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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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All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

Algorithms for Heterogeneous, Multiple Depot, Multiple Unmanned Vehicle Path Planning Problems

Unmanned vehicles, both aerial and ground, are being used in several monitoring applications to collect data from a set of targets. This article addresses a problem where a group of heterogeneous aerial or ground vehicles with different motion constraints located at distinct depots visit a set of targets. The vehicles also may be equipped with different sensors, and therefore, a target may not be visited by any vehicle. The objective is to find an optimal path for each vehicle starting and ending at its respective depot such that each target is visited at least once by some vehicle, the vehicle–target constraints are satisfied, and the sum of the length of the paths for all the vehicles is minimized. Two variants of this problem are formulated (one for ground vehicles and another for aerial vehicles) as mixed-integer linear programs and a branchand- cut algorithm is developed to compute an optimal solution to each of the variants. Computational results show that optimal solutions for problems involving 100 targets and 5 vehicles can be obtained within 300 seconds on average, further corroborating the effectiveness of the proposed approach.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2011

Evidence for multiple modes of uranium immobilization by an anaerobic bacterium

Microbial reduction of hexavalent uranium has been studied widely for its potential role in bioremediation and immobilization of soluble U(VI) in contaminated groundwater. More recently, some microorganisms have been examined for their role in immobilization of U(VI) via precipitation of uranyl phosphate minerals mediated by microbial phosphate release, alleviating the requirement for long-term redox control. Here, we investigated the mechanism of U(VI) removal mediated by an environmental isolate, strain UFO1, that is indigenous to the Field Research Center (FRC) in Oak Ridge, TN and has been detected in U(VI)-contaminated sediments. Changes in U(VI) speciation were examined in the presence and absence of the electron-shuttling moiety, anthraquinone-2,6-disulfonate (AQDS). Cell suspensions were capable of nearly complete removal of 100 μM U(VI) from solution within 48 hours; U(VI) removal was not dependent on the presence of an exogenous electron donor or AQDS, although AQDS increased the rate of U(VI) removal. X-ray Absorption Near Edge Structure (XANES) spectroscopic measurements indicated that U(IV) was the predominant oxidation state of uranium in cell suspensions in both the absence and presence of 100 μM AQDS. However, extended X-ray Absorption Fine Structure spectroscopy (EXAFS) measurements indicated that 17% of the cell-associated precipitates in a U(VI)-treated suspension that lacked AQDS had spectral characteristics consistent with a uranyl phosphate solid phase. The potential involvement of phosphate was consistent with observed increases in soluble phosphate concentrations over time in UFO1 cell suspensions, which suggested phosphate liberation from the cells. TEM-EDS confirmed the presence of uranyl phosphate with a U:P ratio consistent with autunite (1:1). EXAFS analyses further showed that U(IV) was present predominantly as a monomeric complex sorbed to carboxylate functional groups on biomass and also suggested that a fraction of the U(IV) was coordinated to phosphoryl ligands. These results suggest that strain UFO1 has the ability to facilitate U(VI) removal from solution via both reductive and phosphate precipitation mechanisms, and may potentially be useful for the remediation of U-contaminated sediments at the FRC or elsewhere.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗