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All sources NASA NTRS DOE OSTI

DOE OSTI2014

Scanning ARM Cloud Radars. Part II: Data Quality Control and Processing

The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the HS-RHI SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

climate↗

DOE OSTI2016

Training in Tbilisi nuclear facility provides new sampling perspectives for IAEA inspectors

Office of Nonproliferation and Arms Control- (NPAC-) sponsored training in a “cold” nuclear facility in Tbilisi, Georgia provides International Atomic Energy Agency (IAEA) inspectors with a new perspective on environmental sampling strategies. Sponsored by the Nuclear Safeguards program under the NPAC, Pacific Northwest National Laboratory (PNNL) experts have been conducting an annual weeklong class for IAEA inspectors in a closed nuclear facility since 2011. The Andronikashvili Institute of Physics and the Republic of Georgia collaborate with PNNL to provide the training, and the U.S. Department of State, the U.S. Embassy in Tbilisi and the U.S. Mission to International Organizations in Vienna provide logistical support.

environmental sampling↗

DOE OSTI2014

Optimal imaging for treaty verification FY2014 annual report

FY2014 technical report of our project funded by DNN R&D that leverages advanced inference methods developed for medical and adaptive imaging to address arms control applications. We seek a method to acquire and analyze imaging data of declared treaty-accountable items without creating an image of those objects or otherwise storing or revealing any classified information. Such a method would avoid the use of classified-information barriers. We present our progress on FY2014 tasks defined in our life-cycle plan. We also describe some future work that is part of the continuation of this project in FY2015 and beyond as part of a venture that joins ours with a related PNNL project.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2014

Comprehensive Nuclear-Test-Ban Treaty seismic monitoring: 2012 USNAS report and recent explosions, earthquakes, and other seismic sources

A comprehensive ban on nuclear explosive testing is briefly characterized as an arms control initiative related to the Non-Proliferation Treaty. The work of monitoring for nuclear explosions uses several technologies of which the most important is seismology-a physics discipline that draws upon extensive and ever-growing assets to monitor for earthquakes and other ground-motion phenomena as well as for explosions. This paper outlines the basic methods of seismic monitoring within that wider context, and lists web-based and other resources for learning details. It also summarizes the main conclusions, concerning capability to monitor for test-ban treaty compliance, contained in a major study published in March 2012 by the US National Academy of Sciences.

58 GEOSCIENCES↗

DOE OSTI2016

The Future of Nonproliferation in a Changed and Changing Environment: A Workshop Summary

The Center for Global Security Research and Global Security Principal Directorate at Lawrence Livermore National Laboratory convened a workshop in July 2016 to consider “The Future of Nonproliferation in a Changed and Changing Security Environment.” We took a broad view of nonproliferation, encompassing not just the treaty regime but also arms control, threat reduction, counter-proliferation, and countering nuclear terrorism. We gathered a group of approximately 60 experts from the technical, academic, political, defense and think tank communities and asked them what—and how much—can reasonably be accomplished in each of these areas in the 5 to 10 years ahead. Discussion was on a not-for-attribution basis. This document provides a summary of key insights and lessons learned, and is provided to help stimulate broader public discussion of these issues. It is a collection of ideas as informally discussed and debated among a group of experts. The ideas reported here are the personal views of individual experts and should not be attributed to Lawrence Livermore National Laboratory.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

DOE OSTI2024

Laser Based Ultrasound for Verification of Circuit Card Assemblies

This IR is a follow-up conference Paper to the IR approved abstract; PNNL-SA-194096. --- Verification that equipment is authentic and not changed; even at the circuit card assembly (CCA) level will likely be an important component of future arms control treaties. This effort was an initial evaluation of the potential for laser-based ultrasound (LBU) as an inspection tool for Unique Identification (UID) of Circuit Card Assembly (CCA) boards and CCA components. The LBU system used a laser pulse for ultrasound generation and an Optical Microphone for ultrasound detection to image subsurface structures without physical contact and in a dry state. This paper described the selected CCA surrogate, CCA components that were examined, the LBU system, LBU images of the CCA components, and the initial development of UID algorithms. Receiver operating characteristics (ROC) curves indicated good performance for two algorithms as a potential means for UID of CCA boards and CCA components.

Laser Ultrasound, Equipment Verification, Arms Con↗

DOE OSTI2015

Single-Volume Neutron Scatter Camera for High-Efficiency Neutron Imaging and Source Characterization. Year 2 of 3 Summary

The neutron scatter camera (NSC), an imaging spectrometer for fission energy neutrons, is an established and proven detector for nuclear security applications such as weak source detection of special nuclear material (SNM), arms control treaty verification, and emergency response. Relative to competing technologies such as coded aperture imaging, time-encoded imaging, neutron time projection chamber, and various thermal neutron imagers, the NSC provides excellent event-by-event directional information for signal/background discrimination, reasonable imaging resolution, and good energy resolution. Its primary drawback is very low detection efficiency due to the requirement for neutron elastic scatters in two detector cells. We will develop a singlevolume double-scatter neutron imager, in which both neutron scatters can occur in the same large active volume. If successful, the efficiency will be dramatically increased over the current NSC cell-based geometry. If the detection efficiency approaches that of e.g. coded aperture imaging, the other inherent advantages of double-scatter imaging would make it the most attractive fast neutron detector for a wide range of security applications.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2016

Linear models to perform treaty verification tasks for enhanced information security

Linear mathematical models were applied to binary-discrimination tasks relevant to arms control verification measurements in which a host party wishes to convince a monitoring party that an item is or is not treaty accountable. These models process data in list-mode format and can compensate for the presence of variability in the source, such as uncertain object orientation and location. The Hotelling observer applies an optimal set of weights to binned detector data, yielding a test statistic that is thresholded to make a decision. The channelized Hotelling observer applies a channelizing matrix to the vectorized data, resulting in a lower dimensional vector available to the monitor to make decisions. We demonstrate how incorporating additional terms in this channelizing-matrix optimization offers benefits for treaty verification. We present two methods to increase shared information and trust between the host and monitor. The first method penalizes individual channel performance in order to maximize the information available to the monitor while maintaining optimal performance. Second, we present a method that penalizes predefined sensitive information while maintaining the capability to discriminate between binary choices. Data used in this study was generated using Monte Carlo simulations for fission neutrons, accomplished with the GEANT4 toolkit. Custom models for plutonium inspection objects were measured in simulation by a radiation imaging system. Model performance was evaluated and presented using the area under the receiver operating characteristic curve.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Passive high explosive neutron inspection (PHENIX): a new method to confirm the presence or absence of high explosives for nuclear treaty verification

Advanced instruments and methods need to be developed now to create a technical basis to support the negotiation of future nuclear arms control treaties. One new capability that is anticipated is the ability to confirm either the declared presence or declared absence of high explosive (HE) material in the presence of special nuclear material (SNM). Towards this goal, Passive HE Neutron Inspection (PHENIX) has been developed and demonstrated as a method for confirming the presence or absence of HE in the presence of plutonium. The method exploits the inherent presence of neutrons associated with the decay of plutonium as an internal probe source for performing prompt gamma-ray neutron activation analysis (PGNAA), searching for the presence of HE as revealed by the emission of characteristic gamma rays following neutron absorption in hydrogen and nitrogen which are building blocks of present-day, military-grade HE. Tests using stoichiometrically-correct hemishells of mock HE with plutonium show that a system can be expected to positively confirm the presence or absence of these signatures, supporting determination of HE presence or absence with Pu, in a few hours. To protect other potentially sensitive gamma-ray signatures from a treaty accountable item, an analog information barrier has been conceptualized and tested which physically prevents the collection of gamma-ray spectral data outside of user selected energy windows strategically chosen to view only narrow spectral regions corresponding to the hydrogen (2223.2 keV) and nitrogen (9807.2 keV, 10,318.2 keV, and 10,829.2 keV) PGNAA signatures.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2025

Optimizing a detection system for fissile material in nuclear disarmament verification

In arms control treaties, verification plays a crucial role in detecting non-compliance, deterring future violations, and building trust between state parties. Neutron interrogation that induces fission reactions in fissile isotopes and measures the resulting fission neutrons, could be employed for this purpose. This study aims to develop a system which can determine the presence of fissile material while intrinsically protecting information. In this paper, we focus on optimizing the system for discriminating between an enriched uranium block from a depleted uranium (DU) block. The system was built and we report on benchmark measurements with DU and 16% enriched uranium blocks. Furthermore, the Excalibur (Experiment for Calibration with Uranium) neutron source, a neutron spectrometer (redBubble Technology Industries (BTI) N-Probe), and superheated droplet detectors were used for these measurements. MCNP simulations provided insights into detector responses to fissile materials with varying isotopic compositions, confirming that the system functioned as designed.

Active neutron interrogation↗

DOE OSTI2015

Delayed Gamma-Ray Spectroscopy for Non-Destructive Assay of Nuclear Materials

High-energy, beta-delayed gamma-ray spectroscopy is a potential, non-destructive assay techniques for the independent verification of declared quantities of special nuclear materials at key stages of the fuel cycle and for directly assaying nuclear material inventories for spent fuel handling, interim storage, reprocessing facilities, repository sites, and final disposal. Other potential applications include determination of MOX fuel composition, characterization of nuclear waste packages, and challenges in homeland security and arms control verification. Experimental measurements were performed to evaluate fission fragment yields, to test methods for determining isotopic fractions, and to benchmark the modeling code package. Experimental measurement campaigns were carried out at the IAC using a photo-neutron source and at OSU using a thermal neutron beam from the TRIGA reactor to characterize the emission of high-energy delayed gamma rays from 235 U, 239 Pu, and 241 Pu targets following neutron induced fission. Data were collected for pure and combined targets for several irradiation/spectroscopy cycle times ranging from 10/10 seconds to 15/30 minutes.The delayed gamma-ray signature of 241 Pu, a significant fissile constituent in spent fuel, was measured and compared to 239 Pu. The 241 Pu/ 239 Pu ratios varied between 0.5 and 1.2 for ten prominent lines in the 2700-3600 keV energy range. Such significant differences in relative peak intensities make it possible to determine relative fractions of these isotopes in a mixed sample. A method for determining fission product yields by fitting the energy and time dependence of the delayed gamma-ray emission was developed and demonstrated on a limited 235 U data set. De-convolution methods for determining fissile fractions were developed and tested on the experimental data. The use of high count-rate LaBr 3 detectors was investigated as a potential alternative to HPGe detectors. Modeling capabilities were added to an existing framework and codes were adapted as needed for analyzing experiments and assessing application-specific assay concepts. A de-convolution analysis of the delayed gamma-ray response spectra modeled for spent fuel assemblies was performed using the same method that was applied to the experimental spectra.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS1988

KALI - An environment for the programming and control of cooperative manipulators

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

Hayward, Vincent↗

NASA NTRS1988

Cooperative control of two arms in the transport of an inertial load in zero gravity

In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed.

Carignan, Craig R.↗

NASA NTRS1961

The Effect of Lateral-Directional Control Coupling on Pilot Control of an Airplane as Determined in Flight and in a Fixed-Base Flight Simulator

A flight and fixed-base simulator study was made of the effects of aileron-induced yaw on pilot opinion of aircraft lateral-directional controllability characteristics. A wide range of adverse and favorable aileron-induced yaw was investigated in flight at several levels of Dutch-roll damping. The flight results indicated that the optimum values of aileron- induced yaw differed only slightly from zero for Dutch-roll damping from satisfactory to marginally controllable levels. It was also shown that each range of values of aileron-induced yawing moment considered satisfactory, acceptable, or controllable increased with an increase in the Dutch- roll damping. The increase was most marked for marginally controllable configurations exhibiting favorable aileron-induced yaw. Comparison of fixed-base flight simulator results with flight results showed agreement, indicating that absence of kinesthetic motion cues did not markedly affect the pilots' evaluation of the type of control problem considered in this study. The results of the flight study were recast in terms of several parameters which were considered to have an important effect on pilot opinion of lateral-directional handling qualities, including the effects of control coupling. Results of brief tests with a three-axis side-arm controller indicated that for control coupling problems associated with highly favorable yaw and cross-control techniques, use of the three-axis controller resulted in a deterioration of control relative to results obtained with the conventional center stick and rudder pedals.

Vomaske, Richard F.↗

NASA NTRS1961

Analog Simulation of a Pilot-Controlled Rendezvous

The rendezvous of a pilot-controlled space ferry vehicle with an orbiting space station was simulated in six degrees of freedom. A fixed-base simulator and an analog computer were used. The ferry vehicle was assumed to have a single main thrusting rocket and to be provided with attitude control. Control of the thrust was provided by a rocket throttle quadrant which could provide either proportional or on-off control. The attitude of the vehicle was controlled during the rendezvous with a two-axis, pencil-type side-arm controller and rudder pedals. For the most part rendezvous maneuvers were made with the target satellite in a circular orbit. In addition, an elliptical station orbit was investigated. Tolerable initial conditions, as well as adequate data presentations, were determined. Results of the investigation indicate that a human pilot can rendezvous successfully with the vehicle and instrumentation considered over a wide band of initial conditions. Coplanar conditions are not necessary. Retro-rocket fuel used is not greatly increased by imposing perturbing influences such as rocket-misalignment torques on the rendezvous vehicle. When excessive attitude-control torques are required to maintain the necessary trim attitudes under misalignment influences, the reaction fuel used for this control increases. The time required for a specific rendezvous varies somewhat between pilots. If control of the time for completing the rendezvous is desired, requirements for retrorocket fuel are affected, and an energy-management schedule is required. Continuous variation of the thrust is not necessary. The pilot positions the throttle to obtain a desired level of thrust, and applies bursts of thrust as required. All data were presented on dialed instruments. The quantities required are range and range rate and line-of-sight rates between the vehicle and the station, vehicle attitudes and angular rates, and the angles subtended by the line of sight. For the equipment assumed herein, satellite rendezvous presented no great problem to the pilot.

Brissenden, Roy F.↗

NASA NTRS1996

Sensor-Based Collision Avoidance: Theory and Experiments

A new on-line control strategy for sensor-based collision avoidance of manipulators and supporting experimental results are presented in this article. This control strategy is based on nullification of virtual forces applied to the end-effector by a hypothetical spring-plus-damper attached to the object's surface. In the proposed approach, the real-time arm control software continuously monitors the object distance measured by the arm-mounted proximity sensors. When this distance is less than a preset threshold, the collision avoidance control action is initiated to inhibit motion toward the object and thus prevent collision. This is accomplished by employing an outer feedback loop to perturb the end-effector nominal motion trajectory in real-time based on the sensory data. The perturbation is generated by a proportional-plus-integral (PI) collision avoidance controller acting on the difference between the sensed distance and the preset threshold. This approach is computationally very fast, requires minimal modification to the existing manipulator positioning system, and provides the manipulator with an on-line collision avoidance capability to react autonomously and intelligently. A dexterous RRC robotic arm is instrumented with infrared proximity sensors and is operated under the proposed collision avoidance strategy. Experimental results are presented to demonstrate end-effector collision avoidance both with an approaching object and while reaching inside a constricted opening.

Seraji, Homayoun↗

NASA NTRS1982

A study of interactive control scheduling and economic assessment for robotic systems

A class of interactive control systems is derived by generalizing interactive manipulator control systems. Tasks of interactive control systems can be represented as a network of a finite set of actions which have specific operational characteristics and specific resource requirements, and which are of limited duration. This has enabled the decomposition of the overall control algorithm simultaneously and asynchronously. The performance benefits of sensor referenced and computer-aided control of manipulators in a complex environment is evaluated. The first phase of the CURV arm control system software development and the basic features of the control algorithms and their software implementation are presented. An optimal solution for a production scheduling problem that will be easy to implement in practical situations is investigated.

Source record↗

NASA NTRS1994

Dual-Arm Generalized Compliant Motion With Shared Control

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Backes, Paul G.↗