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All sourcesNASA NTRSDOE OSTI
DOE OSTI2017

The Future of Robotics/Remote Handling Solutions for the Nuclear Industry - 17347

The nuclear industry is seeing a resurgence of development and utilization of advanced integrated systems; fused sensor arrays; autonomous, remote and hybrid operations; and augmented reality display and control system interfaces. A new age of 'robotics' and remote handling technologies. For many years the use of robotics in nuclear applications has been done sparingly due to technical limitations, perceived and real reliability issues, perceived and real risk concerns, and cost. Although robotics have been used successfully on a variety of projects globally, the underuse of this technology, particularly within the nuclear industry both public and private, is overwhelming. As the number of complex, high hazard projects in the nuclear industry increases, the use of robotics for maintenance, inspection, repair, decommissioning, and remediation activities will become increasingly vital in the future. The risks associated with direct human exposure are high and thus eliminating the risk, or managing it to acceptable levels by using robotics/remote handling as well as other technologies is critical to success as more extreme environment operations and tasks are undertaken. Recent and ongoing advances in technology now allows us to safely and effectively remove the direct / in-situ human element from these type of activities. All the while delivering the same or better outcomes when considering the alternatives when limited or no direct / in-situ human intervention would be allowed. The biggest obstacles the nuclear industry faces center on the cost, reliability, maintainability, effectiveness and appropriate uses of robotics/remote handling solutions in a nuclear (radiation and/or contamination) environment. In order to mitigate these concerns, a sound approach to the use of robotics needs to be addressed. This approach must include: 1. A better understanding of what technology is available and how it can be utilized across multiple sectors, e.g. Commercial Off-the-Shelf (COTS) technology modified / adapted for the nuclear sector; 2. How to implement technology in an integrated pragmatic approach that is cost effective by combining technological know-how / subject matter expertise (SME) with the equivalent subject matter expertise in regulatory, operational and maintenance requirements and limitations, such that a more complete set of functional and operational requirements can be jointly developed in the process. 3. The integration of requirements (project, site, regulatory, etc.), risk management (human factors) and technology, i.e. a marriage between political, programmatic, and technological factors. As the development of robotic/remote handling technology progresses and the successful implementation on projects is demonstrated, the better off the industry will be. This paper provides an overview of the fundamental issues facing the nuclear industry with regard to effective and successful technology selection, maturation, deployment, and integrated risk management, and offers suggestions on how we may overcome these persistent issues now and in the future. Robotic systems and solution experts that are focused on the integration of proven technologies - and that are an integrated part of the project team from its onset - are a necessity for successful planning during nuclear operations. The approach to nuclear operations should always be, 'what is the simplest, most effective way we can approach a particular project need?'. Understanding and implementing the right technologies is where the true value will be recognized. The integration of systems, which includes more than just robotics, is key when developing schemes for these types of complex operations. Often times during planning, the remote handling needs of the job are set aside to be evaluated at a later time due to risk concerns and lack of knowledge. The issue is, experts in the area of robotics or remote handling are rarely involved in the upfront planning. As a result, unnecessary constraints, risks, and obstacles are imposed on project teams to deliver. If done intelligently, this should be introduced at the forefront of planning. Using this type of sound approach leads to effective task organization for the end user. By developing an overall philosophy that leverages proven technologies with implementation expertise; i.e. solutions versus products, is a recipe for success. This is the area that is under-appreciated in the industry and one that needs to be recognized on a much broader scale. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2012

A Briefing on Metrics and Risks for Autonomous Decision-Making in Aerospace Applications

Significant technology advances will enable future aerospace systems to safely and reliably make decisions autonomously, or without human interaction. The decision-making may result in actions that enable an aircraft or spacecraft in an off-nominal state or with slightly degraded components to achieve mission performance and safety goals while reducing or avoiding damage to the aircraft or spacecraft. Some key technology enablers for autonomous decision-making include: a continuous state awareness through the maturation of the prognostics health management field, novel sensor development, and the considerable gains made in computation power and data processing bandwidth versus system size. Sophisticated algorithms and physics based models coupled with these technological advances allow reliable assessment of a system, subsystem, or components. Decisions that balance mission objectives and constraints with remaining useful life predictions can be made autonomously to maintain safety requirements, optimal performance, and ensure mission objectives. This autonomous approach to decision-making will come with new risks and benefits, some of which will be examined in this paper. To start, an account of previous work to categorize or quantify autonomy in aerospace systems will be presented. In addition, a survey of perceived risks in autonomous decision-making in the context of piloted aircraft and remotely piloted or completely autonomous unmanned autonomous systems (UAS) will be presented based on interviews that were conducted with individuals from industry, academia, and government.

Frost, Susan↗
NASA NTRS2014

An Overview of Current Capabilities and Research Activities in the Airspace Operations Laboratory at NASA Ames Research Center

The Airspace Operations Laboratory at NASA Ames conducts research to provide a better understanding of roles, responsibilities, and requirements for human operators and automation in future air traffic management (ATM) systems. The research encompasses developing, evaluating, and integrating operational concepts and technologies for near-, mid-, and far-term air traffic operations. Current research threads include efficient arrival operations, function allocation in separation assurance and efficient airspace and trajectory management. The AOL has developed powerful air traffic simulation capabilities, most notably the Multi Aircraft Control System (MACS) that is used for many air traffic control simulations at NASA and its partners in government, academia and industry. Several additional NASA technologies have been integrated with the AOL's primary simulation capabilities where appropriate. Using this environment, large and small-scale system-level evaluations can be conducted to help make near-term improvements and transition NASA technologies to the FAA, such as the technologies developed under NASA's Air Traffic Management Demonstration-1 (ATD-1). The AOL's rapid prototyping and flexible simulation capabilities have proven a highly effective environment to progress the initiation of trajectory-based operations and support the mid-term implementation of NextGen. Fundamental questions about accuracy requirements have been investigated as well as realworld problems on how to improve operations in some of the most complex airspaces in the US. This includes using advanced trajectory-based operations and prototype tools for coordinating arrivals to converging runways at Newark airport and coordinating departures and arrivals in the San Francisco and the New York metro areas. Looking beyond NextGen, the AOL has started exploring hybrid human/automation control strategies as well as highly autonomous operations in the air traffic control domain. Initial results indicate improved capacity, low operator workload, good situation awareness and acceptability for controllers teaming with autonomous air traffic systems. While much research and development needs to be conducted to make such concepts a reality, these approaches have the potential to truly transform the airspace system towards increased mobility, safe and efficient growth in global operations and enabling many of the new vehicles and operations that are expected over the next decades. This paper describes how the AOL currently contributes to the ongoing air transportation transformation.

simulation↗
NASA NTRS2016

Exploration Mission Benefits From Logistics Reduction Technologies

Technologies that reduce logistical mass, volume, and the crew time dedicated to logistics management become more important as exploration missions extend further from the Earth. Even modest reductions in logical mass can have a significant impact because it also reduces the packing burden. NASA's Advanced Exploration Systems' Logistics Reduction Project is developing technologies that can directly reduce the mass and volume of crew clothing and metabolic waste collection. Also, cargo bags have been developed that can be reconfigured for crew outfitting and trash processing technologies to increase habitable volume and improve protection against solar storm events are under development. Additionally, Mars class missions are sufficiently distant that even logistics management without resupply can be problematic due to the communication time delay with Earth. Although exploration vehicles are launched with all consumables and logistics in a defined configuration, the configuration continually changes as the mission progresses. Traditionally significant ground and crew time has been required to understand the evolving configuration and locate misplaced items. For key mission events and unplanned contingencies, the crew will not be able to rely on the ground for logistics localization assistance. NASA has been developing a radio frequency identification autonomous logistics management system to reduce crew time for general inventory and enable greater crew self-response to unplanned events when a wide range of items may need to be located in a very short time period. This paper provides a status of the technologies being developed and there mission benefits for exploration missions.

Broyan, James Lee, Jr.↗
NASA NTRS2017

Fireballs in the Sky: An Augmented Reality Citizen Science Program

Fireballs in the Sky is an innovative Australian citizen science program that connects the public with the research of the Desert Fireball Network (DFN). This research aims to understand the early workings of the solar system, and Fireballs in the Sky invites people around the world to learn about this science, contributing fireball sightings via a user-friendly augmented reality mobile app. Tens of thousands of people have downloaded the app world-wide and participated in the science of meteoritics. The Fireballs in the Sky app allows users to get involved with the Desert Fireball Network research, supplementing DFN observations and providing enhanced coverage by reporting their own meteor sightings to DFN scientists. Fireballs in the Sky reports are used to track the trajectories of meteors - from their orbit in space to where they might have landed on Earth. Led by Phil Bland at Curtin University in Australia, the Desert Fireball Network (DFN) uses automated observatories across Australia to triangulate trajectories of meteorites entering the atmosphere, determine pre-entry orbits, and pinpoint their fall positions. Each observatory is an autonomous intelligent imaging system, taking 1000 by 36 megapixel all-sky images throughout the night, using neural network algorithms to recognize events. They are capable of operating for 12 months in a harsh environment, and store all imagery collected. We developed a completely automated software pipeline for data reduction, and built a supercomputer database for storage, allowing us to process our entire archive. The DFN currently stands at 50 stations distributed across the Australian continent, covering an area of 2.5 million square kilometers. Working with DFN's partners at NASA's Solar System Exploration Research Virtual Institute, the team is expanding the network beyond Australia to locations around the world. Fireballs in the Sky allows a growing public base to learn about and participate in this exciting research.

Day, Brian↗
NASA NTRS2016

Exploration Mission Benefits From Logistics Reduction Technologies

Technologies that reduce logistical mass, volume, and the crew time dedicated to logistics management become more important as exploration missions extend further from the Earth. Even modest reductions in logistical mass can have a significant impact because it also reduces the packaging burden. NASA's Advanced Exploration Systems' Logistics Reduction Project is developing technologies that can directly reduce the mass and volume of crew clothing and metabolic waste collection. Also, cargo bags have been developed that can be reconfigured for crew outfitting, and trash processing technologies are under development to increase habitable volume and improve protection against solar storm events. Additionally, Mars class missions are sufficiently distant that even logistics management without resupply can be problematic due to the communication time delay with Earth. Although exploration vehicles are launched with all consumables and logistics in a defined configuration, the configuration continually changes as the mission progresses. Traditionally significant ground and crew time has been required to understand the evolving configuration and to help locate misplaced items. For key mission events and unplanned contingencies, the crew will not be able to rely on the ground for logistics localization assistance. NASA has been developing a radio-frequency-identification autonomous logistics management system to reduce crew time for general inventory and enable greater crew self-response to unplanned events when a wide range of items may need to be located in a very short time period. This paper provides a status of the technologies being developed and their mission benefits for exploration missions.

Broyan, James Lee, Jr.↗
NASA NTRS1990

The use of multisensor data for robotic applications

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.

Abidi, M. A.↗
DOE OSTI2025

Techno-economic assessment of distributed wellhead RO water treatment for nitrate removal and salinity reduction: A field study in small disadvantaged communities

Techno-economic analysis of distributed wellhead water treatment and desalination (DWTD) systems was carried out based on a three-year field study in three small, disadvantaged communities (DACs) to evaluate the reliability and affordability of upgrading their impaired well water. The local water supplies of the three study DACs, located in Salinas Valley, California, were contaminated with nitrate at levels (~ 12–87 mg/L NO$^{-}_{3}$ - N) ) above the California maximum contaminant level (MCL) of 10 mg/L NO$^{-}_{3}$ - N , and had elevated water salinity (~600–1,600 mg/L total dissolved solids(TDS)) above its secondary MCL (SMCL) of 500 mg/L TDS. Well water nitrate removal and salinity reduction were accomplished via reverse osmosis (RO) based DWTD systems that operated autonomously, supported by remote monitoring and supervisory cyberinfrastructure. Reliable DWTD operation provided treated water quality, with respect to nitrate and salinity, in the range of 0.5–6.3 mg/L NO$^{-}_{3}$ - N and 57–161 mg/L TDS, respectively, which were well below the respective MCL and SMCL. The levelized cost of water treatment was in the range of ~$$2/m 3 - $$2.9/m 3 which aligns with typical residential water costs in California and in the study region, and monthly residential water costs (39 dollars-74 dollars/residential unit/month) were also within the range in California. The study showcased the DWTD approach as a viable and potentially scalable solution for upgrading impaired local potable water supply of communities lacking centralized water delivery infrastructure. However, streamlined permitting processes and standardized regulatory frameworks are critical to promoting wider adoption and maximizing the socio-economic benefits of the DWT approach. Moreover, DACs are likely to require government subsidies in order to cover the CapEx of DWTD systems in addition to upgrade of site infrastructure.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS2014

Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

Tensegrity↗
DOE OSTI2023

Abisko: Deep codesign of an architecture for spiking neural networks using novel neuromorphic materials

The Abisko project aims to develop an energy-efficient spiking neural network (SNN) computing architecture and software system capable of autonomous learning and operation. The SNN architecture explores novel neuromorphic devices that are based on resistive-switching materials, such as memristors and electrochemical RAM. Equally important, Abisko uses a deep codesign approach to pursue this goal by engaging experts from across the entire range of disciplines: materials, devices and circuits, architectures and integration, software, and algorithms. Here, the key objectives of our Abisko project are threefold. First, we are designing an energy-optimized high-performance neuromorphic accelerator based on SNNs. This architecture is being designed as a chiplet that can be deployed in contemporary computer architectures and we are investigating novel neuromorphic materials to improve its design. Second, we are concurrently developing a productive software stack for the neuromorphic accelerator that will also be portable to other architectures, such as field-programmable gate arrays and GPUs. Third, we are creating a new deep codesign methodology and framework for developing clear interfaces, requirements, and metrics between each level of abstraction to enable the system design to be explored and implemented interchangeably with execution, measurement, a model, or simulation. As a motivating application for this codesign effort, we target the use of SNNs for an analog event detector for a high-energy physics sensor.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1994

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

Klarer, P.↗
NASA NTRS2006

Sustainable and Autonomic Space Exploration Missions

Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts to realize these survivable systems visions, with specific emphasis on developments in Autonomic Policies.

Hinchey, Michael G.↗
NASA NTRS1994

Expert System Detects Power-Distribution Faults

Autonomous Power Expert (APEX) computer program is prototype expert-system program detecting faults in electrical-power-distribution system. Assists human operators in diagnosing faults and deciding what adjustments or repairs needed for immediate recovery from faults or for maintenance to correct initially nonthreatening conditions that could develop into faults. Written in Lisp.

Walters, Jerry L.↗
NASA NTRS2020

Aerocapture as an Option for Ice Giants Mission

Aerocapture is an atmospheric maneuver where the aerodynamic forces of the vehicle (lift and drag) are used to provide the 𝞓V needed to slow down from the approach hyperbolic trajectory to achieve the desired captured orbit around the target planet. The aeroassist capture provides a large savings in propulsion needed to change the velocity of the vehicle, since aerodynamic forces rather than propulsive systems provide the change in velocity. Aerocapture requires an integrated system level design, including thermal protection systems, actuator systems for aerodynamic modulation, and guidance and control systems that can autonomously command the change in the aeroassist forces. Although aerocapture has been proposed for many situations in the past, including Mars, Venus, Titan, Saturn, Uranus, and Neptune orbiters as well as for Earth demonstration missions, it has not been attempted on any missions. However, many studies in the past three decades that have considered aerocapture as a design option have concluded that there are large mass savings that come from using aeroassist forces rather than propulsive forces to put a spacecraft into a captured orbit. The benefits are destination dependent, but some of the largest mass savings occur for the Ice Giants planets. Due to the large hyperbolic velocities of interplanetary trajectories approaching Uranus and Neptune, large amount of propulsion must be used to put a spacecraft in science orbits around these planets. Aerocapture can reduce the propulsion needs by dissipating energy in the sizable atmospheres of Uranus and Neptune. NASA commissioned a detailed study analysis to quantify the benefits, if any, for use at Neptune. The study found that even having to provide a heat shield aerocapture could deliver 40% more payload than an all-propulsive vehicle, and also provides for a 3–4-year reduction in trip time. Mass savings are expected also at Uranus with an aerocapture mission. Additionally, more recent advances in thermal protection systems and guidance and control systems show a path to increase capabilities beyond those results. This paper will discuss the merits of including aerocapture as an option for an Ice Giants mission. The discussion will focus on the cost and mass savings of using aerocapture instead of propulsive burns for Ice Giants orbiter mission scenarios while also detailing a potential concept of operations and entry vehicle design. Finally, the talk will discuss more recent work that shows aerocapture design is possible without the development of any novel entry vehicle. Thus, aerocapture can significantly improve science capabilities for an Ice Giants mission.

Soumyo Dutta↗
NASA NTRS1994

Integration for navigation on the UMASS mobile perception lab

Integration of real-time visual procedures for use on the Mobile Perception Lab (MPL) was presented. The MPL is an autonomous vehicle designed for testing visually guided behavior. Two critical areas of focus in the system design were data storage/exchange and process control. The Intermediate Symbolic Representation (ISR3) supported data storage and exchange, and the MPL script monitor provided process control. Resource allocation, inter-process communication, and real-time control are difficult problems which must be solved in order to construct strong autonomous systems.

Draper, Bruce↗
NASA NTRS2024

Testing of Advanced Capabilities to Enable In-time Safety Management and Assurance for Future Flight Operations

In order to refine an initial Concept of Operations, explore Concepts of Use, and expose/validate requirements for future In-Time Aviation Safety Management Systems (IASMS), testing architectures were created, along with a set of capabilities and underlying information exchange protocols. These systems were conceived and developed based on hazards associated with two envisioned urban area flight domains: (1) highly autonomous small uncrewed aerial systems (sUAS) operating at low altitudes, and (2) highly autonomous air taxis. The initial scope of this development is described in [1]; this report provides an update, focusing on the subsequent developments and test activities. As stated in [1], it is important to note that there are many capabilities already in use by the industry (or soon to be in use) that will play critical roles in future IASMS designs. Those reported here were developed to address a gap in the current state-of-the-art regarding specific hazards/risks, and/or to allow for investigation of the interplay between and across hazard types — particularly regarding how overall safety risk can be reduced or managed effectively. Results of testing and development activities are organized by the operational phase wherein a particular capability would be employed (i.e., preflight, in-flight, and post-flight/off-line). Pre-flight: A set of capabilities were developed to help mitigate safety risk prior to flight (e.g., during flight and mission planning). Results of testing summarize (1) validation activities to raise the Technology Readiness Level (TRL) and (2) evaluation activities where the capabilities were applied to flight/mission planning procedures and used by operators/pilots. For the latter, flight plans were automatically assessed, and operators/pilots were notified of hazardous flight segments so as to enable adjustment of the flight plan and re-evaluation, and/or to better inform go/no-go decisions. Capabilities addressed hazards associated with power consumption, third-party risk, wind, navigation system performance, radiofrequency interference, and proximity to geo-spatial threats (e.g., buildings, trees, and no-fly zones). In-flight: Flight experiments tested capabilities that detect and respond to hazards encountered during flight. In the first series, safety hazards were monitored and assessed onboard, and system-generated mitigation maneuvers were recorded (but not acted upon by the vehicle). In the second series, mitigation maneuver commands directed the aircraft in response to safety hazards (i.e., auto-mitigation). The sUAS used for testing is described in full, as is the test architecture, which included commercial avionics, research avionics, and onboard software designed to detect, assess, and respond to hazards. The onboard system was designed as a run-time assurance framework, consistent with [2] and supportive of both supervisory and automated modes. The primary functions included: real-time risk assessment (RTRA), auto-pilot monitoring, constraint monitoring, and contingency select/triggering. RTRA performs integrated risk assessment considering data from several hazard-related monitors (e.g., battery, motors, navigation, communications, population density, and loss-of-control). Post-flight/off-line: Data monitored and recorded during flights can enable IASMS capabilities that execute after flights have completed (or “off-line”). These include: (1) the ability to identify anomalies and trends that may only be observable when comparing data spanning a number of similar flights; (2) the ability to update and validate pre-flight and in-flight capabilities and any underlying models to improve their performance; (3) the ability to report anomalies/off-nominals that may indicate design changes or maintenance actions are needed; and (4) the ability for humans involved in operations to report safety-relevant observations to help in understanding the flight data and/or the operational context of a flight. Progress on three such capabilities is summarized; the first investigates anomaly detection given a limited set of flight logs and applies an approach previously used for space operations. The second explores what could be identified using a larger set of flight logs, including from web-based forums where flight logs are posted by sUAS autopilot users. The third creates a new means of collecting information on UAS incidents and accidents via the Aviation Safety Reporting System (ASRS).

sUAS↗
NASA NTRS2021

Detection and Tracking of Aircraft in the Far-Field from Small Unmanned Aerial Systems

Onboard far-field aircraft detection is needed for safe non-cooperative traffic mitigation in autonomous small Unmanned Aerial System (sUAS) operations. Machine vision systems, based on standard optics and visible light detectors, possess the ideal size, weight, and power (SWaP) requirements for sUAS. This work presents the design and analysis of a novel aircraft detection and tracking pipeline based on optical sensing alone. Key contributions of the work include a refined range inequality model based on sensing and detection with FAA well-clear separation assurance distances between aircraft in mind, a detector fusion method to maximize the benefit of two image detectors, and a comparative analysis of Linear Kalman-filtering and Extended Kalman-filtering to seek optimal tracking performance. The pipeline is evaluated offline against multiple intruder platforms, using two types of flight encounters: multirotor sUAS vs. fixed-wing sUAS and multirotor sUAS vs. general aviation(GA)plane. Analysis is restricted to the rate-limiting head-on and departing collision volume cases vertically separated for safety. Results indicate that it is feasible to use the proposed optical spatial-temporal tracking algorithm to provide adequate alerting time to prevent penetration of well-clear separation volumes for both sUAS and GA aircraft.

Unmanned Aerial System↗