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At least 1,243 records · Page 69

A passive bearing system using superconducting magnets

A passive radial bearing concept is presented using superconducting magnets which can generate a bearing pressure as high as 360 N/sq cm, comparable to a conventional active bearing system. The system consists of a number of solenoidal superconducting coils of alternating current direction. These coils are stacked axially over the bearing length and connected in series. The currents in stator and rotor coils are in the opposite directions, generating repulsive forces. This system, in comparison with an active system, has the advantage of much smaller power dissipation in the coils since the coil currents are mostly dc currents. The cooling for the superconducting coils is therefore simpler, and the coils are more stable. An optimization study seeking the maximum bearing pressure was conducted. Details of the design, pressure calculations, and results are presented.

Huang, X.↗

Delay Line Detectors for the UVCS and Sumer Instruments on the SOHO Satellite

Microchannel plate based detectors with cross delay line image readout have been rapidly implemented for the SUMER and UVCS instruments aboard the Solar Orbiting Heliospheric Observatory (SOHO) mission to be launched in July 1995. In October 1993 a fast track program to build and characterize detectors and detector control electronics was initiated. We present the detector system design for the SOHO UVCS and SUMER detector programs, and results from the detector test program. Two deliverable detectors have been built at this point, a demonstration model for UVCS, and the flight Ly alpha detector for UVCS, both of which are to be delivered in the next few weeks. Test results have also been obtained with one other demonstration detector system. The detector format is 26mm x 9mm, with 1024 x 360 digitized pixels, using a low resistance Z stack of microchannel plates (MCP's) and a multilayer cross delay line anode (XDL). This configuration provides gains of approximately 2 x 10(exp 7) with good pulse height distributions (less than 50% FWHM) under uniform flood illumination, and background levels typical for this configuration (approximately 0.6 event cm (exp -2)sec(exp -1)). Local counting rates up to about 400 events/pixel/sec have been achieved with no degradation of the MCP gain. The detector and event encoding electronics achieves about 25 millimeter FVHM with good linearity (plus or minus approximately 1 pixel) and is stable to high global counting rates (greater than 4 x 10(exp 5) events sec(exp -1)). Flat field images are dominated by MCP fixed pattern noise and are stable, but the MCP multifiber modulation usually expected is uncharacteristically absent. The detector and electronics have also successfully passed both thermal vacuum and vibration tests.

Seigmund, O. H. W.↗

CubeSub

This presentation introduces and discusses the development of the CubeSub submersible concept, an Autonomous Underwater Vehicle (AUV) designed around the CubeSat satellite form factor. The presented work is part of the author's MSc thesis in Aerospace Engineering at the Royal Institute of Technology, Stockholm, Sweden, and was performed during an internship at the Mission Design Division of the NASA Ames Research Center, Moffett Field, CA. Still in the early stages of its development, the CubeSub is to become a submersible test-bed for technology qualified for underwater and space environments. With the long-term goal of exploring the underwater environments in outer space, such as the alleged subsurface ocean of Jupiter's moon Europa, a number of technology and operational procedures must be developed and matured. To assist in this, the CubeSub platform is introduced as a tool to allow engineers and scientists to easily test qualified technology underwater. A CubeSat is a class of miniaturized satellite built to a standardized size. The base size is 1U (U for unit), corresponding to a 100 x 100 x 113.5 cu mm cube. A 1U CubeSat can in other words easily be held in one hand. Stacking units give larger satellite sizes such as the also commonly used 1.5U, 2U and 3U. The CubeSat standard is in itself already well established and hundreds of CubeSats have to date been launched into space. Compatible technology is readily available and the know-how exists in the space industry, all of which makes it a firm ground to stand on for the CubeSub. The rationale behind using the CubeSat form factor is to make use of this pre-existing foundation, making the CubeSub easy to develop, modular and readily available. It will thereby aid in the process of maturing the concept of a fully space qualified submersible headed for outer space. As a further clarification, the CubeSub is itself not meant for outer space, but to facilitate development of such a vessel. Along with its uses as a testbed, the CubeSub also holds the potential to become a useful tool for exploration and experimentation here on Earth. A highly standardized system utilizing well-known hardware can reduce the cost and required work load for researchers wishing to perform experiments and exploration. Users could design sensors and experiments to comply with the already well established CubeSat standard, which are then carried by the CubeSub to the region of interest. This in turn means that the end users can focus more on formulating the experiment itself and less about how to get it where they want it. The CubeSub is designed to be built up by modules, which can be assembled in different configurations to fulfill different needs. Each module will be powered individually and intermodular communication will be wireless, removing the need for wiring. The inside of the cylindrical hull will be flooded with ambient water to enhance the interaction between payloads and surrounding environment. The overall torpedo-like shape is similar to that of a conventional AUV, slender and smooth. This is to make for a low drag, reduce the risk of snagging on surrounding objects and make it possible to deploy through an ice sheet via a narrow borehole or navigate in tight areas. To keep costs low and further accelerate development, rapid prototyping is utilized wherever possible. Full-scale prototypes are being constructed through 3D-printing and using COTS (Commercial Off-The-Shelf) components. 3D-printing is used both for the largest hull components and the relatively small and delicate propellers. Arduino boards are used for control and internal communication

AUV↗

From Inside Out: How the Buried Interface, Shell Defects, and Surface Chemistry Conspire to Determine Optical Performance in Nonblinking Giant Quantum Dots

“Giant” or core/thick‐shell quantum dots (gQDs) are an important class of solid‐state quantum emitter characterized by strongly suppressed blinking and photobleaching under ambient conditions, and reduced nonradiative Auger processes. Together, these qualities provide distinguishing and useful functionality as single‐ and ensemble‐photon sources. For many applications, operation at elevated temperatures and under intense photon flux is desired, but performance is strongly dependent on the synthetic method employed for thick‐shell growth. Here, a comprehensive analysis of gQD structural properties “from the inside out” as a function of shell‐growth method is reported: successive ionic layer adsorption and reaction (SILAR) and high‐temperature continuous injection (HT‐CI), or sequential combinations of the two. Key correlations across synthesis methods, structural features (interfacial alloying, stacking‐fault density and surface‐ligand identity), and performance metrics (quantum yield, single‐gQD photoluminescence under thermal/photo stress, charging behavior and quantum‐optical properties) are identified. Surprisingly, it is found that interfacial alloying is the strongest indicator of gQD stability under stress, but this parameter is not the determining factor for Auger suppression. Furthermore, quantum yield is strongly influenced by surface chemistry and can approach unity even in the case of high shell‐defect density, while introduction of zinc‐blende stacking faults increases the likelihood that a gQD exhibits charged‐state emission.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

Integrated halide perovskite photoelectrochemical cells with solar-driven water-splitting efficiency of 20.8%

Abstract Achieving high solar-to-hydrogen (STH) efficiency concomitant with long-term durability using low-cost, scalable photo-absorbers is a long-standing challenge. Here we report the design and fabrication of a conductive adhesive-barrier (CAB) that translates >99% of photoelectric power to chemical reactions. The CAB enables halide perovskite-based photoelectrochemical cells with two different architectures that exhibit record STH efficiencies. The first, a co-planar photocathode-photoanode architecture, achieved an STH efficiency of 13.4% and 16.3 h to t 60 , solely limited by the hygroscopic hole transport layer in the n-i-p device. The second was formed using a monolithic stacked silicon-perovskite tandem, with a peak STH efficiency of 20.8% and 102 h of continuous operation before t 60 under AM 1.5G illumination. These advances will lead to efficient, durable, and low-cost solar-driven water-splitting technology with multifunctional barriers.

08 HYDROGEN↗

First demonstration of a cryocooler conduction cooled superconducting radiofrequency cavity operating at practical cw accelerating gradients

Abstract We demonstrate practical accelerating gradients on a superconducting radiofrequency (SRF) accelerator cavity with cryocooler conduction cooling, a cooling technique that does not involve the complexities of the conventional liquid helium bath. A design is first presented that enables conduction cooling an elliptical-cell SRF cavity. Implementing this design, a single cell 650 MHz Nb 3 Sn cavity coupled using high purity aluminum thermal links to a 4 K pulse tube cryocooler generated accelerating gradients up to 6.6 MV m −1 at 100% duty cycle. The experiments were carried out with the cavity-cryocooler assembly in a simple vacuum vessel, completely free of circulating liquid cryogens. We anticipate that this cryocooling technique will make the SRF technology accessible to interested accelerator researchers who lack access to full-stack helium cryogenic systems. Furthermore, the technique can lead to SRF based compact sources of high average power electron beams for environmental protection and industrial applications. A concept of such an SRF compact accelerator is presented.

43 PARTICLE ACCELERATORS↗

Science & Technology Review: The Road to Exascale Computing

At Lawrence Livermore National Laboratory, we focus on science and technology research to ensure our nation’s security. We also apply that expertise to solve other important national problems in energy, bioscience, and the environment. Science & Technology Review is published eight times a year to communicate, to a broad audience, the Laboratory’s scientific and technological accomplishments in fulfilling its primary missions. The publication’s goal is to help readers understand these accomplishments and appreciate their value to the individual citizen, the nation, and the world. The Department of Energy’s Exascale Computing Project (ECP) and Lawrence Livermore’s RADIUSS (Rapid Application Development via an Institutional Universal Software Stack) initiative benefit from strategically developed software tools. The front cover shows a simulation of advection under twisting rotation that uses high-order finite elements from Livermore’s Modular Finite Element Methods (MFEM) software library and GLVis visualization tool. On the back cover, the logo (also created with GLVis) for the MFEM project illustrates the curved mesh and sub-element resolution used in high-order simulations. MFEM and GLVis are key components of the ECP’s co-design Center for Efficient Exascale Discretizations (CEED) and RADIUSS. MFEM is also part of ECP’s Extreme-Scale Scientific Software Development Kit (xSDK).

97 MATHEMATICS AND COMPUTING↗

Applicative architectures for fault-tolerant multiprocessors

This paper proposes functional programming frameworks for the design of highly reliable multiprocessor systems. In contrast to imperative programming environments, a functional environment offers elegant, relatively simple, and efficient solutions to concurrent error detection and recovery problems in multiprocessors. Specific fault tolerance mechanisms for upset exposure, fault containment, secure task assignment, and recovery are developed for a class of applicative multiprocessor architectures. Verification of abstract behavioral characteristics of applicative tasks is used for exposing faults during the execution of tasks. The fault containment mechanism is based on isolation of stack and heap segments of tasks. A protocol for secure task assignment is defined between system components. The architecture permits incremental, distributed, and asynchronous backups of system state. Finally, recovery is accomplished, even in the worst cases, by reexecution of a small number of tasks.

Sharma, Madhumitra↗

A Two-Dimensional, Semiconducting Bolometer Array for HAWC

The Stratospheric Observatory For Infrared Astronomy's (SOFIA's) High resolution Airborne Wideband Camera (HAWC) will use an ion-implanted silicon bolometer array developed at NASA s Goddard Space Flight Center (GSFC). The GSFC Pop-Up Detectors (PUDs) use a unique folding technique to enable a 12 x 32 element closepacked array of bolometers with a filling factor greater than 95%. The HAWC detector uses a resistive metal film on silicon to provide frequency independent, approx. 50% absorption over the 40 - 300 micron band. The silicon bolometers are manufactured in 32-element rows within silicon frames using Micro Electro Mechanical Systems (MEMS) silicon etching techniques. The frames are then cut, "folded", and glued onto a metallized, ceramic, thermal bus "bar". Optical alignment using micrometer jigs ensures their uniformity and correct placement. The rows are then stacked side-by-side to create the final 12 x 32 element array. A kinematic Kevlar suspension system isolates the 200 mK bolometer cold stage from the rest of the 4K detector housing. GSFC - developed silicon bridge chips make electrical connection to the bolometers, while maintaining thermal isolation. The Junction Field Effect Transistor (JFET) preamplifiers for all the signal channels operate at 120 K, yet they are electrically connected and located in close proximity to the bolometers. The JFET module design provides sufficient thermal isolation and heat sinking for these, so that their heat is not detected by the bolometers. Preliminary engineering results from the flight detector dark test run are expected to be available in July 2004. This paper describes the array assembly and mechanical and thermal design of the HAWC detector and the JFET module.

Voellmer, George M.↗

Development, Characterization, and Testing of Solid-State Electrolytes for Batteries

Traditional liquid electrolytes used in lithium (Li) metal batteries (LMBs) have severe safety issues, poor power density, as well as thermal and electrochemical instability that prevents their scaling to newer applications, such as electric vehicles. Using sulfide-based solid-state electrolytes (SSEs) is a viable method to address many of the issues that plague LMBs. However, the key issue preventing the expansion of sulfide-based SSEs is an interplay between poor interfacial stability with the electrodes and massive external stack pressure required to maintain electrode-electrolyte contact. The need for extensive pressure requires large system-level (i.e., battery pack used in an electric vehicle) housing that causes a disconnect between performance at a smaller scale and actual application. Secondary prevention to sulfide-based SSE adoption are difficulties in manufacturing, as toxic deterioration occurs when these materials are exposed to humidity, as well as drastic reduction in SSE performance at low temperature. This work hypothesizes that unique interfacial designs of electrodes and the modification of the sulfide-based SSE will enable reduction of necessary external cell pressure, and therefore support the design of practical LMBs. This will be done through collaboration within Idaho National Laboratory (INL), where manufacturing practices will be parameterized to produce low defect, low porosity SSEs with slight modifications. Next, artificial interfaces will be produced on electrodes to observe the conformality and mass transport properties between the modified SSE and pre-treated anode. External pressure on Li-metal cells will also be parameterized to reduce interfacial impedance while a reduction in the pressure will allot reasonable housing design for larger scale applications. Focus on novelty in this work occurs by modifications to the solid-solid interfaces between electrolyte and electrode, done through doping of the electrolyte and production of artificial interfaces on the Li-metal anode. The modifications at these interfaces, in addition to modified external pressure could identify and address the poor interfacial impedance that hinders high performance SSEs. Fundamental understanding on how to reduce the key hindrances of all-solid-state batteries (ASSBs) will support the advancement for larger scale production and performance, of which will be held in perspective for future works. Beyond battery development, the knowledge gained from process control and defect analysis is applicable to other ceramic systems, such as nuclear fuel coatings and high temperature electrolyzers.

25 ENERGY STORAGE↗

Development, Characterization, and Testing of Solid-State Electrolytes for Batteries

Traditional liquid electrolytes used in lithium (Li) metal batteries (LMBs) have severe safety issues, poor power density, as well as thermal and electrochemical instability that prevents their scaling to newer applications, such as electric vehicles. Using sulfide-based solid-state electrolytes (SSEs) is a viable method to address many of the issues that plague LMBs. However, the key issue preventing the expansion of sulfide-based SSEs is an interplay between poor interfacial stability with the electrodes and massive external stack pressure required to maintain electrode-electrolyte contact. The need for extensive pressure requires large system-level (i.e., battery pack used in an electric vehicle) housing that causes a disconnect between performance at a smaller scale and actual application. Secondary prevention to sulfide-based SSE adoption are difficulties in manufacturing, as toxic deterioration occurs when these materials are exposed to humidity, as well as drastic reduction in SSE performance at low temperature. This work hypothesizes that unique interfacial designs of electrodes and the modification of the sulfide-based SSE will enable reduction of necessary external cell pressure, and therefore support the design of practical LMBs. This will be done through collaboration within Idaho National Laboratory (INL), where manufacturing practices will be parameterized to produce low defect, low porosity SSEs with slight modifications. Next, artificial interfaces will be produced on electrodes to observe the conformality and mass transport properties between the modified SSE and pre-treated anode. External pressure on Li-metal cells will also be parameterized to reduce interfacial impedance while a reduction in the pressure will allot reasonable housing design for larger scale applications. Focus on novelty in this work occurs by modifications to the solid-solid interfaces between electrolyte and electrode, done through doping of the electrolyte and production of artificial interfaces on the Li-metal anode. The modifications at these interfaces, in addition to modified external pressure could identify and address the poor interfacial impedance that hinders high performance SSEs. Fundamental understanding on how to reduce the key hindrances of all-solid-state batteries (ASSBs) will support the advancement for larger scale production and performance, of which will be held in perspective for future works. Beyond battery development, the knowledge gained from process control and defect analysis is applicable to other ceramic systems, such as nuclear fuel coatings and high temperature electrolyzers.

25 ENERGY STORAGE↗

Design and analysis of filament-wound cylinders in compression

The objective of the study was to develop a more accurate model for the prediction of the compressive behavior of filament-wound composite cylindrical shells. Results from a closed-form analytical model and a three-dimensional finite element model show that the extensional and bending stiffness of the laminate is significantly reduced in tow cross-over regions and that bending-extension coupling is increased in comparison with classical lamination theory. The material properties predicted by a micromechanics analysis are included in a global finite element model of a filament-wound circular cylindrical shell which also incorporates variations in the laminate stacking thickness. Results from the global shell analysis are compared with experimental data.

Hipp, Patrick A.↗

Systems engineering studies of lunar base construction

Many ingenious concepts have been proposed for lunar base construction, but few systematic studies exist which relate time-consistent lunar base construction technologies and the choice of lunar base approach with the long-term SEI objectives - i.e., lunar indigenous base construction and Mars Exploration equipment development. To fill this gap, CSC has taken a two-pronged approach. First, the Center undertook basic geotechnical investigations of lunar soil, fabrication of a scale prototype of a lunar construction crane, a multi-robot construction team laboratory experiment, and a preliminary design of lunar base structures. Second, during Jun. and Jul. 1991 two lunar base construction systems engineering studies were accomplished - a 'near term lunar base' study, and a 'far-term lunar base' study. The goals of these studies were to define the major lunar base construction research problems in consistent technology/construction frameworks, and to define design requirements for construction equipment such as a lunar crane and a regolith mover. The 'near-term lunar base' study examined three different construction concepts for a lunar base comprised of pre-fabricated, pre-tested, Space Station Freedom-type modules, which would be covered with regolith shielding. Concept A used a lunar crane for unloading and transportation; concept B, a winch and cart; and concept C, a walker to move the modules from the landing site to the base site and assemble them. To evaluate the merits of each approach, calculations were made of mass efficiency measure, source mass, reliability, far-term base mass, Mars base mass, and base assembly time. The model thus established was also used to define the requirements for crane speed and regolith mover m(sup 3)/sec rates. A major problem addressed is how to 'mine' the regolith and stack it over the habitats as shielding. To identify when the cost of using indigenous lunar materials to construct the base exceeds the cost of development and delivery of the equipment for processing lunar materials, a study of construction of a candidate sintered regolith 'far term lunar base' was undertaken. A technique was devised for casting slabs of sintered (basaltic) regolith and assembling these into a hemispherical (or geodesic) dome. The major problem occurs with the inner liner. At 14.7 psi and 20 percent oxygen internal atmosphere, the entire structure is in tension, even with the regolith load. Also, another study has indicated that at 14.7 psi major resupply of air will be needed because of leakage, and astronauts may have to engage in extensive pre-breathing and post-breathing for extravehicular activity (EVA) tasks, thus detracting from useful mission work time. An alternative is to operate part of the base at, say, 5 psi and 70 percent oxygen, or to equip the astronauts with hard suits at 8.3 psi or greater. All of these choices directly influence base design and construction techniques.

Morgenthaler, George W.↗

Epitaxial nanotwinned metals and alloys: synthesis-twin structure–property relations

Extensive studies have been performed to understand the structure–property relationship in nanotwinned (NT) metals, where the average twin thickness or twin spacing is less than 100 nm. NT metals may have high strength, ductility, good electrical conductivity and corrosion resistance and have promising applications in microelectronics, structural materials and coatings for gas and oil industry. Most prior studies focus on the computational and experimental investigations of NT metals with low stacking fault energy (SFE) and often in polycrystalline forms. In this highlight, we review recent findings on epitaxial growth of NT metals and alloys with low and high SFEs deposited on single crystal substrates, and focus primarily on advancing our comprehension towards tailoring the microstructures and properties of NT metals via extrinsic factors, including the synthesis technique, parametric control and growth template, and intrinsic factors, such as SFE and thermodynamic, kinetic alloying effects. The review intends to illuminate how to synthesize and design epitaxial NT structures to achieve desirable properties.

36 MATERIALS SCIENCE↗

Aluminum scandium nitride films for piezoelectric transduction into silicon at gigahertz frequencies

Recent advances in the growth of aluminum scandium nitride films on silicon suggest that this material platform could be applied for quantum electromechanical applications. Here, we model, fabricate, and characterize microwave frequency silicon phononic delay lines with transducers formed in an adjacent aluminum scandium nitride layer to evaluate aluminum scandium nitride films, at 32% scandium, on silicon interdigital transducers for piezoelectric transduction into suspended silicon membranes. We achieve an electromechanical coupling coefficient of 2.7% for the extensional symmetric-like Lamb mode supported in the suspended material stack and show how this coupling coefficient could be increased to at least 8.5%, which would further boost transduction efficiency and reduce the device footprint. The one-sided transduction efficiency, which quantifies the efficiency at which the source of microwave photons is converted to microwave phonons in the silicon membrane, is 10% at 5 GHz at room temperature and, as we discuss, there is a path to increase this toward near-unity efficiency based on a combination of modified device design and operation at cryogenic temperatures.

36 MATERIALS SCIENCE↗

Performance of full size metallic and RSI thermal protection systems in a Mach 7 environment

The integrity and reusability of three flight-weight metallic and RSI thermal protection systems, designed for the Shuttle entry environment, have been demonstrated. Each model successfully survived over 23 entry thermal cycles without serious degradation. The metallic systems were more tolerant of the hostile environment and provided a higher degree of reusability than did the RSI. Thermal expansion slip joints of the metallic TPS successfully prevented hot gas ingress to the substructure. The RSI demonstrated high damage tolerance and field repairs increased its reusability. Heat-transfer tests to further assess RSI gap heating indicate that stacked tile orientations may impose a penalty on tile thickness. Parameters influencing RSI impingement heating were determined, and the heating data were correlated.

Bohon, H. L.↗

Labview Implementation of Image Processing and Phasing Control for the SIBOA Segmented Mirror Testbed

NASA is preparing to launch the Next Generation Space Telescope (NGST). This telescope will be larger than the Hubble Space Telescope, be launched on an Atlas missile rather than the Space Shuttle, have a segmented primary mirror, and be placed in a higher orbit. All these differences pose significant challenges.' This effort addresses the challenge of implementing an algorithm for aligning the segments of the primary mirror during the initial deployment that was designed by Philip Olivier and members of SOMTC (Space Optics Manufacturing Technology Center). The implementation was to be performed on the SIBOA (Systematic Image Based Optical Alignment) test bed. Unfortunately, hardware/software aspect concerning SIBOA and an extended time period for algorithm development prevented testing before the end of the study period. Properties of the digital camera were studied and understood, resulting in the current ability of selecting optimal settings regarding saturation. The study was successful in manually capturing several images of two stacked segments with various relative phases. These images can be used to calibrate the algorithm for future implementation. Currently the system is ready for testing.

James D. Partridge↗

Development of the Intelligent, Preventive Infrared (IR) Inspection System Housed in Hybrid Robotic Platforms

Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗