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NASA NTRSDate not supplied

Assessment of Sensor Data Accuracy within Gazebo/ROS for High-Precision Autonomous In-Space Robotic Operations

Modeling high-precision in-space servicing, assembly, and manufacturing operations in a simulated environment is a critical step in the development of robotic systems that will be used to autonomously assemble large-scale structures in space. Limited facility size and high costs for manufacturing prototypes make it challenging to conduct full-scale operational testing under appropriate environmental conditions; therefore, testing in a modular, high-fidelity simulation environment is necessary for verification and validation of technology and architecture designs prior to launch. Several modeling and simulation environments exist both within NASA and industry that can be used to test robotic system design and operations, including the widely used commercial tool Gazebo integrated with Robotic Operating System software. Because the performance of autonomous robotic systems relies heavily on the quality of sensor input data, this paper focuses on assessing the accuracy of pose data from an optical sensor model in the Gazebo environment against the behavior of real hardware. The results of the tests will help developers using Gazebo for large-scale, high-precision simulation to account for modeling inaccuracies within their robotic control system algorithms.

simulation↗

DOE OSTI2024

A Million Person Study Innovation: Evaluating Cognitive Impairment and other Morbidity Outcomes from Chronic Radiation Exposure Through Linkages with the Centers for Medicaid and Medicare Services Assessment and Claims Data

Here, the study of One Million U.S. Radiation Workers and Veterans, the Million Person Study (MPS), examines the health consequences, both cancer and non-cancer, of exposure to ionizing radiation received gradually over time. Recently the MPS has focused on mortality patterns from neurological and behavioral conditions, e.g., Parkinson's disease, Alzheimer's disease, dementia, and motor neuron disease such as amyotrophic lateral sclerosis. A fuller picture of radiation-related late effects comes from studying both mortality and the occurrence (incidence) of conditions not leading to death. Accordingly, the MPS is identifying neurocognitive diagnoses from fee-for-service insurance claims from the Centers for Medicare and Medicaid Services (CMS), among Medicare beneficiaries beginning in 1999 (the earliest date claims data are available). Linkages to date have identified ∼540,000 workers with available health information. Such linkages provide individual information on important co-factor and confounding variables such as smoking, alcohol consumption, blood pressure, obesity, diabetes and many other health and demographic characteristics. The total person-level set of time-dependent variables, outcomes, organ-specific dose measures, co-factors, and demographics will be massive and much too large to be evaluated with standard software. Thus, development of specialized open-source software designed for large datasets (Colossus) is nearly complete. The wealth of information available from CMS claims data, coupled with individual dose reconstructions, will thus greatly enhance the quality and precision of health evaluations for this new field of low-dose radiation and neurocognitive effects.

Dauer, Lawrence T.↗

DOE OSTI2025

Recovery and Refining of Rare Earth Elements from Lignite Mine Wastes

The University of North Dakota (UND), in collaboration with a comprehensive team of technical, business and host-site partners, built on prior technology development to complete a front-end engineering and design (FEED) and business planning study to recover and refine rare earth elements (REE) and critical minerals (CM) from North Dakota (ND) lignite mine wastes. The end of project goal was to have an investment quality project and a committed team ready to commercialize the proposed technologies in a future construction and operations phase.

01 COAL, LIGNITE, AND PEAT↗

DOE OSTI2019

A cloud computing approach to massively-parallel distributed stochastic optimization with application to geomechanical reservoir characterization

Many search strategies used to optimize parameters during hydrologic model calibration are inherently limited in that simulations must be performed sequentially in order for the algorithm to converge. As a result, the overall time required to reach a solution increases linearly with the number of steps necessary. In contrast, sampling strategies that attempt to approximate the posterior distribution of the parameters do not require the model simulations to be run in sequence and therefore invite the use of a massively parallel approach across heterogeneous computing environments. We apply a cloud computing methodology to this problem where a head node running on Amazon Web Services continuously produces candidate models that are distributed to arbitrary compute environments to run the simulation, in our case Clemson’s Palmetto cluster computer. Thus the time required to obtain a sufficient number of samples to produce an adequate approximation of the posterior distribution of the parameters is limited by the number of available compute sites. Monte Carlo sampling of the posterior space would be duplicative and inefficient, thus we combine Latin hypercube methods with genetic algorithms to ensure that no large regions of the parameter space are left unexplored, and that high probability regions are investigated thoroughly. We independently assess the fit to different types of data sets without the need to construct a single objective function. Sets of Pareto optimal models are particularly valuable when the quality and information content of data is poorly known or conceptual model errors exist in our simulation. We illustrate our approach for a problem where in situ strain data are used to calibrate the parameters of an oil reservoir in the Avant oil field in Oklahoma. We use well injection and shut-in to stress a deep (500m) confined formation, and observe the geomechanical response using borehole strainmeters installed in the shallow subsurface (30m). These data were then used to calibrate the poroelastic properties of the reservoir and caprock along with the geometry of an elliptic channel associated with the formation. Using our approach we are able to identify issues with model error as well as substantial tradeoffs that occur within the parameters.

inversion, stochastic, geomechanics, poroelastic, ↗

NASA NTRS2015

Experimental and Computational Sonic Boom Assessment of Boeing N+2 Low Boom Models

Near-field pressure signatures were measured and computational predictions made for several sonic boom models representing Boeing's Quiet Experimental Validation Concept (QEVC) supersonic transport, as well as three axisymmetric calibration models. Boeing developed the QEVC under a NASA Research Announcement (NRA) contract for Experimental Systems Validations for N+2 Supersonic Commercial Transport Aircraft, which was led by the NASA High Speed Project under the Fundamental Aeronautics Program. The concept was designed to address environmental and performance goals given in the NRA, specifically for low sonic boom loudness levels and high cruise efficiency, for an aircraft anticipated to enter service in the 2020 timeframe. Wind tunnel tests were conducted on the aircraft and calibration models during Phases I and II of the NRA contract from 2011 to 2013 in the NASA Ames 9- by 7-Foot and NASA Glenn 8- by 6-Foot Supersonic Wind Tunnels. Sonic boom pressure signatures were acquired primarily at Mach 1.6 and 1.8, and force and moment data were acquired from Mach 0.8 to 1.8. The sonic boom test data were obtained using a 2-in. flat-top pressure rail and a 14-in. round-top tapered "reflection factor 1" (RF1) pressure rail. Both rails capture an entire pressure signature in one data point, and successive signatures at varying positions along or above the rail were used to improve data quality through spatial averaging. The sonic boom data obtained by the rails were validated with high-fidelity numerical simulations of off-body pressures using the CFD codes USM3D, Cart3D, and OVERFLOW. The test results from the RF1 rail showed good agreement between the computational and experimental data when a variety of testing techniques including spatial averaging of a series of pressure signatures were employed, however, reflections off the 2-in. flat-top rail caused distortions in the signatures that did not agree with the CFD predictions. The 9 x 7 and 8 x 6 wind tunnels generally produced comparable data.

pressure signature↗

NASA NTRS1993

Aeronautical audio broadcasting via satellite

A system design for aeronautical audio broadcasting, with C-band uplink and L-band downlink, via Inmarsat space segments is presented. Near-transparent-quality compression of 5-kHz bandwidth audio at 20.5 kbit/s is achieved based on a hybrid technique employing linear predictive modeling and transform-domain residual quantization. Concatenated Reed-Solomon/convolutional codes with quadrature phase shift keying are selected for bandwidth and power efficiency. RF bandwidth at 25 kHz per channel, and a decoded bit error rate at 10(exp -6) with E(sub b)/N(sub o) at 3.75 dB are obtained. An interleaver, scrambler, modem synchronization, and frame format were designed, and frequency-division multiple access was selected over code-division multiple access. A link budget computation based on a worst-case scenario indicates sufficient system power margins. Transponder occupancy analysis for 72 audio channels demonstrates ample remaining capacity to accommodate emerging aeronautical services.

Tzeng, Forrest F.↗

NASA NTRS2003

Enhanced Multi-Modal Access to Planetary Exploration

Tomorrow's Interplanetary Network (IPN) will evolve from JPL's Deep-Space Network (DSN) and provide key capabilities to future investigators, such as simplified acquisition of higher-quality science at remote sites and enriched access to these sites. These capabilities could also be used to foster public interest, e.g., by making it possible for students to explore these environments personally, eventually perhaps interacting with a virtual world whose models could be populated by data obtained continuously from the IPN. Our paper looks at JPL's approach to making this evolution happen, starting from improved communications. Evolving space protocols (e.g., today's CCSDS proximity and file-transfer protocols) will provide the underpinning of such communications in the next decades, just as today's rich web was enabled by progress in Internet Protocols starting from the early 1970's (ARPAnet research). A key architectural thrust of this effort is to deploy persistent infrastructure incrementally, using a layered service model, where later higher-layer capabilities (such as adaptive science planning) are enabled by earlier lower-layer services (such as automated routing of object-based messages). In practice, there is also a mind shift needed from an engineering culture raised on point-to-point single-function communications (command uplink, telemetry downlink), to one in which assets are only indirectly accessed, via well-defined interfaces. We are aiming to foster a 'community of access' both among space assets and the humans who control them. This enables appropriate (perhaps eventually optimized) sharing of services and resources to the greater benefit of all participants. We envision such usage to be as automated in the future as using a cell phone is today - with all the steps in creating the real-time link being automated.

interplanetary network (IPN)↗

NASA NTRS1982

Interface control and mechanical property improvements in silicon carbide/titanium composites

Several composite systems made of titanium matrix reinforced with silicon carbide fiber were investigated to obtain a better understanding of composite-degradation mechanisms and to develop techniques to minimize loss of mechanical properties during fabrication and in service. Emphasis was on interface control by fiber or matrix coatings. X-ray diffraction studies on planar samples showed that the formation of titanium silicides was greatly inhibited by the presence of aluminum or Ti3A1 layers at the fiber-matrix interface, with the Ti3A1 being more effective in reducing the reactions. Fiber studies showed that coating the fiber with a 1-micron-thick layer of aluminum improved the as-fabricated strength of a stoichiometric SiC fiber and reduced the fiber degradation during exposure to composite-fabrication conditions. Applying an interfacial barrier by coating the matrix foils instead of the fibers was found to be an effective method for improving composite strength. Reducing the fabrication temperature also resulted in significant improvements in composite strengths. Good-quality, well-consolidated composites were fabricated at temperatures well below those currently used for SiC-Ti composite fabrication.

Brewer, W. D.↗

NASA NTRS1994

Centrifuge Facility for the International Space Station Alpha

The Centrifuge Facility planned for the International Space Station Alpha has under-one considerable redesign over the past year, primarily because the Station is now viewed as a 10 year mission rather than a 30 year mission and because of the need to simply the design to meet budget constraints and a 2000 launch date. The basic elements of the Centrifuge Facility remain the same, i.e., a 2.5 m diameter centrifuge, a micro-g holding unit, plant and animal habitats, a glovebox and a service unit. The centrifuge will still provide the full range of artificial gravity from 0.01 a to 2 - as originally planned; however, the extractor to permit withdrawal of habitats from the centrifuge without stopping the centrifuge has been eliminated. The specimen habitats have also been simplified and are derived from other NASA programs. The Plant Research Unit being developed by the Gravitational Biology Facility will be used to house plants in the Centrifuge Facility. Although not as ambitious as the Centrifuge Facility plant habitat, it will provide much better environmental control and lighting than the current Shuttle based Plant Growth Facility. Similarly, rodents will be housed in the Advanced Animal Habitat being developed for the Shuttle program. The Centrifuge Facility and ISSA will provide the opportunity to perform repeatable, high quality science. The long duration increments available on the Station will permit multigeneration studies on both plants and animals which have not previously been possible. The Centrifuge Facility will accommodate sufficient number of specimens to permit statistically significant sampling of specimens to investigate the time course of adaptation to altered gravity environments. The centrifuge will for the first time permit investigators to use gravity itself as a tool to investigate fundamental processes, to investigate the intensity and duration of gravity to maintain normal structure and function, to separate the effects of micro-g from other 0 environmental factors and to examine artificial gravity as a potential countermeasure for the physical deconditioning observed during spaceflight.

Johnson, Catherine C.↗

DOE OSTI2020

Potential Suitability of Subirrigation for Field Crops in the U.S. Midwest

Subirrigation through subsurface tile drains has potential to increase crop yields and improve water quality in tile-drained landscapes, but it has not been widely implemented. Identifying locations with high potential suitability for subirrigation may help the planning and implementation of this practice. In this study, we developed a fuzzy rating system for subirrigation suitability using the Gridded Soil Survey Geographic Database (gSSURGO). Maps of the fuzzy rating system identified locations of high potential suitability for subirrigation and highlighted physiographic regions highly conducive to the practice. We identified 78,500 km2, about 9%, of agricultural land in the Midwest with high potential suitability for subirrigation where onsite investigation may be targeted. The largest areas of high potential suitability were found in Minnesota, Illinois, and Indiana. Results from the fuzzy rating analysis are provided to the public through three channels: a downloadable data repository, map service, and web map tool. Ultimately, this study can facilitate the adoption of subirrigation by highlighting areas where subirrigation may potentially be a viable practice.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2018

Investigating Hydrometeorological Conditions Associated with Increasing Dust Events in Southwestern United States

A recent study (Tong et al. 2017) shows a rapid intensification of dust storm activity over the southwestern United States in the past decades. For example, the frequency of windblown dust storms has increased 240 percent from 1990s to 2000s. Increasing dust storms can worsen air quality in the region. The study also finds that the intensification of dust events has a close connection with a fast-rising infectious disease (valley fever) caused by inhaling soil-dwelling fungi (Coccidioides immitis and C. posadasii) in the southwestern United States. Hydrometeorological conditions play an important role in dust storm activity, including winds, precipitation, soil moisture, atmospheric boundary stability, land surface types, etc. In this presentation, we describe our preliminary results of linking the dust trends to variations of hydrometeorological conditions at regional and global scales, using a number of Earth observations, including products from NLDAS (North American Land Data Assimilation System), TRMM (Tropical Rainfall Measuring Mission), and MERRA (Modern Era Retrospective-analysis for Research and Applications) datasets, from NASA Goddard Earth Sciences (GES) Data and Information Services Center (DISC). The GES DISC, one of the 12 NASA data centers, is home to multidisciplinary data archives such as precipitation, hydrology, atmospheric chemistry, atmospheric dynamics, etc. We demonstrate that multidisciplinary datasets and services at GES DISC can be used for interdisciplinary investigation to understand the interactions of Earth system components from an observational perspective.

satellite↗

DOE OSTI2020

Applying Non-Energy Impacts from Other Jurisdictions in Cost-Benefit Analyses of Energy Efficiency Programs: Resources for States for Utility Customer-Funded Programs

Avoided energy and capacity costs are the primary yardstick utilities use to determine which energy efficiency programs are cost-effective for their customers. But sometimes "non-energy impacts" — not commonly recognized as directly associated with energy generation, transmission and distribution — represent substantial benefits, such as improving comfort, air quality and public health. Considering whether and how to include non-energy impacts is an important part of cost-benefit analyses for these programs. This report offers practical considerations for deciding which non-energy impacts to include and how to apply values or methods from other jurisdictions. Researchers reviewed studies quantifying non-energy impacts used in 30 states and applied a five-point system to indicate transferability of a value or method from each study for 16 categories of non-energy impacts: Water resource costs and benefits; Other fuels costs and benefits; Avoided environmental compliance costs; Environmental impacts; Productivity; Health and safety; Asset value; Energy and/or capacity price suppression effects; Avoided costs of compliance with Renewable Portfolio Standard requirements; Avoided credit and collection costs; Avoided ancillary services; Comfort; Economic development and job impacts; Public health impacts; Energy security impacts; Increased reliability. The U.S. Department of Energy’s Building Technologies Office supported this work.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2023

Overcoming the Technical Challenges of Coordinating Distributed Load Resources at Scale (Final Report)

Significant recent research has investigated the potential for loads to provide balancing services to the grid. However, this research has not addressed key issues that may arise when such schemes are applied at scale including: 1. Distribution Network Issues. Coordination of large numbers of loads could result in power flows that violate distribution network constraints; 2. Stability Issues. Certain strategies to control loads can exhibit nonlinearity in the form of period-adding bifurcations and chaos. Other control strategies can potentially synchronize the behavior of large numbers of loads. In both cases, the outcome can be power oscillations and instability; 3. Communication Network Issues. Bidirectional low-latency communication channels between a central controller (or several distributed controllers) and each resource are expensive and likely not necessary for effective coordination. Our research questions were: What network, stability, and communication issues might arise in practice when we coordinate large aggregations of loads? How can we coordinate loads to achieve performance objectives in a cost effective manner while avoiding these issues? The ultimate technical goal of the project was the development of network-aware, communication-constrained, non-disruptive load control strategies with stability guarantees that achieve the performance requirements of typical balancing services at a sufficiently low cost to enable the load aggregator and customer to profit. The overall goal was to establish credibility for load control at scale and contribute to U.S. energy security and environmental goals. The team succeeded in answering these research questions and developing these control strategies. The overall approach was based on the development of three testing environments: a simulation testbed, an experimental testbed (20 physical model houses with window-box air conditioners) coupled with the simulation testbed, and a field testbed (100 actual homes in Austin, TX) coupled with the simulation testbed, which enabled controller testing, identification of issues, controller development, and controller validation. The resulting controller was used to demonstrate fast timescale grid balancing (frequency regulation) by aggregations of physical and virtual air conditioners, with sufficient quality to participate in the electricity market. Cost benefit analysis showed overall benefits to the participating households, load aggregators, and the grid, especially if the control technology was integrated directly into existing programmable communicating thermostats. The project provides a variety of wider benefits. Our technology transfer and outreach activities lead us to choose an open-source licensing commercialization pathway, enabling the project results to be available to researchers, industry, and the public. Furthermore, new grid balancing technologies will increase grid flexibility and will enable higher penetrations of intermittent renewable energy resources, such as wind and solar, to be connected to the grid, reducing its environmental impact, and mitigating climate change to the benefit of society.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2016

Filter Efficiency and Leak Testing of Returned ISS Bacterial Filter Elements After 2.5 Years of Continuous Operation

The atmosphere revitalization equipment aboard the International Space Station (ISS) and future deep space exploration vehicles provides the vital functions of maintaining a habitable environment for the crew as well as protecting the hardware from fouling by suspended particulate matter. Providing these functions are challenging in pressurized spacecraft cabins because no outside air ventilation is possible and a larger particulate load is imposed on the filtration system due to lack of sedimentation in reduced gravity conditions. The ISS Environmental Control and Life Support (ECLS) system architecture in the U.S. Segment uses a distributed particulate filtration approach consisting of traditional High-Efficiency Particulate Adsorption (HEPA) filters deployed at multiple locations in each module. These filters are referred to as Bacteria Filter Elements (BFEs). As more experience has been gained with ISS operations, the BFE service life, which was initially one year, has been extended to two to five years, dependent on the location in the U.S. Segment. In previous work we developed a test facility and test protocol for leak testing the ISS BFEs. For this work, we present results of leak testing a sample set of returned BFEs with a service life of 2.5 years, along with particulate removal efficiency and pressure drop measurements. The results can potentially be utilized by the ISS Program to ascertain whether the present replacement interval can be maintained or extended to balance the on-ground filter inventory with extension of the lifetime of ISS to 2024. These results can also provide meaningful guidance for particulate filter designs under consideration for future deep space exploration missions.

ISS Air Quality↗

NASA NTRS1992

Effects of low Earth orbit environment on the Long Duration Exposure Facility thermal control coatings

One of the benefits of the Long Duration Exposure Facility (LDEF) was the opportunity to study the before and after effects of low earth orbit space environment on the spacecraft thermal control coatings. Since the LDEF's thermal control was totally passive by design, the selection of the external surface absorptivity to emissivity ratio (alpha/epsilon) and the ability for the coating to retain the alpha/epsilon over time was an important consideration in the thermal design of the LDEF. The primary surface coating chosen for the LDEF structure was clear chromic anodized aluminum with an average design alpha/epsilon of 0.32/0.16. External surface absorptivity (alpha) and emissivity (epsilon) were measured on all intercostals, longerons, tray mounting flanges, thermal control panels, and a limited number of experiment surface coatings after the experiment trays were removed from the LDEF structure. All surface alpha/epsilon measurements were made using portable hand held infrared and solar spectrum reflectometers. The absorptivity measurements were taken with a Devices and Services SSR-ER version 5.0 solar spectra reflectometer which has a stated uncertainty of +/- 0.01, and all normal emissivity measurements were made using the Gier Dunkle DB-100 infrared reflectometer also with a stated uncertainty of +/- 0.01. Both instruments were calibrated in the laboratory by LaRC instrumentation personnel before being used in the field at KSC. A combined total of 733 measurements were taken on the anodized aluminum hardware which included the structure (intercostals, longerons, and center ring), earth and space end thermal control panels, and experiment tray mounting flanges. The facility thermal control coatings measured in this survey cover 33 percent of the total exposed LDEF surface area. To correlate low earth orbit environmental effects on the anodized coatings, measurements were taken in both exposed and unexposed surfaces and compared to quality assurance (QA) measurements taken on the new surfaces at the time of hardware fabrication in 1978. The results of investigation are presented.

Sampair, Thomas R.↗

NASA NTRS1994

S-Band propagation measurements

A geosynchronous satellite system capable of providing many channels of digital audio radio service (DARS) to mobile platforms within the contiguous United States using S-band radio frequencies is being implemented. The system is designed uniquely to mitigate both multipath fading and outages from physical blockage in the transmission path by use of satellite spatial diversity in combination with radio frequency and time diversity. The system also employs a satellite orbital geometry wherein all mobile platforms in the contiguous United States have elevation angles greater than 20 deg to both of the diversity satellites. Since implementation of the satellite system will require three years, an emulation has been performed using terrestrial facilities in order to allow evaluation of DARS capabilities in advance of satellite system operations. The major objective of the emulation was to prove the feasibility of broadcasting from satellites 30 channels of CD quality programming using S-band frequencies to an automobile equipped with a small disk antenna and to obtain quantitative performance data on S-band propagation in a satellite spatial diversity system.

Briskman, Robert D.↗

DOE OSTI2026

Extreme-scale EV charging infrastructure planning for last-mile delivery using high-performance parallel computing

Here, this paper addresses stochastic charger location and allocation problems under queue congestion for last-mile delivery using electric vehicles (EVs). The objective is to decide where to open charging stations and how many chargers of each type to install, subject to budgetary and waiting-time constraints. We formulate the problem as a mixed-integer non-linear program, where each station-charger pair is modeled as a multiserver queue with stochastic arrivals and service times to capture the notion of waiting in fleet operations. The model is extremely large, with billions of variables and constraints for a typical metropolitan area; even loading the model in solver memory is difficult, let alone solving it. To address this challenge, we develop a Lagrangian-based dual decomposition framework that decomposes the problem by station and leverages parallelization on high-performance computing systems, where the subproblems are solved by using a cutting plane method and their solutions are collected at the master level. We also develop a three-step rounding heuristic to transform the fractional subproblem solutions into feasible integral solutions. Computational experiments on data from the Chicago metropolitan area with hundreds of thousands of households and thousands of candidate stations show that our approach produces high-quality solutions in cases where existing exact methods cannot even load the model in memory. We also analyze various policy scenarios, demonstrating that combining existing depots with newly built stations under multiagency collaboration substantially reduces costs and congestion. These findings offer a scalable and efficient framework for developing sustainable large-scale EV charging networks.

Capacity allocation↗

DOE OSTI2020

NDE Technology Engineering Program for Hanford DST Non-Visual Volumetric Inspection Technology: Phase II RAVIS Radiation Tolerance Test Report

This test report provides the results of radiation tolerance robustness testing that was performed on samples of robotic components and an ultrasonic guided wave air-slot sensor that represent components/sub-systems of the Robotic Air-slot Volumetric Inspection System (RAVIS) that has been engineered for volumetric inspection of Hanford tank bottom plates via under-tank refractory pad air-slots. The specific components tested for 1) functionality during active irradiation and 2) tolerance to cumulative radiation dose (until failure or upon reaching a cumulative dose test limit) were: • four samples each of a printed circuit board (PCB) and direct current (DC) motor, which are robotic components, and • 26 ultrasonic piezoelectric elements (samples) inside an air-slot sensor. The robotic components are part of the RAVIS air-slot inspection crawler drive control system that is responsible for remote communication with and actuation of the air-slot inspection crawler. The failure of either of these components during under-tank deployment would require manual retrieval via the crawler’s tether, which risks damage to the robot/refractory/tank. Preemptive replacement of the components at appropriately conservative dose/time intervals informed by failure dose would reduce the likelihood of under-tank failure. The components were included in radiation tolerance testing to quantify their failure doses to inform replacement intervals. The air-slot sensor is responsible for collecting ultrasonic inspection data (scan images) for the tank bottom plates during under-tank deployment. Compromised signal quality due to elevated noise levels caused by gamma radiation would compromise inspection performance. The air-slot sensor was included in radiation tolerance testing to quantify the impact of active irradiation on sensor signal quality. The irradiation and in-situ functional tests of the PCBs, DC motors and air-slot sensor took place in June and July 2020 at the Pacific Northwest National Laboratory. Testing was performed at a gamma dose rate near 300 rad/hr., which, in the absence of under-tank dose rate data, has been conservatively estimated to be the upper-bound dose rate beneath the primary tanks at Hanford. Irradiation took place at elevated temperatures of 150-200°F to determine failure doses that reflect the compounding effects of gamma radiation and heat. The test results revealed: • The DC motors can tolerate being actively irradiated at the high dose rate at 200°F and can tolerate a cumulative dose of 300,000 rad, that which would be incurred after 5 years of service at the 300 rad/hr dose rate. The component therefore meets minimum and preferred radiation tolerance and lifecycle requirements for robotic components. • The air-slot sensor can tolerate being actively irradiated at the high dose rate at 150°F and can tolerate a cumulative dose of 60,000 rad, that which would be incurred after 1 year of service at the 300 rad/hr dose rate. The sensor therefore meets minimum radiation tolerance and lifecycle requirements. • The PCB can tolerate being actively irradiated at the high dose rate, but can only tolerate a cumulative dose of 19,000 rad at 150-200°F. The PCB does not meet minimum radiation tolerance and lifecycle requirements; however, because the component is considered replaceable, it can be replaced before a cumulative dose of 19,000 rad is reached, determined through either monitoring with a dosimeter or scheduled time intervals that are calculated based on conservative estimates of under-tank dose rates.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗