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NASA NTRS2021

A New Method for Predicting Turbulent Flow Reattachment Location: Application of Stratford Criterion for Reattaching Flows

A new method for predicting turbulent flow reattachment location has been developed. The method predicts the reattachment location using the surface static pressure distribution and requires only a single empirical parameter. The method is based on the well-known Stratford’s flow separation criterion, which results from an approximate solution to the equations of motion within the boundary layer. Because of the large pressure rise, the original Stratford separation criterion is not valid for reattaching flows. In order to apply the Stratford criterion for reattaching flows, the reference location was moved to the pressure drop conditions instead of pressure rise conditions. In addition, the pressure distribution was scaled using a technique that was originally introduced for supersonic base flows. A new empirical parameter was also obtained for the modified Stratford criterion. The method has been tested for 30 different separated flow configurations from the literature. The variety of test cases include subsonic flows, transonic flows, 2D flows, and axisymmetric flows, with experimental as well as high resolution numerical simulation results. The flow reattachment predictions with the new method agree very well with the reported data. The error is less than 5% and typically about 2%. The new method is an extremely simple and a quick way of finding the reattachment location. Given the complexities of the existing experimental techniques for finding the reattachment location, the method easily and quickly provides the flow reattachment location, which could be used to estimate the physical extent of separation bubbles, as a performance index for flow control methods, or to assess the predictive capability of turbulence models.

Flow reattachment location↗

DOE OSTI2013

Ureteric Embolization for Lower Urinary Tract Fistulae: Use of Two Amplatzer Vascular Plugs and N-Butyl Cyanoacrylate Employing the 'Sandwich' Technique

PurposeThis study describes and evaluated the effectiveness of occluding distal ureters in the clinical setting of urinary vaginal (vesicovaginal or enterovesicovaginal) fistulae utilizing a new technique which combines Amplatzer vascular plugs and N-butyl cyanoacrylate.MaterialsThis is a retrospective study (January 2007-December 2010) of patients with urinary-vaginal fistulae undergoing distal ureter embolization utilizing an Amplatzer- N-butyl cyanoacrylate-Amplatzer sandwich technique. An 8-12-mm type-I or type-II Amplatzer vascular plug was delivered using the sheath and deployed in the ureter distal to the pelvic brim. Instillation of 0.8-1.5 cc of N-butyl cyanoacrylate into ureter proximal to the Amplatzer plug was performed. This was followed by another set of 8-12-mm type-I or type-II Amplatzer vascular plugs in a technique referred to as the 'sandwich technique.'ResultsFive ureters in three patients were occluded utilizing the above-described technique during the 4-year study period. Mean maximum size Amplatzer used per ureter was 10.8 mm (range, 8-12). One ureter required three Amplatzer plugs and the rest required two. Two patients (3 ureters) were clinically successful with complete resolution of symptoms in 36-48 h. The third patient (2 ureters) was partly successful and required a second Amplatzer- N-butyl cyanoacrylate sandwich technique embolization. The mean clinical follow-up was 11.3 months (range, 1.7-29.2).ConclusionsThe Amplatzer- N-butyl cyanoacrylate-Amplatzer sandwich technique for occluding the distal ureter is safe and effective with a quick (probably due to the N-butyl cyanoacrylate) and durable (probably due to the Amplatzer plugs) clinical response.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2018

Quick Microwave Assisted Synthesis and In Vitro Imaging Application of Oxygen Doped Fluorescent Carbon Dots

In this paper, a fast and simplest one-pot tactic was used to synthesis fluorescent oxygen doped carbon dots from Tween-20 (TTO-CDs) is reported. The TTO-CDs were microwavically synthesized by using Tween-20 as both the carbon precursor and the oxygen dopant as well. The surface morphology, crystalline and/or amorphous nature, composition and optical assets of synthesized TTO-CDs were studied by means of existing techniques. From the results, it was confirmed that the as-synthesized TTO-CDs are amorphous in nature, monodispersed, sphere-shaped and the typical particle size range is 5 ± 1.5 nm. The synthesized TTO-CDs emits strong blue fluorescence at 390 nm under excitation of 335 nm. Most interestingly, the excitation dependent emission property of synthesized TTO-CDs was exposed from fluorescence results. The synthesized TTO-CDs have quantum yield of about 14% against quinine sulfate as reference standard. The biotoxicity of synthesized TTO-CDs on HeLa cells was assessed through cytotoxicity assay. These results implied that the fluorescent TTO-CDs showed less biotoxicity, and further which was efficaciously applied as a multicolor staining and bioimaging probe for the confocal imaging of HeLa cells.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

DOE OSTI2016

VERSION 1 OF THE HUBBLE SOURCE CATALOG

The Hubble Source Catalog is designed to help optimize science from the Hubble Space Telescope (HST) by combining the tens of thousands of visit-based source lists in the Hubble Legacy Archive (HLA) into a single master catalog. Version 1 of the Hubble Source Catalog includes WFPC2, ACS/WFC, WFC3/UVIS, and WFC3/IR photometric data generated using SExtractor software to produce the individual source lists. The catalog includes roughly 80 million detections of 30 million objects involving 112 different detector/filter combinations, and about 160,000 HST exposures. Source lists from Data Release 8 of the HLA are matched using an algorithm developed by Budavári and Lubow. The mean photometric accuracy for the catalog as a whole is better than 0.10 mag, with relative accuracy as good as 0.02 mag in certain circumstances (e.g., bright isolated stars). The relative astrometric residuals are typically within 10 mas, with a value for the mode (i.e., most common value) of 2.3 mas. The absolute astrometric accuracy is better than 0{sup ″} .1 for most sources, but can be much larger for a fraction of fields that could not be matched to the PanSTARRS, SDSS, or 2MASS reference systems. In this paper we describe the database design with emphasis on those aspects that enable the users to fully exploit the catalog while avoiding common misunderstandings and potential pitfalls. We provide usage examples to illustrate some of the science capabilities and data quality characteristics, and briefly discuss plans for future improvements to the Hubble Source Catalog.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1988

Gamma guidance schemes for flight in a windshear

This paper is concerned with guidance strategies for near-optimum performance in a windshear. The takeoff problem is considered with reference to flight in a vertical plane. In addition to the horizontal shear, the presence of a downdraft is assumed. A gamma guidance scheme, based on the absolute path inclination, is presented. This approach needs local information on the windshear and the downdraft. The gamma guidance scheme produces trajecories that preserve the basic properties of the optimal trajectories. The relation between the gamma guidance scheme and the acceleration guidance scheme is explored. In logic, these two guidance schemes are complementary to one another; in implementation, they yield almost identical results. Although local information on the windshear and the downdraft will be available in future aircraft, it might not be available on current aircraft. Hence, a simplified gamma guidance scheme (quick transition to horizontal flight) is presented which is useful for flight in severe windshears. The simplified gamma guidance scheme yields trajectories that are close to the optimal trajectories in severe windshears; in addition, it is easy to implement as a practical piloting technique.

Miele, A.↗

NASA NTRSDate not supplied

Controls Algorithms, Models, and Stability Assessments of the RCS and TVC systems on Mars Ascent Vehicle

This paper presents a control systems overview of the Mars Ascent Vehicle (MAV) control design and stability analysis with two separate control methods: Thrust Vector Control (TVC) based control using main engine thrust and Reaction Control System (RCS) via thrusters. A pole-placement TVC controller is proposed to address quickly peaking thrust produced by the MAV solid propulsion engine. The controllerutilizes real-time parameter estimation to calculate control gains using an online pole-placement method. The pole-placement technique allows the controller to maintain constant stability margins throughout the flight under changing parameters and rapidly peaking thrust. A mathematical stability proof via Lyapunov inequality and Nichols method is demonstrated to support the stability of the method. In addition to the TVC control, a phase-plane based RCS control logic is applied to the vehicle for roll control during ascent and all axes during coast phases of flight. The logic implemented is an on-off type logic that applies pre-determined thrusters firings in reference to boundary parameters of pointing and rate error chosen to balance desired pointing with stability. A describing function methodology is applied to the non-linear phase plane loop response to determine linear stability across all flight phases. The controller additionally applies command alteration logic to output signals to account for RCS hardware limitations. The following paper will provide the methodology for controller implementation of the TVC and RCS, and provide a summary of results of the MAV performance applying the aforementioned control design.

Han Woong Bae↗

NASA NTRS1992

Rarefied-flow aerodynamics

Means for relatively simple and quick procedures are examined for estimating aerodynamic coefficients of lifting reentry vehicles. The methods developed allow aerospace designers not only to evaluate the aerodynamics of specific shapes but also to optimize shapes under given constraints. The analysis was also studied of the effect of thermomolecular flow on pressures measured by an orifice near the nose of a Space Shuttle Orbiter at altitudes above 75 km. It was shown that pressures corrected for thermomolecular flow effect are in good agreement with values predicted by independent theoretical methods. An incidental product was the insight gained about the free molecular thermal accommodation coefficient applicable under 'real' conditions of high speed flow in the Earth's atmosphere. The results are presented as abstracts of referenced papers. One reference paper is presented in its entirety.

Potter, J. Leith↗

NASA NTRS2010

Suited Occupant Injury Potential During Dynamic Spacecraft Flight Phases

In support of the Constellation Space Suit Element [CSSE], a new space-suit architecture will be created for support of Launch, Entry, Abort, Microgravity Extra- Vehicular Activity [EVA], and post-landing crew operations, safety and, under emergency conditions, survival. The space suit is unique in comparison to previous launch, entry, and abort [LEA] suit architectures in that it utilizes rigid mobility elements in the scye (i.e., shoulder) and the upper arm regions. The suit architecture also utilizes rigid thigh disconnect elements to create a quick disconnect approximately located above the knee. This feature allows commonality of the lower portion of the suit (from the thigh disconnect down), making the lower legs common across two suit configurations. This suit must interface with the Orion vehicle seat subsystem, which includes seat components, lateral supports, and restraints. Due to the unique configuration of spacesuit mobility elements, combined with the need to provide occupant protection during dynamic vehicle events, risks have been identified with potential injury due to the suit characteristics described above. To address the risk concerns, a test series has been developed in coordination with the Injury Biomechanics Research Laboratory [IBRL] to evaluate the likelihood and consequences of these potential issues. Testing includes use of Anthropomorphic Test Devices [ATDs; vernacularly referred to as "crash test dummies"], Post Mortem Human Subjects [PMHS], and representative seat/suit hardware in combination with high linear acceleration events. The ensuing treatment focuses on test purpose and objectives; test hardware, facility, and setup; and preliminary results.

Dub, Mark O.↗

NASA NTRS1986

Interactive algebraic grid-generation technique

An algebraic grid generation technique and use of an associated interactive computer program are described. The technique, called the two boundary technique, is based on Hermite cubic interpolation between two fixed, nonintersecting boundaries. The boundaries are referred to as the bottom and top, and they are defined by two ordered sets of points. Left and right side boundaries which intersect the bottom and top boundaries may also be specified by two ordered sets of points. when side boundaries are specified, linear blending functions are used to conform interior interpolation to the side boundaries. Spacing between physical grid coordinates is determined as a function of boundary data and uniformly space computational coordinates. Control functions relating computational coordinates to parametric intermediate variables that affect the distance between grid points are embedded in the interpolation formulas. A versatile control function technique with smooth-cubic-spline functions is presented. The technique works best in an interactive graphics environment where computational displays and user responses are quickly exchanged. An interactive computer program based on the technique and called TBGG (two boundary grid generation) is also described.

Smith, R. E.↗

DOE OSTI2022

ACES: Infrastructure As Code. Model Optimization and Performance Capability

Infrastructure as Code (IaC) refers to managing infrastructure (networks, physical/virtual machines, storage, and connection topology) in a descriptive model/language, rather than configuring it manually or using interactive configuration tools. Just like source code can be compiled to generate the same binary code, IaC enables generating the same environment every time it is applied. IaC is a key DevOps practice and is generally used in conjunction with continuous integration (CI) and continuous delivery (CD). In CI, all code changes are merged into a mainline branch and validated multiple times a day as developers check in their changes to the source code. In CD on the other hand, code changes are automatically packaged for a new release-to-production on a regular basis. This typically enables teams to deliver software changes much more quickly and often. Developing and managing the ACES platform using (IaC) is vital for the robust deployment and continued sustainment of this foundational computing capability. IaC and DevOps practices will help us solve many of the common challenges often encountered in developing and maintaining compute infrastructure. First, it will make the provisioning, deployment, and maintenance of the compute infrastructure across multiple environments much more efficient. Second, these processes help make the overall system much more stable by continuously testing new changes as they are introduced to the system. Third, it allows us to be much more confident of the security controls in place since they can be tested as part of the CI process and all new changes can be audited and tracked. Finally, IaC enables the ACES Platform to be adaptable to the emerging technologies due to its ability to spin up different test beds to evaluate and incorporate these technologies. This document addresses common infrastructure-management challenges, describes what happens if they are not addressed, and highlights the value of utilizing IaC to tackle them. Finally, we will provide a high-level overview of the IaC and DevOps practices being utilized by the ACES Platform team.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Development of Human and Technology Integration Guidance for Work Optimization and Effective Use of Information

Existing nuclear power contributes to roughly 20% of the total electricity generation, and consistently provides the highest capacity factor of any other electricity generating resource in the United States. Despite these advantages, the existing nuclear power plant fleet in the United States has been enduring significant challenges in providing electricity in a cost-competitive manner, which has ultimately threatened the long-term economic viability of these plants. A major contributor to these increased operating and maintenance costs has been the continued reliance of a large workforce who perform their work under an operating model that has largely remained unchanged since the commissioning of these nuclear power plants. Unfortunately, while this operating model has provided safe and reliable electricity, other industries have already began transforming their workforce through the use of advanced digital technology and automation that has reduced their operating and maintenance cost significantly. In order for the United States nuclear industry to remain economically viable, a similar transformation must be considered in which digital technologies and automation capabilities are brought in to support key plant functions across all work functions across plant operation, maintenance, and support. To effectively integrate digital technology and automation in the existing nuclear power plant operating model, a multidisciplinary approach is needed that addresses technological and sociotechnical (i.e., human and technology integration) considerations. This report describes an extension to the human and technology integration methodology, herein referred to as Human Integration and Technology Task Force for Work Management Optimization (HITT), to support the safe, reliable, and efficient use of proposed innovations with the intended users in their intended environment to perform their intended tasks. By effectively incorporating human and technology integration into a plant modernization effort by using HITT, we believe that a utility can significantly improve work performance and overall workforce quality of life. For instance, if HITT is performed to optimize work management, scheduling performance and scope stability can be improved by up to 10%. HITT enables these benefits through developing a rich understanding of the work being performed, the utility’s vision, and the opportunities that provide greatest value to optimize performance through a 10-step process illustrated below as a quick guide. The quick guide contains links in the righthand side of each step that allows for navigation to the detailed section (Section 4) of HITT in this technical report.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2018

Long-term evaluation of air sensor technology under ambient conditions in Denver, Colorado

Air pollution sensors are quickly proliferating for use in a wide variety of applications, with a low price point that supports use in high-density networks, citizen science, and individual consumer use. This emerging technology motivates the assessment under real-world conditions, including varying pollution levels and environmental conditions. A seven-month, systematic field evaluation of low-cost air pollution sensors was performed in Denver, Colorado, over 2015–2016; the location was chosen to evaluate the sensors in a high-altitude, cool, and dry climate. A suite of particulate matter (PM), ozone (O 3 ), and nitrogen dioxide (NO 2 ) sensors were deployed in triplicate and were collocated with federal equivalent method (FEM) monitors at an urban regulatory site. Sensors were evaluated for their data completeness, correlation with reference monitors, and ability to reproduce trends in pollution data, such as daily concentration values and wind-direction patterns. Most sensors showed high data completeness when dataloggers were functioning properly. The sensors displayed a range of correlations with reference instruments, from poor to very high (e.g., hourly-average PM Pearson correlations with reference measurements varied from 0.01 to 0.86). Some sensors showed a change in response to laboratory audits/testing from before the sampling campaign to afterwards, such as Aeroqual, where the O 3 response slope changed from about 1.2 to 0.6. Some PM sensors measured wind-direction and time-of-day trends similar to those measured by reference monitors, while others did not. This study showed different results for sensor performance than previous studies performed by the U.S. EPA and others, which could be due to different geographic location, meteorology, and aerosol properties. These results imply that continued field testing is necessary to understand emerging air sensing technology.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2014

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. One of our key functions is to help design engineers understand how a human will perform with new designs and all too often traditional use of Euler rotations becomes as much of a hindrance as a help. It is believed that using a spherical coordinate system will allow ABF personnel to more quickly and easily transmit important mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project is to establish new analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify the method before it was implemented in the ABF's data analysis practices. The first stage was a proof of concept, where a mechanical test rig was built and instrumented with an inclinometer, so that its angle from horizontal was known. The test rig was tracked in 3D using an optical motion capture system, and its position and orientation were reported in both Euler and spherical reference systems. The rig was meant to simulate flexion/extension, transverse rotation and abduction/adduction of the human shoulder, but without the variability inherent in human motion. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder, to include the torso, knees, ankle, elbows, wrists and neck. Part of this update included adding a representation of 'roll' about an axis, for upper arm and lower leg rotations. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. This visualization method will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development.

Benson, Elizabeth↗

NASA NTRS2010

Infrared Camera System for Visualization of IR-Absorbing Gas Leaks

Leak detection and location remain a common problem in NASA and industry, where gas leaks can create hazardous conditions if not quickly detected and corrected. In order to help rectify this problem, this design equips an infrared (IR) camera with the means to make gas leaks of IR-absorbing gases more visible for leak detection and location. By comparing the output of two IR cameras (or two pictures from the same camera under essentially identical conditions and very closely spaced in time) on a pixel-by-pixel basis, one can cancel out all but the desired variations that correspond to the IR absorption of the gas of interest. This can be simply done by absorbing the IR lines that correspond to the gas of interest from the radiation received by one of the cameras by the intervention of a filter that removes the particular wavelength of interest from the "reference" picture. This can be done most sensitively with a gas filter (filled with the gas of interest) placed in front of the IR detector array, or (less sensitively) by use of a suitable line filter in the same location. This arrangement would then be balanced against the unfiltered "measurement" picture, which will have variations from IR absorption from the gas of interest. By suitable processing of the signals from each pixel in the two IR pictures, the user can display only the differences in the signals. Either a difference or a ratio output of the two signals is feasible. From a gas concentration viewpoint, the ratio could be processed to show the column depth of the gas leak. If a variation in the background IR light intensity is present in the field of view, then large changes in the difference signal will occur for the same gas column concentration between the background and the camera. By ratioing the outputs, the same signal ratio is obtained for both high- and low-background signals, even though the low-signal areas may have greater noise content due to their smaller signal strength. Thus, one embodiment would use a ratioed output signal to better represent the gas column concentration. An alternative approach uses a simpler multiplication of the filtered signal to make the filtered signal equal to the unfiltered signal at most locations, followed by a subtraction to remove all but the wavelength-specific absorption in the unfiltered sample. This signal processing can also reveal the net difference signal representing the leaking gas absorption, and allow rapid leak location, but signal intensity would not relate solely to gas absorption, as raw signal intensity would also affect the displayed signal. A second design choice is whether to use one camera with two images closely spaced in time, or two cameras with essentially the same view and time. The figure shows the two-camera version. This choice involves many tradeoffs that are not apparent until some detailed testing is done. In short, the tradeoffs involve the temporal changes in the field picture versus the pixel sensitivity curves and frame alignment differences with two cameras, and which system would lead to the smaller variations from the uncontrolled variables.

Youngquist, Robert↗

DOE OSTI2024

Quantifying Capital Cost Reduction Pathways for Advanced Nuclear Reactors

The framework developed in this study is provided both as an excel sheet (https://inl.gov/content/uploads/2023/11/Nuclear-Reactor-Cost-Reduction-Pathway-Spreadsheet-Tool.xlsx) and a Python (Jupyter) Notebook (link: https://github.com/accert-dev/ACCERT/tree/main/Cost%20Reduction). Capital cost considerations are one of the primary inhibitors to the large-scale deployment of nuclear power plants. While it is widely accepted that first units will likely be expensive and relatively uncompetitive, it is reasonable to expect that subsequent units, built in relative quick succession, will be cheaper as they benefit from the so-called “learning effects”. However, the large degree of uncertainty associated with this parameter renders it challenging for first movers to invest in the first few expensive units. To resolve this impasse, the U.S. Department of Energy’s Advanced Nuclear Liftoff study advocated for the formation of large, committed order books of plants of the same technology to spread the costs across several units and kickstart the nuclear supply chain. The study also advocated best practices for avoiding overruns and keeping reactors on budget. This report builds on these key recommendations by attempting to quantify specific pathways toward cost reduction for nuclear energy. A capital cost estimation framework was built to untangle the effect of learning into a subset of key cost drivers, referred to as “levers”. Collectively, the choice of these levers is intended to reflect the decision-making of high-level stakeholders like plant owners and the government. In addition to the size of the firm orderbook, these levers included (a) cost drivers that are most often attributed to cost overruns such as architect/engineering (A/E) proficiency, construction proficiency, procurement service proficiency, design completion prior to the start of construction, and design maturity, and (b) cost reduction strategies such as modular construction, cross-site standardization, safety classification of the reactor building, and of the balance of plant. Two advanced reactor designs were leveraged as use cases and bottom-up cost estimates made with assumptions consistent with a well-executed first-of-a-kind project (WE-FOAK, i.e., almost no overruns) were used as baselines for the models. Cost correlations were surveyed from the literature to determine the impact of important variables on projected timelines and costs.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2018

Advanced Data Structures for Improved Cyber Resilience and Awareness in Untrusted Environments: LDRD Report

This report summarizes the work performed under the project "Advanced Data Structures for Improved Cyber Resilience and Awareness in Untrusted Environments." The goal of the project was to design, analyze, and test new data structures for cybersecurity applications. We had two major thrusts: 1) using new/improved write-optimized data structures and/or algorithms to better man- age and analyze high-speed massive-volume cyberstreams, and 2) adding security features to data structures at minimum cost. Write optimization allows data structures to better use secondary memory to store and search a larger amount of useful information. Secondary memory is large compared to main memory, but data movement to and from secondary memory must be carefully managed to run quickly enough to keep up with fast streams. The first thrust included managing cyberstreams in parallel, both multi-threaded and distributed, and improving the benchmarking infrastructure for testing new streaming data structures. We considered both (near) real-time discovery of particular patterns, and improved logging for improved forensics. We considered two kinds of security-feature problem. The first was high-performance history- independent external-memory data structures. These provide certain protections to data if a disk is stolen. We also prove some trade-offs between speed and security in this setting. The second data-security problem is more secure data look-up in secret-shared data bases. This report summarizes the project's major accomplishments, with the background to under- stand these accomplishments. It gathers the abstracts and references for the six refereed publications that have appeared as part of this work. We summarize several accomplishments that will be submitted for publication. We then archive one piece of partial work that is not likely to be published in the near future: validation of history-independent data structure implementations.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2025

Airports as Energy Nodes Activity Summary

Advanced aircraft concepts that use non-traditional aviation energy storage methods such as batteries or cryogenic hydrogen are in development and expected to enter regular service at airports worldwide within the next decade. The energy needs for these aircraft may quickly overwhelm the existing energy infrastructure at airports, particularly at smaller and more remote facilities. Without energy upgrades, these airports will not be able to host these advanced vehicles, but without the advanced vehicle traffic, these airports will not have the rationale or funding to build up their energy infrastructure. The Airports as Energy Nodes (ÆNodes) activity, a collaboration between the National Aeronautics and Space Administration (NASA) and the National Renewable Energy Laboratory (NREL), was executed to understand and model the energy needs that advanced aircraft concepts may levy on these smaller airports, determine cost-effective approaches to enhance the airport energy infrastructure, and demonstrate the enhanced resilience of these energy infrastructure upgrades to the airport and surrounding community via “digital twin” simulation at relevant energy and dynamic time scales. The ÆNodes team also investigated future reference aircraft designs and materials to enable cryogenic hydrogen storage for aircraft. The ÆNodes team conducted analysis at two U.S. airport partner sites — Winchester Regional Airport in Winchester, Virginia, and Tweed/New Haven Airport in New Haven, Connecticut. The goal of this partnership was to develop data and reference infrastructure designs that could accommodate advanced aircraft in the future at these airports while also enhancing the resiliency of the energy supply to the surrounding airport community, which could be used to capture funding to enable the infrastructure upgrades. Over the course of the study, a method was developed to estimate air traffic requiring advanced energy services over the course of a year using a mix of historical data and companion studies on advanced aircraft transportation networks. The study has concluded at NASA but continues at NREL, who will develop a final report discussing the energy infrastructure upgrades and digital twin results. Preliminary results indicate that unrestricted adoption of advanced battery-electric aircraft may double traffic at these airports and increase peak daily power usage by an order of magnitude, while increase electricity energy needs by a factor of two to four. The infrastructure upgrades necessary to accommodate these increased energy needs could be used to provide enhanced energy services to the airport community to offset the cost and increase the utility of the upgrades, which will be described in the NREL final report.

Airports↗

DOE OSTI2018

Sensing and Sampling of Trace Contaminations by a Dexterous Hexrotor UAV at Nuclear Facilities - 18600

Safe and efficient cleanups are a priority for decontamination and decommissioning of nuclear facilities. The contaminations of byproducts and wastes in such nuclear facilities pose a serious problems while decommissioning, to both the operators and public. Sensing these contaminations and cleaning them is an essential part of the safety procedures. The contaminations might range from low-energy to high-energy byproducts. Sensing these byproducts would require contact based or non-contact based sensing, based on its energy levels. Byproducts such as americium, are low-energy which makes it difficult to sense and sample without contact. Therefore, the workers need to physically swab the surfaces to collect the samples of these contaminations. These tasks pose a great danger for the safety of the human workers which includes the risk to reach greater heights, exposure to the radiation and sampling the entire building. A robotic solution is much more desirable in these cases, where the worker can safely handle the contaminations from a safe area. Use of robotic technologies inside these hazardous environments ensures the safety and enhances the performance. The more suitable robotic solution for reaching great heights and covering large areas of nuclear facilities, are aerial vehicles. Multi-rotor unmanned aerial vehicle (UAV) are chosen for their ability to hover at a position and also fly around in confined spaces. Quadrotors are a common choice of multi-rotor UAVs both research and industry because of its ease to fly and commercial availability. For the applications during the cleanups we need the UAV to not only hover and fly in confined spaces, but also interact with the physical world. Despite of quadrotor's advantages, they are not a best suit as they can't interact with the physical world. The tasks involving physical interactions would require the UAV to apply arbitrary forces and torques in all six degrees of freedom (DOF). As quadrotors are under-actuated and non-holonomic in motion, they cannot exert all the required forces. At Collaborative Robotics Lab, Purdue University, we developed a novel multi-rotor UAV solution, Dexterous Hexrotor, which can exert arbitrary forces and torques in all six DOF, independently and instantaneously. This enables the UAV platform to quickly respond to the external disturbances and precisely hold its position during the mission. The Dexterous Hexrotor serves as a robotic tool for the workers to perform sensing and sampling during the cleanups. Workers can operate Dexterous Hexrotor manually and/or semi-autonomously with human intervention. Manual control requires the worker to fly the Dexterous Hexrotor using a remote control. So the workers should possess knowledge on flying the UAV and to perform physical interaction. A semiautonomous Dexterous Hexrotor requires human input to some extent and requires very less knowledge of flying. The autonomy is designed to operate in flight mode and sampling mode. In flight mode, Dexterous Hexrotor takes off from a 'safe' area, reaches the desired altitude, and fly autonomously towards a sampling point. This sampling point is the target position specified on the 2D reference map. This mode also includes navigation towards the sampling point, avoiding the obstacles in the constrained environment. After reaching a stopping point, Dexterous Hexrotor waits for the human input for a target location to swab and collect samples. The Dexterous Hexrotor is now in sampling mode and waits for the human input. The human operator selects the swabbing location through the live streaming video from onboard camera. Through visual servoing, aided by the map, the UAV will move closer towards the target position. It then transitions to the impact control scheme to perform physical interaction with the wall and collects samples. Once the sample is collected, it autonomously returns back to the takeoff position in 'safe' area for the analysis by mass spectrometry. In this paper, we majorly focus on the physical interaction strategy and the required components which enables the autonomy. Decommissioning of nuclear facilities requires decontamination inside the entire buildings. Decontamination of nuclear facilities involves sensing and sampling the huge buildings, long shafts, etc. Sampling the entire facility is not possible due to the limitation in Dexterous Hexrotor's flight time. But this can be achieved by using a swarm of Dexterous Hexrotors to cover larger areas. The onboard robotic arm can be designed based on the applications such as cleaning, applying sealants, etc. The modularity of the design allows us to switch components as per the requirements of the task. These kind of robotic solutions functioning as tools for the workers, aims to make the work environment safer and playful. (authors)

42 ENGINEERING↗