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All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Actuator and Motor Control End-to-End V&V on the Mars 2020 Rover

The Mars 2020 Perseverance rover is the most advanced robotic exploration system ever sent to another planet. To support the complex scientific and mobility needs of the mission, the rover utilizes 33 actuators, three multi-degree-of-freedom force-torque sensors, fifteen single or dual-speed resolvers, two solenoid valves, and twelve contact switches. The control for these actuators and sensors is achieved by several levels of flight software, coordinated between two computers with varying bandwidth control loops. Furthermore, the actuators and sensors were integrated into multiple larger robotic mechanisms that were delivered by different organizations at various points in the Integration and Test (I&T) timeline. All of this created a very complex Verification and Validation (V&V) scenario involving multiple subsystems and teams, several hardware and software testbeds with varying levels of fidelity, and significant systems engineering to ensure the overall I&T schedule could be maintained while ensuring system hardware safety.This paper details the integrated V&V effort across multiple teams and venues to provide full coverage of all necessary functionality, performance, and fault protection. First, it provides an overview of how the V&V campaign was subdivided among teams and venues and provides descriptions of the various hardware configurations used to support the testing. The Mars 2020 implementation of the plan incorporates many of the lessons learned from Mars Science Laboratory’s test campaign, and these value-added modifications are discussed here. Also included in this section is the system-level environmental testing approach used for mechanisms. Second, the paper describes the phased approach used by the teams to support new hardware and software deliveries to testbed and Systems I&T. In this approach the test campaign was built upon higher-level mechanism needs for performance, functionality, and safety at specific times in the campaign. Finally, the paper discusses lessons learned from the V&V campaign that should be applied to future large-scale motion control testing efforts.

Borne, Davis↗
NASA NTRSDate not supplied

Updated Analysis of the Source Contaminant Control System (SCCS) for the Trash Compaction and Processing System (TCPS)

The Trash Compaction and Processing System (TCPS) aims to reduce volume, biologically safen, physically stabilize, manage effluents, and recover resources from astronaut trash in the International Space Station (ISS). This process involves heating the trash to high temperatures, which in turn releases gaseous contaminants. A Source Contaminant Control System (SCCS) is planned to be implemented within the TCPS to convert these contaminants into carbon dioxide (CO 2 ) and water (H 2 O) vapor. The SCCS is composed of a carbon adsorbent bed, to avoid catalyst poisoning, and a catalytic oxidizer (CatOx), which promotes oxidation of the contaminants to CO 2 and H 2 O. In turn, the gases coming out of the SCCS should be compatible to the ISS cabin and systems such as the Trace Contaminant Control System (TCCS). This paper will individually evaluate the carbon bed and CatOx to understand what components the carbon bed removes and what contaminants are converted in the CatOx. Overall, this is an updated analysis of the SCCS design, operation, testing with results, and lessons learned.

Janine Criselda Young↗
DOE OSTI2022

Neutrinos from Stored Muons (nuSTORM)

The 2020 Update of the European Strategy for Particle Physics (ESPP) (see https://cds.cern.ch/record/2720129 ) recommended that muon beam R&D should be considered a high-priority future initiative and that a programme of experimentation be developed to determine the neutrino cross-sections required to extract the most physics from the DUNE and Hyper-K long-baseline experiments. The ENUBET and nuSTORM collaborations have begun to work within and alongside the CERN Physics Beyond Colliders study group and the international Muon Collider collaboration to carry out a joint, five-year R&D programme to deliver a detailed plan for the implementation of an infrastructure in which: (1) ENUBET and nuSTORM deliver the neutrino cross-section measurement programme identified in the ESPP and allow sensitive searches for physics beyond the Standard Model to be carried out; and in which (2) A 6D muon ionisation cooling experiment is delivered as part of the technology development programme defined by the international Muon Collider collaboration. This document summarises the status of development of the nuSTORM and 6D cooling experiments and identifies opportunities for collaboration in the development of the initiative outlined above.

43 PARTICLE ACCELERATORS↗
DOE OSTI2016

Remote-Controlled Removal of Bricks from a Reactor Shaft: An Unconventional Approach - 16406

The first German prototype Fast Breeder Nuclear Reactor (KNK) is currently being dismantled after being the only operating Fast Breeder-type reactor in Germany. The complete dismantling is based on 10 decommissioning permits. Package 3 of the 9. decommissioning permit, which is currently under preparation, comprises the dismantling of the biological shield. Package 2 comprised the dismantling of the Primary Shield. In preparation to lift the 14 primary shield segments on height of the reactor core, these were milled at 16 positions and equipped with a total of 26 holes. As a result of the milling and drilling process, an estimated amount of 500-600 kg cast iron swarfs accumulated at the bottom of the 12 m deep reactor shaft. The cobalt in the cast iron was activated to cobalt-60 during operation. This results in a measurable dose-rate of 30-35 mSv/h. At the conical bottom of the reactor shaft were still the remaining parts of the thermal insulation consisting of a lining with brick stones, covered with loose remnants of the thermal insulation, loose metallic residues and cut-off wheels of the angel grinder. For the next dismantling step, the removal of the activated part of the biological shield, it is necessary that the cast iron swarfs must be removed as well as the remains of the thermal insulation. Firstly, this is necessary to reduce the dose rate inside the shaft for subsequent breakthrough operations and, secondly to have a statically resilient surface for the installation of a necessary working platform for next dismantling tools. There was no access for personnel. A manual removal was also not possible due to the existing dose rate. The cast iron swarfs supposed to be removed by a remote controlled suction unit, which was installed on top of a drum and mounted in a special rack. The complete system was lowered into the reactor shaft by using a crane. After removing the major amount of swarfs, the remaining swarfs as well as the sheet metal liner should be collected with a magnetic grabber. The solution for the metal removal was easy to realize, but there was no idea how to remove the remaining bricks remote controlled out of the reactor shaft. Another boundary was that only existing facilities were supposed to be used in addition to the new suction system, i.e. the existing cranes, gripper, as well as the double lid lock of the encasing for the handling of the vacuum cleaner, the transport of the drum and the lock procedure. The design essentially consists of a suction unit and a collecting unit. Both units are connected hooked by the three single suspension chains on the rack on the traverse and connection of the suction tube. Subsequently the entire unit was drained in the 12 m deep reactor shaft. The entire unit has been lifted out of the reactor shaft and placed on a defined set-down position. At this position, now both of the units could be separated by using the Master-Slave-Manipulator in the encasing (A100). By using different suction pipes the reactor shaft bottom could be exempted from the cast iron swarfs within a few days. The suction unit worked in such a positive way that it was decided to remove the loose refractory bricks, metallic residues, cut off wheels, etc., too. Metal parts remaining on the ground were removed by a magnet. This pragmatic approach avoided additional complex design works and the need of constructing special solutions and thus, massively saved time, cost and dose rate. The duration of planning, permission including implementation amounted to approximately 3 to 4 months. The additional work could be performed directly after the actual dismantling step.

07 ISOTOPE AND RADIATION SOURCES↗
DOE OSTI2016

Future German R and D on HLW Disposal - 16519

In 2009, after the General elections, the new German Government showed a relatively positive attitude towards a prolonged use of nuclear power. Power plant shutdown was planned for the year 2032. Nuclear power was considered as a sort of transition energy technology until the energy supply would take place by the use of renewable energy sources. This was in line with the legal framework and the political strategy of the energy turnaround. Then, 17 nuclear power plants (NPP) were operational. The Fukushima incident heralded the sound of drastic changes in the German energy policy: Besides an intermediate stop of operation of reactors until a so-called stress test was accomplished, the general political decision was to phase-out nuclear earlier than planned and to implement faster the decisions regarding the energy transition policy. The shut-down of the last German nuclear power plant will occur in 2022. Accordingly, all the necessary legal changes were made. A consensus about the appropriate waste management strategy for heat generating waste (spent nuclear fuel (SNF) and vitrified waste (HLW)) was still pending at this time. Public and political discussions on this subject continued as in the years before. In July 2013, after intensive discussions, most of the parties represented in the German parliament agreed to eventually tackle the challenge of finding a repository by a consensual, transparent and science-based approach. This was to be codified in a law. In July 2013, the Site Selection Act passed the parliament. This law should pave the way for a new holistic process that addresses social, political, and scientific aspects of siting and the site selection process. The basics for this process should be provided by the 'Commission Storage of Radioactive Waste Materials' which was established according this law. Against this background discussions showed that scientific-technical R and D activities should be mirrored accordingly and R and D has to deal both with the future challenges of radioactive waste HLW disposal and related aspects. Considering this the Federal Ministry for Economic Affairs and Energy (BMWi), which is responsible for non-site specific R and D, created the new Research Concept 'Research for the management of radioactive waste', being fundamental and the frame for non-site specific R and D projects funded by BMWi. Key changes - mirroring the new requirements and different aspects - touch the issues: host rock research, i.e. all potential host rocks available in Germany are equally addressed and there is no prioritization, consideration of consequences of prolonged storage at NPP sites, alternative waste management strategies compared to direct disposal in a mined repository, and involvement of socio-technical aspects.This paper intends to highlight the key changes, its consequences, and will give a brief overview on first initiated R and D activities. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

New AREVA's Investment in Continuous Improvement to Increase Efficiency of La Hague Reprocessing Lines - 18588

New AREVA currently operates 2 commercial reprocessing lines at their La Hague facility in France. Each line is capable of reprocessing up to 800 tHM/year of commercial spent light water reactor fuel. The site and process is self-contained with all waste arising from the reprocessing operations segregated into various waste streams and stabilized at the site. New AREVA operates a culture of continuous improvement and continues to invest in new technology, processes, waste management and procedures that have increased plant throughput while reducing waste volumes, operating cost while at the same time maintaining our strong safety culture. New investments have also been driven by changing customer needs and new markets. A good example of this has emerged over the last several years as New AREVA has been transporting a large amount of Research Reactor (RR) Uranium-Aluminum (UAl) type spent fuel (SF) on behalf of international RR operators to the La Hague site. Last year more than 100 RR fuel elements shipments were carried out by New AREVA (for fresh and spent fuel). In our current commercial lines the reprocessing of RRSF has been limited to approximately 1.4 ton a year. To meet increasing demand for reprocessing of RRSF, the range of RRSF that can now be reprocessed at La Hague has been extended to include Uranium-Aluminium-Silicium fuel (USi also called Silicide fuel) and also non-intact RRSF. In addition, New AREVA supported large scale research, development and engineering programs to identify processes/technology to allow the La Hague Facilities to reprocess a targeted average of additional 25 tons/year of non-commercial fuel types (RRSF and also fast reactor fuel, specific MOX fuel... ). A new facility head end called Traitement de Combustibles Particuliers (TCP) facility is currently planned to be implemented in the La Hague plant allowing reprocessed special fuels to be introduced into the existing commercial processing lines. The purpose of the paper is to demonstrate New AREVA's culture of continuous improvement that has been implemented at our commercial reprocessing facility highlighting how we have invested in processes and procedures for improving services to the nuclear operators. A case study will be presented related to our latest development of the TCP head end that will allow New AREVA to reprocess a targeted average of additional 25 tons/year of specialized fuels. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2012

The HAL 9000 Space Operating System Real-Time Planning Engine Design and Operations Requirements

In support of future deep space manned missions, an autonomous/automated vehicle, providing crew autonomy and an autonomous response planning system, will be required due to the light time delays in communication. Vehicle capabilities as a whole must provide for tactical response to vehicle system failures and space environmental effects induced failures, for risk mitigation of permanent loss of communication with Earth, and for assured crew return capabilities. The complexity of human rated space systems and the limited crew sizes and crew skills mix drive the need for a robust autonomous capability on-board the vehicle. The HAL 9000 Space Operating System[2] designed for such missions and space craft includes the first distributed real-time planning / re-planning system. This paper will detail the software architecture of the multiple planning engine system, and the interface design for plan changes, approval and implementation that is performed autonomously. Operations scenarios will be defined for analysis of the planning engines operations and its requirements for nominal / off nominal activities. An assessment of the distributed realtime re-planning system, in the defined operations environment, will be provided as well as findings as it pertains to the vehicle, crew, and mission control requirements needed for implementation.

Stetson, Howard↗
NASA NTRS1991

Experimental study of trajectory planning and control of a high precision robot manipulator

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Nguyen, Charles C.↗
NASA NTRS2010

Medical Response, Search and Recovery during the Space Shuttle Columbia Accident Investigation

On February 1, 2003, the Space Shuttle Columbia broke apart during atmospheric re-entry on mission STS-107. After an event such as this, with high visibility and international interest, the operational challenge of recovering the crewmembers could not be underestimated. The Space Shuttle Program is organized to respond to a vehicle mishap using the resources of the Mishap Investigation Team (MIT). On the afternoon of Feb. 1, 2003, the MIT deployed to Barksdale Air Force Base (AFB), Louisiana. This location became the investigative center and interim storage location for crewmembers received from the Lufkin, Texas Disaster Field Office (DFO). The Lufkin DFO served as the primary area for all operations, including staging assets and deploying field teams for search, recovery and security of crewmember remains. More than 2,000 people from numerous organizations were involved with the recovery of the crew. All seven crewmembers of STS-107 were recovered and ceremonial last rights were administered. Astronaut and military personnel escorted the crew with honor to the MIT at Barksdale AFB, Louisiana. At Barksdale AFB a temporary morgue was established in an aircraft hangar and operated for approximately two weeks during which time coordination with the DFO field recovery teams, Armed Forces Institute of Pathology (AFIP) medical personnel, and the crew surgeons was on going. Families of crewmembers and NASA management were notified daily of the current findings. Working under the leadership of the MIT Lead, the medical team developed and executed a short-term plan to identify and relocate the crew with a military honor guard and protocol to the medical examiner at the Armed Forces Port Mortuary, Dover AFB, Delaware. After operations at Barksdale AFB were concluded the medical team transitioned back to Houston and a long-term plan was developed and implemented which involved the Air Force Mortuary Affairs at Randolph AFB, Texas. This plan was coordinated with search teams in the field, Barksdale AFB Mortuary Affairs, KSC security, AFIP, and the crew surgeons at JSC.

Stepaniak, Philip C.↗
DOE OSTI2023

Key Takeaways: First Cohort of Action Plans for Rapid Power Sector Decarbonization

The purpose of this synthesis report is to extract key takeaways from the first cohort of CEM Action Plans for rapid power sector decarbonization, developed by Australia, Chile, the European Union, India, and the United Kingdom. These Action Plans differ in their approach to power sector decarbonization based on the domestic resources available, governance structure, and regional context, among other factors. However, they also share common themes that were emphasized in the collaborative report released at CEM13. This report is not intended to be inclusive of all components in each Action Plan. Rather, this report highlights how select best practices for planning, building, and operating power systems are being implemented differently in these Action Plans, with equal focus given to each jurisdiction. Ministers and stakeholders from other governments with similar decarbonization goals can consider these examples within their own unique context.

Australia↗
NASA NTRS1978

CCM implementation status

Activity invested in the preparation of planning the control and computational module (CCM) implementation into the Deep Space Network (DSN) is described. A de facto standard, selection of a standard CCM family, and policies to govern use of CCMs in DSN application are among the topics considered.

Mancini, R. A.↗
NASA NTRS1991

A strategy for residual acceleration data reduction and dissemination

A data reduction plan is being developed to efficiently process residual acceleration data from orbiting space laboratories. Implementation of the reduction plan will result in a useful, manageable accelerometer data base which can be readily employed by principal investigators during post-flight analysis of experimental results. The data reduction plan will also assist in the characterization of the acceleration environment of orbiters, which is important for the planning of future experimental missions. Prototype versions of the reduction plan are being tested using accelerometer data recorded during the Spacelab 3 (SL3) mission. Transient disturbances caused by shuttle and experiment operations and crew activities are being cataloged. The magnitudes of such disturbances can be as much as 0.01 g, but are rarely sustained for more than a fraction of a second and tend to vary greatly in orientation. It is found that the recorded frequency components of the SL3 disturbances do not exceed tolerance limits determined from modeling for a selected experiment set.

Rogers, Melissa J. B.↗
NASA NTRS1984

Design and implementation of a compliant robot with force feedback and strategy planning software

Force-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy.

Premack, T.↗
DOE OSTI2014

Monte Carlo based beam model using a photon MLC for modulated electron radiotherapy

Purpose: Modulated electron radiotherapy (MERT) promises sparing of organs at risk for certain tumor sites. Any implementation of MERT treatment planning requires an accurate beam model. The aim of this work is the development of a beam model which reconstructs electron fields shaped using the Millennium photon multileaf collimator (MLC) (Varian Medical Systems, Inc., Palo Alto, CA) for a Varian linear accelerator (linac). Methods: This beam model is divided into an analytical part (two photon and two electron sources) and a Monte Carlo (MC) transport through the MLC. For dose calculation purposes the beam model has been coupled with a macro MC dose calculation algorithm. The commissioning process requires a set of measurements and precalculated MC input. The beam model has been commissioned at a source to surface distance of 70 cm for a Clinac 23EX (Varian Medical Systems, Inc., Palo Alto, CA) and a TrueBeam linac (Varian Medical Systems, Inc., Palo Alto, CA). For validation purposes, measured and calculated depth dose curves and dose profiles are compared for four different MLC shaped electron fields and all available energies. Furthermore, a measured two-dimensional dose distribution for patched segments consisting of three 18 MeV segments, three 12 MeV segments, and a 9 MeV segment is compared with corresponding dose calculations. Finally, measured and calculated two-dimensional dose distributions are compared for a circular segment encompassed with a C-shaped segment. Results: For 15 × 34, 5 × 5, and 2 × 2 cm{sup 2} fields differences between water phantom measurements and calculations using the beam model coupled with the macro MC dose calculation algorithm are generally within 2% of the maximal dose value or 2 mm distance to agreement (DTA) for all electron beam energies. For a more complex MLC pattern, differences between measurements and calculations are generally within 3% of the maximal dose value or 3 mm DTA for all electron beam energies. For the two-dimensional dose comparisons, the differences between calculations and measurements are generally within 2% of the maximal dose value or 2 mm DTA. Conclusions : The results of the dose comparisons suggest that the developed beam model is suitable to accurately reconstruct photon MLC shaped electron beams for a Clinac 23EX and a TrueBeam linac. Hence, in future work the beam model will be utilized to investigate the possibilities of MERT using the photon MLC to shape electron beams.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS1999

Mars Comm/Nav MicroSat Network Using the Multi-Mission Bus Launched Piggyback by Ariane 5

Recently, NASA's Jet Propulsion Laboratory completed a Mars Exploration Program Architecture Definition Study with strong international participation. The recommendations of this study include establishment of a low cost in-situ communications and navigation satellite network to provide enabling and enhancing support for the international exploration of Mars. This would be the first step toward establishing a "virtual presence throughout the solar system" as called for in NASA's Strategic Plan. Response to the proposed comm/nav satellite network has been very favorably received, as reflected by the inclusion of a line item in NASA's budget submittal to Congress, which provides funding for implementation of the network with first launch in the 2003 opportunity. Funding has already been provided for a phase A study being conducted this year. This paper presents the planned implementation of the comm/nav network, which will utilize microsats based on a multi-mission spacecraft bus being designed for launch by the Ariane 5 as a secondary payload. A companion paper at this conference, entitled "The Multi-Purpose Mars Micro-Mission System Design Utilizing Ariane 5 Piggyback Launch", describes the multimission bus design. This paper addresses the application of the multi-mission bus to the comm/nav microsat mission. Following an introduction, which provides the background that has led to the proposed comm/nav network, the paper discusses the projected user needs with emphasis on the various possible robotic missions (landers, rovers, ascent vehicles, balloons, aircraft, etc.) progressing toward eventual piloted missions. Next, the paper describes the concept for an evolving network of comm/nav microsats and the expected capability to satisfy the user needs. Results of communications and navigation performance analysis are summarized for attractive satellite constellation configurations. The important comm/nav microsat functional requirements on the multi-mission spacecraft bus are described with discussion of the mission-system tradeoffs for the driving requirements. The functional design of the in-situ communications / navigation package, which constitutes the payload of the microsat, is also described. The paper also includes discussion of technologies which are of specific importance to the implementation of the comm/nav microsat network.

Hastrup, R. C.↗
DOE OSTI2016

SU-G-TeP4-11: Implementation of a Non-Measurement-Based Patient-Specific IMRT QA Program

Purpose: To implement a comprehensive non-measurement-based verification program for patient-specific IMRT QA Methods: Based on published guidelines, a robust IMRT QA program should assess the following components: 1) accuracy of dose calculation, 2) accuracy of data transfer from the treatment planning system (TPS) to the record-and-verify (RV) system, 3) treatment plan deliverability, and 4) accuracy of plan delivery. Results: We have implemented an IMRT QA program that consist of four components: 1) an independent re-calculation of the dose distribution in the patient anatomy with a commercial secondary dose calculation program: Mobius3D (Mobius Medical Systems, Houston, TX), with dose accuracy evaluation using gamma analysis, PTV mean dose, PTV coverage to 95%, and organ-at-risk mean dose; 2) an automated in-house-developed plan comparison system that compares all relevant plan parameters such as MU, MLC position, beam iso-center position, collimator, gantry, couch, field size settings, and bolus placement, etc. between the plan and the RV system; 3) use of the RV system to check the plan deliverability and further confirm using “mode-up” function on treatment console for plans receiving warning; and 4) implementation of a comprehensive weekly MLC QA, in addition to routine accelerator monthly and daily QA. Among 1200 verifications, there were 9 cases of suspicious calculations, 5 cases of delivery failure, no data transfer errors, and no failure of weekly MLC QA. These 9 suspicious cases were due to the PTV extending to the skin or to heterogeneity correction effects, which would not have been caught using phantom measurement-based QA. The delivery failure was due to the rounding variation of MLC position between the planning system and RV system. Conclusion: A very efficient, yet comprehensive, non-measurement-based patient-specific QA program has been implemented and used clinically for about 18 months with excellent results.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2015

SU-E-E-12: Validation of the Implementation of Different CT Scanners in Proton Treatment Planning

Purpose: To quantify the impact of the relationship of CT number and Relative Stopping Power (RSP) among different CT-scanners in the evaluation of dose distribution, for different tumor sites and proton therapy modalities like Pencil Beam and Uniform Scanning. Methods: The same tissue characterization phantom was used to analyze the difference in the X-rays energy spectra of 2 CT scanners of the same vendor. One CT is for planning and the other for treatment verification. The Hounsfield unit (HU) variations and associated dosimetric uncertainty were investigated in uniform scanning and pencil beam treatment plans of different sites. At the same time comparisons of the CT calibration curve were done using the same acquisition protocols. The phantom was imaged on a 16 multi-row CT scanner, with energies of 120 and 140 kVp,currents of 263 and 245 mA and slice thickness of 2 and 3mm respectively. The dosimetric uncertainty of the plans was evaluated in a homogeneus phantom comparing DVHs, gamma index criteria 3% 3mm, and range between them. Results: The variation of HU was within the standard deviation of the average for each tissue substitute. The curves fitted with a bilinear interpolation show a maximum deviation in high density materials like cortical bone and solid water, where the HU values deviated more than 0,6% for the 120kVp protocol. For the others curves the deviation was more than 2% for low densities materials. The gamma index uncertainty criteria passed in all the cases. Conclusion: The HU variations for the different scanners were ≤3%. Lower than the 3,5% uncertainties considered in our treatment planning system. The dosimetric analysis shows that the X-ray spectrum has a small effect on the HU-RSP curve, allowing the use of a single tissue characterization curve in our proton treatment planning system for plans verifications.

60 APPLIED LIFE SCIENCES↗