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NASA NTRS2014

Simulation Technology at NASA

NASA Ames Research Center is home to several high-fidelity research flight and air-traffic control simulation facilities which, together with an experienced workforce, produce high-quality research data and findings that have proven to be applicable in the real world. These assets include the Vertical Motion Simulator (VMS), Crew Vehicle Systems Research Facility (CVSRF), Future Flight Central (FFC) air traffic control tower simulator, and several air-traffic control (ATC) simulators. The VMS combines a high-fidelity simulation capability with an adaptable simulation environment, enabling customization for numerous human-in-the-loop research applications. The distinctive feature of the VMS is its unparalleled large amplitude, high-fidelity motion capability. In over 30 years of continuous operation, the VMS has contributed significantly to the body of knowledge in a range of disciplines directly benefiting several aerospace programs and flight safety, including the design and development of flight control systems for the Joint Strike Fighter, Space Shuttle Orbiter, and rotorcraft. It continues to be used for researching new vehicle configurations, vehicle control and safety, transfer-of-training, etc., by NASA, other government agencies, and Industry.The CVSRF includes two motion-based flight simulators: a Boeing 747-400 full flight simulator and the reconfigurable Advanced Concepts Flight Simulator (ACFS). These simulators are primarily used to research air-traffic management concepts and procedures, advanced navigation and avionics concepts, and cockpit human factors. FFC is a full-sized control tower simulator with a 360-degree external field-of-view display system and reconfigurable system architecture. FFC and the ATC simulators are used for testing air-traffic management automation and decision support tools and demonstrate their feasibility in a realistic environment prior to technology transfer for implementation in the National Airspace System (NAS).To support integrated simulations and flight-tests for NASA's Unmanned Aircraft Systems (UAS) in the National Airspace System (NAS) Project, NASA developed a distributed test environment incorporating Live, Virtual, Constructive, (LVC) concepts. Development of the software enabling the LVC is conducted primarily at the Distributed Simulation Research Lab (DSRL) at NASA Ames. The LVC components provide the core infrastructure supporting simulation of UAS operations by integrating live and virtual aircraft in a realistic air traffic environment. This provides the ability to conduct tests more efficiently by promoting the use of existing distributed assets. The LVC infrastructure was used in several human-in-the-loop simulations to evaluate acceptance of Detect and Avoid (DAA) advisories used by UAS pilots to maintain well clear of other virtual traffic and to negotiate maneuvers with air traffic control. It is currently being used to support testing of self-separation algorithms between unmanned and manned aircraft in live flight. Further simulations with more comprehensive air traffic scenarios mixing live and virtual aircraft is planned.In the current fiscal environment, maintaining and upgrading these high-fidelity simulation assets and retaining the skilled workforce necessary to meet future research needs is the primary non-technical challenge.

CVSRF↗

NASA NTRS2009

Progress on the Development of Future Airport Surface Wireless Communications Network

Continuing advances in airport surface management and improvements in airport surface safety are required to enable future growth in air traffic throughout the airspace, as airport arrival and departure delays create a major system bottleneck. These airport management and safety advances will be built upon improved communications, navigation, surveillance, and weather sensing, creating an information environment supporting system automation. The efficient movement of the digital data generated from these systems requires an underlying communications network infrastructure to connect data sources with the intended users with the required quality of service. Current airport surface communications consists primarily of buried copper or fiber cable. Safety related communications with mobile airport surface assets occurs over 25 kHz VHF voice and data channels. The available VHF spectrum, already congested in many areas, will be insufficient to support future data traffic requirements. Therefore, a broadband wireless airport surface communications network is considered a requirement for the future airport component of the air transportation system. Progress has been made on defining the technology and frequency spectrum for the airport surface wireless communications network. The development of a test and demonstration facility and the definition of required testing and standards development are now underway. This paper will review the progress and planned future work.

Kerczewski, Robert J.↗

NASA NTRS2011

Combining Space-Based and In-Situ Measurements to Track Flooding in Thailand

We describe efforts to integrate in-situ sensing, space-borne sensing, hydrological modeling, active control of sensing, and automatic data product generation to enhance monitoring and management of flooding. In our approach, broad coverage sensors and missions such as MODIS, TRMM, and weather satellite information and in-situ weather and river gauging information are all inputs to track flooding via river basin and sub-basin hydrological models. While these inputs can provide significant information as to the major flooding, targetable space measurements can provide better spatial resolution measurements of flooding extent. In order to leverage such assets we automatically task observations in response to automated analysis indications of major flooding. These new measurements are automatically processed and assimilated with the other flooding data. We describe our ongoing efforts to deploy this system to track major flooding events in Thailand.

Flooding↗

DOE OSTI2021

A Circular Economy for Solar Photovoltaic System Materials: Drivers, Barriers, Enablers, and U.S. Policy Considerations

As PV capacity increases, owners are also decommissioning older system assets. Estimates based on a 30-year lifetime assumption found that cumulative U.S. end-of-life (EoL) PV modules could total one million metric tons (Mt) by 2030 and up to 10 million Mt by 2050 (Weckend, Wade, and Heath 2016). Beyond maintenance replacements, early retirements that are due to efficiency upgrades and extreme weather, as well as PV deployment beyond earlier expectations, would increase these projections. PV system owners must evaluate equipment management options for used modules and system components retired during maintenance activities, refurbishment, repowering and system decommissioning. PV manufacturers must also evaluate material management options from customer returns, defects, and scrap. Management options for early retired and EoL PV system material include reuse, repair for reuse, recycling-based resource recovery, storage, and disposal. Disposal of PV system material increases the burden on landfill capacity, while reuse, repair for reuse, and recycling-based resource recovery (reuse/repair/recovery) options salvage valuable materials and provide secondary market opportunities and ancillary benefits (Weckend, Wade, and Heath 2016; EPA 2019c; SWEEP 2019). PV system owners may also decide store used modules and components as spares, or in the interim before a reuse or EoL management decision is made. Despite potential secondary market opportunities and the potential benefits associated with the repair/reuse/recovery of PV system material, anecdotal evidence suggests that in the United States decommissioned PV modules are stored, landfilled or otherwise disposed of (Salim et al. 2019; CPUC 2019b; DTSC 2019b; NREL 2019a). Some modules are being disposed of in municipal nonhazardous landfills and federally regulated hazardous treatment, storage, and disposal facilities, and others are being stored in warehouses until economically viable repair/reuse/recycling becomes available (CPUC 2019b; DTSC 2019b; NREL 2019a; Libby and Shaw 2018). As awareness of current practices grows, and the demand for critical PV module material increases, U.S. industry stakeholders, regulators, and policymakers are starting to (1) consider solutions to drive and enable environmentally sustainable materials management decisions and behaviors and (2) identify barriers to a circular economy for PV system materials. Circular economy principles attempt to transition from a "take-make-consume-dispose" linear economic system to a circular system that allows for the long life, and the reuse/repair/recovery of products and materials (Ellen MacArthur Foundation 2020). We begin this report by summarizing the drivers, barriers, and enablers to a circular economy for PV system materials in the United States. We then report on our analysis of federal and state regulatory considerations that may impact the repair/reuse/recovery of PV materials, and potential civil and criminal liabilities associated with noncompliance. We then discuss state policies and initiatives in the United States that expressly address PV system decommissioning and repair/reuse/recovery of PV materials. We conclude by providing case studies of U.S. business models for the repair/reuse/recovery of PV system materials. Our results are based on legal and literature-based research and interviews with solar industry stakeholders, regulators, and policymakers.

14 SOLAR ENERGY↗

NASA NTRS1995

Marketing Remote Sensing Data for North Pacific Fisheries Development and Management

Fish poaching, drug trafficking, ocean dumping, and other illegal activities are important problems on the high seas and in national economic zones. The primary thrust of the EOCAP II project, "Marketing Remote Sensing Data for North Pacific Fisheries Development and Management", was to use space-based sensors to improve the effectiveness of marine monitoring, control, and surveillance (MCS). Our initial objectives were to concentrate on the development of MCS tools using Advanced Very High Resolution Radiometry (AVHRR) and Synthetic Aperture Radar (SAR) data. Although we have successfully completed development of an initial version of our SAR-based monitoring tool (OmniVision), project activity has resulted in a much broader application of space-based assets to marine applications. Based in part on work commenced within EOCAP II, a new company, Ocean and Coastal Environmental Sensing, Inc. (OCENS), has been launched and the development of several new software products outside of the MCS arena initiated. One of those products, SeaStation, is near completion with a Fall, 1995 release date. Equity investment in OCENS now totals $70,000-with an additional amount being sought in the first round of financing. One of the pre-eminent objectives of EOCAP II is to make contributions to the US economy and job growth through the expansion of commercial uses of remotely sensed data. OCENS and the software products it is introducing into marine and coastal zone markets responds to this primary object*e. EOCAP II funding leveraged the market and technical know-how of OCENS founders into smart products that benefit marine and coastal zone users. Although technical difficulties and geopolitical shifts damaged the commercial feasibility of initial project objectives, the flexibility of the EOCAP II program now permits long-term business success. This in no small part stems from the fact that the EOCAP program recognizes the realities of small and start-up businesses and does not attempt to force these conditions to fit the apparent needs of big government. Instead, EOCAP works with those who know their market best in order to produce successful products and expanding businesses.

Source record↗

NASA NTRS2012

Materials in NASA's Space Launch System: The Stuff Dreams are Made of

Mr. Todd May, Program Manager for NASA's Space Launch System, will showcase plans and progress the nation s new super-heavy-lift launch vehicle, which is on track for a first flight to launch an Orion Multi-Purpose Crew Vehicle around the Moon in 2017. Mr. May s keynote address will share NASA's vision for future human and scientific space exploration and how SLS will advance those plans. Using new, in-development, and existing assets from the Space Shuttle and other programs, SLS will provide safe, affordable, and sustainable space launch capabilities for exploration payloads starting at 70 metric tons (t) and evolving through 130 t for entirely new deep-space missions. Mr. May will also highlight the impact of material selection, development, and manufacturing as they contribute to reducing risk and cost while simultaneously supporting the nation s exploration goals.

May, Todd A.↗

DOE OSTI2022

Integrated Risk-Informed Condition Based Maintenance Capability and Automated Platform: Technical Report 3

This project is a collaborative research effort between PKMJ Technical Services LLC, Idaho National Laboratory, and Public Service Enterprise Group (PSEG) Nuclear, LLC. The collaboration, led by PKMJ Technical Services LLC, is part of the industry Funding Opportunity Announcement (FOA) award under Advanced Nuclear Technology Development FOA #DE-FOA-0001817. The pilot demonstration focuses on the Circulating Water System (CWS), an important non-safety-related system that impacts the power generation capability of the plant site. Achieving riskinformed condition-based Predictive Maintenance (PdM) on the CWS will result in significant economic benefits, and the developed methodologies can also be applied to other plant systems. This approach supports an industry goal of ensuring that nuclear power generation remains a viable, economically competitive option in the energy market. Operation and Maintenance (O&M) costs include labor-intensive Preventive Maintenance (PM) programs that involve manually performed inspection, calibration, testing, and maintenance of plant assets at periodic frequencies as well as time-based replacement of assets, irrespective of condition. This project offers an alternative by focusing on riskinformed condition-based maintenance to reduce O&M costs while still maintaining plant health and safety. This report summarizes the progress made toward achieving a risk-informed condition-based maintenance approach. The research and development (R&D) activities presented in this report are associated with development of a nuclear digital platform application, integration of fault signature models, and automated work management processes. The fault signatures and Machine Learning (ML) models are key components in predictive analytics and are heavily leveraged to improve the insights received by existing plant process data sources. Availability of the analysis results within a centralized digital platform enhances efficiency by enabling automation of activities otherwise performed manually. Personnel are presented with enhanced information that can be used to evaluate plant status and risks. Utilizing the enhancements to data analytics supports automated responses, (i.e. issuance of work orders) to address developing equipment faults and thus preventing forced, unplanned shutdowns of components or systems. The R&D activities described within this report lay the foundation for developing and demonstrating a digital automated platform to centralize the implementation of condition monitoring and response to equipment faults. The digital automated platform is cloud-based and designed to enable improved efficiency of plant processes. The digital platform includes content related to maintenance optimization, fault signature analysis, and plant records, which can all be used to support efficiencies when located within a centralized digital platform. These efficiencies could be further enhanced when deployed through industry-wide deployment of the technology to improve insights and processes based upon economies of scale.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2023

Electric Vehicle Charging Management in Smart Energy Communities to Increase Renewable Energy Hosting Capacity

Abnormal climates due to global warming have emerged as a big concern in the global community. To mitigate climate change and achieve sustainability, distributed energy resources (DERs), including solar and wind, have been recently deployed in power systems. As the penetration level of DERs has increased, however, it caused a multitude of issues in the power systems, such as voltage fluctuation in the distribution network limiting renewable hosting capacity. On the other hand, the electric vehicle (EV) industry is rapidly growing to facilitate the transition to a carbon-neutral community, illuminating the potential of EVs as a flexible grid asset to mitigate some of the issues and improve grid operation, if properly exploited. To explore the potential of EVs, this paper proposes an EV scheduling strategy. By using an optimal EV charging scheduling proposed, distribution system operators (DSOs) can minimize their operating costs and stably operate the system with a high level of DERs. To validate the method, a modified IEEE 33-bus system with DERs is developed. The case study shows the proposed scheduling strategizes EV charging to reduce the cost of PV curtailment. In the study, the method outperforms the renewable-only case with curtailment by 4.97% in DSO cost. It also demonstrates its potential to increase the renewable hosting capacity by harmonizing EV charging with renewables.

ADVANCED PROPULSION SYSTEMS,POWER TRANSMISSION AND↗

DOE OSTI2019

Chemical Asset Tracker (CAT)

The Chemical Asset Tracker, CAT, is a web-based (browser) application for tracking chemical inventories. The application records information about stored chemicals from user input (via the keyboard, barcode readers, or mobile device) and stores that information into a database. A tiered user login controls access to functions in the application. A user interface is provided that allows users to search the database and update data in the database. SAND2019-7525 M Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Bolles, Jason↗

DOE OSTI2025

Advanced District Energy Controls for Improved Efficiency and Resilience

District energy (DE) systems have efficiently provided heat and cooling to buildings in the US for over a century by leveraging economies of scale through shared generation assets. However, optimizing DE boiler and chiller plants is complex due to the intricate mix of equipment and multiple operating flows. Sophisticated controls are necessary to achieve highest efficiencies.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2009

The Lunar Mapping and Modeling Project

Noble, Sarah K.↗

NASA NTRS2009

Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses. The project draws on expertise from several NASA and non-NASA organizations (MSFC, ARC, GSFC, JPL, CRREL US Army Cold Regions Research and Engineering Laboratory, and the USGS). LMMP will utilize data predominately from the Lunar Reconnaissance Orbiter, but also historical and international lunar mission data (e.g. Apollo, Lunar Orbiter, Kaguya, Chandrayaan-1), as available and appropriate, to meet Constellation s data needs. LMMP will provide access to this data through a single intuitive and easy to use NASA portal that transparently accesses appropriately sanctioned portions of the widely dispersed and distributed collections of lunar data, products and tools. Two visualization systems are being developed, a web-based system called Lunar Mapper, and a desktop client, ILIADS, which will be downloadable from the LMMP portal. LMMP will provide such products as local and regional imagery and DEMs, hazard assessment maps, lighting and gravity models, and resource maps. We are working closely with the LRO team to prevent duplication of efforts and to ensure the highest quality data products. While Constellation is our primary customer, LMMP is striving to be as useful as possible to the lunar science community, the lunar commercial community, the lunar education and public outreach (E/PO) community, and anyone else interested in accessing or utilizing lunar data. A beta version of the portal and visualization systems is expected to be released in late 2009, with a version 1 release planned for early 2011.

Noble, Sarah K.↗

DOE OSTI2017

The Road to 2020: Comprehensive Environmental Response, Compensation and Liability Act of 1980 (CERCLA): Cleanup of the East Tennessee Technology Park - 17425

Uranium enrichment activities at the 890-ha (2,200-acre) East Tennessee Technology Park (ETTP), formerly the Oak Ridge Gaseous Diffusion Plant, date back to the World War II Manhattan Project. The site produced nuclear fuel for weapons and reactors for four decades. Because of these operations, ETTP has a legacy of radiologically and chemically contaminated buildings, soil, sediment, and groundwater that required remedial action to reduce the risk to human health and the environment. Since the early 1990's, the DOE Oak Ridge Office of Environmental Management (OREM) has directed the environmental cleanup of this contaminated site through the Comprehensive Environmental Response, Compensation and Liability Act of 1980 (CERCLA) process. Cleanup activities have included the demolition of contaminated facilities and structures, including five gaseous diffusion buildings; remediation of contaminated soils; disposal of associated waste; and treatment of contaminated groundwater. In August 2016, DOE realized its Vision 2016, demolition of all five gaseous diffusion buildings at ETTP. This milestone marked the first time that an entire uranium enrichment complex has been demolished. The landmark cleanup included deactivation and demolition of 418,064 m{sup 2} (4.5 million ft{sup 2}) of radiologically and chemically contaminated facilities, and disposal of more than 55,000 truckloads of debris. Fulfillment of Vision 2016 was a major step toward completing ETTP cleanup by 2020. To attain 2020 cleanup, DOE and its cleanup contractor, URS - CH2M Oak Ridge LLC (UCOR), must complete demolition of the following areas: - Poplar Creek Facilities; - K-731 Switch House; - Building K-1037; - Central Neutralization Facility; - K-1200 Complex; - Toxic Substances Control Act Incinerator facilities; - Balance of Site Facilities. In addition, DOE will complete all remedial actions in accordance with current Records of Decision (RODs); as well as cleanup activities involving surface water, sediment, and groundwater that will be addressed in a final site-wide ROD. All waste, including soils, debris, and rubble from demolition and remediation activities, will be dispositioned. Final cleanup of ETTP further advances DOE's goal for re-industrialization of the site as a private sector industrial park. With risks reduced, hazards removed, and the environment restored, DOE can transfer usable ETTP building and land assets to the community for redevelopment and reuse. A history center, equipment building, viewing tower, and wayside exhibits will tell the story of the site, honoring its contributions to the nation's defense and energy needs. Approximately 1,214 ha (3,000 acres) of adjoining lands, now the Black Oak Ridge Conservation Easement (BORCE), will be used for conservation and recreational purposes, including green-ways and trail systems. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1990

Enhancing orbital servicing operations: Providing positive and effective management of spare and installed hardware - A case study of the Hubble Space Telescope

The Satellite Resources Management and Tracking System was developed specifically for the Hubble Space Telescope (HST) program, and now, NASA has the ability to immediately access the necessary data for planning successful orbital satellite servicing operations. This system is an online, real-time data base system that contains a plethora of data on each item identified to support the HST throughout its planned 15 year life. Some of the information provided includes the current status, location, quantity, and history of each asset, a separate record for each discrete serial numbered item, procurement lead times on items sensitive to technology obsolescence, and the maintenance and repair history of each asset. Finally, details are provided on organizational, operational and logistics requirements.

Randolph, Joseph L.↗

NASA NTRS2010

Implementation of a Relay Coordination System for the Mars Network

Mars network relay operations involve the coordination of lander and orbiter teams through long-term and short-term planning, tactical changes and post-pass analysis. Much of this coordination is managed through email traffic and point-to-point file data exchanges. It is often difficult to construct a complete and accurate picture of the relay situation at any given moment, as there is no centralized store of correlated relay data. The Mars Relay Operations Service (MaROS) is being implemented to address the problem of relay coordination for current and next-generation relay missions. The service is provided for the purpose of coordinating communications sessions between landed spacecraft assets and orbiting spacecraft assets at Mars. The service centralizes a set of functions previously distributed across multiple spacecraft operations teams, and as such greatly improves visibility into the end-to-end strategic coordination process. Most of the process revolves around the scheduling of communications sessions between the spacecraft during periods of time when a landed asset on Mars is geometrically visible by an orbiting spacecraft. These "relay" sessions are used to transfer data both to and from the landed asset via the orbiting asset on behalf of Earth-based spacecraft operators. This paper will discuss the relay coordination problem space, overview the architecture and design selected to meet system requirements, and describe the first phase of system implementation

Allard, Daniel A.↗

NASA NTRS2015

Mission Adaptive UAS Platform for Earth Science Resource Assessment

NASA Ames Research Center has led a number of important Earth science remote sensing missions including several directed at the assessment of natural resources. A key asset for accessing high risk airspace has been the 180 kg class SIERRA UAS platform, providing mission durations of up to 8 hrs at altitudes up to 3 km. Recent improvements to this mission capability are embodied in the incipient SIERRA-B variant. Two resource mapping problems having unusual mission characteristics requiring a mission adaptive capability are explored here. One example involves the requirement for careful control over solar angle geometry for passive reflectance measurements. This challenges the management of resources in the coastal ocean where solar angle combines with sea state to produce surface glint that can obscure the ocean color signal. Furthermore, as for all scanning imager applications, the primary flight control priority to fly the UAS directly to the next waypoint should compromise with the requirement to minimize roll and crab effects in the imagery. A second example involves the mapping of natural resources in the Earth's crust using precision magnetometry. In this case the vehicle flight path must be oriented to optimize magnetic flux gradients over a spatial domain having continually emerging features, while optimizing the efficiency of the spatial mapping task. These requirements were highlighted in several recent Earth Science missions including the October 2013 OCEANIA mission directed at improving the capability for hyperspectral reflectance measurements in the coastal ocean, and the Surprise Valley Mission directed at mapping sub-surface mineral composition and faults, using high-sensitivity magentometry. This paper reports the development of specific aircraft control approaches to incorporate the unusual and demanding requirements to manage solar angle, aircraft attitude and flight path orientation, and efficient (directly geo-rectified) surface and sub-surface mapping, including the near-time optimization of these sometimes conflicting requirements. *

Flight Control↗

DOE OSTI2024

Large-Scale Hydrogen Storage Cyber Risk Assessment

Hydrogen storage systems are becoming more widely deployed throughout the country, and as their presence continues to grow, it is possible that individual and interconnected systems will be exposed to cyber-attacks. These events can cause physical and financial harm to employees, people in the vicinity, and to the company that owns the facility. The two main mechanisms malicious actors may access information or control from a hydrogen storage facility are through information technology and operations technology devices, the former of which refers to data and information from networked devices and the latter of which refers to onsite controls for the physical system. Both types of entryways into the system should be considered when facility managers conduct cyber risk assessments and when regulators develop or revise relevant codes and standards. This report analyzes cybersecurity risks applicable to a wide variety of hydrogen storage systems by outlining the system's purpose and the importance of its cybersecurity. The hydrogen storage system architecture and communication protocols are provided to understand potential cyber vulnerabilities. Later, an event tree analysis is performed on hydrogen operation to identify system weaknesses by outlining potential attack scenarios. This report also identifies critical cyber assets related to different hydrogen operations followed by an examination of potential threats, and the impact of cyber assets on those operational assets.

08 HYDROGEN↗

DOE OSTI2019

Lidar Mapping and Surveillance of Nuclear Infrastructure

Wear is unavoidable, whether it occurs in a nuclear facility or abridge on the highway its detection is crucial to preventing the failure of a system. While tools capable of detecting localized damage exist, industry lacks methods to evaluate the health of larger infrastructure. Routine inspection of nuclear facilities must be undertaken to ensure the safety of personnel and proper containment of nuclear materials. Most systems in a nuclear facility are designated as radioactive and confined spaces. To constantly monitor such systems in person would be hazardous but with a remote inspection tool it can be done in a safer and easier way. Lidar: Operates by emitting a laser pulse and looking for the reflected light. Allows user to gain 3D information of the environment. Project Objective: To develop an inspection tool for evaluating the health of large scale infrastructure using Lidar and machine learning. Autonomous Platform + Lidar + Data Fusion + Big Data. Use SLAM to build a 2D map of the environment. Point cloud created by transforming the points between reference frames. Point cloud to Surface: Inherent representation of surface geometry; Difficult to process with conventional techniques. Point cloud to Image: Easily processed by conventional machine learning algorithms. The quantity of data generated will necessitate a big data framework to manage the data for processing. Additional Sensors: Detecting the temperature (a) chemical makeup (b) and radiation emission (c) of a surface could assist in detecting problems. Human inspection can detect irregularities in both physical objects and their point-cloud representations. This is a good indication that mapping nuclear sites using Lidar will provide qualitative insight into the health of the facility. If deep learning can be used to automatically identify problem areas then the completed tool could become an invaluable asset.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗