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At least 73 records · Page 4

A quadrilateralized spherical cube Earth data base

A quadrilateralized spherical cube was constructed to form the basis for the rapid storage and retrieval of high resolution data obtained of the Earth's surface. The structure of this data base was derived from a spherical cube, which was obtained by radially projecting a cube onto its circumscribing sphere. An appropriate set of curvilinear coordinates were chosen such that the resolution cells on the spherical cube were of equal area and were also of essentially the same shape. The main properties of the Earth data base were that the indexing scheme was binary and telescopic in nature, the resolution cells were strung together in a two dimensional manner, the cell addresses were easily computed, and the conversion from geographic to data base coordinates was comparatively simple. It was concluded that this data base structure was perhaps the most viable one for handling remotely sensed data obtained by satellites.

Chan, F. K.↗

Magnetic spin reduction system for free spinning objects

A spinning Earth satellite is shown in which it is desired to reduce the rotation or spin to a level that the satellite may be secured or handled remotely from a spacecraft. This is accomplished by the spacecraft having a mast carrying an electrical current coil which encircles the satellite. The magnetic field of the coil is normal to the spin axis of the satellite which causes circular eddy current flow in the housing of the satellite. This generates magnetic force opposing the rotation. In another embodiment the magnetic field is generated by the use of an electromagnet on a remote manipulation arm.

Vontiesenhausen, G. F.↗

Consolidated fuel reprossing program: The implications of force reflection for teleoperation in space

Previous research on teleoperator force feedback is reviewed and results of a testing program which assessed the impact of force reflection on teleoperator task performance are reported. Force relection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force relection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space based teleoperator systems. The discussion described the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection.

Draper, John V.↗

Systems autonomy technology: Executive summary and program plan

The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.

Bull, John S↗

A near-real-time full-parallax holographic display for remote operations

A near real-time, full parallax holographic display system was developed that has the potential to provide a 3-D display for remote handling operations in hazardous environments. The major components of the system consist of a stack of three spatial light modulators which serves as the object source of the hologram; a near real-time holographic recording material (such as thermoplastic and photopolymer); and an optical system for relaying SLM images to the holographic recording material and to the observer for viewing.

Iavecchia, Helene P.↗

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Lew, Jae Young↗

Advanced Communication Architectures and Technologies for Missions to the Outer Planets

Missions to the outer planets would be considerably enhanced by the implementation of a future space communication infrastructure that utilizes relay stations placed at strategic locations in the solar system. These relay stations would operate autonomously and handle remote mission command and data traffic on a prioritized demand access basis. Such a system would enhance communications from that of the current direct communications between the planet and Earth. The system would also provide high rate data communications to outer planet missions, clear communications paths during times when the sun occults the mission spacecraft as viewed from Earth, and navigational "lighthouses" for missions utilizing onboard autonomous operations. Additional information is contained in the original extended abstract.

Bhasin, K.↗

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.

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Robotic Mapping and Monitoring of Nuclear Infrastructure

Routine inspection of nuclear infrastructure is currently expensive and slow. To remedy this the Applied Research Center (ARC) at Florida International University (FIU) is developing a field robot capable of gathering valuable data quickly, safely, and cheaply. Motivation: Nuclear infrastructure should be inspected routinely to ensure early detection of problems. This process is expensive, hazardous, and slow. Objective: Develop a platform capable of surveying nuclear infrastructure autonomously. Discussion: The quality of the captured data depends on the success of every component of the robot. Good sensors, hardware, localization, data collection, and autonomy are required. Conclusion: This is a promising approach for surveying nuclear infrastructure. The captured data is rich with information and can be evaluated by both people and algorithms.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

The Influence of Aqueous Dispersivity on Transport of Radiological Material at LANL MDA G - 20450

Aqueous dispersivity is a phenomenon by which a solute moving in groundwater mixes with water that does not contain the solute and becomes diluted. Solutes take paths of varying lengths through pore networks or experience slower velocities due to interactions with pore walls. Aqueous dispersivity leads to breakthrough curves with earlier arrival than expected in purely advective systems and persistent 'tails,' or late-arriving, dilute concentrations of the solute. Dispersivity can be longitudinal (in the direction of flow) or transverse (orthogonal to flow). LANL has disposed of radioactive material at Material Disposal Area (MDA) G since the late 1950's. Most of the disposed materials at MDA G are low-level waste (LLW), but other types of radioactive wastes are disposed or stored at the site. For example, there is a collection of remote-handled transuranic waste (RH-TRU) waste in 33 shafts, which were intended to be stored retrievably. Aqueous-phase radionuclides included in models of contaminant transport at MDA G are subject to dispersive processes in porous media of the vadose zone and saturated zone. To model dispersivity at MDA G probabilistically, we created site-specific distributions of aqueous dispersivity. First, we performed a comprehensive review of peer-reviewed publications, reports from other performance assessments of MDA G, and documentation from sites that were considered similar based on expert opinion, such as Yucca Mountain. Data were included from a wide range of sources, so that distributions developed based on the data reflect the current state of knowledge in properties of the subsurface environment. Data were grouped based on value type (e.g., determined via experiment or used in a different model), rock type, zone type (saturated or unsaturated), and site, and were weighted in the distributions according to their relevance to the site and zone type. We combined Monte Carlo simulation and bootstrapping techniques to produce approximate distributions of mean aqueous dispersivity. Distributions of dispersivity for saturated and unsaturated zone transport are differentiated by data weight and the length scales over which transport occurs. We find that underestimating or disregarding transverse dispersivity may lead to overstating simulated well capture in the saturated zone at MDA G. Neglecting transverse dispersivity is a common assumption due in part to use of one-dimensional transport models that do not consider solute spreading orthogonal to flow. Also, we find that variability in longitudinal dispersivity is associated with substantial travel time alterations in the MDA G unsaturated zone and in simulated contaminant breakthrough times at a downstream observation plane in the MDA G saturated zone. Finally, at large scales (>1000 m), a linear trend between the dispersivity coefficient and length over which transport occurs may overestimate the dispersivity coefficient. Future modeling work with application to solute spreading could include interacting advective and diffusive zones in the highly fractured basalt below MDA G. (authors)

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Stakeholder-Engaged Structured Decision Making for the Los Alamos Legacy Cleanup Mission - 20501

The Los Alamos National Laboratory (LANL) environmental legacy cleanup program requires decisions to be made for environmental remediation, decommissioning and disposal or management of radioactive waste. This legacy cleanup program was established to address groundwater contamination, material disposal areas (MDAs) that have been used to dispose of radioactive and other waste material, and 'aggregate areas' that might produce radioactive or other chemical waste as a result of remediation activities. The LANL site is regulated for environmental concerns under the Resource Conservation and Recovery Act (RCRA). However, some parts of LANL, such as material disposal area G (MDA G), have disposed of radioactive waste under DOE Order 435.1, and are subject to other regulations. For example, decommissioning the remote-handled TRU material stored in 33 shafts at MDA G falls under EPA's 40 CFR 191. Collectively, the regulations are all aimed in the same direction of finding the best solution, either through constructs such as 'as low as reasonably achievable' (ALARA), considering balancing factors as opposed to only cost and human health risk, and, under EPA regulations such as RCRA and NEPA, evaluating impact from all chemicals and both human health and ecological endpoints. Despite the basic goals and objectives of the regulations or their guidance, the main challenge is in their implementation. Arguably perhaps, but really in principle, all of these (and similar) regulations are asking for a decision analysis to be performed. Implementation challenges encountered have included lack of understanding of decision analysis in the industry, lack of effective stakeholder engagement in the decision analysis process, and lack of appreciation of the need to separate value judgments from science, the latter leading to developing conservative, or protective, science-based models. Conservative models lead to poor solutions, lack of effective stakeholder engagement leads to long drawn out protracted approaches to finding a solution (which also might never be found with this approach), and lack of understanding of decision analysis and Bayesian statistics causes poor models to be built, which creates unfortunate situations of 'garbage in, garbage out' becoming the basis for decision making. Stakeholder-engaged structured decision making (SDM) is an approach to solving problems that relies on the theory of decision science to involve stakeholders in the decision-making process. This approach incorporates stakeholder values using a scientifically rigorous methodology that separates value judgments from science in a way that helps avoid the pitfalls of biased, protective, or conservative modeling. This approach has its foundation in Keeney's 1992 treatise on value-focused thinking [1]. Keeney advocated a paradigm shift in decision making based on the idea that the standard way of thinking about decisions is backwards. The standard approach of focusing first on identifying alternatives rather than on articulating values results in a reactive approach with the emphasis on mechanics and fixed choices instead of the core values that have meaning to stakeholders. This paradigm shift effectively engages all stakeholders in the decision-making process while using a values focused thinking approach that can lead to the identification of decision opportunities and the creation of better alternatives. The intent is to be proactive and generate solutions that are related directly to values and objectives as identified by stakeholders. There are, perhaps, two overarching reasons why SDM can be used to benefit LANL's environmental legacy cleanup. Some of LANL's remaining waste management and environmental management problems are challenging and complex (for example, the Cr and RDX plumes, and MDAs) and while the traditional approach has, arguably, worked well for relatively simple risk-based problems, it cannot, or should not, be applied to more complex problems if the most effective and efficient solutions are desired. The second reason is cost. This has perhaps become more critical since publication of the Government Accountability Office (GAO) reports that DoE's environmental liability is considered a high-risk concern for the nation [2]. The focus of SDM is on structuring solutions to decision risk problems by first addressing stakeholder and decision maker values and subsequently developing decision objectives and ways to measure those objectives, preference weighting across objectives, identifying decision alternatives that best achieve those values, and characterizing uncertainty in predictions of the measures. Because a complete decision model is created using SDM, it can be evaluated to find the main elements of the model that drive, or predict, the best solution. This approach creates complete decision models that are transparent, traceable, reproducible and technically defensible. The science behind SDM, or decision analysis, is well founded, yet it is not unusual to see ad hoc approaches to decision making implemented under various environmental regulations that are pertinent to the LANL site, including NEPA, RCRA and DOE Order 435.1. Such ad hoc approaches are often not transparent or traceable, and lack reproducibility and technical defensibility. The LANL legacy cleanup program has embarked on using SDM to address the complex problems that remain. Stakeholder meetings have been held, and a prototype version of the stakeholder value system has been developed. Further meetings are expected in the future to address specific project needs. This is a long-term endeavor considering the complex environmental problems faced by DOE EM in Los Alamos (EM-LA), and careful planning, consideration of stakeholder value systems, and engagement with stakeholders throughout the SDM process is expected to lead to a successful endpoint. (authors)

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Calculating Potential Radiological Emissions for Waste Management Activities at INL - 20068

At Idaho National Laboratory (INL), work involving radionuclides is evaluated for potential emissions from a project in order to comply with the National Emission Standards for Hazardous Air Pollutants (NESHAP) regulations, 40 CFR 61 Subpart H. Emission calculations are documented in an Air Permitting Applicability Determination (APAD) to analyze unmitigated and mitigated emissions and determine if an Application to Construct (ATC) or continuous monitoring is required. To calculate the unmitigated and mitigated emissions, a spreadsheet was developed to provide ease in determining potential emissions by providing the maximum operating temperature and the material being used. The spreadsheet aids in determining the potential emissions for research projects and waste management activities at Materials and Fuels Complex (MFC) and other locations across the INL site. Furthermore, it can also be used for periodic confirmatory measurements (PCM) to justify low emissions. Elements that factor into the unmitigated and mitigated calculations include the amount of each radionuclide used (in curies or grams), specific activity (if amount is given in grams), the temperature the material is heated to in Celsius, the dose conversion factor which is derived from Clean Air Act Assessment Package - 1988 (CAP-88) modeling, and the number of HEPA filters used for mitigated measures. The main drivers for calculating the unmitigated emissions for a project are the amount used per radionuclide, the maximum operating temperature, and the location of the work. The maximum operating temperature determines the airborne release factor which is dependent on the physical state of the radionuclide. Prior to October 2017, if the radionuclide was heated to greater than 100 deg. C, the radionuclide was assumed to be a gas, which has the highest airborne release factor. This assumption would be overly conservative for radionuclides with high melting and boiling points, which provided a challenge to demonstrate low emissions. In October 2017, the Environmental Protection Agency (EPA) approved an alternative method for INL. This method allows the airborne release factor to be determined by using the melting point and 90% of the boiling point of the radionuclide. This methodology was included in the spreadsheet to allow unmitigated emission calculations for APADs to be completed more efficiently and effectively. Results show a reduction in time completing air emission calculations as well as lower total emissions across all facilities at INL. MFC annual emissions were reduced by 62% from the previous year and Research and Education Campus (REC) facilities were reduced by 38% due to implementation of the approved alternative method. Time spent on APADs, PCMs, and documentation for the annual NESHAP report was also reduced significantly. The spreadsheet provided in Table I provides the potential emission calculations for the 'Advanced Retrieval and Disposition Techniques for Remote Handled Mixed Low Level Waste (RH MLLW) at the Radioactive Scrap and Waste Facility (RSWF)' project. Calculations show the Potential Effective Dose Equivalent (PEDE) at RSWF to be 7.27 E-04 mrem/yr (7.27 E-09 Sv/yr) which is well below the 0.1 mrem/yr threshold. (authors)

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Stripline Block Sensor System

he Long Baseline Neutrino Facility requires remote handling of the stripline block, the component responsible for providing current to the focusing horns. There are many constraints due to the surroundings the modules reside in such as small clearances as well as a highly radioactive environment. Existing systems have already been implemented within the process; however, these systems offer limited information leaving much risk during operations. This calls for a sensor system that is sufficiently accurate, complies with project constraints, and provides valuable information throughout the replacement period. A proposed solution utilizes a three dimensional indoor positioning system to provide the operator with real-time positioning and rotational information. Future work would consist of finding vendors capable of providing technology that fits our constraints, proof of concept tests, implementation planning, as well as trails within the target hall itself. A three dimensional indoor positioning system would provide an incredibly diverse tool capable of being utilized in a variety of situations.

Espinoza, David↗

Online Alpha Monitoring of High Cs-137 Hanford and SRS High Level Waste with Tensioned Metastable Fluid Detectors

The Department of Energy’s Hanford and Savannah River Sites maintain millions of gallons of caustic supernate and salt high activity waste in their high-level waste (HLW) tank farm inventories. The Savannah River Site is currently treating this waste with a calixarene-based solvent extraction of Cs-137 to reduce these inventories. Hanford is employing an at-tank crystalline silico titanate (CST) based solid phase extraction methodology to reduce their liquid HLW inventories. Due to the high solubility of Cs-137 and the relative insolubility of the actinides in these caustic waste forms, the beta to alpha radioactivity ratio can often exceed six orders of magnitude in the feed solutions to these treatment processes. This unique characteristic leads to significant technical challenges in making rapid gross alpha measurements in the presence of the overwhelming beta, gamma, as well as dissolved sodium salt in these HLW matrices. Conventional radioanalytical techniques, such as liquid scintillation analysis or gas flow proportional counting require significant radiochemistry preparation prior to the radiometric measurements for gross alpha activity. These required pretreatments render these technologies untenable for rapid quantification of gross alpha activity that could be required to support on or at-line measurements ensuring a waste stream will meet regulatory requirements. The radiation measurement properties of Tensioned Metastable Fluid Detectors (TMFDs) have been studied by Purdue University’s Taleyarkhan research group for well over a decade. Fluids tensioned to the appropriate degree will rupture when struck by radiation, resulting in a measurable cavitation event. The negative pressure generating this tension can be adjusted by centrifugal rotation or by acoustic means in such a way that these cavitation events can be generated from alpha radiation but will not be generated by beta or gamma radiation. Purdue University and the Savannah River National Laboratory are currently collaborating to develop a gamma/beta blind, spectroscopic alpha measurement system based on the Tensioned Metastable Fluid Detector technology to provide a potential solution for performing rapid gross alpha measurements on these high gamma/beta sample matrices. Measurements using the Indirect Drive Acoustically Tensioned Metastable Fluid Detectors developed as part of this collaboration were performed with an alpha emitting radionuclide. Successful determination of gross alpha activity was observed, indicating a potential pathway for rapid gross alpha measurements in remote-handled shielded cells or in process situations requiring online alpha monitoring. Measurements using this system have been conducted on high beta activity solutions, demonstrating the beta blind capability of this system. Measurements are currently underway to test the system’s capability to measure gross alpha activity on Savannah River Site high level waste high Cs-137 samples that have been measured by the SRNL radiochemistry team. This work was supported by the DOE EM Technology Development program.

DiPrete, David [Savannah River National Laboratory↗

Digital Handling and Processing of Remote Sensing Data

Details of plans for developing a digital image processing facility to handle remote sensing data are reported. Also given are programs for data acquisition and handling, systems for use in programming various digital image processing tasks, and algorithms for feature enhancement.

Algazi, R.↗