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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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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Advanced Laboratory and Field Arrays: Evaluating Sampling Techniques for MHK Biological Monitoring (Task 6)

The overall goal of the task was to identify cost effective biological sampling techniques for MHK environmental monitoring. Protected, demersal, and pelagic fish and selected nektonic invertebrates were surveyed using capture and remote sensing techniques at the PacWave sites. The performance of capture and remote sensing monitoring techniques were evaluated and generic nekton monitoring indices were developed for MHK technologies and sites. In parallel to data collections at the PacWave site, the ability of regression models to characterize, detect, and predict change in acoustic data was evaluated using acoustic data collected in Admiralty Inlet, WA, during a biological monitoring study of the proposed SnoPud tidal turbine project site. Expected outcomes of these efforts included an evaluation of instrumentation and techniques used to monitor biological variability; identification of data streams that can be used to detect and quantify change; and sampling requirements to ensure detection of change in monitored variables.

13 HYDRO ENERGY↗
DOE OSTI2025

Development of an ERT‐Based Framework for Bentonite Buffers Monitoring From Laboratory Tests: 1. Characterizing Thermal–Hydrological–Mechanical Processes

Abstract Bentonite clay is widely used in engineered barrier systems for the permanent disposal of high‐level radioactive waste due to its low permeability, high swelling capacity, and thermal stability. However, the complex thermal‐hydrological‐mechanical (THM) processes induced by heating from decaying radioactive waste and hydration from surrounding rock can lead to heterogeneous changes that are difficult to measure and predict. This study develops an Electrical Resistivity Tomography (ERT)‐based framework for monitoring THM processes, progressing from sample‐scale to bench‐scale tests, to inform field‐scale applications. Sample‐scale tests analyzed small bentonite samples under controlled variations in water content, temperature, and porosity to establish fundamental resistivity relationships. Bench‐scale tests involved larger bentonite columns subjected to heating (up to 200°C) and hydration under controlled pressure, simulating repository conditions. ERT measurements, complemented by X‐ray CT imaging, temperature monitoring, and tracing sensors, revealed coupled THM processes, such as hydration‐induced compression, swelling, and thermal gradients, leading to complex resistivity patterns. The results demonstrate the potential of ERT for capturing THM‐induced resistivity changes, though challenges remain in upscaling and quantitative analysis. This study evaluates laboratory test capabilities and proposes future improvements for understanding THM‐induced resistivity responses. A conceptual framework for ERT implementation in field‐scale monitoring is presented, synthesizing findings from both scales and exploring how ERT data can inform long‐term modeling and reduce prediction uncertainties. Overall, this ERT‐based framework offers a robust method for monitoring bentonite buffers, aiding in early issue detection and supporting the safe long‐term disposal of radioactive waste in geological repositories, while highlighting the need for future development. Plain Language Summary Bentonite clay is crucial in engineered barrier systems (EBS) for containing high‐level radioactive waste due to its ability to absorb water, swell, seal and remain stable under high temperatures. When bentonite absorbs water and heats up from radioactive decay, it experiences complex changes in its physical and mechanical properties. Understanding these changes is important for ensuring the long‐term safety and effectiveness of EBS. This study used Electrical Resistivity Tomography (ERT), a non‐invasive method that measures electrical conductivity to monitor these changes during laboratory experiments. The ERT data revealed significant variations in resistivity corresponding to changes in water content, temperature, and density, providing detailed spatial and temporal insights into the behavior of bentonite. These findings enhance our ability to predict the long‐term performance of bentonite barriers, ensuring the safe containment of radioactive waste. By improving our understanding of bentonite's behavior, this research supports the development of more reliable and effective barrier systems for radioactive waste disposal, protecting the environment and public health. Key Points ERT monitoring was employed to capture resistivity changes in bentonite during controlled heating and hydration experiments, providing insights into THM processes ERT data reveal significant resistivity changes correlated with water content, temperature, and mechanical effects, enhancing the understanding of THM dynamics in bentonite This study explores the potential of the framework for application in field‐scale EBS monitoring, emphasizing the need for integrating additional geophysical methods for comprehensive subsurface imaging

Chen, Hang↗
DOE OSTI2025

rmon (Resource monitor) [SWR-24-128]

The resource monitor application provides monitoring, collection, and visualization of resource utilization in compute nodes. This package contains utilities to monitor system resource utilization (CPU, memory, disk, network). Here are the ways you can use it: -Monitor resource utilization for a compute node for a given set of resource types and process IDs. -Start a process and monitor its resource utilization. -Monitor resource utilization for a compute node asynchronously with the ability to dynamically change the resource types and process IDs being monitored. -Produce JSON reports of aggregated metrics. -Produce interactive HTML plots of the statistics.

Thom, Daniel [National Renewable Energy Laboratory↗
DOE OSTI2024

Machine Learning Approach for Spatiotemporal Multivariate Optimization of Environmental Monitoring Sensor Locations

Abstract Long-term environmental monitoring is critical for managing the soil and groundwater at contaminated sites. Recent improvements in state-of-the-art sensor technology, communication networks, and artificial intelligence have created opportunities to modernize this monitoring activity for automated, fast, robust, and predictive monitoring. In such modernization, it is required that sensor locations be optimized to capture the spatiotemporal dynamics of all monitoring variables as well as to make it cost-effective. The legacy monitoring datasets of the target area are important to perform this optimization. In this study, we have developed a machine-learning approach to optimize sensor locations for soil and groundwater monitoring based on ensemble supervised learning and majority voting. For spatial optimization, Gaussian process regression (GPR) is used for spatial interpolation, while the majority voting is applied to accommodate the multivariate temporal dimension. Results show that the algorithms significantly outperform the random selection of the sensor locations for predictive spatiotemporal interpolation. While the method has been applied to a four-dimensional dataset (with two-dimensional space, time, and multiple contaminants), we anticipate that it can be generalizable to higher-dimensional datasets for environmental monitoring sensor location optimization.

Siddiquee, Masudur R.↗
DOE OSTI2020

Sensor Recommendations for Long Term Monitoring of the F-Area Seepage Basins

In mid-2018, a new paradigm for long-term monitoring was developed after of decade of applied research projects funded by the Department of Energy’s office of Environmental Management Technology Development program. The program at SRNL was focused on transitioning complex environmental waste sites from active to passive remediations strategies. A key result of these studies was that the use of enhanced attenuation approaches at radiologically contaminated sites will result in the creation of secondary source areas in the subsurface that will require monitoring for decades. Alternative monitoring approaches are being developed and tested at the Savannah River Site’s F-Area Hazardous Waste Management Facility, the new paradigm provides innovative solutions that will significantly lower costs of monitoring through the coupling of data collection, machine learning and deterministic groundwater modeling. The foundation of this approach is a well-optimized network of sensors for measuring hydrogeochemical master variables that control, and therefore act as indicators of groundwater contaminant transport. By monitoring changes in the controlling master variables over time arising from geological and environmental shifts, predictive modelling can assist with identifying new strategies for ensuring regulatory requirements are met if trends toward conditions for potential remobilization of attenuated contaminants are detected. In this report, we evaluated commercially available single parameter sensor platforms (e.g., temperature/depth) and configurable multi-parameter sensor platforms (e.g., pH, oxidation-reduction potential, temperature, depth, dissolved oxygen, and conductivity). Each was scored using an optimization function based on how well the system supports the proposed long-term monitoring paradigm, in general, and the site-specific conditions at F-Area, in particular. Several viable sensor systems were identified. Of these, a combined platform including the In-Situ Aqua TROLL 500 multi-parameter sensor platform and the In-Situ temperature/depth sensor had the highest rating and was identified as the most suitable candidate for installation and monitoring of the master variables and potentiometric surface that control groundwater contaminant plumes emanating from the F-Area Seepage Basins. The discussion of recommended potential deployment locations builds upon recommendations made by Denham et al (2019).

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Dosimeter Area Monitoring Program (DAMP) Technical Basis Document

This document provides a technical basis for establishing a Dosimetry-based Area Monitoring Program (DAMP) at Lawrence Livermore National Laboratory (LLNL). A DAMP is part of a comprehensive routine monitoring program and provides information about radiation levels inside and outside of Radiologically-Controlled Areas (RCAs). The routine, hand-held radiation survey program driven by the Health Physics Discipline Action Plan (HP-DAP) helps to ensure radiological conditions within RCAs are well-characterized and routinely monitored; however, such surveys are a snapshot in time, whereas area monitoring dosimeters (AMDs) continuously monitor radiation doses in the areas where they are installed. Together, data from the hand-held radiation surveys and the DAMP provides a comprehensive picture of radiation environment at LLNL. A DAMP helps to verify the effectiveness of established engineered and administrative controls while documenting that radiation doses in RCAs are below that which requires individual monitoring. This document establishes the basis for determining which model of dosimeter to use, the exchange frequency, the occupancy factor, monitoring locations, and a method for evaluating AMD results.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2020

CY2019 Annual Closure Monitoring Report for Corrective Action Unit 98, Frenchman Flat, Underground Test Area, Nevada National Security Site, Nevada (January 2019–December 2019), Revision 1

Three types of monitoring are performed for CAU 98: water quality, water level, and institutional control. These are monitored to determine whether the URs remain protective of human health and the environment, and to ensure that the regulatory boundary objectives are being met. Monitoring data will be used in the future, once multiple years of data are available, to evaluate consistency with the groundwater flow and contaminant transport models because the contaminant boundaries calculated with the models are the primary basis of the UR boundaries. Six wells were sampled for water-quality monitoring in 2019. Contaminants of concern were detected only in the two source/plume wells already known to contain contamination as a result of a radionuclide migration experiment. Tritium concentrations in both of these wells, RNM-2S and UE-5n, remain above the Safe Drinking Water Act maximum contaminant level of 20,000 picocuries per liter but declined in 2019 as compared to measurements in 2018. All other contaminants of concern are below the minimum detection level plus analytical error. The water-level monitoring network includes 16 wells. Depth to water measured in 2019 is generally consistent with recent measurements for all wells. Many wells continue to exhibit a long-term downward trend in water level, though changes from 2018 to 2019 are minimal. The sharp 2016 decline in water level in Well ER-5-3-2 remains unexplained, with the lower level persisting through 2019. Rising water-level trends continue to be observed in Well ER-5-3 deep piezometer and former water supply Well WW-5A. Water supply Well WW-5B experienced a rise in water level as a result of an absence of pumping in the first part of the year (due to a mechanical problem), whereas water levels declined in WW-4 and WW-4A in response to greater pumping in 2019. Institutional control monitoring confirmed the URs are recorded in U.S. Department of Energy and U.S. Air Force land management systems, and that no activities within Frenchman Flat basin are occurring that could potentially affect the contaminant boundaries. Survey of groundwater resources in basins surrounding Frenchman Flat similarly identify no current or pending development that would indicate the need to increase monitoring activities or would otherwise cause concern for the closure decision. The URs continue to prevent exposure of the public, workers, and the environment to contaminants of concern by preventing use of potentially contaminated groundwater.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

2024 Results for Avian Monitoring at the Technical Area 36 Minie Site, Technical Area 39 Point 6, Technical Area 16 Burn Ground, and DARHT at Los Alamos National Laboratory

Los Alamos National Laboratory (LANL) biological subject matter experts in the Environmental Protection and Compliance Division initiated a multi-year program in 2013 to monitor avifauna (birds) at two open detonation sites and one open burn site on LANL property. Additional monitoring began in 2017 at a third firing site, the Dual-Axis Radiographic Hydrodynamic Test (DARHT) Facility. In this annual report, we compare monitoring results from these efforts among years to identify and evaluate firing and open burn site impacts on the local bird community. The objectives of this study are • to determine whether LANL operations impact bird abundance, species richness, or diversity; • to examine occupancy and nest success of secondary-cavity nesting birds that use nest boxes; and • to examine chemical concentrations (such as radionuclides, inorganic elements, and/or organic compounds) in nonviable eggs and deceased nestlings that are collected opportunistically with the upper-level bounds of background concentrations, when available. During May through July 2024, LANL biologists completed multiple avian point count surveys at each of the following treatment sites: • Technical Area (TA) 36 Minie Site, • TA-39 Point 6, • TA-16 Burn Ground, and • DARHT. We recorded a total of 1,088 birds that represented 65 species at the four treatment sites and compared these results with data from their associated control sites. In 2024, abundance and species richness at treatment and control sites continued to trend similarly from year to year, with minor random deviations expected from bird communities. Species richness at firing sites differed little from the previous year’s values. Two new bird species were observed at the firing sites—cedar waxwing (Bombycilla cedrorum) and pinyon jay (Gymnorhinus cyanocephalus). Shannon diversity values at TA-36 Minie Site, TA-39, and DARHT were statistically higher than one or more of their associated controls. Annual species diversity at treatment sites was high in 2024 across all firing sites relative to similar habitat control sites. We also monitored avian nest boxes to compare occupancy and nest success data from nest boxes at treatment sites with the overall avian nest box monitoring network and against a subset of relevant control sites. Nest box success has decreased at both treatment and control sites since monitoring began, suggesting that overlapping climatic factors are responsible for patterns of declining nest success. In 2024, nonviable avian eggs and one nestling were opportunistically collected at Bandelier National Monument, TA-16 Burn Ground, TA-36 Minie, TA-39 Point 6, and DARHT. All egg samples and the one nestling sample were evaluated for per- and polyfluoroalkyl substances, which were detected from all locations, including the control site at Bandelier National Monument. Overall results from 2024 continue to suggest that operations at the four treatment sites are not negatively impacting bird populations. This long-term project will continue to monitor for any changes over time.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

2023 Central Hanford Ecological Integrity Assessments Monitoring Report

The Hanford Site is comprised of an expanse of shrub-steppe habitats that provides exceptional ecological value to plants and animals located on the site and in the surrounding greater Columbia Basin. The U.S. Department of Energy (DOE)-managed portion of the Hanford Site, referred to from here on as Central Hanford, has been the focus of various ecological monitoring efforts, including vegetation monitoring. The scope and goals of vegetation surveys have varied greatly since the Hanford Site was established, but previous studies have documented a rapidly changing landscape, making it clear that continued vegetation monitoring is integral to preserving the ecological value of Central Hanford. A new vegetation monitoring effort was initiated in 2023 using methods based on ecological integrity assessments (EIA) (Natural Heritage Report [NHR] 2020-05) developed by the Washington Natural Heritage Program (WNHP), a division of the Washington State Department of Natural Resources (DNR) and NatureServe®. The methods were modified and supplemented to meet monitoring goals at the Hanford Site. The 2023 EIA monitoring effort consisted of field surveys to evaluate vegetation and soil condition across Central Hanford. Surveys were focused on upland habitats, and areas under consideration for upcoming projects were prioritized. Vegetation cover estimates were used to score a variety of metrics for vegetation conditions in each area. In 2023, approximately half of the site was surveyed. Monitoring methods and results for the 2023 field season are summarized in this report, and management recommendations are also provided.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Hanford Site Rare Plant Monitoring Report for Calendar Year 2023-2024

This report summarizes rare plant monitoring data collected in calendar years (CY) 2023 through CY 2024 and provides management recommendations accordingly. DOE/RL-2021-35, Central Hanford Rare Plant Management Plan, guides the approach to rare plant monitoring and management at the Hanford Site. In CYs 2023 and 2024, rare plant monitoring efforts occurred on the portion of the Hanford Site managed by the Hanford Field Office (HFO; Figure 1-1), referred to herein as Central Hanford. The goal of monitoring is to collect data to evaluate the conservation status of rare plant species. Surveys conducted in CY 2023 through CY 2024 built on previous monitoring efforts, tracking the abundance and distribution of rare plants at Central Hanford. Results from previous monitoring efforts are included for reference. Monitoring data are submitted to the Washington Natural Heritage Program (WNHP) to evaluate statewide conservation statuses.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Hanford Site Rare Plant Monitoring Report for Calendar Year 2025

This report summarizes rare plant monitoring data collected in calendar year (CY) 2025 and provides management recommendations accordingly. DOE/RL-2021-35, Central Hanford Rare Plant Management Plan, guides the approach to rare plant monitoring and management at the Hanford Site. In CY 2025, rare plant monitoring efforts occurred on the portion of the Hanford Site managed by the U.S. Department of Energy, Hanford Field Office (HFO; Figure 1-1), referred to herein as Central Hanford. The goal of monitoring is to collect data to evaluate the conservation status of rare plant species. Surveys conducted in CY 2025 built on previous monitoring efforts, tracking the abundance and distribution of rare plants at Central Hanford. Results from previous monitoring efforts are included for reference. Monitoring data are submitted to the Washington Natural Heritage Program (WNHP), part of the Washington State Department of Natural Resources (WA DNR), to evaluate statewide conservation statuses.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1972

Automated techniques for spacecraft monitoring

The feasibility of implementing automated spacecraft monitoring depends on four factors: sufficient computer resources, suitable monitoring function definitions, adequate spacecraft data, and effective and economical test systems. The advantages of automated monitoring lie in the decision-making speed of the computer and the continuous monitoring coverage provided by an automated monitoring program. Use of these advantages introduces a new concept of spacecraft monitoring in which system specialists, ground based or onboard, freed from routine and tedious monitoring, could devote their expertise to unprogrammed or contingency situations.

Segnar, H. R.↗
NASA NTRS1986

An artificial intelligence approach to onboard fault monitoring and diagnosis for aircraft applications

Real-time onboard fault monitoring and diagnosis for aircraft applications, whether performed by the human pilot or by automation, presents many difficult problems. Quick response to failures may be critical, the pilot often must compensate for the failure while diagnosing it, his information about the state of the aircraft is often incomplete, and the behavior of the aircraft changes as the effect of the failure propagates through the system. A research effort was initiated to identify guidelines for automation of onboard fault monitoring and diagnosis and associated crew interfaces. The effort began by determining the flight crew's information requirements for fault monitoring and diagnosis and the various reasoning strategies they use. Based on this information, a conceptual architecture was developed for the fault monitoring and diagnosis process. This architecture represents an approach and a framework which, once incorporated with the necessary detail and knowledge, can be a fully operational fault monitoring and diagnosis system, as well as providing the basis for comparison of this approach to other fault monitoring and diagnosis concepts. The architecture encompasses all aspects of the aircraft's operation, including navigation, guidance and controls, and subsystem status. The portion of the architecture that encompasses subsystem monitoring and diagnosis was implemented for an aircraft turbofan engine to explore and demonstrate the AI concepts involved. This paper describes the architecture and the implementation for the engine subsystem.

Schutte, P. C.↗
NASA NTRS1992

Design and qualification of the SEU/TD Radiation Monitor chip

This report describes the design, fabrication, and testing of the Single-Event Upset/Total Dose (SEU/TD) Radiation Monitor chip. The Radiation Monitor is scheduled to fly on the Mid-Course Space Experiment Satellite (MSX). The Radiation Monitor chip consists of a custom-designed 4-bit SRAM for heavy ion detection and three MOSFET's for monitoring total dose. In addition the Radiation Monitor chip was tested along with three diagnostic chips: the processor monitor and the reliability and fault chips. These chips revealed the quality of the CMOS fabrication process. The SEU/TD Radiation Monitor chip had an initial functional yield of 94.6 percent. Forty-three (43) SEU SRAM's and 14 Total Dose MOSFET's passed the hermeticity and final electrical tests and were delivered to LL.

Buehler, Martin G.↗
NASA NTRS1993

Monitoring issues from a modeling perspective

Recognition that earth's climate and biogeophysical conditions are likely changing due to human activities has led to a heightened awareness of the need for improved long-term global monitoring. The present long-term measurement efforts tend to be spotty in space, inadequately calibrated in time, and internally inconsistent with respect to other instruments and measured quantities. In some cases, such as most of the biosphere, most chemicals, and much of the ocean, even a minimal monitoring program is not available. Recently, it has become painfully evident that emerging global change issues demand information and insights that the present global monitoring system simply cannot supply. This is because a monitoring system must provide much more than a statement of change at a given level of statistical confidence. It must describe changes in diverse parts of the entire earth system on regional to global scales. It must be able to provide enough input to allow an integrated physical characterization of the changes that have occurred. Finally, it must allow a separation of the observed changes into their natural and anthropogenic parts. The enormous policy significance of global change virtually guarantees an unprecedented level of scrutiny of the changes in the earth system and why they are happening. These pressures create a number of emerging challenges and opportunities. For example, they will require a growing partnership between the observational programs and the theory/modeling community. Without this partnership, the scientific community will likely fall short in the monitoring effort. The monitoring challenge before us is not to solve the problem now, but rather to set appropriate actions in motion so as to create the required framework for solution. Each individual piece needs to establish its role in the large problem and how the required interactions are to take place. Below, we emphasize some of the needs and opportunities that could and should be addressed through participation by the theoreticians and modelers in the global change monitoring effort.

Mahlman, Jerry D.↗
NASA NTRS2005

INDUCTIVE SYSTEM HEALTH MONITORING WITH STATISTICAL METRICS

Model-based reasoning is a powerful method for performing system monitoring and diagnosis. Building models for model-based reasoning is often a difficult and time consuming process. The Inductive Monitoring System (IMS) software was developed to provide a technique to automatically produce health monitoring knowledge bases for systems that are either difficult to model (simulate) with a computer or which require computer models that are too complex to use for real time monitoring. IMS processes nominal data sets collected either directly from the system or from simulations to build a knowledge base that can be used to detect anomalous behavior in the system. Machine learning and data mining techniques are used to characterize typical system behavior by extracting general classes of nominal data from archived data sets. In particular, a clustering algorithm forms groups of nominal values for sets of related parameters. This establishes constraints on those parameter values that should hold during nominal operation. During monitoring, IMS provides a statistically weighted measure of the deviation of current system behavior from the established normal baseline. If the deviation increases beyond the expected level, an anomaly is suspected, prompting further investigation by an operator or automated system. IMS has shown potential to be an effective, low cost technique to produce system monitoring capability for a variety of applications. We describe the training and system health monitoring techniques of IMS. We also present the application of IMS to a data set from the Space Shuttle Columbia STS-107 flight. IMS was able to detect an anomaly in the launch telemetry shortly after a foam impact damaged Columbia's thermal protection system.

Iverson, David L.↗
NASA NTRS1992

Remote maintenance monitoring system

A remote maintenance monitoring system retrofits to a given hardware device with a sensor implant which gathers and captures failure data from the hardware device, without interfering with its operation. Failure data is continuously obtained from predetermined critical points within the hardware device, and is analyzed with a diagnostic expert system, which isolates failure origin to a particular component within the hardware device. For example, monitoring of a computer-based device may include monitoring of parity error data therefrom, as well as monitoring power supply fluctuations therein, so that parity error and power supply anomaly data may be used to trace the failure origin to a particular plane or power supply within the computer-based device. A plurality of sensor implants may be rerofit to corresponding plural devices comprising a distributed large-scale system. Transparent interface of the sensors to the devices precludes operative interference with the distributed network. Retrofit capability of the sensors permits monitoring of even older devices having no built-in testing technology. Continuous real time monitoring of a distributed network of such devices, coupled with diagnostic expert system analysis thereof, permits capture and analysis of even intermittent failures, thereby facilitating maintenance of the monitored large-scale system.

Simpkins, Lorenz G.↗
NASA NTRS2004

Baseline Monitoring for Astrometry in Interferometry

One of the science goals of NASA's Navigator program is ground-based narrow-angle astrometry for extra-solar planet detection, which could be done as part of the proposed Outrigger Telescopes Project. The narrow-angle measurement process, which would use the outrigger telescopes, starts with the determination of the conventional interferometer astrometric baseline, determined from wide-angle astrometry of Hipparcos stars. A baseline monitor system would be employed at each outrigger telescope. This system monitors the pivot point of each telescope - the end point of the astrometric baseline - to measure telescope imperfections that would cause the baseline to vary with telescope rotation. The baseline monitor includes azimuth and elevation cameras that monitor runout along the azimuth and elevation axes of the telescopes. In conjunction with the baseline monitor system, a pivot monitor camera in the dual-star module is used to register the laser metrology corner-cube reflector to the telescope pivot, tying the narrow-angle baseline, which applies to the narrow-angle astrometric measurement, to the wide-angle baseline. In this paper we present the proposed designs for the baseline monitor and pivot-point camera.

pivot point↗