assess the thermal comfort implications of DF strategies and presents results of their impacts on DF event participation decisions and demand savings. Here, the proposed method was applied to a heat pump DF field study in Cordova, Alaska. The study’s key findings are: 1) DF event setpoint offsets that maintain indoor operative temperatures between 18 to 22 °C (65 to 71°F) may be preferred in Cordova, Alaska; 2) Household-level thermal comfort is more sensitive to the duration of the DF event than to the degree of temperature offset from baseline conditions; 3) The delayed impact of changes in indoor operative temperature in response to setpoint offsets, both during and after a DF event, influences occupants’ thermal comfort perceptions and willingness to persistently participate in events. The findings from application of the proposed method can help inform future larger-scale occupant-centric DF programs as it can capture information not readily available through utility and device-level energy use data. Thus, it can supplement these sources and help program administrators develop occupant-centric DF strategies, enabling more accurate predictions of participation rates and savings estimates for space-conditioning-based DF programs.

Demand side management↗

NASA NTRS1999

Benefit Estimates of Terminal Area Productivity Program Technologies

This report documents benefit analyses for the NASA Terminal Area Technology (TAP) technology programs. Benefits are based on reductions in arrival delays at ten major airports over the 10 years from 2006 through 2015. Detailed analytic airport capacity and delay models were constructed to produce the estimates. The goal of TAP is enable good weather operations tempos in all weather conditions. The TAP program includes technologies to measure and predict runway occupancy times, reduce runway occupancy times in bad weather, accurately predict wake vortex hazards, and couple controller automation with aircraft flight management systems. The report presents and discusses the estimate results and describes the models. Three appendixes document the model algorithms and discuss the input parameters selected for the TAP technologies. The fourth appendix is the user's guide for the models. The results indicate that the combined benefits for all TAP technologies at all 10 airports range from $550 to $650 million per year (in constant 1997 dollars). Additional benefits will accrue from reductions in departure delays. Departure delay benefits are calculated by the current models.

Hemm, Robert↗

NASA NTRS2012

NASA Occupant Protection Standards Development

Historically, spacecraft landing systems have been tested with human volunteers, because analytical methods for estimating injury risk were insufficient. These tests were conducted with flight-like suits and seats to verify the safety of the landing systems. Currently, NASA uses the Brinkley Dynamic Response Index to estimate injury risk, although applying it to the NASA environment has drawbacks: (1) Does not indicate severity or anatomical location of injury (2) Unclear if model applies to NASA applications. Because of these limitations, a new validated, analytical approach was desired. Leveraging off of the current state of the art in automotive safety and racing, a new approach was developed. The approach has several aspects: (1) Define the acceptable level of injury risk by injury severity (2) Determine the appropriate human surrogate for testing and modeling (3) Mine existing human injury data to determine appropriate Injury Assessment Reference Values (IARV). (4) Rigorously Validate the IARVs with sub-injurious human testing (5) Use validated IARVs to update standards and vehicle requirement

Somers, Jeffrey↗

DOE OSTI2023

Slater transition methods for core-level electron binding energies

Methods for computing core-level ionization energies using self-consistent field (SCF) calculations are evaluated and benchmarked. These include a “full core hole” (or “ΔSCF”) approach that fully accounts for orbital relaxation upon ionization, but also methods based on Slater’s transition concept in which the binding energy is estimated from an orbital energy level that is obtained from a fractional-occupancy SCF calculation. A generalization that uses two different fractional-occupancy SCF calculations is also considered. The best of the Slater-type methods afford mean errors of 0.3–0.4 eV with respect to experiment for a dataset of K-shell ionization energies, a level of accuracy that is competitive with more expensive many-body techniques. An empirical shifting procedure with one adjustable parameter reduces the average error below 0.2 eV. Here, this shifted Slater transition method is a simple and practical way to compute core-level binding energies using only initial-state Kohn–Sham eigenvalues. It requires no more computational effort than ΔSCF and may be especially useful for simulating transient x-ray experiments where core-level spectroscopy is used to probe an excited electronic state, for which the ΔSCF approach requires a tedious state-by-state calculation of the spectrum. As an example, we use Slater-type methods to model x-ray emission spectroscopy.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗