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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Robotics Plan in Support of DOME Testbed Operations

Various robotic tooling options have been evaluated for the NRIC DOME concept of operations (ConOps). Framatome was contracted to develop a wide-ranging list of commercial off the shelf (COTS) and custom robotic systems to be considered for performing the DOME ConOps functions. Subsequent project tasks from Framatome narrowed down the list and scored the most viable options. The abbreviated list, and associated scoring, has been reviewed and assessed to provide formal recommendations for the robotic ConOps functions of DOME. The overhead telescoping mast & Kraft arm assembly is recommended as the primary system for reactor demobilization and removal. The estimated cost is $\$700$K with a timeline to develop and deliver of about 2.5 years. The mast & Kraft arm would still require an overhead lift system for mobilization and installation. Either the refurbished polar crane or a new gantry crane delivery platform could both serve as the overhead lift and delivery system. The estimated costs for the refurbishment polar crane and new gantry crane systems are, respectively, $\$4.4$M and $\$3$M with about 2.5 years to develop and deliver. A Brokk + Kraft crawler & arm is recommended as a secondary robotic system to support the overhead mast & Kraft arm system. The Brokk + Kraft crawler & arm would cost an estimated $\$726$k and would take about 1.5 years to develop and deliver. The Boston Dynamics SPOT robot is also recommended for the in-service monitoring during experimentation operations. The estimated cost is $\$220$K with a timeline to deliver of 8-14 months. The Elios 3 aerial drone is recommended to perform large area radiation dose rate mapping and visual inspections. The estimated cost is a $\$100$K and will also need about 8-14 months to develop and deliver. A mockup rig is also recommended to be procured an employed to test & verify the robotic capabilities as well as provide needed training for operations personnel. It is estimated that a mockup rig would cost about $\$500$k and would take up to a year to develop and build.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2024

Exhibit D Scope of Work and Technical Specifications MOX Rod Reduction

PROJECT/PROGRAM GOALS AND OBJECTIVES: The Los Alamos National Laboratory (LANL), here after referred to as the CONTRACTOR, plans to provide NQA-1 service and support for the disposition of PF-4 basement inventory of Areva fuel rods. These fuel rods need to be reduced in length for proper shipping and disposition. The objective of this acquisition is to enter into an agreement with a SUBCONTRACTOR that shall provide expertise, materials, input for procurement of specialized tooling to be identified, and mockups for size reduction and FS65 disposition. Handling and size reduction of the Areva rods would take place at LANL. Physical work at LANL will be performed by the CONTRACTOR’s field execution team, portions of this work will have expertise provided by the SUBCONTRACTOR. As cited below via an add alternative and supplemental site visit(s) to LANL the CONTRACTOR may request the SUBCONTRACTOR to ship the necessary transportation, handling and packaging equipment at the SUBCONTRACTOR’s location to the CONTRACTOR’s facility for size reduction activities at LANL by the CONTRACTOR’s self-perform field execution team. In addition, the SUBCONTRACTOR shall provide subject matter expertise to CONTRACTOR personnel cutting the mockup Areva Fuel Rod at LANL as a rehearsal prior to CONTRACTOR cutting the actual MOX Fuel Rod if this add alternative is exercised.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2023

Predeployment progress of the Canister Deposition Field Demonstration

This report updates the high-level test plan for evaluating surface deposition on three commercial 32PTH2 spent nuclear fuel (SNF) canisters inside NUTECH Horizontal Modular Storage (NUHOMS) Advanced Horizontal Storage Modules (AHSMs) from Orano (formerly Transnuclear Inc.) and provides a summary of the surface sampling activities that have been conducted to date. The details contained in this report represent the best designs and approaches explored for testing as of this publication. Given the rapidly developing nature of this test program, some of these plans may change to accommodate new objectives or requirements. One goal of this testing is to collect defensible and detailed dust deposition measurements from the surface of dry storage canisters in a marine coastal environment to guide chloride-induced stress corrosion cracking (CISCC) research. Another goal is to provide data for the validation of computational fluid dynamics (CFD) based deposition modeling. To facilitate surface sampling, the otherwise highly prototypic dry storage systems will not contain SNF but rather will be electrically heated to mimic the decay heat and thermal hydraulic environment. Test and heater design is supported by detailed CFD modeling. Instrumentation throughout the canister, storage module, and environment will provide extensive information about the thermal-hydraulic behavior of horizontal dry cask storage systems. Manual sampling over a comprehensive portion of the canister surface at regular time intervals will offer detailed quantification and composition of the deposited particulates from a realistic storage environment. Discussions of a potential host site for the Canister Deposition Field Demonstration (CDFD) are ongoing. Until a host site is chosen, testing of key CDFD hardware components including the heater assemblies, power skid, and remote data acquisition system will continue. Functional testing of the finalized heater assemblies and test apparatus started this fiscal year. These initial heater tests have shown the assemblies are performing within design specifications. Staged surface sampling of a mockup of a canister outside the AHSM on a transfer skid was also performed. Refinements to the sampling procedures and techniques were captured from observation of these activities and lessons-learned debriefs. These updated sampling procedures and techniques are planned to be tested again in the field using the mockup in order to assure personnel are using the most accurate and repeatable methods possible prior to deployment for actual CDFD testing.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2025

Robotic Assembly of SRF Cavity Pair

Superconducting Radio Frequency (SRF) cavities for particle accelerators require tight tolerances, ultrahigh vacuum, and strict cleanliness during assembly. As in the semiconductor industry, defects such as particles and residues are deleterious to performance, possibly rendering a cavity unfit for use. This problem is addressed primarily through cleanroom assembly during sensitive steps and rigorous chemical processing to prevent and remove such defects. Human workers are often the largest source of contamination, even with proper gowning and practices. The semiconductor industry has long integrated robots in cleanroom operation, but this has not occurred for SRF cavity production; SRF cavities, unlike wafers, are complex shapes, require more hands-on mechanical assembly, and are low-volume production items. At Jefferson Laboratory, a co-operative robot (cobot) has been setup to overcome these problems. Cobots are safe for use alongside human workers and can integrate new tools such as a 3D camera part detection and gripper for item manipulation. Therefore, cobots represent a promising avenue for reducing particulate generated during a variety of assembly tasks. A mockup of a cavity pair and coupler was setup and the cobot programmed to automatically pick up the coupler and place on the mating cavity flange. Particle counting methods were setup to measure human vs cobot assembly particulate generation inside a cavity mockup. Other potential uses will be discussed for further improving SRF cavity assembly steps, where a cobot can replace or assist a human operator, and what potential gains are expected.

Duzik, Adam [Thomas Jefferson National Accelerator↗
NASA NTRS1972

Space station ventilation study

A ventilation system design and selection method which is applicable to any manned vehicle were developed. The method was used to generate design options for the NASA 33-foot diameter space station, all of which meet the ventilation system design requirements. System characteristics such as weight, volume, and power were normalized to dollar costs for each option. Total system costs for the various options ranged from a worst case $8 million to a group of four which were all approximately $2 million. A system design was then chosen from the $2 million group and is presented in detail. A ventilation system layout was designed for the MSFC space station mockup which provided comfortable, efficient ventilation of the mockup. A conditioned air distribution system design for the 14-foot diameter modular space station, using the same techniques, is also presented. The tradeoff study resulted in the selection of a system which costs $1.9 million, as compared to the alternate configuration which would have cost $2.6 million.

Colombo, G. V.↗
NASA NTRS1972

Development of termination and utilization concepts for flat conductor cables. Volume 3: Cost study comparison, flat versus round conductor cable

A cost study comparing flat conductor cable (FCC) with small-gage wire (SGW) and conventional round conductor cable (RCC) is presented. This study was based on a vehicle wiring system consisting of 110,000 ft of conventional RCC equally divided between AWG sizes 20,22, and 24 using MIL-W-81044-type wire and MIL-C-26500 circular connectors. Basic cost data were developed on a similar-sized commercial jet airplane wiring system on a previous company R&D program in which advanced wiring techniques were carried through equivalent installations on an airplane mockup; and on data developed on typical average bundles during this program. Various cost elements included were engineering labor, operations (manufacturing) labor, material costs, and cost impact on payload. Engineering labor includes design, wiring system integration, wiring diagrams and cable assembly drawings, wire installations, and other related supporting functions such as the electronic data processing for the wiring. Operations labor includes mockup, tooling and production planning, fabrication, assembly, installation, and quality control cost impact on payload is the conversion of wiring system weight variations through use of different wiring concepts to program payload benefits in terms of dollars.

Source record↗
NASA NTRS1973

Experimental detailed power distribution in a fast spectrum thermionic reactor fuel element at the core/BeO reflector interface region

A zero-power critical assembly was designed, constructed, and operated for the prupose of conducting a series of benchmark experiments dealing with the physics characteristics of a UN-fueled, Li-7-cooled, Mo-reflected, drum-controlled compact fast reactor for use with a space-power conversion system. The critical assembly was modified to simulate a fast spectrum advanced thermionics reactor by: (1) using BeO as a reflector in place of some of the existing molybdenum, (2) substituting Nb-1Zr tubing for some of the existing Ta tubing, and (3) inserting four full-scale mockups of thermionic type fuel elements near the core and BeO reflector boundary. These mockups were surrounded with a buffer zone having the equivalent thermionic core composition. In addition to measuring the critical mass of this thermionic configuration, a detailed power distribution in one of the thermionic element stages in the mixed spectrum region was measured. A power peak to average ratio of two was observed for this fuel stage at the midplane of the core and adjacent to the reflector. Also, the power on the outer surface adjacent to the BeO was slightly more than a factor of two larger than the power on the inside surface of a 5.08 cm (2.0 in.) high annular fuel segment with a 2.52 cm (0.993 in. ) o.d. and a 1.86 cm (0.731 in.) i.d.

Klann, P. G.↗
NASA NTRS1974

Space shuttle/food system study. Volume 2, Appendix G: Ground support system analysis. Appendix H: Galley functional details analysis

The capabilities for preflight feeding of flight personnel and the supply and control of the space shuttle flight food system were investigated to determine ground support requirements; and the functional details of an onboard food system galley are shown in photographic mockups. The elements which were identified as necessary to the efficient accomplishment of ground support functions include the following: (1) administration; (2) dietetics; (3) analytical laboratories; (4) flight food warehouse; (5) stowage module assembly area; (6) launch site module storage area; (7) alert crew restaurant and disperse crew galleys; (8) ground food warehouse; (9) manufacturing facilities; (10) transport; and (11) computer support. Each element is discussed according to the design criteria of minimum cost, maximum flexibility, reliability, and efficiency consistent with space shuttle requirements. The galley mockup overview illustrates the initial operation configuration, food stowage locations, meal assembly and serving trays, meal preparation configuration, serving, trash management, and the logistics of handling and cleanup equipment.

Source record↗
NASA NTRS1973

Thruster array thermal control

This paper presents the results of a preliminary investigation of the thermal interactions between elements in the thruster array for a proposed Encke flyby mission. A clustered eight-thruster array was considered as the trial configuration in the current study. Electrically heated dummy thrusters were calibrated to represent the thruster thermal performance. The thermal behavior of the thruster array thermal mockup and the effects of thermal coating applications were investigated. Temperature measurements of the thruster array mockup were performed under various operational modes to substantiate the analytical results. A resultant analytical thermal network model was established to provide pertinent information for thruster array design tradeoff studies.

Wen, L.↗
NASA NTRS1975

Simulation of man-machine interaction on shuttle payload manipulator

The main objective of this simulation was to evaluate the feasibility of a simplified control system for a remote manipulator for space shuttle payloads. The motion commanded by the operator through the control system to the six degree of freedom manipulator approximates that of a backhoe. Compatibility of low arm damping, heavy payloads, small clearances in the shuttle cargo bay and stringent mission timelines were evaluated. The effects of various devices to enhance visual cues were evaluated. Phase I of the simulation was capture of a payload flying free in space relative to the shuttle. Phase II was simulation of cargo stowage into a mockup of the space shuttle cargo bay. A shuttle remote manipulator control station mockup including TV monitors and hand controllers is used in the simulation. Results evaluating various parameters of the control system and the task, including arm flexibility, are presented.

Hookway, R. O.↗
NASA NTRS1982

Space telescope neutral buoyancy simulations: The first two years

Neutral Buoyancy simulations which were conducted to validate the crew systems interface as it relates to space telescope on-orbit maintenance and contingency operations is discussed. The initial concept validation tests using low fidelity mockups is described. The entire spectrum of proposed space telescope refurbishment and selected contingencies using upgraded mockups which reflect flight hardware are reported. Findings which may be applicable to future efforts of a similar nature are presented.

Sanders, F. G.↗
NASA NTRS1984

Development of robotics facility docking test hardware

Design and fabricate test hardware for NASA's George C. Marshall Space Flight Center (MSFC) are reported. A docking device conceptually developed was fabricated, and two docking targets which provide high and low mass docking loads were required and were represented by an aft 61.0 cm section of a Hubble space telescope (ST) mockup and an upgrading of an existing multimission modular spacecraft (MSS) mockup respectively. A test plan is developed for testing the hardware.

Loughead, T. E.↗
NASA NTRS1990

The telerobot testbed: An architecture for remote servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups.

Matijevic, J. R.↗
NASA NTRS1986

The design and fabrication of the Centaur neutral buoyancy trainer and related hardware

Two full scale mockups of the Centaur upper stage were designed, fabricated and delivered to NASA. One was the Centaur Weightless Environment Training Facility (WETF) trainer and the other was the Centaur 1-G mockup. The Centaur upper stage booster is designed to carry the spacecraft Galileo to Jupiter, and the spacecraft Ulysses to an orbit around the Sun after launch from the Space Shuttle. The flight vehicle has several Extravehicular Activity (EVA) contingency tasks that require crew training. This need for crew training generated the requirement for the Centaur WETF crew trainer, which is high fidelity in areas of expected crew interface. During the production of the Centaur WETF crew trainer, the need for a jumper cable from Centaur to the Orbiter was identified. This EVA contingency task would be the installation of a cable from the Orbiter cargo bay sill to various command data boxes on Centaur to allow crew control deployment should a failure occur. This task required the upgrading of volumetric boxes on the trainer to a high fidelity configuration including electrical connector installation and cable routing.

Ware, Alan S.↗
NASA NTRS1991

Design and fabrication of an aerobrake mock-up

The paper reports on the design and fabrication of a Mars aerobrake mockup that has been used in a series of underwater neutral buoyancy tests designed to address this on-orbit assembly issue. Particular attention is given to the aerobrake shell, truss components, and fastener issues. It is noted that soft docking alignment fasteners, fasteners between petals, and fasteners to connect the petal-to-petal truss members are all needed for this mockup.

Lee, Gordon K. F.↗
NASA NTRS1992

Mars aerobrake assembly simulation

On-orbit assembly operation simulations in neutral buoyancy conditions are presently undertaken by a partial/full-scale Mars mission aerobrake mockup, whose design, conducted in the framework of an engineering senior students' design project, involved several levels of constraints for critical physical and operational features. Allowances had to be made for the auxiliary constraints introduced by underwater testing, as well as the subsegmenting required for overland shipment to the neutral-buoyancy testing facility. This mockup aerobrake's fidelity is determined by the numerous, competing design objectives.

Filatovs, G. J.↗
NASA NTRS1991

The lightcraft project

Rensselaer Polytechnic Institute has been developing a transatmospheric 'Lightcraft' technology which uses beamed laser energy to propel advanced shuttle craft to orbit. In the past several years, Rensselaer students have analyzed the unique combined-cycle Lightcraft engine, designed a small unmanned Lightcraft Technology Demonstrator, and conceptualized larger manned Lightcraft - to name just a few of the interrelated design projects. The 1990-91 class carried out preliminary and detailed design efforts for a one-person 'Mercury' Lightcraft, using computer-aided design and finite-element structural modeling techniques. In addition, they began construction of a 2.6 m-diameter, full-scale engineering prototype mockup. The mockup will be equipped with three robotic legs that 'kneel' for passenger entry and exit. More importantly, the articulated tripod gear is crucial for accurately pointing at, and tracking the laser relay mirrors, a maneuver that must be performed just prior to liftoff. Also accomplished were further design improvements on a 6-inch-diameter Lightcraft model (for testing in RPI's hypersonic tunnel), and new laser propulsion experiments. The resultant experimental data will be used to calibrate Computational Fluid Dynamic (CFD) codes and analytical laser propulsion models that can simulate vehicle/engine flight conditions along a transatmospheric boost trajectory. These efforts will enable the prediction of distributed aerodynamic and thruster loads over the entire full-scale spacecraft.

Messitt, Don G.↗
NASA NTRS1989

STS-33 Carter and Thornton During WETF Activities

Astronauts Carter and Thornton are shown suiting up for work in the WETF (Weightless Environment Training Facility). (The payload mockup shown is not related to the STS-33 mission. It is a mockup of the Upper Atmosphere Research Satellite (UARS), which is scheduled to fly in the early 1990's.)

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