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Using Digital and Web-Based Platforms to Enhance Nuclear Power Plant Knowledge Transfer - 20203

As the workforce ages, the loss of experienced personnel can result in a loss of important knowledge. Updating Electric Power Research Institute (EPRI) research and guidance with the latest technology developments and operating experience is an important method to transfer knowledge between the retiring and incoming workforce. Studies suggest that the incoming workforce is accustomed to using digital and/or internet-based platforms to find information and may have a higher comfort with these types of platforms than they have with static, written reports. Additionally, the ease and speed of updating and delivering content through digital formats may offer an effective method for knowledge transfer and combining information from multiple reports into a single access point. EPRI has recently produced an online Decommissioning Hub available to members and is working on replicating the effort in the area of radioactive waste management called the Radwaste Web References. EPRI has extensive guidance in both disciplines. The Decommissioning Hub uses a wiki format to provide a platform that allows for both the updating of that guidance resulting from new research and new operating experiences, and combining related topical information from multiple reports. It also allows users to access the information based on key words and topical searches, and can be a tool for users to input experience to share with others. The Decommissioning Hub is accessed via a web-based portal and includes topical pages; experience summaries; a question and answer capability; and a smart search function of all EPRI decommissioning reports. Use of a wiki format allows users to input new experiences or modify existing experience summaries to add additional detail. EPRI moderates all content. The experience data base has been initially populated with information available in published EPRI reports and unpublished information currently available within EPRI. Moving forward, population of the database will continue with information available within the open literature, new information developed from current decommissioning projects, and user inputs. The web site became active in late 2017, and a major update will be issued in early 2020. Larger scale updates are planned biannually, and smaller-scale updates will occur continuously. Capturing and applying lessons learned from industry experiences is a hallmark of the global nuclear industry. This is even more important in the decommissioning technology area since very few plant staff have relevant experience and thus there is a steep learning curve. Moreover, decommissioning involves a number of complex, non-routine and specialized tasks. The web-accessible and searchable experience database provides an easy-to-use resource for capturing and disseminating practical experiences from completed and ongoing decommissioning projects. The EPRI Radwaste Web References will build upon the philosophy and objectives of the Radwaste Desk References that were published in the 1990's. The purpose of the original Radwaste Desk References was to provide nuclear power plant professionals with a how-to manual for managing radioactive waste. The Radwaste Web References will adopt this original purpose and will be a wiki type web site that provide fundamental practical and theoretical information, operating experience (OE), and information about advanced technologies and methods. As much as practicable, features that allow for interaction between users to share OE, best practices, and benchmarking will be added. Where they exist and are appropriate, the various EPRI Guidelines documents on radwaste topics will be updated and incorporated into the Radwaste Web References. The first Radwaste Web Reference will be on Low Level Waste Characterization and will build upon the EPRI Low Level Waste Characterization Guidelines (EPRI Report TR-107201, 1996) and will be available in 2020. The next Radwaste Web Reference will be on the topic of liquid radioactive waste processing and management, tentatively set for unveiling in 2021. This paper summarizes the EPRI's previous experiences with web-based platforms and future plans in this area. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Continual Learning for Production-Level Machine Learning in Particle Accelerators

Particle accelerators operate in complex environments where data distribution can change dynamically, leading to data drifts that significantly challenge Machine Learning (ML) models. These non-stationary conditions often cause ML models to deteriorate in performance, making it difficult to maintain reliable predictions in operation. The primary sources of data drifts are changes in accelerator settings and changes in equipment performance which cannot be measured directly. To bridge this gap between ML development and long-term deployment in operational settings, we identify key areas within particle accelerators where continual learning can help mitigate drift-induced performance degradation. We will provide a practical guide on selecting the appropriate method given resource constraints and desired stability plasticity trade offs. As a concrete example, we will present a real-world use case for anomaly detection to predict errant beams at the Spallation Neutron Source accelerator, where continual learning has been employed to demonstrate stable performance on drifting data streams. We will present practical challenges, lessons learned, and the results from the deployed ML model.

Rajput, Kishansingh [Thomas Jefferson National Acc↗

Operational Probabilistic Tools for Solar Uncertainty (OPTSUN) (Final Project Report for DOE Solar Forecasting II Project)

Increasing levels of solar PV can challenge system operations and may require novel methods to operate the power system reliably and efficiently. Power system operating plans generally use deterministic forecasts, in which the variable energy resources are represented by the expected value for each interval of the decision horizon. Probabilistic forecasts are relatively new but have the potential to address the shortfalls of deterministic forecasts. However, understanding how best to use such forecasts is still a key gap in industry and was the focus of this project. The project had three workstreams. In a forecasting workstream, improvements were made to baseline probabilistic forecasts using a number of new approaches such as machine learning methods and improved input data. In a design workstream, advanced simulation tools used these forecasts to investigate newly proposed reserve determination methods. Lastly, in a demonstration workstream a scheduling management platform (SMP) was developed to leverage probabilistic forecasts in a modular and customizable manner. In order to study the benefits that could be accrued, the project team collaborated with three utility partners (Duke Energy, Southern Company and Hawaiian Electric) to deliver improved probabilistic forecasts for each region and to model each region in case studies using advanced production cost modeling tools. Different methods to determine operating reserve requirements from probabilistic forecasts were developed, simulated, and tested across each region. The benefits of using these newly proposed methods varied by utility, but, in general, using probabilistic forecasts as well as historical data to set the reserve requirements seems to improve reliability related results, with less risk of reserve or supply shortfalls. The cost implications were not always straightforward; in some cases the new methods could show a reduction in expected operating costs, but often the increase in reserves associated with better risk mitigation using probabilistic forecasts could result in an increase in operating costs in the simulations. The SMP tool was developed to process probabilistic forecasts from their initial receipt through to scheduling decisions. This open-source tool consists of several modules for scenario development, reserve requirements calculation, and visualization. The SMP tool was demonstrated to a wide range of operators and stakeholders at all three utilities and further improved based on their feedback. The tool will be available on www.epri.com/optsun. The proposed probabilistic information-based reserve determination approaches have the potential to be implemented by different regions to ensure an economic and reliable power system operation on power systems integrating increasing levels of variable renewable resources. The innovative yet practical methods developed in this project demonstrated tangible benefits from using probabilistic forecasts beyond just study-based assessments to include three unique balancing areas. The demonstrated benefits across the multiple utility environments, are expected to provide system operators in all regions the confidence required and a platform to adopt the new forecasting and operating methods.

14 SOLAR ENERGY↗

Full event particle-level unfolding with variable-length latent variational diffusion

The measurements performed by particle physics experiments must account for the imperfect response of the detectors used to observe the interactions. One approach, unfolding, statistically adjusts the experimental data for detector effects. Recently, generative machine learning models have shown promise for performing unbinned unfolding in a high number of dimensions. However, all current generative approaches are limited to unfolding a fixed set of observables, making them unable to perform full-event unfolding in the variable dimensional environment of collider data. A novel modification to the variational latent diffusion model (VLD) approach to generative unfolding is presented, which allows for unfolding of high- and variable-dimensional feature spaces. The performance of this method is evaluated in the context of semi-leptonic t\bar{t} t t ‾ production at the Large Hadron Collider.

Shmakov, Alexander↗

Submarine exposure guideline recommendations for carbon dioxide based on the prenatal developmental effects of exposure in rats

Background To protect crewmember health, the U.S. Navy sets exposure limits for more than 200 components of submarine atmospheres. The addition of females to nuclear submarines required a reevaluation of these exposure limits, originally established for all‐male crews. In the case of carbon dioxide (CO 2 ), the only available data suitable for deriving an exposure limit were from a 2010 study sponsored by the British Royal Navy that reported a debatable interpretation casting doubt on whether current U.S. Navy exposure limits served to protect fetal developmental health. Methods About 120 time‐mated female Sprague–Dawley rats (Crl: CD[SD]) were exposed to CO 2 at levels of 1.5%, 2.0%, 2.5%, and 3.0% from gestation days 6 to 20. Dams were euthanized and fetuses were examined. Results Findings with implications for exposure limits for CO 2 during pregnancy were an increased mean litter proportion of early resorptions and a lower mean litter proportion of viable fetuses in the 3.0% CO 2 group. Conclusion The results yield a No Observed Adverse Effect Level (NOAEL) of 2.5% and a Lowest Observed Adverse Effect Level (LOAEL) of 3.0%. The results reasonably allow a point of departure of 2.5% CO 2 for deriving an exposure recommendation. An interspecies uncertainty factor was applied to derive a recommended 90‐day continuous exposure limit (CEL) of 0.8% for CO 2 . As reproductive endpoints that are developmental in nature must be assumed to result from a single exposure at a critical point during gestation, it is further recommended that the 24‐hr emergency exposure limit (EEL) also be 0.8%.

Howard, William R.↗

Topological structure of complex predictions

Abstract Current complex prediction models are the result of fitting deep neural networks, graph convolutional networks or transducers to a set of training data. A key challenge with these models is that they are highly parameterized, which makes describing and interpreting the prediction strategies difficult. We use topological data analysis to transform these complex prediction models into a simplified topological view of the prediction landscape. The result is a map of the predictions that enables inspection of the model results with more specificity than dimensionality-reduction methods such as tSNE and UMAP. The methods scale up to large datasets across different domains. We present a case study of a transformer-based model previously designed to predict expression levels of a piece of DNA in thousands of genomic tracks. When the model is used to study mutations in the BRCA1 gene, our topological analysis shows that it is sensitive to the location of a mutation and the exon structure of BRCA1 in ways that cannot be found with tools based on dimensionality reduction. Moreover, the topological framework offers multiple ways to inspect results, including an error estimate that is more accurate than model uncertainty. Further studies show how these ideas produce useful results in graph-based learning and image classification.

Computer Science↗

Ab initio coupled-cluster and multi-reference configuration interaction studies of the low-lying electronic states of 1,2,3,4-cyclobutanetetraone

In this paper, the four, closely spaced, lowest energy electronic states of the challenging, D 4h -symmetric, 1,2,3,4-cyclobutanetetraone (C 4 O 4 ) molecule have been investigated using high-level ab initio methods. The calculated states include the closed-shell singlet 8π( 1 A 1g ) state, the singlet 10π( 1 A 1g ) state, in which the π-type lowest unoccupied molecular orbital (LUMO) of the 8π( 1 A 1g ) reference is doubly occupied and the σ-type highest occupied molecular orbital (HOMO) is empty, and the open-shell singlet and triplet states, designated as 9π( 1 B 2u ) and 9π( 3 B 2u ), respectively, originating from single occupancy of the HOMO and LUMO. Our focus is on single-reference coupled-cluster (CC) approaches capable of handling electronic near-degeneracies in diradicals, especially the completely renormalised CR-CC(2,3) and active-space CCSDt methods, along with their CCSD and EOMCCSD counterparts. The internally contracted multi-reference configuration interaction calculations with a quasi-degenerate Davidson correction are performed as well. Our computations demonstrate that the state ordering is 9π( 3 B 2u ) < 8π( 1 A 1g ) < 9π( 1 B 2u ) < 10π( 1 A 1g ) and that the 8π( 1 A 1g ) - 9π( 3 B 2u ) gap is in the 7–11 kJ/mol range, in reasonable agreement with the negative ion photoelectron spectroscopy measurements, which give 6.27 ± 0.5 kJ/mol. Finally, in addition to the theory level used, geometry relaxation and basis set play a significant role in determining the state ordering and energy spacings. In particular, it is unsafe to use lower level, non-CC geometries and smaller basis sets.

1,2,3,4-cyclobutanetetraone↗

Langevin dynamics of generalized spins as SU( N ) coherent states

Classical models of spin systems traditionally retain only the dipole moments, but a quantum spin state will frequently have additional structure. Spins of magnitude S have N = 2⁢S + 1 levels. Alternatively, the spin state is fully characterized by a set of N 2 - 1 local physical observables, which we interpret as generalized spin components. For example, a spin with S = 1 has three dipole components and five quadrupole components. Further, these components evolve under a generalization of the classical Landau-Lifshitz dynamics, which can be extended with noise and damping terms. In this paper, we reformulate the dynamical equations of motion as a Langevin dynamics of SU(N) coherent states in the Schrödinger picture. This viewpoint is especially useful as the basis for an efficient numerical method to sample spin configurations in thermal equilibrium and to simulate the relaxation and driven motion of topological solitons. To illustrate the approach, we simulate a nonequilibrium relaxation process that creates CP 2 skyrmions, which are topological defects with both dipole and quadrupole character.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Advising Big Data Transfer Over Dedicated Connections Based on Profiling Optimization

Big data transfer in next-generation scientific applications is currently commonly carried out over dedicated channels in high-performance networks (HPNs), where transport protocols play a critical role in maximizing application-level throughput. Optimizing the performance of these protocols is challenging: i) transport protocols perform differently in various network environments, and the protocol choice is not straightforward; ii) even for a given protocol in a given environment, different parameter settings of the protocol may lead to significantly different performance and oftentimes the default setting does not yield the best performance. However, it is prohibitively time-consuming to conduct exhaustive transport profiling due to the large parameter space. In this paper, we propose a PRofiling Optimization Based DAta Transfer Advisor (ProbData) to help end users determine the most effective transport method with the most appropriate parameter settings to achieve satisfactory performance for big data transfer over dedicated connections in HPNs. ProbData employs a fast profiling scheme based on the Simultaneous Perturbation Stochastic Approximation algorithm, namely, FastProf, to accelerate the exploration of the optimal operational zones of various transport methods to improve profiling efficiency. We first present a theoretical background of the optimized profiling approach in ProbData and then detail its design and implementation. The advising procedure and performance benefits of FastProf and ProbData are illustrated and evaluated by both extensive emulations based on real-life performance measurements and experiments over various physical connections in existing production HPNs.

97 MATHEMATICS AND COMPUTING↗

Development of a Library for Conducting Monte Carlo Tallies on Heterogeneous Systems

A library is introduced that enables users to conduct Monte Carlo tallies on heterogeneous computing systems. The library can be built with or linked to a Monte Carlo transport code to provide tally capabilities for the project. The library provides a set of tools and an interface for constructing tallies that can be computed on CPUs or GPUs regardless of where the sample data was generated. The library can be incorporated into existing Monte Carlo transport codes at both the research and production level with minimal intrusion into the transport code. The tally library is capable of computing a variety of tallies including track-length histogram (mesh) tallies, collisionbased kernel density estimators, functional expansion tallies, eigenvalue sensitivity coefficients via iterated fission probability, and sensitivities of reaction rates or adjoint-weighted quantities via differential operator sampling. The parallelization methods are discussed and speedups are shown for 2-D and 3-D problems with comparisons to both the tally library CPU implementations as well as the tally capabilities in the host transport code. Performance results and examples are shown for MCNP, MCATK, and OpenMC.

97 MATHEMATICS AND COMPUTING↗

Glass Property-Composition Models Update for use in Direct Feed High-Level Waste Flowsheet Development: EWG2.6

A set of preliminary glass property models and constraints were developed and augmented by models from literature for use in design of direct-feed high-level waste (DFHLW) glasses for flowsheet evaluation, testing, and design of the Waste Treatment and Immobilization Plant (WTP) high-level waste (HLW) Facility. These models and constraints are meant to be used as a place-holder while glass property-composition data gaps are filled and final plant operating models are developed. This report describes the motivation and intended use of the models, the compilation of data, model fitting and selection, methods to apply the models and constraints in glass design and offers example calculations demonstrating their intended use.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Simultaneous estimation of multiple eigenvalues with short-depth quantum circuit on early fault-tolerant quantum computers

We introduce a multi-modal, multi-level quantum complex exponential least squares (MM-QCELS) method to simultaneously estimate multiple eigenvalues of a quantum Hamiltonian on early fault-tolerant quantum computers. Our theoretical analysis demonstrates that the algorithm exhibits Heisenberg-limited scaling in terms of circuit depth and total cost. Notably, the proposed quantum circuit utilizes just one ancilla qubit, and with appropriate initial state conditions, it achieves significantly shorter circuit depths compared to circuits based on quantum phase estimation (QPE). Numerical results suggest that compared to QPE, the circuit depth can be reduced by around two orders of magnitude under several settings for estimating ground-state and excited-state energies of certain quantum systems.

97 MATHEMATICS AND COMPUTING↗

A Principled Framework to Assess the Information-Theoretic Fitness of Brain Functional Sub-Circuits

In systems and network neuroscience, many common practices in brain connectomic analysis are often not properly scrutinized. One such practice is mapping a predetermined set of sub-circuits, like functional networks (FNs), onto subjects’ functional connectomes (FCs) without adequately assessing the information-theoretic appropriateness of the partition. Another practice that goes unchallenged is thresholding weighted FCs to remove spurious connections without justifying the chosen threshold. This paper leverages recent theoretical advances in Stochastic Block Models (SBMs) to formally define and quantify the information-theoretic fitness (e.g., prominence) of a predetermined set of FNs when mapped to individual FCs under different fMRI task conditions. Our framework allows for evaluating any combination of FC granularity, FN partition, and thresholding strategy, thereby optimizing these choices to preserve the important topological features of the human brain connectomes. By applying to the Human Connectome Project with Schaefer parcellations at multiple levels of granularity, the framework showed that the common thresholding value of 0.25 was indeed information-theoretically valid for group-average FCs, despite its previous lack of justification. Our results pave the way for the proper use of FNs and thresholding methods, and provide insights for future research in individualized parcellations.

Duong-Tran, Duy (ORCID:0009000944967575)↗

A wavelet-optimized, very high order adaptive grid and order numerical method

Differencing operators of arbitrarily high order can be constructed by interpolating a polynomial through a set of data followed by differentiation of this polynomial and finally evaluation of the polynomial at the point where a derivative approximation is desired. Furthermore, the interpolating polynomial can be constructed from algebraic, trigonometric, or, perhaps exponential polynomials. This paper begins with a comparison of such differencing operator construction. Next, the issue of proper grids for high order polynomials is addressed. Finally, an adaptive numerical method is introduced which adapts the numerical grid and the order of the differencing operator depending on the data. The numerical grid adaptation is performed on a Chebyshev grid. That is, at each level of refinement the grid is a Chebvshev grid and this grid is refined locally based on wavelet analysis.

Jameson, Leland↗

Control Reconfigurability of Linear Time-Invariant Systems

For any fault-tolerant control method to take effect, sufficient redundancy must exist in the plant (process) to be controlled. This paper is intended to establish a means of measuring the level of redundancy in connection with feedback control by borrowing the notion of the second-order modes. In particular, it is assumed that foreseeable faults of a process are parameterized in the model of the process. The smallest second-order mode is used as a measure of the potentiality of the process to maintain a certain performance through control reconfiguration at the occurrence of the worst faults over a prescribed set in the fault parameter space. This measure is called by the authors a control reconfigurability. The control reconfigurability is calculated for two process models to show its relevance to redundant actuating capabilities in the models.

Wu, N. Eva↗

Artificial Neural Networks to Predict Cognitive Impairment of Rodents Subjected to Space Radiation

INTRODUCTION We use artificial neural networks (ANNs) as an example machine learning (ML) tool to predict the cognitive performance impairment of rats induced by irradiation. The experimental data in the analyses is attentional set-shifting (ATSET) test scores from a rodent model exposed to ≤15 cGy of individual galactic cosmic radiation (GCR) ions: 4He, 28Si, or 56Fe, expected for a Lunar or Mars mission [1]. This work investigates rats at a subject-based level and uses applied dose and performance scores taken before irradiation to predict whether a rat will be impaired when irradiated. The results of this study are significant to crewed space missions as they support the potential of predicting an astronaut’s impairment in a specific task before spaceflight through the implementation of appropriately trained ML tools. METHODS Data used in this work are scores from the ATSET, a multi-stage constrained cognitive flexibility test [2]. Our computational model utilizes the number of attempts to reach the criterion to pass a stage as a behavioral performance measure for rats. We use the post-irradiation scores, generate thresholds from cumulative distribution plots of non-irradiated rats, and calculate the percent of irradiated rats whose scores fall below the threshold to infer how each radiation type/dose affects a population. Rats scoring above the threshold are labeled impaired while the others are non-impaired. We then employ ANNs as a typical ML technique, and use each subject’s individual scores taken before radiation along with the applied dose, to predict their personal susceptibility to cognitive impairment due to space radiation exposure. RESULTS AND CONCLUSION A significant finding is the exhibition of a dose-dependent increasing probability of impairment for 1 to 10 cGy of 28Si or 56Fe in the simple discrimination (SD) stage of the ATSET, and for 1 to 10 cGy of 56Fe in the compound discrimination (CD) stage. On a subject-based level, implementing ML classifiers such as ANNs identifies rats that have a higher tendency for impairment after GCR exposure [1]. The receiver operating characteristic (ROC) and the precision-recall (PR) curves of the ML models show a better prediction of impairment when 56Fe is the ion in question in both SD (Figure 1) and CD stages. They, however, do not depict impairment due to 4He in SD (Figure 1) and 28Si in CD, suggesting no dose-dependent impairment response in these cases. In this work, “good” prediction pertains to “better-than-random-chance”, due to the limited sample size and the high inter- and intra-individual variabilities in response to brain stimulation paradigms, as applicable to both animals and humans. More behavioral tests and biomarkers should be investigated on the same subjects, to be fed to the ML models to capture the agents responsible for performance alterations of some individuals versus others.

machine learning↗

Machine Learning Models to Predict Cognitive Impairment of Rodents Subjected to Space Radiation

INTRODUCTION We use artificial neural networks (ANNs) as an example machine learning (ML) tool to predict the cognitive performance impairment of rats induced by irradiation. The experimental data in the analyses is attentional set-shifting (ATSET) test scores from a rodent model exposed to ≤15 cGy of individual galactic cosmic radiation (GCR) ions: 4He, 28Si, or 56Fe, expected for a Lunar or Mars mission [1]. This work investigates rats at a subject-based level and uses applied dose and performance scores taken before irradiation to predict whether a rat will be impaired when irradiated. The results of this study are significant to crewed space missions as they support the potential of predicting an astronaut’s impairment in a specific task before spaceflight through the implementation of appropriately trained ML tools. METHODS Data used in this work are scores from the ATSET, a multi-stage constrained cognitive flexibility test [2]. Our computational model utilizes the number of attempts to reach the criterion to pass a stage as a behavioral performance measure for rats. We use the post-irradiation scores, generate thresholds from cumulative distribution plots of non-irradiated rats, and calculate the percent of irradiated rats whose scores fall below the threshold to infer how each radiation type/dose affects a population. Rats scoring above the threshold are labeled impaired while the others are non-impaired. We then employ ANNs as a typical ML technique, and use each subject’s individual scores taken before radiation along with the applied dose, to predict their personal susceptibility to cognitive impairment due to space radiation exposure. RESULTS AND CONCLUSION A significant finding is the exhibition of a dose-dependent increasing probability of impairment for 1 to 10 cGy of 28Si or 56Fe in the simple discrimination (SD) stage of the ATSET, and for 1 to 10 cGy of 56Fe in the compound discrimination (CD) stage. On a subject-based level, implementing ML classifiers such as ANNs identifies rats that have a higher tendency for impairment after GCR exposure [1]. The receiver operating characteristic (ROC) and the precision-recall (PR) curves of the ML models show a better prediction of impairment when 56Fe is the ion in question in both SD (Figure 1) and CD stages. They, however, do not depict impairment due to 4He in SD (Figure 1) and 28Si in CD, suggesting no dose-dependent impairment response in these cases. In this work, “good” prediction pertains to “better-than-random-chance”, due to the limited sample size and the high inter- and intra-individual variabilities in response to brain stimulation paradigms, as applicable to both animals and humans. More behavioral tests and biomarkers should be investigated on the same subjects, to be fed to the ML models to capture the agents responsible for performance alterations of some individuals versus others.

machine learning↗

Integrating Risk in Humanoid Robot Control for Applications in the Nuclear Industry - 18230

This paper discuss the integration of risk into a robot control framework for decommissioning applications in the nuclear industry. Our overall objective is to allow the robot to evaluate a risk associated with several methods of completing the same task by combining a set of action sequences. If the environment is known and in the absence of sensing errors each set of actions would successfully complete the task. In this paper, instead of attempting to model the errors associated with each sensing system in order to compute an exact solution, a set of solutions are obtained along with a prescribed risk index. The risk associated with each set of actions can then be compared to possible payoffs or rewards, for instance task completion time or power consumption. This information is then sent to a high level decision planner, for instance a human teleoperator, who can then make a more informed decision regarding the robots actions. In order to illustrate the concept, we introduce three specific risk measures, namely, the collision risk and the risk of toppling and failure risk associated with grasping an object. We demonstrate the results from this foundational study of risk-aware compositional robot autonomy in simulation using NASA's Valkyrie humanoid robot, and the grasping simulator HAPTIX. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗