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All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

Relevant environment testing↗

NASA NTRSDate not supplied

Mobile Lidar as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments [1,2]. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

Lunar Skylight↗

NASA NTRSDate not supplied

Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

LiDAR↗

DOE OSTI2020

Radiation Signature Training Device Gamma Equivalent Spheres

Radiation signature training device sources are a continuation of a previous effort to produce a highly enriched uranium equivalent sphere. The original research was designed and motivated to produce a Department of Transportation special form source that emulated the passive gamma signature of a solid metal highly enriched uranium sphere. In addition, the mass reduction (i.e., of the 235 U) minimized logistical costs (security, criticality safety, radiological safety and transportation requirements). Radiation signature training device sources expand on the original concept, redesigning the encapsulation in a modular fashion that allows a variety of loadings. The result is a reconfigurable special nuclear material source set that can vary greatly in the magnitude of the gamma flux and the isotopic distribution. Use of the source to test a variety of standards (N42.34-2015, N42.38-2015, N42.43-2015, N42.53-2018, N42.48-2018, DHS-TCS Backpack Based Radiation Detection Systems, DHS-TCS Handheld Instruments Used for the Detection and Identification of Radionuclides, DHS-TCS Vehicle Mounted Mobile Systems) will be discussed.

Blessinger, Christopher S.↗

DOE OSTI2019

Extra Robotic Legs for Bearing Equipment Loads During Emergency Response - 19532

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements. A seamless hybrid control architecture was developed to allow the operator command over the pace of the stand-to-squat transition. Initial tests of balance control while performing squatting transitions indicate the feasibility of the XRL System. The legs will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads on the operator. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2022

Semi-empirical simulation of in-motion radiation detection systems

The Replicative Assessment of Spectroscopic Equipment (RASE) is an open-source software that uses experimental data as the basis to simulate the response of commercial radiation detectors to sources in various situations, particularly in the context of nuclear security and safeguards applications. Dynamic RASE introduces the capability to simulate scenarios where sources and detector are in relative motion. Position-dependent experimentally acquired gamma spectra are ingested by Dynamic RASE to build maps that describe the detector response over all space. These response maps are used to replicate the time-dependent energy spectra collected as sources move on a path near the detector. Here, a Gaussian process is used to build each map, incorporating a novel kernel adapted to the special case of radiation detection. The approach has been validated against experimental data acquired using a NaI-based detector for 137 Cs and 54 Mn sources. The capability to create accurate simulations using either long-dwell static measurements or dynamic pass-by measurements as source data has been demonstrated. Quantitative relative performance, benefits, and shortcomings are discussed.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗