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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 37 records · Page 2

A rotorcraft in-flight ice detection framework using computational aeroacoustics and Bayesian neural networks

Abstract This work develops a novel ice detection framework specifically suitable for rotorcraft using computational aeroacoustics and Bayesian neural networks. In an offline phase of the work, the acoustic signature of glaze and rime ice shapes on an oscillating wing are computed. In addition, the aerodynamic performance indicators corresponding to the ice shapes are also monitored. These performance indicators include the lift, drag, and moment coefficients. A Bayesian neural network is subsequently trained using projected Stein variational gradient descent to create a mapping from the acoustic signature generated by the iced wings to predict their performance indicators along with quantified uncertainty that is highly important for time- and safety-critical decision-making scenarios. While the training is carried out fully offline, usage of the Bayesian neural network to make predictions can be conducted rapidly online allowing for an ice detection system that can be used in real time and in-flight.

42 ENGINEERING↗

A Research Testbed for Experimental Connectivity and Automation in Cars

Cyber-physical systems (CPS) are engineered systems in which the computational components and physical components of the system are interdependent and deeply linked. Discovery and development of CPS technologies are changing the way people interact with engineered systems. To demonstrate this point, consider the Global Positioning System (GPS) which revolutionized personal mobility. Its research origins stem from the US Department of Defense in 1973 for military use. By 2000 limitations on civilian consumption of GPS service were lifted. Immediately, personal GPS products were shipped for in-car navigation systems. Soon after, GPS receivers were embedded into mobile phones with the introduction of the Nokia N95 and Apple iPhone for maps and turn-by-turn navigation. With the benefit of hindsight we can see that GPS has become a cornerstone technology of our daily life. Satellite-based navigation has gone from a radical space technology, to a matter of uninteresting availability; it is the typical way that people navigate through roadways now. The combination of the satellite infrastructure, the integration of receiver modules, and powerful maps applications has significantly changed mobility in the 21st century.

42 ENGINEERING↗

Sulfur Lone Pairs Control Topology in Heterotrimetallic Complexes: An Experimental and Theoretical Study

Heterotrimetallic complexes with (N 2 S 2 )M metallodithiolates, M = Ni 2+ , [Fe(NO)] 2+ , and [Co(NO)] 2+ , as bidentate chelating ligands to a central trans-Cr(NO)(MeCN) unit were characterized as the first members of a new class, NiCrNi, FeCrFe, CoCrCo. The complexes exhibit a cisoid structural topology, ascribed to the stereoactivity of the available lone pair(s) on the sulfur donors, resulting in a dispersed, electropositive pocket from the N/N and N/S hydrocarbon linkers wherein the Cr-NO site is housed. Computational studies explored alternative isomers (transoid and inverted cisoid) that suggest a combination of electronic and steric effects govern the geometrical selectivity. Electrostatic potential maps readily display the dominant electronegative potential from the sulfurs which force the NO to the electropositive pocket. The available S lone pairs work in synergy with the π-withdrawing ability of NO to lift Cr out of the S 4 plane toward the NO and stabilize the geometry. The metallodithiolate ligands bound to Cr(NO) thus find structural consistency across the three congeners. Although the dinitrosyl [(bme-dach)Co(NO)-Mo(NO)(MeCN)-(bme-dach)Co(MeCN)][PF 6 ] 2 (CoMoCo') analogue displays chemical noninnocence and a partial Mo–Co bond toward (N 2 S 2 )Co'(NCCH 3 ) in an “asymmetric butterfly” topology, the stability of the {Cr(NO)} 5 unit prohibits such bond rearrangement. Magnetism and EPR studies illustrate spin coupling across the sulfur thiolate sulfur bridges.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Liquid Interfacial Electron Microscopy Identifies Nanogalvanic Corrosion in Pearlitic Steel

The nanoscale mechanisms of localized corrosion in low carbon steels have remained elusive due to the complexity of studying the degradative material behavior at nanoscale solid-liquid interfaces. We identified various steps in the nanogalvanic corrosion processes using in-situ liquid-cell scanning transmission electron microscopy (STEM) using a microfluidic holder by Hummingbird Scientific. Initial work, performed at low magnification, identified the initiation point on a 1018 low-carbon steel surface. This initiation point was determined to be a triple junction of two ferrite grains bridging a cementite grain in contact with a baseline electrolyte of 6 uM CO2 dissolved in a buffered (2.78 uM Na2SO4) aqueous solution, pH 6.1. The pre-etched low-carbon steel surface was prepared using focused ion beam lift-out procedures to extract a cross-section of the low-carbon steel surface, which then was thinned to about 150 nm and transferred to a SiN membrane microfluidic window. The transfer was made using a lift-out needle to attach the low-carbon steel lamella to the corner of the SiN window, and then Pt/C deposition held the lamella in contact with the window while it was released from the lift out needle. To identify the triple point on the low carbon steel lamella, prior to attachment on the SiN window, the sample was characterized for compositional variations with energy dispersive x-ray spectroscopy mapping, grain orientation and phase mapping with precession electron diffraction, and thickness mapping with energy filtered transmission electron microscopy. This pre-characterization prior to the in-situ experiment provided a map of the multiphase and multigrain structure, where the in-situ liquid cell imaging provided a clear understanding of the initiation point on the sample. These data were cross-correlated to paint a holistic picture of the triple junction site, enabling low electron-fluence in-situ snapshot imaging to avoid dominating the native corrosion reactions with effects from the incident electron beam. This initial result identified that localized, nanogalvanic corrosion at the phase interface was the dominant corrosion process in the low-carbon steel, so we next targeted the observation of an array of these nanogalvanic features phase boundaries in a pearlite grain. Near-surface ferrite/cementite phase interfaces that typify pearlitic low-carbon steel were extracted, pre-characterized, and imaged for the in-situ corrosion processes. The sample was a cross-section from a pearlite grain, with alternating ferrite and cementite grains that extended microns down from the pre-etched low-carbon steel pipe surface. After contact with a buffered aqueous solution, the phase boundaries between the ferrite and cementite began to dissolve, with observable material loss and thickness changes in the dark-field and bright-field STEM images. Within minutes, the corrosion front proceeded deeper into the material, claiming a thin layer of ferrite around all exposed phase boundaries before progressing laterally into the ferrite matrix, converting the ferrite to corrosion product normal to each buried cementite grain. Formation of the corrosion product causes a volumetric expansion, creating a lateral wedging force that mechanically ejects the cementite grains from their grooves and leaves behind percolation channels into the steel substructure. Rapid and deleterious, this nanogalvanic corrosion pathway represents an important target for understanding and preventing run-away degradation in this common building material. Observation of this corrosion mechanism was enabled by the combination of pre-characterization using standard structural, grain, and compositional analysis in the TEM, which provides maps for understanding the reaction propagation captured in low-dose, in-situ, liquid-cell STEM.

corrosion↗

FOILPOLARS (Grassmannian Foil Shape Sweeps for Polar Generation) [SWR-26-095]

FOILPOLARS (Grassmannian Foil Shape Sweeps for Polar Generation): Multifidelity aerodynamic polar data generation for hydrofoil/tidal-turbine airfoil sections. Foilpolars ties together three pieces: *AeroSandbox supplies the baseline airfoil coordinates (UIUC database). *G2Aero parameterizes those shapes on a Grassmannian manifold (Karcher mean + PGA basis) and samples new perturbed shapes around that basis. *XFoil (panel method) and NeuralFoil (neural-network surrogate, shipped with AeroSandbox) each solve the resulting shapes for lift, drag, moment, and pressure at the swept angles of attack, Reynolds numbers, and n_crit values. Design optimization of foil shapes in a computationally efficient way requires polars data across many candidate shapes, not just a handful of baseline foils. However, high-fidelity CFD at that scale is too costly, and naive shape perturbation strays from realistic geometries. FOILPOLARS addresses this by loading baseline airfoils (via AeroSandbox) and mapping them onto a Grassmannian manifold (via G2Aero), computing a Karcher mean and principal geodesic analysis (PGA) basis. New shapes are sampled by perturbing PGA coefficients, keeping them close to the manifold of realistic foils. Each sampled shape is evaluated across a configurable sweep of angle of attack, Reynolds number, and critical amplification factor using two solvers: XFoil (panel method) and NeuralFoil (neural-network surrogate), producing a paired dataset of lift, drag, moment, pressure, convergence, and confidence, indexed alongside each shape's PGA coefficients and shared Grassmannian basis in a single xarray dataset. From this, FOILPOLARS produces convergence summaries and comparison plots per shape, Reynolds number, and n_crit. A command-line interface exposes each pipeline stage independently, supporting data-driven design, optimization, and machine-learning workflows for foils.

Sandhu, Rimple [National Laboratory of the Rockies↗

Time-series forecasting using manifold learning, radial basis function interpolation, and geometric harmonics

We address a three-tier numerical framework based on nonlinear manifold learning for the forecasting of high-dimensional time series, relaxing the “curse of dimensionality” related to the training phase of surrogate/machine learning models. At the first step, we embed the high-dimensional time series into a reduced low-dimensional space using nonlinear manifold learning (local linear embedding and parsimonious diffusion maps). Then, we construct reduced-order surrogate models on the manifold (here, for our illustrations, we used multivariate autoregressive and Gaussian process regression models) to forecast the embedded dynamics. Finally, we solve the pre-image problem, thus lifting the embedded time series back to the original high-dimensional space using radial basis function interpolation and geometric harmonics. The proposed numerical data-driven scheme can also be applied as a reduced-order model procedure for the numerical solution/propagation of the (transient) dynamics of partial differential equations (PDEs). In conclusion, we assess the performance of the proposed scheme via three different families of problems: (a) the forecasting of synthetic time series generated by three simplistic linear and weakly nonlinear stochastic models resembling electroencephalography signals, (b) the prediction/propagation of the solution profiles of a linear parabolic PDE and the Brusselator model (a set of two nonlinear parabolic PDEs), and (c) the forecasting of a real-world data set containing daily time series of ten key foreign exchange rates spanning the time period 3 September 2001–29 October 2020.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

An a priori evaluation of a principal component and artificial neural network based combustion model in diesel engine conditions

A principal component analysis (PCA) and artificial neural network (ANN) based chemistry tabulation approach is presented. ANNs are used to map the thermochemical state onto a low-dimensional manifold consisting of five control variables that have been identified using PCA. Three canonical configurations are considered to train the PCA-ANN model: a series of homogeneous reactors, a nonpremixed flamelet, and a two-dimensional lifted flame. The performance of the model in predicting the thermochemical manifold of a spatially-developing turbulent jet flame in diesel engine thermochemical conditions is a priori evaluated using direct numerical simulation (DNS) data. The PCA-ANN approach is compared with a conventional tabulation approach (tabulation using ad hoc defined control variables and linear interpolation). The PCA-ANN model provides higher accuracy and requires several orders of magnitude less memory. Here, these observations indicate that the PCA-ANN model is superior for chemistry tabulation, especially for modelling complex chemistries that present multiple combustion modes as observed in diesel combustion. The performance of the PCA-ANN model is then compared to the optimal estimator, i.e. the conditional mean from the DNS. The results indicate that the PCA-ANN model gives high prediction accuracy, comparable to the optimal estimator, especially for major species and the thermophysical properties. Higher errors are observed for the minor species and reaction rate predictions when compared to the optimal estimator. It is shown that the prediction of minor species and reaction rates can be improved by using training data that exhibits a variation of parameters as observed in the turbulent flame. The output of the ANN is analysed to assess mass conservation. It is observed that the ANN incurs a mean absolute error of 0.05% in mass conservation. Furthermore, it is demonstrated that this error can be reduced by modifying the cost function of the ANN to penalise for deviation from mass conservation.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Absolute contrast estimation for soft X-ray photon fluctuation spectroscopy using a variational droplet model

Abstract X-ray photon fluctuation spectroscopy using a two-pulse mode at the Linac Coherent Light Source has great potential for the study of quantum fluctuations in materials as it allows for exploration of low-energy physics. However, the complexity of the data analysis and interpretation still prevent recovering real-time results during an experiment, and can even complicate post-analysis processes. This is particularly true for high-spatial resolution applications using CCDs with small pixels, which can decrease the photon mapping accuracy resulting from the large electron cloud generation at the detector. Droplet algorithms endeavor to restore accurate photon maps, but the results can be altered by their hyper-parameters. We present numerical modeling tools through extensive simulations that mimic previous x-ray photon fluctuation spectroscopy experiments. By modification of a fast droplet algorithm, our results demonstrate how to optimize the precise parameters that lift the intrinsic counting degeneracy impeding accuracy in extracting the speckle contrast. These results allow for an absolute determination of the summed contrast from multi-pulse x-ray speckle diffraction, the modus operandi by which the correlation time for spontaneous fluctuations can be measured.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Simultaneous mapping of nanoscale dielectric, electrochemical, and ferroelectric surface properties of van der Waals layered ferroelectric via advanced SPM

Ferroelectric surfaces involve a complex interplay between polarization and dielectric properties, internal and external surface charge screening, and ionic and electrochemical effects. There is currently no good way to simultaneously capture all the required information at appropriate length scales. To this end, we present an advanced scanning probe microscopy approach for simultaneously mapping surface potential, dielectric, and piezoelectric properties on the nanoscale. For quantitatively mapping electromechancial properties, we utilize interferometric displacement sensing piezoresponse force microscopy, which measures the effective piezoelectric coefficient free of background artifacts such as the cantilever body electrostatics. The dielectric and surface electrochemical properties are captured during G-mode electrostatic force microscopy/Kelvin probe force microscopy operated in the lift mode. We show the capabilities of this approach on the chemically phase separated composite sample consisting of a van der Waals layered ferroelectric CuInP 2 S 6 phase and a non-polar In 4/3 P 2 S 6 phase. Finally, we demonstrate domain structure evolution during thermally stimulated phase transition.

36 MATERIALS SCIENCE↗

A simple, validated approach for design of two-dimensional periodic particle patterns via acoustophoresis

Two-dimensional patterning of microparticles enables a wide range of functional materials, including patterned energy storage electrodes, flexible electronics, and sensor arrays. Particle patterning via acoustics offers an attractive path to generate a wide variety of 2D periodic patterns that introduce tailorable hierarchical porosity, useful for controlling surface area, transport distances, and other properties. This method is most effective with micron scale particles and patterns of tens to hundreds of microns. To enable systematic exploration of the broad design space for such patterns, this work develops a model of 2D and 3D assembly of particles at high loadings and validates the obtained patterns against both experiments and more computationally intensive modeling techniques. Using this simple model, connections are mapped between input parameters (like actuation conditions, particle volume fraction, material properties) and output geometrical features (like void size and shape, pattern connectivity, and surface area) so that they can be tailored to given applications. The utility of this simple model is illustrated by predicting and then experimentally demonstrating new hierarchical patterns resulting from multiple waves of different frequencies interacting. These multiscale patterns offer the potential to lift the limits on surface area, diffusion distances, and other features.

42 ENGINEERING↗

Eddy Current Model of a Coil Over An Infinite Perfectly Electrical Conductor (PEC) Half-Plane

Eddy current sensors measure the lift-off or distance between the sensor and a conducting surface. They operate on the principle of an alternating current in a conduction coil inducing a magnetic field within the surface. An eddy current is set up in the surface to counter the incident magnetic field which, in turn, sets up a magnetic field which counters that of the coil. This changes the coil impedance which is a function of the lift-off. As the lift-off increases, the effect of the eddy current magnetic field on the coil magnetic field weakens, resulting in a higher inductance and lower resistance. Thus, the lift-off may be derived from an impedance measurement. Dodd and Deeds developed an analytic model for an eddy current sensor coil impedance with an air core which has been implemented in MATLAB. LLNL assembled an eddy current sensor with a mu-metal core for which there is no analytic model. Rather than derive an analytic model which includes the mu-metal core, analytic empirically based functions are derived to map the Dodd and Deeds model to measured inductance and resistance.

42 ENGINEERING↗

Design and Testing of a Prototype Eddy Current Actuated Valve for the ITER Shattered Pellet Injection System

Reliably mitigating disruptions is essential for ITER to meet its long-term operational research plan without damage to the in-vessel components. Currently, the shattered pellet injection (SPI) technique is the most effective radiator of thermal energy and has been chosen for the baseline disruption mitigation system (DMS) for ITER. The SPI process uses cryogenic temperatures to desublimate material into the barrel of a pipe gun forming a solid cylindrical pellet. Pellets for ITER will initially be hydrogen and hydrogen-neon mixtures. Once formed, pellets are dislodged and accelerated using high-pressure gas (40-60 bar) delivered by a fast-opening valve. The solenoid valves currently used for SPI experiments will not operate in an ITER environment due to the large background magnetic field. An ITER prototype fast-opening valve, called a flyer plate valve (FPV), has been designed and has undergone a wide range of testing. The FPV operates by pulsing current through a pancake coil that is closely coupled with a ``flyer plate.'' The flyer plate is an aluminum plate in which eddy currents are generated creating a repulsive force from the pancake coil. The force generated in the flyer plate rapidly lifts the valve tip off the seat and delivers a pulse of gas to the rear of the pellet, breaking it free from the barrel and accelerating the pellet downstream to its intended target. The design of the valve has been iterated on over the lifetime of this project, as the DMS for ITER shifted from massive gas injection (MGI) to SPI. The most recent design has been tested, and operational ranges have been mapped. The valve must survive 3000+ cycles in an ITER-like magnetic field. The principal functional requirement of this valve is to reliably dislodge and accelerate hydrogen (or H-Ne mixture) pellets into ITER. The valve was mated with an ITER SPI test stand and has been shown to be capable of launching pellets reliably. The valve and power supply design will be discussed in this article, along with the various testing setups used to determine the feasibility of this valve for use on ITER.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

FY2024 Mid-Year Report: Verification of Spent Fuel Inside Dry Storage Casks by Cask Top Fast Neutron Mapping

This project is developing a prototype scanner array verification system for detection of missing fuel assemblies in spent-fuel storage casks. The prototype consists of six fast-neutron scintillator detectors mounted to a linear actuator frame that is placed on the top of a spent fuel cask to scan across all fuel assembly positions. The scanner array was assembled and tested at LLNL in prior years. A field test schedule has been requested at the Idaho National Laboratory (INL) Cask Farm site for FY2024. Following the Field Test, we will present results and discuss the technology with the IAEA. The IAEA may have special requirements for portability, shipping, lifting, and installation. We will incorporate additional improvements to the system based on lessons learned from the Field Test and feedback from the IAEA. If successful, the technology can be transferred to the IAEA or other stakeholders for assessment.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Synoptic Drivers of Atmospheric River Induced Precipitation Near Dronning Maud Land, Antarctica

Atmospheric rivers (ARs) that reach the Antarctic Ice Sheet (AIS) transport anomalous moisture from lower latitudes and can impact the AIS via extreme precipitation and increased downward longwave radiation. ARs contribute significantly to the interannual variability of precipitation over the AIS and thus are likely to play a key role in understanding future changes in the surface mass balance of the AIS. Dronning Maud Land (DML) is one of four maxima in AR frequency over coastal East Antarctica, with AR precipitation explaining 77% of the interannual variability in precipitation for this region. We employ a 16-node self-organizing map (SOM) trained with MERRA-2 sea-level pressure anomalies to identify synoptic-scale environments associated with landfalling ARs in and around DML. Node composites of atmospheric variables reveal common drivers of precipitation associated with ARs reaching DML including anomalous high-low surface pressure couplets, anomalously high integrated water vapor, and coastal barrier jets. Using a quasi-geostrophic framework, we find that upward vertical motion associated with the occlusion process of attendant cyclones dominates atmospheric lift in AR environments. We further identify mechanisms that explain the variability in AR precipitation intensity across nodes, such as the lift associated with the occlusion process of attendant cyclones and the spatial coincidence of ascent induced by the occlusion process and frontogenesis. Here, the latter suggests that ARs making landfall during the mature phase of cyclogenesis result in higher precipitation intensity compared to landfalling ARs that occur during the occluded phase.

54 ENVIRONMENTAL SCIENCES↗

Equivalence of a harmonic oscillator to a free particle and Eisenhart lift

Highlights: • Equivalence of a harmonic oscillator to a free particle is considered. • The Eisenhart lift is applied to most general harmonic and linear potentials. • In geometric language, equivalence is the result of the conformal flatness of the Eisenhart metric. It is widely known in quantum mechanics that solutions of the Schrödinger equation (SE) for a linear potential are in one-to-one correspondence with the solutions of the free SE. The physical reason for this correspondence is Einstein’s principle of equivalence. What is usually not so widely known is that solutions of the Schrödinger equation with harmonic potential can also be mapped to the solutions of the free Schrödinger equation. The physical understanding of this equivalence is not known as precisely as in the case of the equivalence principle. We present a geometric picture that will link both of the above equivalences with one constraint on the Eisenhart metric.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Verification of Spent Fuel Inside Dry Storage Casks by Cask Top Fast Neutron Mapping (FY2023 Mid-Year Report)

This project is developing a prototype scanner array verification system for detection of missing fuel assemblies in spent-fuel storage casks. The prototype consists of six fast-neutron scintillator detectors mounted to a linear actuator frame that is placed on the top of a spent fuel cask to scan across all fuel assembly positions. The scanner array was assembled and tested at LLNL in FY2022. A field test schedule has been requested at the Idaho National Laboratory (INL) Cask Farm site for FY2023. Note that the Cask Farm contractor determines this scheduling and not INL directly. Further system automation will be designed and implemented with the goal of obtaining a level of system operation that meets IAEA needs. This includes integration of the scanner array and data-acquisition control software into a single interface for operator use. In addition, commercial operators and the IAEA may have special requirements for portability, shipping, lifting, and installation. Prior to the Field Test at INL, the system will be operated at LLNL to exercise lifting procedure and linear actuators, monitor stability of detector energy and pulse-shape discrimination calibration, and test system software integration efforts. Following the Field Test, we will present results and discuss the technology with the IAEA. We will incorporate additional improvements to the system based on lessons learned from the field test and feedback from the IAEA. If successful, the technology can be transferred to the IAEA or other stakeholders for assessment.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Heterogeneous microstructural evolution during hydrodynamic penetration of a high-velocity copper microparticle impacting copper

Microparticle hydrodynamic penetration (HDP) may be associated with the erosion regime in cold spray processing and other high-velocity impact events. Here, in an experimental approach where we can individually launch particles and study the impact sites, we explore copper microparticles impacted on copper substrates at velocities above 900 m/s where HDP begins. We lift cross-sectional lamellae from the impact sites with a focused-ion beam for further microstructural characterization using electron backscatter diffraction and scanning transmission electron microscopy. Due to the gradients of strain, strain rate, and temperature associated with HDP, heterogeneous microstructures result. The structural evolution processes observed include deformation twinning and multiple dislocation-mediated grain recrystallization mechanisms—geometric dynamic recrystallization (gDRX), discontinuous DRX (dDRX), and meta DRX (mDRX). The higher strains at the interface lead to the most significant structural changes and complex mechanisms. In contrast, there is a gradient to more conventional dislocation plasticity away from the interface (on either the particle or substrate side). Here, these microstructural observations are consistent with the deformation map for copper and extend the observations of impact-induced recrystallization across new regimes of behavior.

Cold spray process↗

Robotics Plan in Support of DOME Testbed Operations

Various robotic tooling options have been evaluated for the NRIC DOME concept of operations (ConOps). Framatome was contracted to develop a wide-ranging list of commercial off the shelf (COTS) and custom robotic systems to be considered for performing the DOME ConOps functions. Subsequent project tasks from Framatome narrowed down the list and scored the most viable options. The abbreviated list, and associated scoring, has been reviewed and assessed to provide formal recommendations for the robotic ConOps functions of DOME. The overhead telescoping mast & Kraft arm assembly is recommended as the primary system for reactor demobilization and removal. The estimated cost is $\$700$K with a timeline to develop and deliver of about 2.5 years. The mast & Kraft arm would still require an overhead lift system for mobilization and installation. Either the refurbished polar crane or a new gantry crane delivery platform could both serve as the overhead lift and delivery system. The estimated costs for the refurbishment polar crane and new gantry crane systems are, respectively, $\$4.4$M and $\$3$M with about 2.5 years to develop and deliver. A Brokk + Kraft crawler & arm is recommended as a secondary robotic system to support the overhead mast & Kraft arm system. The Brokk + Kraft crawler & arm would cost an estimated $\$726$k and would take about 1.5 years to develop and deliver. The Boston Dynamics SPOT robot is also recommended for the in-service monitoring during experimentation operations. The estimated cost is $\$220$K with a timeline to deliver of 8-14 months. The Elios 3 aerial drone is recommended to perform large area radiation dose rate mapping and visual inspections. The estimated cost is a $\$100$K and will also need about 8-14 months to develop and deliver. A mockup rig is also recommended to be procured an employed to test & verify the robotic capabilities as well as provide needed training for operations personnel. It is estimated that a mockup rig would cost about $\$500$k and would take up to a year to develop and build.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗