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Uranium (VI) Adsorbate Structures on Portlandite [Ca(OH)2] Type Surfaces Determined by Computational Modelling and X-ray Absorption Spectroscopy

Portlandite [Ca(OH) 2 ] is a potentially dominant solid phase in the high pH fluids expected within the cementitious engineered barriers of Geological Disposal Facilities (GDF). This study combined X-ray Absorption Spectroscopy with computational modelling in order to provide atomic-scale data which improves our understanding of how a critically important radionuclide (U) will be adsorbed onto this phase under conditions relevant to a GDF environment. Such data are fundamental for predicting radionuclide mass transfer. Surface coordination chemistry and speciation of uranium with portlandite [Ca(OH) 2 ] under alkaline groundwater conditions (ca. pH 12) were determined by both in situ and ex situ grazing incidence extended X-ray absorption fine structure analysis (EXAFS) and by computational modelling at the atomic level. Free energies of sorption of aqueous uranyl hydroxides, [UO 2 (OH) n ] 2–n (n = 0–5) with the (001), (100) and (203) or (101) surfaces of portlandite are predicted from the potential of mean force using classical molecular umbrella sampling simulation methods and the structural interactions are further explored using fully periodic density functional theory computations. Although uranyl is predicted to only weakly adsorb to the (001) and (100) clean surfaces, there should be significantly stronger interactions with the (203/101) surface or at hydroxyl vacancies, both prevalent under groundwater conditions. The uranyl surface complex is typically found to include four equatorially coordinated hydroxyl ligands, forming an inner-sphere sorbate by direct interaction of a uranyl oxygen with surface calcium ions in both the (001) and (203/101) cases. In contrast, on the (100) surface, uranyl is sorbed with its axis more parallel to the surface plane. The EXAFS data are largely consistent with a surface structural layer or film similar to calcium uranate, but also show distinct uranyl characteristics, with the uranyl ion exhibiting the classic dioxygenyl oxygens at 1.8 Å and between four and five equatorial oxygen atoms at distances between 2.28 and 2.35 Å from the central U absorber. These experimental data are wholly consistent with the adsorbate configuration predicted by the computational models. These findings suggest that, under the strongly alkaline conditions of a cementitious backfill engineered barrier, there would be significant uptake of uranyl by portlandite to inhibit the mobility of U(VI) from the near field of a geological disposal facility.

36 MATERIALS SCIENCE↗

System For Research On Multiple-Arm Robots

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

Backes, Paul G.↗

New Applications for the Testing and Visualization of Wireless Networks

Traditional techniques for examining wireless networks use physical link characteristics such as Signal-to-Noise (SNR) ratios to assess the performance of wireless networks. Such measurements may not be reliable indicators of available bandwidth. This work describes two new software applications developed at NASA Glenn Research Center for the investigation of wireless networks. GPSIPerf combines measurements of Transmission Control Protocol (TCP) throughput with Global Positioning System (GPS) coordinates to give users a map of wireless bandwidth for outdoor environments where a wireless infrastructure has been deployed. GPSIPerfView combines the data provided by GPSIPerf with high-resolution digital elevation maps (DEM) to help users visualize and assess the impact of elevation features on wireless networks in a given sample area. These applications were used to examine TCP throughput in several wireless network configurations at desert field sites near Hanksville, Utah during May of 2004. Use of GPSIPerf and GPSIPerfView provides a geographically referenced picture of the extent and deterioration of TCP throughput in tested wireless network configurations. GPSIPerf results from field-testing in Utah suggest that it can be useful in assessing other wireless network architectures, and may be useful to future human-robotic exploration missions.

Griffin, Robert I.↗

Intelligent Rover Execution for Detecting Life in the Atacama Desert

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

Baskaran, Vijayakumar↗

NASA Tech Briefs, June 2011

Topics covered include: Wind and Temperature Spectrometry of the Upper Atmosphere in Low-Earth Orbit; Health Monitor for Multitasking, Safety-Critical, Real-Time Software; Stereo Imaging Miniature Endoscope; Early Oscillation Detection Technique for Hybrid DC/DC Converters; Parallel Wavefront Analysis for a 4D Interferometer; Schottky Heterodyne Receivers With Full Waveguide Bandwidth; Carbon Nanofiber-Based, High-Frequency, High-Q, Miniaturized Mechanical Resonators; Ultracapacitor-Based Uninterrupted Power Supply System; Coaxial Cables for Martian Extreme Temperature Environments; Using Spare Logic Resources To Create Dynamic Test Points; Autonomous Coordination of Science Observations Using Multiple Spacecraft; Autonomous Phase Retrieval Calibration; EOS MLS Level 1B Data Processing Software, Version 3; Cassini Tour Atlas Automated Generation; Software Development Standard Processes (SDSP); Graphite Composite Panel Polishing Fixture; Material Gradients in Oxygen System Components Improve Safety; Ridge Waveguide Structures in Magnesium-Doped Lithium Niobate; Modifying Matrix Materials to Increase Wetting and Adhesion; Lightweight Magnetic Cooler With a Reversible Circulator; The Invasive Species Forecasting System; Method for Cleanly and Precisely Breaking Off a Rock Core Using a Radial Compressive Force; Praying Mantis Bending Core Breakoff and Retention Mechanism; Scoring Dawg Core Breakoff and Retention Mechanism; Rolling-Tooth Core Breakoff and Retention Mechanism; Vibration Isolation and Stabilization System for Spacecraft Exercise Treadmill Devices; Microgravity-Enhanced Stem Cell Selection; Diagnosis and Treatment of Neurological Disorders by Millimeter-Wave Stimulation; Passive Vaporizing Heat Sink; Remote Sensing and Quantization of Analog Sensors; Phase Retrieval for Radio Telescope and Antenna Control; Helium-Cooled Black Shroud for Subscale Cryogenic Testing; Receive Mode Analysis and Design of Microstrip Reflectarrays; and Chance-Constrained Guidance With Non-Convex Constraints.

Source record↗

NAIRAS Model Nowcasting and Forecasting of the Aviation Radiation Environment

The Nowcast of Aerospace Ionizing RAdiation System (NAIRAS) predicts dosimetric quantities for quantifying human radiation exposure and differential/integral flux/fluence quantities for assessing single event effects (SEE) in avionic systems from galactic cosmic rays (GCR), trapped inner belt protons, and solar energetic particle (SEP) events from the Earth’s surface to the space environment. Real-time predictions of the aviation radiation environment are available at NASA Goddard Space Flight Center’s Community Coordinated Modeling Center (CCMC) integrated Space Weather Analysis (iSWA) data feeds and cygnets, and a run-on-request (RoR) capability has also been deployed at CCMC. Recent model improvements include a more accurate atmospheric ionizing radiation transport methodology and more robust and reliable SEP nowcast dose predictions. In addition, preliminary results of SEP dose forecasts are shown by coupling the University of Malaga Solar Energetic Particle (UMASEP) model of integral proton flux forecasts with the NAIRAS model. These model updates and improvements are presented, and results are shown for aircraft, high-latitude balloon, and low-Earth orbit flights during quiescent and solar-geomagnetic disturbed conditions. Model comparisons with flight measurements are also shown.

NAIRAS↗

Molecular tracers and modified proppants for monitoring underground fluid flows

The present invention relates to modified proppants and methods of using the modified proppants that use metal ligand tracers to characterize subterranean fluid flow. The metal and ligands are best chosen to be a strongly-coordinating, chelating ligand with a functional group for the chosen flow environment.

Kemp, Richard A.↗

Molecular tracers and modified proppants for monitoring underground fluid flows

The present invention relates to modified proppants and methods of using the modified proppants that use metal ligand tracers to characterize subterranean fluid flow. The metal and ligands are best chosen to be a strongly-coordinating, chelating ligand with a functional group for the chosen flow environment.

Kemp, Richard A.↗

Q-IRIS: The Evolution of the IRIS Task-Based Runtime to Enable Classical-Quantum Workflows

Extreme heterogeneity in emerging HPC systems are starting to include quantum accelerators, motivating runtimes that can coordinate between classical and quantum workloads. We present a proof-of-concept hybrid execution framework integrating the IRIS asynchronous task-based runtime with the XACC quantum programming framework via the Quantum Intermediate Representation Execution Engine (QIR-EE). IRIS orchestrates multiple programs written in the quantum intermediate representation (QIR) across heterogeneous backends (including multiple quantum simulators), enabling concurrent execution of classical and quantum tasks. Although not a performance study, we report measurable outcomes through the successful asynchronous scheduling and execution of multiple quantum workloads. To illustrate practical runtime implications, we decompose a four-qubit circuit into smaller subcircuits through a process known as quantum circuit cutting, reducing per-task quantum simulation load and demonstrating how task granularity can improve simulator throughput and reduce queueing behavior -- effects directly relevant to early quantum hardware environments. We conclude by outlining key challenges for scaling hybrid runtimes, including coordinated scheduling, classical-quantum interaction management, and support for diverse backend resources in heterogeneous systems.

Miniskar, Narasinga Rao [ORNL] (ORCID:000000018259↗

Color Choice is Everything - Impacts Color makes to the Lighting Environment

When contracts are let out to design multiple systems in a vehicle, it is a challenge to maintain integration between system leads. Designers on niche systems, like lighting and control panel design, often get caught up in the challenge of designing the light source or visual interface and fail to include time in their schedule to work with system architects on how their lighting system will be integrated. Additionally, behavioral scientists, industrial designers, and materials engineers get caught up with the materials and look of the system, but often fail to consider how the selection of their materials could affect the certification or performance of electronic devices like lighting systems. Additionally, computer modeling of the system architecture often assumes a perfect environment without the clutter of actual human use (dirt, stowage, crowding). As a result, lighting systems, and backlit displays run the risk of being overdesigned or under designed. Engineers making the assumption that because they have no input or there is no requirement on work surface reflectance, make the assumption that they can t count on good material choices and thus may install more lighting than is necessary. While having more lights may seem better, for a vehicle that is trying to conserve power, more lights may not be a good option. On the other hand, designers who made the opposite assumption and designed a lighting system that only produced just enough light, often wind up with a system that did conserve power, but didn t produce enough light. These situations are exasperated when the system starts to be used and the models are not perfect anymore. The lack of coordination and iterative design not only can impact lighting levels within an environment, but also can affect color perception. This is because, if materials do not represent a gradation of white or black, the material unevenly absorbs and reflects light at different wavelengths of the visual spectrum. The lighting designer may have built a light that meets light spectra requirements, but the eventual light reaching the human user may not be the spectra of light architects intended, if materials near the light source change the spectrum just by how much color is absorbed or reflected. With the recent findings concerning Circadian rhythm, where the spectra of light is extremely important for addressing crew sleep and wake cycles, system architects should pay considerable attention on the impact material choices have in changing the light spectrum in an environment. This presentation will show examples of how material choices impact the resulting illuminance, color spectrum, and power usage of an illuminated space. Its goal is to encourage system designers and planners to use more care in development of requirements and the verification of systems intended for the human visual interface.

Clark, Toni A.↗

Visual feedback and guided balance training in an immersive virtual reality environment for lower extremity rehabilitation

Balance training is essential for physical rehabilitation procedures, as it can improve functional mobility and enhance cognitive coordination. However, conventional balance training methods may have limitations in terms of motivation, real-time objective feedback, and personalization, which a virtual reality (VR) setup may provide a better alternative. In this work, we present an immersive VR training environment for lower extremity balance rehabilitation with real-time guidance and feedback. The VR training environment immerses the user in a 3D ice rink model where a virtual coach (agent) leads them through a series of balance poses, and the user controls a trainee avatar with their own movements. Here we developed two coaching styles: positive-reinforcement and autonomous-supportive, and two viewpoints of the trainee avatar: first-person and third-person. The proposed environment was evaluated in a user study with healthy, non-clinical participants (n = 16, 24.4 ± 5.7 years old, 9 females). Our results show that participants showed stronger performance in the positive-reinforcement style compared to the autonomous-supportive style. Additionally, in the third-person viewpoint, the participants exhibited more stability in the positive-reinforcement style compared to the autonomous-supportive style. For viewpoint, participants exhibited stronger performance in the first-person viewpoint compared to third-person in the autonomous-supportive style, while they were comparable in the positive-reinforcement style. We observed no significant effects on the foot height and number of mistakes. Furthermore, we report the analysis of user performance with balance training poses and subjective measures based on questionnaires to assess the user experience, usability, and task load. The proposed VR balance training could offer an interactive, adaptive, and engaging environment and open new potential research directions for lower extremity rehabilitation.

97 MATHEMATICS AND COMPUTING↗

Performance Requirements for Emergency Responder Interoperable and Compatible Electronic Safety Equipment

Firefighters and other emergency response personnel are presented with an increasing array of technologies to improve their health and safety. This includes real-time bidirectional communication, navigation and positional information, data on physiological and metabolic functions, as well as data on their surrounding environment. The emerging challenge is to integrate these elements into a practical system, addressing such features as power, data transfer, and inter-element coordination and communication. In many respects, NASA has addressed these aspects in the context of Extra Vehicular Activity (EVA). The EVA environment shares many common attributes with that of emergency response scenarios. A similar situation exists in terms of the need for interoperability among the various system sub-elements. A brief overview is presented on the similarities and differences in these two applications, as well as the technical approach adopted by NASA in terms of system design philosophy.

Greenberg, Paul S.↗

Research-Based Monitoring, Prediction, and Analysis Tools of the Spacecraft Charging Environment for Spacecraft Users

The Space Weather Research Center (http://swrc. gsfc.nasa.gov) at NASA Goddard, part of the Community Coordinated Modeling Center (http://ccmc.gsfc.nasa.gov), is committed to providing research-based forecasts and notifications to address NASA's space weather needs, in addition to its critical role in space weather education. It provides a host of services including spacecraft anomaly resolution, historical impact analysis, real-time monitoring and forecasting, tailored space weather alerts and products, and weekly summaries and reports. In this paper, we focus on how (near) real-time data (both in space and on ground), in combination with modeling capabilities and an innovative dissemination system called the integrated Space Weather Analysis system (http://iswa.gsfc.nasa.gov), enable monitoring, analyzing, and predicting the spacecraft charging environment for spacecraft users. Relevant tools and resources are discussed.

space weather↗

ORNL_AISD-Ex: Quantum chemical prediction of UV/Vis absorption spectra for over 10 million organic molecules

We performed calculations of electronic excitation energies and associated oscillator strengths based on the time-dependent density-functional tight-binding (TD-DFTB) method [1]. The SMILES (Simplified molecular-input line-entry system) strings of the molecules from the AISD HOMO-LUMO database [2] were converted to a 3D atomistic structure and stored in a PDB file after preliminary geometry optimization using the Merck Molecular Force Field (MMFF94) in RDKit [3,4]. The primary information stored in the PDB file archive consists of Cartesian coordinates for each atom of the molecule in their 3D location in space, along with summary information about the structure, sequence, and experiment. We then performed molecular geometry optimization using the density-functional tight-binding (DFTB) method [5] in the electronic ground state, followed by single-point excited states calculations, as described below. We note that, since RDKit employs a random choice for the generation of molecular conformers, the molecular geometries obtained in this dataset could be different from the ones that were generated when the AISD HOMO-LUMO dataset was generated. The computed excitation energies and associated oscillator strengths can be converted to predict UV/Vis absorption spectra, where excitation energies correspond to absorption peak positions, and oscillator strengths are a good measure of the probability of absorption of visible or UV light in transitions between electronic ground and excited states. The conversion of SMILES strings to 3D Cartesian coordinates of fully DFTB-optimized molecules was successful for 10,502,904 out of 10,502,917 molecules. For these molecules, both geometry optimizations and excited states calculations were successful. The DFTB calculations did not complete for 13 molecules of the original AISD HOMO-LUMO dataset. We still provide information about the geometry of these molecules. The molecules are diverse for chemical compositions (which span 5 non-hydrogen elements: oxygen, carbon, nitrogen, fluorine, sulfur) and molecular size (the smallest molecule contains 5 non-hydrogen atoms, and the largest molecule contains 71 non-hydrogen atoms). The DFTB method [5] is an approximation to density functional theory (DFT), utilizing a minimal basis set in conjunction with a two-center approximation to the electronic Hamiltonian and overlap matrix elements. The DFTB total energy is the sum of an electronic and a repulsive energy contribution, and their calculation requires optimized electronic parameters and diatomic repulsive potential energy functions. All DFTB calculations were performed using the DFTB+ code [6] (version 21.2) and the wrapper for DFTB+ in the Atomic Simulation Environment (ASE) (version 3.22.1) [7], which performed an internal conversion of Cartesian coordinates from PDB to the .gen file format. For the geometry optimizations on the electronic ground state potential energy surface of the molecules, we have chosen the third-order DFTB (DFTB3) method [5c] and employed the matching 3ob set of electronic parameters and repulsive potentials [8]. The empirical γ-damping for hydrogen bond correction, and Grimme's D3 empirical dispersion correction with Becke-Johnson damping (D3(BJ)) [9] dispersion correction was included to improve the description of non-covalent interactions. For excited states single-point energy calculations, we employed the TD-DFTB method in conjunction with the DFTB2 method [5b] and the matching mio [5b,10] and halorg [11] parameter sets. We opted to request the simultaneous calculation of 50 excited states for singlet transition to investigate sufficient number of excited states, based on linear response theory using the Casida equation [Ref: T. A. Niehaus, S. Suhai, F. Della Sala, P Lugli, M. Elstner, G. Seifert, and Th. Frauenheim. Tight-binding approach to time-dependent density-functional response theory. Phys. Rev. B, 63:085108, 2001] and the ARPACK diagonalizer [R. B. Lehoucq, D. C. Sorensen, and C. Yang. Arpack users guide: Solution of large-scale eigenvalue problems by implicitly restarted arnoldi methods, 1997. 46, 51]. The dataset contains 1001 tar.gz files. Tar files are named as “ornl_aisd_ex_1.tar.gz†through “ornl_aisd_ex_1000.tar.gzâ€. Additionally, the 13 failed molecules are in “ornl_aisd_ex_unprocessed.tar.gzâ€. Except for the tar files listed below, each tar file contains 10,500 molecules. Tar files numbered 34, 121, 128, 352, 360, 429, 495, 509, 518, 627, 676, 668, and 862 contain 10,499 molecules each. The last tar file numbered 1000 contains 13,417 molecules. The total size of the uncompressed dataset is over 283 Gigabytes. The code for calculating the electronic excitation energies and statistical analysis of the dataset is provided at the following GitLab repository: https://github.com/ORNL/Analysis-of-Large-Scale-Molecular-Datasets-with-Python Calculating the UV spectrum of a molecule requires performing 3 main operations: 1. Converting the smiles string representation of a molecule into a geometric structure where each atom is assigned XYZ coordinates. The geometric structure is written to the file smiles.pdb. 2. Using smiles.pdb to compute the relaxed geometry of the molecule, which corresponds with the position of the atoms at the position of equilibrium at the ground state. This generates the files band.out, detailed.out, and geo_end.gen. 3. Using geo_end.gen to calculate the UV spectrum of the molecule which is written into the file EXC.DAT. Every molecule in the dataset has its own directory. The files contained in each molecule directory are as follows: 1. geo_end.gen 2. detailed.out 3. band.out 4. EXC.DAT 5. smiles.pdb REFERENCES [1] Niehaus, T. A.; Suhai, S.; Della Salla, F.; Lugli, P.; Elstner, M.; Seifert, G.; Frauenheim, Th. Tight-binding approach to time-dependent density-functional response theory. Phys. Rev. B, 2001, 63, 085108/1-9. [2] Blanchard, A.; Gounley, J.; Metha, K.; Yoo, P.; Irle, S. AISD HOMO-LUMO. DOI: 10.13139/ORNLNCCS/1869409 [3] RDKit: Cheminformatics and Machine Learning Software. 2013, [http://www.rdkit.org] [4] Tosco, P.; Stiefl, N. and Landrum, G. Bringing the MMFF force field to the RDKit: implementation and validation. J Cheminform. 2014, 6, 1–4. [5] a) Porezag, D.; Frauenheim, T.; Kohler, T.; Seifert, G.; Kaschner, Construction of tight-binding-like potentials on the basis of density-functional theory: Application to carbon, R. Phys. Rev. B 1995, 51, 12947-12957; b) Elstner, M.; Porezag, D.; Jungnickel, G.; Elsner, J.; Haugk, M.; Frauenheim, Th.; Suhai, S.; Seifert, G.; Phys. Rev. B 1998, 58, 7260-7268; c) Gaus, M.; Cui, Q.; Elstner, M. DFTB3: Extension of the Self-Consistent-Charge Density-Functional Tight-Binding Method (SCC-DFTB), J. Chem. Theory Comput. 2011, 7, 931-948; d) Cui, Q.; Elstner, M. Density functional tight binding: values of semi-empirical methods in an ab initio era, Phys. Chem. Chem. Phys. 2014, 16, 14368-14377. [6] Hourahine, B. et al. DFTB+, a software package for efficient approximate density functional theory based atomistic simulations, J. Chem. Phys. 2020, 152, 124101/1-19. [7] Larsen, A. H. et al. The atomic simulation environment—a Python library for working with atoms. J. Phys.: Cond. Matter 2017, 29, 273002. [8] Kubillus, M.; Kubar, T.; Gaus, M.; Rezac, J.; Elstner, M. Parameterization of the DFTB3 Method for Br, Ca, Cl, F, I, K, and Na in Organic and Biological Systems, J. Chem. Theory Comput. 2015, 11, 332-342. [9] Brandenburg, J. G.; Grimme, S. Accurate Modeling of Organic Molecular Crystals by Dispersion-Corrected Density Functional Tight Binding (DFTB), J. Phys. Chem. Lett. 2014, 5, 1785−1789. [10] a) Niehaus, T. A.; Elstner, M.; Frauenheim, Th.; Suhai, S. Application of an approximate density-functional method to sulfur containing compounds. J. Mol. Struct.: THEOCHEM 2001, 541, 185-94; b) Elstner, M.; Hobza, P.; Frauenheim, Th.; Suhai, S.; Kaxiras, E. Hydrogen bonding and stacking interactions of nucleic acid base pairs: A density-functional-theory based treatment. J. Chem. Phys. 2001, 114, 5149-55. [11] Kubar, T.; Bodrog, Z.; Gaus, M.; Köhler, C.; Aradi, B.; Frauenheim, Th.; Elstner, M. Parametrization of the SCC-DFTB Method for Halogens. J. Chem. Theory Comput. 2013, 9, 2939-49.

36 MATERIALS SCIENCE↗

The Impact of Ethylenediaminetetraacetic Acid (EDTA) on the Sorption of Nd(III), Th{sup (IV)}, and U(VI) onto Dolomite in WIPP-Relevant Brines, GWB and ERDA-6 - 20356

Storage of legacy, transuranic waste at the Waste Isolation Pilot Plant (WIPP) requires accurate risk models for performance assessments. These models must predict the long-term fate and transport of contaminants in the WIPP and surrounding environment. Laboratory support is necessary for the development of an accurate model through better understanding of contaminant behavior in the WIPP. The WIPP is a deep geologic repository that is characterized by high ionic strength due to evaporite deposits in the Salado formation (porewaters up to 7.4 M). High concentrations of sodium chloride (NaCl), calcium chloride (CaCl{sub 2}), and magnesium chloride (MgCl{sub 2}) are particularly of concern due to their potential impact on solubility and ultimately transport of contaminants of concern. Additionally, ligands capable of forming strong complexes with metals are found in significant concentrations in the WIPP environment due to their disposal from waste processing and formation during degradation of repository components (e.g. cellulose degradation by calcium hydroxide in cement). Consequently, there is a need to investigate the fate and transport of contaminants in the WIPP environment with a focus on the effects of high ionic strength and strongly coordinating ligands. Contaminants of high concern include the actinides (U(VI), Pu(IV), and Am(III)). Laboratory support of the WIPP modeling efforts was provided by this research. A series of batch experiments were utilized to study the impact of ionic strength, contaminant concentration, and the presence of ethylenediaminetetraacetic acid (EDTA) on the sorption of Nd(III), Th(IV), and U(VI) onto dolomite, a carbonate mineral found within the Culebra formation. The Culebra formation is the most transmissive layer above the WIPP, making transport of contaminants the most likely route in previous risk assessments. Two brines specifically designed to imitate conditions within the WIPP environment were used in these experiments. The U.S. Energy Research and Development Administration Well 6 (ERDA-6, 95%) brine simulates a low Mg environment, while the generic weep brine (GWB, 95%) simulates the WIPP environment with a high Mg concentration. Mg is added to the repository in the form of MgO as an engineered barrier and is naturally present in some formations. It is expected to scavenge carbonate from solutions decreasing formation of the highly soluble and competitive uranium-carbonate complexes. EDTA is used during manipulations of nuclear materials due to its ability to form strong, stable complexes with the actinides and may be found in high concentrations (up to 0.08 mM) within the WIPP as waste canisters degrade. Further, it may provide additional avenues for unwanted transport of contaminants. Nd(III) and Th(IV) were used as stable analogues of Am(III) and Pu(IV), respectively, to represent the most common oxidation states of actinides in the WIPP environment in addition to U(VI). The potential for colloid formation was also investigated with low and high concentrations of contaminants (10 and 1000 μg/L) using three size-dependent particle separation steps. The results of this research provide a better understanding of potential behavior of actinides in the presence of EDTA and within WIPP-relevant brines. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Human-Robot Teaming: Communication, Coordination, and Collaboration

In this talk, I will describe how NASA Ames has been studying how human-robot teams can increase the performance, reduce the cost, and increase the success of a variety of endeavors. The central premise of our work is that humans and robots should support one another in order to compensate for limitations of automation and manual control. This principle has broad applicability to a wide range of domains, environments, and situations. At the same time, however, effective human-robot teaming requires communication, coordination, and collaboration -- all of which present significant research challenges. I will discuss some of the ways that NASA Ames is addressing these challenges and present examples of our work involving planetary rovers, free-flying robots, and self-driving cars.

robotics↗

The Mars Gravity Simulation Project

Human beings who make abrupt transitions between one gravitational environment and another undergo severe disruptions of their visual perception and visual- motor coordination, frequently accompanied by "space sickness." Clearly, such immediate effects of exposure to a novel gravitational condition have significant implications for human performance. For example, when astronauts first arrive in Earth orbit their attempts to move about in the spacecraft and to perform their duties are uncoordinated, inaccurate, and inefficient. Other inter-gravitational transitions for which these difficulties can be expected include going from the 0 g of the spacecraft to the. 16 g of the Moon, from 0 g to the .38 g of Mars, and from 0 g back to the 1.0 g of Earth. However, after astronauts have actively interacted with their new gravitational environment for several days, these problems tend to disappear, evidence that some sort of adaptive process has taken place. It would be advantageous, therefore, if there were some way to minimize or perhaps even to eliminate this potentially hazardous adaptive transition period by allowing astronauts to adapt to the altered gravitational conditions before actually entering them. Simultaneous adaptations to both the altered and the normal gravitational environment as a result of repeatedly adapting to one and readapting to the other, a phenomenon known as dual adaptation. The objective of the Mars Gravity Simulator (MGS) Project is to construct a simulation of the visual and bodily effects of altered gravity. This perceptual-motor simulation is created through the use of: 1) differential body pressure to produce simulated hypo-gravity and 2) treadmill-controlled virtual reality to create a corresponding visual effect. It is expected that this combination will produce sensory motor perturbations in the subjects. Both the immediate and adaptive behavioral (postural and ambulatory) responses to these sensory perturbations will be assessed.

Korienek, Gene↗

Enhancing Team Performance for Long-Duration Space Missions

Success of exploration missions will depend on skilled performance by a distributed team that includes both the astronauts in space and Mission Control personnel. Coordinated and collaborative teamwork will be required to cope with challenging complex problems in a hostile environment. While thorough preflight training and procedures will equip creW'S to address technical problems that can be anticipated, preparing them to solve novel problems is much more challenging. This presentation will review components of effective team performance, challenges to effective teamwork, and strategies for ensuring effective team performance. Teamwork skills essential for successful team performance include the behaviors involved in developing shared mental models, team situation awareness, collaborative decision making, adaptive coordination behaviors, effective team communication, and team cohesion. Challenges to teamwork include both chronic and acute stressors. Chronic stressors are associated with the isolated and confined environment and include monotony, noise, temperatures, weightlessness, poor sleep and circadian disruptions. Acute stressors include high workload, time pressure, imminent danger, and specific task-related stressors. Of particular concern are social and organizational stressors that can disrupt individual resilience and effective mission performance. Effective team performance can be developed by training teamwork skills, techniques for coping with team conflict, intracrew and intercrew communication, and working in a multicultural team; leadership and teamwork skills can be fostered through outdoor survival training exercises. The presentation will conclude with an evaluation of the special requirements associated with preparing crews to function autonomously in long-duration missions.

Orasanu, Judith M.↗