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DOE OSTI2023

LA100 Equity Strategies. Chapter 7: Housing Weatherization and Resilience

The LA100 Equity Strategies project integrates community guidance with robust research, modeling, and analysis to identify strategy options that can increase equitable outcomes in Los Angeles' clean energy transition. This chapter focuses on housing weatherization and access to cooling as means to achieve more equitable resilience to heat waves during unplanned power outages. Specifically, NREL used weather, housing, and socioeconomic data to characterize LA's residential building stock. We?developed a residential building stock model to simulate the energy use of 50,000 dwellings representing the diversity of housing types, appliances, climate zones, and household incomes across Los Angeles. We then simulated and evaluated the impacts of 10 building envelope and cooling upgrades on indoor temperature - a main cause of heat-induced health risks-over a 4-day power outage during a heat wave. We examined occupant exposure to extreme heat and how heat exposure changes with each upgrade across income, tenure (renter/owner status), building type, and disadvantaged community (DAC) status. We also examined upgrade costs and utility bills. Based on the results of our analysis and community guidance, we identified building envelope upgrades and cooling strategies that could save lives and maintain safe home temperatures for LA's low-income households in the event of a planned or unplanned power outage during a summer heat wave. Research was guided by input from the community engagement process, and associated equity strategies are presented in alignment with that guidance.

building envelope↗

DOE OSTI2023

LAMP-PSR Scoping Studies Report

This report summarizes work performed from July – September 2023, performing an initial evaluation for the LANSCE Proton Storage Ring upgrade option “B.” The studies identified potential pathsforward, performing initial beam dynamics studies, and surveying various technology options different aspects of the upgrade. Taken together, the studies provide an “early look” at the feasibility, challenges and alternative methods for pursuing Option “B,” and give guidance towards more detailed design concept development needed as work progresses. Generally speaking, no major obstacles were identified in pursuing the Option “B” PSR upgrade path in terms of the machine physics or overall system architecture. Several areas of concern have been identified; we note that these primarily center on technology choice and must be addressed regardless of the upgrade path selected, and none of the concerns are considered insurmountable.

43 PARTICLE ACCELERATORS↗

DOE OSTI2023

Distribution Network Capacity Market Design: Marginal Distribution Capacity Pricing Mechanism for Efficient Investment and Cost Allocation

As electricity markets begin to shift from reliance on large, centralized power plants and towards distributed energy resources (DERs), there is a growing acknowledgement that more efficient planning, operations, and oversight is needed in the distribution system. This paper addresses one step in that direction by proposing an auction mechanism that uses a detailed distribution system planning model that allocates permits to end-used customers who request capacity to install new devices at their location and network upgrade contracts to utilities or 3rd-party companies who offer to upgrade system components. The resulting plan maximizes market surplus, that is, maximizes the total benefit to consumers minus the cost of network upgrades. We apply a marginal pricing scheme to the auction’s results such that the cost of each permits or contracts is differentiated by time and location, based on the Lagrangian multipliers of binding network constraints. These prices are shown to be no greater than the bid price of any awarded contract and no less than the offered cost of any awarded upgrade contract. Furthermore, the nonlinearity of power flows in the planning model result in an additional surplus that would be collected by the entity that hosts the auction, which could then be refunded to market participants or used to cover overhead costs of running the market. We provide four example auction results in a simple three-node distribution feeder to demonstrate the properties of the design. Results suggest that larger or more realistic case studies could be a promising next step.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2023

Maritime Fuel Cell Generator Project: 2018 – 2023

This report summarizes activity in the Maritime Fuel Cell (MarFC) Generator Project from 2018 – 2023. FY 2018 saw the implementation of upgrades and repairs, making the unit more reliable and operator friendly. In FY2019 the team engaged the Scripps Institution of Oceanography (SIO) to use the MarFC to provide zero-emission shore power to the research vessel R/V Robert Gordon Sproul while in port at the Nimitz Marine Facility in San Diego, CA. In FY2020, the MarFC unit was shipped to San Diego, CA. A fueling contract with IGX was established to support MarFC operations at SIO, with renewable hydrogen provided by the California State University Los Angeles (CSULA) hydrogen station. The project team (Sandia, Cummins/Hydrogenics) provided training to SIO staff on the technical details of the MarFC, the safe use of hydrogen in general and the MarFC in particular. The first fueling of the unit at the SIO pier was successfully completed by IGX. The first powering of a vessel with fuel-cell shore power was conducted with the R/V Robert Gordon Sproul. While the mechanical systems (lights, AC, ventilation, hydraulics, pumps and cranes) were powered without incident, problems arose when powering the computer systems. Inspections carried out in FY2021 revealed the MarFC needed routine maintenance. Maintenance was performed and the unit was upgraded. The MarFC was turned on after the year pause, and initial test data on power levels and stability were collected. FY2022 was a year spent repairing, upgrading and testing the MarFC unit. Spikes in power and voltage were observed above 60 kW that could potentially extend below 60 kW with time. Such spikes could cause problems with the Sproul electrical systems. These age-related problems, the extended time for the Sproul spent in dry dock for scheduled upgrades, and the associated need to reschedule the vessel’s high-priority science missions made it no longer possible to deploy the unit at SIO. After due consideration, the decision was made by DOE, MARAD and the project team to cease the deployment, remove the MarFC from SIO, and not pursue further deployment activities. On December 2, 2022, the MarFC unit was removed from the Scripps Nimitz Marine Facility and shipped to Fridley, Michigan. The Cummins/Hydrogenics plan for the unit is to assess the condition of the MarFC subcomponents, and then use it as a training/learning system for technical employees new to hydrogen fuel-cell technology. After summarizing project activity from 2018 – 2023, this report provides a review of lessons learned. This report provides next steps in contemplating a follow-on project that would further advance the use of fuel-cell-based shore power in a marine setting. A comparison is made of the project results to the original objectives. This report ends with an accounting of presentations stemming from the project, and a list of references.

08 HYDROGEN↗

DOE OSTI2024

Research Reactors Division Infrastructure Investment Plan for the High Flux Isotope Reactor

The High Flux Isotope Reactor (HFIR) is a unique national asset. Operational for nearly 60 years, continued investment into the aging infrastructure is necessary to ensure operation for another 6 decades. Additionally, growing missions require HFIR as well as important upgrades. Consequently, carefully integrated planning is required to ensure that infrastructure investments are timely executed to ensure long-term, reliable operation of HFIR. Concerns about challenges to the operational reliability of HFIR resulted in a recommendation from the 2023 Operations Review by the US Department of Energy (DOE) Office of Basic Energy Sciences that a HFIR management strategy be developed to address the infrastructure needs. This report defines the investment needs, which are evolving as new upgrade efforts are better defined. HFIR is part of the three-source strategy within the Neutron Sciences Directorate (NScD) and contributes to the five strategic science areas outlined in the NScD 10 Year Strategic Science Plan: quantum materials, soft matter, materials and engineering, chemistry, and biosciences. Fundamental to this strategy are three core values: operational excellence, responsible stewardship, and servant leadership. These values guide our mission of safe and reliable operation of the reactor and require a strong and just nuclear safety culture, a solemn respect for responsible care of the facility, good workforce development, robust procedures and processes, an effective communication strategy, world-class asset management, a determined customer focus, and a commitment to protecting the environment, the safety and health of the public and our people, and the quality of work performed within our facility. These principles are all essential to operate HFIR at a world-class level. The Research Reactors Division (RRD) will lead a new era of neutron science and isotope production at HFIR through responsible and purposeful leadership and unwavering support of the science community. The approach outlined in this plan highlights the direction leadership is taking to ensure that HFIR is ready to support the science challenges and national needs of the future and that the United States maintains world leadership in neutron sciences. The plan is in alignment with the DOE’s desire to continue operating HFIR and with the NScD strategic science goals for the future. HFIR is an aging facility with numerous infrastructure challenges and needs. It has an aging workforce in relation to the general population of Oak Ridge National Laboratory (ORNL), with many expected retirements over the next 5–10 years. With an increase in work scope caused by changing national priorities and science goals, several critical hires have been identified. To manage HFIR’s infrastructure needs, a prioritized list of equipment upgrades has been identified along with an analysis of future staffing requirements. A desire to operate HFIR at eight cycles per year will necessarily require some significant changes to procedures and processes currently in place as well as targeted staffing additions. Many of the equipment upgrades identified in this plan will significantly increase the reliability of the plant, thus contributing to the effort to reach the goal of safely operating eight cycles per year. A plan to attain eight-cycle operation is being prepared in parallel with the activities identified in this plan, although the actions identified to satisfy both plans will overlap. This plan identifies new infrastructure needs—for both plant equipment and staffing—thus necessitating formulation of future budget requests to fund the increased work scope and improvement activities. Some activities are currently being scheduled with the expectation that funding will be received. Any delays to funding or reductions of funding from the identified cost estimations will directly and negatively affect the plan’s implementation.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

DOE OSTI2026

Generator Interconnection Costs to the Transmission System in non-ISO Balancing Authorities [Slides]

Electric transmission system operators—including Independent System Operators (ISOs), Regional Transmission Organizations (RTOs), and utilities—require proposed power plants to undergo a series of interconnection studies before connecting to the grid. These studies assess what transmission upgrades or new infrastructure may be necessary and assign the associated costs to the project. Lawrence Berkeley National Laboratory has compiled, aggregated, and cleaned interconnection cost data, originally for ISOs/RTOs, and now for five non-ISO Balancing Authorities: PacifiCorp, Bonneville Power Authority, Duke Energy Progress, Duke Energy Carolinas and Duke Energy Florida. Insufficient transparency in interconnection cost data may contribute to rapidly expanding interconnection queues, with active queue capacities tripling between 2020 and 2024 in the studied BAs. Most projects withdraw after receiving high interconnection cost estimates. Interconnection costs have increased since the early 2000s, with average costs for "complete" projects reaching $194/kW between 2018 and 2024. Active queue projects and withdrawn projects incur substantially higher costs, primarily due to rising network upgrade costs. Recent interconnection costs in non-ISO balancing authorities are higher than in ISO regions, potentially due to a greater willingness to pay among developers. Utility-scale solar, wind, and storage projects have interconnection costs that exceed those for natural gas. However, when focusing on projects that do not withdraw from the queue, the interconnection costs for these technologies are more similar to natural gas projects. Other key findings include: (1) Larger generation projects benefit from lower proportional interconnection costs, (2) capacity transmission service (NRIS) often requires additional network investments, and (3) projects with high network upgrade costs are often clustered geographically. The dataset includes results from 2,104 interconnection studies conducted between 2000 and 2024, covering projects that are operational, withdrawn, or still progressing through the study process. The Excel file contains (a) the complete project-level interconnection cost dataset, and (b) seven additional tabs summarizing cost metrics across dimensions such as time, market structure, cost category (point of interconnection vs. broader network upgrades), fuel type, service type (ERIS vs. NRIS), generator size, and geography.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2026

Integrating CO2 Electrolysis with Gas Fermentation to Produce Valuable Fuels and Chemicals

Many industrial activities squander CO2, decreasing process yield. We envision a future where this waste carbon is instead captured, upgraded, and valorized directly at the point of emission. Within the CO2 Reduction and Upgrading Consortium (a collaboration of seven US national laboratories and industrial partners), we are pursuing this goal by developing and de-risking new technologies for low temperature CO2 electrolysis, coupled with biological upgrading of intermediates into more valuable compounds. One such process involves electrocatalytic reduction of CO2 to generate carbon monoxide (CO). As both a carbon and energy source, CO represents an attractive feedstock for microbial upgrading by certain syngas-fermenting species, such as the autotrophic bacterium Clostridium autoethanogenum. Our team has developed new genetic tools and optimized cultivation techniques to enhance C. autoethanogenum as a platform host for the biological conversion of syngas into value-added products. For example, we have created novel CRISPR-based genetic engineering techniques to build new, genome-reduced, platform strains of C. autoethanogenum with improved growth rates. Further, we ve introduced heterologous biochemical pathways into C. autoethanogenum to enable the production of high-value compounds from syngas, such as the isoprenoid precursor mevalonic acid. With the tools of electrochemistry and synthetic biology, there is virtually no limit to the spectrum of products that could be sustainably manufactured from CO2.

09 BIOMASS FUELS↗

DOE OSTI2026

Quality Control of Silicon Sensor Modules for Particle Detectors

The High-Luminosity Large Hadron Collider (HL-LHC) will produce a higher rate of particle collisions than the current Large Hadron Collider (LHC), requiring important upgrades to the Compact Muon Solenoid (CMS) to handle an increased amount of data. An important upgrade is the Phase-2 Outer Tracker Upgrade, which consists of 13,000 silicon sensor modules made of two parallel silicon sensors and readout electronics. These modules undergo careful quality control checks both during and after module assembly to ensure precise and reliable detector performance. This project focuses on precision testing for quality control of silicon sensor modules at Fermilab. Hands-on work includes visual inspection, current-voltage testing, module testing, and ultraviolet (UV) light exposure of modules showing abnormal current-voltage behavior. The ultraviolet exposure process improves the abnormal sensor readout data by placing the selected sensor side of the module directly under the UV light inside a controlled box. In addition to laboratory testing and ultraviolet experiments, I developed a Python-based data tool that connects to a module database and allows selected testing conditions and module information to be retrieved and displayed efficiently. These different testing procedures, experimental processes, and computational tools support the broader goal of identifying module issues and improving modules that will be used in the CMS Outer Tracker Phase-2 Upgrade.

Siddiqui, Hooriya [DuPage Coll.] (ORCID:0009000151↗

DOE OSTI2023

Global polarization of hyperons and spin alignment of vector mesons in quark matters

Relativistic heavy ion collider (RHIC) as a dedicated nuclear facility has made a few major discoveries in physics. This year marks the 30th year STAR Collaboration formation and the 23th year of STAR detector operation and data collection at RHIC. In the last two decades, STAR has collected many datasets, exhibiting scientific versatility and flexibility of the RHIC facility. The total dataset in the first year is less than 1 million good events, and currently there are about 1 billion events per dataset. The Global Hyperon Polarization was proposed in 2004. This immediately prompted the STAR Collaboration to search for this phenomenon from the early datasets. The null results were presented at Quark Matter Conference in Shanghai in 2006 and subsequently published. Although there were peripheral and continuous efforts in the following decade, no positive result has been observed experimentally. This situation changed in the following decade with the upgrade of high data rate and time-of-flight (TOF) detector and the progress of the Beam Energy Scan Phase I (BES-I). The experimental discoveries of the global polarization of hyperons in 2017 and the spin alignment of vector mesons in 2023 at RHIC-STAR confirm the theory which was established nearly twenty years ago. The theory and these measurements open the way to studying the properties of the hot and dense nuclear matter created in high-energy heavy ion collisions from a new degree of freedom, spin. We briefly review these discoveries from the proposals of theory to the experimental measurements, and summarize the related measurements at the existing facilities and the theoretical explanations to the original proposal. The basic understanding and the original proposal are still valid and fundamental, that is, the angular momentum of system can transform into a spin effect observable in experiment. However, it appears that in each case a new model is needed to explain the new experimental observation. We need a more basic theory to help us unify all these spin related phenomena. Over the past five years, STAR has successfully installed 3 new detectors and we have begun to see the physical analysis results from datasets with those new functions. What makes the STAR detector viable after 20 years of operation is its continuous evolution through successful upgrades, with new scientific programs added year by year. The next big thing is to forward upgrade a tracking system (3 layers of silicon strips and 4 layers of sTGC chambers) and a calorimetry system (electromagnetic and hadronic calorimeters). In addition to studying the spin structure of protons by using the polarized proton beams at RHIC, the upgrades also provide a unique ability to investigate the origin of Λ Global Polarization as a function of rapidity and rapidity (de-)correlations in Au+Au collisions.

Physics↗

NASA NTRS1981

Fuel quality processing study, volume 1

A fuel quality processing study to provide a data base for an intelligent tradeoff between advanced turbine technology and liquid fuel quality, and also, to guide the development of specifications of future synthetic fuels anticipated for use in the time period 1985 to 2000 is given. Four technical performance tests are discussed: on-site pretreating, existing refineries to upgrade fuels, new refineries to upgrade fuels, and data evaluation. The base case refinery is a modern Midwest refinery processing 200,000 BPD of a 60/40 domestic/import petroleum crude mix. The synthetic crudes used for upgrading to marketable products and turbine fuel are shale oil and coal liquids. Of these syncrudes, 50,000 BPD are processed in the existing petroleum refinery, requiring additional process units and reducing petroleum feed, and in a new refinery designed for processing each syncrude to produce gasoline, distillate fuels, resid fuels, and turbine fuel, JPGs and coke. An extensive collection of synfuel properties and upgrading data was prepared for the application of a linear program model to investigate the most economical production slate meeting petroleum product specifications and turbine fuels of various quality grades. Technical and economic projections were developed for 36 scenarios, based on 4 different crude feeds to either modified existing or new refineries operated in 2 different modes to produce 7 differing grades of turbine fuels. A required product selling price of turbine fuel for each processing route was calculated. Procedures and projected economics were developed for on-site treatment of turbine fuel to meet limitations of impurities and emission of pollutants.

Ohara, J. B.↗

NASA NTRS1985

Functional and performance requirements of the next NOAA-Kasas City computer system

The development of the Advanced Weather Interactive Processing System for the 1990's (AWIPS-90) will result in more timely and accurate forecasts with improved cost effectiveness. As part of the AWIPS-90 initiative, the National Meteorological Center (NMC), the National Severe Storms Forecast Center (NSSFC), and the National Hurricane Center (NHC) are to receive upgrades of interactive processing systems. This National Center Upgrade program will support the specialized inter-center communications, data acquisition, and processing needs of these centers. The missions, current capabilities and general functional requirements for the upgrade to the NSSFC are addressed. System capabilities are discussed along with the requirements for the upgraded system.

Mosher, F. R.↗

NASA NTRS1987

The evolution of the Mission Control Center

A discussion of the function and history of the Space Shuttle Mission Control Center describes the communications and data processing facilities, with an emphasis on display system changes. The current display system will be replaced by new technology as part of a project called the Mission Control Center Upgrade. That upgrade will implement a set of high-performance Local Area Networks (LANs) which transmit real-time and historical data to engineering workstations for processing and display. The benefits from such an architecture include a more flexible software development environment and a more modular system which will promote future upgrades. The proposed upgrade architecture is explored, and the engineering and project management challenges of that effort are described, emphasizing the local area networks task.

Kearney, Michael W., III↗

NASA NTRS1994

The growth of the UniTree mass storage system at the NASA Center for Computational Sciences: Some lessons learned

In October 1992, the NASA Center for Computational Sciences made its Convex-based UniTree system generally available to users. The ensuing months saw growth in every area. Within 26 months, data under UniTree control grew from nil to over 12 terabytes, nearly all of it stored on robotically mounted tape. HiPPI/UltraNet was added to enhance connectivity, and later HiPPI/TCP was added as well. Disks and robotic tape silos were added to those already under UniTree's control, and 18-track tapes were upgraded to 36-track. The primary data source for UniTree, the facility's Cray Y-MP/4-128, first doubled its processing power and then was replaced altogether by a C98/6-256 with nearly two-and-a-half times the Y-MP's combined peak gigaflops. The Convex/UniTree software was upgraded from version 1.5 to 1.7.5, and then to 1.7.6. Finally, the server itself, a Convex C3240, was upgraded to a C3830 with a second I/O bay, doubling the C3240's memory and capacity for I/O. This paper describes insights gained and reinforced with the burgeoning demands on the UniTree storage system and the significant increases in performance gained from the many upgrades.

Tarshish, Adina↗

NASA NTRS2000

Infrastructure for Training and Partnershipes: California Water and Coastal Ocean Resources

The purpose of this project was to advance the existing ICESS/Bren School computing infrastructure to allow scientists, students, and research trainees the opportunity to interact with environmental data and simulations in near-real time. Improvements made with the funding from this project have helped to strengthen the research efforts within both units, fostered graduate research training, and helped fortify partnerships with government and industry. With this funding, we were able to expand our computational environment in which computer resources, software, and data sets are shared by ICESS/Bren School faculty researchers in all areas of Earth system science. All of the graduate and undergraduate students associated with the Donald Bren School of Environmental Science and Management and the Institute for Computational Earth System Science have benefited from the infrastructure upgrades accomplished by this project. Additionally, the upgrades fostered a significant number of research projects (attached is a list of the projects that benefited from the upgrades). As originally proposed, funding for this project provided the following infrastructure upgrades: 1) a modem file management system capable of interoperating UNIX and NT file systems that can scale to 6.7 TB, 2) a Qualstar 40-slot tape library with two AIT tape drives and Legato Networker backup/archive software, 3) previously unavailable import/export capability for data sets on Zip, Jaz, DAT, 8mm, CD, and DLT media in addition to a 622Mb/s Internet 2 connection, 4) network switches capable of 100 Mbps to 128 desktop workstations, 5) Portable Batch System (PBS) computational task scheduler, and vi) two Compaq/Digital Alpha XP1000 compute servers each with 1.5 GB of RAM along with an SGI Origin 2000 (purchased partially using funds from this project along with funding from various other sources) to be used for very large computations, as required for simulation of mesoscale meteorology or climate.

Siegel, David A.↗

NASA NTRS1999

Psychological Selection of NASA Astronauts for International Space Station Missions

During the upcoming manned International Space Station (ISS) missions, astronauts will encounter the unique conditions of living and working with a multicultural crew in a confined and isolated space environment. The environmental, social, and mission-related challenges of these missions will require crewmembers to emphasize effective teamwork, leadership, group living and self-management to maintain the morale and productivity of the crew. The need for crew members to possess and display skills and behaviors needed for successful adaptability to ISS missions led us to upgrade the tools and procedures we use for astronaut selection. The upgraded tools include personality and biographical data measures. Content and construct-related validation techniques were used to link upgraded selection tools to critical skills needed for ISS missions. The results of these validation efforts showed that various personality and biographical data variables are related to expert and interview ratings of critical ISS skills. Upgraded and planned selection tools better address the critical skills, demands, and working conditions of ISS missions and facilitate the selection of astronauts who will more easily cope and adapt to ISS flights.

Galarza, Laura↗

NASA NTRS2006

Test Capability Enhancements to the NASA Langley 8-Foot High Temperature Tunnel

The NASA Langley 8-Foot High Temperature Tunnel produces true enthalpy environments simulating flight from Mach 4 to Mach 7, primarily for airbreathing propulsion and aerothermal/thermo-structural testing. Flow conditions are achieved through a methane-air heater and nozzles producing aerodynamic Mach numbers of 4, 5 or 7 and have exit diameters of 8 feet or 4.5 feet. The 12-ft long free-jet test section, housed inside a 26-ft vacuum sphere, accommodates large test articles. Recently, the facility underwent significant upgrades to support hydrocarbon fueled scramjet engine testing and to expand flight simulation capability. The upgrades were required to meet engine system development and flight clearance verification requirements originally defined by the joint NASA-Air Force X-43C Hypersonic Flight Demonstrator Project and now the Air Force X-51A Program. Enhancements to the 8-Ft. HTT were made in four areas: 1) hydrocarbon fuel delivery; 2) flight simulation capability; 3) controls and communication; and 4) data acquisition/processing. The upgrades include the addition of systems to supply ethylene and liquid JP-7 to test articles; a Mach 5 nozzle with dynamic pressure simulation capability up to 3200 psf, the addition of a real-time model angle-of-attack system; a new programmable logic controller sub-system to improve process controls and communication with model controls; the addition of MIL-STD-1553B and high speed data acquisition systems and a classified data processing environment. These additions represent a significant increase to the already unique test capability and flexibility of the facility, and complement the existing array of test support hardware such as a model injection system, radiant heaters, six-component force measurement system, and optical flow field visualization hardware. The new systems support complex test programs that require sophisticated test sequences and precise management of process fluids. Furthermore, the new systems, such as the real-time angle of attack system and the new programmable logic controller enhance the test efficiency of the facility. The motivation for the upgrades and the expanded capabilities is described here.

Harvin, S. F.↗

NASA NTRS2001

Shuttle Safety Improvements

The Space Shuttle has been flying for over 20 years and based on the Orbiter design life of 100 missions it should be capable of flying at least 20 years more if we take care of it. The Space Shuttle Development Office established in 1997 has identified those upgrades needed to keep the Shuttle flying safely and efficiently until a new reusable launch vehicle (RLV) is available to meet the agency commitments and goals for human access to space. The upgrade requirements shown in figure 1 are to meet the program goals, support HEDS and next generation space transportation goals while protecting the country 's investment in the Space Shuttle. A major review of the shuttle hardware and processes was conducted in 1999 which identified key shuttle safety improvement priorities, as well as other system upgrades needed to reliably continue to support the shuttle miss ions well into the second decade of this century. The high priority safety upgrades selected for development and study will be addressed in this paper.

Henderson, Edward↗

NASA NTRS2015

Robonaut 2 - Building a Robot on the International Space Station

In 2010, the Robonaut Project embarked on a multi‐phase mission to perform technology demonstrations on‐board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra‐Vehicular Activity (IVA) Mobility, that utilizes a set of zero‐g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot in space, extensive practice sessions and meticulous procedures were required. Since crew training time is at a premium, the R2 team took a skills‐based training approach to ensure the astronauts were proficient with a basic skill set while refining the detailed procedures over several practice sessions and simulations. In addition to the crew activities, meticulous ground procedures were required in order to upgrade firmware on the upper body motor drivers. The new firmware for the IVA mobility unit needed to be deployed using the old software system. This also provided an opportunity to upgrade the upper body joints with new software and allowed for limited insight into the success of the updates. Complete verification that the updated firmware was successfully loaded was not confirmed until the rewiring of the upper body torso was complete.

Diftler, Myron↗