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DOE OSTI2020

Maximizing Distributed Energy Resource Value for All Stakeholders

To fully understand the potential value of distributed energy resources (DER) in supporting a power system transformation, it requires engagement with diverse stakeholders. In May 2019, NREL brought together people across the DER community to collaborate and identify questions, needs, and an action plan to integrate DER and maximize their value for the entire energy community. This paper reflects the process and dialogue that took place and can be used as a framework for maximizing DER value for all stakeholders.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2017

Carbon footprint as an environmental sustainability indicator for the particleboard produced in Pakistan

This study quantified the carbon footprint of particleboard production in Pakistan using a cradle-to-gate life cycle assessment approach. The system boundary comprised raw materials acquisition, transport, particleboard manufacture and finished product distribution. Primary data were collected through surveys and meetings with particleboard manufacturers. Secondary data were taken from the literature. Greenhouse gas emissions from off-site industrial operations of the particleboard industry represented 52% of the total emissions from the production of 1.0 m{sup 3} of particleboard in Pakistan. The on-site industrial operations cause direct greenhouse gas emissions and accounted for 48% of the total emissions. These operations included energy consumption in stationary sources, the company-owned vehicle fleet, and the distribution and marketing of the finished product. The use of natural gas combustion in the stationary and mobile sources, raw material transport and urea-formaldehyde resin production chain accounted for the highest emissions from the particleboard production chain in Pakistan. The identification of the major hotspots in the particleboard production chain can assist the wood panel industry to improve their environmental profile. More efforts are needed to investigate the urea-formaldehyde resin production chain and substitution of roundwood with wood and agri-residues to assess the potential improvements. In addition, renewable energy sources should be encouraged to avoid greenhouse gas emissions by substituting fossil energy. This study also provides a benchmark for future research work to formulate comprehensive greenhouse gas emissions reduction plans, because no previous research work is available on the carbon footprint of particleboard production in Pakistan. - Highlights: • We conducted the first carbon footprint assessment of particleboard produced in Pakistan. • System boundary comprised raw materials acquisition, particleboard manufacture and distribution. • Off-site industrial operations were accounted for highest emissions (52%) followed by on-site operations (48%). • Natural gas, materials transport and UF resin use accounted for highest emissions. • Identified potential strategies for GHG emissions reductions from PB production in Pakistan.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2014

Pilot study for compact microbeam radiation therapy using a carbon nanotube field emission micro-CT scanner

Purpose: Microbeam radiation therapy (MRT) is defined as the use of parallel, microplanar x-ray beams with an energy spectrum between 50 and 300 keV for cancer treatment and brain radiosurgery. Up until now, the possibilities of MRT have mainly been studied using synchrotron sources due to their high flux (100s Gy/s) and approximately parallel x-ray paths. The authors have proposed a compact x-ray based MRT system capable of delivering MRT dose distributions at a high dose rate. This system would employ carbon nanotube (CNT) field emission technology to create an x-ray source array that surrounds the target of irradiation. Using such a geometry, multiple collimators would shape the irradiation from this array into multiple microbeams that would then overlap or interlace in the target region. This pilot study demonstrates the feasibility of attaining a high dose rate and parallel microbeam beams using such a system. Methods: The microbeam dose distribution was generated by our CNT micro-CT scanner (100μm focal spot) and a custom-made microbeam collimator. An alignment assembly was fabricated and attached to the scanner in order to collimate and superimpose beams coming from different gantry positions. The MRT dose distribution was measured using two orthogonal radiochromic films embedded inside a cylindrical phantom. This target was irradiated with microbeams incident from 44 different gantry angles to simulate an array of x-ray sources as in the proposed compact CNT-based MRT system. Finally, phantom translation in a direction perpendicular to the microplanar beams was used to simulate the use of multiple parallel microbeams. Results: Microbeams delivered from 44 gantry angles were superimposed to form a single microbeam dose distribution in the phantom with a FWHM of 300μm (calculated value was 290 μm). Also, during the multiple beam simulation, a peak to valley dose ratio of ∼10 was found when the phantom translation distance was roughly 4x the beam width. The first prototype CNT-based x-ray tube dedicated to the development of compact MRT technology development was proposed and planned based on the preliminary experimental results presented here and the previous corresponding Monte Carlo simulations. Conclusions: The authors have demonstrated the feasibility of creating microbeam dose distributions at a high dose rate using a proposed compact MRT system. The flexibility of CNT field emission x-ray sources could possibly bring compact and low cost MRT devices to the larger research community and assist in the translational research of this promising new approach to radiation therapy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2017

System Engineering Analysis For Improved Scout Business Information Systems

The project uses system engineering principles to address the need of Boy Scout leaders for an integrated system to facilitate advancement and awards records, leader training and planning for meetings and activities. Existing products to address needs of Scout leaders and relevant stakeholders function to support record keeping and some communication functions but opportunity exists for a better system to fully integrate these functions with training delivery and recording, activity planning along with feedback and information gathering from stakeholders. Key stakeholders for the sytem include Scouts and their families, leaders, training providers, sellers of supplies and awards, content generators and facilities that serve Scout activities. Key performance parameters for the system are protection of personal information, availability of current information, information accuracy and information content that has depth. Implementation concepts considered for the system include (1) owned and operated by Boy Scouts of America, (2) Contracted out to a vendor (3) distributed system that functions with BSA managed interfaces. The selected concept is to contract out to a vendor to maximize the likelihood of successful integration and take advantage of the best technology. Development of requirements considers three key use cases (1) System facilitates planning a hike with training needed satisfied in advance and advancement recording real time (2) Scheduling and documenting in-person training, (3) Family interested in Scouting receives information and can request follow-up. Non-functional requirements are analyzed with the Quality Function Deployment tool. Requirement addressing frequency of backup, compatibility with legacy and new technology, language support, software update are developed to address system reliability and intuitive interface. System functions analyzed include update of activity database, maintenance of advancement status, archive of documents, and monitoring of content that is accessible. The study examines risks associated with information security, technological change and continued popularity of Scouting. Mitigation is based on system functions that are defined. The approach to developing an improved system for facilitating Boy Scout leader functions was iterative with insights into capabilities coming in the course of working through the used cases and sequence diagrams.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2014

Multivariate analysis of factors predicting prostate dose in intensity-modulated radiotherapy

We conducted a multivariate analysis to determine relationships between prostate radiation dose and the state of surrounding organs, including organ volumes and the internal angle of the levator ani muscle (LAM), based on cone-beam computed tomography (CBCT) images after bone matching. We analyzed 270 CBCT data sets from 30 consecutive patients receiving intensity-modulated radiation therapy for prostate cancer. With patients in the supine position on a couch with the HipFix system, data for center of mass (COM) displacement of the prostate and the state of individual organs were acquired and compared between planning CT and CBCT scans. Dose distributions were then recalculated based on CBCT images. The relative effects of factors on the variance in COM, dose covering 95% of the prostate volume (D{sub 95%}), and percentage of prostate volume covered by the 100% isodose line (V{sub 100%}) were evaluated by a backward stepwise multiple regression analysis. COM displacement in the anterior-posterior direction (COM{sub AP}) correlated significantly with the rectum volume (δVr) and the internal LAM angle (δθ; R = 0.63). Weak correlations were seen for COM in the left-right (R = 0.18) and superior-inferior directions (R = 0.31). Strong correlations between COM{sub AP} and prostate D{sub 95%} and V{sub 100%} were observed (R ≥ 0.69). Additionally, the change ratios in δVr and δθ remained as predictors of prostate D{sub 95%} and V{sub 100%}. This study shows statistically that maintaining the same rectum volume and LAM state for both the planning CT simulation and treatment is important to ensure the correct prostate dose in the supine position with bone matching.

61 RADIATION PROTECTION AND DOSIMETRY↗

NASA NTRS1981

Avionics test bed development plan

The plan is for a facility for the early investigation and evaluation of new concepts for the control of large space structures, orbiter attached flex body experiments, and orbiter enhancements. This plan outlines a distributed data processing facility that will utilize the current JSC laboratory resources for the test bed development. The future studies required for implementation, the management system for project control, and the baseline system configuration are described.

Harris, L. H.↗

NASA NTRS2003

International Cooperation of Payload Operations on the International Space Station

One of the primary goals of the International Space Station (ISS) is to provide an orbiting laboratory to be used to conduct scientific research and commercial products utilizing the unique environment of space. The ISS Program has united multiple nations into a coalition with the objective of developing and outfitting this orbiting laboratory and sharing in the utilization of the resources available. The primary objectives of the real- time integration of ISS payload operations are to ensure safe operations of payloads, to avoid mutual interference between payloads and onboard systems, to monitor the use of integrated station resources and to increase the total effectiveness of ISS. The ISS organizational architecture has provided for the distribution of operations planning and execution functions to the organizations with expertise to perform each function. Each IPP is responsible for the integration and operations of their payloads within their resource allocations and the safety requirements defined by the joint program. Another area of international cooperation is the sharing in the development and on- orbit utilization of unique payload facilities. An example of this cooperation is the Microgravity Science Glovebox. The hardware was developed by ESA and provided to NASA as part of a barter arrangement.

Melton, Tina↗

NASA NTRS2019

Constraining the Earth System with EOS-Aura Observations

NASA's Goddard Earth Observing System (GEOS) model and data assimilation system is a flexible, modular global system that is used for applications that range from weather prediction to climate analysis. Resolving scales ranging from a few kilometers to several tens of kilometers, with scale-aware parametrization settings, the GEOS system offers NASA scientists and their partners a flexible system that is attuned to bringing in observations from all components of the Earth System. The GEOS system thus serves as a tool that enhances the value to NASA of observations from individual instruments, by bringing them into context with the full suite of "operational" observations and other research datasets. This presentation will emphasize how the GEOS system has been used to extend the value of observations from EOS-Aura, in conjunction with other NASA and non-NASA observations. One example is atmospheric ozone from the OMI and MLS instruments, that has been used extensively in GEOS systems for both weather (GEOS-FP) and the MERRA-2 reanalysis. The presentation will emphasize the value of these ozone datasets for studying long-term changes of ozone since 2004 and will discuss prospects of continuing such analyses in the post-Aura era. A new configuration of GEOS, the Composition Forecasting (CF) system has recently gone in to production: this uses a full troposphere-stratosphere chemistry mechanism (GEOS-Chem) to analyze and predict global constituent distributions, including surface air quality. While constituent observations are not yet assimilated into GEOS-CF, EOS-Aura data are used substantially to evaluate the system and plans are in place to introduce assimilation at a later stage. Examples from GEOS-CF will be shown to illustrate the value of EOS-Aura observations. Discussions will focus on the likely value of long-term analyses of EOS-Aura observations in context of understanding potential impacts on the health of humans and the biosphere, including the importance of sustaining long-term, global observing systems such as that pioneered by EOS-Aura.

Pawson, Steven↗

DOE OSTI2016

MO-A-201-01: A Cliff’s Notes Version of Proton Therapy

Proton therapy is a rapidly growing modality in the fight against cancer. From a high-level perspective the process of proton therapy is identical to x-ray based external beam radiotherapy. However, this course is meant to illustrate for x-ray physicists the many differences between x-ray and proton based practices. Unlike in x-ray therapy, proton dose calculations use CT Hounsfield Units (HU) to determine proton stopping power and calculate the range of a beam in a patient. Errors in stopping power dominate the dosimetric uncertainty in the beam direction, while variations in patient position determine uncertainties orthogonal to the beam path. Mismatches between geometric and range errors lead to asymmetric uncertainties, and so while geometric uncertainties in x-ray therapy are mitigated through the use of a Planning Target Volume (PTV), this approach is not suitable for proton therapy. Robust treatment planning and evaluation are critical in proton therapy, and will be discussed in this course. Predicting the biological effect of a proton dose distribution within a patient is also a complex undertaking. The proton therapy community has generally regarded the Radiobiological Effectiveness (RBE) of a proton beam to be 1.1 everywhere in the patient, but there are increasing data to suggest that the RBE probably climbs higher than 1.1 near the end of a proton beam when the energy deposition density increases. This lecture will discuss the evidence for variable RBE in proton therapy and describe how this is incorporated into current proton treatment planning strategies. Finally, there are unique challenges presented by the delivery process of proton therapy. Many modern systems use a spot scanning technique which has several advantages over earlier scattered beam designs. However, the time dependence of the dose deposition leads to greater concern with organ motion than with scattered protons or x-rays. Image guidance techniques in proton therapy may also differ from standard x-ray approaches, due to equipment design or the desire to maximize efficiency within a high-cost proton therapy treatment room. Differences between x-ray and proton therapy delivery will be described. Learning Objectives: Understand how CT HU are calibrated to provide proton stopping power, and the sources of uncertainty in this process. Understand why a PTV is not suitable for proton therapy, and how robust treatment planning and evaluation are used to mitigate uncertainties. Understand the source and implications of variable RBE in proton therapy Learn about proton specific challenges and approaches in beam delivery and image guidance Jon Kruse has a research grant from Varian Medical Systems related to proton therapy treatment plannning.; J. Kruse, Jon Kruse has a research grant with Varian Medical Systems related to proton therapy planning.

60 APPLIED LIFE SCIENCES↗

NASA NTRS1998

Verification and Quantification of Single Event Effects on High Speed SRAM in Terrestrial Environments

As integrated circuits become more sensitive to charged particles and neutrons, anomalous performance due to single event effects (SEE) is a concern and requires experimental verification and quantification. The Center for Applied Radiation Research (CARR) at Prairie View A&M University has developed experiments as a participant in the NASA ER-2 Flight Program, the APEX balloon flight program and the Student Launch Program. Other high altitude and ground level experiments of interest to DoD and commercial applications are being developed. The experiment characterizes the SEE behavior of high speed and high density SRAM's. The system includes a PC-104 computer unit, an optical drive for storage, a test board with the components under test, and a latchup detection and reset unit. The test program will continuously monitor the stored checkerboard data pattern in the SW and record errors. Since both the computer and the optical drive contain integrated circuits, they are also vulnerable to radiation effects. A latchup detection unit with discrete components will monitor the test program and reset the system when necessary. The first results will be obtained from the NASA ER-2 flights, which are now planned to take place in early 1998 from Dryden Research Center in California. The series of flights, at altitudes up to 70,000 feet, and a variety of flight profiles should yield a distribution of conditions for correlating SEES. SEE measurements will be performed from the time of aircraft power-up on the ground throughout the flight regime until systems power-off after landing.

Huff, H.↗

DOE OSTI2016

Comprehensive Solutions for Integration of Solar Resources into Grid Operations

The need for proactive closed-loop integration of uncertainty information into system operations and probability-based controls is widely recognized, but rarely implemented in system operations. Proactive integration for this project means that the information concerning expected uncertainty ranges for net load and balancing requirements, including required balancing capacity, ramping and ramp duration characteristics, will be fed back into the generation commitment and dispatch algorithms to modify their performance so that potential shortages of these characteristics can be prevented. This basic, yet important, premise is the motivating factor for this project. The achieved project goal is to demonstrate the benefit of such a system. The project quantifies future uncertainties, predicts additional system balancing needs including the prediction intervals for capacity and ramping requirements of future dispatch intervals, evaluates the impacts of uncertainties on transmission including the risk of overloads and voltage problems, and explores opportunities for intra-hour generation adjustments helping to provide more flexibility for system operators. The resulting benefits culminate in more reliable grid operation in the face of increased system uncertainty and variability caused by solar power. The project identifies that solar power does not require special separate penetration level restrictions or penalization for its intermittency. Ultimately, the collective consideration of all sources of intermittency distributed over a wide area unified with the comprehensive evaluation of various elements of balancing process, i.e. capacity, ramping, and energy requirements, help system operators more robustly and effectively balance generation against load and interchange. This project showed that doing so can facilitate more solar and other renewable resources on the grid without compromising reliability and control performance. Efforts during the project included developing and integrating advanced probabilistic solar forecasts, including distributed PV forecasts, into closed –loop decision making processes. Additionally, new uncertainty quantifications methods and tools for the direct integration of uncertainty and variability information into grid operations at the transmission and distribution levels were developed and tested. During Phase 1, project work focused heavily on the design, development and demonstration of a set of processes and tools that could reliably and efficiently incorporate solar power into California’s grid operations. In Phase 2, connectivity between the ramping analysis tools and market applications software were completed, multiple dispatch scenarios demonstrated a successful reduction of overall uncertainty and an analysis to quantify increases in system operator reliability, and the transmission and distribution system uncertainty prediction tool was introduced to system operation engineers in a live webinar. The project met its goals, the experiments prove the advancements to methods and tools, when working together, are beneficial to not only the California Independent System Operator, but the benefits are transferable to other system operators in the United States.

14 SOLAR ENERGY↗

DOE OSTI2021

The nth-plant scenario for blended feedstock conversion and preprocessing nationwide: biorefineries and depots

The sustainability of the biofuel industry depends on the development of a mature conversion technology on a national level that can take advantage of the economies of scale: the nth-plant. Defining the future location and supply logistics of conversion plants is imperative to ultimately transform the nation’s renewable biomass resources into cost-competitive, high-performance feedstock for production of biofuels and bioproducts. Since the US has put restrictions on production levels of conventional biofuels from edible resources, the nation needs to plan for the widespread accessibility and development of the cellulosic biofuel scenario. Conventional feedstock supply systems will be unable to handle cellulosic biomass nationwide, making it essential to expand the industry with an advanced feedstock supply system incorporating a distributed network of preprocessing depots and conversion plants, or biorefineries. Current studies are mostly limited to designing supply systems for specific regions of the country. We developed a national database with potential locations for depots and biorefineries to meet the nation’s target demand of cellulosic biofuel. Blended feedstock with switchgrass and corn stover (harvested by either a two- or three-pass method) are considered in a Mixed Integer Linear Programming model to deliver on-spec biomass that considers both, a desired quantity and quality at the biorefinery. A total delivered feedstock cost that is less than $79.07/dt (2016$) is evaluated for years 2022, 2030, and 2040. In 2022, 124 depots and 59 biorefineries could be supplied with 42.8 million dt of corn stover and switchgrass. In 2030 and 2040, the total accessible biomass could increase to 215% and 393% respectively when compared to 2022. However, an $8/dry tons reduction in targeted delivery cost could reduce total accessible biomass by 67%. Kansas, Nebraska, South Dakota and Texas were identified as potential states with a strong biofuel economy given that they had six or more biorefineries located in all scenarios. In some scenarios, Colorado, Alabama, Georgia, Minnesota, Mississippi and South Carolina would greatly benefit from a depot network as these could only deliver to a biorefinery in a nearby state. To elaborate the impact of a nationwide consideration, the findings were compared with existing literature for different US regions. We also present results for biorefinery capacities that are double, triple, and quadruple in size.

09 BIOMASS FUELS↗

NASA NTRS1989

Design of a structural and functional hierarchy for planning and control of telerobotic systems

Hierarchical structures offer numerous advantages over conventional structures for the control of telerobotic systems. A hierarchically organized system can be controlled via undetailed task assignments and can easily adapt to changing circumstances. The distributed and modular structure of these systems also enables fast response needed in most telerobotic applications. On the other hand, most of the hierarchical structures proposed in the literature are based on functional properties of a system. These structures work best for a few given functions of a large class of systems. In telerobotic applications, all functions of a single system needed to be explored. This approach requires a hierarchical organization based on physical properties of a system and such a hierarchical organization is introduced. The decomposition, organization, and control of the hierarchical structure are considered, and a system with two robot arms and a camera is presented.

Acar, Levent↗

DOE OSTI2015

SU-E-T-253: Development of a GDPM Monte Carlo Based Quality Assurance Tool for Cyberknife

Purpose: To develop a 3D quality assurance (QA) tool for Cyberknife plans using a GPU-based Monte Carlo dose calculation package, gDPM. The developed QA tool will be used as a secondary check for Cyberknife treatment planning software (TPS) reported dose distributions. Methods: Phase space files of the 5, 7.5, 10, 15, and 60 mm iris cones were downloaded from IAEA phase-space database. From the 60mm iris cone phase space file, we were able to generate raw phase space files for all other cones using a particle rejection method. The particles in the raw phase space files were binned with respect to the radial position and energy for commissioning. During the commissioning process, gDPM calculated percent depth dose and off-center ratios which were compared to those measured in the Blue Phantom. The off-axis data was measured with an SAD setup at depths of 15, 50, 100, 200, and 300 mm. At the commissioning stage, an optimization problem was solved to adjust the binned particles weights to minimize the difference between the calculated and measured ones. Commissioning validations will be performed by measuring point dose data of patient specific plans delivered to water phantoms. With commissioned phase space files, 3D patient-specific dose distributions will be calculated and compared against TPS reported dose. Results: Beyond the initial buildup region, the root mean square difference between the calculated and measured percent depth dose differences was less than 0.5%. The full-width half-max data from the off-axis ratio calculations was found to be within 0.1 mm of the measured data. Conclusion: Our current work showed excellent agreement between the gDPM calculated dose and the measured data for all cone sizes and types for the Cyberknife system. Implementation of a fast and accurate QA tool for patient specific plans will be feasible with this tool.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2020

Ready for Renewables: Grid Planning and Competitive Renewable Energy Zones (CREZ) in the Philippines

The Department of Energy of the Philippines launched the competitive renewable energy zones (CREZ) process to help achieve the country's goals of scaling up renewable energy generation on the power system and to ensure sustainable, secure, reliable, accessible, and affordable energy. The CREZ process identifies the most economic renewable energy resource areas so transmission planning and expansion can accelerate their development. By proactively focusing transmission expansion to these resource areas, renewable energy generation development obstacles such as transmission access, energy curtailment, land permitting (such as protected or high-slope areas), and regulatory barriers are easier to overcome thus, reducing risk for private sector renewable energy investment. This report is will cover the outputs of the CREZ process, the development of the outputs through stakeholder-driven coordination, and how this process will help the Philippines achieve their renewable energy goals.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1985

Space station data system analysis/architecture study. Task 3: Trade studies, DR-5, volume 2

Results of a Space Station Data System Analysis/Architecture Study for the Goddard Space Flight Center are presented. This study, which emphasized a system engineering design for a complete, end-to-end data system, was divided into six tasks: (1); Functional requirements definition; (2) Options development; (3) Trade studies; (4) System definitions; (5) Program plan; and (6) Study maintenance. The Task inter-relationship and documentation flow are described. Information in volume 2 is devoted to Task 3: trade Studies. Trade Studies have been carried out in the following areas: (1) software development test and integration capability; (2) fault tolerant computing; (3) space qualified computers; (4) distributed data base management system; (5) system integration test and verification; (6) crew workstations; (7) mass storage; (8) command and resource management; and (9) space communications. Results are presented for each task.

Source record↗

NASA NTRS1992

Overview of environmental test plans for Space Station Freedom work package 4

The generation and distribution of electric power for Space Station Freedom (SSF) is critical to the station's success. Work Package 4 (WP-04) has the responsibility for the design, development, test, and delivery of the Electric Power System (EPS) for the SSF. During launch, assembly, and operation, the EPS will be subjected to various environments. A test and verification approach has been developed to assure that the EPS will function in these environments. An overview of that test program is presented with emphasis on environmental testing of hardware. Two key areas of the test program are highlighted in the overview. One area is the verification of the Solar Power Module (SPM) and associated cargo element hardware. This area includes detailing the plans for development and qualification testing of the SPM hardware. One series of tests, including modal and acoustic, has been completed on a development cargo element. Another area highlighted is the acceptance testing of high-power Orbital Replacement Units (ORU). The environmental test equipment plans are presented and reviewed in light of an aggressive production rate, which delivers ORU's to the WP-04 and other Space Station Work Packages. Through implementing the test program as outlined, the EPS hardware will be certified for flight and operation on the Space Station Freedom.

Peterson, Tom J.↗

NASA NTRSDate not supplied

SafeMAP: Safe Multi-Agent Planning Framework Based on Dynamic Probabilistic Risk Assessment

This paper proposes a risk-aware framework for Safe Multi-Agent Planning (SafeMAP) that unifies disparate models for multi-agent systems in a Markovian process that allows for simultaneous system health monitoring, decision making under uncertainty, and multi-agent system collaboration. As operations beyond low earth orbit mature, there is an increased need for autonomous cyber-physical systems with onboard decision making capabilities. Multi-agent cyber-physical systems in particular offer the potential of increased efficiency, resiliency, and mission capabilities for future applications such as multi-rover terrain operations, distributed satellite operations, and management of smart lunar habitats. SafeMAP utilizes physics-based models of each agent and the relevant components, probability models of the environment and component operational states, and reward models for mission-specific objectives such as scientific task completion or resource consumption. The output of SafeMAP is a set of mission plans that satisfy the mission objective under specified risk/reward constraints. A readable interpretation of each of these generated mission plans is provided as an additional output. SafeMAP has been demonstrated on a simulated case study involving a four-rover system performing surface mapping operations and science tasks. Results of this paper demonstrate SafeMAP’s ability to generate explainable mission plans that satisfy the mission objective while minimizing risk under nominal and off-nominal conditions.

Mohammad Hejase↗