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HITMAN (Hermite Interpolation of Trajectories and Measurement Synthesis for Analysis of Navigators) interpolates—or estimates the unknown values between known values—flight trajectories and generates synthetic inertial measurement unit (IMU) data using Hermite splines. This Python library provides modeling and simulation capabilities to synthesize inertial measurements from discrete trajectory points, enabling researchers to create exemplar datasets for evaluating navigation algorithms in various applications, including consumer devices like smartphones and vehicles. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.
This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.
Objective: Real-time determination of human kinematics and kinetics could advance biomechanics research and enable valuable applications of biofeedback and generalizable exoskeleton control. Here, this work aims to investigate a taskindependent, user-independent method for obtaining precise realtime joint state estimation across lower-body joints during a wide variety of tasks. Methods: We developed a generalizable sensing approach using a suit comprised of inertial measurement units (IMUs) and pressure insoles. With the suit, we collected a dataset of 33 tasks commonly performed during construction and hazardous waste cleanup (N = 10). We then trained deep learning user-independent, task-agnostic models to estimate joint lowerbody kinematics and dynamics using only worn sensor data. We likewise computed joint kinematics and dynamics analytically from sensor data to serve as a comparison tool for model results. Results: Our models achieved overall angle estimation root-meansquared-errors (RMSE) of 6.56±.92°, 8.60±1.01°, 7.58±.89°, and 6.00±.73° compared to 13.9±.1.3°, 15.31±1.0°, 10.76±.70°, and 7.56±.48° via analytical methods at the lower back, hip, knee, and ankle, respectively. Likewise, our models achieved overall normalized moment estimation RMSEs of .207±.069 Nm/kg, .242±.044 Nm/kg, .202±.038 Nm/kg, and .193±.034 Nm/kg compared to .306±.036 Nm/kg, .407±.021 Nm/kg, 1.18 ±.022 Nm/kg, and 1.73±.071 Nm/kg via analytical methods at the lower back, hip, knee, and ankle, respectively. Conclusion: These results are comparable to other state-of-the-art wearable sensing systems, establishing deep learning as a viable sensing approach that generalizes to new users and tasks. Significance: This work shows promise for enabling accurate real-world biomechanical data collection and enhancement of biofeedback systems and wearable robot control.
The radkit (base) software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices, cameras, as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations.
An inertial measurement unit accumulates the instantaneous specific force applied to the sensor over a small window of time. Importantly, this accumulation occurs in the sensor’s frame, yet the specific force must be mathematically integrated in a different navigation frame, and these two frames may be rotating with respect to each other. Consequently, a correction is needed to not only account for the frame difference but also for the time variation in the frame difference. Many references provide derivations of this correction [1], but the derivation is often abbreviated, and important assumptions are sometimes left unstated. This memo addresses this gap and provides a clear derivation of the specific force transform with all assumptions specifically stated. This derivation is specific to the Earth-centered, Earth-fixed navigation frame, but, hopefully, the derivation is sufficiently clear that readers can apply it to other navigation frames. Generally, notation follows the same format as described in both [1, 2].
This TEAMER project had three main objectives related to characterizing the performance of a vortex-induced vibration (VIV) marine energy harvesting device called the Whatever Input To Torsion (WITT). The first was to characterize the motion of the WITT device as it vibrates on top of a pipe in a natural tidal flow. The second was to measure how much electricity the WITT device generates when it is deployed on top of a pipe that is secured to the seabed with a lander. The third objective was to measure how much electricity the WITT device generates in the same configuration but with a longer pipe. This TEAMER project succeeded in satisfying the first objective by measuring the motion of the WITT device with an inertial measurement unit (IMU) mounted in the WITT housing. The motion was described by examining changes in the acceleration, pitch, roll, and yaw, and displacement. The frequency of the motion was characterized using spectral analysis. The TEAMER project succeeded in reaching the second objective by measuring the power produced by the WITT. It is reported here as the average and maximum power in hourly intervals. WITT Energy decided to not have us pursue the third objective of testing a longer pipe because the first test was unexpectedly successful at having the system vibrate at the target frequency. A longer pipe would have resulted in a decreased frequency and therefore not have been a useful test. Based on these findings, the decision was made to keep the same pipe length for both tests and improve on other aspects of the test structure that had failed during the first test. The key finding of this TEAMER project is that the WITT is capable of generating electricity in moderate flow speeds when it is in a housing that is attached to a 2.5 m pipe and secured to the seabed by a lander. This report contains the first power values for a VIV instrument that generates electricity from a pendulum swinging at the top of a long pipe. The experiment demonstrated that the vibration frequency of the device varied with the tidal current speed, which changed throughout a given tidal cycle. This meant that the desired peak frequency was not sustained for more than one hour. The success of this TEAMER test provides evidence that continued research in the area of electricity generation from VIV holds promise as a source of marine energy for offshore applications. Future tests should focus on refining the pipe length equations and improving the power take off system of the WITT power electronics. In addition, experiments aimed at expanded testing and evaluation (e.g. longer than one month) are needed to measure the power production at higher tidal current speeds and test the system's durability.
The BHx streak tube, under development at the Laboratory for Laser Energetics, incorporates a series of novel electron-optics elements to enable high fidelity measurements for high-energy-density physics experiments. The system is engineered to support a 25-mm active photocathode region compatible with sub-picosecond temporal resolution and with 70% internal photoelectron throughput. It exhibits negligible geometric distortion on a flat output screen, making it well suited for variety of measurements, such as ultrafast x-ray spectroscopy. Here, this paper presents characterization data from a prototype unit tested with an ultraviolet laser in a static deflection (non-swept) mode and shows good agreement with the predictions from numerical modeling, including focusing performance and geometric distortion measurements. Key design elements have been demonstrated and de-risked, laying the foundation for dynamic deflection testing. The anticipated improvements in data fidelity are expected to impact the fields as diverse as inertial confinement fusion, laboratory astrophysics, and materials science.
The staged Z-pinch is a potential high-energy gain fusion concept where a high atomic number liner implodes on a deuterium target using a pulsed multi-MA current source. Over the past several years this concept has been studied on 0.5–1.0 MA facilities using Ar and Kr gas puffs injected at R = 1.2 cm. Neutron yield up to (2.5 ± 0.34) x 10 10 was measured, Ruskov et al (2023 IEEE Trans. Plasma Sci. 51 3310–6). Here, in this study, we present experimental results from the 4 MA, 110 ns current rise time Double-EAGLE facility at L3Harris (currently, Fisica Inc.) where a larger radius nozzle created gas density profiles peaked at R = 2.5 cm. Modeling with the MACH2 and FLASH codes indicates that the larger radius allows stronger acceleration of the liner plasma and generation of shock waves that preheat a target plasma layer next to the liner to temperatures $T_i >$1 keV. The resulting counter thermal pressure on the liner plasma limits the growth of the Magneto-Rayleigh–Taylor (MRT) instability at the liner-vacuum boundary and the implosion proceeds in a relatively stable manner. Near bang time the enormous target plasma thermal pressure smoothens the MRT perturbations developed during the earlier implosion stages. Time integrated x-ray pinhole images with cutoff energy of 100 eV confirm that a long (∼3 cm), stable and uniform high energy density plasma column is formed in the final implosion stage. Consistent neutron yield in the 10 10 –10 11 range was measured for both Ar and Kr liners imploding on a deuterium target.
This Letter details the role of reduced hydrodynamic mix in achieving the first fusion plasma to satisfy the Lawson criterion for ignition. Using novel 3D measurements of the temperature and density of the burning deuterium-tritium plasma across a series of experiments, we demonstrate that hydrodynamic mixing from small-scale capsule defects was a key degradation mechanism inhibiting ignition. A series of five layered deuterium-tritium experiments using 1.9 MJ of laser energy demonstrates a 2 × reduction of the thermonuclear yield when a lower quality capsule, typical of preignition experiments, is used. Radiation hydrodynamic calculations consistent with the observed mix profile show that the mixed fuel’s reduced compression and increased radiative loss explain the yield reduction. Furthermore, a hydroscaling argument suggests that a ∼ 3 MJ laser would be needed to reach ignition with such a capsule, well beyond the current capabilities of high energy laser systems. As such, this Letter gives critical insight into the physics of mix in self-heated fusion plasmas and establishes a foundation to evaluate capsule quality needs of future inertial fusion designs that aim at ignition and high gain.
Here, a novel technique for measuring plasma conditions using monochromatic pump-broadband-probe laser interactions has been experimentally demonstrated. Originally proposed in Ludwig et al. [Phys. Plasmas 26, 113108 (2019)], this method utilizes crossed-beam energy transfer between the broadband probe and the pump, mediated by plasma ion acoustic waves. The complete energy transfer spectrum can be captured in a single shot, enabling the inference of plasma parameters such as density, electron and ion temperatures, and flow velocity. Compared to Thomson scattering, this technique offers signal enhancements typically larger than 9 orders of magnitude, significantly reducing the required probe laser intensity and facilitating interactions that are linear and measurements that are nonperturbative of the plasma. Furthermore, it provides a powerful tool for advancing studies of crossed-beam energy transfer under conditions relevant to inertial confinement fusion experiments.
For approximately 40 years, particulate matter (PM) from residential wood heaters has been certified in North America using an EPA dilution tunnel with a filter-based gravimetric measurement. While reasonably repeatable, this approach reports only a single value for the entire burn sequence and does not provide information on PM at different points within the sequence, which would support improved wood heater designs. PM monitors that report with high time resolution offer a potential solution, but their performance for various types of heaters and across heater operating conditions has not been extensively evaluated. In this 18-month collaborative project, the Hearth, Patio & Barbecue Association (HPBA) and Lawrence Berkeley National Laboratory (LBNL) tested five continuous PM instruments spanning three measurement principles—light-scattering, inertial mass (TEOM), and triboelectric—against gravimetric and size-resolved references on three residential heater types (cordwood, catalytic cordwood, and pellet) across startup, high-burn, and low-burn operating phases.
The measured fusion reaction history is a combination of the temporal evolution of the fusion hot spot temperature, mass, and volume. Depending on the mechanism of evolution in inertial confinement fusion implosions—shocks, compression, convergence, mass ablation, ignition—the evolution of the reaction history varies. Here, we derive and catalog a set of simplified inertial confinement fusion hot spot models with analytic solutions to infer the evolution of the fusion reaction history for each mechanism. The models give valuable insight into the meaning and cause of fusion reaction history and nuclear burnwidth measurements.
In this article, we develop and demonstrate a broadband hard x-ray radiography platform at the Zebra Pulsed Power Laboratory that integrates point-projection radiography, bremsstrahlung measurements, and hard x-ray pinhole imaging, designed to diagnose current-driven, cylindrically compressed matter. Initial laser-pulsed-power coupled experiments revealed that intense background radiation generated during 1 MA Zebra current shots overwhelmed laser-produced hard x-rays, obscuring radiographic images. Using combined spectral and spatial diagnostics, we identify energetic electrons accelerated by return currents as the dominant source of background hard x-rays, with electron energies inferred to be 3–4 MeV based on Monte Carlo simulations, and demonstrate mitigation through modifications to the radiation shielding and return-current configuration. The diagnostic platform was validated using a wire-pinch hard x-ray source, allowing radiographs of static 1-mm-diameter aluminum wires to be obtained while simultaneously measuring x-ray source spectra and spatial emission distributions within a single shot. Measured wire transmission profiles were quantitatively reconstructed using radiation transport simulations that incorporate an experimentally inferred two-temperature exponential x-ray spectrum from bremsstrahlung signal analysis and spatially distributed emission sources identified by pinhole imaging. Agreement between measured and simulated transmission profiles demonstrates the validity of the radiographic and x-ray source characterization approach, establishing this diagnostic platform as a promising tool for diagnosing magnetically driven, high-density plasmas relevant to warm dense matter and inertial fusion energy research.
Cosmogenic beryllium-10 and beryllium-7, and the ratio of the two (10Be/7Be), are powerful atmospheric tracers of stratosphere–troposphere exchange (STE) processes; however, measurements are sparse for altitudes well above the tropopause. We present a novel high-altitude balloon campaign aimed to measure these isotopes in the mid-stratosphere called Beryllium Isotopes for Resolving Dynamics in the Stratosphere (BIRDIES). BIRDIES targeted gravity waves produced by tropopause-overshooting convection to study their propagation and impact on STE dynamics, including the production of turbulence in the stratosphere. Two custom-designed payloads called FiSH and GASP were flown at altitudes approaching 30 km to measure in situ turbulence and beryllium isotopes (on aerosols), respectively. These were flown on nine high-altitude balloon flights over Kansas, USA, in summer 2022. The atmospheric samples were augmented with a ground-based rainfall collection targeting isotopic signatures of deep convection overshooting. Our GASP samples yielded mostly negligible amounts of both 10Be and 7Be collected in the mid-stratosphere but led to design improvements to increase aerosol capture in low-pressure environments. Observations from FiSH and the precipitation collection were more fruitful. FiSH showed the presence of turbulent velocity, temperature, and acoustic fluctuations in the stratosphere, including length scales in the infra-sonic range and inertial subrange that indicated times of elevated turbulence. The precipitation collection, and subsequent statistical analysis, showed that large spatial datasets of 10Be/7Be can be measured in individual rainfall events with minimum terrestrial contamination. While the spatial patterns in rainfall suggested some evidence for overshooting convection, inter-event temporal variability was clearly observed and predicted with good agreement using the 3D chemical transport model GEOS-CHEM.
Shock-compressing material samples that are precompressed with diamond-anvil cells (DACs) enables benchmarking equation of state measurements over a wide range of high-pressure conditions, in particular, warm dense matter relevant to planetary science, astrophysics, and inertial confinement fusion. These targets provide optical access to the shocked sample, so optical velocity interferometry and pyrometry are typical diagnostics. We present a scaling for the coupling of the laser drive to the shock pressure in DACs based on over 150 prior experiments that can be used to design future experiments. For initial static pressures ≤ 5 GPa, using a sapphire window mitigates the effect of photoionization compared to diamond windows and allows the measurement of shock pressures up to 1 TPa with optical diagnostics.
Inertial confinement fusion (ICF) experiments rely on complex multi-physics simulation codes such as the Lawrence Livermore National Laboratory-developed HYDRA to guide design work. However, these simulations have several dozen tunable parameters and can be computationally expensive. This makes searching the parameter space challenging and time-consuming. Recently developed automated tools utilize Bayesian optimization to search these high-dimensional parameter spaces for optimal designs. The optimization tools run 2D integrated simulations in HYDRA to converge on a design that produces specified scalar or vector outputs. In this paper, we apply the Bayesian optimization tools to two common tuning scenarios. First, we tune simulation inputs to match measurements of a well-characterized experiment at the National Ignition Facility. This type of tuning is commonly performed to compensate for the use of simplified simulation settings (e.g. reduced resolution) or to account for missing physics in the simulations. Second, we search for an ICF simulation design that has a particular radiation drive profile. These optimizations replicate the kinds of tuning researchers routinely perform, but do so with significantly reduced manual effort. This approach demonstrates a powerful and efficient pathway toward autonomous, high-fidelity design optimization for future ICF experiments.