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NASA NTRSDate not supplied

Tours of High-containment and Pristine Facilities in Support of Mars Sample Return (MSR) Sample Receiving Facility (SRF) Definition Studies

During 2019 and 2020, the NASA Tiger Team RAMA (acronym of the authors) toured several high-containment biosafety laboratories and pristine space-mission facilities worldwide to better understand their practices, capabilities, and lessons-learned to aid in planning a Sample Receiving Facility (SRF) in support of Mars Sample Return (MSR). The team also included tours of a manufacturer of mobile and modular high-containment facilities as well as manufacturers of isolators and gloveboxes. In addition, the team visited the European Space Agency (ESA)ultraclean and sterile ISO 3 / airborne molecular contamination -9 (AMC-9) isolator line to clean and assemble the most critical hardware for ESA’s ExoMars Mars Lander System, and researchers developing a novel double-walled isolator (DWI) and robotic handling techniques in support of an MSR SRF. The RAMA team visits covered several construction modalities for an MSR SRF: (1) a new traditional fixed facility; (2) use of an existing fixed Biosafety Level 4(BSL-4) facility; (3) a novel modular BSL-4 approach; and (4) a hybrid combination of fixed, modular, and existing facilities. A new fixed facility approach can be tailored to MSR’s needs and is the approach used by all U.S. BSL-4 laboratories constructed to date. However, this approach could be the most expensive modality, take the longest to implement (8-12 years), and have significant programmatic risk of delay. The utilization of an existing BSL-4 facility may be possible depending on the final contamination control and science requirements for the MSR SRF. Due to the internal dimensions of the labs visited and facility structural requirements, it is unlikely that any modification can be made to the facility to meet cleanliness requirements. Furthermore, due to possible construction delays, possible capacity issues, and potential cross contamination vectors from in-house select agents, there may also be significant programmatic risks for sharing an existing facility. Another approach is building a contemporary modular facility. This is a novel approach that has recently been used for a BSL-3/3Ag facilities. The modular elements would be installed in a traditional building or shell structure. A modular facility has many advantages over a traditional fixed facility with lower costs, shorter design/construction/ commissioning schedule, and flexibility for easier retrofits and future expansion. Lastly, a hybrid approach of combining the use of either: (1) a modular facility inside a new fixed facility or (2) a modular and/or fixed BSL-4 annex in conjunction with an existing BSL-4 space should be considered. The advantage of a hybrid approach is that the facility could leverage the strengths of other approaches. Beyond facility construction approaches, the RAMA team investigated technologies and techniques for isolating and handling Martian samples in pristine environments. For example, ESA has been studying and developing a DWI breadboard along with other sample-handling technologies. The research and development investment for clean, remote manipulation and robotics at the start of the facility design phase would be beneficial to the SRF. Additionally, under-standing the lessons learned from Thales Alenia Space during the construction and operation of the most advanced state-of-the-art precision cleaning, sterilization, and assembly glovebox isolators ever developed for spacecraft hardware are also critical for the SRF. The RAMA team lays out a summary of the 18 facilities toured, and includes 43 observations,18 findings, and 22 areas of possible follow-up that the RAMA team and others could pursue to enable further findings. The observations and findings illustrate that constructing an MSR SRF would combine the complexity of both high-containment and pristine facilities, and merging these technologies would be challenging, but achievable.

Mars Sample Return↗

DOE OSTI2021

Simple, Secure, Internet Delivery of MOOSE-based Applications

Application packaging and distribution are the final steps for delivering software to end-users; both are frequently neglected when creating scientific software. Commercial businesses rely on electronic distribution systems that have rendered disk drives obsolete. Still, national laboratories continue to rely heavily on removable media to distribute and limit access to controlled applications. With increasing concerns of unauthorized copying of sensitive applications, a modern distribution system that utilizes cryptographically secure communication and authentication protocols has been developed. This new distribution system will secure the chain of custody for nuclear software while simultaneously simplifying access to these tools. This report summarizes four primary advancements made toward the secure distribution of Nuclear Energy Advanced Modeling and Simulation (NEAMS)-developed, Multiphysics Object Oriented Simulation Environment (MOOSE)-based applications: application installation, package distribution, automated package building, and distribution of documentation. NEAMS is currently developing more than ten separate applications based on the open-source MOOSE Framework. Distribution of these applications has primarily been accomplished by distributing source code, with end-users compiling the applications themselves. This work created a mechanism where MOOSE applications can be installed in a similar way to any other software. This allows both administrators and end-users simplified access to runnable executables. With this new installation capability, it was then possible to rethink distribution. A new, secure capability for delivering MOOSE-based applications over the internet has been created. This system requires unique cryptographic tokens for authentication, greatly securing the custody chain for software. Once granted access, installation of any NEAMS code can be accomplished with these terminal commands: "conda install ncrc" "ncrc install ncrc-bison." After these two commands (and authenticating) the BISON application will be securely down- loaded from Idaho National Laboratory (INL)’s servers, installed, and ready to use. To enable this new distribution capability to be successful, the open-source Continuous Integration, Verification, Enhancement, and Testing (CIVET) Continuous Integration (CI) capability was augmented to add Continuous Delivery (CD). CD enables the automated building and packaging of MOOSE-based applications as they are modified by development teams, ensuring that our customers can obtain up-to-date versions of the software at any time. The need for instruction on how to use these applications was addressed through modifications to the MOOSE documentation system. The MooseDocs capability, which enables robust documentation of MOOSE-based applications, has been extended to allow both for the installation of documentation and the packaging of documentation with installed applications. Together, these enhancements form the core of a new, secure distribution mechanism for nuclear simulation tools. In concert with the Nuclear Computational Resource Center (NCRC), NEAMS- developed applications will now be straightforward to obtain securely.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗

DOE OSTI2018

Reliability Assessment of Remote Visual Examination

Remote visual testing (RVT) is a commonly used nondestructive examination method for inservice inspection (ISI) of reactor internals to detect cracking and gross component failures. Despite widespread use, the detection reliability of RVT and the factors that impact overall RVT performance have been unresolved issues. This report describes the results from an assessment sponsored by the U.S. Nuclear Regulatory Commission and conducted by the Pacific Northwest National Laboratory, in cooperation with the Electric Power Research Institute, for evaluating the reliability of RVT methods currently being used for [reactor] in-vessel visual inspection. The goal was to assess the performance of commercially applied RVT examination procedures implemented by qualified personnel, as well as to identify and qualitatively assess enhancements to examination procedures for detecting flaws in test specimens. The assessment was performed over three phases of research, with the results of the first phase used to identify key controllable parameters impacting RVT performance and to design the next two phases (round-robin testing). Participants in the round-robin tests included teams of inspectors from commercial nuclear power ISI vendors. Participants were asked to determine if a specimen contained a crack and its approximate location, orientation, and length. The detection and location information were used to compute estimates of the probability of detection and false call probability for various scenarios such as the placement and orientation of the flaw on the specimen, team-to-team variations in detection performance, and effects of secondary review on RVT detection. Results showed that crack opening displacement (COD) is the dominant factor in the reliability of crack detection using commercially applied RVT procedures, with crack length being weakly correlated with detection probability. The implication is that RVT detection is likely heavily dependent on the contrast produced by the crack opening, with crack detection becoming less reliable as the COD decreases. Further, the results indicated RVT will be challenged when cracks are located in the vicinity of surface features such as scratches or weld ripples, or close to the edge of welds where shadowing and/or the presence of weld undercuts may complicate the ability to detect the crack. The assessment also reinforced earlier findings on the importance of lighting in flaw detection and appeared to align with other studies that find improved reliability when using multiple inspectors or analysts. Finally, the results pointed to the importance of practice with specimens that mimic conditions likely to be found in the field. Based on the findings and limitations of the assessment, a number of recommendations are made regarding best practices for improving the reliability of RVT in a field setting and for addressing remaining informational gaps. This report describes the design and noted limitations of the three phases of research, the analysis methodology for each phase, and the results of the research. The results of this assessment provide a benchmark set of data on the reliability of RVT for detecting cracking, assuming the implementation of field-like inspection procedures. The likely impact of several uncontrolled factors on RVT detection performance are discussed, and recommendations regarding the use of these results to assess field performance are provided. Finally, recent advances in RVT technology are briefly discussed and point to the potential need for continued research to evaluate the capability and effectiveness of the technique as improvements are implemented.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2016

A Synchronized Sensor Array for Remote Monitoring of Avian and Bat Interactions with Offshore Renewable Energy Facilities

Wind energy production in the U.S. is projected to increase to 35% of our nation’s energy by 2050. This substantial increase in the U.S. is only a portion of the global wind industry growth, as many countries strive to reduce greenhouse gas emissions. A major environmental concern and potential market barrier for expansion of wind energy is bird and bat mortality from impacts with turbine blades, towers, and nacelles. Carcass surveys are the standard protocol for quantifying mortality at onshore sites. This method is imperfect, however, due to survey frequency at remote sites, removal of carcasses by scavengers between surveys, searcher efficiency, and other biases as well as delays of days to weeks or more in obtaining information on collision events. Furthermore, carcass surveys are not feasible at offshore wind energy sites. Near-real-time detection and quantification of interaction rates is possible at both onshore and offshore wind facilities using an onboard, integrated sensor package with data transmitted to central processing centers. We developed and experimentally tested an array of sensors that continuously monitors for interactions (including impacts) of birds and bats with wind turbines. The synchronized array includes three sensor nodes: (1) vibration (accelerometers and contact microphones), (2) optical (visual and infrared spectrum cameras), and (3) bioacoustics (acoustic and ultrasonic microphones). Accelerometers and contact acoustic microphones are placed at the root of each blade to detect impact vibrations and sound waves propagating through the structure. On-board data processing algorithms using wavelet analysis detect impact signals exceeding background vibration. Stereo-visual and infrared cameras were placed on the nacelle to allow target tracking, distance, and size calculations. On-board image processing and target detection algorithms identify moving targets within the camera field of view. Bioacoustic recorders monitor vocalizations and echolocations to aid in identifying organisms involved in interactions. Data from all sensors are temporarily stored in ring (i.e., circular) buffers with a duration varying by sensor type. Detection of target presence or impact by any of the sensors can trigger the archiving of data from all buffers for transmission to a central data processing center for evaluation and post-processing. This mitigates the risk of “data mortgages” posed by continual recording and minimizes personnel time required to manually review event data. We first conducted individual component tests at laboratories and field sites in Corvallis and Newport, Oregon, and Seattle and Sequim, Washington. We conducted additional component tests on research wind turbines at the North American Wind Research and Training Center, Mesalands Community College (MCC; General Electric 1.5 MW turbine), New Mexico, and the National Wind Technology Center, National Renewable Energy Laboratory (NREL; Controls Advanced Research Turbines 3 [CART 3] 600 kW Westinghouse turbine), Colorado. We conducted fully integrated system tests at NREL in October 2014 and April 2015. We used only research wind turbines so that we could conduct controlled, experimentally generated impacts using empty and water-filled tennis balls shot from a compressed air cannon on the ground. The approx. 57-140 g tennis balls (depending on water content) were at the upper mass range for bats, but lower mass range for marine birds. Therefore, the ability to detect collisions of most seabirds is likely greater than our experiments demonstrate, but possibly lower for some bats depending on the background signal of a given turbine. Vibration data demonstrated that background signals of operating turbines varied markedly among the CART 3 under normal operation (greatest), GE (moderate), and CART 3 during idle rotation (generator not engaged; least). In total, we measured 63 experimental blade impacts on the two research turbines. Impaction detection was dependent on background signals, position of impact on the blade (a tip strike resulted in the strongest impact signal), and impact kinetics (velocity of ball and whether the ball struck the surface of the blade or the leading edge of the blade struck the ball). Overall detection percentage ranged from 100% for the “quietest” conditions (CART 3 idle rotation), down to 35% for the noisiest (CART 3 normal operation). Impact signals were detected from sensors on more than one blade (i.e., blades other than the blade struck) 50% - 75% of the time. Stereo imaging provided valuable metrics, but increased data processing and equipment cost. Given the cost of cameras with sufficient resolution for target identification, we suggest mounting cameras directly on the blades to continuously view the entire rotor swept area with the fewest number of cameras. Bioacoustic microphones provide taxonomic identification, as well as information on ambient noise levels. They also assist in identifying environmental conditions such as hail storms, high winds, thunder, lightning, etc., that may contribute to a collision or a false positive detection. We demonstrated a proof of concept for an integrated sensor array to detect and identify bird and bat collisions with wind turbines. The next phase of research and development for this system will miniaturize and integrate sensors from all three nodes into a single wireless package that can be attached directly to the blade. This next generation system would use all “smart” sensors capable of onboard data processing to drastically reduce data streams and processing time on a central computer. A provisional patent for the blade mounted system was submitted by Oregon State University and recorded by the U.S. Patent and Trademark Office (application no. 62313028). Eventually, technology and industry advances will allow this low cost monitoring system to be designed into materials during manufacturing so that all turbines could be monitored with either a subset or full suite of sensors. As standard equipment on all commercial turbines, the sensor suite would allow the industry to effectively monitor whether individual turbines were causing mortalities or not and under what circumstances. It would also provide real-time evaluation of mechanical and structural integrity of a turbine via vibration, image, and acoustic data streams, thereby permitting modifications in operation to limit environmental or mechanical damage.

17 WIND ENERGY↗