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This paper provides a brief overview of the NASA program of research in telerobotics. It describes ongoing effort in a number of participating laboratories investigating topics in human-machine interaction, intelligent task planning and execution, dual-arm control of manipulators with redundant degrees-of-freedom, sensing and perception. A brief list of illustrative references is provided.
The long term goal of our research at the Intelligent Robotic Laboratory at Vanderbilt University is to develop advanced intelligent robotic aid systems for human services. As a first step toward our goal, the current thrusts of our R&D are centered on the development of an intelligent robotic aid called the ISAC (Intelligent Soft Arm Control). In this paper, we describe the overall system architecture and current activities in intelligent control, adaptive/interactive control and task learning.
A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.
The National Aeronautics and Space Act of 1958 directed the annual Aeronautics and Space Report to include a "comprehensive description of the programmed activities and the accomplishments of all agencies of the United States in the field of aeronautics and space activities during the preceding calendar year. In recent years, the reports have been prepared on a fiscal year (FY) basis, consistent with the budgetary period now used in programs of the Federal Government. This year's report covers activities that took place from October 1, 1997, through September 30, 1998. The activities of agencies included are NASA, the Department of Defense, The Federal Aviation Administration, the Department of Commerce, the Department of the Interior, the Federal Communications Commission, the Department of Agriculture, the National Science Foundation, the Department of State, the Department of Energy, the Smithsonian Institution, the Arms Control and Disarmament Agency, the Environmental Protection Agency, and the U.S. Information Agency. Appendices cover the U.S. Government Spacecraft Record, World Record of Space Launches Successful in Attaining Earth Orbit or Beyond , Successful Launches to Orbit on U.S. Launch Vehicles, October 1, 1997-September 30, 1998, U.S. and Russian Human Space Flights, 1961-September 30, 1998, U.S. Space Launch Vehicles, Space Activities of the U.S. Government-Historical Budget Summary, Space Activities of the U.S. Government-Budget Authority in Equivalent FY 1998 Dollars, Federal Space Activities Budget, Federal Aeronautics Budget, and a glossary
Describes the technological developments which are establishing the foundation for an exciting era of in situ exploration missions to planets, comets and asteroids with advanced robotic systems. Also outlines important concurrent terrestrial applications and spinoffs of the space robotics technology. These include high-precision robotic manipulators for microsurgical operations and dexterous arm control systems.
An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.
The figure shows one of four solid-state power amplifiers, each capable of generating an output power greater than or equal to 240 mW over one of four overlapping frequency bands from 71 to 106 GHz. (The bands are 71 to 84, 80 to 92, 88 to 99, and 89 to 106 GHz.) The amplifiers are designed for optimum performance at a temperature of 130 K. These amplifiers were developed specifically for incorporation into frequency-multiplier chains in local oscillators in a low-noise, far-infrared receiving instrument to be launched into outer space to make astrophysical observations. The designs of these amplifiers may also be of interest to designers and manufacturers of terrestrial W-band communication and radar systems. Each amplifier includes a set of six high-electron-mobility transistor (HEMT) GaAs monolithic microwave integrated-circuit (MMIC) chips, microstrip cavities, and other components packaged in a housing made from A-40 silicon-aluminum alloy. This alloy was chosen because, for the original intended spacecraft application, it offers an acceptable compromise among the partially competing requirements for high thermal conductivity, low mass, and low thermal expansion. Problems that were solved in designing the amplifiers included designing connectors and packages to fit the available space; designing microstrip signal-power splitters and combiners; matching of impedances across the frequency bands; matching of the electrical characteristics of those chips installed in parallel power-combining arms; control and levelling of output power across the bands; and designing the MMICs, microstrips, and microstrip cavities to suppress tendencies toward oscillation in several modes, both inside and outside the desired frequency bands.
Pacific Northwest National Laboratory leveraged simulation to develop an optimized method for inspecting sealed containers in verifying nuclear arms control treaties.
This paper describes some recent fast neutron imaging measurements of the fieldable nuclear materials identification system (FNMIS) under development by the National Nuclear Security Administration (NNSA-NA-22) for possible future use in arms control and nonproliferation applications. The general configuration of FNMIS has been previously described, and a description of the application-specific integrated circuit (ASIC) electronics designed for FNMIS has been reported. This paper presents initial imaging measurements performed at ORNL with a Thermo Fisher API 120 DT generator and the fast-neutron imaging module of FNMIS.
Over the past 10 years, US and UK experts have engaged in a technical collaboration with the aim of improving scientific and technological abilities in support of potential future nuclear arms control and non-proliferation agreements. In 2011 a monitored dismantlement exercise provided an opportunity to develop and test potential monitoring technologies and approaches. The exercise followed a simulated nuclear object through a dismantlement process and looked to explore, with a level of realism, issues surrounding device and material monitoring, chain of custody, authentication and certification of equipment, data management and managed access. This paper focuses on the development and deployment of the ‘room-within-a-room’ system, which was designed to maintain chain of custody during disassembly operations. A key challenge for any verification regime operating within a nuclear weapon complex is to provide the monitoring party with the opportunity to gather sufficient evidence, whilst protecting sensitive or proliferative information held by the host. The requirement to address both monitoring and host party concerns led to a dual function design which: • Created a controlled boundary around the disassembly process area which could provide evidence of unauthorised diversion activities. • Shielded sensitive disassembly operations from monitoring party observation. The deployed room-within-a-room was an integrated system which combined a number of chain of custody technologies (i.e. cameras, tamper indicating panels and enclosures, seals, unique identifiers and radiation portals) and supporting deployment procedures. This paper discusses the bounding aims and constraints identified by the monitoring and host parties with respect to the disassembly phase, the design of the room-within-a-room system, lessons learned during deployment, conclusions and potential areas of future work. Overall it was agreed that the room-within-a-room approach was effective but the individual technologies used to create the system deployed during this exercise required further development.
The Office of Nuclear Verification (ONV) is supporting the development of a piece of equipment to provide data authentication and protection for a suite of monitoring sensors as part of a larger effort to create an arms control technology toolkit. This device, currently called the Red Box, leverages the strengths of both secret and public cryptographic keys to authenticate, digitally sign, and pass along monitoring data to allow for host review, and redaction if necessary, without the loss of confidence in the authenticity of the data by the monitoring party. The design of the Red Box will allow for the addition and removal of monitoring equipment and can also verify that the data was collected by authentic monitoring equipment prior to signing the data and sending it to the host and for review. The host will then forward the data to the monitor for review and inspection. This paper will highlight the progress to date of the Red Box development, and will explain the novel method of leveraging both symmetric and asymmetric (secret and public key) cryptography to authenticate data within a warhead monitoring regime.
The effort to inspect and verify warheads in the context of possible future arms control treaties is rife with security and implementation issues. In this paper we review prior work on perceptual image hashing for template-based warhead verification. Furthermore, we formalize the notion of perceptual hashes and demonstrate that large classes of such functions are likely not cryptographically secure. We close with a brief discussion of fully homomorphic encryption as an alternative technique.
Extracting useful, actionable information from data can be a formidable challenge for the safeguards, nonproliferation, and arms control verification communities. Data scientists are often on the “front-lines” of making sense of complex and large datasets. They require flexible tools that make it easy to rapidly reformat large datasets, interactively explore and visualize data, develop statistical algorithms, and validate their approaches—and they need to perform these activities with minimal lines of code. Existing commercial software solutions often lack extensibility and the flexibility required to address the nuances of the demanding and dynamic environments where data scientists work. To address this need, Pacific Northwest National Laboratory developed Tessera, an open source software suite designed to enable data scientists to interactively perform their craft at the terabyte scale. Tessera automatically manages the complicated tasks of distributed storage and computation, empowering data scientists to do what they do best: tackling critical research and mission objectives by deriving insight from data. We illustrate the use of Tessera with an example analysis of computer network data.
In this paper, cosmic ray muon radiography has been used to identify the absence of spent nuclear fuel bundles inside a sealed dry storage cask. The large amounts of shielding that dry storage casks use to contain radiation from the highly radioactive contents impedes typical imaging methods, but the penetrating nature of cosmic ray muons allows them to be used as an effective radiographic probe. This technique was able to successfully identify missing fuel bundles inside a sealed Westinghouse MC-10 cask. This method of fuel cask verification may prove useful for international nuclear safeguards inspectors. Finally, muon radiography may find other safety and security or safeguards applications, such as arms control verification.
Established in 1965, Pacific Northwest National Laboratory’s (PNNL) strong technical ties and shared heritage with the nearby U.S. Department of Energy Hanford Site were central to the early development of expertise in nuclear fuel cycle signatures, separations chemistry, plutonium chemistry, environmental monitoring, modeling and analysis of reactor systems, and nuclear material safeguards and security. From these Hanford origins, PNNL has grown into a multi-program science and engineering enterprise that utilizes this diversity to strengthen the international safeguards regime. Today, PNNL supports the International Atomic Energy Agency (IAEA) in its mission to provide assurances to the international community that nations do not use nuclear materials and equipment outside of peaceful uses. PNNL also serves in the IAEA’s Network of Analytical Laboratories (NWAL) by providing analysis of environmental samples gathered around the world. PNNL is involved in safeguards research and development activities in support of many U.S. Government programs such as the National Nuclear Security Administration’s (NNSA) Office of Research and Development, NNSA Office of Nonproliferation and Arms Control, and the U.S. Support Program to IAEA Safeguards. In addition to these programs, PNNL invests internal resources including safeguards-specific training opportunities for staff, and laboratory-directed research and development funding to further ideas that may grow into new capabilities. This paper and accompanying presentation highlight some of PNNL’s contributions in technology development, implementation concepts and approaches, policy, capacity building, and human capital development, in the field of international safeguards.
Detecting the presence of radioactive sources, preventing the illicit use of radiological materials, supporting arms control treaties, responding to accidental radiation releases, and disposing of radioactive sources safely and securely are common concerns in the Middle East. The Radiation Measurements Cross Calibration (RMCC) project aims to improve radiation measurement capabilities across the region and establish common standards. The RMCC project has been an ongoing initiative for the last twelve years. Its goal is to build core competencies in radioanalysis in the Middle East by facilitating the exchange of expertise and fostering dialogue to improve methods and strengthen a growing network. This year the Middle East Scientific Institute for Security (MESIS) in Amman, Jordan assumed leadership of the RMCC.
Over the past decade, considerable resources have been applied to investigate verification of used nuclear fuel assemblies for international safeguards. The opportunity to expand the available data used to validate these verification techniques was presented in 2016 by the High Burnup Spent Fuel Data Project, which made 25 high-burnup pressurized water reactor used fuel rods available for measurement in the Irradiated Fuels Examination Laboratory at Oak Ridge National Laboratory. With the support of the National Nuclear Security Administration Office of Nonproliferation and Arms Control, a 2017 campaign measured the 25 used fuel rods with a high-resolution gamma spectrometer. A planar high-purity germanium detector was used to provide high-efficiency across an energy range from 60 keV to 3 MeV. Gamma spectra of individual fuel rods were collected in 4.5 mm steps along the entire length of each rod. In addition, spectra were collected on select rods in rotational increments of 30 degrees to provide data on the distribution of fission products along the rod perimeter. The spectra are stored on a controlled-access website for use by others. This paper describes the measurement geometry, used fuel rod characteristics, example spectra, and preliminary analyses performed during the measurement campaign.
The Voluntary Offer Agreement between the United States and the IAEA for the implementation of IAEA safeguards in the United States, INFCIRC/288, entered into force in 1980. Under this Agreement, the United States provides to the IAEA an Eligible Facilities List, which lists facilities eligible for IAEA inspection and verification of compliance through either a reporting-only process or for full-scope safeguards (to include inspections). Approximately 300 facilities are currently listed on the Eligible Facilities List. Since 1981, the IAEA has conducted over 700 inspections on ~20 of these facilities. Currently, four NRC-licensed facilities have been selected under the Initial (Reporting) Protocol, and one DOE facility, KAMS at the SRS, has been selected for full-scope safeguards. These IAEA inspections are documented in the ID/288 database managed by staff at ORNL and the Y-12 National Security Complex for the NNSA Office of Nonproliferation and Arms Control. This database also maintains records of US designated inspectors, the status of indices checks, and inspection schedules. The database was most recently updated in FY 2014 to include information related to the IAEA visit to URENCO-USA in New Mexico and will be upgraded again via proposal in FY 2017 to include the Small Quantities Protocol (SQP) inspections in the US Caribbean territories, associated with INFCIRC/366. During the FY 2017 upgrade, the system will also be overhauled to allow for quicker updates and to improve performance using a modern software package.