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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2015

Integrating commercially available remote systems to address current D and D challenges - 15399

Many current D and D challenges across the DOE complex require some form of remote handling expertise and equipment. For example, high visibility projects such as Building 324 D and D and the recovery of wastes from the Alpha-Caissons and the 618 10-11 caissons at Hanford all require the development and application of advanced remote systems. Additionally although alternate solutions and options are being sought, robotic/remote systems will likely be required for completion of D and D at Savannah River Site's Building 235-F, at the West Valley Demonstration Project and many other DOE facilities that are scheduled for D and D. Similar systems are also needed to support the UK cleanup program on projects such as the decommissioning of the Pile Fuel Cladding Silo. As a result, there are a significant number of R and D and Technology Development projects underway in order to address the growing need for remote systems in D and D. In addition to these significant R and D efforts, there are also numerous remote systems in use in multiple applications in both nuclear and non-nuclear industries and the use of remote systems at the Fukushima Daiichi plant has been extensive in the past 12-24 months. In many cases, the systems developed are customized for their given application but there are also multiple systems in use which could be applied to the worldwide D and D challenge either directly or with some minor adaptation. During FY14, the Office of D and D and Facility Engineering (EM13) funded a review/assessment of the current state-of-the-art of robotics and remote technologies in order to generate a baseline of what is available, what has been used where and for what applications and what has been successful and what hasn't. Where possible, the assessment was extended to identify remote systems that have been used in non-nuclear industries but which, with limited modification, may have application in the nuclear industry. The work also included a review of the most recent publicly available TBuRD (Technical Baseline and Underpinning R and D) activities being undertaken by the UK NDA and their Site Licensed Companies (SLCs) in the area of remote systems in order to compile a searchable database of both available, commercial-off-the-shelf (COTS) remote systems and developing technologies. Other suitably qualified organizations in the US and the UK (such as UK National Nuclear Laboratory, SRNL, PNNL ORNL, OC Robotics and others) were also engaged to identify other ongoing technology development efforts which may be of interest and benefit to the decommissioning community. In all, of the order of 500 remote systems were identified and cataloged in both hard copy and as a searchable database. These systems were categorized in terms of their main application e.g. manipulator, wheeled land-based platform, track land-based platform, water-based platform, air-based platform, end effectors, sensor, crawler etc to clearly demonstrate the depth and breadth of available systems in each category. In addition, single page summaries of each system were produced and used, in a workshop setting, to identify technologies which, when integrated with other currently-available technologies, could provide a workable system to address existing needs. An initial workshop was held with CH2 Washington Idaho (CWI) and DOE Idaho in August 2014 to explore how the available systems could be integrated to address current and future D and D needs at that site. (authors)

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DOE OSTI2018

Systems and Tools to Facilitate Aging Management Inspections of Used Nuclear Fuel Dry Storage Systems - 18382

The Used Nuclear Fuel (UNF) dry storage systems (DSSs) are currently used at almost all the nuclear plants in the USA for the storage of their UNF as the spent fuel pools are running out of capacity to store any additional discharged fuel. Even though these DSSs are supposed to be at the reactor site for a short amount of time, they are expected to be at the reactor sites for an extended duration due to the unavailability of Interim Storage Facilities (ISF) or a permanent disposal sites like Yucca Mountain. Maintaining the integrity of the DSS canisters and storage overpacks so they can safely protect the fuel and maintain the integrity of UNF is of utmost importance during storage at reactor site ISFSI or at the ISF. Comprehensive and robust Aging Management Program (AMP) is an important aspect for DSSs to satisfy these requirements. In order to address this industry need, TN Americas have developed an enhanced NUHOMS{sup R} DSS licensed by NRC under 10 CFR Part 72 regulations and a comprehensive AMP development which includes prevention, inspection, monitoring and mitigation of any corrosion or degradation of DSS components. For DSC and HSM inspection, two remotely operating delivery systems have been developed using non-destructive examination (NDE) methods including robotic crawler and inspection ring system. This paper describes details of these developments and status of their deployment for implementation at various utility ISFSI sites. TN Americas completed the detailed design of the DSC inspection system and conducted functional tests of the inspection system on a DSC mockup and the system is ready for deployment at any NUHOMS{sup R} ISFSI site. TN Americas is committed to offer the most robust and comprehensive AMP systems, tools and services to the industry to assure the safety of the deployed DSS at the utility sites. (authors)

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DOE OSTI2018

Result of Investigation for Inside PCV in 1F-1 by Shape Changing Robot named PMORPH - 18617

In Fukushima Daiichi Nuclear Power Station, before retrieval of molten fuel debris inside PCV, the operation such as decontamination, survey, repair and taking sample of fuel debris are implemented step by step. In case of investigation inside primary containment vessel (PCV), some remotely operated robots have been used for because human can't access to high radiation environment. Because a radiation dose is very high in PCV, therefore it is necessary to prevent the leak of radiation from PCV when a robot is inserted in PCV. Then a pipe of 100 mm inside diameter was let go through by the PCV wall, and the seal box which was completely sealed up attached to the end of pipe. The robot is put in the seal box beforehand and is inserted inside PCV through the pipe. So it is necessary for the robot to be small. In addition, it is necessary to be stable movement on rough plane inside PCV. Therefore shape change type robot 'PMORPH' was developed. This robot consists of three parts of the slim main body and two crawlers attached to the both ends of main body. When this robot is passed in the pipe, three parts lie in a straight line like 'I' shape. And when the robot moves on a rough plane, three parts are formed like 'U' shape. We minimized the use of electric parts in the main body against high radiation environment. And this robot carries a winch to let a sensor unit descend to basement floor. And we carried out the basement floor investigation (B2 investigation) using the robot to obtain information of fuel debris condition in March, 2017. As a result, some information of basement floor condition was acquired. In this paper, it is described the outline of the shape change robot and summary of the B2 investigation. (authors)

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DOE OSTI2019

Double-Shell Tank Primary Bottom Inspection Development - 19067

Double-Shell Tank (DST) integrity at Hanford is maintained with a variety of activities such as ultrasonic and visual inspections, chemistry controls, corrosion monitoring and structural analyses methods [1]. A pressing need for the Double-Shell Tank Integrity Program is the ability to inspect the bottom of the tanks. Though the DSTs' annulus spaces (the space between the internal and external tank walls) have been inspected visually since 1992 and with Ultrasonic Testing (UT) since 1996, WRPS has been unable to conduct inspections of the tank bottoms due to limitations of available technology, omitting about 40 percent of the tank surface below the maximum fill level from routine inspection. Visual inspections of the tank annulus have been conducted up to five times in some DSTs and the annulus space for all of the DSTs has been inspected twice with UT. The annulus region includes the walls of the primary tank and secondary liner along with accessible portions of the secondary liner bottom. Due to the lack of under-tank inspection technology, degradation of the primary tank bottom in Tank AY-102 was undetected until the tank leaked into its annulus space, confirmed in 2012 [2]. Since that time, WRPS has been working with the nondestructive examination community and the Pacific Northwest National Laboratory to evaluate potential technologies to conduct these challenging remote inspections. Recent work has included the development, testing, and deployment of several remote visual inspection technologies to observe the condition of the primary tank bottom of the DSTs by leveraging air distribution slots in the refractory pad on which it rests. Robotic solutions to conduct this inspection were developed with a detailed understanding of the physical configuration and operational logistics. Understanding and subsequent communication of these details to vendors within the robotics and nondestructive examination community was a critical component to the successful production of these new tools. In total, two remote visual inspection tools were produced by two vendors. The first tool was designed to leverage existing ultrasonic testing magnetic wall crawler technology in use within the double-shell tank annuli at Hanford. This resulted in a cost savings, immediate familiarization with the equipment, and a more streamlined shop to field experience. The second tool was developed from the ground up, and represents a more tailored and purpose-built solution to the problem. While costlier and more complex, it is also more versatile and capable of future growth or adaptation. Initial design of both tools began in early FY17 with fabrication and testing completed in early FY18. The tools were designed to be deployed alongside existing inspection operations and expand coverage. Development of visual inspection tools to evaluate the primary tank bottom region of the double-shell tanks was planned as the first stage of inspection. Continued development of volumetric sensors and incorporation of these inspection tools into Hanford's ongoing Double-Shell Tank Integrity Program are the next steps, continuously seeking to expand understanding of asset integrity and remaining useful life. (authors)

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DOE OSTI2019

R and DE Robotic Sensor Intern Team: Remote 3D Mapping Sensor Suite

The primary goal of the sensor suite is to provide an internal 3D map of the HCAEX tunnel. When looking for a sensor that would provide XYZ point cloud data for mapping the decision was between a stereo camera, a 3D Lidar, or a 2D Lidar that would need to be spun around. The issues with the stereo camera were that it does not have a large field-of-view and that its depth information was not nearly as accurate as even the baseline Lidars. The selection between Lidars is detailed. The Hokuyo UTM-30LX-EW shown provides a 270 deg. FOV with high accuracy and resolution while the largest FOV on a 3D Lidar is 40 deg.. This was the reason a 2D Lidar was chosen over the 3D Lidar. Even though the 2D Lidar requires additional components and software to generate a 3D map, its FOV advantage is too great given that the HCAEX tunnel is a relatively confined space. The rotating planar scan from the 2D Lidar can be stitched into a 3D scan as shown in the graphic below. Along with XYZ data, the Lidar provides return intensity data in color which can be used to distinguish between different materials within the tunnel. To provide visual feedback a camera system needed to be identified. The common solution for this is a high resolution camera with a small FOV mounted on a pan-tilt system. But, given the critical nature of the visual feedback we looked into solutions without the need for moving parts. Two panospheric cameras give a FOV large enough to get a full 360 deg. view.. Camera color data (RGB) can also be combined with the 3D mapping data from the Lidar and overlaid on the map to give the user the ability to see inside the entire length of the tunnel as if they were inside. Situational awareness is required for the crawler in the tunnel in order for it to be able to register the 3D scans to create a final map. For this we procured a Microstrain 3DM-GX5-25 Inertial Measurement Unit (IMU). To perform the Lidar rotation we have two servos driving the pan and tilt. The servo controls and most data processing will be performed via an onboard computer. The sensor components are to be packaged together using 3D printed mounts into a standalone unit.

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DOE OSTI2020

Double-Shell Tank Primary Bottom Visual Inspection Results - 20025

A pressing need for the Double-Shell Tank Integrity Program at Hanford is of the ability to inspect the bottom of the tanks. Though the DSTs' annulus spaces (the space between the internal and external tank walls) have been inspected visually since 1992 and with Ultrasonic Testing (UT) since 1996, inspections of the tank bottoms have been able to be conducted due to limitations of available technology, omitting about 40 percent of the tank surface below the maximum fill level from routine inspection. Visual inspections of the tank annulus have been conducted up to five times in some DSTs and portions of the annulus space for all of the DSTs has been inspected twice with UT. This region includes the walls of the primary tank and secondary liner along with accessible portions of the secondary liner bottom. Due to this lack of technology, the degradation of the primary tank bottom in Tank AY-102 was undetected until the tank leaked into its annulus space, confirmed in 2012. Since that time, WRPS has been working with the nondestructive examination community and the Pacific Northwest National Laboratory, to evaluate potential technologies to conduct these challenging remote inspections. Recent work has included the development, testing, and deployment of several remote visual inspection technologies to observe the condition of the primary tank bottom of the DSTs by leveraging air distribution slots in the refractory pad on which it rests. Robotic solutions to conduct this inspection were developed with a detailed understanding of the physical configuration and operational logistics. Understanding and subsequent communication of these details to vendors within the robotics and nondestructive examination community was a critical component to the successful production of these new tools. Throughout the FY16-FY18 years, vendors from nondestructive examination community were solicited for ideas to meet the tank bottom inspection challenge. Two tank bottom visual inspection solutions were then pursued to meet that challenge. Both tools were successfully deployed at Tank AP-107, and provided valuable visuals, never before obtained from the under tank environment of a double-shell tank. While there are minor opportunities for improvement identified with each system, general outcomes were overwhelmingly positive. Both systems were successfully able to navigate the refractory air slot pattern from the outer edge to the tank center and record video footage. The micro-crawler provided high quality and very stable footage through the air slot pattern, but took longer to deploy into the slots and traverse through them than the alternative system. The push-pull tethered camera was able to navigate all seven of its target air slots in a matter of a few hours, which included deployment, movement between slot entrances, and complete removal of the system from the annulus environment. Through these air slots, new information was gained about the tank bottom and refractory pad condition of tank AP-107, AP-106, AP-108, and AN-102. While some debris was noted in the air slots, including sand, chipped refractory, and construction materials, the refractory was found to be structurally stable and adequately supporting the primary tank bottom through the full diameter of the tank. Primary tank bottom steel exterior was found to be in good condition, free of ongoing or aggressive corrosion conditions. Looking toward the future, robotic access to and visual inspection of refractory air slots and the primary tank bottom steel has now proven viable. Incorporating periodic air slot inspections as a regular practice within the Double-Shell Tank Integrity Program is the next step, allowing trending of any changes in condition. As ultrasonic testing infrastructure was leveraged to complete the initial system deployments described in this report, it makes sense to adopt that same strategy for ongoing periodic examinations and deploy these primary tank bottom inspection tools alongside ultrasonic testing operations. Development of visual inspection tools to evaluate the primary tank bottom region of the double-shell tanks was planned as the first stage of inspection. Continued development of volumetric sensors and incorporation of these inspection tools into Hanford's ongoing Double-Shell Tank Integrity Program are the next steps, seeking to continuously expand understanding of asset integrity and remaining useful life. (authors)

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DOE OSTI2023

Cloud Atlas: An Interactive Apparatus for Air Quality Awareness

This paper introduces a research project of a kinetic apparatus that translates collected air quality data to users. The kinetic mechanical skeleton is embedded with processors and electronics, and constantly changes its form according to air quality data collected online via a web crawler. By translating invisible environmental conditions, such as air quality data into morphological, colorful, and acoustic changes for the device, the participants can be aware of the phenomenon of air pollution in real time. The interac- tions between participants' movements and the changes of the device imply how human behaviors can affect the state of the atmosphere. As a result, the device evokes public awareness and participation in environmental issues through tangible experiences. This research aims to explore a new kind of responsive architecture that acts as a medium between invisible environments and inhabitants.

Zhao, Xiaoxiao↗
DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗
NASA NTRS1967

WSTF Transporting of Spare Altitude Chamber from LM Site to CSM Site

Transporting of Spare Altitude Chamber from Lunar Module (LM) Site to Command Service Module (CSM) Site. The video is broken into three parts: - Part 1: Run time of 21 min., 21 sec.; color; no sound - Part 2: Run time of 17 min., 14 sec.; color; no sound - Part 3: Run time of 18 min., 41 sec.; color, no sound All videos are in the mp4 format.

Heavy Equipment↗