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At least 667 records · Page 37
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Autonomous Monitoring of Nuclear Repositories: Current State of the Art and Future Directions

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning, including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out- standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static. Activities must encompass verification of the design, prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, we discuss the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed-loop autonomation to complete tasks. We explore the feasibility of using rovers for these verification tasks, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Lastly, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system.

geologic repository, safeguards, IAEA, Robotics↗
DOE OSTI2017

Human-Centered Exoskeleton: Upper Extremity Strength Augmentation in Occupational Settings - 17297

Robotic exoskeletons have a wide variety of applications ranging from rehabilitation to military combat to strength- and performance-augmentation in occupational settings. Currently, the high-cost, complexity, and bio-mechanical limitations prevent these devices from introduction into specialized applications where low-cost and practicality are essential. Here, an initial prototype of Robotic Exoskeleton for Upper Extremity Strength Augmentation is introduced. Expanding upon previous three generations of robotic arms for muscle retraining, the new generation emphasizes high fidelity, low-cost, and practical strength-augmentation with focus on enhancing performance by muscle fatigue reduction and injury prevention. Simplified set up and configurability of the system make it suitable for highly dynamic environments, where time and safety are vital. This prototype demonstrates the feasibility of low-cost and practical exoskeletons; however, further improvements and investigations are necessary to improve and validate its function. (authors)

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2015

Decommissioning of the NPP A-1 heavy water management system - 15121

The paper deals with experience and techniques in the application of decontamination technology and remotely controlled robotic devices for the decontamination and dismantling of the heavy water management system during undergoing decommissioning process of the A-1 NPP as well as treatment of arising liquid waste All of these activities are characterized by high level of radioactivity and contamination. During operation of the A-1 NPP the heavy water management system fulfilled several functions: (1) cooling of the moderator, (2) topping up of the moderator in the active zone, (3) drainage, feed and storage of heavy water, (4) capture of leaked heavy water. Closely associated with heavy water management were systems for separation and isotopic purification of heavy water (distilling station, removing organic impurities station, isotopic purification station). The NPP heavy water system is located inside the power block building in several rooms where the inner surface contamination is up to the level of 10 E4 Bq.cm{sup -2}, dose rate up to 15,0 mGy.h{sup -1} and the feeding pipeline contained liquid RAW with high tritium content. Pre-dismantling decontamination of the heavy water management system and associated systems had to be performed with the intention of improving the radiation situation, i.e. reducing contamination of internal surface and dose rates in the vicinity of the equipment. Various sophisticated procedures such as retrieval of sludge using remotely operated devices and loop chemical decontamination of internal surfaces were applied. The generated radioactive waste such as spent decontamination solutions and sludge were immediately solidified on-site into a geo-polymer matrix using a mobile conditioning facility. For dismantling and fragmentation of some devices, mobile robotic systems MT80 and MT15 were applied which had been developed, designed and constructed as general-purpose decommissioning equipment. Special tooling was developed for application with the robots, such as hydraulic shears, circular saw, reciprocating saw, circular pipe cutter and a system for quick tool-change without direct intervention of the operators. Most of the operations are remotely controlled on basis of visual information from four cameras, with consistent radiation protection of the operators. The implementation of partial decommissioning tasks in such hard and unfavorable radiation conditions (moreover accompanied by generation of specific high-content alpha radwaste) has introduced in practice several new unique decontamination and dismantling techniques and new procedures for the effective on-site processing of generated secondary radioactive waste, including sludge and sorbents. These advantageous techniques, equipment and experience will be exploited in the continuation of the A-1 NPP decommissioning process which has been organized according to distinctively licensed phases and are also being applied in the decommissioning of other NPP in Slovakia as well as abroad. (authors)

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

Inspection and assessment of the H-Canyon ventilation system at the Savannah River Site - 15385

Innovative methods and unique equipment were required to perform the inspection of a large inaccessible sand filter tunnel in an aging facility. Among the singular methods utilized was a specialized robot that addressed the difficulties encountered while performing mandatory structural integrity inspections of the Department of Energy (DOE) Savannah River Site (SRS) H-Canyon Sand Filter Tunnel. There were many unanticipated hazards related to degraded conditions. Novel approaches and support equipment were used, including new measurement techniques, high-strength Kevlar{sup TM} cable, a boom-mounted camera, and a larger, more robust robot. With each evolution, additional analysis mandated requirements and considerations for future inspections. Because this was a visual inspection, many photos were taken to document the mission and lessons learned from the earlier incomplete robotic attempts to inspect these areas. Anyone working with aging facilities that have inaccessible structures, systems and components will find the technical process, with resulting solutions, useful. (authors)

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

Autonomous Radiation Survey Inside Contaminated Buildings at Fukushima Daiichi with the Riser UAV - 18299

Nuclear decommissioning is constrained and defined by radiation and radioactive contamination. Where radiation is high and its distribution is unknown simply gathering the data needed for project planning can become a challenge. Fukushima Daiichi epitomises this challenge. The complex sequence of events at the plant following the March 2011 earthquake and tsunami has resulted in extensive physical damage and an essentially unpredictable distribution of contamination. TEPCO have applied a range of manual and robotics techniques to map the status of the plant, but many significant areas have remained no-go zones due to a combination of high radiation, physical hazards and obstacles. Further, even in areas where manual survey is feasible, there is strong desire to minimise human exposure to radiation by deploying robots where possible. Riser is a fully autonomous UAV equipped with an infrastructure-free 3D navigation and mapping system, inspection cameras and a CZT spectrometric measurement capability. The system has been custom designed specifically to meet the needs of the nuclear inspection. Riser is capable of accessing areas with dose rates of hundreds of milli-sievert per hour and producing 3D models and radiation surveys with accurately located data points. The data from Riser can subsequently be fused using Createc's N-Visage engine to produce three-dimensional contamination maps which can be used for predictive modelling of future D and D activity. Riser has been deployed at Fukushima Daiichi since March 2017. We present examples of data and analysis outputs, as well as general learning about deploying autonomous robots at a nuclear site. (authors)

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

Savannah River Site H-Canyon Collaborative Advanced Technology Demonstration (ATD) - 18313

In support of the Department of Energy's Environmental Management Office of Technology Development (DOE-EM TD) Robotics Technology thrust to pull innovative commercial off the shelf (COTS) and near ready technologies to the field to expedite remaining EM mission clean up and enhance worker safety, the required FY19 Savannah River Site (SRS) H-Canyon Air Exhaust (HCAEX) tunnel inspection task will be used to demonstrate and evaluate the benefit of pulling advanced technology solutions to EM facilities. Presently a biannual visual inspection of the SRS HCAEX tunnel is required to evaluate the structural integrity of the tunnel. While the ability to see inside the tunnel in recent years has been highly invaluable, it is desirable to have a better understanding of the tunnel environment to support a more thorough structural integrity analysis and for long term planning purposes. This higher order of understanding can be accomplished through state of the art COTS sensors and those currently in development and near ready. The ATD will identify and develop for deployment advanced technologies to be hosted on the FY19 inspection platform to acquire high value data desired by the stakeholder. This presentation will include an overview of the ATD mission, background on the tunnel and harsh remote environment in which the inspection robot will work and the high priority inspection needs identified by the H-Canyon facility stakeholders. Discussion will include previous and planned robotic platform modifications to facilitate work in the tunnel and a discussion on the advanced technologies identified to be implemented for the inspection. The ATD will be completed over approximately a 2-year period and has already begun in the form of planning, identification of stakeholder needs, specification of a robust platform and identification of the high priority sensor needs to be pursued. This presentation will be a status of the ATD at approximately the 7-month mark. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

The Telbot master-arm

It is the weight lifter with maximum flexibility: The TELBOT provides high capacity and infinite rotary motion across all axes. Special jobs call for a special robot: The TELBOT from Waelischmiller Engineering. The TELBOT particularly shows its strength in places where human operators cannot work and heavy work has to be done. For example in the nuclear industry or chemical plants. The TELBOT is a multifunctional, modular and automated robotic system with unique characteristics: no cable in or on the TELBOT-arms for unlimited, fast and precise arm motions as well as maximum efficiency and highest comfort; smooth, sealed arm and joint bodies ensure maximum radiation resistance, making the TELBOT robot the perfect helper for the nuclear sector; the TELBOT can not only be utilised for an extremely long time but is also maintenance-free and easy to decontaminate. They therefore represent an investment that will still pay out in 30 years time; sophisticated engineering skill is apparent not least in the slim design with no loss of high capacity; tools can be remotely controlled with extreme precision and the high repeat accuracy and simple implementation of complex processes ensure trouble-free and intuitive operation; programmed motion sequences bring with them noticeably comfortable and speedy operation.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part I - Environment Mapping

When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

Low‐Volume Cores for Fabrication of Compact, Versatile, and Intelligent Soft Systems

Abstract This study introduces the low‐volume core (LVC) fabrication method, which enables the monolithic molding of compact, complex, versatile, and intelligent soft robotic systems. This method uses thin and flexible thermoplastic sheets to mold internal chambers in soft fluidic actuators, valves, and circuits. The LVC fabrication method creates low‐volume networks in soft actuators (LV‐net actuators) that can be made with compact and complex geometries, enabling both low actuation volume input and multi‐degree‐of‐freedom actuators. LVC fabrication can also be used for compact, completely soft, and monolithic logic components (valves with low‐volume core, also called as LV valves) to provide directional resistance as well as a switching mechanism that enables fluidic logic in soft systems. The compatibility of the fabrication methods for both soft actuators and valves facilitates the creation of compact, integrated, and versatile soft robotic systems with embodied intelligence. This study introduces two examples of such intelligent soft robotic systems that integrate both LV‐net actuators and LV valves to demonstrate capability for complex system fabrication.

Yu, Qifan↗
DOE OSTI2026

Surface Energy Modulated Self‐Assembly of Percolative Gallium Nanodroplet Films for Stretchable Electronics

Advancements in soft robotics and wearable technologies have led to an increased need for flexible and stretchable electronic systems. Liquid metals like Gallium (Ga) and its alloys offer high potential in the field of stretchable electronics and photonics due to their inherent high conductivity and malleability. However, their high surface tension and native oxide formation hinder uniform wetting and continuous film formation to get conducting films. Here, we report a fabrication strategy to realize electrically conductive Ga thin films with effective thicknesses around 100 nm on polymeric and elastomeric substrates. By enhancing the surface energy of the elastomer, we create uniform Ga nanodroplets capable of sustaining stretchability up to 200% strain. Our devices exhibit electronic conduction primarily through tunneling and display strain tunable piezoresistive characteristics, which are explained using Kirchhoff's resistive network and Simmon's analytical tunneling current model. To showcase the device's capability in fields of stretchable electronics, we demonstrate several functional prototypes, including flexible devices integrated with Light Emitting Diodes (LEDs), curvature and pressure sensors, and soft robotic grippers capable of sensing object curvature. The demonstrated devices highlight the potential of this approach for scalable integration of stretchable electronics in soft robotic and wearable platforms.

42 ENGINEERING↗
DOE OSTI2025

Automation for Electric Vehicle Battery Pack Disassembly

Battery‐electric vehicles (EVs) are growing exponentially. The demand for these batteries is expected to increase sevenfold by 2035. The EV batteries reach their end of life when the capacity fades to 70%–80% of new, with some being removed from the primary applications with even lower levels of degradation. These batteries can be used in less demanding applications. The disassembly process is currently manual, slow, unsafe, and expensive. Automation is needed to increase the throughput. EV battery packs feature various continually changing designs and form factors, which limit the usefulness of deterministically programmed robotic solutions. The conceptual robotic disassembly of EV batteries has attracted the attention of researchers. However, while many approaches have been proposed, practical implementations are lacking. Here, we review proposed concepts for EV battery disassembly and describe the selected approach, with elements of partial solutions validated in a laboratory setting, including the selection of commercial solutions, the development of custom end effectors, and methodologies for detection, localization, and classification of fasteners. The computer vision tasks employed an overhead 2D camera to detect the type of battery pack and approximate localization of fasteners, and a 3D camera mounted on the robotic arm for precise localization (position and tilt) and classification.

Islam, Abu [Rochester Inst. of Technology, Rochest↗
DOE OSTI2019

A second‐generation virtual‐pinhole PET device for enhancing contrast recovery and improving lesion detectability of a whole‐body PET/CT scanner

Purpose We have developed a second‐generation virtual‐pinhole (VP) positron emission tomography (PET) device that can position a flat‐panel PET detector around a patient's body using a robotic arm to enhance the contrast recovery coefficient (CRC) and detectability of lesions in any region‐of‐interest using a whole‐body PET/computed tomography (CT) scanner. Methods We constructed a flat‐panel VP‐PET device using 32 high‐resolution detectors, each containing a 4 4 MPPC array and 16 16 LYSO crystals of 1.0 1.0 3.0 mm 3 each. The flat‐panel detectors can be positioned around a patient's body anywhere in the imaging field‐of‐view (FOV) of a Siemens Biograph 40 PET/CT scanner by a robotic arm. New hardware, firmware and software have been developed to support the additional detector signals without compromising a scanner's native functions. We stepped a 22 Na point source across the axial FOV of the scanner to measure the sensitivity profile of the VP‐PET device. We also recorded the coincidence events measured by the scanner detectors and by the VP‐PET detectors when imaging phantoms of different sizes. To assess the improvement in the CRC of small lesions, we imaged an elliptical torso phantom measuring 316 228 162 mm 3 that contains spherical tumors with diameters ranging from 3.3 to 11.4 mm with and without the VP‐PET device. Images were reconstructed using a list mode Maximum‐Likelihood Estimation‐Maximization algorithm implemented on multiple graphics processing units (GPUs) to support the unconventional geometries enabled by a VP‐PET system. The mean and standard deviation of the CRC were calculated for tumors of different sizes. Monte Carlo simulation was also conducted to image clusters of lesions in a torso phantom using a PET/CT scanner alone or the same scanner equipped with VP‐PET devices. Receiver operating characteristic (ROC) curves were analyzed for three system configurations to evaluate the improvement in lesion detectability by the VP‐PET device over the native PET/CT scanner. Results The repeatability in positioning the flat‐panel detectors using a robotic arm is better than 0.15 mm in all three directions. Experimental results show that the average CRC of 3.3, 4.3, and 6.0 mm diameter tumors was 0.82%, 2.90%, and 5.25%, respectively, when measured by the native scanner. The corresponding CRC was 2.73%, 6.21% and 10.13% when imaged by the VP‐PET insert device with the flat‐panel detector under the torso phantom. These values may be further improved to 4.31%, 9.65% and 18.01% by a future dual‐panel VP‐PET insert device if DOI detectors are employed to triple its detector efficiency. Monte Carlo simulation results show that the tumor detectability can be improved by a VP‐PET device that has a single flat‐panel detector. The improvement is greater if the VP‐PET device employs a dual‐panel design. Conclusions We have developed a prototype flat‐panel VP‐PET device and integrated it with a clinical PET/CT scanner. It significantly enhances the contrast of lesions, especially for those that are borderline detectable by the native scanner, within regions‐of‐interest specified by users. Simulation demonstrated the enhancement in lesion detectability with the VP‐PET device. This technology may become a cost‐effective solution for organ‐specific imaging tasks.

Jiang, Jianyong↗
DOE OSTI2014

PR-PR: Cross-Platform Laboratory Automation System

To enable protocol standardization, sharing, and efficient implementation across laboratory automation platforms, we have further developed the PR-PR open-source high-level biology-friendly robot programming language as a cross-platform laboratory automation system. Beyond liquid-handling robotics, PR-PR now supports microfluidic and microscopy platforms, as well as protocol translation into human languages, such as English. While the same set of basic PR-PR commands and features are available for each supported platform, the underlying optimization and translation modules vary from platform to platform. Here, we describe these further developments to PR-PR, and demonstrate the experimental implementation and validation of PR-PR protocols for combinatorial modified Golden Gate DNA assembly across liquid-handling robotic, microfluidic, and manual platforms. To further test PR-PR cross-platform performance, we then implement and assess PR-PR protocols for Kunkel DNA mutagenesis and hierarchical Gibson DNA assembly for microfluidic and manual platforms.

Linshiz, G↗
DOE OSTI2024

Differentiable modeling and optimization of non-aqueous Li-based battery electrolyte solutions using geometric deep learning

Electrolytes play a critical role in designing next-generation battery systems, by allowing efficient ion transfer, preventing charge transfer, and stabilizing electrode-electrolyte interfaces. In this work, we develop a differentiable geometric deep learning (GDL) model for chemical mixtures, DiffMix, which is applied in guiding robotic experimentation and optimization towards fast charging battery electrolytes. In particular, we extend mixture thermodynamic and transport laws by creating GDL-learnable physical coefficients. We evaluate our model with mixture thermodynamics and ion transport properties, where we show improved prediction accuracy and model robustness of Diff-Mix than its purely data-driven variants. Furthermore, with a robotic experimentation setup, Clio, we improve ionic conductivity of electrolytes by over 18.8% within 10 experimental steps, via differentiable optimization built on DiffMix gradients. By combining GDL, mixture physics laws, and robotic experimentation, DiffMix expands the predictive modeling methods for chemical mixtures and enables efficient optimization in large chemical spaces.

25 - ENERGY STORAGE↗
DOE OSTI2016

High-throughput and automated SAXS/USAXS experiment for industrial use at BL19B2 in SPring-8

A highly automated system combining a sample transfer robot with focused SR beam has been established for small-angle and ultra small-angle X-ray scattering (SAXS/USAXS) measurement at BL19B2 for industrial use of SPring-8. High-throughput data collection system can be realized by means of X-ray beam of high photon flux density concentrated by a cylindrical mirror, and a two-dimensional pixel detector PILATUS-2M. For SAXS measurement, we can obtain high-quality data within 1 minute for one exposure using this system. The sample transfer robot has a capacity of 90 samples with a large variety of shapes. The fusion of high-throughput and robotic system has enhanced the usability of SAXS/USAXS capability for industrial application.

43 PARTICLE ACCELERATORS↗
DOE OSTI2014

INVESTIGATING BROADBAND VARIABILITY OF THE TeV BLAZAR 1ES 1959+650

We summarize broadband observations of the TeV-emitting blazar 1ES 1959+650, including optical R-band observations by the robotic telescopes Super-LOTIS and iTelescope, UV observations by Swift Ultraviolet and Optical Telescope, X-ray observations by the Swift X-ray Telescope, high-energy gamma-ray observations with the Fermi Large Area Telescope, and very-high-energy (VHE) gamma-ray observations by VERITAS above 315 GeV, all taken between 2012 April 17 and 2012 June 1 (MJD 56034 and 56079). The contemporaneous variability of the broadband spectral energy distribution is explored in the context of a simple synchrotron self Compton (SSC) model. In the SSC emission scenario, we find that the parameters required to represent the high state are significantly different than those in the low state. Motivated by possible evidence of gas in the vicinity of the blazar, we also investigate a reflected emission model to describe the observed variability pattern. This model assumes that the non-thermal emission from the jet is reflected by a nearby cloud of gas, allowing the reflected emission to re-enter the blob and produce an elevated gamma-ray state with no simultaneous elevated synchrotron flux. The model applied here, although not required to explain the observed variability pattern, represents one possible scenario which can describe the observations. As applied to an elevated VHE state of 66% of the Crab Nebula flux, observed on a single night during the observation period, the reflected emission scenario does not support a purely leptonic non-thermal emission mechanism. The reflected emission model does, however, predict a reflected photon field with sufficient energy to enable elevated gamma-ray emission via pion production with protons of energies between 10 and 100 TeV.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2018

ProtoDESI: First On-Sky Technology Demonstration for the Dark Energy Spectroscopic Instrument

The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the universe using the baryon acoustic oscillations technique. The spectra of 35 million galaxies and quasars over 14,000 square degrees will be measured during a 5-year survey. A new prime focus corrector for the Mayall telescope at Kitt Peak National Observatory will deliver light to 5,000 individually targeted fiber-fed robotic positioners. The fibers in turn feed ten broadband multi-object spectrographs. We describe the ProtoDESI experiment, that was installed and commissioned on the 4-m Mayall telescope from 2016 August 14 to September 30. ProtoDESI was an on-sky technology demonstration with the goal to reduce technical risks associated with aligning optical fibers with targets using robotic fiber positioners and maintaining the stability required to operate DESI. The ProtoDESI prime focus instrument, consisting of three fiber positioners, illuminated fiducials, and a guide camera, was installed behind the existing Mosaic corrector on the Mayall telescope. A fiber view camera was mounted in the Cassegrain cage of the telescope and provided feedback metrology for positioning the fibers. ProtoDESI also provided a platform for early integration of hardware with the DESI Instrument Control System that controls the subsystems, provides communication with the Telescope Control System, and collects instrument telemetry data. In conclusion, lacking a spectrograph, ProtoDESI monitored the output of the fibers using a fiber photometry camera mounted on the prime focus instrument. ProtoDESI was successful in acquiring targets with the robotically positioned fibers and demonstrated that the DESI guiding requirements can be met.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2022

ROAM: A Remotely Operated Accelerator Monitor

Monitoring accelerators in operation is a well known challenge due to the radiation environment. However, there are significant benefits in being able to deploy particular sensors in specific locations of accelerator enclosures for monitoring or troubleshooting purposes. Learning from experience at other labs, we used Commercial Off The Shelf (COTS) components and an open source robot control software framework (ROS) to build a remotely controlled robot platform including a standard suite of instruments such as cameras, LIDAR, and ultrasound, with the ability to incorporate other ad-hoc sensors for specific measurements, such as a Gamma radiation monitor. Special attention was given to the robot's ability to maintain safety in the high risk environment of an accelerator, with multiple failure contingencies in place to ensure collision free operation. Testing was performed to prove the platform's viability and showcase its capability for accelerator monitoring.

Thayer, Thomas C.↗