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DOE OSTI2016

Waste Management 2016 300-296 Soil Remediation Project. Developing Innovative Solutions to Overcome Design Challenges - 16229

The 324 Building is a non-reactor, Hazard Category 2, Nuclear Facility located in the 300 Area of the U.S. Department of Energy (DOE) Hanford Site, located near Richland, Washington. The building is undergoing deactivation, decommissioning, decontamination, and demolition by Washington Closure Hanford (WCH) under the River Corridor Closure Contract. During the Cold War Era, the facility was used for chemical and radionuclide processing associated with nuclear weapons production. Historical records indicate that in October 1986, approximately 516 L of a concentrated liquid waste stream containing cesium-137 and strontium-90 was spilled onto the floor of B-Cell. B-Cell is located in the Radiochemical Engineering Complex (REC) of the 324 Building. It is estimated that this spill contained approximately 1.3 million curies of radioactivity. Some fraction of the spill was recovered; however, an unknown quantity was released into the soil beneath the 324 Building through an undetected breach in the B-Cell floor sump. Unknown quantities of water were used after the spill to wash items contained in B-Cell. When B-Cell was taken out of service, wastes being removed from B-Cell were placed in Grout Containers (GCs) and stabilized using a particulate grout. In the course of grouting activities, grout was spilled on the floor of B-Cell, eventually filling the sump. The primary scope of this project is to design, test, and implement a process capable of removing and isolating contaminated soil below B-Cell. This remediation effort has been divided into two removal zones identified as the primary and secondary removal zones. Based on current assumptions and estimates, the primary phase of this cleanup effort will remove roughly 156.45 m{sup 3} of highly contaminated materials. B-Cell debris, particulate grout, and the floor slab and liner comprise about 21.24 m{sup 3} of the total. The remaining 135.21 m3 will be contaminated soil. All of this material must be disposed of within the existing 324 Facility or packaged for disposal at the Hanford site. The objective of this project is to remove the B-Cell floor and highly contaminated underlying soils from beneath B-Cell using remote equipment to reduce the radiation levels and allow open-air excavation for the remaining contaminated soil. The challenges and subsequent technological solutions encountered from the Conceptual Design phase to the 100% Design Issued For Fabrication/Issued For Construction (IFF/IFC) consisted in part of the following: Design an efficient remote cleanup strategy for highly contaminated Low Level Waste (LLW) given the unknowns. Maintain contamination control down to 18 feet below B-Cell in a highly radioactive environment (12,870 R/Hr Cs-137 and Sr-90). Perform facility upgrades to enable remediation process implementation while maintaining integrity of pre-existing facility structure and license. Designing first-of-a-kind remote equipment for use in high radiation areas. Developing first-of-a-kind operations sequences for remote equipment while minimizing usage of original facility equipment (i.e. cranes, manipulators, etc.). Conducting time-motion studies of operations sequences to maximize efficiency while keeping dose As Low As Reasonably Achievable (ALARA) in a high dose environment. Construction of a full scale mockup to conduct performance testing in a clean environment and train the work force to operate the equipment. Overcoming scope, budget and schedule constraints associated with a fast-track DOE project. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2004

Goddard Space Flight Center Spacecraft Magnetic Test Facility Restoration Project

The Goddard Space Flight Center Spacecraft Magnetic Test Facility (SMTF) was constructed in the 1960's for the purpose of simulating geomagnetic and interplanetary magnetic field environments. The facility includes a three axis Braunbek coil system consisting of 12 loops, 4 loops on each of the three orthogonal axes; a remote Earth field sensing magnetometer and servo controller; and a remote power control and instrumentation building. The inner coils of the Braunbek system are 42-foot in diameter with a 10-foot by 10-foot opening through the outer coils to accommodate spacecraft access into the test volume. The physical size and precision of the facility are matched by only two other such facilities in the world. The facility was used extensively from the late 1960's until the early 1990's when the requirement for spacecraft level testing diminished. New NASA missions planned under the Living with a Star, Solar Terrestrial Probes, Explorer, and New Millennium Programs include precision, high-resolution magnetometers to obtain magnetic field data that is critical to fulfilling their scientific mission. It is highly likely that future Lunar and Martian exploration missions will also use precision magnetometers to conduct geophysical magnetic surveys. To ensure the success of these missions, ground testing using a magnetic test facility such as the GSFC SMTF will be required. This paper describes the history of the facility, the future mission requirements that have renewed the need for spacecraft level magnetic testing, and the plans for restoring the facility to be capable of performing to its original design specifications.

Vernier, Robert↗
NASA NTRS2004

Goddard Space Flight Center Spacecraft Magnetic Test Facility Restoration Project

The Goddard Space Flight Center Spacecraft Magnetic Test Facility (SMTF) was constructed in the 1960's for the purpose of simulating geomagnetic and interplanetary magnetic field environments. The facility includes a three axis Braunbek coil system consisting of 12 loops, 4 loops on each of the three orthogonal axes; a remote Earth field sensing magnetometer and servo controller; and a remote power control and instrumentation building. The inner coils of the Braunbek system are 42-foot in diameter with a 10-foot by 10-foot opening through the outer coils to accommodate spacecraft access into the test volume. The physical size and precision of the facility are matched by only two other such facilities in the world. The facility was used extensively from the late 1960's until the early 1990's when the requirement for spacecraft level testing diminished. New NASA missions planned under the Living with a Star, Solar Terrestrial Probes, Explorer, and New Millennium Programs include precision, high-resolution magnetometers to obtain magnetic field data that is critical to fulfilling their scientific mission. It is highly likely that future Lunar and Martian exploration missions will also use precision magnetometers to conduct geophysical magnetic surveys. To ensure the success of these missions, ground-testing using a magnetic test facility such as the GSFC SMTF will be required. This paper describes the history of the facility, the future mission requirements that have renewed the need for spacecraft level magnetic testing, and the plans for restoring the facility to be capable of performing to its original design specifications.

Vernier, Robert↗
NASA NTRS1989

The SKY SHARK: an RPV Designed to Investigate the Pressure Distribution on a Lifting Surface

The objective was to design a remotely piloted vehicle which is capable of gathering in-flight pressure distribution data on a lifting test specimen, and then test the design by constructing a subscale demonstrator, to prove the flight worthiness of the concept. The technology demonstrator was scheduled for takeoff at approximately, 7:20 AM on Thursday April 27th. There was a light wind from the southeast. The plane was hand-launched and made an initial dip, most likely due to the poor trim conditions at launch. It then began to climb and bank into a left turn. The aircraft climbed to an altitude of approximately 150 ft and circled. The plane flew for several minutes and at times appeared to bump around, which was due to thermal activity disrupting the flight of the aircraft. The aircraft was brought slowly down in a power-off condition and glided in for a belly landing and landed without incident. Results of the flight test proved the general capability of the design to maintain flight stability throughout the take off, cruise, turning, and landing flight regimes. We were not able to demonstrate stability with the test specimen in place as the control surfaces designed to counteract the instabilities induced in the static system, winglets and ailerons, were not included.

Ziemba, Rob↗
NASA NTRS2000

Supporting Scientific Analysis within Collaborative Problem Solving Environments

Collaborative problem solving environments for scientists should contain the analysis tools the scientists require in addition to the remote collaboration tools used for general communication. Unfortunately, most scientific analysis tools have been designed for a "stand-alone mode" and cannot be easily modified to work well in a collaborative environment. This paper addresses the questions, "What features are desired in a scientific analysis tool contained within a collaborative environment?", "What are the tool design criteria needed to provide these features?", and "What support is required from the architecture to support these design criteria?." First, the features of scientific analysis tools that are important for effective analysis in collaborative environments are listed. Next, several design criteria for developing analysis tools that will provide these features are presented. Then requirements for the architecture to support these design criteria are listed. Sonic proposed architectures for collaborative problem solving environments are reviewed and their capabilities to support the specified design criteria are discussed. A deficiency in the most popular architecture for remote application sharing, the ITU T. 120 architecture, prevents it from supporting highly interactive, dynamic, high resolution graphics. To illustrate that the specified design criteria can provide a highly effective analysis tool within a collaborative problem solving environment, a scientific analysis tool that contains the specified design criteria has been integrated into a collaborative environment and tested for effectiveness. The tests were conducted in collaborations between remote sites in the US and between remote sites on different continents. The tests showed that the tool (a tool for the visual analysis of computer simulations of physics) was highly effective for both synchronous and asynchronous collaborative analyses. The important features provided by the tool (and made possible by the specified design criteria) are: 1. The tool provides highly interactive, dynamic, high resolution, 3D graphics. 2. All remote scientists can view the same dynamic, high resolution, 3D scenes of the analysis as the analysis is being conducted. 3. The responsiveness of the tool is nearly identical to the responsiveness of the tool in a stand-alone mode. 4. The scientists can transfer control of the analysis between themselves. 5. Any analysis session or segment of an analysis session, whether done individually or collaboratively, can be recorded and posted on the Web for other scientists or students to download and play in either a collaborative or individual mode. 6. The scientist or student who downloaded the session can, individually or collaboratively, modify or extend the session with his/her own "what if" analysis of the data and post his/her version of the analysis back onto the Web. 7. The peak network bandwidth used in the collaborative sessions is only 1K bit/second even though the scientists at all sites are viewing high resolution (1280 x 1024 pixels), dynamic, 3D scenes of the analysis. The links between the specified design criteria and these performance features are presented.

Watson, Velvin R.↗
NASA NTRS2010

3D GeoWall Analysis System for Shuttle External Tank Foreign Object Debris Events

An analytical, advanced imaging method has been developed for the initial monitoring and identification of foam debris and similar anomalies that occur post-launch in reference to the space shuttle s external tank (ET). Remote sensing technologies have been used to perform image enhancement and analysis on high-resolution, true-color images collected with the DCS 760 Kodak digital camera located in the right umbilical well of the space shuttle. Improvements to the camera, using filters, have added sharpness/definition to the image sets; however, image review/analysis of the ET has been limited by the fact that the images acquired by umbilical cameras during launch are two-dimensional, and are usually nonreferenceable between frames due to rotation translation of the ET as it falls away from the space shuttle. Use of stereo pairs of these images can enable strong visual indicators that can immediately portray depth perception of damaged areas or movement of fragments between frames is not perceivable in two-dimensional images. A stereoscopic image visualization system has been developed to allow 3D depth perception of stereo-aligned image pairs taken from in-flight umbilical and handheld digital shuttle cameras. This new system has been developed to augment and optimize existing 2D monitoring capabilities. Using this system, candidate sequential image pairs are identified for transformation into stereo viewing pairs. Image orientation is corrected using control points (similar points) between frames to place the two images in proper X-Y viewing perspective. The images are then imported into the WallView stereo viewing software package. The collected control points are used to generate a transformation equation that is used to re-project one image and effectively co-register it to the other image. The co-registered, oriented image pairs are imported into a WallView image set and are used as a 3D stereo analysis slide show. Multiple sequential image pairs can be used to allow forensic review of temporal phenomena between pairs. The observer, while wearing linear polarized glasses, is able to review image pairs in passive 3D stereo.

Brown, Richard↗
NASA NTRS1992

Accelerometer method and apparatus for integral display and control functions

Vibration analysis has been used for years to provide a determination of the proper functioning of different types of machinery, including rotating machinery and rocket engines. A determination of a malfunction, if detected at a relatively early stage in its development, will allow changes in operating mode or a sequenced shutdown of the machinery prior to a total failure. Such preventative measures result in less extensive and/or less expensive repairs, and can also prevent a sometimes catastrophic failure of equipment. Standard vibration analyzers are generally rather complex, expensive, and of limited portability. They also usually result in displays and controls being located remotely from the machinery being monitored. Consequently, a need exists for improvements in accelerometer electronic display and control functions which are more suitable for operation directly on machines and which are not so expensive and complex. The invention includes methods and apparatus for detecting mechanical vibrations and outputting a signal in response thereto. The apparatus includes an accelerometer package having integral display and control functions. The accelerometer package is suitable for mounting upon the machinery to be monitored. Display circuitry provides signals to a bar graph display which may be used to monitor machine condition over a period of time. Control switches may be set which correspond to elements in the bar graph to provide an alert if vibration signals increase over the selected trip point. The circuitry is shock mounted within the accelerometer housing. The method provides for outputting a broadband analog accelerometer signal, integrating this signal to produce a velocity signal, integrating and calibrating the velocity signal before application to a display driver, and selecting a trip point at which a digitally compatible output signal is generated. The benefits of a vibration recording and monitoring system with controls and displays readily mountable on the machinery being monitored and having capabilities described will be appreciated by those working in the art.

Bozeman, Richard J., Jr.↗
NASA NTRS2001

SWUIS-A: A Versatile, Low-Cost UV/VIS/IR Imaging System for Airborne Astronomy and Aeronomy Research

We have developed and successfully flight-tested on 14 different airborne missions the hardware and techniques for routinely conducting valuable astronomical and aeronomical observations from high-performance, two-seater military-type aircraft. The SWUIS-A (Southwest Universal Imaging System - Airborne) system consists of an image-intensified CCD camera with broad band response from the near-UV to the near IR, high-quality foreoptics, a miniaturized video recorder, an aircraft-to-camera power and telemetry interface with associated camera controls, and associated cables, filters, and other minor equipment. SWUIS-A's suite of high-quality foreoptics gives it selectable, variable focal length/variable field-of-view capabilities. The SWUIS-A camera frames at 60 Hz video rates, which is a key requirement for both jitter compensation and high time resolution (useful for occultation, lightning, and auroral studies). Broadband SWUIS-A image coadds can exceed a limiting magnitude of V = 10.5 in <1 sec with dark sky conditions. A valuable attribute of SWUIS-A airborne observations is the fact that the astronomer flies with the instrument, thereby providing Space Shuttle-like "payload specialist" capability to "close-the-loop" in real-time on the research done on each research mission. Key advantages of the small, high-performance aircraft on which we can fly SWUIS-A include significant cost savings over larger, more conventional airborne platforms, worldwide basing obviating the need for expensive, campaign-style movement of specialized large aircraft and their logistics support teams, and ultimately faster reaction times to transient events. Compared to ground-based instruments, airborne research platforms offer superior atmospheric transmission, the mobility to reach remote and often-times otherwise unreachable locations over the Earth, and virtually-guaranteed good weather for observing the sky. Compared to space-based instruments, airborne platforms typically offer substantial cost advantages and the freedom to fly along nearly any groundtrack route for transient event tracking such as occultations and eclipses.

Durda, Daniel D.↗
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗
DOE OSTI2022

Acoustic Travel-Time Tomography for Wind Energy

New remote sensing technologies for direct observation of the atmospheric flow in the proximity of operating wind turbines are necessary for the advancement of wind turbine design, wind plant control, and the validation of high-fidelity numerical models; fundamental goals of the DOE Wind Energy Technology Office's (WETO's) A2e program. Modern remote sensing technologies for commercial and research applications rely on the backscatter of light or sound waves, which limits spatial and temporal resolution and cannot produce reliable flow estimates near solid bodies or reflective surfaces. Acoustic tomography (AT) is an innovative sensing technology based on fundamental thermodynamic properties of the atmosphere and an inverse algorithm that can reconstruct both velocity and temperature fields within a network of acoustic transducers. AT relies on the direct travel path of acoustic signals between speakers and microphones in the network and can achieve much higher resolutions than conventional backscatter technologies. For wind energy R&D applications, AT represents an extremely economical option over other remote sensing technologies, integrating mature and commonly available acoustic and signal processing hardware. This report is intended as an update on the development of the AT array on the NREL Flatirons Campus (FC) and includes a brief review of the instrumentation, the calibration of equipment, signal processing, and resulting flow field estimates. Designs for future AT systems and applications are detailed in this report, including summaries of new capabilities, engineering and theoretical challenges, and anticipated costs help to outline future directions for AT technology R\&D. The potential for application of AT to utility-scale turbines is also discussed. Investing in the development of the proposed instrument will establish AT as a transformational RS technique that represents a significant advance in measurement instrumentation, enabling new fundamental insights into the structure of the atmospheric boundary layer and supporting applications for wind energy, pollution transport, and resource characterization. AT is also an extremely economical option over other RS instruments, integrating mature and commonly available acoustic and signal processing hardware.

17 WIND ENERGY↗
NASA NTRS2006

Constellation Operations: Lessons Learned For Future Exploration

The Earth science community has long advocated placing numerous instruments in space to study the Earth and its environment. Space agencies from many countries have responded to this call with a wide range of orbiting satellites. Scientists also envisioned placing some satellites in constellations, to enable diverse remote sensing instruments to observe the same part of the Earth (or its atmosphere) at about the same time, thereby increasing the opportunities for coincident science observations. The Earth Science Afternoon Constellation is answering this call, but there have been unique challenges on the way to its deployment. Currently, the Afternoon Constellation is to comprise six satellites. Three are currently on orbit: NASA's Earth Observing System (EOS)-Aqua (2002) and EOS-Aura (2004), and CNES's Polarization & Anisotropy of Reflectances for Atmospheric Sciences coupled with Observations from a Lidar (PARASOL) (2004). Two more satellites, the Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) and Cloudsat, are to be jointly launched in late 2005, followed by the Orbiting Carbon Observatory (OCO) in 2008. The Afternoon Constellation is unlike most satellite constellations in that: 1) It is not a homogenous mix of identical satellites; rather it comprises several satellites with complementary observational capabilities; 2) The satellites are not spaced around the Earth to provide instantaneous, global coverage (as for a communications satellite constellation); rather they orbit in close proximity so observations occur at about the same time over approximately the same region; and 3) Lastly, the satellites are not managed and controlled by one organization; rather the list of organizations is diverse: CNES in France, NASA Centers at Goddard, Langley, and the Jet Propulsion Laboratory, and the US Air Force facility in New Mexico. The PARASOL launch and early orbit (L&EO) phase proved to be a learning experience for constellation members (including Constellation management). Prior to launch, all members signed an operations coordination document that spelled out basic requirements for keeping the constellation safe and resolving non-nominal events. Once PARASOL reached orbit and the mission teams gained experience using the newly-developed constellation monitoring tools, it became clear that some of the guidelines in the signed agreements had to be adjusted. This paper presents the L&EO lessons learned and how they were used to prepare for the next phase - the period following the CloudSat/CALIPSO launch.

Kelly, Angelita C.↗
NASA NTRS1990

EVA and telerobot interaction

We are about to enter into a new era - that of astronauts working hand in hand with telerobots in space. This has been done to some degree with astronauts and the Space Station Shuttle's Remote Manipulator Arm. However, for the Space Station Freedom, not only will astronauts be working with the RMS type system but also with smaller, more dexterous systems such as the Flight Telerobotic Servicer (FTS). Because EVA time is a premium resource, the most effective use of the astronauts and the telerobot will be required. There may be some tasks for which it is most efficient to have both the EVA astronaut and the telerobot working together. This type of close integration has not occurred before and brings up many issues. Most of these issues are related to technology: communication must be infallible, new control systems and devices may be required, enhanced telerobot safety systems may be necessary. IVA operations may also be affected by the combined EVA telerobot tasks. There is also the issue of how the EVA astronaut and the telerobot work on separate tasks but at the same time. For both situations, research and development of at least some new technology is required; enhanced communication both by voice and data, sophisticated collision detection systems, more responsive controls and displays. These new systems or system enhancements may require knowledge base systems for their operation. Some of the important issues, types of tasks, the FTS capabilities, the technology that is needed to address those issues, and the possible impact on Space Station Freedom are reviewed.

Willshire, Kelli F.↗
NASA NTRS2004

Ocean Carbon Flux, Transport, and Burial Within the Western and Eastern US Coastal Zones

This project has been to develop and apply a regional. eddy-resolving circulation and biogeochemistry model of both the western and eastern U.S. coastal regions, capable of simulating the processes that control the carbon cycle. Validation has been by statistical comparison with analyses from various satellite measurements, including those from EOS sensors, as well as from in situ measurements. Sensitivity studies were carried out to investigate how the coastal ecosystem and biogeochemical cycles respond to changes in climate, large-scale eutrophication from indus- trial pollution, and other anthropogenic induced changes. The research has been conducted in collaboration with research groups at UCLA. NASA/GSFC (Wallops), Rutgers, and SIO. Overall. the project was focused on several key modeling issues, each of which tie back into completing the primary task of developing a coastal carbon model for both the eastern and western US. coasts. Individual groups within the entire program are still collaborating to address these specific tasks. These include: implementation of the coupled circulation/biogeochemical model within the U.S. West Coast. including high-resolution, embedded subdomains for the Southern California Bight and Monterey Bay region; development of a biogeochemical model with resolved carbon, nitrogen and oxygen cycles; development of data assimilation techniques for use of satellite data sets; reconfiguration of the model domain to U.S. East Coast; development of coastal forcing fields: development of methods to compare the model against remotely sensed data; and, the test of model sensitivity to environmental conditions. Below, we present a summary of the progress made toward achieving these soak. Because this has been a multi-institutional, collaborative effort, we note the groups involved with particular activities.

McWilliams, James C.↗
NASA NTRS2008

Earth Science Mining Web Services

To allow scientists further capabilities in the area of data mining and web services, the Goddard Earth Sciences Data and Information Services Center (GES DISC) and researchers at the University of Alabama in Huntsville (UAH) have developed a system to mine data at the source without the need of network transfers. The system has been constructed by linking together several pre-existing technologies: the Simple Scalable Script-based Science Processor for Measurements (S4PM), a processing engine at he GES DISC; the Algorithm Development and Mining (ADaM) system, a data mining toolkit from UAH that can be configured in a variety of ways to create customized mining processes; ActiveBPEL, a workflow execution engine based on BPEL (Business Process Execution Language); XBaya, a graphical workflow composer; and the EOS Clearinghouse (ECHO). XBaya is used to construct an analysis workflow at UAH using ADam components, which are also installed remotely at the GES DISC, wrapped as Web Services. The S4PM processing engine searches ECHO for data using space-time criteria, staging them to cache, allowing the ActiveBPEL engine to remotely orchestras the processing workflow within S4PM. As mining is completed, the output is placed in an FTP holding area for the end user. The goals are to give users control over the data they want to process, while mining data at the data source using the server's resources rather than transferring the full volume over the internet. These diverse technologies have been infused into a functioning, distributed system with only minor changes to the underlying technologies. The key to the infusion is the loosely coupled, Web-Services based architecture: All of the participating components are accessible (one way or another) through (Simple Object Access Protocol) SOAP-based Web Services.

Pham, Long↗
NASA NTRS2021

AeroCom Phase III Multi-Model Evaluation of the Aerosol Life Cycle and Optical Properties Using Ground and Space-Based Remote Sensing as Well as Surface In Situ Observations

Within the framework of the AeroCom (Aerosol Comparisons between Observations and Models) initiative, the state-of-the-art modelling of aerosol optical properties is assessed from 14 global models participating in the phase III control experiment (AP3). The models are similar to CMIP6/AerChemMIP Earth System Models (ESMs) and provide a robust multi-model ensemble. Inter-model spread of aerosol species lifetimes and emissions appears to be similar to that of mass extinction coefficients (MECs), suggesting that aerosol optical depth (AOD) uncertainties are associated with a broad spectrum of parameterised aerosol processes. Total AOD is approximately the same as in AeroCom phase I (AP1) simulations. However, we find a 50 % decrease in the optical depth (OD) of black carbon (BC), attributable to a combination of decreased emissions and lifetimes. Relative contributions from sea salt (SS) and dust (DU) have shifted from being approximately equal in AP1 to SS contributing about 2∕3 of the natural AOD in AP3. This shift is linked with a decrease in DU mass burden, a lower DU MEC, and a slight decrease in DU lifetime, suggesting coarser DU particle sizes in AP3 compared to AP1. Relative to observations, the AP3 ensemble median and most of the participating models underestimate all aerosol optical properties investigated, that is, total AOD as well as fine and coarse AOD (AODf, AODc), Ångström exponent (AE), dry surface scattering (SCdry), and absorption (ACdry) coefficients. Compared to AERONET, the models underestimate total AOD by ca. 21 % ± 20 % (as inferred from the ensemble median and interquartile range). Against satellite data, the ensemble AOD biases range from −37 % (MODIS-Terra) to −16 % (MERGED-FMI, a multi-satellite AOD product), which we explain by differences between individual satellites and AERONET measurements themselves. Correlation coefficients (R) between model and observation AOD records are generally high (R>0.75), suggesting that the models are capable of capturing spatio-temporal variations in AOD. We find a much larger underestimate in coarse AODc (∼ −45 % ± 25 %) than in fine AODf (∼ −15 % ± 25 %) with slightly increased inter-model spread compared to total AOD. These results indicate problems in the modelling of DU and SS. The AODc bias is likely due to missing DU over continental land masses (particularly over the United States, SE Asia, and S. America), while marine AERONET sites and the AATSR SU satellite data suggest more moderate oceanic biases in AODc. Column AEs are underestimated by about 10 % ± 16 %. For situations in which measurements show AE > 2, models underestimate AERONET AE by ca. 35 %. In contrast, all models (but one) exhibit large overestimates in AE when coarse aerosol dominates (bias ca. +140 % if observed AE < 0.5). Simulated AE does not span the observed AE variability. These results indicate that models overestimate particle size (or underestimate the fine-mode fraction) for fine-dominated aerosol and underestimate size (or overestimate the fine-mode fraction) for coarse-dominated aerosol. This must have implications for lifetime, water uptake, scattering enhancement, and the aerosol radiative effect, which we can not quantify at this moment. Comparison against Global Atmosphere Watch (GAW) in situ data results in mean bias and inter-model variations of −35 % ± 25 % and −20 % ± 18 % for SCdry and ACdry, respectively. The larger underestimate of SCdry than ACdry suggests the models will simulate an aerosol single scattering albedo that is too low. The larger underestimate of SCdry than ambient air AOD is consistent with recent findings that models overestimate scattering enhancement due to hygroscopic growth. The broadly consistent negative bias in AOD and surface scattering suggests an underestimate of aerosol radiative effects in current global aerosol models. Considerable inter-model diversity in the simulated optical properties is often found in regions that are, unfortunately, not or only sparsely covered by ground-based observations. This includes, for instance, the Sahara, Amazonia, central Australia, and the South Pacific. This highlights the need for a better site coverage in the observations, which would enable us to better assess the models, but also the performance of satellite products in these regions. Using fine-mode AOD as a proxy for present-day aerosol forcing estimates, our results suggest that models underestimate aerosol forcing by ca. −15 %, however, with a considerably large interquartile range, suggesting a spread between −35 % and +10 %.

space-based remote sensing↗
NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

robotic allocation↗
DOE OSTI2023

Stabilizing the Grid and Reducing Utility Bills Through Price-Responsive Controls for Heat Pump Water Heaters

The electricity grid is facing increasing challenges in cost-effectively balancing supply and demand. These challenges are exacerbated by increased penetration of photovoltaics, which causes mid-day overproduction, and electrification of gas appliances, which increases peak-period electricity demand. Decarbonization requires shifting building loads from fossil-intensive high-cost times to renewable-intensive low-cost times while maintaining quality of service to occupants. Utilities and ISO’s are investigating new ways of incentivizing this load shifting. One promising method is the use of Highly Dynamic Prices (HDPs). HDPs feature continuously changing prices that reflect real-time grid generation and distribution costs and capacity constraints, and thus incentivize consumers to shift their loads. California’s CPUC CalFUSE proposal and Hawaii’s recent changes demonstrate that electricity tariffs are moving towards this model. For this to work however, loads must have the capability to respond to these prices. Heat pump water heaters (HPWHs) are an ideal device for this purpose because their storage tanks decouple delivery of domestic hot water from electricity consumption. The storage enables control strategies that consume midday solar power to increase the energy stored in the tank, then provide evening peak domestic hot water services using the stored energy. Berkeley Lab's CalFlexHub project is pioneering price-driven load flexibility by developing and deploying cost-minimizing controls for many flexible loads - including HPWHs - in response to HDP. Control development is based on simulations using the Flexible Heat Pump Water Heater Performance Predictor which captures the control decisions of the on-board controller in a residential, integrated HPWH . The price-responsive controls a) shift load in ways that consume additional midday solar power to help stabilize the grid and reduce overall emissions, b) ensure that occupants receive equal or better hot water delivery service, and c) minimize the operating cost for each home in the fleet. On the grid level, the resulting shift will reduce utility operating costs and emissions, and can avoid expensive system capacity expansions. The control approach is customized to each home based on typical hot water consumption patterns. HPWH controllers, whether on the device or remotely, will receive a schedule of CTA-2045-B signals or set temperature adjustments customized to the current HDP price schedule and home. Simulation results for a fleet of 148 HPWHs on a summer day in Berkeley, California show cost savings of 29% and high price electricity consumption reductions of 80%, while maintaining full quality of service.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2018

Unique Facilities, Innovative Treatment Processes, and a Talented Workforce Allow Fluor Idaho to Successfully Disposition Transuranic Waste - 18388

Fluor Idaho is utilizing state-of-the-art equipment, treatment technologies, and employee expertise at the Department of Energy's (DOE) Idaho Site to treat contact-handled transuranic (CH-TRU) waste, as well as extremely challenging remote-handled transuranic (RH-TRU) waste forms, to prepare the material for shipment and permanent disposal at the Department's Waste Isolation Pilot Plant (WIPP). Nowhere else in the DOE Complex - perhaps the world - will one find the compilation of tools and an experienced workforce with an unparalleled history of safely retrieving, characterizing, treating, repackaging, certifying, and shipping TRU waste. Since 2003, the Advanced Mixed Waste Treatment Project (AMWTP) has used both conventional and unique retrieval concepts, high-tech characterization equipment - including real-time radiography and radioassay - robotics, and automated treatment processes to retrieve and treat 65,000 cubic meters of above-ground CH-TRU waste. Additionally, engineered controls and specialized personal protective equipment have allowed employees to make thousands of entries into high-radiation areas without a skin or clothing contamination incident - evidence of the employees' commitment to safety. AMWTP has encountered and found solutions for many challenging waste forms, including polychlorinated biphenyl-contaminated wastes, TRU waste containers with up to 1,000 fissile gram equivalent plutonium-239, oversized TRU boxes, and partially absorbed organic sludge waste. By utilizing additional facilities and equipment at the Accelerated Retrieval Project V and VII, Fluor Idaho has developed new processing lines and capabilities to ensure worker safety and milestone completion. These two soft-sided buildings, located at a facility adjacent to AMWTP, were originally constructed to exhume Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) TRU wastes from a section of a 97-acre landfill. After a total of 1,150 cubic meters of targeted waste were removed, personnel, working in collaboration with state regulators, successfully implemented a unique regulatory strategy that allowed these CERCLA facilities to be modified and permitted to treat Resource Conservation and Recovery Act (RCRA) wastes from the AMWTP - a savings of tens of millions of dollars over the cost of constructing new buildings. Adding to the AMWTP's technological uniqueness is its ability to treat wastes from other facilities in the DOE Complex. Two prior decision documents and an agreement with the state of Idaho have allowed AMWTP to treat wastes from 15 other DOE sites. It is the only project in the complex to have done so. At another project located next to AMWTP, targeted waste exhumation within the Subsurface Disposal Area is approximately two years ahead of schedule. Crews have removed more than 8,600 cubic meters of CH-TRU and hazardous wastes from eight exhumation areas that equal a combined footprint of 4.75 acres. Less than one acre remains to be exhumed to satisfy the 2008 Record of Decision waste exhumation end state between the DOE, Environmental Protection Agency, and state of Idaho. Construction of the final building where targeted waste exhumation will continue was completed during the summer of 2017. Exhumation will be completed within the next few years. Following exhumation completion, an evapotranspiration barrier (or cap) will be constructed over the entire landfill. Fluor Idaho continues to make progress on a more challenging project involving an inventory of RH-TRU waste that also contains the reactive metal sodium. Crews are utilizing hot cells, once used for spent nuclear fuel reprocessing and high-level waste treatment at the Idaho Nuclear Technology and Engineering Center, to render this challenging waste form safe for disposal in a national geologic waste repository. The treatment methods being employed on this RH-TRU waste are unique in the DOE Complex. Minute concentrations of water are sprayed onto the sodium-contaminated material in a process called 'spritzing' to chemically change the sodium from a reactive metal to a non-reactive salt. In other cases, sodium-contaminated waste is dipped in water to initiate a reaction in a process called 'immersion.' Lastly, for more challenging waste shapes that could not be successfully treated with the two prior methods, crews lower the sodium-contaminated RH-TRU waste into a one-of-a-kind distillation unit that uses high temperature and vacuum to volatilize the sodium and recapture it in a condenser unit for disposal. The RH-TRU waste treated with this technology is then safe for permanent disposal. Fluor Idaho is proud to operate DOE's CH- and RH-TRU waste treatment facilities, as well as use innovative processes and its talented workforce to complete this important work-scope. Such capabilities allow the contractor to meet the commitments made by the DOE to the state of Idaho. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗