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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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At least 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

GIScience in the era of Artificial Intelligence: a research agenda towards Autonomous GIS

The advent of generative AI exemplified by large language models (LLMs) opens new ways to represent and compute geographic information and transcends the process of geographic knowledge production, driving geographic information systems (GIS) towards autonomous GIS. Leveraging LLMs as the decision core, autonomous GIS can independently generate and execute geoprocessing workflows to perform spatial analysis. In this vision paper, we further elaborate on the concept of autonomous GIS and present a conceptual framework that defines its five autonomous goals, five levels of autonomy, five core functions, and three operational scales. We demonstrate how autonomous GIS could perform geospatial data retrieval, spatial analysis, and map making with four proof-of-concept GIS agents. We conclude by identifying critical challenges and future research directions, including fine-tuning and self-growing decision-cores, autonomous modelling, and examining the societal and practical implications of autonomous GIS. By establishing the groundwork for a paradigm shift in GIScience, this paper envisions a future where GIS moves beyond traditional workflows to autonomously reason, derive, innovate, and advance geospatial solutions to pressing global challenges. Meanwhile, we emphasize that as we design and deploy increasingly intelligent geospatial systems, we carry a responsibility to ensure they are developed in socially responsible ways, serve the public good, and support the continued value of human geographic insight in an AI-augmented future.

Autonomous GI↗
DOE OSTI2026

An agentic artificially intelligent X-ray scientist

Executing experimental tasks in both normal research laboratories and large-scale scientific facilities often requires extensive human supervision and remains a key challenge on the path to fully autonomous, artificial intelligence (AI)-driven science. Here we demonstrate a large language model-driven agent that autonomously performs X-ray sample alignment on a synchrotron beamline by planning actions, executing instrumental commands, interpreting observations and iterating towards experimental goals. Based on existing large language models with structured tool-use via the model context protocol, our AI X-ray scientist was guided and tested using an in-house-built virtual experimental setup that mirrors a six-circle diffractometer at an operational synchrotron beamline. The agentic workflow developed in the virtual environment was directly deployed on a real beamline, where it correctly identified reference reflections and determined the orientation matrix, an essential first step in any type of single-crystal scattering experiment. Our AI X-ray scientist responded effectively to unexpected experimental conditions, demonstrating adaptive problem-solving and readiness for addressing practical experimental situations. Our study provides a step towards autonomous operation across diverse experimental environments at large-scale scattering facilities.

Chen, Zhantao (ORCID:0000000319543868)↗
DOE OSTI2022

Development and assessment of a reactor system prognosis model with physics-guided machine learning

Autonomous control systems provide recommendations to help operators in decision-making during plant operations ranging from normal operation to accident management. An important step of autonomous control is prognosis. In nuclear engineering domain, prognosis is the process of predicting future conditions of a system or equipment based on present signs and symptoms of a fault. The prognosis model allows predicting future reactor states for possible candidate control strategies so that the outcomes can be evaluated to determine the best control strategy. The prognosis model requires representing direct relationships between the symptoms and the predictions. In nuclear engineering, computational simulations are approximate representations of the operation of the real system. However, prognosis with computational simulations requires high computation power and time due to possible large number of scenarios. Necessary computation resources can be reduced with machine learning (ML) approach for fast predictions by building a surrogate function using the simulation data. A critical issue is, ML models are ignorant of physical knowledge, and these models approximate statistical relationships between the system variables. This ignorance can produce results that are inconsistent with physical laws, even if an optimal result is achieved from a mathematical point of view. Physics-guided machine learning (PGML) is an approach to tackle this issue. Here, this work formulates and illustrates a framework to guide development and assessment of the ML-based prognosis model for autonomous control systems. The development of the prognosis model considers the training of a ML model which consists of optimizing many aspects of the ML approach. The assessment of the prognosis model considers training data limitations and uncertainties of the ML approach. Prognosis models with standalone ML and PGML are developed and assessed on the loss-of-flow scenario of Experimental Breeder Reactor II. The results indicate that PGML based prognosis model has the best performance compared to other prognosis models.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2024

Low-Flow Marine Hydrokinetic Turbine for Small Autonomous Unmanned Mobile Recharge Stations

A prototype low-flow marine current turbine for deployment from a small unmanned mobile floating platform has been developed for autonomously seeking and harnessing tidal/coastal currents. The support platform is an unmanned surface vehicle (USV), in the form of a catamaran with two electric outboard motors and with capabilities for autonomous navigation. The USV utilized is a WAM-V 16 vehicle that has been developed separately with support from the Office of Naval Research (ONR) [1]. The marine current turbine is based on a freestream waterwheel (FSWW), also known as an undershot waterwheel (FSWW), mounted on the stern of the USV. The concept of operation involves the USV autonomously navigating to a designated marine current resource. Upon arrival, the USV anchors itself, aligns with the current, and deploys the FSWW turbine using a custom cable-lift mechanism. The turbine harnesses the local current, and an onboard power-take-off (PTO) device converts the mechanical energy into electricity, which is stored in an onboard battery bank. When energy harvesting is completed, the turbine and the anchor are retrieved and the USV navigates to a selected location. These unmanned at-sea platforms can provide power to other unmanned maritime systems. Specifically, in this project, the power generated onboard can be used to charge aerial drones via a custom flight deck that has been developed for the USV. The recharging capabilities offered by a fleet of such strategically placed recharging stations can significantly benefit aerial drones operating in the maritime domain by eliminating the need to travel back and forth to land or ship based charging stations. The project has resulted in the development of subcomponents, including the FSWW turbine, a novel PTO, an automated anchoring system for the USV, an automated turbine deployment system, and a flight deck with capabilities onboard the USV for landing, direct-contact charging and takeoff of aerial drones. The design and development of these subsystems have culminated in the overall prototype marine hydrokinetic platform (MHK Platform, Fig. 1). Comprehensive lab and field testing have been conducted to validate the functionality and performance of the platform and its components. The project demonstrates the potential for autonomous, unmanned systems to harness renewable energy from marine currents, and provide sustainable power solutions for maritime applications such as coastal surveillance and environmental monitoring; shoreline mapping; search and rescue; oceanographic research; inspection and maintenance of offshore energy installations like wind turbines and oil rigs; oil spill response; maritime disaster response; and aerial surveys, as well as facilitation of data transfer drones and shore stations.

16 TIDAL AND WAVE POWER↗
DOE OSTI2022

Operational Resilience of Nuclear-Renewable Integrated-Energy Microgrids

The increasing prevalence and severity of wildfires, severe storms, and cyberattacks is driving the introduction of numerous microgrids to improve resilience locally. While distributed energy resources (DERs), such as small-scale wind and solar photovoltaics with storage, will be major components in future microgrids, today, the majority of microgrids are backed up with fossil-fuel-based generators. Small modular reactors (SMRs) can form synergistic mix with DERs due to their ability to provide baseload and flexible power. The heat produced by SMRs can also fulfill the heating needs of microgrid consumers. This paper discusses an operational scheme based on distributed control of flexible power assets to strengthen the operational resilience of SMR-DER integrated-energy microgrids. A framework is developed to assess the operational resilience of SMR-DER microgrids in terms of system adaptive real-power capacity quantified as a response area metric (RAM). Month-long simulation results are shown with a microgrid developed in a modified Institute of Electrical and Electronics Engineers (IEEE)-30 bus system. The RAM values calculated along the operational simulation reflect the system resilience in real time and can be used to supervise the microgrid operation and reactor’s autonomous control.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2025

A New Vehicle-to-Vehicle Communication System: Visual-Enhanced Cooperative Traffic Operations

The advent of Connected and Autonomous Vehicles (CAVs) has highlighted the necessity for robust communication systems between vehicles and their environment. This study introduces a novel vehicle-to-vehicle (V2V) communication system, termed the Visual-Enhanced Cooperative Traffic Operations (VECTOR) system. The VECTOR system addresses the need for robust communication by converting dynamic data (including velocity and yaw angle data) into binary code, which is displayed on an LED panel mounted on the top of the vehicle. Following vehicles detect this panel and decode the information using a camera, implementing a visual-based communication method. VECTOR system employs a comprehensive five-module process. Initially, polynomial fitting techniques are applied to velocity data over fixed time intervals using third-degree polynomials, with validation via R² and MSE metrics. The second module converts velocity and yaw angle data into binary form, thereby enhancing detection and processing efficiency. The third module focuses on improving detection stability across various environmental conditions to enhance traffic safety. The fourth module decodes the binary data back into trajectory information, ensuring the fidelity of velocity and yaw angles. The final module integrates eco-control through the VECTOR system, employing advanced control algorithms to minimize energy consumption in CAVs. Experimental evaluations conducted using a modified CAV test platform based on the Lincoln MKZ demonstrate the feasibility and efficiency of the VECTOR system, achieving a 75% R-squared accuracy rate in replicating original velocity data. This methodology not only highlights potential applications but also underscores significant implications for advancing CAV technology.

Ma, Ke↗
DOE OSTI2024

Fabrication and Testing of DOE Standard Canister Closure Leak Test Assembly

DOE manages over 300 types of SNF, most of which are located at the INL site. “Road-ready dry storage” is a management concept where SNF is packaged into dry, sealed canisters, which are then placed in on-site storage in anticipation of later removal. The Idaho Cleanup Project and INL are collaborating on the Road-Ready Capability Demonstration Project, which will develop and demonstrate the designs, technology, processes, and regulatory framework for packaging DOE SNF for road-ready dry storage. In support of establishing a large-scale road-ready dry storage program at the INL site, the demonstration will package a select amount of DOE-managed SNF into DOE Standard Canisters. The closure process for the DOE Standard Canisters will include fuel and basket loading, welding, inspection, leak testing, and if needed, repair. As a follow-up to previous discussion on the design of the DOE Closure Leak Test Assembly, this report describes recent fabrication and testing efforts performed at INL. DOE Standard Canisters are sealed by two sequential gas tungsten arc welds. Both are performed by remotely operated and semi-autonomous welding systems. The first weld is a circumferential pipe weld that completes assembly of the canister body and lid assembly. The second and final closure weld connects the vent plug to the vent port with an identical butt joint to the circumferential pipe weld. After the second weld is performed on the vent port, these welds are helium leak tested using an inside-out technique. In addition to the commercially available vacuum and leak detector systems, the DOE Standard Canister Closure Leak Test Assembly was designed for both remote and manual operation. This report describes fabrication and performance testing associated with the inside-out technique. INL staff designed and tested systems to accomplish these tasks. Hardware fabrication occurred at INL facilities. Forthcoming work includes design optimization, integration to existing systems, and implementation to packaging demonstration operations.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2023

The research challenges in security and safeguards for nuclear fission batteries

This paper discusses the nuclear security and safeguards research challenges presented by the development and deployment of nuclear fission batteries. These are defined as easily transportable and deployable nuclear systems which are designed to operate either unattended or autonomously. We start by defining the current landscape of domestic and international safeguards and security and discuss how it can be affected by the introduction these new nuclear systems. We then specifically discuss the technology gaps and technologies to be developed to facilitate their practical deployment. We find that, as expected, we can leverage conclusions from existing security and safeguards studies for small modular rectors and develop bespoke target set analyses to inform security postures based on probabilistic risk assessment. We find also that specific fission battery security economic analysis tools are needed and security by design must be applied early. However, the most important finding is that these new systems will require a new comprehensive set of cyber tools covering transportation, installation, operation, maintenance security of the fission battery systems. Altogether, we find that the development of the necessary security and safeguards requirements at the design phase of such a technology will be of great benefit in the smooth deployment of this modern nuclear energy system.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2022

Application of Artificial Intelligence in Detection and Mitigation of Human Factor Errors in Nuclear Power Plants: A Review

Human factors and ergonomics have played an essential role in increasing the safety and performance of operators in the nuclear energy industry. In this critical review, we examine how artificial intelligence (AI) technologies can be leveraged to mitigate human errors, thereby improving the safety and performance of operators in nuclear power plants (NPPs). First, we discuss the various causes of human errors in NPPs. Next, we examine the ways in which AI has been introduced to and incorporated into different types of operator support systems to mitigate these human errors. We specifically examine (1) operator support systems, including decision support systems, (2) sensor fault detection systems, (3) operation validation systems, (4) operator monitoring systems, (5) autonomous control systems, (6) predictive maintenance systems, (7) automated text analysis systems, and (8) safety assessment systems. Finally, we provide some of the shortcomings of the existing AI technologies and discuss the challenges still ahead for their further adoption and implementation to provide future research directions.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2025

Artificial Intelligence for Data Center Operations (AIOps): Cooperative Research and Development (Final Report)

High performance computing data centers will increasingly need to rely on automation to keep pace with exascale growth in compute capability and to manage and optimize the data center environment and facility resources. Artificial intelligence and machine learning approaches provide the means to improve HPC data center operational efficiency, by learning historical trends and training models to operate on real-time data collected from both IT and facilities sources. NREL has developed methods of real-time collection, aggregation and streaming of these data in the ESIF HPC Data Center and has collected a significant dataset of relevant metrics across computer systems, racks, environmental, building and utility sources for research into various predictive analytics problems. HPE's Advanced Technology Group (ATG) is doing comprehensive research into exascale monitoring and management for High Performance Computing (HPC) systems (hereinafter HPE's Data Monitoring/ Management Technology). NREL and HPE will collaborate to add Artificial Intelligence (AI) to NREL's real-time data collection/ aggregation/ streaming system and HPE's Data Monitoring/ Management System, with the goal of improving the operational efficiency of NREL's Energy Systems Integration Facility (ESIF) HPC Data Center through data analytics on both historical and real-time data from IT systems and facilities operations. This collaboration will consist of efforts in Data Management, Data Analytics, and AI/ML Optimization for both manual and autonomous intervention in data center operations. This will be a multi-year, multi-staged effort with a goal towards building capabilities for an Advanced Smart Facility, and demonstration of these techniques in the NREL ESIF HPC Data Center.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

Supervisory Algorithm for Autonomous Hemodynamic Management Systems

Future military conflicts will require new solutions to manage combat casualties. The use of automated medical systems can potentially address this need by streamlining and augmenting the delivery of medical care in both emergency and combat trauma environments. However, in many situations, these systems may need to operate in conjunction with other autonomous and semi-autonomous devices. Management of complex patients may require multiple automated systems operating simultaneously and potentially competing with each other. Supervisory controllers capable of harmonizing multiple closed-loop systems are thus essential before multiple automated medical systems can be deployed in managing complex medical situations. The objective for this study was to develop a Supervisory Algorithm for Casualty Management (SACM) that manages decisions and interplay between two automated systems designed for management of hemorrhage control and resuscitation: an automatic extremity tourniquet system and an adaptive resuscitation controller. SACM monitors the required physiological inputs for both systems and synchronizes each respective system as needed. We present a series of trauma experiments carried out in a physiologically relevant benchtop circulatory system in which SACM must recognize extremity or internal hemorrhage, activate the corresponding algorithm to apply a tourniquet, and then resuscitate back to the target pressure setpoint. SACM continues monitoring after the initial stabilization so that additional medical changes can be quickly identified and addressed, essential to extending automation algorithms past initial trauma resuscitation into extended monitoring. Overall, SACM is an important step in transitioning automated medical systems into emergency and combat trauma situations. Future work will address further interplay between these systems and integrate additional medical systems.

42 ENGINEERING↗
DOE OSTI2022

Overview and Recommendations for Cyber Risk Assessment in Nuclear Power Plants

Digital instrumentation and control (I&C) systems are being deployed in nuclear power plants (NPPs) for both existing and advanced reactor designs. As I&C systems become more digitized to allow features like near autonomous control and remote operation, they introduce greater cyber risk to NPPs. Cyberattacks targeting industrial control systems (ICSs) are growing in both qualities and capabilities, which indicates that cybersecurity needs to be an integral part of risk assessment in the industry. Although there are some risk assessment methods in traditional information technology (IT) cybersecurity, the differences between IT and ICS cybersecurity make it infeasible to apply these risk assessment methods directly to ICSs. Some research has focused on risk assessment methods for ICSs, but few studies focus on applications to NPPs. Ideal risk frameworks for the nuclear industry are dynamic and account for system dependencies; this survey review focuses on such risk assessment methods both in and outside the nuclear field. In this article, the major challenges in cybersecurity risk assessment research are pointed out, and further research suggestions and considerations for cyber risk assessment in I&C systems are identified.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2022

Dynamic Decarbonization through Autonomous Physics-Centric Deep Learning and Optimization of Building Operations (Abstract only)

This project directly addresses the primary goal of Area of Interest 2 in the CRADA call: to advance optimization-based integrated energy management systems in commercial and residential buildings. Pacific Northwest National Laboratory (PNNL) and its industry partner PassiveLogic aim to accomplish this by reaching three key objectives. First, to ensure a broad impact in the building controls industry, PNNL will extend its open-source library for predictive control synthesis by augmenting its capabilities with data-driven self-learning of building models and auto-calibration of predictive controllers. The effort will focus on building use cases selected in collaboration with PassiveLogic. The team will specifically address the development of methods for data-driven adaptation of building models, investigation of model architectures that best address specific building types, and automated synthesis of differentiable predictive controllers that optimize diverse objectives. Second, PNNL will collaborate with PassiveLogic to integrate the aforementioned methods with PasiveLogic’s advanced controls platform. The collaborative integration effort will inform the developments under the first objective by providing specific data on the attainable performance of model learning on resource-constrained edge computing platforms. This software integration effort will increase the technical maturity of the developed libraries by exploring the use of software integration tools and methods. Third, PNNL and PassiveLogic will work to improve the technology readiness of the developed predictive controllers by testing their performance in relevant test environments, such as high-fidelity simulation, hardware in the loop, and actual test buildings.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2024

Self-Aware Local Autonomous and Semi-Cooperative Control for Cross-Layered Resilience (SLAC3R)

The objective of this work is to develop and demonstrate novel, adaptive, lightweight algorithms that enable the decision-making agents in a large cyber-physical network to act both autonomously and in collaborative harmony to enforce assured resilience across spatiotemporal layers, even under unforeseen adversarial scenarios (e.g., high- impact-low-probability events). Towards this end, the proposed solution will serve as minimally invasive add-on layers that bridge the existing (faster, reactive) local myopic controls and (slower, predictive) centralized optimization. Importantly, the proposed algorithms will enable the multi-agent network to autonomously and collaboratively enforce resilient operation under no or limited communication environment typical of severe cyber- physical adversarial events. The expected outcome of this effort is a suite of prototype, open-source, software algorithms for safety-aware local autonomous and semi-cooperative control (SLAC3R), demonstrated on networked microgrids (via RD2C/Thrust-1 OPAL-RT testbed).

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

A modeling framework for designing and evaluating curbside traffic management policies at Dallas-Fort Worth International Airport

Emerging mobility technologies are changing the transportation system landscape. This is especially evident at airports, such as the Dallas-Fort Worth International Airport (DFW). Without careful analysis, these changes could lead to inefficient and costly airport operations. This paper presents a modeling framework that integrates travel mode encoding, demand projection, and microsimulation to enable airports to develop, simulate, and evaluate curbside traffic managements policies and measure their impact. Here, the framework is utilized to analyze several traffic scenarios and policies for DFW: a baseline scenario which represents DFW traffic pattern as observed in 2018 and projected to 2045, a transit network company (TNC) electrification policy, a TNC queuing policy, a policy that increased transit ridership, a bus-only policy which considers the use of only buses inside DFW, an autonomous vehicle (AV) policy which investigates the impact of autonomous vehicle (AV) adoption on airport operations, and an example COVID-19 scenario which models the impact of the COVID19 pandemic. The simulations’ results demonstrate that: increasing the DFW transit ridership postpones the need for airport curbside expansion the most; encouraging shared-mobility with the bus-only policy produces the most savings in curbside congestion delays; automation and electrification for all passenger vehicle trips to/from DFW generates the most saving in fuel consumption and emissions; and uncontrolled AV adoption incurs the highest increase in fuel consumption, delay, and emissions and could require immediate airport capacity extension. Without policy intervention or investment in additional infrastructure capacity, these results predict the current operations would face significant congestion on high demand days starting as early as 2028. While derived in close partnership with DFW, the methodology presented here can be generalized to any airport.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2023

Autonomous Controls For Reactor Technologies (acorn)

ACORN (Autonomous Controls fOr Reactor techNologies) software utilizes data, obtained from an experimental test bed and/or simulation, to implement a control command for microreactor operation. Command examples include a change to the temperature profile, power profiles, heat fluxes, etc. The control command recommended by the code is derived based on future predicted states of a microreactor, allowing proactive optimal and autonomous microreactor operation. The software is written in Python languages. The current software supports autonomous temperature controls of heat pipe simulator and autonomous heat flux controls of a 37 heat pipe non-nuclear testbed simulator (or its surrogate models).

Lin, Linyu [Idaho National Laboratory (INL), Idaho↗
DOE OSTI2020

Future Vision for Autonomous Ocean Observations

Autonomous platforms already make observations over a wide range of temporal and spatial scales, measuring salinity, temperature, nitrate, pressure, oxygen, biomass; and many other parameters. However, the observations are not comprehensive. Future autonomous systems need to be more affordable, more modular, more capable and easier to operate. Creative new types of platforms and new compact, low power, calibrated and stable sensors are under development to expand autonomous observations. Communications and recharging need bandwidth and power which can be supplied by standardized docking stations. In situ power generation will also extend endurance for many types of autonomous platforms, particularly autonomous surface vehicles. Standardized communications will improve ease of use, interoperability, and enable coordinated behaviors. Improved autonomy and communications will enable adaptive networks of autonomous platforms. Improvements in autonomy will have three aspects: hardware, control, and operations. As sensors and platforms have more onboard processing capability and energy capacity, more measurements become possible. Control systems and software will have the capability to address more complex states and sophisticated reactions to sensor inputs, which allows the platform to handle a wider variety of circumstances without direct operator control. Operational autonomy is increased by reducing operating costs. To maximize the potential of autonomous observations new standards and best practices are needed. In some applications, focus on common platforms and volume purchases could lead to significant cost reductions. Cost reductions could enable order-of-magnitude increases in platform operations and increase sampling resolution for a given level of investment. Energy harvesting technologies should be integral to the system design, for sensors, platforms, vehicles, and docking stations. Connections are needed between the marine energy and ocean observing communities to coordinate among funding sources, researchers, and end users. Regional teams should work with global organizations such as IOC/GOOS in governance development. International networks such as EGO for the emerging glider operations should also provide a forum for addressing governance. Networks of multiple vehicles can improve operational efficiencies and transform operational patterns. There is a need to develop operational architectures at regional and global scales to provide a backbone for active networking of autonomous platforms.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

High precision control and deep learning-based corn stand counting algorithms for agricultural robot

This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence rate, biomass, vigor, and stand counting, are measured manually. This is highly labor-intensive and prone to errors. The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements. In this paper, we formulate a Nonlinear Moving Horizon Estimator that identifies key terrain parameters using onboard robot sensors and a learning-based Nonlinear Model Predictive Control that ensures high precision path tracking in the presence of unknown wheel-terrain interaction. Moreover, we develop a machine vision algorithm designed to enable an ultra-compact ground robot to count corn stands by driving through the fields autonomously. The algorithm leverages a deep network to detect corn plants in images, and a visual tracking model to re-identify detected objects at different time steps. We collected data from 53 corn plots in various fields for corn plants around 14 days after emergence (stage V3 - V4). The robot predictions have agreed well with the ground truth with C robot =1.02×C human -0.86 and a correlation coefficient R=0.96. The mean relative error given by the algorithm is -3.78%, and the standard deviation is 6.76%. These results indicate a first and significant step towards autonomous robot-based real-time phenotyping using low-cost, ultra-compact ground robots for corn and potentially other crops.

97 MATHEMATICS AND COMPUTING↗