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DOE OSTI2024

The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations

Abstract On‐orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on‐orbit assembly, repair, and astronaut assistance. Of these scenarios, on‐orbit assembly is an enabling technology that will allow large space structures to be built in situ, using smaller building block modules. However, like many of these scenarios, robotic on‐orbit assembly involves several technical hurdles, such as changing system models. For instance, grappled modules moved by a free‐flying “assembler” robot can cause significant changes in the combined system inertia, which have cascading impacts on motion planning and control portions of the autonomy stack. Further, on‐orbit assembly and other scenarios require collision‐avoiding motion planning, particularly when operating in a “construction site” scenario of multiple assembler robots and structures. Multiple key technologies that address these complicating factors for autonomous microgravity close proximity operations are detailed in this work, in particular: (1) application of global long‐horizon planning, accomplished using offline and online sampling‐based planner options that consider the system dynamics; (2) adaptation of the recently proposed RATTLE information‐aware planning framework for on‐orbit reconfiguration model learning; and (3) connection with robust control tools to provide low‐level control robustness using current system knowledge. These approaches were demonstrated for an autonomous on‐orbit assembly use case by the RElative Satellite sWarming and Robotic Maneuvering (ReSWARM) experiments using NASA's Astrobee robots on the International Space Station. Results of the ReSWARM experiments are provided along with significant operational and implementation detail discussing the practicalities of hardware implementation and unique aspects of working with the Astrobee free‐flyer robots in microgravity. ReSWARM provides a base set of planning and control tools for robotic close proximity operations, demonstrates them in microgravity, and outlines some of the important hardware aspects that future autonomous free‐flyers will need to consider.

Robotics↗

DOE OSTI2026

Optimization-based approaches to control of connected and automated vehicles: Principles, complexities, applications, challenges, and outlook

Safe and optimal motion control for connected and automated vehicles (CAVs) poses a fundamental optimization challenge at the intersection of system complexity, environmental uncertainty, and stringent real-time constraints. Existing surveys address this challenge in isolation – focusing either on specific control techniques or individual uncertainty sources – without providing a unified framework that characterizes the trade-offs among computational tractability, performance verifiability, and adaptive generalization across paradigms. This review addresses that gap by presenting a cohesive analytical framework concentrated on the decision-making and trajectory optimization layers of the CAV autonomy stack. We systematically analyze three major optimization paradigms – first-principles model-based optimization, data-driven methods, and hybrid synergistic architectures – evaluating each against four core complexity axes: problem formulation, constraint handling, optimality guarantees, and robustness. Key applications including platooning, trajectory planning, collision avoidance, and cooperative control are examined to reveal recurring methodological patterns and critical operational constraints that limit real-world performance. Our synthesis identifies verifiable hybrid architectures, incentive-aligned multi-agent cooperation, and hardware-algorithm co-design as the defining research frontiers, and distills a targeted agenda for developing CAV control systems that are simultaneously safe, computationally efficient, and deployable in the full complexity of real-world traffic environments.

Muzahid, Abu Jafar Md [University of Tennessee, Kn↗

DOE OSTI2025

Enabling Real-Time Communication in Multi-Agent Systems: A Graph Neural Network Based Approach

Global connectivity enables effective coordination in Multi-Agent Systems (MAS). Solving these connection problems under hardware constraints is an NP-hard non-Euclidean Degree Constrained Minimum Spanning Tree (DCMST) problem. Prior MAS controllers coordinate team movement for task completion and collision avoidance; some considering Line-of-Sight (LOS) maintenance but prioritizing flexibility over guarantees. Evolutionary Algorithms (EA) have been shown to find good solutions for DCMST, but their performance degrades with larger populations required to support a large MAS. We present a method based on edge graph attention networks, trained offline to reduce online computation times. Empirical comparisons with greedy polynomial-time solvers and EA show that our method leverages latent graph information to consistently find constraint-satisfying solutions in less time.

connectivity maintenance↗

DOE OSTI2025

A Behavioral Robotics Approach to Radiation Mapping Using Adaptive Sampling

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

Adams, Joel↗

DOE OSTI2025

Unit cell manufacture by blown powder directed energy deposition

Lattice structures manufactured by additive manufacturing show unique promise to alter existing components to improve the thermo-mechanical properties of the base structure. Here, in the present study, the manufacture of a self-supporting lattice structure by blown powder directed energy deposition was explored. Converging struts were manufactured using multiple lean angles to facilitate the self-supporting structure and to avoid machine-part collisions. The struts showed near uniform straightness relative to a fitted line with a maximum deviation of 1mm at a lean angle of 10°. Micro–hardness and porosity evaluation results showed no significant variation along the struts.

Additive manufacturing↗

DOE OSTI2025

Enhancing traffic safety analysis with digital twin technology: integrating vehicle dynamics and environmental factors into microscopic traffic simulation

Traffic safety is a critical concern in transportation engineering and urban planning. Traditional traffic safety analysis requires trained observers to collect data in the field, which is time-consuming, labor-intensive, and sometimes inaccurate. In recent years, microscopic traffic simulation, which simulates individual vehicles’ movements within a transportation network, have been utilized to study traffic safety. However, microscopic traffic simulation only focuses on traffic-related factors, such as traffic volume, traffic signals, and lane configurations, neglecting vehicle dynamics and environment-related factors like weather and lighting conditions, which can significantly impact traffic safety. In light of this, this paper explores the application of digital twin technology in traffic safety analysis, integrating vehicle simulators, which consider vehicle dynamics and environmental factors, and microscopic traffic simulators, which simulate the operations of traffic flow, for enhanced safety evaluations. Various scenarios, including different weather conditions and visibility levels, are simulated using a digital twin of a road segment in Tuscaloosa, Alabama. The simulations employ Surrogate Safety Measures (SSMs) like Time to Collision (TTC) and Deceleration Rate to Avoid a Crash (DRAC) to assess safety under varying conditions. The results demonstrate that traffic digital twin can identify potential safety issues that traditional microscopic simulation cannot, providing insights for improving traffic control strategies and transportation infrastructure to enhance traffic safety.

Civil engineering↗

DOE OSTI2025

Caught in headlights: Captive white-tailed deer responses to variations in vehicle lighting during imminent collision scenarios

Vehicle collisions with deer (Odocoileus spp.) cause billions of dollars in damages and injure thousands of drivers every year in the United States, and few mitigation methods have proven effective. However, recent research suggests that vehicle lighting might influence white-tailed deer (Odocoileus virginianus; hereafter, deer) responses to oncoming vehicles. Most new vehicles are manufactured with light emitting diode (LED) headlights which differ in total radiance and wavelength of light emitted compared to the previous industry standard of tungstenhalogen (halogen) headlights. Also, frontal vehicle illumination through rear-facing lighting has shown promise in enhancing deer responses to vehicles, but its effectiveness has not been tested under various headlight conditions (headlight type or intensity). As such, it remains unclear how these aspects of vehicle lighting affect deer responses to an approaching vehicle. We used 23 captive, wild-type deer to investigate how variations in vehicle lighting affect deer responses to an approaching vehicle at night, when most collisions occur. We released deer into a 95 m long, 3 m wide chute and approached them from the opposite end with an electric golf cart outfitted with two versions of stock 2017–2020 Ford Fusion headlights (LED and halogen) and a 51 cm rear-facing lightbar to test how vehicle lighting affected deer avoidance behaviors in an imminent, head-on collision scenario. Each deer received eight lighting treatments consisting of unique combinations of headlight type (LED vs. halogen), light intensity (low vs. high beam), and rear-facing lighting (lightbar off vs. on). We measured deer alert and flight behavior using infrared videography. We found that the halogen, high beam, lightbar off treatment had the greatest probability of evoking an alert response. Furthermore, when the lightbar was off, high beams appeared to increase alert probability for halogen headlights. Also, we found evidence that high beam, halogen headlights tend to increase alert probability over high beam, LED headlights, when the lighbar was off. We found no effect of our lighting treatments on deer alert distance, flight probability, or flight initiation distance. Across all behavioral responses, the random effect deer ID explained 0.86–9.19 × more variation than our lighting treatments, reflecting large differences in responses among deer. Overall, we found that vehicle lighting can impact deer behavior during an imminent, head-on collision scenario, although lighting was ineffective at increasing favorable flight behaviors. Future research should investigate how vehicle lighting treatments affect free-ranging, wild deer in a variety of real-world scenarios and at longer approach distances.

White-tailed deer (Odocoileus virginianus) Deer be↗

DOE OSTI2024

Imaging the initial condition of heavy-ion collisions and nuclear structure across the nuclide chart

High-energy nuclear collisions encompass three key stages: the structure of the colliding nuclei, informed by low-energy nuclear physics, the initial condition , leading to the formation of quark–gluon plasma (QGP), and the hydrodynamic expansion and hadronization of the QGP, leading to final-state hadron distributions that are observed experimentally. Recent advances in both experimental and theoretical methods have ushered in a precision era of heavy-ion collisions, enabling an increasingly accurate understanding of these stages. However, most approaches involve simultaneously determining both QGP properties and initial conditions from a single collision system, creating complexity due to the coupled contributions of these stages to the final-state observables. To avoid this, we propose leveraging established knowledge of low-energy nuclear structures and hydrodynamic observables to independently constrain the QGP’s initial condition. By conducting comparative studies of collisions involving isobar-like nuclei—species with similar mass numbers but different ground-state geometries—we can disentangle the initial condition’s impacts from the QGP properties. This approach not only refines our understanding of the initial stages of the collisions but also turns high-energy nuclear experiments into a precision tool for imaging nuclear structures, offering insights that complement traditional low-energy approaches. Opportunities for carrying out such comparative experiments at the Large Hadron Collider and other facilities could significantly advance both high-energy and low-energy nuclear physics. Additionally, this approach has implications for the future electron-ion collider. While the possibilities are extensive, we focus on selected proposals that could benefit both the high-energy and low-energy nuclear physics communities. Originally prepared as input for the long-range plan of U.S. nuclear physics, this white paper reflects the status as of September 2022, with a brief update on developments since then.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2025

Multi-Resolution UAV Path Replanning for Inspection of Tailings Dams

Autonomous inspection of large and complex structures with a commercial unmanned aerial vehicle (UAV) is a challenging problem that has been addressed in recent years. In this paper, we address the global motion planning problem of creating autonomous inspection missions for UAVs considering photogrammetry constraints. We focus on the inspection of large tailings dams, which are dam structures used to store waste byproducts of mining. Our method uses a prior sparse point cloud of the dam to generate a voxel grid, where paths satisfying photogrammetry constraints are tested for collisions. We then apply the A* algorithm as a local planner to avoid obstacles within the global mission. Moreover, we address the problem of changing routes online by using octree-based multi-resolution grids for efficient and fast pathfinding. Our results, obtained using tridimensional maps of an actual coal mine tailings dam, show that using octrees for multi-resolution motion planning is faster than using a fixed voxel grid in online missions while inspecting large structures.

42 ENGINEERING↗

DOE OSTI2025

Bats flying through a Y-maze are visually attracted to wind turbine surfaces

Wind energy’s rapid expansion has led to unintended consequences for wildlife, with migratory bats among the species most at risk. The behavioural mechanisms underlying collisions remain poorly understood, but one hypothesis is that bats are attracted to wind turbine structures. Vision is important to bat orientation and obstacle avoidance, yet it has been relatively understudied in the context of bat–turbine interactions. We hypothesize that light reflected off turbine surfaces could attract bats, acting as a sensory pollutant that may increase collision risk. To test whether reflective turbine surfaces elicit attraction, we flew 242 Lasiurus cinereus and 154 Lasionycteris noctivagans through Y-maze assays. Bats were at least twice as likely to fly towards white turbine blade sections compared to less reflective black ones. This attraction intensified when the alternative exit was a dark, empty flyway, with 74% of L. cinereus and 97% of L. noctivagans flying towards the white turbine blade. These findings provide evidence that visual sensory pollutants could underlie bat–turbine interactions, and if so, wind turbines could be ecological traps.

17 WIND ENERGY↗

DOE OSTI2025

The Langdon effect in laser plasmas: Absorption and conduction

A plasma heated by inverse bremsstrahlung absorption of laser light develops a non-Maxwellian electron distribution function, called the Langdon effect [A. B. Langdon, Phys. Rev. Lett. 44, 575 (1980)]. These non-Maxwellian distributions are sufficiently long-lived to impact the absorption processes itself as well as the transport of heat by electrons. The theory of the Langdon effect in a homogeneous plasma is reviewed to clarify some aspects of Langdon's derivation as well as to confirm that the widely used super-Gaussian approximation works fairly well to describe the shape of the distribution function and reduction of the absorption rate. The Langdon effect on thermal conduction in an inhomogeneous plasma is developed by considering perturbations in a homogeneous absorbing plasma, which develops a heat flux due to both temperature and density gradients. A practical theory of the heat flux is developed by fitting the results of Vlasov–Fokker–Planck simulations, which avoids several approximations that compromised the usefulness of past theoretical predictions, most critically, the effect of electron–electron collisions on the fluxes. The present fits parameterize the coefficients of the temperature gradient (thermal conductivity) and the density gradient for a plasma of any ionization state and for any laser intensity where the theory of the Langdon effect remains locally valid. It is expected that this generalized theory of heat flow in an absorbing plasma will improve the predictive capability of radiation-hydrodynamics simulations of laser-produced plasmas, especially those formed in inertial confinement fusion experiments.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2025

Constraint on the total width of the Higgs boson from Higgs boson and four-top-quark measurements in pp collisions at $\sqrt{s}$ = 13 TeV with the ATLAS detector

This Letter presents a constraint on the total width of the Higgs boson (Γ H ) using a combined measurement of on-shell Higgs boson production and the production of four top quarks, which involves contributions from off-shell Higgs boson-mediated processes. This method relies on the assumption that the tree-level Higgs-top Yukawa coupling strength is the same for on-shell and off-shell Higgs boson production processes, thereby avoiding any assumptions about the relationship between on-shell and off-shell gluon fusion Higgs production rates, which were central to previous measurements. The result is based on up to 140 fb -1 of proton–proton collisions at a centre-of-mass energy of $\sqrt{s}$ = 13 TeV collected with the ATLAS detector at the Large Hadron Collider. The observed (expected) 95% confidence level upper limit on Γ H is 450 MeV (75 MeV). Additionally, considering the constraint on the Higgs-top Yukawa coupling from loop-induced Higgs boson production and decay processes further yields an observed (expected) upper limit of 160 MeV (55 MeV).

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Explicit simulation of the Brownian rotation of arbitrary shaped aerosol particles using quaternions

The shape of an aerosol particle strongly influences its mass and momentum transfer cross-sections, charging properties, and other physical properties. Here, we present an explicit time-stepping procedure to simulate the rotational Brownian motion of arbitrary shaped aerosol particles by solving Euler’s equation of rotation. A Langevin formulation of the rotation equations is used, wherein Brownian motion due to thermal collisions between a particle and background gas molecules is represented using a stochastic fluctuating torque and fluid resistance is included as a drag torque. To avoid singularities associated with describing the orientation of a shape with Euler angles, we employ a quaternion formulation that leads to first-order stochastic differential equations to describe the evolution of the angular position and angular velocity of a rigid body. We perform all the rotational dynamics calculations in the body-fixed frame of reference attached to the rotating shape whose basis vectors are the normalized eigenvectors of the inertia tensor of the particle. Numerical solutions to rotation under torque-free conditions, damped rotation without Brownian motion, and stochastic rotation for arbitrary shapes are presented and discussed. The presented method enables time-resolved simulation of Brownian rotation for direct comparison with experimentally measured trajectories or statistical measures. The second order accuracy of the used time-stepping procedure places a severe restriction on the timestep that can be used for obtaining accurate results. Animations of presented simulations are included for visualizing rotational motion at various gas pressures. To aid implementation, MATLAB ® codes are also provided. Extension to include translation Brownian motion is straightforward.

Roy, Mrittika↗

DOE OSTI2024

Quasilinear theory: the lost ponderomotive effects and why they matter

Quasilinear theory (QLT) has been used for modeling wave–plasma interactions for decades but remains largely heuristic. Plasma inhomogeneity, ponderomotive effects, microscopic fluctuations, and collisions are not easily accommodated from first principles in QLT, and typically are ignored entirely, due to the limitations of the standard Fourier–Laplace global-mode approach. This results in inconsistencies, for example, violation of the action conservation for nonresonant waves. However, these issues can be avoided, and the theory can be substantially generalized and corrected, if QLT is formulated using more suitable analytical tools, particularly, the Weyl symbol calculus. Here, an attempt is made to deliver an accessible review of this modern formulation, provide intuitive calculations for special cases, and elaborate on the connection with the ‘oscillation-center QLT’ originally proposed by Dewar (Phys Fluids 16:1102, 1973). A Fokker–Planck equation for a ‘dressed’ distribution is derived from the Klimontovich equation and captures quasilinear diffusion, ponderomotive forces, and interactions with background fields for a generic Hamiltonian, so many known formulations of QLT for specific plasma models become corollaries of a single unifying theory. Also, waves are allowed to be off-shell (not constrained by a dispersion relation), which allows them to accommodate microscopic fluctuations. This leads to a collision integral of the Balescu–Lenard type that has all the usual properties but is not restricted to any specific plasma model. For on-shell waves, a generalized version of the classic oscillation-center QLT is obtained. Finally, combined with the wave-kinetic equation, this formulation not only conserves particles, momentum, and energy, like the classic QLT but also reinstates the action conservation for nonresonant waves.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2024

Swarm path planner system for vehicles

A system for determining optimal paths without collision through a travel volume for a swarm of vehicles is disclosed. The system determines a travel path for the swarm leader vehicle using a minimal cost path derived from various measures of environmental cost for avoiding objects in traveling from leader location to target location. The system also determines, for each empty neighbor location of each follower vehicle, relational costs for follower vehicle travel relative to leader vehicle travel. The various measures of relational cost seek to maintain a prescribed positional relationship between each follower vehicle and the leader vehicle given the leader vehicle travel path. Based on various measures of environmental and relational cost, the system determines the best travel path for the each follower vehicle relative to the leader vehicle.

Paglieroni, David W.↗

DOE OSTI2025

The performance of missing transverse momentum reconstruction and its significance with the ATLAS detector using 140 $\hbox {fb}^{-1}$ of $\sqrt{s}=13$ TeV pp collisions

This paper presents the reconstruction of missing transverse momentum ($p_{\text {T}}^{\text {miss}}$ ) in proton–proton collisions, at a center-of-mass energy of 13 TeV. This is a challenging task involving many detector inputs, combining fully calibrated electrons, muons, photons, hadronically decaying $\tau$ -leptons, hadronic jets, and soft activity from remaining tracks. Possible double counting of momentum is avoided by applying a signal ambiguity resolution procedure which rejects detector inputs that have already been used. Several $p_{\text {T}}^{\text {miss}}$ ‘working points’ are defined with varying stringency of selections, the tightest improving the resolution at high pile-up by up to 39% compared to the loosest. The $p_{\text {T}}^{\text {miss}}$ performance is evaluated using data and Monte Carlo simulation, with an emphasis on understanding the impact of pile-up, primarily using events consistent with leptonic Z decays. The studies use $140~\text {fb}^{-1}$ of data, collected by the ATLAS experiment at the Large Hadron Collider between 2015 and 2018. The results demonstrate that $p_{\text {T}}^{\text {miss}}$ reconstruction, and its associated significance, are well understood and reliably modelled by simulation. Finally, the systematic uncertainties on the soft $p_{\text {T}}^{\text {miss}}$ component are calculated. After various improvements the scale and resolution uncertainties are reduced by up to 76% and 51%, respectively, compared to the previous calculation at a lower luminosity.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Inefficacy of mallard flight responses to approaching vehicles

Vehicle collisions with birds are financially costly and dangerous to humans and animals. To reduce collisions, it is necessary to understand how birds respond to approaching vehicles. We used simulated (i.e., animals exposed to video playback) and real vehicle approaches with mallards (Anas platyrynchos) to quantify flight behavior and probability of collision under different vehicle speeds and times of day (day vs. night). Birds exposed to simulated nighttime approaches exhibited reduced probability of attempting escape, but when escape was attempted, fled with more time before collision compared to birds exposed to simulated daytime approaches. The lower probability of flight may indicate that the visual stimulus of vehicle approaches at night (i.e., looming headlights) is perceived as less threatening than when the full vehicle is more visible during the day; alternatively, the mallard visual system might be incompatible with vehicle lighting in dark settings. Mallards approached by a real vehicle exhibited a delayed margin of safety (both flight initiation distance and time before collision decreased with speed); they are the first bird species found to exhibit this response to vehicle approach. Our findings suggest mallards are poorly equipped to adequately respond to fast-moving vehicles and demonstrate the need for continued research into methods promoting effective avian avoidance behaviors.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2024

Parametrization of Generalized Parton Distributions from 𝑡-Channel String Exchange in AdS Spaces

We introduce a string-based parametrization for nucleon quark and gluon generalized parton distributions (GPDs) that is valid for all skewness. Our approach leverages conformal moments, representing them as the sum of spin-𝑗 nucleon 𝐴-form factor and skewness-dependent spin-𝑗 nucleon 𝐷-form factor, derived from 𝑡-channel string exchange in AdS spaces consistent with Lorentz invariance and unitarity. This model-independent framework, satisfying the polynomiality condition due to Lorentz invariance, uses Mellin moments from empirical data to estimate these form factors. With just five Regge slope parameters, our method accurately produces various nucleon quark GPD types and symmetric nucleon gluon GPDs through pertinent Mellin-Barnes integrals. Our isovector nucleon quark GPD is in agreement with existing lattice data, promising to improve the empirical extraction and global analysis of nucleon GPDs in exclusive processes, by avoiding the deconvolution problem at any skewness, for the first time.

QCD phenomenology↗