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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Specification of Radionuclide Classes for MELCOR Molten Salt Reactor Simulations

MELCOR has been used extensively to facilitate virtual investigations into severe nuclear accidents for light-water reactors (LWRs). Non-light water reactors (non-LWRs) render some LWR-centric approaches potentially unsuitable. MELCOR has been instrumental in analyzing source terms for LWRs and has recently expanded its applicability to non-LWRs. To simplify radionuclide (RN) tracking, MELCOR currently groups elements into 17 classes, each containing representative species. This grouping, optimized for LWRs, is not appropriate for non-LWRs due to the different chemistry. This necessitates a reevaluation of radionuclide transport modeling. This report introduces a new class scheme for MELCOR tailored to MSR modeling, expanding the current 17 classes to 32 and are explained in the context of a UF 4 fueled FLiBe carrier MSR. It provides a discussion and justification for the new groupings and outlines a methodology for discovering and defining additional classes in MELCOR using a sample calculated RN inventory and a Gibbs energy minimizer (GEM).

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2023

Radionuclide surrogate aerosolization, resuspension and suppression in hazardous situations

Radioactive fire following nuclear accidents causes resuspension of radioactive contamination that can spread over large areas. Although many papers focus on particle deposition and resuspension, a limited number of studies model its suppression. Even less data is available for the comparison of emissions across particle size, surface, and mode of resuspension. In this study, cerium dioxide surrogate for internal hazards such as radionuclide particle matter was aerosolized into a large chamber and subsequently resuspended after sedimentation. Resuspension was induced by common modes of human movement including walking, wind, and driving on common surfaces including polyvinyl chloride (PVC), artificial grass (turf), and concrete in a 5.8 m long, 3.7 m wide and 3 m high tent. The resuspension was experimentally measured for two particle sizes (1 and 10 μm) at three different heights (0.3 m, 1.2 m, and 2.4 m) and compared across size, surface, and mode of resuspension. Particle size distribution was measured using an aerodynamic particle sizer and the resuspended particles were collected with the wetted wall cyclone aerosol collector and quantitated using inductively coupled plasma mass spectrometry. The testing was repeated with the F-500 fire retardant application to study its effect on resuspension. In this study, artificial grass flooring was found to generate the most resuspension, with walking on turf for the 1 μm particle testing yielding the highest factor overall. Concrete had the lowest resuspension, showing variations in the size distribution of aerosol as a function of height from the source resuspension factors. The application of fire retardant was found to significantly reduce surrogate resuspension, regardless of resuspension method or testing surface. Here, the results provide impactful information regarding the different modes of resuspension including human transport (walking and driving) and wind for the resuspension of radionuclide surrogate particles deposited onto common surfaces and the effect of fire retardant application on their resuspension, leading to higher levels of safety for nuclear energy plants and facilities.

42 ENGINEERING↗
DOE OSTI2020

Structural Features of Zirconium-Based Metal–Organic Frameworks Affecting Radiolytic Stability

Metal–organic frameworks (MOFs) NU-1000 and UiO-66 are herein exposed to two different gamma irradiation doses and dose rates and analyzed to determine the structural features that affect their stability in these environments. MOFs have shown promise for the capture and sensing of off-gases at civilian nuclear energy reprocessing sites, nuclear waste repositories, and nuclear accident locations. However, little is understood about the structural features of MOFs that contribute to their stability levels under the ionizing radiation conditions present at such sites. This study is the first of its kind to explore the structural features of MOFs that contribute to their radiolytic stability. Both NU-1000 and UiO-66 are MOFs that contain Zr metal-centers with the same metal absorption cross section. However, the two MOFs exhibit different linker connectivities, linker aromaticities, node densities, node connectivities, and interligand separations. In this study, NU-1000 and UiO-66 were exposed to high (423.3 Gy/min, 23 min, and 37 s) and low (0.78 Gy/min, 4320 min) dose rates of 60 Co gamma irradiation. NU-1000 displayed insignificant radiation damage under both dose rates due to its high linker connectivity, low node density, and low node connectivity. However, low radiation dose rates caused considerable damage to UiO-66, a framework with lower aromaticity and smaller interligand separation. Finally, results suggest that chronic, low-radiation environments are more detrimental to Zr MOF stability than acute, high-radiation conditions.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

HYSPLIT/MACCS Atmospheric Dispersion Model Technical Documentation and Benchmark Analysis

The nuclear accident consequence analysis code MACCS has traditionally modeled dispersion during downwind transport using a Gaussian plume segment model. MACCS is designed to estimate consequence measures such as air concentrations and ground depositions, radiological doses, and health and economic impacts on a statistical basis over the course of a year to produce annualaveraged output measures. The objective of this work is to supplement the Gaussian atmospheric transport and diffusion (ATD) model currently in MACCS with a new option using the HYSPLIT model. HYSPLIT/MACCS coupling has been implemented, with HYSPLIT as an alternative ATD option. The subsequent calculations in MACCS use the HYSPLIT-generated air concentration, and ground deposition values to calculate the same range of output quantities (dose, health effects, risks, etc.) that can be generated when using the MACCS Gaussian ATD model. Based on the results from the verification test cases, the implementation of the HYSPLIT/MACCS coupling is confirmed. This report contains technical details of the HYSPLIT/MACCS coupling and presents a benchmark analysis using the HYSPLIT/MACCS coupling system. The benchmark analysis, which involves running specific scenarios and sensitivity studies designed to examine how the results generated by the traditional MACCS Gaussian plume segment model compare to the new, higher fidelity HYSPLIT/MACCS modeling option, demonstrates the modeling results that can be obtained by using this new option. The comparisons provided herein can also help decision-makers evaluate the potential benefit of using results based on higher fidelity modeling with the additional computational burden needed to perform the calculations. Three sensitivity studies to investigate the potential impact of alternative modeling options, regarding 1) input meteorological data set, 2) method to estimate stability class, and 3) plume dispersion model for larger distances, on consequence results were also performed. The results of these analyses are provided and discussed in this report.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Two-phase operation of a Terry steam turbine using air and water mixtures as working fluids

Terry steam turbines are employed in the safety systems of many nuclear Boiling Water Reactors to drive pumps and provide cooling water to the nuclear reactor core. While the turbine efficiency is low, the more important feature is high reliability under off-normal conditions. An important aspect of reliability is the ability to function with two-phase steam-water injection into the turbine, as most likely occurred in the Fukushima Dai-ichi nuclear accidents. This study investigates the characteristics of a Terry turbine during air-water injection with gas mass fractions ranging from 1 (dry gas) to 0.05 (wet gas), to better understand the Terry turbine’s true operational capabilities and provide justification for extended Terry turbine use for reactor safety. Other parameters investigated are the inlet pressure, the exhaust backpressure and the turbine’s rotational speed. The turbine performance is presented in terms of dynamometer loading and pump performance change as functions of the gas mass fraction.

42 ENGINEERING↗
DOE OSTI2021

Molecular Iodine Interactions with Fe, Ni, Cr, and Stainless Steel Alloys

The adsorption behavior of molecular iodine is important for understanding the spread of radioiodine in a nuclear accident. Prior experiments indicate that, in addition to the interaction with Fe, molecular iodine [i.e., I 2(g) ] also interacts with the next most abundant components of austenitic stainless steel (i.e., Ni, and Cr) at room temperature. Here, we investigate iodine adsorption on Fe, Ni, and Cr while focusing on understanding the variables affecting adsorption as well as the iodine compounds that are formed during adsorption. Scanning electron microscopy and energy-dispersive X-ray spectroscopy were used to characterize the surfaces of exposed metal particles and aid in the understanding of the morphology and chemistry of iodine interactions with the substrates. Inductively coupled plasma optical emission spectroscopy was used to detect low levels of metal iodides and X-ray photoelectron spectroscopy was used to confirm the formation of the metal iodides. The role of environmental factors (e.g., humidity and oxygen content) for iodine adsorption on metal substrates is addressed. The individual metals demonstrated formation of metal iodides for Fe and Ni particles from interaction with I 2(g) . The formation of metal iodides may indicate the affinity of iodine for the respective metal. In this study, the iodine affinities ranked Fe > Ni > Cr as determined by the quantity of chemisorbed iodine. This trend is also supported by the distributions and proportions of metals in the corrosion product of the stainless steels. The exposures without oxygen and humidity indicate the potential of a multistep iodine adsorption process where iodine first attacks the oxide layer and then chemisorbs to the exposed metal.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Iodine Vapor Reactions with Pure Metal Wires at Temperatures of 100–139 °C in Air

In this work, I 2(g) reactions with 11 metal wires (i.e., Al, Ag, Cu, In, Mo, Nb, Ni, Pd, Pt, Sn, Ta) were evaluated at three temperatures (i.e., 100 ± 3°C, 123 ± 4°C, 139 ± 5°C) with exposure times of 24 hours at each temperature. Over these temperatures, some of the metals showed increased mass gain with higher temperatures (i.e., In, Ag, Cu), Sn showed decreased iodine capture at increased temperatures, and most metals (i.e., Mo, Nb, Ni, Pd, Pt, and Ta) showed little to no mass gain at all temperatures. Silver mordenite (AgZ) was used as a standard during these studies and showed a consistent mass gain (m% I ) of 10.6 → 12.8% over this temperature range. The values of mass of iodine captured per mass of starting metal (g g -1 ) ranged widely across the study with the highest values achieved for (in descending order) Sn-T 100°C (4.37), In-T 139°C (3.34), Sn-T 123°C (1.98), In-T 123°C (1.57), Ag-T 139°C (1.19), In-T 100°C (0.97), and Cu-T 139°C (0.71). In some cases, the metal-iodide complex was not stable at the experimental temperature and it was clear some volatility had occurred during the experiment based on discoloration in the vials. These results show that some metals can have extensive reactions with I 2(g) without showing metal-iodide preferences over metal-oxide formation based on thermodynamic predictions. It is possible that materials such as these could be implemented near nuclear facilities to getter I 2(g) in the event of a nuclear accident.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

Increased abundance of a common scavenger affects allocation of carrion but not efficiency of carcass removal in the Fukushima Exclusion Zone

Abstract The 2011 nuclear accident in Fukushima, Japan caused the evacuation of > 100,000 people and prompted studies on environmental impacts of radiological contamination. However, few researchers have explored how the human evacuation has affected ecosystem processes. Despite contamination, one common scavenger (wild boar, Sus scrofa ) is 2–3× more abundant inside the Fukushima Exclusion Zone (FEZ). Shifts in abundance of some scavenger species can have cascading effects on ecosystems, so our objective was to investigate impacts of the evacuation and the resulting increase in wild boar on vertebrate scavenger communities. We deployed cameras at 300 carcasses in the FEZ and a nearby inhabited area, and quantified carcass fate, scavenger species, and detection/persistence times. We also tested effects of carcass size and habitat on scavenger community composition and efficiency by balancing trials across two carcass sizes and habitats in each zone. Overall scavenger richness and carcass removal rates (73%) were similar in the FEZ and inhabited area, but species-specific carcass removal rates and occurrence differed between zones. Wild boar removed substantially more carcasses inside the FEZ, with implications for nutrient and contaminant distribution. Our results suggest carcass size affects scavenging dynamics more than human activity or habitat, and abundance changes of common scavengers can influence carrion resource allocation.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Structural analyses of amorphous calcium carbonate before and after removing strontium ions from an aqueous solution

Amorphous calcium carbonate (ACC) is a precursor of crystalline calcium carbonate; hence, its structural information at the atomic level is very important for controlling the morphology of crystalline calcium carbonate. In this study, we attempted to elucidate the process of Sr extraction from aqueous solution by using ACC for the purpose of removal of radioactive Sr from the contaminated water leaked after the Fukushima Daiichi nuclear accident. Here, the pair distribution functions, g(r) obtained by X-ray and neutron diffraction (ND) measurements show that ACC has a structure partially similar to that of monohydrocalcite, suggesting that ACC is transferred to the crystalline calcium carbonate starting from its crystal nucleus. Rietveld analysis of the ND data showed that the ACC that removed Sr was crystallized to calcite. However, the Sr–O coordination analyzed using extended X-ray absorption fine structure (EXAFS) implies that the local environment of O around Sr is similar to that in crystalline calcium carbonate aragonite.

36 MATERIALS SCIENCE↗
DOE OSTI2023

Health Hazards of Exposures to Radioiodine

Iodine is a chemical element with atomic number 53. Iodine-127 is stable (non-radioactive) and commonly found in nature. Elemental iodine is a purple-colored solid at room temperature and pressure, but spontaneously sublimates (turns into vapor). Iodine is an essential element for life, and is required for proper functioning of the thyroid. Iodine is present in many foods, and is readily absorbed by the body and concentrated in the thyroid gland. A fraction of iodine ingested or inhaled is rapidly removed by the kidneys. The rest of the inhaled or ingested iodine is absorbed the by thyroid and retained for many months. Iodine has a biological half-life of approximately 120 days in health individuals. The biological half-life can be shorter in individuals with hyperthyroidism, and longer in individuals with hypothyroidism. Iodine has a number of radioactive isotopes, most of which have relatively short half-lives (days or weeks). Short half-life iodine isotopes are useful for a variety of medical applications, including imaging and cancer therapy. For example, Iodine-123 (half-life 13 hours) is commonly used for medical imaging of the thyroid, while iodine-131 (half-life 8 days) is used for suppressing thyroid function in individuals with hyperthyroidism or ablating (killing) thyroid cells to treat thyroid cancer. Iodine-125 (half-life 59 days) is produced in nuclear reactors, and has medical uses. Although iodine-125 can be used for thyroid imaging, Iodine-123 is more commonly used for that purpose because of its shorter half-life and higher-energy emissions. Iodine-125 is more commonly used for cancer treatment, and can be processed into small metal pellets (seeds) inserted directly into a tumor. Iodine-125 emits low-energy x-rays which can kill tumor cells and generally cannot escape the tumor, sparing other tissues. Medical iodine for imaging or treatment is typically administered orally in the form a pill or liquid solution. A typical adult thyroid scan using iodine-123 involves having the patient swallow between one and four 0.1 millicuries pills, with the exact dose dependent on the patient’s weight. This results in a whole-body committed effective dose of 80 – 320 mrem, and a thyroid equivalent dose of 1443 – 5772 mrem. Note that the whole-body effective dose relates to the overall cancer risk, while the larger equivalent dose to the thyroid only indicates that most of this risk is the result of exposure to the thyroid. These doses are considered safe, although the procedure is not recommended for pregnant or breastfeeding women. In contrast, the quantities of iodine-131 used for treatment of hyperthyroidism and thyroid cancers are much higher. For treatment of hyperthyroidism, 4 – 10 millicuries are administered, while for thyroid cancer the administration can range from 50 – 150 millicuries of I-131. In addition to medical exposures, large populations were exposed to radioiodine as result of the atomic bombings of Hiroshima and Nagasaki in Japan, and the Chernobyl nuclear accident. These populations have been carefully followed for many years to assess the effect of their radiation exposures on cancer risk. As a result, a great deal is known about the cancer risks associated with radioiodine exposure. Because iodine is concentrated in the thyroid, the principal risk of exposure to radioiodine is thyroid cancer. Children have the highest risk of thyroid cancer after exposure to radioactive iodine. According to a large study of Japanese atomic bomb survivors, an effective dose of one Sievert (100,000 mrem) has been observed to increase the risk of thyroid cancer by a factor of 9.5 in children aged zero to nine years old, by a factor of 3 in children aged 10 to 19 years old, and by barely detectable amounts in adults. Another way of quantifying the risk from radioiodine exposure is from risk coefficients, which provide the risk per unit intake of radionuclides in terms of both morbidity (any cancer) and mortality (death). Both morbidity (risk of cancer) and mortality (death) risks are shown in the table below. Note that because thyroid cancer is almost never fatal, the morbidity coefficients are much larger than the mortality coefficients.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2024

IER-484 CED3b Report: AFRRI ER1 Dosimetry Characterization

This report presents the preliminary work for IER 484, the characterization of the leakage radia tion field from the TRIGA reactor at the Armed Forces Radiobiology Research Institute (AFRRI). The purpose of the dose characterization is to establish the reference dose needed to execute a NAD inter-comparison exercise. During the week of August 20th, a team from Lawrence Livermore National Laboratory (LLNL), Sandia National Laboratory (SNL), and Institut de Radioprotection et de Sûreté Nucléaire (IRSN) performed various measurements in AFRRI’s TRIGA ER1 (Exposure Room 1) with Passive Neutron Spectrometer (PNS) spheres and nuclear accident dosimeters (NADs) mounted on Bottle Manikin Absorption (BOMAB) phantoms (to simulate doses received by people) and additional NADs mounted on aluminum plates (to simulate doses in free air). Without Atomic Weapons Establishment (AWE), LLNL became responsible for measuring the neutron spectrum using PNS spheres. SNL is responsible for providing photon dose data. LLNL, SNL, and IRSN each deployed their own NADs, which will be compared to the reference dose measured. Final characterization of the dose field based on analyzed data will be presented in the CED4a report.

42 ENGINEERING↗
DOE OSTI2023

A density functional theory analysis of the adsorption and surface chemistry of inorganic iodine species on graphitea

In the event of a nuclear accident, fission products may be released into the environment. The release of 131 I is of particular concern to human health. Iodine can be captured using a number of materials and frequently, this is accomplished with activated carbon impregnated with organic bases. Previous studies have used DFT and the graphite (0001) surface as a surrogate for adsorption, those studies focus on the species I • , I 2 , and CH 3 I. In this work we perform an ab initio study of the adsorption onto the surface of a graphite sheet of I 2 , CH 3 I, and inorganic acidic iodine species (HI, HOI, HIO 2 , and HIO 3 ), which were selected to examine the possible effect of oxidation state on adsorption. The PBE exchange-correlation functional with D3 dispersion was employed. It was found that for molecular iodine, the iodine atoms tended to either situate above the center of a hexagonal site on the graphite or directly atop a carbon atom with the lighter components resting closer to the graphite. For each species the relative binding energies spanned the range of 21–33 kJ mol -1 and graphite-iodine distance was in the range of 3.52–3.93 Å. In all cases we found no significant charge transfer between the iodine species and the graphite, thus we conclude that all the iodine species studied undergo strong physisorption to the graphite.

Ritzmann, Andrew M.↗
DOE OSTI2024

Synthesis and Characterization of Silver-Modified Nanoporous Silica Materials for Enhanced Iodine Removal

In aquatic environments, the presence of iodine species, including radioactive isotopes like 129 I and I 2 , poses significant environmental and health concerns. Iodine can enter water resources from various sources, including nuclear accidents, medical procedures, and natural occurrences. To address this issue, the use of natural occurring nanoporous minerals, such as zeolitic materials, for iodine removal will be explored. This study focuses on the adsorption of iodine by silver-modified zeolites (13X-Ag, 5A-Ag, Chabazite-Ag, and Clinoptilolite-Ag) and evaluates their performance under different conditions. All materials were characterized using scanning electron microscopey (SEM), energy-dispersive X-ray spectroscopy (EDS), powdered X-ray diffraction (P-XRD), Fourier-transform infrared spectrometry (FTIR), and nitrogen adsorption studies. The results indicate that Chabazite-Ag exhibited the highest iodine adsorption capacity, with an impressive 769 mg/g, making it a viable option for iodine removal applications. 13X-Ag and 5A-Ag also demonstrated substantial adsorption capacities of 714 mg/g and 556 mg/g, respectively, though their behavior varied according to different models. In contrast, Clinoptilolite-Ag exhibited strong pH-dependent behavior, rendering it less suitable for neutral to slightly acidic conditions. Furthermore, this study explored the impact of ionic strength on iodine adsorption, revealing that Chabazite-Ag is efficient in low-salinity environments with an iodine adsorption capacity of 51.80 mg/g but less effective in saline conditions. 5A-Ag proved to be a versatile option for various water treatments, maintaining its iodine adsorption capacity across different salinity levels. In contrast, Clinoptilolite-Ag exhibited high sensitivity to ionic competition, virtually losing its iodine adsorption ability at a NaCl concentration of 0.1 M. Kinetic studies indicated that the pseudo-second-order model best describes the adsorption process, suggesting chemisorption mechanisms dominate iodine removal. Chabazite-Ag exhibited the highest initial adsorption rate with a k 2 value of 0.002 mg g -1 h -1 , emphasizing its superior adsorption capabilities. Chabazite and Clinoptilolite, naturally occurring minerals, provide eco-friendly solutions for iodine adsorption. Chabazite superior iodine removal highlights its value in critical applications and its potential for addressing pressing environmental challenges.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1969

Hydrodynamics of a new concept of primary containment by energy absorption

Fluid dynamical analysis for idealized reactors system with spherical symmetry determines the effect which the destructive component of a nuclear accident produces on primary containment structures. Steel strands surrounding the reactor cavity in the biological shield exhibit plastic deformation to achieve the energy absorption.

Fistedis, S. H.↗
NASA NTRS1987

Predicting Close Satellite Encounters

Method for predicting probabilities of collisions between nominally geosynchronous satellites gives results without large computer resources. Realistically assesses possibility of collision between expired, drifting satellite and active, station-keeping satellite. Mathematical techniques in paper useful in analysis of such terrestrial risks as floods and nuclear accidents.

Mccormick, B. R.↗
NASA NTRS1996

Second International Airborne Remote Sensing Conference and Exhibition

The conference provided four days of displays and scientific presentations on applications, technology, a science of sub-orbital data gathering and analysis. The twelve displayed aircraft equipped with sophisticated instrumentation represented a wide range of environmental and reconnaissance missions,including marine pollution control, fire detection, Open Skies Treaty verification, thermal mapping, hydrographical measurements, military research, ecological and agricultural observations, geophysical research, atmospheric and meterological observations, and aerial photography. The U.S. Air Force and the On-Site Inspection Agency displayed the new Open Skies Treaty verification Boeing OC 135B that promotes international monitoring of military forces and activities. SRl's Jetstream uses foliage and ground penetrating SAR for forest inventories, toxic waste delineation, and concealed target and buried unexploded ordnance detection. Earth Search Sciences's Gulfstream 1 with prototype miniaturized airborne hyperspectral imaging equipment specializes in accurate mineral differentiation, low-cost hydrocarbon exploration, and nonproliferation applications. John E. Chance and the U.S. Army Corps of Engineers displayed the Bell 2 helicopter with SHOALS that performs hydrographic surveying of navigation projects, coastal environment assessment, and nautical charting surveys. Bechtel Nevada and U.S. DOE displayed both the Beech King AIR B-200 platform equipped to provide first response to nuclear accidents and routine environmental surveillance, and the MBB BO-105 helicopter used in spectral analysis for environmental assessment and military appraisal. NASA Ames Research Center's high-altitude Lockheed ER-2 assists in earth resources monitoring research in atmospheric chemistry, oceanography, and electronic sensors; ozone and greenhouse studies and satellite calibration and data validation. Ames also showcased the Learjet 24 Airborne Observatory that completed missions in Venus cloud cover analysis, Quadantid meteor shower studies, extra-solar far infrared ionic structure lines measurement, Cape Kennedy launch support, and studies in air pollution, The Products and Services Exhibit showcased new sensor and image processing technologies, aircraft data collection services, unmanned vehicle technology, platform equipment, turn-key services, software a workstations, GPS services, publications, and processing and integration systems by 58 exhibitors. The participation of aircraft users and crews provided unique dialogue between those who plan data collection a operate the remote sensing technology, and those who supply the data processing and integration equipment. Research results using hyperspectral imagery, radar and optical sensors, lidar, digital aerial photography, a integrated systems were presented. Major research and development programs and campaigns we reviewed, including CNR's LARA Project and European Space Agency's 1991-1995 Airborne Campaign. The pre-conference short courses addressed airborne video, photogrammetry, hyperspectral data analysis, digital orthophotography, imagery and GIS integration, IFSAR, GPS, and spectrometer calibration.

Source record↗
NASA NTRS1998

A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl

We present a novel stereoscopic mapping system for use in nuclear accident settings. First we discuss a radiation shielded sensor array desigtned to tolerate 10(sup 6)R of cumulative dose. Next we give procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh.

3-D mapping Chornobyl robot Pioneer robot Pioneer ↗