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Wood, Paul

Publications and source records attributed to Wood, Paul.

ROS-DOE: Leveraging Open-Source Robotics Software for the DOE-EM Mission? - 17181

In order to establish a common software framework for its robotic systems, the United States Department of Energy - Environmental Management (DOE-EM) is considering the possibility of extending the Robot Operating System (ROS) open source robotics software to address the varied, complex challenges facing DOE-EM. The effort, preliminarily called ROS-DOE, would enhance the reliability, robustness, security, and user friendliness of ROS to meet the requirements of the nuclear waste remediation mission, and those of DOE as a whole. As envisioned, the ROS DOE program would also support rapid progress to mature cross-cutting capabilities including supervised autonomy, inter-operability with off-the-shelf industrial equipment, and physics-based robot simulation (i.e., Gazebo). This paper provides background context about the current state of ROS software and its supporting community, surveys DOE-EM needs and requirements for robotic solutions, and analyzes the gaps between the current state of ROS and those needed for DOE-EM robotics. It then identifies new capabilities that are recommended for ROS-DOE and outlines software development practices that could be leveraged to blend the best of the open-source world with high-reliability software development practices. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

FutureGen 2.0 Oxy-combustion Large Scale Test – Final Report

The primary objectives of the FutureGen 2.0 CO 2 Oxy-Combustion Large Scale Test Project were to site, permit, design, construct, and commission, an oxy-combustion boiler, gas quality control system, air separation unit, and CO 2 compression and purification unit, together with the necessary supporting and interconnection utilities. The project was to demonstrate at commercial scale (168MWe gross) the capability to cleanly produce electricity through coal combustion at a retrofitted, existing coal-fired power plant; thereby, resulting in near-zeroemissions of all commonly regulated air emissions, as well as 90% CO 2 capture in steady-state operations. The project was to be fully integrated in terms of project management, capacity, capabilities, technical scope, cost, and schedule with the companion FutureGen 2.0 CO 2 Pipeline and Storage Project, a separate but complementary project whose objective was to safely transport, permanently store and monitor the CO 2 captured by the Oxy-combustion Power Plant Project. The FutureGen 2.0 Oxy-Combustion Large Scale Test Project successfully achieved all technical objectives inclusive of front-end-engineering and design, and advanced design required to accurately estimate and contract for the construction, commissioning, and start-up of a commercial-scale "ready to build" power plant using oxy-combustion technology, including full integration with the companion CO 2 Pipeline and Storage project. Ultimately the project did not proceed to construction due to insufficient time to complete necessary EPC contract negotiations and commercial financing prior to expiration of federal co-funding, which triggered a DOE decision to closeout its participation in the project. Through the work that was completed, valuable technical, commercial, and programmatic lessons were learned. This project has significantly advanced the development of near-zero emission technology and will be helpful to plotting the course of, and successfully executing future large demonstration projects. This Final Scientific and Technical Report describes the technology and engineering basis of the project, inclusive of process systems, performance, effluents and emissions, and controls. Further, the project cost estimate, schedule, and permitting requirements are presented, along with a project risk and opportunity assessment. Lessons-learned related to these elements are summarized in this report. Companion reports Oxy-combustion further document the accomplishments and learnings of the project, including: A.01 Project Management Report which describes what was done to coordinate the various participants, and to track their performance with regard to schedule and budget B.02 Lessons Learned - Technology Integration, Value Improvements, and Program Management, which describes the innovations and conclusions that we arrived upon during the development of the project, and makes recommendations for improvement of future projects of a similar nature . B.03 Project Economics, which details the capital and operation costs and their basis, and also illustrates the cost of power produced by the plant with certain sensitivities. B.04 Power Plant, Pipeline, and Injection Site Interfaces, which details the interfaces between the two FutureGen projects B.05 Contractual Mechanisms for Design, Construction, and Operation, which describes the major EPC, and Operations Contracts required to execute the project.

54 ENVIRONMENTAL SCIENCES↗

Commissioning MMS

This paper discusses commissioning of NASAs Magnetospheric MultiScale (MMS) Mission. The mission includes four identical spacecraft with a large, complex set of instrumentation. The planning for and execution of commissioning for this mission is described. The paper concludes by discussing lessons learned.

Space Operations Center↗

Commissioning MMS: Challenges and Lessons Learned

This paper discusses commissioning of NASA's Magnetospheric MultiScale (MMS) Mission. The mission includes four identical spacecraft with a large, complex set of instrumentation. The planning for and execution of commissioning for this mission is described. The paper concludes by discussing lessons learned.

Space Operations Center↗