Human-in-the-Loop Robot Control for Human-Robot Collaboration: Human Intention Estimation and Safe Trajectory Tracking Control for Collaborative Tasks
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Automation & Control Systems↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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On Non-Linear Trajectory Tracking via Variety-Based Background Subtraction Models
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Engineering↗
Simulating the Trajectory and Biomass Growth of Free-Floating Macroalgal Cultivation Platforms along the U.S. West Coast
Trajectory tracking and macroalgal growth models were coupled to support a novel macroalgae-harvesting concept known as the Nautical Off-shore Macroalgal Autonomous Device (NOMAD). The NOMAD consists of 5 km long carbon-fiber longlines that are seeded and free float southward along the U.S. West Coast for approximately 3 months before harvesting off the California coast, taking advantage of favorable environmental conditions. The trajectory and macroalgal growth models were applied to answer planning questions pertinent to the techno-economic analysis such as identifying the preferred release location, approximate pathway, timing until harvest, and estimated growth. Trajectories were determined with the General NOAA Operational Modeling Environment (GNOME) model, using 11 years of current and wind data, determining probabilities by running nearly 40,000 Monte Carlo simulations varying the start time and location. An accompanying macroalgal growth model was used to estimate the growth of macroalgae based on the trajectory tracks and environmental forcing products, including light, temperature and nutrients. Model results show that NOMAD lines transit south in the months of April to September due to seasonal currents, taking approximately 3 months to reach Southern California. During transit, NOMAD lines are dispersed but typically avoid beaching or passing through marine sanctuaries. NOMAD lines can yield up to 30 kg wet weight per meter of cultivation line.
09 BIOMASS FUELS↗
Wire-cell 3D pattern recognition techniques for neutrino event reconstruction in large LArTPCs: algorithm description and quantitative evaluation with MicroBooNE simulation
Wire-Cell is a 3D event reconstruction package for liquid argon time projection chambers. Through geometry, time, and drifted charge from multiple readout wire planes, 3D space points with associated charge are reconstructed prior to the pattern recognition stage. Pattern recognition techniques, including track trajectory and dQ/dx (ionization charge per unit length) fitting, 3D neutrino vertex fitting, track and shower separation, particle-level clustering, and particle identification are then applied on these 3D space points as well as the original 2D projection measurements. A deep neural network is developed to enhance the reconstruction of the neutrino interaction vertex. Compared to traditional algorithms, the deep neural network boosts the vertex efficiency by a relative 30% for charged-current ν e interactions. Therefore, this pattern recognition achieves 80–90% reconstruction efficiencies for primary leptons, after a 65.8% (72.9%) vertex efficiency for charged-current ν e (ν μ ) interactions. Based on the resulting reconstructed particles and their kinematics, we also achieve 15-20% energy reconstruction resolutions for charged-current neutrino interactions.
72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
Geometric GNNs for charged particle tracking at GlueX
Nuclear physics experiments are aimed at uncovering the fundamental building blocks of matter. The experiments involve high-energy collisions that produce complex events with many particle trajectories. Tracking charged particles resulting from collisions in the presence of a strong magnetic field is critical to enable the reconstruction of particle trajectories and precise determination of interactions. It is traditionally achieved through combinatorial approaches that scale worse than linearly as the number of hits grows. Since particle hit data naturally form a point cloud and can be structured as graphs, graph neural networks (GNNs) emerge as an intuitive and effective choice for this task. In this study, we evaluate the GNN model for track finding on the data from the GlueX experiment at Jefferson Lab. We use simulation data to train the model and test on both simulation and real GlueX measurements. We demonstrate that GNN-based track finding outperforms the currently used traditional method at GlueX in terms of segment-based efficiency at a fixed purity while providing faster inferences. We show that the GNN model can achieve significant speedup by processing multiple events in batches, which exploits the parallel computation capability of graphical processing units (GPUs). Finally, we compare the GNN implementation on GPU and field-programmable gate array and describe the trade-off.
batched GNN pipeline↗
An approximate inertial manifold (AIM) based closure for turbulent flows
A closure model for turbulent flows is developed based on a dynamical system theory. An appropriately discretized formulation of the governing equations is considered for this process. The key ingredient is an approximation of the system’s attractor, where all the trajectories in phase space are confined. This approximate inertial manifold based approach provides a path to track trajectories of the system in a lower-dimensional subspace. Unlike conventional coarse-graining approaches, the turbulent field is decomposed into resolved and unresolved dynamics using the properties of the governing equations. The novelty of the approach relies on the reconstruction of the unresolved field constrained by the governing equations. A posteriori tests for homogeneous isotropic turbulence and the Kuramoto–Sivashinsky equation show promising results for considerable dimension reduction with strong convergence properties. The proposed model outperforms the dynamic Smagorinsky model, and the computational overhead is competitive with similar approaches.
97 MATHEMATICS AND COMPUTING↗
Persistent meanders and eddies lead to quasi-steady Lagrangian transport patterns in a weak western boundary current
The Brazil Current (BC) is a weak western boundary current flowing along the Southwestern Atlantic Ocean. It is frequently described as a flow with intense mesoscale activity and relatively low volume transport between 5.0 and 10.0 Sv. We use a 13-year eddy-resolving primitive-equation simulation to show that the presence of persistent meanders and eddies leads to characteristic quasi-steady Lagrangian transport patterns, aptly extracted through climatological Lagrangian Coherent Structures (cLCS). The cLCS position the surface expression of the BC core along the 2000-m isobath, in excellent visual agreement with high resolution satellite sea-surface temperature and the model Eulerian mean velocity. The cLCS deformation pattern also responds to zonally persistent cross-shelf SSH transition from positive (high) values near coastline to low (negative) values between 200- and 2000-m and back to positive (high) offshore from the 2000-m isobath. Zonally-paired cyclonic and anticyclonic structures are embedded in this transition, also causing the cLCS to deform into chevrons. An efficient transport barrier is identified close to the 200-m isobath confirmed by limited inshore movement of drogued drifters and accurately indicated by an along slope maxima of climatological strength of attraction. We also show that the persistent cyclonic and anticyclonic structures may induce localized cross-shelf transport. Regions of low climatological strength of attraction coincide with large shelves and with stagnant synthetic trajectories. We also show that cLCS accurately depict trajectories initiated at the location of Chevron’s spill (November 2011) as compared to synthetic and satellite-tracked trajectories, and the outline of the oil from that accident. There is also an agreement between the large-scale oil slicks reaching the Brazilian beaches (from August 2019 to February 2020) and the strength of climatological attraction at the coast. Our work also clarifies the influence of persistent mesoscale structures on the regional circulation. The identification and quantitative description of climatological Lagrangian coherent structures is expected to improve the effectiveness of future emergency response to oil spills, contingency planning, rescue operations, larval and fish connectivity assessment, drifter launch strategies, waste pollutant and marine debris dispersion and destination.
54 ENVIRONMENTAL SCIENCES↗
Model-Free Control of Indoor Temperatures in Residential Buildings: Convergence Analysis
Model-free control (MFC) has recently been applied in multiple fields, including indoor air temperature regulation in buildings. It is a data-enabled feedback tracking control strategy for complex systems using a simplified representation of the ultra-local approximation model through the unique information of input-output behavior. MFC is a prevailing control strategy for systems with unknown or poorly known system dynamic models. Thus, it is a relatively simple, but efficient, trajectory tracking controller. In this paper, we investigate the convergence rate of MFC when applied to controlling indoor temperatures in residential buildings subject to outdoor weather disturbances. Numerical results show that MFC is quite robust to external disturbances, and its rate of convergence is almost one, i.e., it converges Q-sublinearly (slower than linearly).
Wu, Tumin↗
A Two-Level Model Predictive Control-Based Approach for Building Energy Management including Photovoltaics, Energy Storage, Solar Forecasting and Building Loads
This paper uses a two-level model predictive control-based approach for the coordinated control and energy management of an integrated system that includes photovoltaic (PV) generation, energy storage, and building loads. Novel features of the proposed local controller include (1) the ability to simultaneously manage building loads and energy storage to achieve different operational objectives such as energy efficiency, economic cost efficiency, demand response and grid optimization through the design of specific power trajectory tracking performance functionals, (2) an energy trim function that minimizes the impact of solar forecasting errors on system performance, and (3) the design of a state of charge controller that uses day-ahead forecast of solar power and building loads to intialize energy storage at the start of each day. The local controller is tested in simulation using an exemplary system with PV generation, energy storage and dispatchable building loads. Two sample days with different PV forecasts and multiple case scenarios are considered, and the performance of the algorithm in managing the real and reactive net building load trajectories and the ramp rate of PV injections into the utility network are evaluated. The simulations are based on actual forecasted and measured PV data, and the results show that the local controller meets the tracking requirements for real and reactive power within the operating constraints of the building.
14 SOLAR ENERGY↗
Model-predictive optimal control of ferrofluidic microrobots in three-dimensional space
Ferrofluid microrobots have emerged as promising tools for minimally invasive medical procedures. Their unique properties to navigate complex fluids and reach otherwise inaccessible regions of the human body have enabled new applications in targeted drug delivery, tissue engineering, and diagnostics. Here, this paper proposes a model-predictive controller for the external magnetic manipulation of ferrofluid microrobots in three dimensions (3D). The internal optimization routine of the controller determines appropriate changes in the applied electromagnetic field to minimize the deviation between the actual and desired trajectories of the microrobot. A linear system governing locomotion is derived and used as the equality constraints of the optimization problems associated with the feedback index. In addition to ferrofluid droplets, the controller presented in this work may be applied to other magnetically-pulled microrobots. Several experiments are performed to validate the controller and showcase its ability to adapt to changes in system parameters such as the desired tracking trajectory and the size, orientation, deformation, and velocity of the microrobot. The accuracy of the controller is analyzed for each experiment, and the average error is found to be within 0.25 mm for small velocities. An additional experiment is performed to demonstrate significant improvement over a PID controller that is optimally tuned using Bayesian optimization. The results presented in this paper suggest that the proposed control algorithm could enable new microrobotic capabilities in minimally invasive medical procedures, lab-on-a-chip applications, and microfluidics.
60 APPLIED LIFE SCIENCES↗
Online task-space motion control for positioner-coordinated multi-robot manufacturing systems
Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.
Arbogast, Alex [ORNL] (ORCID:0000000154740723)↗
Jet Drift in Heavy Ion Collisions
We introduce a sub-eikonal anisotropic contribution to jetbroadening, “jet drift”, that couples to the flow of the medium, showing that this effect results in a deflection of hard partons, and thus jets, in the direction of the medium flow. Next, we study this effect in a full-fledged hybrid transport simulation of √s = 5.02 TeV PbPb collisions at the LHC, tracking trajectories of hard partons with perturbative energy loss and drift. We show that sub-eikonal anisotropic effects, including flow-mediated jet drift, are sensitive to properties of the medium that traditional eikonal isotropic effects are insensitive to, demonstrating that including these effects leads to modifications to jet and hard particle observables that survive averaging over events. We show that jet drift leads to an enhancement of the elliptic flow (v2) of hard particles.
72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
Scaling of silicon nanoparticle growth in low temperature flowing plasmas
Low temperature plasmas are an emerging method to synthesize high quality nanoparticles (NPs). An established and successful technique to produce NPs is using a capacitively coupled plasma (CCP) in cylindrical geometry. Although a robust synthesis technique, optimizing or specifying NP properties using CCPs, is challenging. In this paper, results from a computational investigation for the growth of silicon NPs in flowing inductively coupled plasmas (ICPs) using Ar/SiH 4 gas mixtures of up to a few Torr are discussed. ICPs produce more locally constrained and quiescent plasma potentials. These positive plasma potentials produce an electrostatic trap for negatively charged NPs, which can significantly extend the residence time of NPs in the plasma, which in turn provides a controllable period for particle growth. The computational platforms used in this study consist of a two-dimensional plasma hydrodynamics model, a three-dimensional nanoparticle growth and trajectory tracking model, and a molecular dynamics simulation for deriving reactive sticking coefficients of silane radicals on Si NPs. Trends for the nanoparticle growth as a function of SiH 4 inlet fraction, gas residence time, energy deposition per particle, pressure, and reactor diameter are discussed. The general path for particle synthesis is the trapping of small NPs in the positive electrostatic potential, followed by entrainment in the gas flow upon reaching a critical particle size. Optimizing or controlling NP synthesis then depends on the spatial distribution of plasma potential, the density of growth species, and the relative time that particles spend in the electrostatic trap and flowing through higher densities of growth species upon leaving the trap.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
Pulsed power to control growth of silicon nanoparticles in low temperature flowing plasmas
Low-temperature plasmas have seen increasing use for synthesizing high-quality, mono-disperse nanoparticles (NPs). Recent work has highlighted that an important process in NP growth in plasmas is particle trapping—small, negatively charged nanoparticles become trapped by the positive electrostatic potential in the plasma, even if only momentarily charged. In this article, results are discussed from a computational investigation into how pulsing the power applied to an inductively coupled plasma (ICP) reactor may be used for controlling the size of NPs synthesized in the plasma. The model system is an ICP at 1 Torr to grow silicon NPs from an Ar/SiH 4 gas mixture. This system was simulated using a two-dimensional plasma hydrodynamics model coupled to a three-dimensional kinetic NP growth and trajectory tracking model. The effects of pulse frequency and pulse duty cycle are discussed. We identified separate regimes of pulsing where particles become trapped for one pulsed cycle, a few cycles, and many cycles—each having noticeable effects on particle size distributions. For the same average power, pulsing can produce a stronger trapping potential for particles when compared to continuous wave power, potentially increasing particle mono-dispersity. Pulsing may also offer a larger degree of control over particle size for the same average power. Experimental confirmation of predicted trends is discussed.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
Sea Ice Collision Risk Assessment for Tidal Turbine Siting in Cook Inlet, Alaska
Cook Inlet has great potential for tidal stream energy development. However, the presence of drifting sea ice could create hazardous collision risks for tidal turbine farms. Before turbines can be installed in Cook Inlet, sites must be surveyed to determine how often sea ice is present, how fast it will be moved by the current, and where the trajectories of drifting sea ice will be concentrated. In this study, we use remotely sensed data to characterize the seasonal sea ice conditions in Cook Inlet, a hydrodynamic model to map the water velocities, and a particle trajectory tracking model to calculate collision risks. The resulting sea ice coverage and collision risk maps will enable tidal energy developers to choose the best locations for the deployment of tidal turbines and other offshore platforms in Cook Inlet.
16 TIDAL AND WAVE POWER↗
Dynamic Aperture of the PIP-II Accumulator Ring (PAR)
The Proton Improvement Plan-II (PIP-II) will include a superconducting linear accelerator which will accelerate H- ions to 800MeV, at an intensity never seen before. A proposed PIP-II Accumulator Ring (PAR) can reduce the injection losses to the booster, enhance the ramp up of the Long Baseline Neutrino Facility (LBNF) and support experiments in Dark Sector Physics. When the beam is circulating in PAR at its full intensity, it will then be transferred to the Booster via single turn injection. Strong PAR focusing results in larger phase advances, shorter focal lengths and higher machine tunes, which creates robust beam envelope control. Particles will be able to survive modest excursions from the elliptical phase-space trajectories of linear optics, and any loss of particles would be due to reduced dynamic aperture. The values for tunes and chromaticities are flexible and will continue to evolve as the lattice matures. Since there will be non-linear terms impacting the particles’ trajectories, tracking will include realistic magnetic field errors and installation alignment errors to determine the dynamic aperture as a function of the machine tunes. This will allow us to determine the optimum operating point in phase-space.
72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
Design, Selection, and Evaluation of Reinforcement Learning Single Agents for Ground Target Tracking
Previous approaches for small fixed-wing unmanned air systems that carry strapdown rather than gimbaled cameras achieved satisfactory ground target tracking performance using both standard and deep reinforcement learning algorithms. However, these approaches have significant restrictions and abstractions to the dynamics of the vehicle, such as constant airspeed and constant altitude, because the number of states and actions was necessarily limited. Thus, extensive tuning was required to obtain good tracking performance. The expansion from 4 state–action degrees of freedom to 15 enabled the agent to exploit previous reward functions that produced novel yet undesirable emergent behavior. This paper investigates the causes of and various potential solutions to undesirable emergent behavior in the ground target tracking problem. A combination of changes to the environment, reward structure, action space simplification, command rate, and controller implementation provides insight into obtaining stable tracking results. Consideration is given to reward structure selection and refinement to mitigate undesirable emergent behavior. Results presented in the paper for a simulated environment of a single unmanned air system tracking a randomly moving single ground target show that a soft actor–critic algorithm can produce feasible tracking trajectories without limiting the state space and action space, provided that the environment is properly posed.
Engineering↗