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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Multi-Gas Sensors for Enhanced Reliability of SOFC Operation

GE Research, in partnership with SUNY Polytechnic Institute (SUNY Poly), designed, built, and tested gas sensors for in situ monitoring of H 2 and CO anode tail gases produced with on-site steam reforming in solid oxide fuel cell (SOFC) systems. The knowledge of the H 2 /CO ratio of these anode tail gases should allow accurate determination and control of the efficiency of the reforming process in the SOFC system and should deliver a lower operating cost for SOFC customers. The project objectives were to achieve multi-gas monitoring capability with a single multivariable sensor, and to sustain this performance in the presence of gaseous interferences and a potential poison for the sensor. The duration of the project was 24 months with the project structure that included three technical tasks such as (1) development of design rules of photonic nanostructures for H 2 and CO gas detection, (2) laboratory validation of photonic nanostructures for selective H 2 and CO gas detection, and (3) validation of photonic nanostructures for initial stability and poison-resistance against H 2 S. To build multivariable sensors for selective H 2 and CO gas detection in the presence of interferences, we expanded our earlier knowledge of multi-gas sensors into new fabrication and functionalization methodologies as well as into new methodologies for the spectral data analysis of multi-gas responses. We have advanced our design rules of the three-dimensional (3D) photonic nanostructures that allowed detection of H 2 and CO at high temperatures as individual gases and as their mixtures and rejection of interferences such as CO 2 , H 2 O, CH 4 , and other hydrocarbons for SOFC applications. Our advanced design rules should be attractive for building the new generation of cost-effective industrial sensors. Stability and poison resistance of our 3D photonic nanostructures was tested in the laboratory conditions. While initially we utilized conventional machine learning data analysis tools, we have found that they were unable to correct for the sensor drift. Thus, we have implemented new methods of machine learning for the analysis of our spectral data. These learnings pave the way to move the future studies into advanced testing of effects of interferences, aging and field tests. In future, our work will continue to advance our sensing designs to operate in conditions with known and unknown interferences by implementing nanostructures with enhanced spectral diversity of responses to gaseous species of interest and interferences. Our systematic reduction of technical risks in this completed project and in future studies will ensure transition of this sensing technology to commercialization.

03 NATURAL GAS↗
DOE OSTI2014

Born’s rule as signature of a superclassical current algebra

We present a new tool for calculating the interference patterns and particle trajectories of a double-, three- and N-slit system on the basis of an emergent sub-quantum theory developed by our group throughout the last years. The quantum itself is considered as an emergent system representing an off-equilibrium steady state oscillation maintained by a constant throughput of energy provided by a classical zero-point energy field. We introduce the concept of a “relational causality” which allows for evaluating structural interdependences of different systems levels, i.e. in our case of the relations between partial and total probability density currents, respectively. Combined with the application of 21st century classical physics like, e.g., modern nonequilibrium thermodynamics, we thus arrive at a “superclassical” theory. Within this framework, the proposed current algebra directly leads to a new formulation of the guiding equation which is equivalent to the original one of the de Broglie–Bohm theory. By proving the absence of third order interferences in three-path systems it is shown that Born’s rule is a natural consequence of our theory. Considering the series of one-, double-, or, generally, of N-slit systems, with the first appearance of an interference term in the double slit case, we can explain the violation of Sorkin’s first order sum rule, just as the validity of all higher order sum rules. Moreover, the Talbot patterns and Talbot distance for an arbitrary N-slit device can be reproduced exactly by our model without any quantum physics tool. -- Highlights: •Calculating the interference patterns and particle trajectories of a double-, three- and N-slit system. •Deriving a new formulation of the guiding equation equivalent to the de Broglie–Bohm one. •Proving the absence of third order interferences and thus explaining Born’s rule. •Explaining the violation of Sorkin’s order sum rules. •Classical simulation of Talbot patterns and exact reproduction of Talbot distance for N slits.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2018

Selective enhancement of Selényi rings induced by the cross-correlation between the interfaces of a two-dimensional randomly rough dielectric film

By the use of both perturbative and non-perturbative solutions of the reduced Rayleigh equation, we present a detailed study of the scattering of light from two-dimensional weakly rough dielectric films. It is shown that for several rough film configurations, Selényi interference rings exist in the diffusely scattered light. For film systems supported by dielectric substrates where only one of the two interfaces of the film is weakly rough and the other planar, Selényi interference rings are observed at angular positions that can be determined from simple phase arguments. For such single-rough-interface films, we find and explain by a single scattering model that the contrast in the interference patterns is better when the top interface of the film (the interface facing the incident light) is rough than when the bottom interface is rough. When both film interfaces are rough, Selényi interference rings exist but a potential cross-correlation of the two rough interfaces of the film can be used to selectively enhance some of the interference rings while others are attenuated and might even disappear. This feature may in principle be used in determining the correlation properties of interfaces of films that otherwise would be difficult to access.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2016

Clinical Indicators of Psychosocial Distress Predict for Acute Radiation-Induced Fatigue in Patients Receiving Adjuvant Radiation Therapy for Breast Cancer: An Analysis of Patient-Reported Outcomes

Purpose: To assess the magnitude and predictors of patient-reported fatigue among breast cancer patients receiving radiation therapy (RT). Methods and Materials: Patients receiving breast RT completed a survey querying fatigue at each weekly on-treatment visit. Patient-reported fatigue severity and interference was assessed on an ordinal scale of 0 to 4, using a validated scoring system. Baseline anxiety and depression scores were also obtained. The kinetics of mean fatigue scores per week and the maximum fatigue scores over the course of the entire treatment were assessed, and clinical predictors were identified by univariate and multivariate regression. Results: The average fatigue severity and interference scores were 0.6 and 0.46. The average fatigue scores increased to an equivalent extent from week to week, with expected increases of 0.99 in fatigue severity and 0.85 in interference over 7 weeks. Patients treated with hypofractionated RT (HF-RT) versus conventionally fractionated RT (CF-RT) had significantly fewer maximum fatigue severity or interference scores that were >2 (ie, severe or very severe; 29% vs 10% for severity, and 26% vs 8% for interference, P<.01). Age ≤45 years, presence of psychiatric/pain-related comorbidities, and baseline sadness and anxiety severity were predictive of average and maximum fatigue scores (P<.05), but variables related to treatment intensity (eg, mastectomy vs lumpectomy, chemotherapy use, radiation target volumes) and other host factors (working, children, marital status, proximity to RT facility) were not. Conclusion: Patient-reported fatigue modestly increases over RT courses, with less maximum fatigue reported with HF-RT. Younger age and baseline sadness, anxiety, and psychiatric/pain-related comorbidities are powerful predictors of fatigue, whereas other factors, such as treatment intensity, are not. Future studies will investigate interventions for patients at high risk for fatigue.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2020

Spontaneous Raman–LIF–CO–OH measurements of species concentration in turbulent spray flames

This paper presents new measurements of species concentrations, temperature and mixture fraction in selected regions of a turbulent ethanol spray flame. The line-Raman–LIF–COsingle bondOH setup developed at the Sandia's Combustion Research Facility is utilised to probe regions of a spray flame where laser breakdown of liquid droplets is avoided and the remaining interferences can be corrected. The spray flame is stabilised on the piloted Sydney needle spray burner, where axial translation of the liquid injecting needle in the air-blast stream can transition the spray from dilute to dense. The solution to obtaining successful measurements is found to be multifaceted and includes: the appropriate selection of flame conditions; high sensitivity of the Raman detection system permitting reduced laser energies; development of a pre-processing algorithm to reject strong droplet interferences; and application of the hybrid matrix inversion method combined with wavelet denoising to account for interference corrections and noise at the very low signal levels obtained. Unique and necessary for the successful measurements reported in this paper, a pre-processing algorithm is outlined that removes data points corrupted with strong interferences from droplets. These interferences arise from a range of sources, but the most intense are due to the laser interaction with surrounding mist or liquid fragments, such that measurements near the jet centreline are corrupted and hence discarded. Reliable measurements of mixture fraction, temperature obtained from the sum of the species number densities, and species mole fractions are reported for regions in the flames sufficiently far from the centreline. The paper demonstrates the feasibility of the judicious use of Raman scattering in turbulent spray flames, the results of which will be extremely useful for validating numerical simulations.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2011

A colorimetric sensor based on anodized aluminum oxide (AAO) substrate for the detection of nitroaromatics.

Simple and low cost colorimetric sensors for explosives detection were explored and developed. Anodized aluminum oxide (AAO) with large surface area through its porous structure and light background color was utilized as the substrate for colorimetric sensors. Fabricated thin AAO films with thickness less than {approx} 500 nm allowed us to observe interference colors which were used as the background color for colorimetric detection. AAO thin films with various thickness and pore-to-pore distance were prepared through anodizing aluminum foils at different voltages and times in dilute sulfuric acid. Various interference colors were observed on these samples due to their difference in structures. Accordingly, suitable anodization conditions that produce AAO samples with desired light background colors for optical applications were obtained. Thin film interference model was applied to analyze the UV-vis reflectance spectra and to estimate the thickness of the AAO membranes. We found that the thickness of produced AAO films increased linearly with anodization time in sulfuric acid. In addition, the growth rate was higher for AAO anodized using higher voltages. The thin film interference formulism was further validated with a well established layer by layer deposition technique. Coating poly(styrene sulfonate) sodium salt (PSS) and poly(allylamine hydrochloride) (PAH) layer by layer on AAO thin film consistently shifted its surface color toward red due to the increase in thickness. The red shift of UV-vis reflectance was correlated quantitatively to the number of layers been assembled. This sensitive red shift due to molecular attachment (increase in thickness) on AAO substrate was applied toward nitroaromatics detection. Aminopropyltrimethoxysilane (APTS) which can be attached onto AAO nanowells covalently through silanization and attract TNT molecules was coated and applied for TNT detection. UV-vis spectra of AAO with APTS shifted to the longer wavelength side due to TNT attachment. This red shift implied AAO thickness increased and positive detection of TNT molecules. It was also observed that both APTS and polyethyleneimine (PEI) were electron rich polymers which formed Meisenheimer complexes with TNT in solution and changed its color abruptly. This strong color change due to chemical reaction was applied as another approach for direct TNT detection. Commercial AAO films with long pores (60 {mu}m) and white background color were coated with APTS or PEI and then exposed to TNT in solution. These membranes turned to pink rapidly and eventually became visibly orange after a few hours with a strong absorption around 500 nm that was consistent with the formation of Meisenheimer complexes. The visible color change can be observed by unaided eyes and is suitable for nitroaromatics detection at higher concentration while interference color red shift in AAO thin film is designed for nitroaromatics detection at monolayer (nm) level.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Application of end-of-shift respirable crystalline silica monitoring to construction

A pilot project was conducted to determine the effect of common construction dusts as interferences in a new portable end-of-shift (EoS), direct-on-filter (DoF) sampling and analysis method for respirable crystalline silica (RCS), in this case, quartz. Construction dusts were prepared from plaster, drywall, cement and brick by grinding, aerosolizing, and collecting respirable dust with high flow rate cyclones. Filters were loaded with different levels of commercial α-quartz powder Min-u-Sil 5, and different levels of interfering dusts, singly and in combination. Samples were analyzed by Fourier Transform Infrared Spectroscopy (FTIR). Good correlations were found between nominal quartz loading (0 µg, 25 µg, 50 µg, and 100 µg) adjusted for quartz in the interfering dust and FTIR absorbance alone and in the presence of all interfering dusts. The slopes of the correlations were similar whether the loading was quartz without interference, or with plaster, drywall, and cement dusts, regardless of quantity. The results show that (a) plaster and drywall dusts do not interfere substantially; (b) cement does not interfere, but a change in the intercept suggests an effect on the background absorbance of the filter; and (c) in addition to having a substantial quartz content, brick dust contains an additional material, probably a silicate mineral, which interferes with the quartz peak. Thus, the presence of cement leads to lower quartz values and brick leads to higher values, but overall, 83% of the quartz contents predicted from the calibration data agreed within 50% of the adjusted nominal loadings within the range 20–110 µg. This result is encouraging given the high levels of interfering dusts. Nine samples loaded with smaller amounts of all four dusts together gave results within 25% of the adjusted nominal loadings. A single mixture addition of the dusts to the filter gave tighter variance in results than sequential additions. Unexpectedly, the two Certified Reference Materials (CRMs) 1878a and 1878b, gave different results when used to calibrate XRD analysis of Min-u-Sil 5.

42 ENGINEERING↗
DOE OSTI2024

Four Channel Time Multiplexed Photonic Doppler Velocimetry using an Optical Switch

Photonic Doppler Velocimetry (PDV) is a diagnostic commonly used in shock physics and dynamic compression experiments to reliably get velocity information from experiments. In PDV systems, a common method of reducing experimental cost is to use time and frequency multiplexing to increase the number of PDV probes. With time multiplexing, interference between probes is a frequent problem. In this report, we look at using a high-speed optical switch to reduce this interference, including measuring the amount of interference generated to determine if it has the potential to affect experiments and integrating a time multiplexing system into an experiment. We find that, when applied to PDV systems, there is approximately (-23.4 ± 0.9) dB of interference measured in the short time Fourier transform between switch inputs. When an optical switch based time multiplexing system was integrated into a dynamic compression experiment, the system was able to successfully combine the signals from four different PDV probes onto a single optical cable without unacceptable levels of interference in the spectrogram. An optical switch based time multiplexing system appears to be a promising method for reducing the cost of fielding larger numbers of PDV probes in an experiment.

47 OTHER INSTRUMENTATION↗
DOE OSTI2017

Adaptive OFDM Waveform Design for Spatio-Temporal-Sparsity Exploited STAP Radar

In this chapter, we describe a sparsity-based space-time adaptive processing (STAP) algorithm to detect a slowly moving target using an orthogonal frequency division multiplexing (OFDM) radar. The motivation of employing an OFDM signal is that it improves the target-detectability from the interfering signals by increasing the frequency diversity of the system. However, due to the addition of one extra dimension in terms of frequency, the adaptive degrees-of-freedom in an OFDM-STAP also increases. Therefore, to avoid the construction a fully adaptive OFDM-STAP, we develop a sparsity-based STAP algorithm. We observe that the interference spectrum is inherently sparse in the spatio-temporal domain, as the clutter responses occupy only a diagonal ridge on the spatio-temporal plane and the jammer signals interfere only from a few spatial directions. Hence, we exploit that sparsity to develop an efficient STAP technique that utilizes considerably lesser number of secondary data compared to the other existing STAP techniques, and produces nearly optimum STAP performance. In addition to designing the STAP filter, we optimally design the transmit OFDM signals by maximizing the output signal-to-interference-plus-noise ratio (SINR) in order to improve the STAP performance. The computation of output SINR depends on the estimated value of the interference covariance matrix, which we obtain by applying the sparse recovery algorithm. Therefore, we analytically assess the effects of the synthesized OFDM coefficients on the sparse recovery of the interference covariance matrix by computing the coherence measure of the sparse measurement matrix. Our numerical examples demonstrate the achieved STAP-performance due to sparsity-based technique and adaptive waveform design.

Sen, Satyabrata↗
DOE OSTI2024

System and method for multi-channel pyrometer allowing non-contact temperature measurements down to 800 K on the microsecond scale

The present disclosure relates to a system for sensing temperature changes on a microsecond scale. The system uses a multi-channel pyrometer that works in the NIR spectrum to receive thermal radiation. Each channel includes an interference filter tuned to pass thermal radiation within a specified wavelength range, and a detector. Each detector detects thermal radiation focused on it. Each channel further includes an interference filter which reflects thermal radiation which does not pass through it to a subsequent downstream interference filter of a subsequent channel. Each subsequent interference filter is oriented to reflect the thermal radiation not passing through it to a next downstream one of the subsequent interference filters. A subsystem is included for receiving the output from the detectors and determining sensed temperature data therefrom, allowing measurement of temperatures down to 800 K.

Montgomery, Jeffrey↗
DOE OSTI2019

Research on the Corrosion Behavior of X70 Pipeline Steel Under Coupling Effect of AC + DC and Stress

The coupling effect of stray AC (alternating current) + DC (direct current) and tensile stress-induced X70 pipeline corrosion is complicated with its mechanism uncovered. In this work, the corrosion behavior of X70 pipeline steel under three different corrosion (including an individual AC corrosion, mixed AC + 150 MPa tensile stress corrosion, coupling effect of AC + a 30 A/m{sup 2} DC interference and 150 MPa tensile stress corrosion) conditions in Dagang soil simulated solution was investigated by COMSOL Multiphysics software simulation, electrochemical tests, scanning electron microscope and other techniques. The results indicated that with the increase in AC density, the open-circuit potential of the X70 steel samples was negatively shifted and corrosion rate increased in three different corrosion conditions. The corrosion rates of X70 steel samples under individual AC interference were almost unchanged when 150.9 MPa tensile stress was applied. When applying 30 A/m{sup 2} DC interference, the corrosion rate of X70 steel increases significantly. Therefore, the factors affecting corrosion performance of X70 pipeline steel were DC > AC > stress. Under individual AC interference, uniform corrosion occurred on the X70 steel at an AC current density of less than 30 A/m{sup 2}, while the pitting corrosion occurred at an AC current density of greater than 100 A/m{sup 2}. The application of tensile stress and DC had a certain inhibitory effect on pitting corrosion.

36 MATERIALS SCIENCE↗
DOE OSTI2016

CHILI – the Chicago Instrument for Laser Ionization – a new tool for isotope measurements in cosmochemistry

We describe CHILI, the Chicago Instrument for Laser Ionization, a new resonance ionization mass spectrometer developed for isotopic analysis at high spatial resolution and high sensitivity of small samples like contemporary interstellar dust grains returned by the Stardust spacecraft. We explain how CHILI addresses the technical challenges associated with such analyses by pushing most technical specifications towards their physical limits. As an initial demonstration, after many years of designing and developing CHILI, we have analyzed presolar silicon carbide grains for their isotopic compositions of strontium, zirconium, and barium. Subsequently, after further technical improvements, we have used CHILI to analyze, for the first time without interference, all stable isotopes of iron and nickel simultaneously in presolar silicon carbide grains. With a special timing scheme for the ionization lasers, we separated iron and nickel isotopes in the time-of-flight spectrum such that the isobaric interference between Fe-58 and Ni-58 was resolved. In-depth discussion of the astrophysical implications of the presolar grain results is deferred to dedicated later publications. Here we focus on the technical aspects of CHILI, its status quo, and further developments necessary to achieve CHILI's ultimate goals, similar to 10 nm lateral resolution and 30-40% useful yield.

Stephan, Thomas (ORCID:0000000163778731)↗
DOE OSTI2015

Note: Coherent resonances observed in the dissociative electron attachment to carbon monoxide

Succeeding our previous finding about coherent interference of the resonant states of CO{sup −} formed by the low-energy electron attachment [Tian et al. Phys. Rev. A 88, 012708 (2013)], here we provide further evidence of the coherent interference. The completely backward distributions of the O{sup −} fragment of the temporary CO{sup −} are observed with anion velocity map imaging technique in an electron energy range of 11.3–12.6 eV and explained as the results of the coherent interferences of three resonant states. Furthermore, the state configuration of the interference is changed with the increase of electron attachment energy.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2015

Chromatic dispersion effects in ultra-low coherence interferometry

We consider the properties of an interference signal shift from zero-path-difference position in the presence of an uncompensated dispersive layer in one of the interferometer arms. It is experimentally shown that in using an ultra-low coherence light source, the formation of the interference signal is also determined by the group velocity dispersion, which results in a nonlinear dependence of the position of the interference signal on the geometrical thickness of the dispersive layer. The discrepancy in the dispersive layer and compensator refractive indices in the third decimal place is experimentally shown to lead to an interference signal shift that is an order of magnitude greater than the pulse width. (interferometry)

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2018

Analysis of Different Contributions into the Magnetooptical Signal of Magnetophotonic Crystal Type Three-Dimensional Structures

Interference of effects of different levels and magnitudes in producing a net magnetooptical response was considered for the first time in structures similar to magnetophotonic crystals at different wavelengths of the incident irradiation in regions far from plasmon resonances. Contributions of interference and diffraction phenomena in maxima of different orders in three-dimensional systems of the magnetophotonic crystal type were studied. Use of the integral response in the analysis of the magnetooptical effects was shown to lead to disappearing of the interference phenomena. The zero-order diffraction maximum reflects adequately the magnetic component of the magnetooptical response. Numerical estimates of the observed diffraction and interference effects are reported.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2021

Wave Dark Matter

Here we review the physics and phenomenology of wave dark matter: a bosonic dark matter candidate lighter than about 30 eV. Such particles have a de Broglie wavelength exceeding the average interparticle separation in a galaxy like the Milky Way and are, thus, well described as a set of classical waves. We outline the particle physics motivations for such particles, including the quantum chromodynamics axion as well as ultralight axion-like particles such as fuzzy dark matter. The wave nature of the dark matter implies a rich phenomenology: Wave interference gives rise to order unity density fluctuations on de Broglie scale in halos. One manifestation is vortices where the density vanishes and around which the velocity circulates. There is one vortex ring per de Broglie volume on average. For sufficiently low masses, soliton condensation occurs at centers of halos. The soliton oscillates and undergoes random walks, which is another manifestation of wave interference. The halo and subhalo abundance is expected to be suppressed at small masses, but the precise prediction from numerical wave simulations remains to be determined. For ultralight ∼10 −22 eV dark matter, the wave interference substructures can be probed by tidal streams or gravitational lensing. The signal can be distinguished from that due to subhalos by the dependence on stream orbital radius or image separation. Axion detection experiments are sensitive to interference substructures for wave dark matter that is moderately light. The stochastic nature of the waves affects the interpretation of experimental constraints and motivates the measurement of correlation functions. Current constraints and open questions, covering detection experiments and cosmological, galactic, and black hole observations, are discussed.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2020

Surface plasmon polariton pulse shaping via two-dimensional Bragg grating pairs

Abstract We demonstrate control over the spatial and temporal properties of surface plasmon polaritons (SPPs) launched from nanohole arrays in silver. The arrays provide wave vector matching to allow the conversion of free-space photons into counter-propagating SPPs. SPPs launched from multiple arrays interfere at well-defined spatial positions, and the interference fringes form an all-SPP periodic nano-optical grating which evolves in space and time as the SPPs propagate. The spatio-temporal characteristics of the optical grating can be tuned through various nanohole array parameters such as tilt angle, separation, and array width. In addition, we examine multiperiodic arrays (MPAs) consisting of arrays with different pitches placed adjacent to one another. This platform allows the temporal interference of SPPs with different central wavelengths to be tailored through the MPA geometric and structural parameters. The temporal interference serves as an encoded signal, whereby the frequency components can be controlled by the array properties.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2019

Analysis of the Impact of Radiation on Cameras and Robotic Perception - 19242

Robotic systems are increasingly used for inspection, maintenance, and disaster assistance for nuclear power plants. These robots utilize increasingly high levels of autonomy to operate in environments that are unsafe for humans to operate the robot in or require more precise control over the robot than a human can offer. In these cases, the robot must include perception and computation components to autonomously sense and navigate through the environment to fulfill its mission. This difficult task is complicated by radiation interfering with sensors' operation. The impact of this interference is largely unexplored, as existing works on radiation interference on sensors focus on estimating the incident radiation, rather than how it impacts a robotic system using the sensor. In this work, we seek to quantify and describe the impact of radiation on cameras, and how the radiation affects robotic performance. In this paper we study cameras that are suitable for small, lightweight unmanned aerial vehicles (UAVs) that are increasingly deployed to fly in confined areas in emergencies, where the surrounding environment is unsafe for workers to operate. These small UAVs lack the payload capacity to carry significant radiation shielding, so any onboard sensors will be affected by radiation. In the case of cameras, this radiation appears as noise in the camera imagery. This noise will interfere with the UAV's operation, by obscuring obstacles and interfering with localization and optical flow algorithms that detect detailed features in the environment. To date, there is a lack of information on how the radiation noise in the camera image impacts the overall robot system performance Existing work focuses on estimating the amount of incident radiation by measuring the corruption in the images. However, these works suffer several shortcomings for robotic systems. First, a robot must be able to successfully navigate its environment during a successful mission, and merely quantifying the amount of radiation noise in an image does not adequately explain how it may interfere with higher level navigation and perception tasks. Second, radiation estimation procedures rely on focusing the camera on a known and static background. This is unsuitable for robotic exploration tasks, where the robot frequently moves around an unknown environment that may be dynamically changing. Our work contains two contributions that address these shortcomings. First, we conduct a detailed analysis of the noise radiation causes in cameras by exposing cameras that are commonly used on UAVs [e.g., small form factor complementary metal-oxide-semiconductor (CMOS) cameras] to varying levels of radiation that may be present in emergency scenarios. From this exposure, we quantify not only how much noise is present, but quantify its appearance. By quantifying the appearance and amount of noise in a camera image, researchers can design mitigation strategies for the corruption, so that their robotic systems can operate in these challenging environments. Second, we demonstrate how to leverage this experimental data in robotic simulations. Using data from the first set of experiments allows us to test and verify the robots in simulation. Using simulators allows us to verify the robots will perform as expected during critical times without needing expensive test equipment or damaging valuable robot prototypes. Other researchers using robots for exploration of irradiated environments will benefit from our research by incorporating similar noise models in their research. 1 Southwest Research Institute{sup R} is a registered trademark of Southwest Research Institute in the United States and/or other countries. This will increase the reliability of robotic systems prior to deployment in emergency situations, which will in turn increase their effectiveness and speed the development of robots that would otherwise need expensive and time-consuming test procedures to validate. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗