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At least 1,243 records · Page 69
All sourcesNASA NTRSDOE OSTI
DOE OSTI2014

Utilization of optical tracking to validate a software-driven isocentric approach to robotic couch movements for proton radiotherapy

Purpose: An optical tracking and positioning system (OTPS) was developed to validate the software-driven isocentric (SDI) approach to control the six-degrees-of-freedom movement of a robotic couch. Methods: The SDI approach to movements rotating around a predefined isocenter, referred to as a GeoIso, instead of a mechanical pivot point was developed by the robot automation industry. With robotic couch-sag corrections for weight load in a traditional SDI approach, movements could be accurately executed for a GeoIso located within a 500 mm cubic volume on the couch for treatments. The accuracy of SDI movement was investigated using the OTPS. The GeoIso was assumed to align with the proton beam isocenter (RadIso) for gantry at the reference angle. However, the misalignment between GeoIso and RadIso was quantitatively investigated by measuring the displacements at various couch angles for a target placed at the RadIso at an initial couch angle. When circular target displacements occur on a plane, a relative isocenter shift (RIS) correction could be applied in the SDI movement to minimize target displacements. Target displacements at a fixed gantry angle without and with RIS correction were measured for 12 robotic couches. Target displacements for various gantry angles were performed on three couches in gantry rooms to study the gantry-induced RadIso shift. The RIS correction can also be applied for the RadIso shift. A new SDI approach incorporating the RIS correction with the couch sag is described in this study. In parallel, the accuracy of SDI translation movements for various weight loads of patients on the couch was investigated during positioning of patients for proton prostate treatments. Results: For a fixed gantry angle, measured target displacements without RIS correction for couch rotations in the horizontal plane varied from 4 to 20 mm. However, measured displacements perpendicular to couch rotation plane were about 2 mm for all couches. Extracted misalignments of GeoIso and RadIso in the horizontal plane were about 10 mm for one couch and within 3 mm for the rest of couches. After applying the RIS correction, the residual target displacements for couch rotations were within 0.5 mm to RadIso for all couches. For various gantry angles, measured target location for each angle was within 0.5 mm to its excepted location by the preset RadIso shift. Measured target displacements for ±30° of couch rotations were within 0.5 mm for gantry angles at 0° and 180°. Overall, nearly 85% of couch movements were within 0.5 mm in the horizontal plane and 0.7 mm vector distance from required displacements. Conclusions: The authors present an optical tracking methodology to quantify for software-driven isocentric movements of robotic couches. By applying proper RIS correction for misaligned GeoIso and RadIso for each couch, and the RadIso shifts for a moving gantry, residual target displacements for isocentric couch movements around the actual RadIso can be reduced to submillimeter tolerance.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2006

The Mars Reconnaissance Orbiter Mission Operations: Architecture and Approach

The Mars Reconnaissance Orbiter (MRO) was launched on August 12, 2005 by an Atlas V launch vehicle from Cape Canaveral Air Force Station. MRO will carry a rich set of science instruments to Mars and provide global, regional survey, and targeted observations. In addition, a set of engineering instruments providing optical navigation, Ka band telecommunication and UHF relay services to future Mars missions are part of the MRO payload. During the mission, the MRO operations teams are presented with two major challenges - unprecedented high data rate and data volumes, and complex science planning and resource sharing. MRO has the capability to communicate with earth at a maximum of six Megabits per second (> 50 times any previous Mars missions). With the current Deep Space Network (DSN) contact schedule of 19 eight-hour tracks per week, the baseline mission plan is for MRO to return 34 Terabits of raw science data during the two year primary science phase. Each of the science instruments has its unique requirements for global mapping, regional survey, and targeted observations. Some instruments prefer nadir-only observations, while others require off-nadir observations (especially for stereo viewing). The requirements from these Mars viewing instruments presented a significant challenge for the operations team to design the complex science planning and resource sharing/allocation process. This paper describes what MRO project is implementing to solve these challenges.

Mars Reconnaissance Orbiter (MRO)↗
DOE OSTI2024

Monitoring water quality in the lower Kansas River using remote sensing

Abstract We demonstrate how to combine remote sensing data from satellite imagery (Sentinel‐2) with in situ water quality gauging (USGS Super Gages and the Gybe hyperspectral radiometer) to create spatially dense maps of water quality parameters (chlorophyll‐a concentration, turbidity, and nitrate plus nitrite concentration) along the lower Kansas River. The water quality maps are created using locally tuned models of the target water quality parameters, and this study describes the steps used to design, calibrate, and validate the empirical correlations. Water quality parameters such as chlorophyll‐a concentration are correlated with well‐studied absorption and scattering features in the visible spectrum (roughly 400–700 nm). Nutrients (such as nitrate plus nitrite concentration) lack strong absorption features in the visible spectrum, and in those cases we describe a novel surrogate data modeling approach that identifies overlapping water parcels between the in situ gauging and the remote sensing imagery. Measurements from the overlapping water parcels yield excellent correlations () for the target water quality parameters for limited windows of time (or limited sections of river reaches). Examples are provided illustrating how the water quality maps can be used to track river inputs from ungauged sources (such as creeks), or reveal the mixing patterns at the confluences.

Tufillaro, Nicholas↗
DOE OSTI2017

Optimal current profile control for enhanced repeatability of L-mode and H-mode discharges in DIII-D

In this work, model-based control techniques are used to obtain target current profiles in low-confinement-mode (L-mode) as well as high-confinement-mode (H-mode) DIII-D discharges. The control problem is formulated as a trajectory optimization problem to search for a feasible path from the expected initial condition to the desired target. The result comprises a sequence of feedforward (open-loop) control requests and a corresponding state evolution from the initial condition to the desired target. On top of this optimal feedforward control sequence a feedback (closed-loop) controller based on a linearized model and optimal control design techniques is added to track the desired state evolution. Furthermore, the effectiveness of the control approach is demonstrated with experiments.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2023

Impact of environmental oxygen on nanoparticle formation and agglomeration in aluminum laser ablation plumes

Here, the role of ambient oxygen gas (O 2 ) on molecular and nanoparticle formation and agglomeration was studied in laser ablation plumes. As a lab-scale surrogate to a high explosion detonation event, nanosecond laser ablation of an aluminum alloy (AA6061) target was performed in atmospheric pressure conditions. Optical emission spectroscopy and two mass spectrometry techniques were used to monitor the early to late stages of plasma generation to track the evolution of atoms, molecules, clusters, nanoparticles, and agglomerates. The experiments were performed under atmospheric pressure air, atmospheric pressure nitrogen, and 20% and 5% O 2 (balance N 2 ), the latter specifically with in situ mass spectrometry. Electron microscopy was performed ex situ to identify crystal structure and elemental distributions in individual nanoparticles. We find that the presence of ≈20% O 2 leads to strong AlO emission, whereas in a flowing N 2 environment (with trace O 2 ), AlN and strong, unreacted Al emissions are present. In situ mass spectrometry reveals that as O 2 availability increases, Al oxide cluster size increases. Nanoparticle agglomerates formed in air are found to be larger than those formed under N 2 gas. High-resolution transmission electron microscopy demonstrates that Al 2 O 3 and AlN nanoparticle agglomerates are formed in both environments; indicating that the presence of trace O 2 can lead to Al 2 O 3 nanoparticle formation. The present results highlight that the availability of O 2 in the ambient gas significantly impacts spectral signatures, cluster size, and nanoparticle agglomeration behavior. These results are relevant to understanding debris formation in an explosion event, and interpreting data from forensic investigations.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2016

WE-DE-BRA-11: A Study of Motion Tracking Accuracy of Robotic Radiosurgery Using a Novel CCD Camera Based End-To-End Test System

Purpose: A novel end-to-end test system using a CCD camera and a scintillator based phantom (XRV-124, Logos Systems Int’l) capable of measuring the beam-by-beam delivery accuracy of Robotic Radiosurgery (CyberKnife) was developed and reported in our previous work. This work investigates its application in assessing the motion tracking (Synchrony) accuracy for CyberKnife. Methods: A QA plan with Anterior and Lateral beams (with 4 different collimator sizes) was created (Multiplan v5.3) for the XRV-124 phantom. The phantom was placed on a motion platform (superior and inferior movement), and the plans were delivered on the CyberKnife M6 system using four motion patterns: static, Sine- wave, Sine with 15° phase shift, and a patient breathing pattern composed of 2cm maximum motion with 4 second breathing cycle. Under integral recording mode, the time-averaged beam vectors (X, Y, Z) were measured by the phantom and compared with static delivery. In dynamic recording mode, the beam spots were recorded at a rate of 10 frames/second. The beam vector deviation from average position was evaluated against the various breathing patterns. Results: The average beam position of the six deliveries with no motion and three deliveries with Synchrony tracking on ideal motion (sinewave without phase shift) all agree within −0.03±0.00 mm, 0.10±0.04, and 0.04±0.03 in the X, Y, and X directions. Radiation beam width (FWHM) variations are within ±0.03 mm. Dynamic video record showed submillimeter tracking stability for both regular and irregular breathing pattern; however the tracking error up to 3.5 mm was observed when a 15 degree phase shift was introduced. Conclusion: The XRV-124 system is able to provide 3D and 4D targeting accuracy for CyberKnife delivery with Synchrony. The experimental results showed sub-millimeter delivery in phantom with excellent correlation in target to breathing motion. The accuracy was degraded when irregular motion and phase shift was introduced.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2026

The Road to Useful Quantum Computers

Building a useful quantum computer is a grand science and engineering challenge, currently pursued intensely by teams around the world. In the 1980s, Richard Feynman and Yuri Manin observed independently that computers based on quantum mechanics might enable better simulations of quantum phenomena. Their vision remained an intellectual curiosity until Peter Shor published his famous quantum algorithm for integer factoring, and shortly thereafter a proof that errors in quantum computations can be corrected. Since then, quantum computing R&D has progressed rapidly, from small-scale experiments in university physics laboratories to well-funded industrial efforts and prototypes. Hype notwithstanding, quantum computers have yet to solve scientifically or practically important problems -- a target often called quantum utility. In this article, we describe the capabilities of contemporary quantum computers, compare them to the requirements of quantum utility, and illustrate how to track progress from today to utility. We highlight key science and engineering challenges on the road to quantum utility, touching on relevant aspects of our own research.

Emerging Technologies (cs.ET)↗
NASA NTRS1972

Artificial lunar impact craters: Four new identifications, part I

The Apollo 16 panoramic camera photographed the impact locations of the Ranger 7 and 9 spacecraft and the S-4B stage of the Apollo 14 Saturn launch vehicle. Identification of the Ranger craters was very simple because each photographed its target point before impact. Identification of the S-4B impact crater proved to be a simple matter because the impact location, as derived from earth-based tracking, displayed a prominent and unique system of mixed light and dark rays. By using the criterion of a dark ray pattern, a reexamination of the Apollo 14 500 mm Hasselblad sequence taken of the Apollo 13 S-4B impact area was made. This examination quickly led to the discovery of the ray system and the impact crater. The study of artificial lunar impact craters, ejecta blankets, and ray systems provides the long-needed link between the various experimental terrestrial impact and explosion craters, and the naturally occurring impact craters on the moon. This elementary study shows that lunar impact crater diameters are closely predictable from a knowledge of the energies involved, at least in the size range considered, and suggests that parameters, such as velocity, may have a profound effect on crater morphology and ejecta blanket albedo.

Whitaker, E. A.↗
NASA NTRS1984

Space Shuttle development update

The development efforts, since the STS-4 flight, in the Space Shuttle (SS) program are presented. The SS improvements introduced in the last two years include lower-weight loads, communication through the Tracking and Data Relay Satellite, expanded extravehicular activity capability, a maneuvering backpack and the manipulator foot restraint, the improvements in thermal projection system, the 'optional terminal area management targeting' guidance software, a rendezvous system with radar and star tracker sensors, and improved on-orbit living conditions. The flight demonstrations include advanced launch techniques (e.g., night launch and direct insertion to orbit); the on-orbit demonstrations; and added entry and launching capabilities. The entry aerodynamic analysis and entry flight control fine tuning are described. Reusability, improved ascent performance, intact abort and landing flexibility, rollout control, and 'smart speedbrakes' are among the many improvements planned for the future.

Brand, V.↗
NASA NTRS1990

Reusable Reentry Satellite (RRS): Recovery tradeoff study

The main objectives of the Recovery Tradeoff Study were as follows: (1) to determine whether a land or water recovery best suits RRS system requirements; (2) what type of terminal recovery system is best suited for the RRS; and (3) what are the recovery access timelines after system landing. Based on the trade parameters and evaluation criteria used in this study, the land-landing configuration has an advantage over the water-landing configuration. It is recommended that a land-landing configuration be developed assuming WSMR as the landing site. It is also recommended that natural orbits be used for low inclination missions and any orbit adjustments for landing site targeting be performed at the end of the mission. Near-integer orbits should be used for high inclination missions and allow orbital decay to precess the ground track over the landing site range.

Source record↗
NASA NTRS1994

Evaluation of GPS position and attitude determination for automated rendezvous and docking missions

The use of the Global Positioning System for position and attitude determination is evaluated for an automated rendezvous and docking mission. The typical mission scenario involves the chaser docking with the target for resupply or repair purposes, and is divided into three sections. During the homing phase, the chaser utilizes coarse acquisition pseudorange data to approach the target; guidance laws for this stage are investigated. In the second phase, differential carrier phase positioning is utilized. The chaser must maintain a quasiconstant distance from the target, in order to resolve the initial integer ambiguities. Once the ambiguities are determined, the terminal phase is entered, and the rendezvous is completed with continuous carrier phase tracking. Attitude knowledge is maintained in all phases through the use of the carrier phase observable. A Kalman filter is utilized to estimate all states from the noisy measurement data. The effects of selective availability and cycle slips are also investigated.

Diprinzio, Marc D.↗
NASA NTRS1959

Theoretical Analysis of the Longitudinal Behavior of an Automatically Controlled Supersonic Interceptor During the Attack Phase

Theoretical analysis of the longitudinal behavior of an automatically controlled supersonic interceptor during the attack phase against a nonmaneuvering target is presented. Control of the interceptor's flight path is obtained by use of a pitch rate command system. Topics lift, and pitching moment, effects of initial tracking errors, discussion of normal acceleration limited, limitations of control surface rate and deflection, and effects of neglecting forward velocity changes of interceptor during attack phase.

Gates, Ordway B., Jr.↗
NASA NTRS2013

The Regolith Biters: A Divide-And-Conquer Architecture for Sample-Return Missions

The collective interaction of simple systems can be leveraged to attain complex goals. Based on this principle, we envision space system architectures where the core functional components are decoupled, autonomous, and cooperative. We aim to pursue this vision in the context of small-body sample-return missions. After all, no experimental study sheds more light into our understanding of the origin and evolution of the Solar System than the analysis of samples from asteroids and comets. We also believe that their study is important from a strategic perspective: meteorite impacts pose a direct and credible threat to life on Earth, and the development of contingency small-body deflection missions presupposes some knowledge of the target body. The current architectural paradigm for sample-return missions is centered around a design where spacecraft and sampling device are merged into a single, complex system. We argue that this monolithic approach couples the navigation and sample-collection problems, making both more difficult. In contrast, we propose a decoupled system based on the coordinated interaction between a spacecraft and a collective of small, simple devices - the Regolith Biters (RBs). A spacecraft carrying a number of RBs would travel to the vicinity of a small body. From a favorable vantage point, and while remaining within a safe distance in a non-colliding trajectory, it would release the RBs towards the target body. Upon encountering the body, they would bite the regolith (thus retaining a sample), and eject back to orbit. The spacecraft, being endowed with appropriate navigation and tracking capabilities, would rendezvous with and collect those RBs within its reach, and bring them back to Earth. Separating the navigation and sampling concerns removes the need for proximity operations with the small body-the stage in current architectures that carries the most challenges and risks. Eliminating the need for proximity operations brings back to the discussion the exploration of exciting prospects, like highly active comets, fast-rotating bodies, and binary systems. Distributing the sampling problem among a collective of agents provides the opportunity to sample multiple regions in a single mission. It also provides robustness to various environmental conditions, and may enable the distributed, in situ characterization of the body. In the search for reliability, current architectures rely on complexity: an elaborate system should succeed at once. We rely on numbers: a given agent may fail at any stage, but success is attained by the collective.

Asteroids↗
NASA NTRS2022

In Search of Short Gamma-ray Burst Optical Counterparts with the Zwicky Transient Facility

The Fermi Gamma-ray Burst Monitor (GBM) triggers on-board in response to∼40 short gamma-ray bursts (SGRBs) per year; however, their large localization regions have made the search for optical counterparts a challenging endeavour. We have developed and executed an extensive program with the wide field of view of the Zwicky Transient Facility (ZTF) camera, mounted on the Palomar 48 inch Oschin telescope (P48), to perform target-of-opportunity (ToO) observations on 10Fermi-GBM SGRBsduring 2018 and 2020-2021. Bridging the large sky areas with small field of view optical telescopesin order to track the evolution of potential candidates, we look for the elusive SGRB afterglows andkilonovae (KNe) associated with these high-energy events. No counterpart has yet been found, eventhough more than 10 ground based telescopes, part of the Global Relay of Observatories WatchingTransients Happen (GROWTH) network, have taken part in these efforts. The candidate selectionprocedure and the follow-up strategy have shown that ZTF is an efficient instrument for searchingfor poorly localized SGRBs, retrieving a reasonable number of candidates to follow-up and showingpromising capabilities as the community approaches the multi-messenger era. Based on the medianlimiting magnitude of ZTF, our searches would have been able to retrieve a GW170817-like event upto∼200 Mpc and SGRB afterglows to z = 0.16 or 0.4, depending on the assumed underlying energymodel. Future ToOs will expand the horizon to z = 0.2 and 0.7 respectively.

Tomas Ahumada↗
DOE OSTI2015

SU-F-303-11: Implementation and Applications of Rapid, SIFT-Based Cine MR Image Binning and Region Tracking

Purpose: To develop a novel and rapid, SIFT-based algorithm for assessing feature motion on cine MR images acquired during MRI-guided radiotherapy treatments. In particular, we apply SIFT descriptors toward both partitioning cine images into respiratory states and tracking regions across frames. Methods: Among a training set of images acquired during a fraction, we densely assign SIFT descriptors to pixels within the images. We cluster these descriptors across all frames in order to produce a dictionary of trackable features. Associating the best-matching descriptors at every frame among the training images to these features, we construct motion traces for the features. We use these traces to define respiratory bins for sorting images in order to facilitate robust pixel-by-pixel tracking. Instead of applying conventional methods for identifying pixel correspondences across frames we utilize a recently-developed algorithm that derives correspondences via a matching objective for SIFT descriptors. Results: We apply these methods to a collection of lung, abdominal, and breast patients. We evaluate the procedure for respiratory binning using target sites exhibiting high-amplitude motion among 20 lung and abdominal patients. In particular, we investigate whether these methods yield minimal variation between images within a bin by perturbing the resulting image distributions among bins. Moreover, we compare the motion between averaged images across respiratory states to 4DCT data for these patients. We evaluate the algorithm for obtaining pixel correspondences between frames by tracking contours among a set of breast patients. As an initial case, we track easily-identifiable edges of lumpectomy cavities that show minimal motion over treatment. Conclusions: These SIFT-based methods reliably extract motion information from cine MR images acquired during patient treatments. While we performed our analysis retrospectively, the algorithm lends itself to prospective motion assessment. Applications of these methods include motion assessment, identifying treatment windows for gating, and determining optimal margins for treatment.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2017

Stereo-Optic High Definition Imaging: A New Technology to Understand Bird and Bat Avoidance of Wind Turbines

There is a critical need to develop monitoring tools to track aerofauna (birds and bats) in three dimensions around wind turbines. New monitoring systems will reduce permitting uncertainty by increasing the understanding of how birds and bats are interacting with wind turbines, which will improve the accuracy of impact predictions. Biodiversity Research Institute (BRI), The University of Maine Orono School of Computing and Information Science (UMaine SCIS), HiDef Aerial Surveying Limited (HiDef), and SunEdison, Inc. (formerly First Wind) responded to this need by using stereo-optic cameras with near-infrared (nIR) technology to investigate new methods for documenting aerofauna behavior around wind turbines. The stereo-optic camera system used two synchronized high-definition video cameras with fisheye lenses and processing software that detected moving objects, which could be identified in post-processing. The stereo- optic imaging system offered the ability to extract 3-D position information from pairs of images captured from different viewpoints. Fisheye lenses allowed for a greater field of view, but required more complex image rectification to contend with fisheye distortion. The ability to obtain 3-D positions provided crucial data on the trajectory (speed and direction) of a target, which, when the technology is fully developed, will provide data on how animals are responding to and interacting with wind turbines. This project was focused on testing the performance of the camera system, improving video review processing time, advancing the 3-D tracking technology, and moving the system from Technology Readiness Level 4 to 5. To achieve these objectives, we determined the size and distance at which aerofauna (particularly eagles) could be detected and identified, created efficient data management systems, improved the video post-processing viewer, and attempted refinement of 3-D modeling with respect to fisheye lenses. The 29-megapixel camera system successfully captured 16,173 five-minute video segments in the field. During nighttime field trials using nIR, we found that bat-sized objects could not be detected more than 60 m from the camera system. This led to a decision to focus research efforts exclusively on daytime monitoring and to redirect resources towards improving the video post- processing viewer. We redesigned the bird event post-processing viewer, which substantially decreased the review time necessary to detect and identify flying objects. During daytime field trials, we determine that eagles could be detected up to 500 m away using the fisheye wide-angle lenses, and eagle-sized targets could be identified to species within 350 m of the camera system. We used distance sampling survey methods to describe the probability of detecting and identifying eagles and other aerofauna as a function of distance from the system. The previously developed 3-D algorithm for object isolation and tracking was tested, but the image rectification (flattening) required to obtain accurate distance measurements with fish-eye lenses was determined to be insufficient for distant eagles. We used MATLAB and OpenCV to improve fisheye lens rectification towards the center of the image, but accurate measurements towards the image corners could not be achieved. We believe that changing the fisheye lens to rectilinear lens would greatly improve position estimation, but doing so would result in a decrease in viewing angle and depth of field. Finally, we generated simplified shape profiles of birds to look for similarities between unknown animals and known species. With further development, this method could provide a mechanism for filtering large numbers of shapes to reduce data storage and processing. These advancements further refined the camera system and brought this new technology closer to market. Once commercialized, the stereo-optic camera system technology could be used to: a) research how different species interact with wind turbines in order to refine collision risk models and inform mitigation solutions; and b) monitor aerofauna interactions with terrestrial and offshore wind farms replacing costly human observers and allowing for long-term monitoring in the offshore environment. The camera system will provide developers and regulators with data on the risk that wind turbines present to aerofauna, which will reduce uncertainty in the environmental permitting process.

Adams, Evan↗
DOE OSTI2025

The SHMS 11 GeV/c spectrometer in Hall C at Jefferson Lab

The Super High Momentum Spectrometer (SHMS) has been built for Hall C at the Thomas Jefferson National Accelerator Facility (Jefferson Lab). With a momentum capability reaching 11 GeV/ c , the SHMS provides measurements of charged particles produced in electron-scattering experiments using the maximum available beam energy from the upgraded Jefferson Lab accelerator. The SHMS is an ion-optics magnetic spectrometer comprised of a series of new superconducting magnets which transport charged particles through an array of triggering, tracking, and particle-identification detectors that measure momentum, energy, angle and position in order to allow kinematic reconstruction of the events back to their origin at the scattering target. The detector system is protected from background radiation by a sophisticated shielding enclosure. The entire spectrometer is mounted on a rotating support structure which permits measurements to be taken with a large acceptance over laboratory scattering angles from 5.5° to 40°, thus allowing a wide range of low cross-section experiments to be conducted. Finally, these experiments complement and extend the previous Hall C research program to higher energies.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2019

Use of Automation in Low Level Waste Storage and Management - 19227

The Australian Nuclear Science and Technology Organisation (ANSTO) generates Low Level Waste (LLW) and Intermediate Level Waste (ILW) from various site operations such as the operation of a research Reactor and the manufacture of Molybdenum 99. The Low Level Solid Waste (LLSW) generated is stored at ANSTO before and after conditioning. The current process flow involves the storage of LLSW waste before conditioning on racks, handled using forklifts. When the unconditioned waste is ready for conditioning, it is transferred to another facility, where volume reduction and packaging is carried out. Once conditioned, the waste is placed in further storage, pending dispatch to the proposed Australian National Radioactive Waste Management Facility (NRWMF). A new purpose built facility has been constructed, adjacent to the LLSW processing facility, for the storage and management of LLSW in both unconditioned and conditioned forms. This new facility will streamline the waste management process and significantly enhance the safety and efficiency of the process. In line with international best practises, the new facility utilises automation solutions to minimise the build footprint, and minimise the use of forklifts and other mobile plant. Most importantly, it applies the principle of ALARA (As Low as Reasonably Achievable) to minimise operator activities in areas where radioactive material is stored and eliminates double handling of the waste. The automation for unconditioned waste utilises an Automated Storage and Retrieval System (ASRS), a vertical stacker crane within high density racking, to provide easy storage and retrieval for processing and/or routine inspections. This system allows operators to control it from outside of the storage area whilst utilising integrated software that allows for the required tracking of the unconditioned waste. From the ASRS storage area, unconditioned waste will have a smooth transition to the processing facility which is located adjacent to the ASRS system. Once conditioned, the waste is catalogued and returned to a designated storage area within the new facility using an automated building gantry crane with a target delivery system to eliminate the need for operators in the main storage bay. The waste will be held here in preparation for dispatch to the future repository. The utilisation of the ASRS for the purpose of storing LLSW is an innovative use of automation that will eliminate operators from active areas, reduce dose rates received and integrate with the waste tracking software. Furthermore, the system has significant advantages with operational efficiencies increased, reduced double handling of nuclear waste and maximum use of building footprint. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗