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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 OSTI2024

Formation of a spherical plasma liner for plasma-jet-driven magneto-inertial fusion

Plasma-jet-driven magneto-inertial fusion is an alternative approach to controlled nuclear fusion, which aims to utilize a line-replaceable dense plasma liner as a repetitive spherical compression driver. In this experiment, first measurements of the formation of a spherical argon plasma liner formed from 36 discrete pulsed plasma jets are obtained on the Plasma Liner Experiment. Properties including liner uniformity and morphology, plasma density, temperature, and ram pressure are assessed as a function of time throughout the implosion process and indicate an apparent transition from initial kinetic inter-jet interpenetration to collisional regime near stagnation times, in accordance with theoretical expectation. A lack of primary shock structures between adjacent jets during flight implies that arbitrarily smooth liners may be formed by way of corresponding improvements in jet parameters and control. The measurements facilitate the benchmarking of computational models and understanding the scaling of plasma liners toward fusion-relevant energy density.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Kilopower Reactor Using Stirling TechnologY (KRUSTY) Component Critical Experiments

A series of critical experiments were conducted at the National Criticality Experiments Research Center (NCERC) in Nevada to evaluate the operational performance of a compact reactor that eventually will resemble the flight unit the National Aeronautics and Space Administration will use for deep space exploration. The results from the experiments are compared to preliminary results from computational models using MCNP and ENDF/B-7.1 neutron cross-section data.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2026

Formation of niobium hydride precipitates in superconducting qubits

We report evidence for the formation of niobium hydride phase within niobium films on silicon substrates in superconducting qubits fabricated at Rigetti Computing. For this study, we combined complementary techniques—including room-temperature and cryogenic atomic force microscopy (AFM), synchrotron x-ray diffraction, and time-of-flight secondary ion mass spectroscopy (ToF-SIMS)—to directly reveal the existence of niobium hydride precipitates on the surface of superconducting qubits. Upon cryogenic cooling, we observed variation in the size and morphology of the hydrides, ranging from small (∼5 nm) irregular shapes to large (∼10–100 nm) domains within the Nb grains, which were fully converted to niobium hydrides. Since niobium hydrides are nonsuperconducting and can easily change in size and location upon different cooldowns to cryogenic temperature, our finding highlights a previously unknown source of decoherence in superconducting qubits. This contributes to quasiparticle losses, offering a potential explanation for changes in qubit performance upon cooldowns. Finally, by leveraging the RF performance of a 3D bulk Nb resonator, we quantify RF dissipation in a superconducting qubit caused by hydrogen concentration variation, and propose a practical engineering pathway to mitigate the formation of Nb hydrides for superconducting qubit applications.

Sung, Zuhawn [Fermi National Accelerator Laborator↗
DOE OSTI2023

TRINIDI: Time-of-Flight Resonance Imaging With Neutrons for Isotopic Density Inference

Accurate reconstruction of 2D and 3D isotope densities is a desired capability with great potential impact in applications such as evaluation and development of next-generation nuclear fuels. Neutron time-of-flight (TOF) resonance imaging offers a potential approach by exploiting the characteristic neutron absorption spectra of each isotope. However, it is a major challenge to compute quantitatively accurate images due to a variety of confounding effects such as severe Poisson noise, background scatter, beam non-uniformity, absorption non-linearity, and extended source pulse duration. We present the TRINIDI algorithm which is based on a two-step process in which we first estimate the neutron flux and background counts, and then reconstruct the areal densities of each isotope and pixel. Both components are based on the inversion of a forward model that accounts for the highly non-linear absorption, energy-dependent emission profile, and Poisson noise, while also modeling the substantial spatio-temporal variation of the background and flux. Further, to do this, we formulate the non-linear inverse problem as two optimization problems that are solved in sequence. We demonstrate on both synthetic and measured data that TRINIDI can reconstruct quantitatively accurate 2D views of isotopic areal density that can then be reconstructed into quantitatively accurate 3D volumes of isotopic volumetric density.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2014

PET optimization for improved assessment and accurate quantification of {sup 90}Y-microsphere biodistribution after radioembolization

Purpose: {sup 90}Y-microspheres are widely used for the radioembolization of metastatic liver cancer or hepatocellular carcinoma and there is a growing interest for imaging {sup 90}Y-microspheres with PET. The aim of this study is to evaluate the performance of a current generation PET/CT scanner for {sup 90}Y imaging and to optimize the PET protocol to improve the assessment and the quantification of {sup 90}Y-microsphere biodistribution after radioembolization. Methods: Data were acquired on a Biograph mCT-TrueV scanner with time of flight (TOF) and point spread function (PSF) modeling. Spatial resolution was measured with a{sup 90}Y point source. Sensitivity was evaluated using the NEMA 70 cm line source filled with {sup 90}Y. To evaluate the count rate performance, {sup 90}Y vials with activity ranging from 3.64 to 0.035 GBq were measured in the center of the field of view (CFOV). The energy spectrum was evaluated. Image quality with different reconstructions was studied using the Jaszczak phantom containing six hollow spheres (diameters: 31.3, 28.1, 21.8, 16.1, 13.3, and 10.5 mm), filled with a 207 kBq/ml {sup 90}Y concentration and a 5:1 sphere-to-background ratio. Acquisition time was adjusted to simulate the quality of a realistic clinical PET acquisition of a patient treated with SIR-Spheres{sup ®}. The developed methodology was applied to ten patients after SIR-Spheres{sup ®} treatment acquiring a 10 min per bed PET. Results: The energy spectrum showed the{sup 90}Y bremsstrahlung radiation. The {sup 90}Y transverse resolution, with filtered backprojection reconstruction, was 4.5 mm in the CFOV and degraded to 5.0 mm at 10 cm off-axis. {sup 90}Y absolute sensitivity was 0.40 kcps/MBq in the center of the field of view. Tendency of true and random rates as a function of the {sup 90}Y activity could be accurately described using linear and quadratic models, respectively. Phantom studies demonstrated that, due to low count statistics in {sup 90}Y PET acquisition, the optimal parameters for the standard OSEM+PSF reconstruction were only one iteration and a postreconstruction filter of 6 mm FWHM, for both TOF and non-TOF reconstructions. Moreover, when TOF is included, the signal to noise ratio increased and visibility achieved 100% by the experienced observers and 93.3% according to the Rose model of statistical detection. In 50% of patients, TOF allowed the visualization of {sup 90}Y radioembolized lesions not seen without TOF, confirming phantom results. Liver activity was accurately quantified, with no significant differences between reconstructed and actual delivered activity to the whole-liver [mean relative difference (10.2 ± 14.7)%]. Conclusions: Qualitative and quantitative{sup 90}Y PET imaging improved with the introduction of TOF in a PET/CT scanner, thereby allowing the visualization of microsphere deposition in lesions not visible in non-TOF images. This technique accurately quantifies the total activity delivered to the liver during radioembolization with {sup 90}Y-microspheres and allows dose estimation.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2018

An algorithm to correct saturated mass spectrometry ion abundances for enhanced quantitation and mass accuracy in omic studies

The mass accuracy and peak intensity of ions detected by mass spectrometry (MS) measurements are essential to facilitate compound identification and quantitation. However, high concentration species can easily cause problems if their ion intensities reach beyond the limits of the detection system, leading to distorted and non-ideal detector response (e.g. saturation), and largely precluding the calculation of accurate m/z and intensity values. Here we present an open source computational method to correct peaks above a defined intensity (saturated) threshold determined by the MS instrumentation such as the analog-to-digital converters or time-to-digital converters used in conjunction with time-of-flight MS. In this method, the isotopic envelope for each observed ion above the saturation threshold is compared to its expected theoretical isotopic distribution. The most intense isotopic peak for which saturation does not occur is then utilized to re-calculate the precursor m/z and correct the intensity, resulting in both higher mass accuracy and greater dynamic range. The benefits of this approach were evaluated with proteomic and lipidomic datasets of varying complexities. After correcting the high concentration species, reduced mass errors and enhanced dynamic range were observed for both simple and complex omic samples. Specifically, the mass error dropped by more than 50% in most cases with highly saturated species and dynamic range increased by 1-2 orders of magnitude for peptides in a blood serum sample.

Environmental Molecular Sciences Laboratory↗
DOE OSTI2016

Attenuation correction in emission tomography using the emission data—A review

The problem of attenuation correction (AC) for quantitative positron emission tomography (PET) had been considered solved to a large extent after the commercial availability of devices combining PET with computed tomography (CT) in 2001; single photon emission computed tomography (SPECT) has seen a similar development. However, stimulated in particular by technical advances toward clinical systems combining PET and magnetic resonance imaging (MRI), research interest in alternative approaches for PET AC has grown substantially in the last years. In this comprehensive literature review, the authors first present theoretical results with relevance to simultaneous reconstruction of attenuation and activity. The authors then look back at the early history of this research area especially in PET; since this history is closely interwoven with that of similar approaches in SPECT, these will also be covered. We then review algorithmic advances in PET, including analytic and iterative algorithms. The analytic approaches are either based on the Helgason–Ludwig data consistency conditions of the Radon transform, or generalizations of John’s partial differential equation; with respect to iterative methods, we discuss maximum likelihood reconstruction of attenuation and activity (MLAA), the maximum likelihood attenuation correction factors (MLACF) algorithm, and their offspring. The description of methods is followed by a structured account of applications for simultaneous reconstruction techniques: this discussion covers organ-specific applications, applications specific to PET/MRI, applications using supplemental transmission information, and motion-aware applications. After briefly summarizing SPECT applications, we consider recent developments using emission data other than unscattered photons. In summary, developments using time-of-flight (TOF) PET emission data for AC have shown promising advances and open a wide range of applications. These techniques may both remedy deficiencies of purely MRI-based AC approaches in PET/MRI and improve standalone PET imaging.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2014

Planck 2013 results. X. HFI energetic particle effects: Characterization, removal, and simulation

We describe the detection, interpretation, and removal of the signal resulting from interactions of high energy particles with the Planck High Frequency Instrument (HFI). There are two types of interactions: heating of the 0.1 K bolometer plate; and glitches in each detector time stream. The transient responses to detector glitch shapes are not simple single-pole exponential decays and fall into three families. The glitch shape for each family has been characterized empirically in flight data and these shapes have been used to remove glitches from the detector time streams. The spectrum of the count rate per unit energy is computed for each family and a correspondence is made to the location on the detector of the particle hit. Most of the detected glitches are from Galactic protons incident on the die frame supporting the micro-machined bolometric detectors. In the Planck orbit at L2, the particle flux is around 5 cm -2 s -1 and is dominated by protons incident on the spacecraft with energy >39 MeV, at a rate of typically one event per second per detector. Different categories of glitches have different signatures in the time stream. Two of the glitch types have a low amplitude component that decays over nearly 1 s. This component produces excess noise if not properly removed from the time-ordered data. We have used a glitch detection and subtraction method based on the joint fit of population templates. The application of this novel glitch subtraction method removes excess noise from the time streams. Using realistic simulations, we find that this method does not introduce signal bias into the Planck data.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

CO2 Plume Imaging with Accelerated Deep Learning-based Data Assimilation Considering Multiple Realizations: Application to the Illinois Basin-Decatur Carbon Sequestration Project

We propose a fast and efficient deep learning workflow for near real-time data assimilation, forecasting and visualization of CO2 plume evolution in saline aquifer and demonstrate its application at a field site. Unlike the previous work, this study incorporates the impact of spatial heterogeneity using multiple realizations. In the proposed workflow, a neural network model utilizes available monitoring data such as downhole pressure measurements as input and predicts the propagating pressure ‘front’ using the diffusive time of flight (DTOF) map which is considered as representative reservoir image of the flow field. The DTOF is the arrival time of pressure front propagation, which can be computed by the Fast Marching Method rapidly without flow simulations. Reservoir model calibration can be implemented by selecting the training data samples that describe the predicted DTOF map based on observed data. The power and efficacy of our workflow is demonstrated by application to the Illinois Basin-Decatur Project.

CO2 plume imaging↗
DOE OSTI2022

Machine Learning assisted optimization and parameter space exploration dataset of spin ice Hamiltonian

This repository contains both simulated and experimental structure factor data for the data challenge involving the inverse scattering problem. The simulated data were generated during a machine-learning-assisted optimization routine described in ref[1]. The experimental structure factor was measured on a rare-earth oxide, Dy2Ti2O7 using diffuse neutron scattering from time-of-flight techniques on the CORELLI instrument at the Spallation Neutron Source, Oak Ridge National Laboratory. A Metropolis Monte Carlo code implemented to run in a High-performance computing setting was used to calculated simulated structure factors for the spin-ice Hamiltonian at 680 mK, which is the same temperature as for the experimental data. The total size of all the files in this repository is 5.12 GB. A detailed description of the files is given below. ExperimentalData_630mK.dat – A linearized version of 3-dimensional experimental data of size 61×81×21. This data was processed to remove an estimation of non-magnetic background, including nuclear scattering signal and instrumentation background. Parameters.dat – 6700 samples were evaluated over the 4-dimensional parameter space (J_1, J_2, J_3 and J_(3^' )). There is an additional parameter, D in the spin Hamiltonian to mimic the dipolar interaction between magnetic ions. However, this parameter, D was fixed to a value determined by prior work. This file contains five columns for the parameters J_1, J_2, J_3, J_(3^' ) and D respectively. 3D_Simulation_Data.dat – The simulated structure factor, S(Q) data are included in this file. Each raw contains a linearized array of 3D volumes of S(Q) calculated for the parameter set given in the corresponding row of the file Parameters.dat. The size of the volume data was matched to the experimental data. Qx(h,-h,0).dat, Qy(k,k,-2k).dat, Qz(l,l,l).dat – These files contain the h, k, and l values along with the reciprocal vectors [h,-h,0], [k,k,-2k] and [l,l,l] respectively.

36 MATERIALS SCIENCE↗
DOE OSTI2022

3DBFSVBF (3D BatFinder Smart Video BioFilter and Multi-class BatFinder Smart Video BioFilter) [SWR-22-88]

Bats are notoriously difficult to study, therefore, identifying specific behavioral trends and the precise environmental conditions at the time of collision requires a monitoring solution that can reliably collect relevant data. To date, thermal infrared video surveillance has been extensively applied to study bats and has proven to be a powerful yet cumbersome tool. Current analytical approaches are time consuming because data processing data has not been fully automated. In the past, steps have been taken to record avian and bat activity in conjunction with complicated image processing techniques that separate species from other moving objects within the field of view (i.e. clouds and portions of the wind turbine). Once the videos are collected, the post-processing does not allow real time monitoring and identification, leading to a delay in both studying the behavior of these species and determining the effectiveness of any impact reduction strategy being studied. Moreover, object identification capability is lacking, thus limiting the usefulness of video data. To resolve these issues, we are using open source 3D computer vision and machine learning techniques allowing for automatic detection of objects in real-time with the ability to correlate these objects with environmental variables and recording the flight paths of each object. The machine learning has been trained on 3D data and allows for automated real-time data collection, identification and tracking, thereby eliminating the need for long and tedious post-analysis processing of the videos. This machine learning model is an added feature to the previous BatFinder Smart Video BioFilter and increases the accuracy of that systems classification by increasing the accuracy of identifying bats (90% accuracy) and insects (69% accuracy) to a 97% accuracy. There are two object classifier machine learning models, Binary and multi-classification. Binary object classifier labeled BatFinder_Smart_Video_BioFilter.h5 distinguishes between biological objects and non-biological objects. The main goal of this object classifier is to ignore the turbine blades while detecting biological object flying withing the rotor swept area of the turbine. Non-biological objects have a probability of 0 and biological objects have a probability of 1. Multi-classifier labeled Multiclass_BatFinder_Smart_Video_BioFilter.h5 distinguishes between bats, birds, insects and non-biological.

Yarbrough, John↗
DOE OSTI2022

BFSVBF (BatFinder Smart Video BioFilter) [SWR-22-87] and Multi-class BatFinder Smart Video BioFilter Keras

Bats are notoriously difficult to study, therefore, identifying specific behavioral trends and the precise environmental conditions at the time of collision requires a monitoring solution that can reliably collect relevant data. To date, thermal infrared video surveillance has been extensively applied to study bats and has proven to be a powerful yet cumbersome tool. Current analytical approaches are time consuming because data processing data has not been fully automated. In the past, steps have been taken to record avian and bat activity in conjunction with complicated image processing techniques that separate species from other moving objects within the field of view (i.e. clouds and portions of the wind turbine). Once the videos are collected, the post-processing does not allow real time monitoring and identification, leading to a delay in both studying the behavior of these species and determining the effectiveness of any impact reduction strategy being studied. Moreover, object identification capability is lacking, thus limiting the usefulness of video data. To resolve these issues, we are using open source computer vision and machine learning techniques allowing for automatic detection of objects in real-time with the ability to correlate these objects with environmental variables and recording the flight paths of each object. The code has gone through five rounds of development with images used to train the models. This advancement allows for automated real-time data collection, identification, and tracking, thereby eliminating the need for long and tedious post-analysis processing of the videos. We will discuss the two open source and publicly available machine learning models developed within this scope of this work: 1) a binary model with a 97.5% accuracy in identifying the difference between an object and an empty scene, including wind turbine and clouds; and 2) a multiple classification model with the capability of identifying the type of object detected: bats (90% accuracy), birds (83% accuracy), insects (69% accuracy) and non-biological (99% accuracy).

Yarbrough, John↗
DOE OSTI2015

The distribution of “time of flight” in three dimensional stationary chaotic advection

The distributions of “time of flight” (time spent by a single fluid particle between two crossings of the Poincaré section) are investigated for five different three dimensional stationary chaotic mixers. Above all, we study the large tails of those distributions and show that mainly two types of behaviors are encountered. In the case of slipping walls, as expected, we obtain an exponential decay, which, however, does not scale with the Lyapunov exponent. Using a simple model, we suggest that this decay is related to the negative eigenvalues of the fixed points of the flow. When no-slip walls are considered, as predicted by the model, the behavior is radically different, with a very large tail following a power law with an exponent close to −3.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2017

Monte Carlo simulations of time-of-flight PET with double-ended readout: calibration, coincidence resolving times and statistical lower bounds

Here, this paper demonstrates through Monte Carlo simulations that a practical positron emission tomograph with (1) deep scintillators for efficient detection, (2) double-ended readout for depth-of-interaction information, (3) fixed-level analog triggering, and (4) accurate calibration and timing data corrections can achieve a coincidence resolving time (CRT) that is not far above the statistical lower bound. One Monte Carlo algorithm simulates a calibration procedure that uses data from a positron point source. Annihilation events with an interaction near the entrance surface of one scintillator are selected, and data from the two photodetectors on the other scintillator provide depth-dependent timing corrections. Another Monte Carlo algorithm simulates normal operation using these corrections and determines the CRT. A third Monte Carlo algorithm determines the CRT statistical lower bound by generating a series of random interaction depths, and for each interaction a set of random photoelectron times for each of the two photodetectors. The most likely interaction times are determined by shifting the depth-dependent probability density function to maximize the joint likelihood for all the photoelectron times in each set. Example calculations are tabulated for different numbers of photoelectrons and photodetector time jitters for three 3 × 3 × 30 mm 3 scintillators: Lu 2 SiO 5 :Ce,Ca (LSO), LaBr 3 :Ce, and a hypothetical ultra-fast scintillator. To isolate the factors that depend on the scintillator length and the ability to estimate the DOI, CRT values are tabulated for perfect scintillator-photodetectors. For LSO with 4000 photoelectrons and single photoelectron time jitter of the photodetector J = 0.2 ns (FWHM), the CRT value using the statistically weighted average of corrected trigger times is 0.098 ns FWHM and the statistical lower bound is 0.091 ns FWHM. For LaBr 3 :Ce with 8000 photoelectrons and J = 0.2 ns FWHM, the CRT values are 0.070 and 0.063 ns FWHM, respectively. For the ultra-fast scintillator with 1 ns decay time, 4000 photoelectrons, and J = 0.2 ns FWHM, the CRT values are 0.021 and 0.017 ns FWHM, respectively. Lastly, the examples also show that calibration and correction for depth-dependent variations in pulse height and in annihilation and optical photon transit times are necessary to achieve these CRT values.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2021

Time managed virtualization for simulating systems of systems

Software is an integral part of almost every non-trivial system. Yet simulation technologies to understand how software affects system performance lag behind what is available to understand physical behavior. This is not surprising. An abstract model of software tells us what it is supposed to do, not what it actually does. In this respect software is very different from a physical system. Kirchhoff’s laws predict the behavior of an electrical circuit with great precision. The mathematics of fluids do an adequate job of anticipating how a wing will perform in flight. Only the software itself, observed in operation, can tell us how it behaves.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2015

A Verification of MCNP6 FMESH Tally Capabilities

This work serves to verify the MCNP6 FMESH capability through comparison to two types of data. FMESH tallies, binned in time, were generated on an ideal detector face for neutrons undergoing a single scatter in a graphite target. For verification, FMESH results were compared to analytic calculations of the nonrelativistic TOF for elastic and inelastic single neutron scatters (TOF for the purposes of this paper is the time for a neutron to travel from its scatter location in the graphite target to the detector face). FMESH tally results were also compared to F4 tally results, an MNCP tally that calculates fluence in the same way as the FMESH tally. The FMESH tally results agree well with the analytic results and the F4 tally; hence, it is believed that, for simple geometries, MCNP6 FMESH tallies represent the physics of neutron scattering very well.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2024

One-step sputtering of MoSSe metastable phase as thin film and predicted thermodynamic stability by computational methods

Abstract We present the fabrication of a MoS 2−x Se x thin film from a co-sputtering process using MoS 2 and MoSe 2 commercial targets with 99.9% purity. The sputtering of the MoS 2 and MoSe 2 was carried out using a straight and low-cost magnetron radio frequency sputtering recipe to achieve a MoS 2−x Se x phase with x = 1 and sharp interface formation as confirmed by Raman spectroscopy, time-of-flight secondary ion mass spectroscopy, and cross-sectional scanning electron microscopy. The sulfur and selenium atoms prefer to distribute randomly at the octahedral geometry of molybdenum inside the MoS 2−x Se x thin film, indicated by a blue shift in the A 1g and E 1 g vibrational modes at 355 cm −1 and 255 cm −1 , respectively. This work is complemented by computing the thermodynamic stability of a MoS 2−x Se x phase whereby density functional theory up to a maximum selenium concentration of 33.33 at.% in both a Janus-like and random distribution. Although the Janus-like and the random structures are in the same metastable state, the Janus-like structure is hindered by an energy barrier below selenium concentrations of 8 at.%. This research highlights the potential of transition metal dichalcogenides in mixed phases and the need for further exploration employing low-energy, large-scale methods to improve the materials’ fabrication and target latent applications of such structures.

36 MATERIALS SCIENCE↗
DOE OSTI2019

Creating 3D Models With The Faro Scanner

The Faro Focus X 330 is a 3D scanner that combines numerous technologies in order to create a precise and life like 3D model. The technologies used by the scanner include: Time of flight (The scanner spins horizontally and vertically while emitting a class 1 laser; The laser beam then bounces off of an object and is captured by a sensor; An extremely precise chronometer tracks the beams flight time; The data is inputted into the simple formula: d=c*t/2). Point cloud system: The exact position of up to 976,000 points per second are registered and combined to form a complete model with up to ±1 mm at 330 m. Camera: Photos are taken of the surroundings that are combined to make a 165 megapixel image. The image is paired with the point cloud system. Scans have been taken of buildings 730-A and 781-A. These scans will be put into different virtual reality programs and used for tours and training. The scans also serve as a proof of concept for the Faro Focus X 330 as well as SRNL's ability to produce accurate scans with numerous useful applications. Work Scope Planning: Scanning will result in higher productivity and reduce the risk by identifying hazards; Blueprints and designs; 3D scans allow greater collaboration between engineers, construction crews, etc. by enabling them to compare blueprints to real time progress and make adjustments. Training and walk-downs: Scans can be made of places where access is not readily available, this could be due to its remote location or hazards such as radioactivity.

42 ENGINEERING↗