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At least 1,261 records · Page 70
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Highly mobile robot for remote inspection

A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.

Crane, Carl D.↗
DOE OSTI2023

Robotic inspection device

Robotic devices that can be utilized on pipes of any material and of a variety of pipe diameters are provided. The robotic device utilizes a ducted fan to create the normal forces needed to adhere to any part of a pipe. The chassis of the device can be segmented to allow for application on various diameter pipes.

McDaniel, Dwayne E.↗
DOE OSTI2023

Standoff inspection using geometry-informed full-wavefield response measurements

A vibrometer may measure acoustic responses in portions of a structure along a scan path to acoustic excitation of the structure. A ranging device may measure distances to the portions of the structure along the scan path. A three-dimensional point cloud may be generated based on the acoustic responses in the portions of the structure and the distances to the portions of the structure. The three-dimensional point cloud may include points representing geometry of the portions of the structure. The points may be associated with the acoustic responses in corresponding portions of the structure. One or more properties of the structure may be determined based on an analysis of the three-dimensional point cloud.

Flynn, Eric Brian↗
DOE OSTI2020

Inspection Tools for Hanford Tanks and Waste Transport Systems - 20444

Recent integrity issues in the double-shell tanks (DST) at Hanford have motivated the need for developing innovative tools that can provide information regarding the health of the tanks. These issues include the primary linear failure of AY-102 and recent concerns of thinning in the DST secondary liners. Other concerns include erosion or corrosion on transfer lines and processing pipes. In recent years, Florida International University (FIU) has supported DOE-EM by developing tools that can assist in understanding the health of tanks and waste transport system at Hanford. More specifically, FIU has developed a miniature rover that can be deployed through small risers and gain access to refractory slots in the Hanford DSTs. It traverses through the slots on the primary liner upside down via magnets to avoid debris in the slots. Recent modifications include a spring loaded magnetic arm that allows the unit to traverse over large weld seams but does not reduce the overall functionality of the system. The system has also incorporated a control capsule that will sit within the annulus of the tank and improves on issues related to signal and voltage loss over long tether lines. Lastly, the unit is also being augmented with a second module that will include a means to prep the tank surface and obtain a thickness measurement using a dual element ultrasonic sensor. FIU has also developed a 6-inch peristaltic pipe crawler that operates similar to the previous pipe crawlers developed at FIU. This crawler is a marsupial type crawler that will navigate through the 6-inch drain lines, and deploy a small rover at the entrance of the drain slots. This rover will also traverse upside down on the secondary liner and provide information regarding the health of the liner. An initial prototype for the crawler unit has been developed, assembled and tested. The system is pneumatic and consists of three modules - two grippers and one extender. The validation tests are conducted in a mockup of the drain lines and demonstrate the system's ability to navigate through long pipe lengths and elbows. In this paper, a general overview of each of the aforementioned systems is presented along with results from testing and demonstrations that shows the applicability of each system. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2016

Regulatory Basis for Dry Spent Nuclear Fuel Storage Canister Inspections

Nuclear power plants in the United States began moving Spent Nuclear Fuel (SNF) from wet storage to dry storage in Independent Spent Fuel Storage Installations (ISFSIs) in 1986 at Surry station in Virginia. Dry storage represented an innovative solution to the problem created by the U.S. government's failure to fulfill its obligation to begin removing SNF from power plant sites. Today, about 70 ISFSIs have been placed into operation on the sites of current, or former nuclear power plants. There are currently over 2,200 SNF dry storage systems (DSSs) in service at these locations. Thirteen of these ISFSIs are located at sites with no operating reactor, and this number is due to increase in the coming years. Operating nuclear power stations use ISFSI storage to maintain wet storage capacity for recently discharged SNF. Permanently shutdown nuclear power plants use ISFSI storage to allow decommissioning and dismantlement of the power plant structures, systems, and components. The U.S. Nuclear Regulatory Commission (NRC) regulates the licensing, construction, and operation of ISFSIs under Title 10 of the U.S. Code of Federal Regulations, Energy, Part 72, Licensing Requirements for the Independent Storage of Spent Nuclear Fuel, High-Level Radioactive Waste, and Reactor-Related Greater than Class-C Waste (10 CFR 72). When the regulations in 10 CFR 72 were created around 1980, 20 years was chosen by the NRC as the license term for a specific ISFSI license and later, for a DSS Certificate of Compliance (CoC). Twenty years was, at the time, believed to be a sufficient time period for on-site interim dry storage of spent nuclear fuel before the U.S. government began moving the spent fuel away from the plant site for final disposal. Little, if any consideration was given to providing a regulatory framework for extending ISFSI licenses and DSS CoCs beyond 20 years at that time. However, shortly after the turn of the century, with still no federal program for removing SNF from reactor sites on the near-term horizon it became apparent that most DSSs would be required to remain in service at the ISFSIs beyond the initial 20-year license term. Operation beyond the original license term requires the specific license or the DSS CoC (used at a general license ISFSI) to be renewed. The requirements for renewal of a specific ISFSI license or a DSS CoC include addressing age-related degradation of structures, systems, and components that perform or support safety functions. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

System and method for in situ inspection of defects in additively manufactured parts using high speed melt pool pyrometry

A system and method is disclosed for detecting anomalies in an additively manufactured part. An energy source generates a signal forming an optical beam for creating a melt pool in a layer of feedstock material being selectively fused to make a part in an additive manufacturing operation. A sensor is configured to receive a signal reflected from the melt pool. The reflected signal forms a thermal signal indicative of a temperature of the feedstock material at a known location on a layer of the feedstock material while the feedstock material is being fused at the known location. A controller receives and analyzes data relating to the received signal to determine if an anomaly exists at the known location.

Forien, Jean-Baptiste↗
DOE OSTI2011

Preliminary Assessment of Overweight Mainline Vehicles

The Federal Motor Carrier Safety Administration requested information regarding overweight and oversized vehicle traffic entering inspection stations (ISs) in order to develop strategies for future research efforts and possibly help guide regulatory issues involving overweight commercial motor vehicles (CMVs). For a period of one month, inspection stations in Knox County and Greene County, Tennessee, recorded overweight and oversized vehicles that entered these ISs. During this period, 435 CMVs were recorded using an electronic form filled out by enforcement personnel at the IS. Of the 435 CMVs recorded, 381 had weight information documented with them. The majority (52.2%) of the vehicles recorded were five-axle combination vehicles, and 50.6% of all the vehicles were permitted to operate above the legal weight limit in Tennessee, which is 80,000 lb for vehicles with five or more axles. Only 16.8% of the CMVs recorded were overweight gross (11.5% of permitted vehicles) and 54.1% were overweight on an axle group. The low percentage of overweight gross CMVs was because only 45 of the vehicles over 80,000 lb. were not permitted. On average, axles that were overweight were 2,000 lb. over the legal limit for an axle or group of axles. Of the vehicles recorded, 172 vehicles were given a North American Standard (NAS) inspection during the assessment. Of those, 69% of the inspections were driver-only inspections (Level III) and only 25% of the inspections had a vehicle component (such as a Level I or Level II). The remaining 6% of inspections did not have valid Aspen numbers; the type of was inspection unknown. Data collected on the types of trailers of each vehicle showed that about half of the recorded CMVs could realistically be given a Level I (full vehicle and driver) inspection; this estimate was solely based on trailer type. Enforcement personnel at ISs without an inspection pit have difficulty fully inspecting certain vehicles due to low clearance below the trailer. Because of this, overweight and oversized vehicles were normally only given a Level III (driver) inspection; thus, little is known about the safety of these vehicles. The out-of-service (OOS) rate of all the inspected vehicles (driver and vehicle inspections) was 18.6%, while the OOS rate for vehicle inspections (Level I and II) was 52.4%. Future work will focus on performing Level I inspections on five-axle combination tractor-trailers and the types of violations that overweight vehicles may have. This research will be conducted in Tennessee and possibly in other states as well.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS2011

Data Interconnection Exploration

This project involves innovating the way the Quality Assurance organization at the Jet Propulsion Laboratory (JPL) tracks the receiving inspection of JPL Critical Items (JCI) procured from suppliers. The Quality Assurance organization uses a Microsoft Access based front-end to enter items into an inspection queue. The current design has grown to be much more than was expected when the inspection queue system was created in 2007. The goal is to migrate to a web based solution that will allow the handling of more data, multiple input interfaces, and customizable display options. This has been achieved by implementing a divided tables scheme, the use of ColdFusion programming language, and the usage of Web 2.0 technologies such as AJAX and jQuery. These updates will allow for future expansion as well as the standardization of inspection queues for the Quality Assurance organization. When engineers and scientists order flight hardware, they cannot use it straight away. After a spacecraft or a satellite has been launched, it will be impossible to repair; therefore, the parts used must be inspected to make sure they are operating correctly and within the required specifications. The task of inspecting these JPL Critical Items (JCI) falls on the Quality Assurance organization. One of the tools the receiving inspection group uses is a database to maintain a queue of inspections that need to be done and of inspections that have been completed. The current Access interface has worked well but increased amounts of data, multiple input interfaces, and changes to how data is handled have made it necessary to seek a new way of organizing items for inspection. In addition, the different inspection groups have recently been merged and each has different ways of keeping track of inspection information. The ultimate goal is for the new group to have one shared inspection queue and website. To achieve this goal, I have been working with Ian Luczon of Procurement Quality Assurance and 3 Myers Hawkins, another intern, to not only create the new queue for receiving inspection but also a central web portal for the newly combined inspection group.

flight hardware↗
NASA NTRS1992

WELDSMART: A vision-based expert system for quality control

This work was aimed at exploring means for utilizing computer technology in quality inspection and evaluation. Inspection of metallic welds was selected as the main application for this development and primary emphasis was placed on visual inspection, as opposed to other inspection methods, such as radiographic techniques. Emphasis was placed on methodologies with the potential for use in real-time quality control systems. Because quality evaluation is somewhat subjective, despite various efforts to classify discontinuities and standardize inspection methods, the task of using a computer for both inspection and evaluation was not trivial. The work started out with a review of the various inspection techniques that are used for quality control in welding. Among other observations from this review was the finding that most weld defects result in abnormalities that may be seen by visual inspection. This supports the approach of emphasizing visual inspection for this work. Quality control consists of two phases: (1) identification of weld discontinuities (some of which may be severe enough to be classified as defects), and (2) assessment or evaluation of the weld based on the observed discontinuities. Usually the latter phase results in a pass/fail judgement for the inspected piece. It is the conclusion of this work that the first of the above tasks, identification of discontinuities, is the most challenging one. It calls for sophisticated image processing and image analysis techniques, and frequently ad hoc methods have to be developed to identify specific features in the weld image. The difficulty of this task is generally not due to limited computing power. In most cases it was found that a modest personal computer or workstation could carry out most computations in a reasonably short time period. Rather, the algorithms and methods necessary for identifying weld discontinuities were in some cases limited. The fact that specific techniques were finally developed and successfully demosntrated to work illustrates that the general approach taken here appears to be promising for commercial development of computerized quality inspection systems. Inspection based on these techniques may be used to supplement or substitute more elaborate inspection methods, such as x-ray inspections.

Andersen, Kristinn↗