Autonomous Unmanned Systems Technologies to Support Subterranean Operations.
Abstract not provided.
Buerger, Stephen↗
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Autonomous Unmanned Systems Technologies to Support Subterranean Operations.
Abstract not provided.
Buerger, Stephen↗
AI-ENABLED MONITORING OPTIONS TOWARDS SECURE MICROREACTOR DEPLOYMENT AND OPERATIONS
Global nuclear energy deployment scenarios suggest favorable economics for smaller, more versatile, and self-contained reactor technologies. Recognizing their key features as integrated, autonomous and either semi-remotely operated or fully remotely operated systems, microreactors are expected to be deployed in large numbers servicing off/micro-grids, many in geographically remote locations. Integrated nature of these systems as well as ease of their transportation as complete units, simplified installation and relocation/decommissioning challenge traditional continuity-of-knowledge practices used for conventional light water reactors where refueling is done onsite at designated times only replacing portions of their cores and only after their full commissioning for operations including completion of their containment building with security and safeguards measures in place. This effort is exploring AI (artificial intelligence)-enabled monitoring options that would be design agnostic and would assure secure unit deployment and operations. The principle is to maintain situational awareness via real-time evaluations of simultaneous and remotely transmitted monitoring data capturing key safeguards attributes including such characteristics as temperature, radiation, vibrational signals (inter alia), and others. The key principle is to provide reliable and resilient security options while maintaining simplified and economical deployment. The paper will review feasible options for AI-enabled solutions for such evaluations.
22 GENERAL STUDIES OF NUCLEAR REACTORS↗
Automated Lane Centering: An Off-the-Shelf Computer Vision Product vs. Infrastructure-Based Chip-Enabled Raised Pavement Markers
Safe autonomous vehicle (AV) operations depend on an accurate perception of the driving environment, which necessitates the use of a variety of sensors. Computational algorithms must then process all of this sensor data, which typically results in a high on-vehicle computational load. For example, existing lane markings are designed for human drivers, can fade over time, and can be contradictory in construction zones, which require specialized sensing and computational processing in an AV. But, this standard process can be avoided if the lane information is simply transmitted directly to the AV. High definition maps and road side units (RSUs) can be used for direct data transmission to the AV, but can be prohibitively expensive to establish and maintain. Additionally, to ensure robust and safe AV operations, more redundancy is beneficial. A cost-effective and passive solution is essential to address this need effectively. In this research, we propose a new infrastructure information source (IIS), chip-enabled raised pavement markers (CERPMs), which provide environmental data to the AV while also decreasing the AV compute load and the associated increase in vehicle energy use. CERPMs are installed in place of traditional ubiquitous raised pavement markers along road lane lines to transmit geospatial information along with the speed limit using long range wide area network (LoRaWAN) protocol directly to nearby vehicles. This information is then compared to the Mobileye commercial off-the-shelf traditional system that uses computer vision processing of lane markings. Our perception subsystem processes the raw data from both CEPRMs and Mobileye to generate a viable path required for a lane centering (LC) application. To evaluate the detection performance of both systems, we consider three test routes with varying conditions. Our results show that the Mobileye system failed to detect lane markings when the road curvature exceeded ±0.016 m -1 . For the steep curvature test scenario, it could only detect lane markings on both sides of the road for just 6.7% of the given test route. On the other hand, the CERPMs transmit the programmed geospatial information to the perception subsystem on the vehicle to generate a reference trajectory required for vehicle control. The CERPMs successfully generated the reference trajectory for vehicle control in all test scenarios. Moreover, the CERPMs can be detected up to 340 m from the vehicle’s position. Our overall conclusion is that CERPM technology is viable and that it has the potential to address the operational robustness and energy efficiency concerns plaguing the current generation of AVs.
33 ADVANCED PROPULSION SYSTEMS↗
Implementation of Augmented Teleautonomy on a Hydraulic Manipulator for Nuclear Facility D and D - 19602
Robotic and remote system have been used in nuclear applications to keep the human workers from high radiation environment and enhance task performance. However, applications in the more unstructured nuclear environments present more formidable challenges to robotics and remote systems. In particular, remote operation tasks for nuclear facility D and D (or dismantling) requires dexterous manipulation of heavy objects with simple and rugged robotic equipment. To address such challenge, this paper presents a new teleoperation method of augmented teleautonomy for remote operation of tools for D and D tasks. Rather than imposing complex functionalities on the slave robot, focused innovation is directed to providing effective operator aids in such a way as to draw more performance out of human operators. In this regard, the development entails the implementation of an enhanced telerobotic operation method by incorporating multi-modal augmented reality operator aids and autonomous motion primitives. This paper presents the relevant technology development utilizing a mixed-reality telerobotic test bed, and system integration and demonstration with a rugged, hydraulic slave robot system. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
Nuclear microreactor transient and load-following control with deep reinforcement learning
The economic feasibility of nuclear microreactors will depend on minimizing operating costs through advancements in autonomous control, especially when these microreactors are operating alongside other types of energy systems (e.g., renewable energy). This study explores the application of deep reinforcement learning (RL) for real-time drum control in microreactors, exploring performance in regard to load-following scenarios. By leveraging a point kinetics model with thermal and xenon feedback, we first establish a baseline using a single-output RL agent, then compare it against a traditional proportional–integral–derivative (PID) controller. This study demonstrates that RL controllers, including both single- and multi-agent RL (MARL) frameworks, can achieve similar or even superior load-following performance as traditional PID control across a range of load-following scenarios. In short transients, the RL agent was able to reduce the tracking error rate in comparison to PID by one half to one third. Over extended 300-minute load-following scenarios in which xenon feedback becomes a dominant factor, PID maintained better accuracy, but RL still remained within a 1% error margin despite being trained only on short-duration scenarios. This highlights RL’s strong ability to generalize and extrapolate to longer, more complex transients, affording substantial reductions in training costs and reduced overfitting. Furthermore, when control was extended to multiple drums, MARL enabled independent drum control as well as maintained reactor symmetry constraints without sacrificing performance---an objective that standard single-agent RL could not learn. We also found that, as increasing levels of Gaussian noise were added to the power measurements, the RL controllers were able to maintain lower error rates than PID, and to do so with at least 10% and upwards of 150% less control effort. These findings illustrate RL's potential for autonomous nuclear reactor control, laying the groundwork for future integration into high-fidelity simulations and experimental validation efforts.
22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
Intelligent Surrogate Model Development: Boosting Computational Efficiency for Autonomous Control of Advanced Reactors
Advanced reactors promise enhanced safety, greater efficiency, and waste reductions. To fully realize these benefits, it is crucial to address the need for autonomous or semi-autonomous control systems that require fewer operators. This research primarily supports the MARVEL autonomous control system, which requires real-time operation. However, the current RELAP5 reactor thermal hydraulic transient simulation is excessively time-consuming. Therefore, this study aims to leverage deep learning techniques to develop a surrogate model, providing a more efficient and accurate alternative for real-time performance. The model was trained using a combination of one-timestep prediction and scheduled sampling. It was then used for recursive prediction of the reactor state. This developed surrogate model significantly improves computational efficiency, achieving a 12 times acceleration.
46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗
Artificial Reasoning System for Symptom-Based Conditional Failure Probability Estimation Using Bayesian Network
Advances in nuclear power technologies require enhanced capabilities for operator advice and autonomous control. One of the first tasks in the development of such capabilities is the formulation of symptom-based conditional failure probabilities for structures, systems, and components (SSCs) of interest, for which the primary goal is to aid plant personnel in deducing the probabilistic performance status of the monitored SSCs and in detecting impending faults/failure. The task of conditional failure probability estimation is a bidirectional inference problem and shall be logically tackled by the Bayesian network (BN) approach. As a knowledge-based artificial intelligence tool and a probabilistic graphical model, BN offers the capability of reasoning under uncertainty and graphical representation emulating the physical behavior of the target SSC. This paper provides a systematic overview of the BN technique and the software tools for handling implementation of BN models, along with the associated knowledge representation and reasoning paradigm. Both operational data and expert judgement can be readily incorporated into the knowledge base of a BN model. The challenges with data availability are highlighted, and the general approach to target SSC identification is presented. Our focus is upon failure-prone and risk-important balance of plant assets, especially cases having strong operator involvement. An exemplary case study on the failure of a motor-driven centrifugal pump is also conducted to demonstrate the usefulness and technical feasibility of the proposed artificial reasoning system using an expert system shell.
Zhao, Xingang↗
Joint Fleet Sizing and Charging System Planning for Autonomous Electric Vehicles
This paper studies the joint fleet sizing and charging system planning problem for a company operating a fleet of autonomous electric vehicles (AEVs) for passenger and goods transportation. Most of the relevant published papers focus on intracity scenarios and adopt heuristic approaches, e.g., agent based simulation, which do not guarantee optimality. In contrast, we propose a mixed integer linear programming model for intercity scenarios. This model incorporates comprehensive considerations of 1) limited AEV driving range; 2) optimal AEV routing and relocating operations; 3) time-varying origin-destination transport demands; and 4) differentiated operation cost structure of passenger and goods transportation. The proposed model can be computational expensive when the scale of the transportation network is large. We then exploit the structure of this program to expedite its solution. Numerical experiments are conducted to validate the proposed method. Our experimental results show that AEVs in passenger and goods transportation have remarkable planning and operation differences. We also demonstrate that intelligent routing and relocating operations, charging system and vehicle parameters, e.g., charging power, battery capacity, driving speed etc., can significantly affect the economic efficiency and the planning results of an AEV fleet.
33 ADVANCED PROPULSION SYSTEMS↗
A novel network-based approach to determining measurement representation error for model evaluation of aerosol microphysical properties
Atmospheric aerosol size and abundance influence radiative effects and climate change. To date, efforts to constrain global climate models’ radiative forcing with in situ aerosol observations have been hamstrung by uncertainty. One source of error, the regional “representation error,” arises when accurate but sparse single-point measurements of atmospheric aerosol distributions are compared with a model value, assuming that the single-point measurement is representative of the model domain. The Portable Optical Particle Spectrometer network in the Southern Great Plains (POPSnet-SGP) campaign has demonstrated that a network of nearly autonomous aerosol instruments operating at ambient temperature and relative humidity (with low measurement error) may be used to quantify measurement representation error and investigate the factors introducing heterogeneity in aerosol distributions across a rural, continental background region. Measurements were made using Portable Optical Particle Spectrometer (POPS) instruments at several sites for five months across the Department of Energy’s Aerosol Radiation Measurement Southern Great Plains (ARM-SGP) User Facility in the central USA. Measurement representation error decreased with longer averaging periods (20-40 % between 1 sec and 1 day), varied between sites by 10 – 20 % for aerosol concentration 140 – 2500 nm in diameter (N_140), and was higher for aerosols > 400 nm in diameter (N_400). Our measurements also show the influence of local meteorology on aerosol surface area (A_140) and size distributions: A_140 is positively correlated with wind speed and relative humidity, negatively correlated with precipitation, and lower given westerly winds. Based on this study, we conclude that the POPSnet approach provides considerably more insight into the spatial variability in the aerosol population that can be used to constrain climate models than would be available from similar networks of PM 2.5 monitors.
54 ENVIRONMENTAL SCIENCES↗
Plasma-jet printing of colloidal thermoelectric Bi 2 Te 3 nanoflakes for flexible energy harvesting
Thermoelectric generators (TEGs) convert temperature differences into electrical power and are attractive among energy harvesting devices due to their autonomous and silent operation. While thermoelectric materials have undergone substantial improvements in material properties, a reliable and cost-effective fabrication method suitable for microgravity and space applications remains a challenge, particularly as commercial space flight and extended crewed space missions increase in frequency. This paper demonstrates the use of plasma-jet printing (PJP), a gravity-independent, electromagnetic field-assisted printing technology, to deposit colloidal thermoelectric nanoflakes with engineered nanopores onto flexible substrates at room temperature. We observe substantial improvements in material adhesion and flexibility with less than 2% and 11% variation in performance after 10 000 bending cycles over 25 mm and 8 mm radii of curvature, respectively, as compared to previously reported TE films. Our printed films demonstrate electrical conductivity of 2.5 × 10 3 S m -1 and a power factor of 70 μW m -1 K -2 at room temperature. To our knowledge, these are the first reported values of plasma-jet printed thermoelectric nanomaterial films. This advancement in plasma jet printing significantly promotes the development of nanoengineered 2D and layered materials not only for energy harvesting but also for the development of large-scale flexible electronics and sensors for both space and commercial applications.
99 GENERAL AND MISCELLANEOUS↗
Abisko: Deep codesign of an architecture for spiking neural networks using novel neuromorphic materials
The Abisko project aims to develop an energy-efficient spiking neural network (SNN) computing architecture and software system capable of autonomous learning and operation. The SNN architecture explores novel neuromorphic devices that are based on resistive-switching materials, such as memristors and electrochemical RAM. Equally important, Abisko uses a deep codesign approach to pursue this goal by engaging experts from across the entire range of disciplines: materials, devices and circuits, architectures and integration, software, and algorithms. Here, the key objectives of our Abisko project are threefold. First, we are designing an energy-optimized high-performance neuromorphic accelerator based on SNNs. This architecture is being designed as a chiplet that can be deployed in contemporary computer architectures and we are investigating novel neuromorphic materials to improve its design. Second, we are concurrently developing a productive software stack for the neuromorphic accelerator that will also be portable to other architectures, such as field-programmable gate arrays and GPUs. Third, we are creating a new deep codesign methodology and framework for developing clear interfaces, requirements, and metrics between each level of abstraction to enable the system design to be explored and implemented interchangeably with execution, measurement, a model, or simulation. As a motivating application for this codesign effort, we target the use of SNNs for an analog event detector for a high-energy physics sensor.
97 MATHEMATICS AND COMPUTING↗
CROCUS Dual Polarization Ceilometer Data at Northeastern Illinois University Rooftop
This dataset is from the Department of Energy Office of Science funded project, CROCUS Urban Integrated Field Laboratory (https://crocus-urban.org/). The dual-polarization ceilometer (Vaisala CL61) is an autonomous lidar system operating at 910 nm wavelength, providing valuable measurements for understanding atmospheric boundary layer evolution, air quality, and cloud-aerosol interactions. The CL61 measures the backscattered signal intensity alternating between parallel- and cross-polarization signals. The unique depolarization measurement capability improves discrimination between different particle types, such as liquid droplets, ice crystals, and aerosols. The depolarization is highly dependent on the scatterer shape and orientation (spherical vs non-spherical particles), with the linear depolarization ratio providing a measure of dominant backscatter signal component from atmospheric particles at various heights, essentially allowing discrimination between liquid and solid particles. With its efficient optical system, CL61’s improved signal-to-noise ratio compared to traditional ceilometers allows studying detailed vertical profiles of aerosols and clouds up to 15 km height.Datasets are stored in a netCDF data format, and we we encourage users to make use of the associated toolkits available from Unidata (https://www.unidata.ucar.edu/software/netcdf/), Project Pythia (https://foundations.projectpythia.org/core/data-formats/netcdf-cf.html), and our “Instrument Cookbooks” (https://crocus-urban.github.io/instrument-cookbooks) for more information on how to process the metadata-rich datasets.
54 ENVIRONMENTAL SCIENCES↗
PowerModel-AI: A First On-the-Fly Machine-Learning Predictor for AC Power Flow Solutions
The real-time creation of machine-learning models via active or on-the-fly learning has attracted considerable interest across various scientific and engineering disciplines. These algorithms enable machines to build models autonomously while remaining operational. Through a series of query strategies, the machine can evaluate whether newly encountered data fall outside the scope of the existing training set. In this study, we introduce PowerModel-AI, an end-to-end machine learning software designed to accurately predict AC power flow solutions. We present detailed justifications for our model design choices and demonstrate that selecting the right input features effectively captures load flow decoupling inherent in power flow equations. Our approach incorporates on-the-fly learning, where power flow calculations are initiated only when the machine detects a need to improve the dataset in regions where the model’s suboptimal performance is based on specific criteria. Otherwise, the existing model is used for power flow predictions. This study includes analyses of five Texas A&M synthetic power grid cases, encompassing the 14-, 30-, 37-, 200-, and 500-bus systems. The training and test datasets were generated using PowerModels.jl, an open-source power flow solver/optimizer developed at Los Alamos National Laboratory, NM, USA.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Vehicle Lateral Offset Estimation Using Infrastructure Information for Reduced Compute Load
Accurate perception of the driving environment and a highly accurate position of the vehicle are paramount to safe Autonomous Vehicle (AV) operation. AVs gather data about the environment using various sensors. For a robust perception and localization system, incoming data from multiple sensors is usually fused together using advanced computational algorithms, which historically requires a high-compute load. To reduce AV compute load and its negative effects on vehicle energy efficiency, we propose a new infrastructure information source (IIS) to provide environmental data to the AV. The new energy–efficient IIS, chip–enabled raised pavement markers are mounted along road lane lines and are able to communicate a unique identifier and their global navigation satellite system position to the AV. This new IIS is incorporated into an energy efficient sensor fusion strategy that combines its information with that from traditional sensor. IIS reduce the need for camera imaging, image processing, and LIDAR use and point cloud processing. We show that IIS, when combined with traditional sensors, results in more accurate perception and localization outcomes and a reduced AV compute load.
Sharma, Sachin↗
AURORA-SETO_VirginiaTech_ Power & Energy Center
This is a presentation. The outline of the presentation is : Overview multiple grid resiliency projects at Siemens Corporate Technology Introduce AURORA project(AUtonomous and Resilient Operation of energy systems with RenewaAbles) Dive into physics and cyber situation awareness Discuss challenges encountered at building a more resilient distribution grid
24 POWER TRANSMISSION AND DISTRIBUTION↗
Modular High Temperature Gas-Cooled Reactor: Licensing Part III
Recent Licensing Experience- Advanced and Micro- Reactors Recent Designs Additional Designs Licensing Challenges for advanced reactors Functional Containment Emergency Planning Zones Autonomous and Remote Operation Transportation Manufacturing Licenses NRC License vs. DOE Authorization Siting and Environmental Impact
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
FORCE Regression Testing
Via programs including the Light Water Reactor Sustainability and Integrated Energy Systems, the U.S. Department of Energy has invested in the Framework for Optimization of ResourCes and Economics (FORCE) software framework (Idaho National Laboratory 2024a) for the technical and economic analysis of nuclear-integrated energy systems (IES). Nuclear IES expand the use of nuclear from traditional baseload electricity generation to a flexible and adaptive source of combined heat and power. Nuclear heat can be used in the production of a variety of energy currencies such as hydrogen and ammonia as well as other heat applications including water desalination and district heating. FORCE is designed with the intent to provide interconnected analysis tools that enable the accurate technical and economic assessment of specific nuclear IES configurations for individual energy markets. FORCE consists of three main analysis pathways: HYBRID (Idaho National Laboratory 2024b), which contains high-resolution physical models for IES; Holistic Energy Resource Optimization Network (HERON) (Idaho National Laboratory 2024c), which analyzes IES long-term economic viability; and Optimization of Real-time Capacity Allocation (ORCA) (Idaho National Laboratory 2024d), designed for real-time control of IES via digital twins and optimal decision making, including autonomous and remote operation research. Development of the FORCE ecosystem is guided by three pillars: capability, which assures that the computational requirements of IES analysis are met by the software tools; reliability, which provides for consistent code performance and expected behaviors; and accessibility, which lowers the barrier to entry for using the software and accelerates analysis by users beyond the FORCE primary developers. Reliability of the FORCE ecosystem is established according to the American Nuclear Society?s Nuclear Quality Assurance (NQA-1) program [American Society of Mechanical Engineers 1982], with specific levels of software quality assurance (SQA) within NQA-1 applied to each software tool in FORCE. As the tools within FORCE have matured, some integration algorithms to accurately connect the software tools for holistic analysis have been developed and deployed within the FORCE software repository. In accordance with NQA-1 standards, regression tests are required to guarantee the software performs consistently even when new capabilities are added to the software. In this report, we document the deployment of both unit tests, which test the consistent behavior of small pieces of the FORCE code base, as well as integration tests, which test the consistent performance of full use cases for the FORCE integration algorithms. We further document the encapsulation of these tests within a test harness, which collectively checks for each successful test completion on demand. Finally, we document the automation of the test harness using GitHub Actions [GitHub 2024], which require all tests succeed before any new capability or other changes can be added to the FORCE integration software
97 MATHEMATICS AND COMPUTING↗