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Roadmap to Automated Mobility Systems: Informing the Planning of a Sustainable, Resilient Transportation Ecosystem for Dallas/Fort Worth International Airport

The National Renewable Energy Laboratory (NREL) developed this report to provide Dallas/Fort Worth International Airport (DFW) assistance toward a vision that considers the maturation and proliferation of mobility automation, electrification, and infrastructure integrated with Internet of Things (IoT) technologies as they present themselves on the path to 2035. In planning ongoing infrastructure investments, DFW has goals to accommodate and leverage these enabling technologies toward greater sustainability and enhanced traveler and employee experiences, ensuring that infrastructure investments are fully utilized into the future. The objective of this document is to assist DFW to anticipate and envision future airport access by travelers, employees, and goods by examining existing needs and exploring opportunities enabled by technology that informs longer-term infrastructure planning. The vast infrastructure of DFW, which includes buildings, roadways, and other physical structures, as well as growing digital and energy network infrastructures, requires long-term planning and strategy to fully leverage technology advancement and avoid abandoning assets due to functional obsolescence.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

Atmospheric temperature, water vapour and liquid water path from two microwave radiometers during MOSAiC

The microwave radiometers HATPRO (Humidity and Temperature Profiler) and MiRAC-P (Microwave Radiometer for Arctic Clouds - Passive) continuously measured radiation emitted from the atmosphere throughout the Multidisciplinary drifting Observatory for the Study of the Arctic Climate (MOSAiC) expedition on board the research vessel Polarstern. From the measured brightness temperatures, we have retrieved atmospheric variables using statistical methods in a temporal resolution of 1 s covering October 2019 to October 2020. The integrated water vapour (IWV) is derived individually from both radiometers. In addition, we present the liquid water path (LWP), temperature and absolute humidity profiles from HATPRO. To prove the quality and to estimate uncertainty, the data sets are compared to radiosonde measurements from Polarstern. The comparison shows an extremely good agreement for IWV, with standard deviations of 0.08–0.19 kg m -2 (0.39–1.47 kg m -2 ) in dry (moist) situations. The derived profiles of temperature and humidity denote uncertainties of 0.7–1.8 K and 0.6–0.45 gm -3 in 0–2 km altitude.

54 ENVIRONMENTAL SCIENCES↗

Assessment of CO 2 Storage Resources in Depleted Oil and Gas Fields in the Ship Shoal Area, Gulf of Mexico

The Gulf of Mexico is one of the most important regions in the United States for energy resources and infrastructure. Gulf of Mexico federal offshore oil and gas production accounts for 17% of total U.S. crude oil production and 5% of total U.S. gas production (EIA Gulf of Mexico Fact Sheet). This region presents an excellent combination of high need and significant opportunity for large scale geologic storage of CO 2 . The Ship Shoal Area is located about 20 miles offshore Louisiana within the Gulf Coast federal waters. Miocene and Pliocene sediments in the Ship Shoal Area are proven to provide excellent and secure traps for oil and gas. The Ship Shoal Area contains a large number of depleted oil and gas fields either currently abandoned, or planned for abandonment by 2025, which may provide very significant potential CO 2 storage capacity. GeoMechanics Technologies conducted a comprehensive research project to better characterize Neogene sediments in the Ship Shoal Area for high volume CO 2 storage. The data generated from literature, well data, well log, and formation evaluation were input into Rockwork 16 geologic software to create a detailed geologic model for the Ship Shoal study area. The geologic grids were then fed into TOUGH2, the gas migration model software and FLAC 3D, the geomechanical model software. The fluid flow modeling for both the Miocene and Pliocene simulation from both Block 107 and Block 84 indicated that Pliocene and Miocene are a good reservoir for the CO 2 sequestration. Thirty years of CO 2 injection (at a rate of 1 million metric tons CO 2 per year) and 30 years of observation simulations were run with the fluid flow modeling. The 3D geomechanical modeling for Ship Shoal Block 107 and Block 84 were developed to evaluate induced surface deformation and potential fault reactivation after 30 years CO 2 injection at base of Pliocene and at upper Miocene injection locations. Evaluation results indicate low to no risks for fault slips or fault reactivation. Twelve well bores and 76 well bores for Ship Shoal Blocks 84 and 107 respectively were reviewed for their cement history. Most wells (57 out of 76 and 7 out of 12 wells in Ship Shoal Block 107 and 84 respectively) have good integrity. Nineteen and 5 wells (in Ship Shoal Block 107 and 84 respectively) with no top plug, incomplete cement or Plug and Abandonment information are given yellow cautionary indicators. These cautionary wells may provide leakage paths of CO 2 through the well bores to the USDWs. Using our Quantitative Risk & Decision Analysis Tool (QRDAT) for caprock integrity evaluation, we compared Ship Shoal’s risk to that of In Salah, Sleipner, Kevin Dome, Loudon, Illinois Industrial CCS and Wilmington Graben. We found the risk at the Ship Shoal Blocks 84 and 107 fields are similar to the known CO 2 active sequestration sites, but lower than the Wilmington Graben turbidities offshore California studied site. The risk of natural seismicity in the Gulf of Mexico is relatively low. Geomechanics Technologies has documented the top 25 CO 2 emission sources within the close proximity of the Ship Shoal Block 84 and 107 fields. All the offshore and onshore pipelines have been digitized and can be viewed in an interactive website (http://www.geomechanicstech.com/shipshoal.html). We also performed a feasibility study on the potential for converting existing oil or gas pipelines for CO 2 transport. There are abandoned, idled and retired onshore and offshore pipelines. However, there is no standard specification for maximum pipeline pressures needed for CO 2 transport. It is a function of design, materials, and testing provided; thus it will be the responsibility of the pipeline operator to correctly determine, maintain and operate within the limits of the pipelines. There are a few transit corridors extending from onshore Louisiana (Cailou Bay) to offshore trunk-lines. The cost for constructing a pipeline has increased about 46% from 2015 to an average cost of $5,064,046 per mile in 2016. We use the NETL CO 2 storage resource mass estimate to calculate the potential resources for Ship Shoal Block 84 and 107 fields using the depleted oil and gas reservoir volume and sand volume generated from our geologic modeling. The estimated storage resource results are greater when using the sand volumes derived through geologic modeling than the oil and gas reservoir data. The difference is due to the depleted oil and gas reservoir information not accounting for the water-flooded sand located below the oil/gas-water contact or unproductive sand units. Resource calculation using the sand volume obtained through geologic modeling overestimate the storage capacity as the model accounts for all sand within the formation, not just the interconnected sand.

02 PETROLEUM↗

SQMBox: Interfacing a semiempirical integral library to modular ab initio electronic structure enables new semiempirical methods

Ab initio and semiempirical electronic structure methods are usually implemented in separate software packages or use entirely different code paths. As a result, it can be time-consuming to transfer an established ab initio electronic structure scheme to a semiempirical Hamiltonian. Here we present an approach to unify ab initio and semiempirical electronic structure code paths based on a separation of the wavefunction ansatz and the needed matrix representations of operators. With this separation, the Hamiltonian can refer to either an ab initio or semiempirical treatment of the resulting integrals. We built a semiempirical integral library and interfaced it to the GPU-accelerated electronic structure code TeraChem. Equivalency between ab initio and semiempirical tight-binding Hamiltonian terms is assigned according to their dependence on the one-electron density matrix. The new library provides semiempirical equivalents of the Hamiltonian matrix and gradient intermediates, corresponding to those provided by the ab initio integral library. This enables the straightforward combination of semiempirical Hamiltonians with the full pre-existing ground and excited state functionality of the ab initio electronic structure code. We demonstrate the capability of this approach by combining the extended tight-binding method GFN1-xTB with both spin-restricted ensemble-referenced Kohn–Sham and complete active space methods. We also present a highly efficient GPU implementation of the semiempirical Mulliken-approximated Fock exchange. The additional computational cost for this term becomes negligible even on consumer-grade GPUs, enabling Mulliken-approximated exchange in tight-binding methods for essentially no additional cost.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Integrated Methane Monitoring Platform Design

This report presents design plans for integrated methane monitoring platforms for the oil and gas sector, which include satellites, aircrafts, drones, mobile platforms, open-path systems, sensor networks, LDAR techniques, and other systems.

03 NATURAL GAS↗

Summary Report of the Reactive CO 2 Capture: Process Integration for the New Carbon Economy Workshop

Decarbonization of our global economy is required to limit planetary warming to +1.5⁰C above pre-industrial levels, an ambitious goal set into motion by the Paris agreement. Given the scale and urgency, the solution demands international, cross-sector advancements spanning policy, social responsibility, and technology, with emphasis on step changes over incremental changes. To that end, technological revolutions that disrupt the status quo need to be envisioned and enacted. One potential technological revolution is the production of fuels, chemicals, and materials from carbon dioxide (CO 2 ) as the starting feedstock, leveraging renewable energy as the driving force. Over the past decades, significant research, development, and deployment has occurred on technologies for capturing CO 2 from point sources or the air and utilizing this CO 2 as a working fluid or as a chemical reactant; however, most of this work has been siloed in these two categories. Recently, an emerging field has started to explore the direct integration of CO 2 capture and conversion technologies as a means to reduce overall energy demand (i.e., avoid energy penalty of CO 2 desorption/regeneration of capture media) and capital expense through process intensification. This strategy represents an opportunity to leapfrog forward this technological revolution. However, the field is in its infancy and the technologies are at an early stage of development, thus it is critically important to define and assess the value proposition of this strategy relative to alternatives (e.g., separated capture and conversion technologies, fuels and chemicals derived from renewable feedstocks like biomass, and industrial electrification) to chart a path forward. To identify next steps, we organized a workshop titled “Reactive CO 2 Capture: Process Integration for the New Carbon Economy” which was held in Golden, Colorado, February 18–19, 2020. The focus of this workshop was to discuss approaches for merging CO 2 capture and CO 2 conversion/utilization systems into what we denoted as an integrated "reactive capture" strategy. By our definition, reactive capture of CO 2 is the coupled process of capturing CO 2 from a mixed gas stream and converting it into a valuable product without going through a purified CO 2 intermediate (see full definition in the Introduction section). This report seeks to summarize feedback from the approximately 125 participants and subject matter experts in attendance from academia, industry, U.S. Department of Energy (DOE), and DOE national laboratories. The workshop agenda is included in Appendix A and the full list of attendees can be found in Appendix B. To elucidate a path forward, we first asked the attendees to define what success would look like for reactive capture in the short term (0–5 years), midterm (5–10 years), and long term (10+ years) and then asked them to answer four questions related to how we could achieve that success: (1) What are the key barriers and challenges to success? (2) What are needed activities to overcome barriers and challenges? (3) What opportunities will arise from these activities? (4) What is a target outcome and what metrics need to be met?

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Space and phase resolved ion energy and angular distributions in single- and dual-frequency capacitively coupled plasmas

The control of ion energy and angular distributions (IEADs) is critically important for anisotropic etching or deposition in microelectronic fabrication processes. With single frequency capacitively coupled plasmas (CCPs), the narrowing in angle and spread in energy of ions as they cross the sheath are definable functions of frequency, sheath width, and mean free path. With increases in wafer size, single frequency CCPs are finding difficulty in meeting the requirement of simultaneously controlling plasma densities, ion fluxes, and ion energies. Dual-frequency CCPs are being investigated to provide this flexible control. The high frequency (HF) is intended to control the plasma density and ion fluxes, while the ion energies are intended to be controlled by the low frequency (LF). However, recent research has shown that the LF can also influence the magnitude of ion fluxes and that IEADs are determined by both frequencies. Hence, separate control of fluxes and IEADs is complex. In this paper, results from a two-dimensional computational investigation of Ar/O{sub 2} plasma properties in an industrial reactor are discussed. The IEADs are tracked as a function of height above the substrate and phase within the rf cycles from the bulk plasma to the presheath and through the sheath with the goal of providing insights to this complexity. Comparison is made to laser-induced fluorescence experiments. The authors found that the ratios of HF/LF voltage and driving frequency are critical parameters in determining the shape of the IEADs, both during the transit of the ion through the sheath and when ions are incident onto the substrate. To the degree that contributions from the HF can modify plasma density, sheath potential, and sheath thickness, this may provide additional control for the IEADs.

36 MATERIALS SCIENCE↗

Twisted Nonlinear Optics in Monolayer van der Waals Crystals

In addition to a plethora of emergent phenomena, the spatial topology of optical vortices enables an array of applications in optical communications and quantum information science. Multibeam nonlinear optical processes, augmented by optical vortices, are essential in this context, providing robust access to an infinitely large set of quantum states associated with the orbital angular momentum of light. Here, we push the boundaries of vortex nonlinear optics to the ultimate limits of material dimensionality. By exploiting multipulse difference frequency, sum frequency, and four-wave mixing in monolayer quantum materials, we demonstrate their ability to independently control the orbital angular momentum and radial distribution of vortex light-fields in addition to their wavelength. Due to the atomically thin nature of the host crystal, this control spans a broad spectral bandwidth in a highly integrable platform that is unconstrained by the traditional limits of bulk nonlinear optical materials. Our work heralds an innovative path for ultracompact and scalable hybrid nanophotonic technologies empowered by twisted nonlinear light–matter interactions in van der Waals nanomaterials.

36 MATERIALS SCIENCE↗

Verification of an improved equation-free projective integration method for neoclassical plasma-profile evolution in tokamak geometry

A brute-force, long-time gyrokinetic simulation of plasma profile evolution in magnetic fusion devices is not desirable due to large computational resource requirements and a possible accumulation of numerical error. The equation-free projective integration method of Keverekidis et al. [Commun. Math. Sci. 1(4), 715–762 (2003)] is one of the outstanding candidates in projecting micro-scale simulations to a longer timescale. However, its application to tokamak plasma has not been fruitful due to the appearance of spurious transient oscillations in the lifting process, which are present when the kinetic simulations are initialized with a simplified model distribution function and which make the kinetic simulations to deviate from the desired paths. In this work, a kinetically informed lifting algorithm is added to the equation-free projective integration method, which is then verified in the electrostatic gyrokinetic particle-in-cell code XGCa [R. Hager and C. S. Chang, Phys. Plasmas 23, 042503 (2016)] for a neoclassical ion heat transport problem with adiabatic electrons. This new lifting operator is demonstrated to control spurious transients, enabling an over four-times reduction in the overall computing time in the time-evolution of the ion temperature profile in an axisymmetric toroidal plasma. Further reduction in the computing time is found to be limited due to the stability properties of the linear least squares projective integrator.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Interfacially Enhanced Superconductivity in Fe(Te,Se)/Bi 4 Te 3 Heterostructures

Realizing topological superconductivity by integrating high-transition-temperature (T C ) superconductors with topological insulators can open new paths for quantum computing applications. Here, a new approach is reported for increasing the superconducting transition temperature $T^{onset}_C$ by interfacing the unconventional superconductor Fe(Te,Se) with the topological insulator Bi–Te system in the low-Se doping regime, near where superconductivity vanishes in the bulk. The critical finding is that the $T^{onset}_C$ of Fe(Te,Se) increases from nominally non-superconducting to as high as 12.5 K when Bi 2 Te3 is replaced with the topological phase Bi 4 Te 3 . Interfacing Fe(Te,Se) with Bi4Te3 is also found to be critical for stabilizing superconductivity in monolayer films where $T^{onset}_C$ can be as high as 6 K. Measurements of the electronic and crystalline structure of the Bi 4 Te 3 layer reveal that a large electron transfer, epitaxial strain, and novel chemical reduction processes are critical factors for the enhancement of superconductivity. This novel route for enhancing T C in an important epitaxial system provides new insight on the nature of interfacial superconductivity and a platform to identify and utilize new electronic phases.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

The Concept of Negative Capacitance in Ionically Conductive Van der Waals Ferroelectrics

Negative capacitance (NC) provides a path to overcome the Boltzmann limit that dictates operating voltages in transistors and, therefore, may open up a path to the challenging proposition of lowering energy consumption and waste heat in nanoelectronic integrated circuits. Typically, NC effects in ferroelectric materials are based on either stabilizing a zero-polarization state or slowing down ferroelectric switching in order to access NC regimes of the free-energy distribution. Here, a fundamentally different mechanism for NC, based on CuInP 2 S 6 , a van der Waals layered ferrielectric, is demonstrated. Using density functional theory and piezo-response force microscopy, it is shown that an unusual combination of high Cu-ion mobility and its crucial role in determining polarization magnitude and orientation (P) leads to a negative slope of the polarization versus the electric field E, dP/dE < 0, which is a requirement for NC. This mechanism for NC is likely to occur in a wide class of materials, offering new possibilities for NC-based devices. Finally, the nanoscale demonstration of this mechanism can be extended to the device-level by increasing the regions of homogeneous polarization and polarization switching, for example, through strain engineering and carefully selected electric field pulses.

36 MATERIALS SCIENCE↗

Benzyl Alcohol Oxidation on Carbon-Supported Pd Nanoparticles: Elucidating the Reaction Mechanism

Experiments were conducted on the liquid phase oxidation of benzyl alcohol over Pd nanoparticles, with the aim of determining the operative chemical reaction. Experiments were conducted in a batch reactor with para-xylene as the solvent and continuous gas purging of the headspace. The following experimental parameters were varied: the initial benzyl alcohol concentration, the oxygen partial pressure in the headspace, and the reactor temperature. From trends in the concentration profiles and integrated production of each product, it was determined that there are two primary reaction paths: A) an alkoxy pathway leading to toluene, benzaldehyde, and benzyl ether, and B) a carbonyloxyl pathway (“neutral carboxylate”) leading to benzoic acid, benzene, and benzyl benzoate. From the mechanism elucidated, it is clear that the coverages of atomic hydrogen, atomic oxygen, and surface hydroxyls must be accounted for to achieve a complete description of the quantitative kinetics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Three-dimensional grain mapping of open-cell metallic foam by integrating synthetic data with experimental data from high-energy X-ray diffraction microscopy

Highlights: • High-energy X-ray measurements are made for ligaments of an open-cell aluminum foam. • Grain centroids and orientations are measured using high-energy X-ray diffraction. • 3D grain map is virtually reconstructed by integrating measured and synthetic data. - Abstract: The complex mechanical response of open-cell foams depends strongly on the hierarchy of length scales inherent in them, from engineering-part scale to the ligament scale through the grain scale down to the crystal-lattice scale. A first step toward understanding and predicting the coordinated mechanical response across length scales requires characterizing the open-cell foam structure in three dimensions at relevant scales. Here, we present an initial attempt to digitally represent a physically-realized aluminum alloy foam in terms of both its geometry/topology as well as its underlying crystallographic orientations by integrating several advanced techniques. Specifically, we use a combination of X-ray computed tomography and X-ray diffraction microscopy in conjunction with synthetic grain mapping. Experimental investigation of the foam shows relatively large grain sizes with respect to the ligament length scale, implying that competing mechanics at different length scales (i.e. grain scale vs. ligament scale) will need to be fully incorporated to understand the mechanical behavior of the foam. The integration of non-destructive measurement techniques with synthetic-data generation provides a path toward realistic modeling of bulk samples of open-cell metal foam resolved at the scale of individual grains.

36 MATERIALS SCIENCE↗

Reaction-induced departures from continuum Navier–Stokes turbulence

Reactive hydrodynamic turbulence is an inherently multiscale phenomenon, characterized by the separation between energy-containing, viscous, and molecular length and time scales. The separation between the viscous scale (the Kolmogorov scale) and the molecular mean free path ostensibly justifies a macroscopic description of reactive turbulence via the Navier–Stokes (NS) equations. However, here we use molecular-level simulations to demonstrate that exothermic bimolecular reactions can cause the NS description of turbulence to break down in the near-continuum regime. Sufficiently energetic heat-releasing reactive collisions strongly distort the Maxwell–Boltzmann velocity distribution function, modifying not only the macroscopic chemical rate law but the kinetic-energy-transfer processes as well. This translational nonequilibrium ultimately introduces significant departures from the NS description in the kinetic energy spectra at scales orders of magnitude larger than both the molecular mean free path and the Kolmogorov length scale. These departures prove substantial enough to meaningfully alter integrated quantities, including the overall turbulence kinetic energy itself.

molecular gas dynamics↗

Durable, pure water–fed, anion-exchange membrane electrolyzers through interphase engineering

Anion-exchange membrane water electrolyzers (AEMWEs) promise scalable, low-cost hydrogen production but are limited by the electrochemical instability of their anode ionomers. We report interphase engineering using inorganic-containing molecular additives that coassemble with ionomer, enabling pure water-fed AEMWEs to operate with a degradation rate <0.5 millivolt per hour at 2.0 amperes per square centimeter and 70°C-a >20-fold durability improvement. Analysis of different additives and ionomers shows that the stabilization mechanism involves cross-links between metal oxo/hydroxo oligomers and ionomers. Under operation, the inorganic additive enriches, forming an interphase near the water-oxidation catalyst that passivates the anode ionomer against continuous degradation while maintaining mechanical integrity and hydroxide conductivity. This additive-based interphase-engineering strategy provides a path to durable AEMWEs that operate without supporting electrolytes and is adaptable across diverse catalysts and ionomers for electrochemical technologies.

Hou, Shujin↗

SMALE: Enhancing Scalability of Machine Learning Algorithms on Extreme-Scale Computing Platforms

Deployment and execution of machine learning tasks on extreme-scale computing platforms face several significant technical challenges: 1) High computing cost incurred by dense networks – The computing workload of deep networks with densely-connected topology increases rapidly with the network size, imposing a non-scalable computing model of extreme-scale computing platforms; 2) Non-optimized workload distribution – Many advanced deep learning algorithms, e.g., sparsification and irregular net-work topology, produce very unbalanced workload distribution on extreme-scale computing platforms. The computation efficiency is greatly hindered by the incurred data and computation redundancies as well as long tails of the node with extensive workload; 3) Constraints in data movement and I/O bottle-neck – Inter-node data movement in extreme-scale computing platforms are associated with high energy and latency costs, and subject to the constraints of I/O bandwidth; and 4) Generalization of algorithm realization and acceleration on computing platforms – The large varieties of machine learning algorithms and structures of extreme-scale computing platforms make the derivation of a generalized algorithm realization and acceleration method very challenging, which, however, is the requirement by domain scientists and interested users. We call the above challenges Smale’s Problems in Machine Learning and Understanding for High-Performance Computing Scientific Discovery. The objective of our three-year research project is to develop a holistic innovation set at structure, assembly, and acceleration layers of machine learning algorithms to address the above challenges in algorithm deployment and execution. Three tasks are particularly performed, including: At the algorithm structure level, we investigate the techniques that can structurally sparsify on the topology of deep networks for computing workload reduction. We also study clustering and pruning techniques that can optimize the workload distributions over the extreme-scale computing platforms; At the algorithm assembly level, we derive a unified learning framework for unsupervised transfer learning and dynamic growing capabilities. Novel training methods are also exploited to enhance the training efficiency of the proposed framework; At the algorithm acceleration level, we will develop a series of techniques that can accelerate the computation of sparse matrix operations, which are one of the core executions in deep learning and optimize memory access of the concerned platforms. Our proposed techniques attack the fundamental problems in machine learning algorithms running on extreme-scale computing platforms by vertically integrating the solutions at three closely entangled layers, paving the long-term scaling path of machine learning applications under DOE context. Three tasks corresponding to the above respective research orientations are performed during the three-year project period with our collaborators at ORNL. The outcome of the proposed project is anticipated to form a holistic solution set of novel algorithms and network topologies, efficient training techniques, and fast acceleration methods to promote the computing scalability of the machine learning applications of particular interest to DOE.

97 MATHEMATICS AND COMPUTING↗

ShupeTurner cloud microphysics

This product is the ShupeTurner cloud microphysics product derived for the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) expedition in the central Arctic. The product includes time-height derivations of the cloud type (phase type) and the condensed water content and characteristic effective particle size for liquid and ice hydrometeor populations. Additionally, it includes the vertical integral of the condensed water content for liquid and ice, i.e., the liquid water path and ice water path. These are derived using a combination of sensors, including: cloud radar, depolarization lidar, microwave radiometer, ceilometer, and radiosondes. During MOSAiC, these sensors were installed and operated onboard the Polarstern icebreaker while within the Arctic sea ice. Most data were obtained while Polarstern was moored to the MOSAiC sea ice floe, passively drifting through the Arctic. However, the data from 16 May 2020 - 17 June 2020 and 31 July 2020 - 21 August 2020 were obtained while Polarstern was underway transiting through the sea ice during relocations of the expedition. General details of the retrieval algorithm, its application, and uncertainties are provided in Shupe et al. (2015), with the cloud classification being described in more detail in Shupe (2007). General details about the MOSAiC expedition including instruments, locations, and meteorological context is provided in Shupe et al. (2022).

54 ENVIRONMENTAL SCIENCES↗

Automated Glovebox Work-cell Design - 18370

Los Alamos National Laboratory (LANL) is the primary plutonium science and manufacturing facility in the United States supporting multiple national security programs. It is responsible for completing a high variety of small-batch manufacturing tasks requiring the handling and precision machining of Special Nuclear Materials (SNM). Given the myriad of tasks that must be completed in a limited workspace, LANL intends to utilize flexible, multi-use robotic work-cells capable of completing a variety of mission critical tasks in a single glovebox with no re-tooling needed between batch jobs. This approach would allow LANL more flexibility in its production schedule and to meet its future production and research objectives. In this paper, we present a system that integrates multiple sensors and other manufacturing peripherals into existing glovebox infrastructure. Currently, a technician can place an object in the work area where vision sensors and supervisory software identify the object and its pose and automatically determine which manufacturing task to complete. Pose uncertainty is addressed in real-time by the task planner, eliminating the need for fixtures. Grasps are validated using pressure sensors, payload sensors, and grasp quality metrics to ensure that objects are not dropped or damaged during manipulation. The robot, sensors, and peripherals are controlled using open-source software built utilizing ROS (Robot Operating System), which minimizes redevelopment and allows for re-use and extensibility. Established capabilities support vision, collision-free path planning, and more, minimizing development time. For this effort, particular attention was given to the integration of general peripheral devices (drill, chuck, etc.), which is critical to efficiently utilizing ROS in manufacturing environments. This integration is achieved with an in-development framework that allows for quick integration of peripherals, including I/O devices and motors. Contact tasks utilize the Generalized Contact Control Framework (GCCF) previously developed at UT Austin. GCCF allows application developers to easily define multiple contact control tasks for a single robot. This paper summarizes the key software components necessary to develop the multi-use work-cell including existing ROS components. UT-developed software for grasp validation, peripheral integration, and contact control is presented in more depth. Finally the glovebox system is demonstrated completing a set of tasks with no fixturing necessary. Primary tasks include surface preparation/ablation, drilling, press-fitting, and sorting, as well as supporting material transfer and inspection tasks. The glovebox work-cell reduces cost, operator dose, ergonomic issues, and time loss due to material transfer between gloveboxes that only support one task. If multiple glovebox work-cells are in use, they have the potential to eliminate bottlenecks and scale production capabilities beyond current limits. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗