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Using machine learning, drones are able to detect obstacles in real time utilizing only a camera. Obstacle detection is done with a depth estimation model. The model produces an estimate of the distance of all the objects within the drones line of sight. From this estimate we can then detect if we are close to an obstacle. The method has been applied to a variety of real world videos and achieves 92% accuracy.
This study reviews obstacle detection technologies in vegetation for autonomous vehicles or robots. Autonomous vehicles used in agriculture and as lawn mowers face many environmental obstacles that are difficult to recognize for the vehicle sensor. This review provides information on choosing appropriate sensors to detect obstacles through vegetation, based on experiments carried out in different agricultural fields. The experimental setup from the literature consists of sensors placed in front of obstacles, including a thermal camera; red, green, blue (RGB) camera; 360° camera; light detection and ranging (LiDAR); and radar. These sensors were used either in combination or single-handedly on agricultural vehicles to detect objects hidden inside the agricultural field. The thermal camera successfully detected hidden objects, such as barrels, human mannequins, and humans, as did LiDAR in one experiment. The RGB camera and stereo camera were less efficient at detecting hidden objects compared with protruding objects. Radar detects hidden objects easily but lacks resolution. Hyperspectral sensing systems can identify and classify objects, but they consume a lot of storage. To obtain clearer and more robust data of hidden objects in vegetation and extreme weather conditions, further experiments should be performed for various climatic conditions combining active and passive sensors.
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.
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.
In edge computing, users' service profiles are migrated between edge servers due to user mobility. Reinforcement Learning (RL) frameworks have been proposed to do so, often trained on simulated data. However, existing RL frameworks overlook occasional server failures, which although rare, impact latency-sensitive applications like AR/VR and real- time obstacle detection. These rare failures, being not adequately represented in historical training data, pose a challenge for data-driven RL algorithms. We introduce FIRE, a framework that adapts to rare events by training a RL policy in an edge computing digital twin environment. We propose FIRE-ImRE, an importance sampling-based Q-learning algorithm, which samples rare events proportionally to their impact on the value function. FIRE considers delay, migration, failure, and backup placement costs across individual and shared service profiles. We prove FIRE-ImRE's boundedness and convergence to optimality. Next, we introduce novel deep Q-learning (FIRE-ImDQL) and actor critic (FIRE-ImACRE) versions of our algorithm to enhance scalability. Here, we extend our framework to accommodate users with varying risk tolerances of rare failure events. Through trace-driven experiments, we show that FIRE reduces edge computing costs compared to vanilla RL and the greedy baseline in the event of failures.
Miles of contaminated pipe must be characterized as part of the decommissioning effort at deactivated gaseous diffusion enrichment facilities. The current method requires cutting away asbestos- lined thermal enclosures and performing repeated, elevated operations to manually perform nondestructive assay (NDA) on pipe from the outside. The RadPiper robot, part of the Pipe Crawling Activity Measurement System (PCAMS) developed by Carnegie Mellon University and commissioned for use at the DOE Portsmouth Gaseous Diffusion Enrichment Facility, automatically measures U-235 in pipes from the inside. This improves certainty, increases safety, and greatly reduces measurement time. The heart of the RadPiper robot is a sodium iodide scintillation detector in an innovative disc-collimated assembly. By measuring from inside pipes, the robot significantly increases its count rate relative to external through-pipe measurements. The robot also provides imagery, models interior pipe geometry, and precisely measures distance in order to localize radiation measurements. Data collected by this system provides insight into pipe interiors that is simply not possible from exterior measurements, all while keeping operators safer. This paper describes the technical details of the PCAMS RadPiper robot. Key features for this robot include precision distance measurement, in-pipe obstacle detection, ability to transform for two pipe sizes, and robustness in autonomous operation. Test results demonstrating the robot's functionality are presented, including deployment tolerance tests, safeguarding tests, and localization tests. Integrated robot tests are also shown. (authors)
Maps of the distribution of galaxies, or the cosmic {\em large-scale structure}, provide information about the past several billion years of cosmic history. These maps have the power to inform several of the largest scientific puzzles driving the Department of Energy's High Energy Physics program: the neutrino mass scale, properties of dark matter, the existence of new particles, and the mechanism responsible for cosmic acceleration. This research will develop the theory of structure formation in the presence of cosmic neutrinos and other novel types of matter. Without this research, the full power of cosmic-structure data will not be harnessed. The primary goal is to ensure that modeling uncertainties are not an obstacle to detecting the neutrino mass scale and other cosmological parameters with next-generation experiments. A secondary goal is to anticipate the possibility of new physics by developing the astrophysical phenomenology of novel dark-matter and cosmic-acceleration scenarios. This research will produce new tools to study neutrinos, hidden components of dark matter, dynamical dark energy, and structure formation in the Universe.
Commercialization of autonomous vehicle technology is a major goal of the automotive industry, thus research in this space is rapidly expanding across the world. However, despite this high level of research activity, literature detailing a straightforward and cost-effective approach to the development of an AV research platform is sparse. To address this need, we present the methodology and results regarding the AV instrumentation and controls of a 2019 Kia Niro which was developed for a local AV pilot program. This platform includes a drive-by-wire actuation kit, Aptiv electronically scanning radar, stereo camera, MobilEye computer vision system, LiDAR, inertial measurement unit, two global positioning system receivers to provide heading information, and an in-vehicle computer for driving environment perception and path planning. Robotic Operating System software is used as the system middleware between the instruments and the autonomous application algorithms. After selection, installation, and integration of these components, our results show successful utilization of all sensors, drive-by-wire functionality, a total additional power* consumption of 242.8 Watts (*Typical), and an overall cost of $118,189 USD, which is a significant saving compared to other commercially available systems with similar functionality. This vehicle continues to serve as our primary AV research and development platform.
The diffuse supernova neutrino background (DSNB)—a probe of the core-collapse mechanism and the cosmic star-formation history—has not been detected, but its discovery may be imminent. A significant obstacle for DSNB detection in Super-Kamiokande (Super-K) is detector backgrounds, especially due to atmospheric neutrinos (more precisely, these are foregrounds), which are not sufficiently understood. We perform the first detailed theoretical calculations of these foregrounds in the range 16–90 MeV in detected electron energy, taking into account several physical and detector effects, quantifying uncertainties, and comparing our predictions to the 15.9 live time years of pre-gadolinium data from Super-K stages I–IV. We show that our modeling reasonably reproduces this low-energy data as well as the usual high-energy atmospheric-neutrino data. To accelerate progress on detecting the DSNB, we outline key actions to be taken in future theoretical and experimental work. In a forthcoming paper, we use our modeling to detail how low-energy atmospheric-neutrino events register in Super-K and suggest new cuts to reduce their impact. Published by the American Physical Society 2024
The MINOS program seeks methods to passively monitor the transfer of special materials, which are reproducible and quantitatively defensible. To date, we have demonstrated that short-period seismometers deployed near vehicle tracks can detect and monitor signatures of multi-axle tractor trailers impacting small road obstacles as means to detect and identify some transfer activities. In this report, we model the seismic velocity signal output from a tractor-trailer impacting a small obstacle (a template waveform) to parameterize a matched filter that identifies signals with similar shapes buried in noise, and that indicate repeating events (target waveforms). We then use this model to perform thousands of synthetic experiments, in which we apply our detector to identify noisy waveforms output from a similarly modeled vehicle data set; we process all data in the same manner as we process real data collected from the Oak Ridge National Laboratory (ORNL) seismic network. Our experiments, while limited, reveal that the matched filter shows a high discrimination capability, and at very low SNR values (at visibility thresholds). This means that template waveforms can match target waveforms that are sourced by models that share the same vehicle speed (target vehicles), and have a low probability of mis-identification. In particular, a matched filter designed to detect a five-axle tractor-trailer will reliably identify that target vehicle down to an SNR of 11.25 dB, and within ±0.1 km/hr, while successfully screening target vehicles with three axles.
Area coverage is a critical issue which will have a major impact on the sensing quality over targeted regions in wireless sensor networks. This paper studies the area coverage problem (ACP) with non-penetrable obstacles in microgrids, where a sensor cannot be deployed or sensing signals cannot pass through. The target coverage region is discretized in a deployment map representation of non-penetrable obstacles. A probability detection model is utilized to represent sensors with a variable distance coverage. The ACP is formulated as a mixed integer nonlinear programming problem and an iterative process is developed to solve the problem. The microgrid at Illinois Institute of Technology (IL Tech) is used as a practical example. Both the normal and the N-1 contingency deployments of sensors are simulated for optimizing the ACP at the IL Tech microgrid.
The high energy physics group at Texas Tech University (TTU) concentrates its research efforts on the Compact Muon Solenoid (CMS) experiment at the Large Hadron Collider (LHC) and on generic detector R&D for future applications. Our research programs have been continuously supported by the US Department of Energy for over two decades, and this final report summarizes our achievements during the last grant period from May 1, 2012 to March 31, 2016. After having completed the Run 1 data analyses from the CMS detector, including the discovery of the Higgs boson in July 2012, we concentrated on commissioning the CMS hadron calorimeter (HCAL) for Run 2, performing analyses of Run 2 data, and making initial studies and plans for the second phase of upgrades in CMS. Our research has primarily focused on searches for Beyond Standard Model (BSM) physics via dijets, monophotons, and monojets. We also made significant contributions to the analyses of the semileptonic Higgs decays and Standard Model (SM) measurements in Run 1. Our work on the operations of the CMS detector, especially the performance monitoring of the HCAL in Run 1, was indispensable to the experiment. Our team members, holding leadership positions in HCAL, have played key roles in the R&D, construction, and commissioning of these detectors in the last decade. We also maintained an active program in jet studies that builds on our expertise in calorimetry and algorithm development. In Run 2, we extended some of our analyses at 8 TeV to 13 TeV, and we also started to investigate new territory, e.g., dark matter searches with unexplored signatures. The objective of dual-readout calorimetry R&D was intended to explore (and, if possible, eliminate) the obstacles that prevent calorimetric detection of hadrons and jets with a comparable level of precision as we have grown accustomed to for electrons and photons. The initial prototype detector was successfully tested at the SPS/CERN in 2003-2004 and evolved over the last decade. In 2012-2015, several other prototypes were built to further reduce leakage fluctuations, improve Cherenkov light yield, increase fiber attenuation length, and other related phenomena. During this grant period, we graduated two students with Ph.D. degrees, and five undergraduate students from our labs went on to prestigious graduate programs in the US and Europe. Also, the TTU HEP team has participated in the QuarkNet program every year since 2001. We are dedicated to working with area teachers and students at all levels and to training the next generation of scientists. Over 20 high school teachers have participated in our program since its inception.
The halo assembly bias, a phenomenon referring to dependencies of the large-scale bias of a dark matter halo other than its mass, is a fundamental property of the standard cosmological model. First discovered in 2005 from the Millennium Run simulation, it has been proven very difficult to be detected observationally, with only a few convincing claims of detection so far. The main obstacle lies in finding an accurate proxy of the halo formation time. In this study, by utilizing a constrained simulation that can faithfully reproduce the observed structures larger than 2 Mpc in the local universe, for a sample of 634 massive clusters at z ≤ 0.12, we found their counterpart halos in the simulation and used the mass growth history of the matched halos to estimate the formation time of the observed clusters. This allowed us to construct a pair of early- and late-forming clusters, with a similar mass as measured via weak gravitational lensing, and large-scale biases differing at the ≈3σ level, suggestive of the signature of assembly bias, which is further corroborated by the properties of cluster galaxies, including the brightest cluster galaxy and the spatial distribution and number of member galaxies. Our study paves a way to further detect assembly bias based on cluster samples constructed purely on observed quantities.
The characterization of the Galactic foregrounds has been shown to be the main obstacle in thechallenging quest to detect primordial B-modes in the polarized microwave sky. In this paper, we make use of the Planck-HFI 2015 data release at high frequencies to place new constraints on the properties of the polarized thermal dust emission at high Galactic latitudes. Here, we specifically study the spatial variability of the dust polarized spectral energy distribution (SED), and its potential impact on the determination of the tensor-to-scalar ratio, r. We use the correlation ratio of the C BB ℓ angular power spectra between the 217 and 353 GHz channels as a tracer of these potential variations, computed on different high Galactic latitude regions, ranging from 80% to 20% of the sky. The new insight from Planck data is a departure of the correlation ratio from unity that cannot be attributed to a spurious decorrelation due to the cosmic microwave background, instrumental noise, or instrumental systematics. The effect is marginally detected on each region, but the statistical combination of all the regions gives more than 99% confidence for this variation in polarized dust properties. In addition, we show that the decorrelation increases when there is a decrease in the mean column density of the region of the sky being considered, and we propose a simple power-law empirical model for this dependence, which matches what is seen in the Planck data. We explore the effect that this measured decorrelation has on simulations of the BICEP2-Keck Array/Planck analysis and show that the 2015 constraints from these data still allow a decorrelation between the dust at 150 and 353 GHz that is compatible with our measured value. In conclusion, using simplified models, we show that either spatial variation of the dust SED or of the dust polarization angle are able to produce decorrelations between 217 and 353 GHz data similar to the values we observe in the data.
Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.
As part of the Cyclotron Road program, NuSight Photonics sought to implement and investigate an optical Raman spectroscopy instrument for material and molecular analysis. Raman spectroscopy is widely used for quick and non-invasive material measurement when accurate results are needed – e.g., for monitoring manufacturing process in pharmaceutical plants, or identifying illicit substances and explosives by Law Enforcement. This technique is also growing rapidly in popularity as it is applied successfully to a broad range of applications, from pathology and non-invasive early cancer detection, to food and drug safety. The biggest challenge for Raman spectroscopy to achieve its full potential is the hardware cost, ranging from $\$ $25k to $\$ $250k, with the lower cost solutions significantly limited in sensitivity—or detection limit. NuSight Photonics aimed to tackle this obstacle through a novel hardware approach: Swept-Source Raman Spectroscopy.
Abstract Complex shapes of gold nanostars (GNS) have been the major obstacle to the comprehensive understanding of the rich plasmonic phenomena of GNS. We conducted extensive, systematic numerical study of far-field and near-field spectral responses of GNS for varying geometrical parameters (e.g., number of spikes, spike tip angle, and spike-to-core ratio) to elucidate the relationship between the optical property and the geometry of GNS. We found that symmetric configurations of GNS spikes generated both dipole and quadrupole localized surface plasmon (LSP) modes, their hybridization resulted in the final near-field intensity at the spike tips, and there existed a specific GNS geometry that optimized the hybridization and thus the E-field intensity for any given wavelength. From these results, we further identified the shapes of GNS that generated the strongest Surface Enhanced Raman Scattering (SERS) enhancement factors in the visible and NIR spectral range. Hence, our results provide guiding principles in determining the optimal geometry of GNS for SERS applications with any choice of excitation wavelength.
Abstract Background A major obstacle in single-cell sequencing is sample contamination with foreign DNA. To guarantee clean genome assemblies and to prevent the introduction of contamination into public databases, considerable quality control efforts are put into post-sequencing analysis. Contamination screening generally relies on reference-based methods such as database alignment or marker gene search, which limits the set of detectable contaminants to organisms with closely related reference species. As genomic coverage in the tree of life is highly fragmented, there is an urgent need for a reference-free methodology for contaminant identification in sequence data. Results We present acdc, a tool specifically developed to aid the quality control process of genomic sequence data. By combining supervised and unsupervised methods, it reliably detects both known and de novo contaminants. First, 16S rRNA gene prediction and the inclusion of ultrafast exact alignment techniques allow sequence classification using existing knowledge from databases. Second, reference-free inspection is enabled by the use of state-of-the-art machine learning techniques that include fast, non-linear dimensionality reduction of oligonucleotide signatures and subsequent clustering algorithms that automatically estimate the number of clusters. The latter also enables the removal of any contaminant, yielding a clean sample. Furthermore, given the data complexity and the ill-posedness of clustering, acdc employs bootstrapping techniques to provide statistically profound confidence values. Tested on a large number of samples from diverse sequencing projects, our software is able to quickly and accurately identify contamination. Results are displayed in an interactive user interface. Acdc can be run from the web as well as a dedicated command line application, which allows easy integration into large sequencing project analysis workflows. Conclusions Acdc can reliably detect contamination in single-cell genome data. In addition to database-driven detection, it complements existing tools by its unsupervised techniques, which allow for the detection of de novo contaminants. Our contribution has the potential to drastically reduce the amount of resources put into these processes, particularly in the context of limited availability of reference species. As single-cell genome data continues to grow rapidly, acdc adds to the toolkit of crucial quality assurance tools.