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All sourcesNASA NTRSDOE OSTI
DOE OSTI2015

The link between the formation rates of clusters and stars in galaxies

The goal of this paper is to test whether the formation rate of star clusters is proportional to the star formation rate (SFR) in galaxies. As a first step, we present the mass functions of compact clusters younger than 10 Myr in seven star-forming galaxies of diverse masses, sizes, and morphologies: the Large and Small Magellanic Clouds, NGC 4214, NGC 4449, M83, M51, and the Antennae. These cluster mass functions (CMFs) are well represented by power laws, dN/dM∝M{sup β}, with similar exponents β=−1.92±0.27, but with amplitudes that differ by factors up to ∼10{sup 3}, corresponding to vast differences in the sizes of the cluster populations in these galaxies. We then normalize these CMFs by the SFRs in the galaxies, derived from dust-corrected Hα luminosities, and find that the spread in the amplitudes collapses, with a remaining rms deviation of only σ(logA)=0.2. This is close to the expected dispersion from random uncertainties in the CMFs and SFRs. Thus, the data presented here are consistent with exact proportionality between the formation rates of stars and clusters. However, the data also permit weak deviations from proportionality, at the factor of two level, within the statistical uncertainties. We find the same spread in amplitudes when we normalize the mass functions of much older clusters, with ages in the range 100–400 Myr, by the current SFR. This is another indication of the general similarity among the cluster populations of different galaxies.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

QSO photometric redshifts using machine learning and neural networks

ABSTRACT The scientific value of the next generation of large continuum surveys would be greatly increased if the redshifts of the newly detected sources could be rapidly and reliably estimated. Given the observational expense of obtaining spectroscopic redshifts for the large number of new detections expected, there has been substantial recent work on using machine learning techniques to obtain photometric redshifts. Here, we compare the accuracy of the predicted photometric redshifts obtained from deep learning (DL) with the k-nearest neighbour (kNN) and the decision tree regression (DTR) algorithms. We find using a combination of near-infrared, visible, and ultraviolet magnitudes, trained upon a sample of Sloan Digital Sky Survey quasi-stellar objects, that the kNN and DL algorithms produce the best self-validation result with a standard deviation of σΔz = 0.24 (σΔz(norm) = 0.11). Testing on various subsamples, we find that the DL algorithm generally has lower values of σΔz, in addition to exhibiting a better performance in other measures. Our DL method, which uses an easy to implement off-the-shelf algorithm with neither filtering nor removal of outliers, performs similarly to other, more complex, algorithms, resulting in an accuracy of Δz < 0.1 up to z ∼ 2.5. Applying the DL algorithm trained on our 70 000 strong sample to other independent (radio-selected) data sets, we find σΔz ≤ 0.36 (σΔz(norm) ≤ 0.17) over a wide range of radio flux densities. This indicates much potential in using this method to determine photometric redshifts of quasars detected with the Square Kilometre Array.

Curran, S. J.↗
DOE OSTI2019

Islanding Detection of Distributed Generation Using Electrical Variables in Space Vector Domain

This paper presents a new approach for islanding detection in distribution systems incorporating synchronous generator-based distributed generations. The proposed method first utilizes the dynamic equations of three electrical variables under islanding situations. The variables are: change of frequency; rate of change of frequency; and rotor angle deviation. Second, transformation of these variables is conducted in the space vector domain, which gives rise to three parameters, namely, semi-major axis, semi-minor axis, and inclination angle. Finally, exploiting these parameters, a decision boundary is established to classify grid events resulting in the formation of an island or not. The proposed method is comprehensively investigated under different operating conditions, which include excess/deficit of reactive/active power imbalance scenarios in the formed island containing different load-types (constant impedance, constant power, and constant current) with varying quality factor. A large variety of islanding and non-islanding events are generated using a practical distribution network simulated in real time on OPAL-RT digital simulation platform under the aforementioned operating conditions. A detailed evaluation of the proposed approach is conducted and it demonstrates the effectiveness of the method.

F-measure↗
DOE OSTI2015

Search for supersymmetry in events containing a same-flavour opposite-sign dilepton pair, jets, and large missing transverse momentum in √s = 8 TeV pp collisions with the ATLAS detector

Two searches for supersymmetric particles in final states containing a same-flavour opposite-sign lepton pair, jets and large missing transverse momentum are presented. The proton–proton collision data used in these searches were collected at a centre-of-mass energy √s=8 TeV by the ATLAS detector at the Large Hadron Collider and corresponds to an integrated luminosity of 20.3 fb -1 . Two leptonic production mechanisms are considered: decays of squarks and gluinos with Z bosons in the final state, resulting in a peak in the dilepton invariant mass distribution around the Z-boson mass; and decays of neutralinos (e.g. χ ~0 2 →ℓ + ℓ - χ ~0 1 ), resulting in a kinematic endpoint in the dilepton invariant mass distribution. For the former, an excess of events above the expected Standard Model background is observed, with a significance of three standard deviations. In the latter case, the data are well-described by the expected Standard Model background. Results from each channel are interpreted in the context of several supersymmetric models involving the production of squarks and gluinos.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2018

Obliquity Variations of Habitable Zone Planets Kepler-62f and Kepler-186f

Obliquity variability could play an important role in the climate and habitability of a planet. Orbital modulations caused by planetary companions and the planet’s spin axis precession due to the torque from the host star may lead to resonant interactions and cause large-amplitude obliquity variability. Here we consider the spin axis dynamics of Kepler-62f and Kepler-186f, both of which reside in the habitable zone around their host stars. Using N-body simulations and secular numerical integrations, we describe their obliquity evolution for particular realizations of the planetary systems. We then use a generalized analytic framework to characterize regions in parameter space where the obliquity is variable with large amplitude. We find that the locations of variability are fine-tuned over the planetary properties and system architecture in the lower-obliquity regimes (≲40°). As an example, assuming a rotation period of 24 hr, the obliquities of both Kepler-62f and Kepler-186f are stable below ∼40°, whereas the high-obliquity regions (60°–90°) allow moderate variabilities. However, for some other rotation periods of Kepler-62f or Kepler-186f, the lower-obliquity regions could become more variable owing to resonant interactions. Even small deviations from coplanarity (e.g., mutual inclinations ∼3°) could stir peak-to-peak obliquity variations up to ∼20°. Undetected planetary companions and/or the existence of a satellite could also destabilize the low-obliquity regions. In all cases, the high-obliquity region allows for moderate variations, and all obliquities corresponding to retrograde motion (i.e., >90°) are stable.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1984

Mean and Random Errors of Visual Roll Rate Perception from Central and Peripheral Visual Displays

A large number of roll rate stimuli, covering rates from zero to plus or minus 25 deg/sec, were presented to subjects in random order at 2 sec intervals. Subjects were to make estimates of magnitude of perceived roll rate stimuli presented on either a central display, on displays in the peripheral ield of vision, or on all displays simultaneously. Response was by way of a digital keyboard device, stimulus exposition times were varied. The present experiment differs from earlier perception tasks by the same authors in that mean rate perception error (and standard deviation) was obtained as a function of rate stimulus magnitude, whereas the earlier experiments only yielded mean absolute error magnitude. Moreover, in the present experiment, all stimulus rates had an equal probability of occurrence, whereas the earlier tests featured a Gaussian stimulus probability density function. Results yield a ood illustration of the nonlinear functions relating rate presented to rate perceived by human observers or operators.

Vandervaart, J. C.↗
NASA NTRS1998

Far Ultraviolet Refractive Index of Optical Materials for Solar Blind Channel (SBC) Filters for HST Advanced Camera for Surveys

Refractive index measurements using the minimum deviation method have been carried out for prisms of a variety of far ultraviolet optical materials used in the manufacture of Solar Blind Channel (SBC) filters for the HST Advanced Camera for Surveys (ACS). Some of the materials measured are gaining popularity in a variety of high technology applications including high power excimer lasers and advanced microlithography optics operating in a wavelength region where high quality knowledge of optical material properties is sparse. Our measurements are of unusually high accuracy and precision for this wavelength region owing to advanced instrumentation in the large vacuum chamber of the Diffraction Grating Evaluation Facility (DGEF) at Goddard Space Flight Center (GSFC). Index values for CaF2, BaF2, LiF, and far ultraviolet grades of synthetic sapphire and synthetic fused silica are reported and compared with values from the literature.

Leviton, Douglas B.↗
DOE OSTI2023

The Forward Physics Facility at the High-Luminosity LHC

High energy collisions at the High-Luminosity Large Hadron Collider (LHC) produce a large number of particles along the beam collision axis, outside of the acceptance of existing LHC experiments. The proposed Forward Physics Facility (FPF), to be located several hundred meters from the ATLAS interaction point and shielded by concrete and rock, will host a suite of experiments to probe standard model (SM) processes and search for physics beyond the standard model (BSM). In this report, we review the status of the civil engineering plans and the experiments to explore the diverse physics signals that can be uniquely probed in the forward region. FPF experiments will be sensitive to a broad range of BSM physics through searches for new particle scattering or decay signatures and deviations from SM expectations in high statistics analyses with TeV neutrinos in this low-background environment. High statistics neutrino detection will also provide valuable data for fundamental topics in perturbative and non-perturbative QCD and in weak interactions. Experiments at the FPF will enable synergies between forward particle production at the LHC and astroparticle physics to be exploited. We report here on these physics topics, on infrastructure, detector, and simulation studies, and on future directions to realize the FPF’s physics potential.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

Nonideal mixing effects in warm dense matter studied with first-principles computer simulations

Here, we study nonideal mixing effects in the regime of warm dense matter (WDM) by computing the shock Hugoniot curves of BN, MgO, and MgSiO 3 . First, we derive these curves from the equations of state (EOS) of the fully interacting systems, which were obtained using a combination of path integral Monte Carlo calculations at high temperature and density functional molecular dynamics simulations at lower temperatures. We then use the ideal mixing approximation at constant pressure and temperature to rederive these Hugoniot curves from the EOS tables of the individual elements. We find that the linear mixing approximation works remarkably well at temperatures above ~2 × 10 5 K, where the shock compression ratio exceeds ~3.2. The shape of the Hugoniot curve of each compound is well reproduced. Regions of increased shock compression, which emerge because of the ionization of L and K shell electrons, are well represented, and the maximum compression ratio of the Hugoniot curves is reproduced with high precision. Some deviations are seen near the onset of the L shell ionization regime, where ionization equilibrium in the fully interacting system cannot be well reproduced by the ideal mixing approximation. This approximation also breaks down at lower temperatures, where chemical bonds play an increasingly important role. However, the results imply that the equilibrium properties of binary and ternary mixtures in the regime of WDM can be derived from the EOS tables of the individual elements. This significantly simplifies the characterization of binary and ternary mixtures in the WDM and plasma phases, which otherwise requires large numbers of more computationally expensive first-principles computer simulations.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Cognitive simulation models for inertial confinement fusion: Combining simulation and experimental data

The design space for inertial confinement fusion (ICF) experiments is vast, and experiments are extremely expensive. Researchers rely heavily on computer simulations to explore the design space in search of high-performing implosions. However, ICF multiphysics codes must make simplifying assumptions, and thus deviate from experimental measurements for complex implosions. For more effective design and investigation, simulations require input from past experimental data to better predict future performance. In this work, we describe a cognitive simulation method for combining simulation and experimental data into a common, predictive model. This method leverages a machine learning technique called “transfer learning,” the process of taking a model trained to solve one task, and partially retraining it on a sparse dataset to solve a different, but related task. In the context of ICF design, neural network models are trained on large simulation databases and partially retrained on experimental data, producing models that are far more accurate than simulations alone. Here, we demonstrate improved model performance for a range of ICF experiments at the National Ignition Facility and predict the outcome of recent experiments with less than 10% error for several key observables. We discuss how the methods might be used to carry out a data-driven experimental campaign to optimize performance, illustrating the key product—models that become increasingly accurate as data are acquired.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2026

APSO-enhanced algebraic derivative estimation approach for real-time traffic flow prediction on critical road sections during wildfire evacuation

In rapid-onset disaster scenarios such as wildfires, evacuation traffic often significantly deviates from historical patterns, rendering conventional data-driven forecasting methods less effective. To address this challenge, we propose an improved algebraic derivative estimation (ADE) incorporating particle swarm optimization (PSO) for real-time traffic flow prediction. Our approach dynamically adjusts the ADE prediction time window at each step by minimizing a cost function based on the mean and variance of accumulated forecasting errors within the window, thereby balancing bias and variability. We evaluate the method using traffic data from the January 2025 California wildfires, focusing on key road segments critical for large-scale evacuations. The results demonstrate that our approach surpasses established machine learning and deep learning models—XGBoost, LSTM, and GRU—in predictive accuracy and maintains high computational efficiency. Notably, the proposed method eliminates the need for offline model training. Moreover, rapid PSO-based tuning enables real-time deployment, which provides a crucial advantage in scenarios where evacuation timings and road closures change dynamically. In conclusion, these findings highlight the benefits of the PSO-enhanced ADE framework for emergency traffic management, where rapid, data-sparse forecasts are essential for effective evacuation planning.

Algebraic derivative estimation↗
DOE OSTI2024

Significance of radiative corrections on measurements of the EMC effect

Deep inelastic scattering (DIS) from nuclear targets probes the parton distribution functions (PDFs) in nuclei. Comparisons of the PDFs from heavy nuclei and the deuteron show deviations that demonstrate a non-trivial nuclear dependence to these distributions, referred to as the EMC effect. A global analysis of the worlds data on the EMC effect reveals tensions between different extractions. Precise measurements at Jefferson Lab, studying the dependence on both the quark momentum fraction, x, and nuclear mass, show systematic discrepancies among experiments, making the extraction of the A dependence of the EMC effect sensitive to the selection of datasets. Further, by comparing various methods and assumptions used to calculate radiative corrections, we have identified differences that, while not large, significantly impact the EMC ratios and show that using a consistent radiative correction procedure resolves this discrepancy, leading to a more coherent global picture, and allowing for a more robust extraction of the EMC effect for infinite nuclear matter.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2015

Effects of Initial Condition Spectral Content on Shock Driven-Turbulent Mixing

The mixing of materials due to the Richtmyer-Meshkov instability and the ensuing turbulent behavior is of intense interest in a variety of physical systems including inertial confinement fusion, combustion, and the final stages of stellar evolution. Extensive numerical and laboratory studies of shock-driven mixing have demonstrated the rich behavior associated with the onset of turbulence due to the shocks. Here we report on progress in understanding shock-driven mixing at interfaces between fluids of differing densities through three-dimensional (3D) numerical simulations using the RAGE code in the implicit large eddy simulation context. We consider a shock-tube configuration with a band of high density gas (SF 6 ) embedded in low density gas (air). Shocks with a Mach number of 1.26 are passed through SF 6 bands, resulting in transition to turbulence driven by the Richtmyer-Meshkov instability. The system is followed as a rarefaction wave and a reflected secondary shock from the back wall pass through the SF 6 band. We apply a variety of initial perturbations to the interfaces between the two fluids in which the physical standard deviation, wave number range, and the spectral slope of the perturbations are held constant, but the number of modes initially present is varied. By thus decreasing the density of initial spectral modes of the interface, we find that we can achieve as much as 25% less total mixing at late times. This has potential direct implications for the treatment of initial conditions applied to material interfaces in both 3D and reduced dimensionality simulation models.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS2001

Large Solar Flares and Sheared Magnetic Field Configuration

This Comment gives additional information about the nature of flaring locations on the Sun described in the article "Sun unleashes Halloween storm", by R. E. Lopez, et al. What causes the large explosions from solar active regions that unleash huge magnetic storms and adverse space weather? It is now beyond doubt that the magnetic field in solar active regions harbors free energy that is released during these events. Direct measurements of the longitudinal and transverse components of active region magnetic fields with the vector magnetograph at NASA Marshall Space Flight Center (MSFC), taken on a regular basis for the last 30 years, have found key signatures of the locations of powerful flares. A vector magnetograph detects and measures the magnetic shear, which is the deviation of the observed transverse magnetic field direction from the potential field. The sheared locations possess abundant free magnetic energy for solar flares. In addition to active region NOAA 10486, the one that produced the largest flares last October, the NASA/MSFC vector magnetograph has observed several other such complex super active regions, including NOAA 6555 and 6659.

Choudhary, Debi Prasad↗
NASA NTRS2011

Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide insights not accessible by deterministic methods; for example, one can evaluate variability and risk associated with different scenarios, rather than only viewing the expected outcome.

Wolf, Michael↗
NASA NTRS2021

High-Fidelity Simulation of Turbulent Flow Past a Gaussian Bump

A spanwise-periodic computation of a turbulent flow past a Gaussian bump is performed in the form of a hybrid direct numerical simulation and wall-resolved large-eddy simulation. A fourth-order spatially-accurate flow solver is employed to perform the simulation, using 10.2 billion grid points for a Reynolds number of 170000 based on the bump height. The key findings from the simulation are reported in the acceleration and deceleration flow regions associated with the bump shape. Significant anisotropy in the normal Reynolds stresses, along both the wall-normal and streamwise directions, is observed within the acceleration region. The ratio between the Reynolds shear stress and turbulent kinetic energy in that region also experiences significant deviations from the norms of a zero pressure gradient turbulent boundary layer. The chosen Reynolds number generates strong flow separation in the adverse pressure gradient region, which is in contrast with a previous simulation at half the Reynolds number that only indicated incipient separation. An internal layer generated in the acceleration region evolves into a free shear layer that develops in the deceleration region and separates. Proper modeling of this inner layer appears crucial to predict the flow separation. Surface curvature effects on the attached flow development are also discussed.

Turbulent Boundary Layer↗
DOE OSTI2019

R and DE Robotic Sensor Intern Team: Advanced Sensor Suite Prototype

The Department of Energy (DOE) nuclear complex includes many hazardous and challenging environments that must be inspected remotely and routinely for structural integrity evaluation and long-term planning purposes. The H-Canyon Air Exhaust (HCAEX) Tunnel is an example of such an environment where a biannual inspection is currently performed. Presently inspections are performed by teleoperated robotic crawlers which provide low-res video feedback to the structural engineers. Advanced sensors: including Lidar and panospheric hi-res cameras have the potential to provide additional valuable data in future inspections. The primary goal of the sensor suite is to provide an internal 3D map of the HCAEX tunnel. Possible sensors were a stereo camera, a 3D Lidar, or a 2D Lidar that would need to be spun around. The issues with the stereo camera were that it does not have a large field-of-view and that its depth information was not nearly as accurate as even the baseline Lidars. The Hokuyo UTM-30LX-EW shown below provides a 270 deg. FOV with high accuracy and resolution while the largest FOV on a 3D Lidar is 40 deg. This was the reason a 2D Lidar was chosen over the 3D Lidar. Even though the 2D Lidar requires additional components and software to generate a 3D map, its FOV advantage is too great given that the HCAEX tunnel is a relatively confined space. Along with the Lidar, a camera sensor, IMU sensor, pan-tit unit, and on board computer needed to be identified. The two panospheric cameras allow for full 360 deg. FOV. The IMU will give data on the state of the robot inside the tunnel. The computer is used to gather and process data on board and to control the pan-tilt system. Mounts were designed and 3D printed to build the prototype of the sensor suite. It was designed to have the Lidar on top With its full FOV free while having the camera below and as close to together as possible while still leaving much of their FOV visible. The design also managed the cables such that they were unlikely to be damaged if in tension and so that they did not intrude much on the cameras vision. The sensor tree developed for the H-Canyon tunnel inspection project produces a large quantity of camera and Lidar data. a postprocessing pipeline was created to facilitate the analysis of these data. The pipeline follows the following routine: 1) Registration - Salient local features in subsequent scans are identified and used to align the scans With one another. This allows production of a single cohesive map of the tunnel. 2) Sensor Fusion - RGB camera data is 'painted' onto the depth data created by the Lidar. 3) Segmentation - Individual surfaces from within the scene are segmented out separately for individual analysis. 4) Degradation Analysis - Automatic mapping of local deviation from the plane in position or surface normal is performed, as is detection of exposed rebar using Lidar return intensity. 2) Obstacle Detection - Lidar data is also used in real time to detect obstacles in the environment. This could give feedback to the operator to successfully drive in the tunnel. 6) Graphic User Interface - a custom GUI was created to facilitate customer use of the system. The system provides real-time feedback from both the cameras and Lidar. The Lidar point-cloud data is also used for obstacle detection. As the Lidar spins, various algorithms are run to analyze the current 'slice' and obstacles in the environment are determined and registered on a cost-map. A Graphical User Interface (GUI) was developed to allow the user to easily command the crawler to set the rotational speed of the Lidar, perform a scan, and register and save the 3D generated cloud after a scan is done. For the good of the crawler, a critical aspect of the GUI design is to allow the user to cancel a scan any time after it is commanded and before it is saved. The sensor trees depth accuracy was evaluated in comparison to a high end commercial FARO Terrestrial Laser Scanner (TLS) with specifications for millimeter accuracy at distances above 10 m. For the purposes of these tests, the depth measurements produced by the TLS were taken as ground truth. Example test wall panels were scanned with the TLS and postprocessed with its proprietary software, and subsequently scanned with the sensor tree system. The two scans were manually aligned and for each point in the output cloud from the sensor tree, the distance to the nearest ground truth point in the FARO cloud was determined. 98.7% of all produced points were within the specified target range of 6 mm, with an average deviation of 1.75 mm. The test walls used have an overall in-wall depth variation of around 40 mm.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

R and DE Robotic Sensor Intern Team: Sensor Suite Software and User Interface

The sensor tree developed for the H-Canyon tunnel inspection project produces a large quantity of camera and Lidar data. A postprocessing pipeline was created to facilitate the analysis of these data. The pipeline follows the following routine: 1) Registration - Salient local features in subsequent scans are identified and used to align the scans with one another. This allows production of a single cohesive map of the tunnel. 2) Sensor Fusion - RGB camera data is 'painted' onto the depth data created by the Lidar. 3) Segmentation - Individual surfaces from within the scene are segmented out separately for individual analysis. 4) Degradation Analysis - Automatic mapping of local deviation from the plane in position or surface normal is performed, as is detection of exposed rebar using Lidar return intensity. 5) Obstacle Detection - Lidar data is also used in real time to detect obstacles in the environment. This could give feedback to the operator to successfully drive in the tunnel. 6) Graphic User Interface - a custom GUI was created to facilitate customer use of the system. The system provides real-time feedback from both the cameras and Lidar. During alignment, local features are used to recognize points within the walls that are especially unique and noticeable (salient) based on their deviation from the expected surface of the wall. These are used as landmarks to register the clouds, which also informs precise localization of the base at each scan point. After registration, clouds are 'painted' with RGB data from the spherical cameras, as shown below. The painted clouds provide a 3D, colorized model of the environment which improves the realism of the experience for the user. Painting also labels high-resolution color imagery from the 3D cameras with depth values. Following sensor fusion, individual walls and cylindrical duct surfaces are segmented from the scene for individual analysis using a Random Sample Consensus algorithm. This algorithm allows segmentation of planar walls and cylindrical ducts. Once individual walls are identified, each point within the wall can be compared to its neighbors and the wall overall in order to detect local areas with damaged concrete. Automatic rebar detection is also performed using the contrast in Lidar return intensity between iron and concrete. The Lidar point-cloud data is also used for obstacle detection. As the Lidar spins, various algorithms are run to analyze the current 'slice' and obstacles in the environment are determined and registered on a cost-map. A Graphical User Interface (GUI) was developed to allow the user to easily command the crawler to set the rotational speed of the Lidar, perform a scan, and register and save the 3D generated cloud after a scan is done. For the good of the crawler, a critical aspect of the GUI design is to allow the user to cancel a scan any time after it is commanded and before it is saved.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗