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The controlled production of microbial growth has the potential to reduce groundwater flow in seepage and dewatering systems. Stimulating the growth of indigenous bacteria could clog the pore space and result in a substantial permeability reduction. This study investigated the spatial distribution of permeability reduction under different nutrient stimulation treatments of indigenous bacteria across 16 cm columns of Ottawa 50-70 sand. Spatially uniform permeability reductions of up to an order of magnitude were achieved using both a high glucose (50 mg L-1) and a low glucose (10 mg L-1) nutrient formulation. The overall permeability began to drop by day 2 and generally reached a minimum permeability by day 14. There was no noticeable difference in the final permeability nor the rate of permeability reduction between high and low glucose formulations. Upscaling of experiments is highly recommended for future studies on the spatial uniformity of microbial growth and biologically induced permeability reductions. 

For many types of robots, avoiding obstacles is necessary to prevent damage to the robot and environment. As a result, obstacle avoidance has historically been an im- portant problem in robot path planning and control. Soft robots represent a paradigm shift with respect to obstacle avoidance because their low mass and compliant bodies can make collisions with obstacles inherently safe. Here we consider the benefits of intentional obstacle collisions for soft robot navigation. We develop and experimentally verify a model of robot-obstacle interaction for a tip-extending soft robot. Building on the obstacle interaction model, we develop an algorithm to determine the path of a growing robot that takes into account obstacle collisions. We find that obstacle collisions can be beneficial for open-loop navigation of growing robots because the obstacles passively steer the robot, both reducing the uncertainty of the location of the robot and directing the robot to targets that do not lie on a straight path from the starting point. Our work shows that for a robot with predictable and safe interactions with obstacles, target locations in a cluttered, mapped environment can be reached reliably by simply setting the initial trajectory. This has implications for the control and design of robots with minimal active steering. 

Abstract The Pandora Software Development Kit and algorithm libraries provide pattern-recognition logic essential to the reconstruction of particle interactions in liquid argon time projection chamber detectors. Pandora is the primary event reconstruction software used at ProtoDUNE-SP, a prototype for the Deep Underground Neutrino Experiment far detector. ProtoDUNE-SP, located at CERN, is exposed to a charged-particle test beam. This paper gives an overview of the Pandora reconstruction algorithms and how they have been tailored for use at ProtoDUNE-SP. In complex events with numerous cosmic-ray and beam background particles, the simulated reconstruction and identification efficiency for triggered test-beam particles is above 80% for the majority of particle type and beam momentum combinations. Specifically, simulated 1 GeV/ c charged pions and protons are correctly reconstructed and identified with efficiencies of 86.1 $$\pm 0.6$$ ± 0.6 % and 84.1 $$\pm 0.6$$ ± 0.6 %, respectively. The efficiencies measured for test-beam data are shown to be within 5% of those predicted by the simulation. 

Abstract The rapid development of general-purpose computing on graphics processing units (GPGPU) is allowing the implementation of highly-parallelized Monte Carlo simulation chains for particle physics experiments. This technique is particularly suitable for the simulation of a pixelated charge readout for time projection chambers, given the large number of channels that this technology employs. Here we present the first implementation of a full microphysical simulator of a liquid argon time projection chamber (LArTPC) equipped with light readout and pixelated charge readout, developed for the DUNE Near Detector. The software is implemented with an end-to-end set of GPU-optimized algorithms. The algorithms have been written in Python and translated into CUDA kernels using Numba, a just-in-time compiler for a subset of Python and NumPy instructions. The GPU implementation achieves a speed up of four orders of magnitude compared with the equivalent CPU version. The simulation of the current induced on 10^3 pixels takes around 1 ms on the GPU, compared with approximately 10 s on the CPU. The results of the simulation are compared against data from a pixel-readout LArTPC prototype. 

Abstract Liquid argon time projection chamber detector technology provides high spatial and calorimetric resolutions on the charged particles traversing liquid argon. As a result, the technology has been used in a number of recent neutrino experiments, and is the technology of choice for the Deep Underground Neutrino Experiment (DUNE). In order to perform high precision measurements of neutrinos in the detector, final state particles need to be effectively identified, and their energy accurately reconstructed. This article proposes an algorithm based on a convolutional neural network to perform the classification of energy deposits and reconstructed particles as track-like or arising from electromagnetic cascades. Results from testing the algorithm on experimental data from ProtoDUNE-SP, a prototype of the DUNE far detector, are presented. The network identifies track- and shower-like particles, as well as Michel electrons, with high efficiency. The performance of the algorithm is consistent between experimental data and simulation.