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All sources NASA NTRS DOE OSTI

DOE OSTI2017

EDGE COMPUTING AND CONTEXTUAL INFORMATION FOR THE INTERNET OF THINGS SENSORS

Interpreting sensor data require knowledge about sensor placement and the surrounding environment. For a single sensor measurement, it is easy to document the context by visual observation, however for millions of sensors reporting data back to a server, the contextual information needs to be automatically extracted from either data analysis or leveraging complimentary data sources. Data layers that overlap spatially or temporally with sensor locations, can be used to extract the context and to validate the measurement. To minimize the amount of data transmitted through the internet, while preserving signal information content, two methods are explored; computation at the edge and compressed sensing. We validate the above methods on wind and chemical sensor data (1) eliminate redundant measurement from wind sensors and (2) extract peak value of a chemical sensor measuring a methane plume. We present a general cloud based framework to validate sensor data based on statistical and physical modeling and contextual data extracted from geospatial data.

03 NATURAL GAS↗

DOE OSTI2017

EDGE COMPUTING AND CONTEXTUAL INFORMATION FOR THE INTERNET OF THINGS SENSORS

Klein, Levente↗

DOE OSTI2021

Field Validation of a Smart Energy Recovery Ventilation System Using Low-Cost Indoor Air Quality Sensors

This project is a field validation, using low-cost indoor air quality (IAQ) sensors, of a smart ventilation system that can help low-load homes in humid environments maintain acceptable indoor humidity conditions while providing adequate ventilation according to ASHRAE 62.2. The objectives of this research were to (1) address builders’ concerns with mechanical ventilation in humid environments and (2) answer the question of whether smart control logic helps with occupant comfort and the creation of a more acceptable indoor environment. To address the objectives of the study, the Southface team collected field data for one year in four Charleston, South Carolina, new construction homes in order to determine the differences in occupant comfort; comfort metrics; IAQ; and heating, ventilating, and air-conditioning (HVAC) energy consumption when toggling biweekly between an energy recovery ventilator (ERV) operating continuously and an ERV operating with smart, time-varying humidity control logic. The smart ventilation algorithm under consideration in this field test did create a less humid indoor environment on an annual basis as quantitatively measured through temperature and relative humidity (T/RH) readings, expressed most discernably as “percentage of time above 60% RH” and “percentage of time above 55°F dewpoint.” However, the difference it made was inconsistent during the spring, summer, and fall months, and it was only directionally consistent during the winter months. We suspect that this is primarily due to the long runtimes and concomitant dehumidification activity of the air-conditioning (A/C) units in response to the high sensible loads in Charleston. The effect of the smart ventilation algorithm was not discernable to the occupants in this study, as recorded through seasonal surveys.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2018

Performance of low-cost monitors to assess household air pollution

Highlights: • We assessed PM{sub 2.5} and CO low-cost monitors in semi-controlled and field studies. • Devices experienced high failure rate and susceptibility to environmental changes. • Low-cost monitors tested may not be ready to replace more established methods. Exposure to household air pollution is a leading cause of morbidity and mortality globally. However, due to the lack of validated low-cost monitors with long-lasting batteries in indoor environments, most epidemiologic studies use self-reported data or short-term household air pollution assessments as proxies of long-term exposure. We evaluated the performance of three low-cost monitors measuring fine particulate matter (PM{sub 2.5}) and carbon monoxide (CO) in a wood-combustion experiment conducted in one household of Spain for 5 days (including the co-location of 2 units of HAPEX and 3 units of TZOA-R for PM{sub 2.5} and 3 units of EL-USB-CO for CO; a total of 40 unit-days). We used Spearman correlation (ρ) and Concordance Correlation Coefficient (CCC) to assess accuracy of low-cost monitors versus equivalent research-grade devices. We also conducted a field study in India for 1 week (including HAPEX in 3 households and EL-USB-CO in 4 households; a total of 49 unit-days). Correlation and agreement at 5-min were moderate-high for one unit of HAPEX (ρ = 0.73 / CCC = 0.59), for one unit of TZOA-R (ρ = 0.89 / CCC = 0.62) and for three units of EL-USB-CO (ρ = 0.82–0.89 / CCC = 0.66–0.91) in Spain, although the failure or malfunction rate among low-cost units was high in both settings (60% of unit-days in Spain and 43% in India). Low-cost monitors tested here are not yet ready to replace more established exposure assessment methods in long-term household air pollution epidemiologic studies. More field validation is needed to assess evolving sensors and monitors with application to health studies.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2017

Robust Online Monitoring for Calibration Assessment of Transmitters and Instrumentation

Robust online monitoring (OLM) technologies are expected to enable the extension or elimination of periodic sensor calibration intervals in operating and new reactors. These advances in OLM technologies will improve the safety and reliability of current and planned nuclear power systems through improved accuracy and increased reliability of sensors used to monitor key parameters. In this article, we discuss an overview of research being performed within the Nuclear Energy Enabling Technologies (NEET)/Advanced Sensors and Instrumentation (ASI) program, for the development of OLM algorithms to use sensor outputs and, in combination with other available information, 1) determine whether one or more sensors are out of calibration or failing and 2) replace a failing sensor with reliable, accurate sensor outputs. Algorithm development is focused on the following OLM functions: • Signal validation • Virtual sensing • Sensor response-time assessment These algorithms incorporate, at their base, a Gaussian Process-based uncertainty quantification (UQ) method. Various plant models (using kernel regression, GP, or hierarchical models) may be used to predict sensor responses under various plant conditions. These predicted responses can then be applied in fault detection (sensor output and response time) and in computing the correct value (virtual sensing) of a failing physical sensor. The methods being evaluated in this work can compute confidence levels along with the predicted sensor responses, and as a result, may have the potential for compensating for sensor drift in real-time (online recalibration). Evaluation was conducted using data from multiple sources (laboratory flow loops and plant data). Ongoing research in this project is focused on further evaluation of the algorithms, optimization for accuracy and computational efficiency, and integration into a suite of tools for robust OLM that are applicable to monitoring sensor calibration state in nuclear power plants.

fault detection↗

DOE OSTI2025

Casing Annulus Monitoring of CO 2 Injection Using Wireless Autonomous Distributed Sensor Networks

Effective and secure carbon subsurface storage, involving the deep underground injection of CO 2 into geological formations where it is permanently trapped, is paramount to mitigating CO 2 emissions (Figure I). Ensuring the integrity of these storage sites and detecting potential leakage through the casing annulus necessitates robust monitoring. This work provides the first integrated demonstration of a wireless casing-annulus monitoring architecture that can operate in highly attenuating cement-brine environments relevant to CO 2 storage. This project focused on developing and validating a novel sensor system for integration with autonomous monitoring near the cement reservoir interface. The goal was a fully integrated Technology Readiness Level (TRL) 4/5 field validation of a distributed wireless intelligent sensor system providing real-time, direct subsurface formation measurements to enhance fluid movement monitoring in the cemented casing annulus. Achieving this objective required the development and integration of 1) wireless autonomous microsensor technology by California Institute of Technology (Caltech); 2) sensor packaging and emplacement technology by Research Triangle Institute (RTI); and 3) smart well completions using wireless active casing collars and NOV pipe by the Sandia National Lab (SNL). The collaboration with the Caltech team in this project aimed to develop millimeter-scale radio frequency identification (RFID) sensors capable of detecting CO 2 , pH, and/or methane levels. These sensors are engineered to be impervious to fluids, allowing them to be mixed with cement and installed within the casing annulus. They operate using RFID protocols at frequencies of 902–928 MHz for both power and communication. A Sandia National Laboratories’ team engaged their expertise in the development of a Smart Collar system designed for the wireless data collection from these RFID sensors embedded in the cement annulus and transmission of this information to the ground surface via IntelliPipe/IntelliServ NOV drill pipe. This is accomplished through inductive coupling at the collar, which facilitates data transfer through each segment of the pipe. Because the system cannot transmit a direct current signal to power the Smart Collar, both power and communication were implemented using alternating current and electromagnetic signals at varying frequencies. Furthermore, the developed microsensor technology had to be demonstrated and validated in comparison with reference transducer measurements in a field test site at The University of Texas at Austin (UT-Austin). Although the full sensor suite did not reach field-deployment readiness, the system-level integration achieved in this project establishes a validated pathway for future incorporation of advanced microsensors.

47 OTHER INSTRUMENTATION↗

DOE OSTI2026

Fine-Grained Power and Energy Attribution on AMD GPU/APU-Based Exascale Nodes

Modern exascale GPU- and APU-based systems provide multiple power and energy sensors, but differences in scope, update rate, timing, and filtering complicate the attribution of short-lived accelerator activity. This paper presents a methodology to characterize and correct these effects on Cray EX systems with AMD Instinct MI250X GPUs (Frontier) and MI300A APUs (Portage). Using controlled square-wave workloads, we quantify update intervals, delay, aliasing, and variability across up to 512 GPUs and 480 APUs with on-chip (rocm-smi/amd-smi) and off-chip Cray Power Management sensors. We reconstruct power from cumulative energy counters to achieve faster response times, validate it against on-chip, off-chip, and node-level sensors, and integrate the resulting streams into a Score-P/PAPI-based tool for time-aligned, phase-level attribution. Applied to rocHPL, rocHPL-MxP, and HPG-MxP, the method separates energy savings due to reduced runtime from changes in power. Mixed precision reduces node energy on Frontier by 79% for rocHPL-MxP and 31% for HPG-MxP, with similar trends on Portage. These results provide portable guidance for sensor validation and power-aware optimization on current and future exascale systems.

Mcdaniel, Adam [ORNL] (ORCID:000000016926028X)↗

DOE OSTI2023

Final Technical Report Wireless Microsensors System for Monitoring Deep Subsurface Operations

This final technical report describes the main findings of the project Wireless Microsensors System for Monitoring Deep Subsurface Operations (FE0031850). The project was part of the U.S. Department of Energy National Energy Technology Laboratory FOA 1998 program to develop new sensor systems for direct observation of parameters associated with CO2 injection and to provide data collection without being disruptive to operations. The overall DOE program was aimed at developing and validating innovative transformational sensor systems, amenable for integration with autonomous intelligent monitoring systems, that are capable of being deployed within the casing annulus and do not have casing perforation or wires/cables in the annulus for installation, power supply, or data transmission needs. Project accomplishments included 1) design and fabrication of a wireless downhole sensor system to monitor parameters for CO2 storage, 2) field testing of the sensor system in two legacy oil & gas wells, and 3) development of an analysis approach that validates the measurements and demonstrates the application of the technology to depict CO2 movement in the subsurface. The project leveraged new sensor technologies along with specialized wellbore telemetry, deployment, and analysis methods designed to address the challenges and risks related to CO2 storage in the subsurface. Results from field testing were a mixture of successes and challenges. The temperature sensor rings, installation procedures in legacy oil & gas wells, wireless powering demonstration, automated data collection, and material compatibility were successful. The wireless data transfer through cement to the wellhead via the sensor relays was not functional beyond the first relay. Consequently, work in the last year of the project included some additional testing of data transmission through different materials along with modeling and analysis of field data for CO2 monitoring applications. This work suggested there are options like polymer cements and open hole annuli that may allow point-to-point transmission along the borehole. The techno-economic analysis suggests that the sensor system is ~40% less expensive than fiber optic distributed temperature system. Modeling of CO2 storage applications suggests temperature can provide an indicator of CO2 saturation but would be best combined with pressure sensors.

47 OTHER INSTRUMENTATION↗

DOE OSTI2022

A laser powder bed fusion system for operando synchrotron x-ray imaging and correlative diagnostic experiments at the Stanford Synchrotron Radiation Lightsource

Laser powder bed fusion (LPBF) is a highly dynamic multi-physics process used for the additive manufacturing (AM) of metal components. Improving process understanding and validating predictive computational models require high-fidelity diagnostics capable of capturing data in challenging environments. Synchrotron x-ray techniques play a vital role in the validation process as they are the only in situ diagnostic capable of imaging sub-surface melt pool dynamics and microstructure evolution during LPBF-AM. In this article, a laboratory scale system designed to mimic LPBF process conditions while operating at a synchrotron facility is described. The system is implemented with process accurate atmospheric conditions, including an air knife for active vapor plume removal. Significantly, the chamber also incorporates a diagnostic sensor suite that monitors emitted optical, acoustic, and electronic signals during laser processing with coincident x-ray imaging. The addition of the sensor suite enables validation of these industrially compatible single point sensors by detecting pore formation and spatter events and directly correlating the events with changes in the detected signal. Experiments in the Ti–6Al–4V alloy performed at the Stanford Synchrotron Radiation Lightsource using the system are detailed with sufficient sampling rates to probe melt pool dynamics. X-ray imaging captures melt pool dynamics at frame rates of 20 kHz with a 2 µm pixel resolution, and the coincident diagnostic sensor data are recorded at 470 kHz. Furthermore, this work shows that the current system enables the in situ detection of defects during the LPBF process and permits direct correlation of diagnostic signatures at the exact time of defect formation.

36 MATERIALS SCIENCE↗

DOE OSTI2024

H2 Sensing with an Optical Fiber Sensor in the Subsurface H2 Storage Conditions

The concentration of hydrogen is subject to change due to biological reactions in the underground hydrogen storage reservoirs. Thus, monitoring hydrogen concentration in the subsurface gas deposits is vital to ensure the integrity and safety of the storage facilities. In this study, the optical fiber hydrogen sensor was developed and validated in relevant subsurface storage environments. Specifically, the sensor has demonstrated successful sensing performance at high temperatures (~80 °C) and high pressures (~1,000 psi) under very humid conditions (~100% RH). In addition, the sensor was exposed to real subsurface microbial samples to monitor microbially induced changes in hydrogen concentration. The sensor has shown stable H2 sensing responses in the replicated underground hydrogen storage conditions without deterioration or loss of H2 sensitivity. The biotic subsurface sample with hydrogen gas resulted in higher transmission intensity change than the abiotic sample due to the possible hydrogen consumption with microbes.

Kim, Daejin↗

DOE OSTI2016

Towards an improved LAI collection protocol via simulated field-based PAR sensing

In support of NASA’s next-generation spectrometer—the Hyperspectral Infrared Imager (HyspIRI)—we are working towards assessing sub-pixel vegetation structure from imaging spectroscopy data. Of particular interest is Leaf Area Index (LAI), which is an informative, yet notoriously challenging parameter to efficiently measure in situ. While photosynthetically-active radiation (PAR) sensors have been validated for measuring crop LAI, there is limited literature on the efficacy of PAR-based LAI measurement in the forest environment. This study (i) validates PAR-based LAI measurement in forest environments, and (ii) proposes a suitable collection protocol, which balances efficiency with measurement variation, e.g., due to sun flecks and various-sized canopy gaps. A synthetic PAR sensor model was developed in the Digital Imaging and Remote Sensing Image Generation (DIRSIG) model and used to validate LAI measurement based on first-principles and explicitly-known leaf geometry. Simulated collection parameters were adjusted to empirically identify optimal collection protocols. Furthermore, these collection protocols were then validated in the field by correlating PAR-based LAI measurement to the normalized difference vegetation index (NDVI) extracted from the “classic” Airborne Visible Infrared Imaging Spectrometer (AVIRIS-C) data (R 2 was 0.61). The results indicate that our proposed collecting protocol is suitable for measuring the LAI of sparse forest (LAI < 3–5 ( m 2 /m 2 )).

47 OTHER INSTRUMENTATION↗

DOE OSTI2023

Operational Uncrewed Aircraft Systems Development for Meteorology and Atmospheric Physics Field Campaign Report

The overarching goal of the project is to develop integrated small, unmanned aircraft systems (SUAS) capabilities for enhanced atmospheric physics measurements. This team included atmospheric scientists, meteorologists, engineers, computer scientists, geographers, and chemists necessary to evaluate the needs and develop the advanced sensing and imaging, robust autonomous navigation, enhanced data communication, and data management capabilities required to use SUAS in atmospheric physics. The flight campaigns at the Southern Great Plains (SGP) U.S. Department of Energy Atmospheric Radiation Measurement (ARM) observatory were an integrated evaluation of the systems in coordinated field tests. This enabled sensor testing, and validation of SUAS technology and integration of unmanned aircraft into the airspace. The set of experiments enabled evaluation and progression of remote UAS deployment operations with observing atmospheric sensors. Each flight test endeavor was notable for the significant lessons learned during every deployment event. Team size and roles, equipment use, aircraft instruments, meteorological instruments, and deployment logistics, were all evaluated and improved at every flight-testing day. The details of these are further discussed in the Results section.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2022

Eddy current flow meter model validation with a moving solid rod*

We report that the eddy current flow meter (ECFM) has been used to measure velocities and temperatures of conductive flows, such as liquid metal flows in a nuclear fission reactor. The goal of this paper is to develop a finite element electromagnetic model that can characterize the ECFM sensor performance and validate this finite element model with detailed velocity measurements of a controlled, well-characterized moving conductive solid rod. Both measurements and modeling were performed for various parameters that are important for ECFM performance such as rod velocity, rod material, ECFM sensor coil length, number of sensor coils, applied alternating current (AC) current amplitude, and applied ECFM AC frequency. For all parametric scans, the measurement and modeling agree well in both magnitude and trend. The normalized root-mean-square error between measurement and modeling is less than 10% for all cases. These results suggest that electromagnetic modeling could eventually be used to cost-effectively design future ECFM sensors in arbitrary geometry for more challenging applications such as liquid metal nuclear fission reactors.

47 OTHER INSTRUMENTATION↗

DOE OSTI2018

Automated Glovebox Work-cell Design - 18370

Los Alamos National Laboratory (LANL) is the primary plutonium science and manufacturing facility in the United States supporting multiple national security programs. It is responsible for completing a high variety of small-batch manufacturing tasks requiring the handling and precision machining of Special Nuclear Materials (SNM). Given the myriad of tasks that must be completed in a limited workspace, LANL intends to utilize flexible, multi-use robotic work-cells capable of completing a variety of mission critical tasks in a single glovebox with no re-tooling needed between batch jobs. This approach would allow LANL more flexibility in its production schedule and to meet its future production and research objectives. In this paper, we present a system that integrates multiple sensors and other manufacturing peripherals into existing glovebox infrastructure. Currently, a technician can place an object in the work area where vision sensors and supervisory software identify the object and its pose and automatically determine which manufacturing task to complete. Pose uncertainty is addressed in real-time by the task planner, eliminating the need for fixtures. Grasps are validated using pressure sensors, payload sensors, and grasp quality metrics to ensure that objects are not dropped or damaged during manipulation. The robot, sensors, and peripherals are controlled using open-source software built utilizing ROS (Robot Operating System), which minimizes redevelopment and allows for re-use and extensibility. Established capabilities support vision, collision-free path planning, and more, minimizing development time. For this effort, particular attention was given to the integration of general peripheral devices (drill, chuck, etc.), which is critical to efficiently utilizing ROS in manufacturing environments. This integration is achieved with an in-development framework that allows for quick integration of peripherals, including I/O devices and motors. Contact tasks utilize the Generalized Contact Control Framework (GCCF) previously developed at UT Austin. GCCF allows application developers to easily define multiple contact control tasks for a single robot. This paper summarizes the key software components necessary to develop the multi-use work-cell including existing ROS components. UT-developed software for grasp validation, peripheral integration, and contact control is presented in more depth. Finally the glovebox system is demonstrated completing a set of tasks with no fixturing necessary. Primary tasks include surface preparation/ablation, drilling, press-fitting, and sorting, as well as supporting material transfer and inspection tasks. The glovebox work-cell reduces cost, operator dose, ergonomic issues, and time loss due to material transfer between gloveboxes that only support one task. If multiple glovebox work-cells are in use, they have the potential to eliminate bottlenecks and scale production capabilities beyond current limits. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2018

Accurate determination of density, surface tension, and vessel depth using a triple bubbler system

Here, a triple bubbler sensor was developed for use in high temperature molten salt systems used in pyroprocessing to determine the density, surface tension, and depth of the molten salt. Preliminary bubbler testing was performed in aqueous solutions to calibrate and validate the bubbler sensor. Independently determined fluid property values and depths were compared to the calculated values and the percent differences were less than 0.16 %, 3.38 %, and 0.31 % for density, surface tension, and depth, respectively. In addition, uncertainties were within 0.04 %, 1.25 %, and 0.15 % for density, surface tension, and depth, respectively.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

DOE OSTI2023

Development, Testing, and Validation of Fabry-Pérot Cavity Acoustic Sensors for Microreactor Applications

Nuclear microreactors are a unique reactor design which may allow for the nuclear energy industry to tap into unconventional markets, and their modularity presents some advantages over larger, conventional reactor designs. For nuclear microreactors to be economically viable, on-line structural health monitoring may be necessary to reduce operation and maintenance costs with lower power production. Optical fiber sensors, and specifically optical Fabry-Pérot cavities (FPCs), may present the opportunity to monitor vibrational frequencies of microreactor components during operation, enabling identification of the location and severity of potential damage. In this work, FPCs were designed and fabricated with materials which may be able to survive in the extremely harsh environment of nuclear microreactors. The FPCs were bonded to metal test specimens to monitor their vibrational frequencies, along with a reference piezoelectric accelerometer. Euler-Bernoulli theory was used to calculate the fundamental modes and mode-shapes to compare with experimentally measured frequency spectra. The peak frequencies detected with the FPC and piezoelectric accelerometer, and theoretical modes, all agreed well for the first four fundamental modes (within 5%). Furthermore, when the FPC and accelerometer were co-located on the test specimen, their peak frequencies all agreed within 1%.

Birri, Tony↗

DOE OSTI2016

Simultaneous moisture content and mass flow measurements in wood chip flows using coupled dielectric and impact sensors

An 8-electrode capacitance tomography (ECT) sensor was built and used to measure moisture content (MC) and mass flow of pine chip flows. The device was capable of directly measuring total water quantity in a sample but was sensitive to both dry matter and moisture, and therefore required a second measurement of mass flow to calculate MC. Two means of calculating the mass flow were used: the first being an impact sensor to measure total mass flow, and the second a volumetric approach based on measuring total area occupied by wood in images generated using the capacitance sensor’s tomographic mode. Tests were made on 109 groups of wood chips ranging in moisture content from 14% to 120% (dry basis) and wet weight of 280 to 1100 g. Sixty groups were randomly selected as a calibration set, and the remaining were used for validation of the sensor’s performance. For the combined capacitance/force transducer system, root mean square errors of prediction (RMSEP) for wet mass flow and moisture content were 13.42% and 16.61%, respectively. RMSEP using the combined volumetric mass flow/capacitance sensor for dry mass flow and moisture content were 22.89% and 24.16%, respectively. Either of the approaches was concluded to be feasible for prediction of moisture content in pine chip flows, but combining the impact and capacitance sensors was easier to implement. As a result, in situations where flows could not be impeded, however, the tomographic approach would likely be more useful.

09 BIOMASS FUELS↗

DOE OSTI2018

Self-Navigating Robotic Assistant for Long-term Wide Area Floor Contamination Monitoring - 18213

For Routine Contamination Testing (RCT) of an operational nuclear facility or one undergoing Decontamination and Decommissioning (D and D), workers utilize specified travel corridors (enclosed hallways or areas designated with tape or rope in open spaces) to minimize the risk of spreading contamination. Radiation health technicians must continually monitor these areas for contamination to minimize worker dose and prevent its spread to uncontrolled areas. For many sites, it is impractical for the technician to adequately survey such areas. The Nuclear Robotics Group (NRG) at UT Austin has developed a self-navigating robotic platform equipped with radiation detectors to augment the technician to improve both survey coverage and frequency. While maintaining a controlled velocity and floor-to-sensor distance, the system takes radiation measurements to identify and/or localize contamination sources. Readings above background levels are reported to a remote workstation to allow technicians to then respond accordingly. The completion of these mundane tasks by a robot allows the trained technicians to focus instead on operational tasks, D and D, or responding to alarms. The robot generates a map using a Lidar range sensor with established Simultaneous Localization and Mapping (SLAM) techniques. Range data is then compared to previously generated maps for robot localization and autonomous navigation. To maximize coverage, the robot executes a Complete Coverage Path Planning (CCPP) algorithm using a static map that is discretized into cells to assure comprehensive yet efficient coverage. As the system executes the generated plan, it builds a radiation map of the area for the technician to validate and verify the results. If contamination is detected, the robot will minimize the spread of contamination by stopping, sounding an alarm, and alerting the remote technician. The proposed system allows for long-term deployment with minimal human intervention. It is robust to both highly dynamic obstacles (i.e. personnel) and low dynamic changes (i.e. temporally stored cart) in the environment. This is accomplished through continuous spatiotemporal updating of the static map, and the utilization of a supervisory controller that allows the system to reliably respond to unexpected events or states (i.e. low battery, closed door, etc.). While the supervisory controller can respond to temporary complications, the system also recognizes the environment can change slowly over time necessitating that the CCPP automatically be updated to account for observed 'permanent' changes to the environment. To do this, the robot uses intermediate probabilistic data to make intelligent planning decisions offline while still maintaining local reactive obstacle avoidance and safety features. The self-updating of the map allows the robot to run longer without the need to remake the map, leading to more consistent monitoring data and less maintenance from the human technician. This paper will review the current system hardware, the CCPP algorithm, the supervisory controller, the probabilistic algorithm for identifying permanent changes, and recent experiments at UT Austin to experimentally validate the reported sensor coverage. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗