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At least 145 records · Page 8

Controlling flexible robot arms using a high speed dynamics process

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Jain, Abhinandan↗

Visual Attention Allocation Between Robotic Arm and Environmental Process Control: Validating the STOM Task Switching Model

Fifty six participants time shared a spacecraft environmental control system task with a realistic space robotic arm control task in either a manual or highly automated version. The former could suffer minor failures, whose diagnosis and repair were supported by a decision aid. At the end of the experiment this decision aid unexpectedly failed. We measured visual attention allocation and switching between the two tasks, in each of the eight conditions formed by manual-automated arm X expected-unexpected failure X monitoring- failure management. We also used our multi-attribute task switching model, based on task attributes of priority interest, difficulty and salience that were self-rated by participants, to predict allocation. An un-weighted model based on attributes of difficulty, interest and salience accounted for 96 percent of the task allocation variance across the 8 different conditions. Task difficulty served as an attractor, with more difficult tasks increasing the tendency to stay on task.

STOM attention allocation model validation↗

ONIX: An open-source depletion code

Open Source software enables innovative, community-based software development. ONIX brings this concept to the field of depletion calculations. It is an open-source depletion software to be used for nuclear reactor simulations, for fissile material production analysis as well as for nuclear arms control applications. ONIX provides a module to solve the depletion equation using a Chebyshev Rational Approximation Method. For the generation of one-group cross sections, it includes a coupling interface for the open-source neutron transport code, OpenMC, as well as a module to read pre-computed values in a stand-alone mode. ONIX has special features to optimize nuclear data libraries, to update isomeric branching ratio during burnup, and to support automation of simulations for nuclear archaeology. In conclusion, ONIX has been validated against results from numerical and experimental benchmarks, and its results agree with other methods within expected error ranges.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Experimental demonstration and modeling of a robotic neutron detector with spectral and directional sensitivity for treaty verification

International safeguards and arms control agreements often require labor-intensive, intrusive onsite inspections to perform verification tasks. The ability to localize a neutron source and/or characterize a neutron field may be imperative for identifying anomalies. We are interested in the role of autonomous mobile robots, which, if designed properly, may be more effective and efficient and less intrusive than their human counterparts. Toward developing such a capability, we, for this study, have constructed the N-SpecDir Bot, comprised of three boron-coated straw detectors azimuthally-distributed within a cylinder of high-density polyethylene, which is mounted on an omni-directional robotic platform. Our N-SpecDir Bot is specifically designed to provide spectral and directional sensitivity, in addition to gross counts, by utilizing the signals from the three detectors. The detection system has been extensively characterized by MCNP modeling, which has been benchmarked to experiments conducted at the Princeton Plasma Physics Laboratory. We demonstrate the spectral and directional sensitivity experimentally and in simulation, and provide a simple yet robust method for directional measurements.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Angular-spectral filtering of recoil protons for optimization of fast neutron imaging employing proton converters

Fast neutron imaging is an important capability for diverse applications such as inertial confinement fusion diagnostics, cargo security, nuclear nonproliferation and arms control, and industrial inspection. Traditional phosphor image plates can be enhanced for fast neutron imaging using hydrogenous plastic converters which allow fast neutrons to scatter off hydrogen nuclei to produce energetic protons that can be recorded by the image plate. However, protons emitted by image plates are not constrained in their emission angle, which contributes to the blur of the resulting image. Here, we investigate two methods that can alter the spatial extent of converted protons that deposit energy in the image plate: reducing the converter thickness, and introducing a proton filter between the plastic converter and image plate to reduce the contribution of lower-energy, off-axis protons to the image. Here we determine the optimal plastic converter thickness for maximizing the signal intensity to be 2–3 mm through Monte Carlo simulations, and we benchmark this result against experimental measurements with a deuterium-tritium (DT) neutron generator. Next, we evaluate the image smearing and signal loss for various converters to show that solely reducing the converter thickness has the expected effect of reducing the blur from proton image smearing of the sharpness of an edge recorded on the image plate at the cost of reducing the signal intensity. The use of a proton filter is shown to achieve a similar improvement of edge sharpness as reducing the converter thickness while also sacrificing the signal intensity. We conclude that the use of proton energy filtering can improve the sharpness of fast neutron images in situations where the converter thickness cannot be reduced below some practical minimum. For more intense neutron sources, the signal intensity is of less concern, and optimizing the resolution of the image plate and therefore of the imaging system could have greater value. In these applications, proton filters may allow for improved fast neutron imaging measurements.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Tools and Incentives for Implementing Codes of Ethics to Help Prevent the Reemergence of Chemical Weapons

Since the entry into force of the Chemical Weapons Convention (CWC) and the establishment of the Organisation for Prohibition of Chemical Weapons (OPCW) in 1997, 96% of the world’s declared stockpile, comprising 72,305 metric tons of chemical warfare agents have been destroyed. Despite this notable progress, the convergence of chemistry and biology brings new challenges to preventing chemical weapons production, as the technical capability to manipulate the chemistry of microorganisms has diffused beyond the chemical industry and academic research communities. The development and voluntary adoption by chemical practitioners around the world of ethical codes or guidelines, such as The Hague Ethical Guidelines and the Global Chemists’ Code of Ethics (GCCE) , are important steps in strengthening international nonproliferation efforts through their potential to impact the intent of the individual by normalizing ethical behavior. However, the simple act of adopting a code does not guarantee ethical behavior. Care must be taken to ensure those adopting the code understand specifically the behavior being asked of them, and they must be given ample opportunities to practice exercising those behaviors in low-risk situations and encouragement to keep trying when they fail. Furthermore, in small-to-medium chemical companies, concerns that adopting such measures could negatively impact profit margins may dissuade some business owners from voluntarily adopting ethical codes, while a country’s decision makers may not prioritize establishment of new regulatory mechanisms that could address some of these concerns. In this paper, factors that may positively influence a chemical company’s decision to adopt ethical guidelines, such as integration of social sustainability elements into frameworks and approaches to maintain social legitimacy in the eyes of the broader community, are explored. Voluntary adoption of ethical codes gives teeth to arms control regimes. By encouraging chemical companies to become engaged in the community around them and providing easy-to-use tools like scenario-based E-learning to enable remote engagement and facilitate understanding of the principles undergirding the GCCE, they actively participate in making the world a better place and minimizing the potential for reemergence of chemical weapons.

Small Chemical Companies, Codes of Ethics, E-learn↗

Producing two-dimensional dust clouds and clusters using a movable electrode for complex plasma and fundamental physics experiments

We report a Bidirectional Electrode Control Arm Assembly (BECAA) for precisely manipulating dust clouds levitated above the powered electrode in RF plasmas. The reported techniques allow the creation of perfectly 2D dust layers by eliminating off-plane particles by moving the electrode from outside the plasma chamber without altering the plasma conditions. Here, the tilting and moving of electrodes using BECAA also allows the precise and repeatable elimination of dust particles one by one to achieve any desired number of grains N without trial and error. Simultaneously acquired top and side view images of dust clusters show that they are perfectly planar or 2D. A demonstration of clusters with N = 1–28 without changing the plasma conditions is presented to show the utility of BECAA for complex plasma and statistical physics experimental design. Demonstration videos and 3D printable part files are available for easy reproduction and adaptation of this new method to repeatably produce 2D clusters in existing RF plasma chambers.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Document-Based Nuclear Archaeology

Deeper reductions in the nuclear arsenals will require better understanding of historic fissile material management and production. The concept of “nuclear archaeology” has been considered since the 1990s to provide the tools and methods to develop independent production estimates, primarily based on nuclear forensic techniques. Here, we propose to add a framework for reconstructing the history of a nuclear program that complements traditional nuclear archaeology techniques by examining the role of operating records to support such an effort. As a test case, we use the JEEP II reactor, a 2 MW civilian research reactor at Norway’s Institute for Energy Technology (IFE), in operation for more than fifty years, however, recently shut down permanently. We have collected, analyzed, and started to preserve the reactor’s operating records, which exist on both analog and digital media, and to simulate parts of its history using OpenMC/ONIX neutronics calculations. Here, a particular focus of this project has been on digital data curation and preservation to confirm and maintain the integrity, authenticity, and provenance of these records. In developing guidelines for best practices that conform to existing standards for long-term digital preservation and curation, we hope this project can help lay the basis for future nuclear archaeology efforts to support nuclear arms control and disarmament.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Ceci N’est Pas Une Bombe: Lessons from a Field Experiment Using Neutron and Gamma Measurements to Confirm the Absence of Nuclear Weapons

In March 2023, the UN Institute for Disarmament Research held a verification experiment that included a mockup onsite inspection at a former military facility in the municipality of Menzingen, Switzerland. The experiment included a visit to the site by an inspection team, accompanied by the host team. Among other activities, radiation measurements were used to confirm the non-nuclear nature of selected items stored onsite. In this paper, we discuss the neutron and gamma measurement systems used during the experiment and the inspection protocols followed to confirm the absence of nuclear weapons. Furthermore, results from the experiment and a laboratory reproduction are presented, before concluding with lessons learned for how absence-confirmation measurements can help support verification of future arms control agreements.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Neutron-Resonance Transmission Analysis with a Compact Deuterium-Tritium Neutron Generator

Neutron Resonance Transmission Analysis (NRTA) is a spectroscopic technique which uses the resonant absorption of neutrons in the epithermal range to infer the isotopic composition of an object. This spectroscopic technique has relevance in many traditional fields of science and nuclear security. NRTA in the past made use of large, expensive accelerator facilities to achieve precise neutron beams, significantly limiting its applicability. Here, we describe a series of NRTA experiments where we use a compact, low-cost deuterium-tritium (DT) neutron generator to produce short neutron beams (2.6 m) along with a 6 Li-glass neutron detector. The time-of-flight spectral data from five elements – silver, cadmium, tungsten, indium, and 238 U – clearly show the corresponding absorption lines in the 1-30 eV range. The experiments show the applicability of NRTA in this simplified configuration, and prove the feasibility of this compact and low-cost approach. This could significantly broaden the applicability of NRTA, and make it practical and applicable in many fields, such as material science, nuclear engineering, and arms control.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Colloquium : Neutrino detectors as tools for nuclear security

For over 40 years, physicists have discussed possible uses for neutrino detectors in nuclear nonproliferation, arms control, and fissile materials security. Neutrinos are an attractive fission signature because they readily pass through matter. The same property makes neutrinos challenging to detect in systems that would be practical for nuclear security applications. This Colloquium presents a broad overview of several potential neutrino applications, including the near-field monitoring of known reactors, far-field monitoring of known or discovery of undeclared reactors, detection of reactor waste streams, and detection of nuclear explosions. Recent detector advances have made near-field monitoring feasible, whereas farther-field reactor detection and waste stream detection monitoring may be possible in some cases with further research and development. Very long-range reactor monitoring and nuclear explosion detection do not seem feasible for the foreseeable future due to considerable physical and/or practical constraints.

42 ENGINEERING↗

Epithermal Neutron Resonance Analysis Using a Compact D-T Generator

Nuclear material identification and isotopic composition analysis are important capabilities for safeguards and the verification of nuclear arms control and nonproliferation treaties. Epithermal neutron resonance imaging has been proposed for spent fuel assay measurements, and the development of a mobile neutron imaging system could provide such a tool for on-site applications. This technique is highly sensitive to isotopes of interest for safeguards applications (e.g. 235,238 U, 238,239,240 Pu) and yields unique transmission spectra for a target containing actinides and some mid- and high-Z elements. Paired with a position-sensitive neutron detector, such a system could provide spatial information of the target isotopic composition. Recent progress in the development of high intensity neutron sources could make mobile epithermal neutron imaging designs increasingly feasible to serve as a tool for nuclear inspectors. In this work, Monte Carlo (MC) simulations were performed to further optimize a previous design for an epithermal neutron resonance-based analysis apparatus using a D-T portable neutron generator. Additionally, experimental work is being performed to test the feasibility of this method. The MC simulations of moderation time distributions for different moderator compositions and thicknesses were measured to provide a multi-group correction for neutron time-of-flight energy reconstruction.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Warhead verification concepts and technologies [Slides]

Weapons verification concepts and technologies are discussed related to Arms Control instrumentation, which is a three-part problem: measurement; certification, and authentication.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

The future of the NPT: REVCON and beyond

The Treaty on the Nonproliferation of Nuclear Weapons (NPT), with its quinquennial review conferences (RevCons), has become the foundation of the international nonproliferation regime over the course of its 50-year history. With more states parties than any other arms control agreement (currently 191), the Treaty provides a legally binding framework for all states parties, constraining proliferation of nuclear weapons and committing the five recognized states who possess nuclear weapons to work toward disarmament. The NPT has enjoyed wide success in constraining the spread of nuclear weapons. Only one state party has left the agreement and gone on to acquire these weapons, and the overall track record of compliance with IAEA safeguards has been robust. However, for all its effectiveness in the area of nonproliferation, its achievements on the disarmament front have been relatively unimpressive. While the NWS – most notably the United States and the Soviet Union/Russia – have decreased the overall size of their nuclear arsenals significantly since 1970, these arsenals have remained an important feature of NWS security policies. The limited progress towards disarmament has created friction between the NNWS and NWS and has been the source of mounting tension within the NPT regime. The 2020 RevCon, the 50th anniversary of the NPT and 25th anniversary of its indefinite extension, faces a range of contentious challenges, old and new, which call into question the Treaty’s future viability.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

Defending the Homeland: Growing Foreign Challenges to the U.S. Missile Defense Posture

The Office of the Secretary of Defense (OSD) for Policy requested that Lawrence Livermore National Laboratory conduct a Congressionally directed study on homeland missile defense, pursuant to Section 1692 of the fiscal year 2020 National Defense Authorization Act. In accordance with the statutory language, this study considers whether the security benefits obtained by deployment of homeland missile defenses of the United States are undermined or counterbalanced by adverse reactions of potential adversaries, and considers the effectiveness of homeland missile defense efforts of the United States to deter the development of ballistic missiles. Almost a half-century has elapsed since the United States and the Soviet Union signed the Anti-Ballistic Missile (ABM) Treaty, and almost two decades since the former withdrew. Since withdrawing, the United States has sought to develop and deploy a layered missile defense system to defend against regional threats to U.S. and allied interests abroad and to counter limited threats to the U.S. homeland. As such, missile defense supports key national defense policy objectives. Protecting the U.S. homeland, forces abroad, allies, and partners. Deterring attacks against the United States, its allies, and partners. Assuring allies an strengthening U.S. diplomatic activities in peacetime and crisis. We offer five key findings: 1. The primary benefit of the Ground-based Midcourse Defense (GMD) system is the protection it provides the U.S. homeland against a limited but evolving rogue-state missile threat. While this system has never been tested in combat, it appears thus far to have effectively paced North Korea’s development and deployment of intercontinental ballistic missiles (ICBMs). In the absence of such a defensive capability, the United States would likely have been more heavily exposed to North Korean actions, would have operated at a much higher-risk posture, and would have had less negotiating room with which to navigate coercive tactics and crises. Its allies would have been more concerned about U.S. willingness in time of crisis and war to run the risks of protecting them. The GMD system also serves as a hedge against Iranian breakout. 2. Potential adversaries continue to develop long-range ballistic missiles despite deployment of a U.S. homeland missile defense system. This includes both rogue states and major power rivals whose long-range missile programs predated the deployment of U.S. missile defenses. While North Korea has continued its long-range missile developments and achieved an intercontinental capability, Iran has not yet reached this threshold. The broader proliferation of long-range missiles anticipated in the late 1990s has not materialized. 3. While Russia has used the existence of a U.S. homeland missile defense system as a justification for its substantial and continuing weapon modernization program, neither Russian force modernization nor the limited U.S. homeland missile defense system has altered the strategic balance. Russia has long considered U.S. missile defenses—both theater and homeland—as directed against its strategic forces and as a capability that could rapidly advance, thereby eroding Russian confidence in its nuclear deterrent. Russia’s political and military actions appear excessive and negatively impact areas such as arms control, but they do not undermine the primary benefit of the U.S. system cited in Key Finding 1. 4. China’s expansion and diversification of nuclear and missile forces has been influenced by its concerns about U.S. homeland missile defense, but those concerns are only one of many factors in China’s force planning. Although China’s actions to preserve and expand its assured retaliation prospects have not fundamentally altered the strategic balance, its buildup and lack of transparency about its force modernization goals are troubling. Taken together, the aggregate pattern of China’s modernization activities over the past two decades strongly suggests a concerted effort to develop a modern military force commensurate with its intended geopolitical status. Whatever China’s legacy concerns over the survivability of its strategic nuclear forces, its ability to overwhelm the GMD system appears intact today and will be further strengthened in the years ahead as it continues its long-term modernization program. China’s political and military actions negatively affect U.S. security interests but do not undermine the primary benefit of the U.S. system cited in Key Finding 1. 5. The basic finding that benefits have not so far been undermined by adverse reactions is a function of circumstances that are increasingly in flux. The existing GMD-centered system is under increasing pressure from the pace and scope of North Korean missile deployments. The proposed “layered” system seeks to mitigate this impending capability gap in the near term and to complement future capabilities, such as the Next Generation Interceptor, when they come online. Given the pace of U.S. missile defense developments since 2000, it is possible that adversary advances in capability will outpace the U.S. system’s ability to adapt. Additionally, because this layered system is in principle more readily scaled, it will almost certainly be viewed skeptically by China and Russia. In a context of growing great-power security competition, the Department of Defense (DoD) should consider undertaking a broader net assessment of the U.S., Russian, and Chinese force balance.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

Open Radiation Monitoring: Histogram Builder Module Design

The Open Radiation Monitoring Project seeks to develop and demonstrate a modular radiation detection architecture designed specifically for use in arms control treaty verification (ACTV) applications that will facilitate rapid development of trusted systems to meet the needs of potential future treaties. A modular architecture can be used to reduce more complex systems to a series of single purpose building blocks, thereby facilitating equipment inspection and in turn building trust in the equipment by all treaty parties. Furthermore, a modular architecture can be used to control data flow within the measurement system, reducing the risk of "hidden switches" and constraining the amount of sensitive information that could potentially be inadvertently leaked. This report details the first revision of a prototype circuit that will convert analog pulses directly into a histogrammed data set for further processing. The circuit was designed with both spectroscopy and multiplicity analysis in mind but can, in principle, be used to reduce any raw data stream into a histogram. The number of output channels is limited, and the histogram bin ranges are user configurable to allow for non-uniform and discontinuous bins, which makes it possible to restrict the information being passed down stream if desired. Pulse processing relies entirely on analog circuitry and non- programmable logic, which enables operation without the need for a central processor or other programmable control unit. The circuit remains untested under the Open Radiation Monitoring project due to the closure of the sponsoring program. However, further development and testing is scheduled to take place in support of a purpose-built trusted verification system development effort known as COGNIZANT, which demonstrates the potential benefit of developing a suite of modular trusted system components.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

The Source Physics Experiment (SPE) Science Plan

The Source Physics Experiment (SPE) series is a long-term NNSA research and development effort designed to improve U.S. arms control and nuclear nonproliferation verification and monitoring capabilities. The findings from the SPE will advance the United States’ nuclear explosion monitoring capabilities, particularly with respect to detection, discrimination and determination of yields associated with small nuclear explosions that can be lost amid the noisy seismo-acoustic background from other sources. The data generated from the SPE, a series of well-designed and recorded chemical explosions, will contribute to the development and validation of first-principles explosive source generated seismo-acoustic modeling codes. These codes will then facilitate the update of semi-empirical methods, currently based on historic test site data, such that key explosion observables can be reproduced, thus improving confidence in nuclear test monitoring in new areas and/or under novel emplacement conditions. The overall SPE project is comprised of both the development of the new explosion simulation codes and the chemical explosion test series. The chemical explosion test series will generate the empirical data required to both develop and validate the new simulation codes.

58 GEOSCIENCES↗

Nevada National Security Site [Slides]

Since 1951, the Nevada National Security Site has ensured the security of the US and its allies by supporting the stewardship of the nuclear deterrent, providing emergency response capability and training, and contributing key nonproliferation and arms control initiatives.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗