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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Conflict Alerts for Aircraft Conducting Visual Approaches

It is common for aircraft to conduct visual and instrument final approaches to a single runway or multiple parallel runways. Useful, nonexcessive safety alerts on aircraft conducting visual approaches are helpful to air traffic controllers, though pilots are responsible for separation with the preceding aircraft. A variety of visual approaches to various runway configurations are studied, and a set of safety alert thresholds is proposed. Fast-time simulations with recorded real-world air traffic data of mostly visual approach flights are performed on a prototype tactical separation assurance system for terminal airspace. Alerts are generated -- with both the standard separation thresholds and the proposed safety alert thresholds -- and compared with those from the Conflict Alert (CA) functionality in the Standard Terminal Automation Replacement System (STARS). The results show that the number of Mode-C Intruder alerts generated was reduced 76% as compared to STARS CA. The nuisance alerts generated by assuming visual to be instrument approaches was reduced by 92% when the proposed safety alert thresholds were used and visual approaches were assumed.A set of safety alert thresholds, which allow safety alerts to be provided to the controllers for aircraft conductingvisual approaches to a single runway or multiple parallel runways, has been proposed based on input from SubjectMatter Experts as well as visual approach procedures and common practices. The goal is to maximize the thresholdswithin the guidance of the procedures and common practices and to minimize the number of nuisance alerts and totalnumber of alerts with the support of flight intent information. Tests have been performed using a recently developedprototype tactical separation assurance system for terminal airspace, called Terminal Tactical Separation-AssuredFlight Environment (T-TSAFE). The input was a full day of air traffic data from Dallas/Fort Worth (DFW) TRACONwith most arriving flights conducting visual approaches. The results compare favorably with those of the ConflictAlert (CA) functionality of the Standard Terminal Automation Replacement System (STARS).When fast-time simulation experiment was performed using T-TSAFE with all arriving flights assumed to conductinstrument approaches, the expected large number of separation alerts were observed. When compared with STARSCA, the conflict pairs common to both T-TSAFE and STARS CA was only 21% of the total STARS CA alerts. As aresult, the nuisance-alert rate for STARS CA was estimated to be about 70%, which is comparable to a similar previously estimation of 80% nuisance-alert rate for CARTS (Common Automated Radar Terminal System) CA. The Mode-CIntruder (MCI) alerts were also reduced by 76% as compared to STARS CA.Examination of the common conflict pairs between T-TSAFE and STARS CA shows that they are valid separationconflicts with good alert lead times for T-TSAFE. However, many of them would still be considered nuisance alertsif the aircraft were conducting visual approaches. This was confirmed by another visual approach fast-time simulationT-TSAFE experiment, in which all DFW arriving flights were assumed to be on visual approaches and our proposedsafety alert thresholds were used and tested. The result of the experiment showed that the number of non-MCI alertswas less by 92% as compared to the number when all DFW arrivals were assumed to be conducting instrumentapproaches. The common conflict pairs involving aircraft conducting visual approaches to parallel runways werereduced by 93% as well. Thus, the flight intent information and the safety alert thresholds are effective in reducingnuisance alerts.T-TSAFE can thus provide separation and safety conflict alerts seamlessly in the real-world environment of mixedterminal operations with arriving flights of both visual and instrument approaches. Compared with STARS CA, TTSAFEhas fewer false alerts, larger alert lead time, and larger alert thresholds. While the nuisance alerts are reducedsignificantly with the safety alert thresholds, further work is needed to study if the alert lead time for safety alerts issufficient.

Tang, Huabin↗
NASA NTRS2017

Current Safety Nets Within the U.S. National Airspace System

There are over 70,000 flights managed per day in the National Airspace System, with approximately 7,000 aircraft in the air over the United States at any given time. Operators of each of these flights would prefer to fly a user-defined “4D” trajectory (4DT), which includes arrival and departure times; preferred gates and runways at the airport; efficient, wind-optimal routes for departure, cruise and arrival phase of flight; and fuel efficient altitude profiles. To demonstrate the magnitude of this achievement a single flight from Los Angeles to Baltimore, accesses over 35 shared or “constrained” resources that are managed by roughly 30 air traffic controllers (at towers, approach control and en route sectors); along with traffic managers at 12 facilities, using over 22 different, independent automation system (including TBFM, ERAM, STARS, ASDE-X, FSM, TSD, GPWS, TCAS, etc.). In addition, dispatchers, ramp controllers and others utilize even more systems to manage each flight’s access to operator-managed resources. Flying an ideal 4DT requires successful coordination of all flight constraints among all flights, facilities, operators, pilots and controllers. Additionally, when conditions in the NAS change, the trajectories of one or more aircraft may need to be revised to avoid loss of flight efficiency, predictability, separation or system throughput. The Aviation Safety Network has released the 2016 airliner accident statistics showing a very low total of 19 fatal airliner accidents, resulting in 325 fatalities1. Despite several high profile accidents, the year 2016 turned out to be a very safe year for commercial aviation, Aviation Safety Network data show. Over the year 2016 the Aviation Safety Network recorded a total of 19 fatal airliner accidents [1], resulting in 325 fatalities. This makes 2016 the second safest year ever, both by number of fatal accidents as well as in terms of fatalities. In 2015 ASN recorded 16 accidents while in 2013 a total of 265 lives were lost. How can we keep it that way and not upset the apple cart by premature insertion of innovative technologies, functions, and procedures? In aviation, safety nets function as the last system defense against incidents and accidents. Current ground-based and airborne safety nets are well established and development to make them more efficient and reliable continues. Additionally, future air traffic control safety nets may emerge from new operational concepts.

Smith, Brian E.↗
NASA NTRS2019

Evaluating Combinations of Sentinel-2 Data and Machine-Learning Algorithms for Mangrove Mapping in West Africa

Creating a national baseline for natural resources, such as mangrove forests, and monitoring them regularly often requires a consistent and robust methodology. With freely available satellite data archives and cloud computing resources, it is now more accessible to conduct such large-scale monitoring and assessment. Yet, few studies examine the reproducibility of such mangrove monitoring frameworks, especially in terms of generating consistent spatial extent. Our objective was to evaluate a combination of image processing approaches to classify mangrove forests along the coast of Senegal and The Gambia. We used freely available global satellite data (Sentinel-2), and cloud computing platform (Google Earth Engine) to run two machine learning algorithms, random forest (RF), and classification and regression trees (CART). We calibrated and validated the algorithms using 800 reference points collected using high-resolution images. We further re-ran 10 iterations for each algorithm, utilizing unique subsets of the initial training data. While all iterations resulted in thematic mangrove maps with over 90% accuracy, the mangrove extent ranges between 827-2807 km2 for Senegal and 245-1271 km2 for The Gambia with one outlier for each country. We further report "Places of Agreement" (PoA) to identify areas where all iterations for both methods agree (506.6 km2 and 129.6 km2 for Senegal and The Gambia, respectively), thus have a high confidence in predicting mangrove extent. While we acknowledge the time- and cost-effectiveness of such methods for the landscape managers, we recommend utilizing them with utmost caution, as well as post-classification on-the-ground checks, especially for decision making.

Mondal, Pinki↗
NASA NTRSDate not supplied

Concept of Operations and Checkout Testing for Green Propellant Loading System

Low toxicity propulsion, or Green Propulsion, is increasingly being considered for use on spacecraft following the successful demonstration during the Green Propellant Infusion Mission in 2020. One of these missions is JPL’s Lunar Flashlight (LF), a polar orbiting 12U CubeSat that uses lasers to investigate water ice deposits on the moon’s surface. For the past 3 years, Marshall Space Flight Center has developed the ASCENT propulsion system for LF, along with a green propellant loading system to service the spacecraft. The Propellant Loading System (PLS) is composed of 3 mobile carts designed to operate at a variety of launch facilities and handle the 2 primary green propellants, LMP-103S and ASCENT. In anticipation of LF propellant loading, the PLS was recently installed into an MSFC facility for checkout operations. In the winter of 2020, a simulant spacecraft was successfully loaded with water, pressurized to flight pressure, and drained back into the system. These checkouts drove the concept of operations for final spacecraft loading and informed minor modifications to the PLS for better operability. Additionally, a parallel effort was started to design the next generation of the PLS based on water flow lessons learned. With water flow testing complete, propellant checkouts and wet dress rehearsals with spacecraft pathfinder hardware are anticipated to begin in late Spring 2021.

Green Propulsion↗
NASA NTRSDate not supplied

Study of Graphite Ablation at Arc-Jet Conditions using Finite-Rate and Equilibrium Chemistry Models

Moving at hypersonic speeds through the atmosphere generates immense amount of heat that triggers thermo-chemical non-equilibrium effects in the flow approaching the vehicle and leads to surface chemical reactions that cause ablation and consume the material mass. This complex behavior and interaction of the aerothermal environment with a graphite surface is com- putationally modeled in the present work using a fully-coupled simulation between flow solver CHAMPS NBS-Cart and material response solver KATS-MR. In this study, we account for the thermo-chemical non-equilibrium effects occurring in the flow and use an 11-species air-carbon re- action model to simulate the ablation of the material. The reactions at the surface such oxidation, nitridation and recombination are modeled with a newly developed air-carbon reaction model. The coupled simulation is applied to study two experimental cases performed at IHF arc-jet facility at NASA Ames research center. The obtained results are compared against the measured data of surface recession, as well as surface and in-depth temperatures. Additionally, uncoupled sim- ulations, performed with equilibrium chemistry at the wall, point out the substantial differences between the coupled and uncoupled solutions, leading to higher deviation of the predicted temper- atures. Overall, we show excellent agreement between the coupled simulation predictions and the experimental data in all measured quantities.

EDL↗
NASA NTRSDate not supplied

Initial Testing the Exploration Extravehicular Mobility Unit (xEMU) in Lunar Environment Simulation at the Neutral Buoyancy Lab (NBL) in 2022

Understanding how to effectively train for Extravehicular Activities (EVAs) for Artemis missions is critical. Tasked by the new Extravehicular Activity and Human Surface Mobility Program(EHP), a team of stakeholders from engineering and flight operations worked together to test the Exploration Extravehicular Mobility (xEMU) in the Neutral Buoyancy Lab(NBL) simulating the lunar environment. The NBL is a pool in which astronauts are typically trained to complete simulated International Space Station (ISS) EVA tasks in a neutral weigh-out. The overall focus for this test series was evaluating how well the NBL could be used as an effective simulated environment for Artemis lunar EVAs. New NBL support hardware was manufactured to support this test series and update the interfaces to be more representative of xEMU hardware such as a new NBL Portable Life Support System(PLSS)mock-up and umbilical, lights and cameras, and display and control unit (DCU).To simulate the 1/6th-gravity (1/6-g) environment, extra weights were added around the suit to create an accurate center of gravity representation. The Partial Gravity Weigh-out Stand (PGWS) predicted where and how much weight would be required for the 1/6th-G simulation and predicted the center of gravity placement. After the weigh-out attempt was completed, the suited participant would complete a set of directed tasks such as kneeling, object pick-up, and walking to evaluate the weigh-out. To create the lunar environment, sand, boulders, and ramps were added to the pool floor. If time allowed after weigh-out was determined acceptable, the flight operations team would direct the suited participants to complete simulated Artemis EVA tasks using flight-like tools and tool cart. The team also evaluated turning out the overhead lights in the NBL for a portion of some of the test runs and using a solar simulator to create amore realistic lunar south pole lighting environment. The test series completed one unmanned test and nine manned tests. With four of the tests, dual xEMU suited operations were completed with subjects in both the small and large xEMU sizes. Overall, the NBL was able to create an acceptable lunar landscape and ability to have two subjects work side by side in pressurized xEMUs which currently cannot be achieved in other test environments. Achieving a stable 1/6th-G lunar weigh-out and clear, consistent dual suit communications was a challenge for this series. Future work is planned to continue to improve this simulation environment.

spacesuit↗
NASA NTRSDate not supplied

Application of Digital Image Correlation in Wind Tunnel

Digital image correlation (DIC) is a non-contact measurement technique that has been used in various applications in multiple industries, from microscopic specimens all the way to large scale structures. This project involved using DIC to capture wing deflection under simulated wind loading at various angles of attack (AoA). A subscale model of a fixed-wing aircraft, shown in Figure 1, was used in the 14-footby 22-footsubsonicwind tunnel at the NASA Langley Research Center. The setup used two pairs of cameras mounted on the ceiling of the tunnel to view the starboard and port side wings. Aluminum framing was used to rigidly mount the cameras to beams in the ceiling. Camera setup challenges due to the confined space included obtaining even lighting and working around infrared (IR) cameras that were used to capture the flow over the wing. Remote connection was used to access data acquisition computers from computers in the control room. Eight measurement locations on each wing were made of 1-inch-diametercircular silver dry transfer decals that did not alter the air flow across the wing. These circles were speckled with a black ink pen and were used for the IR camera as well as for DIC systems. A mock setup outside the wind tunnel was used to optimize the camera setup and verify that the speckled tape provided sufficient correlation. DIC was used to track the position of seven locations as the AoA of the subscale model changed from −10 degrees to +10 degrees in 1-degree increments. The model was rotated at a fixed height about the center of the fuselage from −7 degrees to +10 degrees. The height of the model had to be lowered to achieve AoA slower than −7degrees due to geometric constraints of the cart supporting the model and the wind tunnel. The source of light was stationary relative to the model, so the exposure time had to be adjusted for different wing regions and AoA values. The three-dimensional (3D) visualization of the markings and the two-dimensional (2D) projection of these points onto the port wing at 0-degree AoA is shown in Figure 2.

Matlock Mennu↗
NASA NTRSDate not supplied

Lower Mekong Hydrological Decision Support system

The Lower Mekong Hydrological Decision Support system (LMHDSs) is a environmental data analysis tool developed at the NASA Goddard Space Flight Center with funding from the SERVIR Applied Sciences Team and technical support from SERVIR Science Coordination Office (SCO). The web application allows stakeholders and decision-makers to view and download the inputs and outputs to the Soil and Water Assessment Tool(SWAT) model temporally and spatially. The front end is developed using JavaScript libraries like OpenLayers and Stock charts and the backend uses Django, a Python-based web framework. The web app provides several features, including visualizing map products, time-series plots, land-use/land-cover and associated soil information, and a data cart for downloading data. In addition, LMHDSs incorporates the NASAaccess software package, which provides seamless access to various climate and weather data products from NASA’s Earth observations portfolio. The application is region agnostic (any valid SWAT model can be used), modular (different components of the applications can be customized), and open (anyone can download and run it on their end). The web app is currently in use by the Mekong River Commission (MRC), a treaty-based regional intergovernmental organization that is made up of Mekong countries, as part of its hydrological decision support.

Hydrology↗
NASA NTRSDate not supplied

Initial Testing of the Exploration Extravehicular Mobility Unit (xEMU) in Lunar Environment Simulation at the Neutral Buoyancy Lab (NBL) in 2022

Understanding how to effectively train for Extravehicular Activities (EVAs) for Artemis missions is critical. Tasked by the new Extravehicular Activity and Human Surface Mobility Program(EHP), a team of stakeholders from engineering and flight operations worked together to test the Exploration Extravehicular Mobility (xEMU) in the Neutral Buoyancy Lab(NBL) simulating the lunar environment. The NBL is a pool in which astronauts are typically trained to complete simulated International Space Station (ISS) EVA tasks in a neutral weigh-out. The overall focus for this test series was evaluating how well the NBL could be used as an effective simulated environment for Artemis lunar EVAs. New NBL support hardware was manufactured to support this test series and update the interfaces to be more representative of xEMU hardware such as a new NBL Portable Life Support System(PLSS)mock-up and umbilical, lights and cameras, and display and control unit (DCU).To simulate the 1/6th-gravity (1/6-g) environment, extra weights were added around the suit to create an accurate center of gravity representation. The Partial Gravity Weigh-out Stand (PGWS) predicted where and how much weight would be required for the 1/6th-G simulation and predicted the center of gravity placement. After the weigh-out attempt was completed, the suited participant would complete a set of directed tasks such as kneeling, object pick-up, and walking to evaluate the weigh-out. To create the lunar environment, sand, boulders, and ramps were added to the pool floor. If time allowed after weigh-out was determined acceptable, the flight operations team would direct the suited participants to complete simulated Artemis EVA tasks using flight-like tools and tool cart. The team also evaluated turning out the overhead lights in the NBL for a portion of some of the test runs and using a solar simulator to create amore realistic lunar south pole lighting environment. The test series completed one unmanned test and nine manned tests. With four of the tests, dual xEMU suited operations were completed with subjects in both the small and large xEMU sizes. Overall, the NBL was able to create an acceptable lunar landscape and ability to have two subjects work side by side in pressurized xEMUs which currently cannot be achieved in other test environments. Achieving a stable 1/6th-G lunar weigh-out and clear, consistent dual suit communications was a challenge for this series. Future work is planned to continue to improve this simulation environment.

spacesuit↗
DOE OSTI2017

Electric Ground Support Equipment at Airports

Airport ground support equipment (GSE) is used to service airplanes between flights. Services include refueling, towing airplanes or luggage/freight carts, loading luggage/freight, transporting passengers, loading potable water, removing sewage, loading food, de-icing airplanes, and fire-fighting. Deploying new GSE technologies is a promising opportunity in part because the purchasers are generally large, technologically sophisticated airlines, contractors, or airports with centralized procurement and maintenance departments. Airlines could particularly benefit from fuel diversification since they are highly exposed to petroleum price volatility. GSE can be particularly well-suited for electrification because it benefits from low-end torque and has frequent idle time and short required ranges.

25 ENERGY STORAGE↗
DOE OSTI2021

Using Machine Learning to Track Objects Across Cameras

Video surveillance is one of the most important technologies used by the International Atomic Energy Agency in international safeguards. At large, complicated facilities, multiple surveillance cameras are deployed to monitor the transfer of safeguards-relevant objects across the site. During inspections, all surveillance videos are reviewed to ensure the objects are not manipulated or diverted during transfer, a laborious, time-consuming task. This work describes using deep machine learning algorithms to track objects automatically across multiple cameras, greatly improving the efficiency of the review process. The fundamental problem in this object tracking task across multiple cameras is how to associate the same object, which may show extreme intra-class variations, such as viewpoints, occlusions, and various scales, in different and even non-overlapped cameras. Object re-identification (Re-ID) in nuclear facility video surveillance is even more challenging than classic person or vehicle Re-ID problems because different instances in the same category may display an identical appearance. One observation from nuclear facility surveillance videos is that all objects must be carted (e.g., via forklift) to move. Therefore, the spatial context information of an object, which provides the feature from the carrier, is critical for the object Re-ID task. This work proposes a two-stream convolutional neural networks model that takes features of objects and their surrounding regions into account. Moreover, the custom videos usually are gleaned from different scenes from the training data, which may have extreme variations in illumination changes and/or cluttered backgrounds. Directly applying the trained model to custom videos will dramatically decrease the performance. To tackle this problem, an advanced domain adaptation technique is proposed to mitigate the gap between the data taken from different scenes. The proposed framework will track objects of interest across a nuclear complex. The resulting tracks can be used in further analyses, such as event/activity recognition, anomaly detection, etc.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2015

Mobile platform for radiological characterization of sites under or after decommissioning - 15139

Nowadays, nuclear industry is facing a crucial need in establishing radiological characterization for the assessment and the monitoring of any remediation work. Regarding its experience in this domain, the French Commission for Atomic Energy and Alternative Energies (CEA) of Fontenay-aux-Roses, established an important feedback and developed a sound methodology for radiological characterization. A clean-up project is managed from the initial surface characterization to the final one, once volumes of contaminated soil have been removed. Samples are collected via recognized methods and data is gathered by real-time acquisition with different conveyance such as all-in-vehicles, cart, walking, helicopter or drone. Accurate radiological analyses are performed on site thanks to the mobile laboratories cluster, called SMaRT. It enables to realize long-time gamma spectroscopy, chemical preparation for alpha spectroscopy or beta liquid scintillation counting. Data is processed with geo-statistics via the software Kartotrak, 2D or 3D mapping are created with the associated uncertainty and probability map. Drilling profiles with geological data (layers composition, particles size, etc.) are studied in order to understand the behavior of the contamination in depth. Source term, contaminated volumes and sanitary impact are calculated in order to determine the optimum excavation depth. Finally, data is stored in an online site that insures the traceability of the whole process. This just-in-time production model allows a fast response and control of costs and avoids the disadvantages of radioactive material transport. This whole innovative process, developed inside the mobile platform, requires all these tools that have been used in France and continuously evolving for more than 10 years thanks to a learning organization. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2015

Radiological characterization of high Cs-137 waste items at LANL combining Cs-137 NDA results and acceptable process knowledge - 15592

Radiological characterization is an important component to disposition and disposal of radioactive waste at the Los Alamos National Laboratory. Gamma and neutron based non-destructive assay systems are available at LANL's TA-54 Area G for radiological characterization and are generally very effective in quantifying the transuranic radionuclide concentration required for a TRU or low level waste disposition determination. This is routinely performed by scaling some nuclides to direct assay results using acceptable process knowledge scaling from a directly measured key TRU nuclide, e.g., for gamma systems using a standard isotopic distribution to determine the amount of Pu-240 associated with a measured value of Pu-239. However, for two groups of LANL waste items that have high levels of Cs-137, these non-destructive assay systems were unable to make a standard TRU/LLW determination. Therefore, it was necessary to apply an extension of the typical scaling technique that keyed in on the direct Cs-137 gamma assay result to effectively characterize these waste items for TRU processing or LLW disposition. Two basic types of waste packages contained the high Cs-137 waste requiring special scaling: drums and boxes. The drums included 55-gallon, 85-gallon and 110-gallon volume sizes and the boxes included a corrugated metal box, a Standard Waste Box, and several overpack boxes containing oversized waste. All of these items contained radioactive waste generated from operations at the Chemistry and Metallurgical Research facility at LANL that included hot cell, metallographic sectioning and maintenance activities. All of the drums as well as the CMB, SWB and one oversized item in a plywood box were located above-ground at LANL's TA-54 Area G, while five of the oversized items were hot cell liners in metal boxes stored below-ground in shafts. All of the items were measured in the 2013-2014 time period at TA-54 Area G with LANL NDA systems. Most of the items were counted with LLW certified far-field gamma spectroscopy systems employing portable far-field HPGe detectors and carts and some of the items were counted on WIPP certified gamma only or gamma with neutron NDA systems. In all cases Cs-137 was quantified directly with a gamma measurement but the key TRU nuclides were not detectable. Thus, for each waste item AK/PK was studied and scaling factors to Cs-137 were established and applied to provide a comprehensive radiological characterization. A total of 49 waste items were successfully characterized as LLW based on this technique. The above ground waste items were dispositioned and disposed of at an offsite LLW repository and the below ground boxes were left in place as LLW in the TA-54 Area G shafts. This NDA with scaling application has proved effective and defensible in these high Cs-137 cases at LANL and will continue to be used as applicable and appropriate for future waste characterization at LANL. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2016

In-Situ Gamma-Ray Assay of the 235-F Plutonium Fuel Form Facility at the Savannah River Site - 16293

The Plutonium Fuel Form (PuFF) Facility is located in Building 235-F near the geographic center of the Savannah River Site. Between 1978 and 1984, the facility was used to produce approximately 165 kilograms of iridium-encapsulated Pu-238 spheres and pellets for use as radioisotope thermal generators, primarily for the space program. The facility is divided between two cell lines, the east cell line used to process powdered Pu-238 oxide raw material into fuel forms and the west cell line used to encapsulate the fuel forms in iridium. Scoping in-situ gamma-ray assays were performed in the PuFF Facility in 2006 and estimated that hundreds of grams of Pu-238 holdup were within the facility. Using this holdup estimate as a source term, SRS has performed a risk analysis that indicated a seismic event that induces a full-facility fire in 235-F could lead to a 28,800 rem dose to a co-located worker. Based on this risk assessment, SRS is taking steps to decontaminate the facility. One of the first steps taken has been to improve upon the quality of the in-situ gamma-ray assay data. Carts and collimators were specially designed to survey the equipment in the PuFF Facility. The cell interiors were assayed along with the furnaces and storage coolers that protrude beneath the cells. While the previous scoping work consisted of 32 measurements, the current series of measurements included nearly 400 measurements using both high-purity germanium and lanthanum bromide detectors. Data analysis for the current set of measurements was conducted with greater rigor as well. MCNP5 was used to evaluate a variety of possible physical distributions for the Pu-238 source term and estimate cross-talk between neighboring cells. Data analysis was performed using three gamma-rays emitted by Pu-238 (99.85 keV, 152.7 keV, and 766.4 keV) providing three independent estimates of the mass of Pu-238 holdup in each of the cells. This also allowed the application of matrix correction factors to adjust gamma-ray attenuation. The weighted mean of these three results was used as the best estimate of Pu-238 holdup in the PuFF facility. This work lowered the estimate of holdup in the PuFF facility by approximately 100 grams compared to the previous estimate, a 0.55's difference. The uncertainty in the Pu-238 holdup was also reduced substantially relative to the 2006 scoping assay. Further radiological measurements are planned for the near future including in-situ gamma-ray assays of wing cabinets in the east cell line maintenance area, the transfer tube between the two cell lines, and some of the furnaces and storage coolers. A germanium gamma imager, the GeGI, will also be used to map out the distribution of the Pu-238 source term in the PuFF Facility. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Testing and Deployment of Remote Systems to Remove Highly Radioactive Soil at Hanford's 324 Building - 18043

U.S. Department of Energy (DOE) contractor CH2M HILL Plateau Remediation Company (CHPRC) is in the process of procuring, testing and deploying remotely operated tools to safely remove highly contaminated soil from beneath the 324 Building on the Hanford Site in southeastern Washington State. The 324 Building operated for more than 40 years, completing a variety of high-dose engineering development and demonstration activities inside six hot cells that shielded the workers from the highly radioactive materials. Activities to decommission, decontaminate and demolish the facility began in 2008. In 2010, soil contamination was found in the soil under one of the hot cells, and building deactivation was paused to evaluate the soil contamination. Sampling efforts, using borehole technology, revealed significant under-building contamination with dose rates measuring has high as 130 Sv/hr (13,000 R/hr). The highly-contaminated soil has to be removed before traditional open air deactivation activities can continue. CHPRC completed proof of concept testing and built a full-scale test facility to demonstrate the effectiveness of three primary tools that will accomplish the floor and soil removal. The tools include a commercially available concrete saw, and a commercially available excavator arm that have been modified to operate remotely in the high-radiation environment within the hot-cell. In order to reduce the wear on the hot-cell overhead cranes, a remote operated rail and cart system has been designed to transport soil and debris out of the hot-cell to an airlock area where the waste will be separated, according to its level of radioactivity. A camera and light system has been designed to provide visual and audio coverage of the hot-cell area that will allow the operations to proceed from remote control stations. This paper will describe the primary remote operated equipment designed for the project and the challenges and processes for developing, testing and deploying the equipment necessary to excavate the soil from below the 324 Building. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Self-Navigating Robotic Assistant for Long-term Wide Area Floor Contamination Monitoring - 18213

For Routine Contamination Testing (RCT) of an operational nuclear facility or one undergoing Decontamination and Decommissioning (D and D), workers utilize specified travel corridors (enclosed hallways or areas designated with tape or rope in open spaces) to minimize the risk of spreading contamination. Radiation health technicians must continually monitor these areas for contamination to minimize worker dose and prevent its spread to uncontrolled areas. For many sites, it is impractical for the technician to adequately survey such areas. The Nuclear Robotics Group (NRG) at UT Austin has developed a self-navigating robotic platform equipped with radiation detectors to augment the technician to improve both survey coverage and frequency. While maintaining a controlled velocity and floor-to-sensor distance, the system takes radiation measurements to identify and/or localize contamination sources. Readings above background levels are reported to a remote workstation to allow technicians to then respond accordingly. The completion of these mundane tasks by a robot allows the trained technicians to focus instead on operational tasks, D and D, or responding to alarms. The robot generates a map using a Lidar range sensor with established Simultaneous Localization and Mapping (SLAM) techniques. Range data is then compared to previously generated maps for robot localization and autonomous navigation. To maximize coverage, the robot executes a Complete Coverage Path Planning (CCPP) algorithm using a static map that is discretized into cells to assure comprehensive yet efficient coverage. As the system executes the generated plan, it builds a radiation map of the area for the technician to validate and verify the results. If contamination is detected, the robot will minimize the spread of contamination by stopping, sounding an alarm, and alerting the remote technician. The proposed system allows for long-term deployment with minimal human intervention. It is robust to both highly dynamic obstacles (i.e. personnel) and low dynamic changes (i.e. temporally stored cart) in the environment. This is accomplished through continuous spatiotemporal updating of the static map, and the utilization of a supervisory controller that allows the system to reliably respond to unexpected events or states (i.e. low battery, closed door, etc.). While the supervisory controller can respond to temporary complications, the system also recognizes the environment can change slowly over time necessitating that the CCPP automatically be updated to account for observed 'permanent' changes to the environment. To do this, the robot uses intermediate probabilistic data to make intelligent planning decisions offline while still maintaining local reactive obstacle avoidance and safety features. The self-updating of the map allows the robot to run longer without the need to remake the map, leading to more consistent monitoring data and less maintenance from the human technician. This paper will review the current system hardware, the CCPP algorithm, the supervisory controller, the probabilistic algorithm for identifying permanent changes, and recent experiments at UT Austin to experimentally validate the reported sensor coverage. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗