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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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At least 1,765 records · Page 98
All sourcesNASA NTRSDOE OSTI
DOE OSTI2017

Distributed control system for parallel-connected DC boost converters

The disclosed invention is a distributed control system for operating a DC bus fed by disparate DC power sources that service a known or unknown load. The voltage sources vary in v-i characteristics and have time-varying, maximum supply capacities. Each source is connected to the bus via a boost converter, which may have different dynamic characteristics and power transfer capacities, but are controlled through PWM. The invention tracks the time-varying power sources and apportions their power contribution while maintaining the DC bus voltage within the specifications. A central digital controller solves the steady-state system for the optimal duty cycle settings that achieve a desired power supply apportionment scheme for a known or predictable DC load. A distributed networked control system is derived from the central system that utilizes communications among controllers to compute a shared estimate of the unknown time-varying load through shared bus current measurements and bus voltage measurements.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2023

Optimization of Energy Storage System Economics and Controls by Incorporating Battery Degradation Costs in REopt

The use of stationary electrochemical energy storage systems utilizing lithium-ion batteries has increased rapidly as the production scale and price for lithium-ion batteries has decreased. These energy storage systems are crucial for maintaining grid resiliency, especially for grids operating with high penetration of renewable energy generation assets or for with a variety of distributed energy generation and storage systems. One challenging factor for the development of battery energy storage systems is estimating the proper sizing, in terms of both power and energy, that minimizes total costs over the lifetime of the systems; this calculation is difficult in simple cases, where a battery is costed independently, but is extremely challenging when building loads and electrical generation by photovoltaic resources are also considered. REopt is a techoeconomic optimization tool developed by NREL to address these challenges. Previously, battery degradation has been priced by simply assuming a 10-year replacement schedule for battery systems. However, this does not account for varying degradation trends observed across real-world batteries, or allow for batteries to be operated in a degradation-aware manner that optimizes battery dispatch based on operating costs. This work incorporates a battery life model into REopt. This battery life model is simple, so that it may be solvable within the constrains of a mixed-integer linear optimization problem, but is fit to accelerated aging data recorded in the lab. To achieve the best possible accuracy for lifetime estimates given these constraints, parameters for the battery life model in REopt are estimated by fitting 20-year simulations of battery life after identifying state-space battery degradation model from accelerated aging data. Comparisons of battery life predicted in REopt and from the state-space battery degradation model to ensure validity of lifetime estimates made by REopt. Battery life and cost is optimized by controlling three decision to minimize system life cost: battery sizing, daily state-of-charge, and daily energy-throughput. The cost of battery degradation as a function of these control variables is then estimated assuming two possible maintenance strategies: replacement, where the entire battery system is replaced if cell reach an end-of-life capacity threshold; and augmentation, which establishes a fund to pay for continual purchase of new batteries to maintain the initial energy capacity of the system. These two strategies offer conservative (for replacement) and optimistic (for augmentation) bounds for total system cost. The degradation cost incurred by these strategies is then used to control battery dispatch decisions, operating the battery in a degradation-aware manner that maximizes battery lifetime while also providing energy when favorable. Because the mixed-integer linear program has perfect foresight of future energy needs, batteries with degradation costs are always operated using 'just-in-time' charging, which is unrealistic, as no energy is left in the storage system to perform other energy services or to serve as emergency back-up power. To combat this, an inequality constraint on the average annual state-of-charge is imposed, and the sensitivity of system cost to average stored energy, e.g., the cost of system resiliency, can be quantified. Analysis of results has several conclusions, for instance, oversizing of battery storage systems is not a cost burden when battery storage is an optimal solution, as any additional battery capacity can simply be utilized to avoid costs of purchasing energy from a utility.

battery↗
DOE OSTI2013

The Integrated Cloud-based Environmental Data Management System at Los Alamos National Laboratory - 13391

In today's world, instant access to information is taken for granted. The national labs are no exception; our data users expect immediate access to their data. Los Alamos National Laboratory (LANL) has collected over ten million records, and the data needs to be accessible to scientists as well as the public. The data span a wide range of media, analytes, time periods, formats, and quality and have traditionally existed in scattered databases, making comprehensive work with the data impossible. Recently, LANL has successfully integrated all their environmental data into a single, cloud-based, web-accessible data management system. The system combines data transparency to the public with immediate access required by the technical staff. The use of automatic electronic data validation has been critical to immediate data access while saving millions of dollars and increasing data consistency and quality. The system includes a Google Maps based GIS tool that is simple enough for people to locate potentially contaminated sites near their home or workplace, and complex enough to allow scientists to plot and trend their data at the surface and at depth as well as over time. A variety of formatted reports can be run at any desired frequency to report the most current data available in the data base. The advanced user can also run free form queries of the data base. This data management system has saved LANL time and money, an increasingly important accomplishment during periods of budget cuts with increasing demand for immediate electronic services. (authors)

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2013

Waste Management Improvement Initiatives at Atomic Energy of Canada Limited - 13091

Atomic Energy of Canada Limited's (AECL) Chalk River Laboratories (CRL) has been in operation for over 60 years. Radioactive, mixed, hazardous and non-hazardous wastes have been and continue to be generated at CRL as a result of research and development, radioisotope production, reactor operation and facility decommissioning activities. AECL has implemented several improvement initiatives at CRL to simplify the interface between waste generators and waste receivers: - Introduction of trained Waste Officers representing their facilities or activities at CRL; - Establishment of a Waste Management Customer Support Service as a Single-Point of Contact to provide guidance to waste generators for all waste management processes; and - Implementation of a streamlined approach for waste identification with emphasis on early identification of waste types and potential disposition paths. As a result of implementing these improvement initiatives, improvements in waste management and waste transfer efficiencies have been realized at CRL. These included: 1) waste generators contacting the Customer Support Service for information or guidance instead of various waste receivers; 2) more clear and consistent guidance provided to waste generators for waste management through the Customer Support Service; 3) more consistent and correct waste information provided to waste receivers through Waste Officers, resulting in reduced time and resources required for waste management (i.e., overall cost); 4) improved waste minimization and segregation approaches, as identified by in-house Waste Officers; and 5) enhanced communication between waste generators and waste management groups. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1993

US Coast Guard GPS Information Center (GPSIC) and its function within the Civil GPS Service (CGS)

In 1987, the U.S. Department of Defense (DOD) formally requested that the U.S. Department of Transportation (DOT) take responsibility for providing an office that would respond to nonmilitary user needs for GPS information, data, and assistance. DOT accepted this responsibility and in February 1989, named the Coast Guard as their lead agency for the project. Since that time, the U.S. Coast Guard has worked with the U.S. Space Command to develop requirements and implement a plan for providing the requested interface with the civil GPS community. The Civil GPS Service (CGS) consists of four main elements: GPS Information Center (GPSIC) - provides GPS status information to civilian users of the system: Civil GPS Service Interface Committee (CGSIC) - established to identify civil GPS user technical information needs in support of the CGS program; Differential GPS (DGPS) - Coast Guard Research and Development Project; and PPS Program Office (PPSPO) - (Under development) will administer the program allowing qualified civil users to have access to the PPS signal. Details about the services these organizations provide are described.

Source record↗
NASA NTRS2004

Oh! I Slipped the Surly Bounds of Earth....and Ran into Space Weather!

Over the past decade the concept of space weather has been introduced and matured in both the scientific community and popular press. Likewise the concept of space climatology recently also is being advanced. Closely linked to these concepts are their impacts on ground- and space-based technological systems; one such system commonly mentioned is manned space flight exemplified by the Space Shuttle and International Space Station (ISS). From a manned space flight perspective, space weather and space climatology have significant effects on the amount of radiation exposure received by humans in space from the ambient high-energy charged particles present in interplanetary space and trapped in the geomagnetosphere. Whereas the impact of space weather for most technological systems is usually discrete and well correlated in time, the principle impact of space weather and space climatology is to increase the probability of latent cancer formation in thetraveler cohort. In this regard, while space weather may be the dominating factor for a given mission, over the life of a long-term program such as the Space Shuttle or ISS space climatology is the controlling factor of latent cancer risk. Human radiation exposure enhancements associated with space weather disturbances has been a concern among scientist and mission controllers since the inception of manned spaceflight nearly forty years ago. This led NASA to develop, in conjunction with the Environmental Science Services Administration s Space Disturbance Forecast Center and the USAF/AWS, the Solar Particle Alert Network (SPAN)-the foundation of an initial U.S. space weather monitoring and forecasting service. Since Apollo, routine space flight operations have evolved to include the use of space weather and climatology data provided through a world-wide network of operational space weather data services to predict and recommend actions to minimize astronaut radiation exposures. NASA Space Radiation Analysis Group (SRAG) flight controllers use real-time space weather data to detect and assess the impact of solar particle events, outer electron belt enhancements, the formation of pseudo-stable additional trapped radiation belts, and the solar cycle modulation of trapped radiation belts and galactic cosmic rays. Energetic particle data from GOES spacecraft are automatically ingested from NOAA Space Environment Center data servers and used to drive a model for the estimating the exposure to astronauts from solar particle events. While adequate for current manned space flight support, the existing operational space weather support system requires improvements to address the anticipated evolution in both the character of manned missions as well as space flight operations management. Necessary space weather data improvements include: reliably available (near) real-time space weather data on a fixed schedule via redundant access methods that support autonomous data acquisition by computer systems behind enterprise firewalls; and rapid transition of promising research sensors into operational systems.

Golightly, Michael J.↗
NASA NTRS2006

Ice-Borehole Probe

An instrumentation system has been developed for studying interactions between a glacier or ice sheet and the underlying rock and/or soil. Prior borehole imaging systems have been used in well-drilling and mineral-exploration applications and for studying relatively thin valley glaciers, but have not been used for studying thick ice sheets like those of Antarctica. The system includes a cylindrical imaging probe that is lowered into a hole that has been bored through the ice to the ice/bedrock interface by use of an established hot-water-jet technique. The images acquired by the cameras yield information on the movement of the ice relative to the bedrock and on visible features of the lower structure of the ice sheet, including ice layers formed at different times, bubbles, and mineralogical inclusions. At the time of reporting the information for this article, the system was just deployed in two boreholes on the Amery ice shelf in East Antarctica and after successful 2000 2001 deployments in 4 boreholes at Ice Stream C, West Antarctica, and in 2002 at Black Rapids Glacier, Alaska. The probe is designed to operate at temperatures from 40 to +40 C and to withstand the cold, wet, high-pressure [130-atm (13.20-MPa)] environment at the bottom of a water-filled borehole in ice as deep as 1.6 km. A current version is being outfitted to service 2.4-km-deep boreholes at the Rutford Ice Stream in West Antarctica. The probe (see figure) contains a sidelooking charge-coupled-device (CCD) camera that generates both a real-time analog video signal and a sequence of still-image data, and contains a digital videotape recorder. The probe also contains a downward-looking CCD analog video camera, plus halogen lamps to illuminate the fields of view of both cameras. The analog video outputs of the cameras are converted to optical signals that are transmitted to a surface station via optical fibers in a cable. Electric power is supplied to the probe through wires in the cable at a potential of 170 VDC. A DC-to-DC converter steps the supply down to 12 VDC for the lights, cameras, and image-data-transmission circuitry. Heat generated by dissipation of electric power in the probe is removed simply by conduction through the probe housing to the visible features of the lower structure of the ice sheet, including ice layers formed at different times, bubbles, and mineralogical inclusions. At the time of reporting the information for this article, the system was just deployed in two boreholes on the Amery ice shelf in East Antarctica and after successful 2000 2001 deployments in 4 boreholes at Ice Stream C, West Antarctica, and in 2002 at Black Rapids Glacier, Alaska. The probe is designed to operate at temperatures from 40 to +40 C and to withstand the cold, wet, high-pressure [130-atm (13.20-MPa)] environment at the bottom of a water-filled borehole in ice as deep as 1.6 km. A current version is being outfitted to service 2.4-km-deep boreholes at the Rutford Ice Stream in West Antarctica. The probe (see figure) contains a sidelooking charge-coupled-device (CCD) camera that generates both a real-time analog video signal and a sequence of still-image data, and contains a digital videotape recorder. The probe also contains a downward-looking CCD analog video camera, plus halogen lamps to illuminate the fields of view of both cameras. The analog video outputs of the cameras are converted to optical signals that are transmitted to a surface station via optical fibers in a cable. Electric power is supplied to the probe through wires in the cable at a potential of 170 VDC. A DC-to-DC converter steps the supply down to 12 VDC for the lights, cameras, and image-datatransmission circuitry. Heat generated by dissipation of electric power in the probe is removed simply by conduction through the probe housing to the visible features of the lower structure of the ice sheet, including ice layers formed at different times, bubbles, and mineralogical inclusions. At thime of reporting the information for this article, the system was just deployed in two boreholes on the Amery ice shelf in East Antarctica and after successful 2000 2001 deployments in 4 boreholes at Ice Stream C, West Antarctica, and in 2002 at Black Rapids Glacier, Alaska. The probe is designed to operate at temperatures from 40 to +40 C and to withstand the cold, wet, high-pressure [130-atm (13.20-MPa)] environment at the bottom of a water-filled borehole in ice as deep as 1.6 km. A current version is being outfitted to service 2.4-km-deep boreholes at the Rutford Ice Stream in West Antarctica. The probe (see figure) contains a sidelooking charge-coupled-device (CCD) camera that generates both a real-time analog video signal and a sequence of still-image data, and contains a digital videotape recorder. The probe also contains a downward-looking CCD analog video camera, plus halogen lamps to illuminate the fields of view of both cameras. The analog video outputs of the cameras are converted to optical signals that are transmitted to a surface station via optical fibers in a cable. Electric power is supplied to the probe through wires in the cable at a potential of 170 VDC. A DC-to-DC converter steps the supply down to 12 VDC for the lights, cameras, and image-datatransmission circuitry. Heat generated by dissipation of electric power in the probe is removed simply by conduction through the probe housing to the adjacent water and ice.

Behar, Alberto↗
DOE OSTI2013

Funding Mechanisms for Federal Geothermal Permitting

The Department of Energy's (DOE) Geothermal Technologies Office (GTO) initiated a Geothermal Regulatory Roadmap (GRR) in March 2012 to facilitate the development of utility-scale geothermal power. The GRR team conducted a series of workshops during the summer of 2012, which included key representatives from federal and state agencies, as well as industry and other stakeholders involved in the permitting and development of utility-scale geothermal projects. In many of the GRR meetings held with agencies, industry, and other stakeholders, a recurring issue was competing priorities for agency staff's time, which result in permit processing delays. Some agency personnel explained how only a percentage of their weekly or monthly time is allocated to geothermal due to geothermal budget allocations. Others described how their time allocation was determined by agency priorities, and not by specific geothermal budget allocations. In these cases, geothermal may not be a priority at all. One suggestion that was to increase geothermal permit fees or to develop some other mechanisms of cost recovery to fund additional geothermal positions or contractors to process permits more quickly. Because much of the geothermal resource available in the western U.S. is on federal lands, analysis of cost recovery programs could identify opportunities for additional funding mechanisms to support federal agency personnel and processing permits for geothermal projects. This paper discusses: federal agency revenues received for geothermal projects, including: (1) lease revenues, (2) fixed fees, and (3) cost recovery fees; and potential federal agency budget sources for processing geothermal applications, including: (1) cost-recovery fees for services rendered, (2) set-aside funds (such as those employed by EPAct2005), and (3) the appropriations process. This paper then analyzes the three budget sources as mechanisms for increasing funds available to federal agencies for processing geothermal permits and approvals. This paper concludes that both set-asides and cost-recovery fees for services rendered were effective ways of ensuring sufficient funding for processing geothermal authorizations on federally-managed public lands in a timely manner.

15 GEOTHERMAL ENERGY↗
NASA NTRS2005

Applications of Principled Search Methods in Climate Influences and Mechanisms

Forest and grass fires cause economic losses in the billions of dollars in the U.S. alone. In addition, boreal forests constitute a large carbon store; it has been estimated that, were no burning to occur, an additional 7 gigatons of carbon would be sequestered in boreal soils each century. Effective wildfire suppression requires anticipation of locales and times for which wildfire is most probable, preferably with a two to four week forecast, so that limited resources can be efficiently deployed. The United States Forest Service (USFS), and other experts and agencies have developed several measures of fire risk combining physical principles and expert judgment, and have used them in automated procedures for forecasting fire risk. Forecasting accuracies for some fire risk indices in combination with climate and other variables have been estimated for specific locations, with the value of fire risk index variables assessed by their statistical significance in regressions. In other cases, the MAPSS forecasts [23, 241 for example, forecasting accuracy has been estimated only by simulated data. We describe alternative forecasting methods that predict fire probability by locale and time using statistical or machine learning procedures trained on historical data, and we give comparative assessments of their forecasting accuracy for one fire season year, April- October, 2003, for all U.S. Forest Service lands. Aside from providing an accuracy baseline for other forecasting methods, the results illustrate the interdependence between the statistical significance of prediction variables and the forecasting method used.

Glymour, Clark↗
NASA NTRS1993

Periodic Application of Concurrent Error Detection in Processor Array Architectures

Processor arrays can provide an attractive architecture for some applications. Featuring modularity, regular interconnection and high parallelism, such arrays are well-suited for VLSI/WSI implementations, and applications with high computational requirements, such as real-time signal processing. Preserving the integrity of results can be of paramount importance for certain applications. In these cases, fault tolerance should be used to ensure reliable delivery of a system's service. One aspect of fault tolerance is the detection of errors caused by faults. Concurrent error detection (CED) techniques offer the advantage that transient and intermittent faults may be detected with greater probability than with off-line diagnostic tests. Applying time-redundant CED techniques can reduce hardware redundancy costs. However, most time-redundant CED techniques degrade a system's performance.

Chen, Paul Peichuan↗
NASA NTRS2007

Pointing History Engine for the Spitzer Space Telescope

The Pointing History Engine (PHE) is a computer program that provides mathematical transformations needed to reconstruct, from downlinked telemetry data, the attitude of the Spitzer Space Telescope (formerly known as the Space Infrared Telescope Facility) as a function of time. The PHE also serves as an example for development of similar pointing reconstruction software for future space telescopes. The transformations implemented in the PHE take account of the unique geometry of the Spitzer telescope-pointing chain, including all data on relative alignments of components, and all information available from attitude-determination instruments. The PHE makes it possible to coordinate attitude data with observational data acquired at the same time, so that any observed astronomical object can be located for future reference and re-observation. The PHE is implemented as a subroutine used in conjunction with telemetry-formatting services of the Mission Image Processing Laboratory of NASA s Jet Propulsion Laboratory to generate the Boresight Pointing History File (BPHF). The BPHF is an archival database designed to serve as Spitzer s primary astronomical reference documenting where the telescope was pointed at any time during its mission.

Bayard, David↗
NASA NTRS1996

A revisit to the requirements methodologies for services provided by the Office of Space Communications

The methodologies of the NASA requirements processing system, originally designed to enhance NASA's customer interface and response time, are reviewed. The response of NASA to the problems associated with the system is presented, and it is shown what was done to facilitate the process and to improve customer relations. The requirements generation system (RGS), a computer-supported client-server system, adopted by NASA is presented. The RGS system is configurable on a per-mission basis and can be structured to allow levels of requirements. The details provided concerning the RGS include the recommended configuration, information on becoming an RGS user and network connectivity worksheets for computer users.

Fishkind, Stanley↗
NASA NTRS1994

A Personal Storm Warning Service

Although lightning detection systems operated by government agencies, utilities and other businesses provide storm warnings, this information often does not reach the public until some time after the observations have been made. A low-cost personal lightning detector offers a significant safety advantage to private flyers, boaters, golfers and others. Developed by Airborne Research Associates, the detectors originated in Space Shuttle tests of an optical lightning detection technique. The commercial device is pointed toward a cloud to detect invisible intracloud lightning by sensing subtle changes in light presence. The majority of the sales have been to golf courses. Additional products and more advanced applications are in progress.

Source record↗
NASA NTRS2011

Developing NDE Techniques for Large Cryogenic Tanks

The Shuttle Program requires very large cryogenic ground storage tanks in which to store liquid oxygen and hydrogen. The existing Pads A and B Launch Complex-39 tanks, which will be passed onto future launch programs, are 45 years old and have received minimal refurbishment and only external inspections over the years. The majority of the structure is inaccessible without a full system drain of cryogenic liquid and granular insulation in the annular region. It was previously thought that there was a limit to the number of temperature cycles that the tanks could handle due to possible insulation compaction before undergoing a costly and time consuming complete overhaul; therefore the tanks were not drained and performance issues with these tanks, specifically the Pad B liquid hydrogen tank, were accepted. There is a needind an opportunity, as the Shuttle program ends and work to upgrade the launch pads progresses, to develop innovative non-destructive evaluation (NDE) techniques to analyze the current tanks. Techniques are desired that can aid in determining the extent of refurbishment required to keep the tanks in service for another 20+ years. A nondestructive technique would also be a significant aid in acceptance testing of new and refurbished tanks, saving significant time and money, if corrective actions can be taken before cryogen is introduced to the systems.

Parker, Don↗
DOE OSTI2021

On the Use of Smart Meter Data to Estimate the Voltage Magnitude on the Primary Side of Distribution Service Transformers

This paper develops a novel method to estimate the voltage magnitude on the primary side of distribution service transformers. The proposed method relies exclusively on smart meters, and therefore it is fully data-driven. This is an important feature because electric utilities have detailed models of only the primary network - that is, the network between the distribution substation and the primary side of service transformers that are installed closer to end-customer sites. The network that connects the secondary side of service transformers to end-customer sites, referred to as the secondary network, is simply represented by a lumped load. For each secondary network, the proposed method uses data acquired from only 2 smart meters: the closest and the farthest-in the sense of electrical distance - from the service transformer. As a reference to this feature, the proposed method is named SM2Vp. To our knowledge, this is the first time a method is shown to provide actionable information for realtime operation and control of power distribution grids using only two smart meters per secondary network. This is important because utilities have experienced barriers in managing and using large data sets for real-time operation and control. SM2Vp is primarily intended to provide pseudo-measurements for distribution system state estimation, but it can also be used directly for voltage control schemes. The performance of SM2Vp is demonstrated by numerical simulations carried out on three secondary network synthetic models and by using field data provided by a utility partner serving customers in southwestern California. A maximum relative error of approximately 3.9% or less is observed for the primary voltage magnitude estimates in all numerical experiments.

distribution service transformer↗
NASA NTRS1975

Great Lakes all-weather ice information system

A system is described which utilizes an X-band Side-Looking-Airborne-Radar (SLAR) for determining type, location, and aerial distribution of the ice cover in the Great Lakes and an airborne, S-band, short pulse radar for obtaining ice thickness. The SLAR system is currently mounted aboard a U.S. Coast Guard C-130B aircraft. Digitized SLAR data are relayed in real-time via the NOAA-GOES-1 satellite in geosynchronous orbit to the U.S. Coast Guard Ice Center in Cleveland, Ohio. SLAR images along with hand-drawn interpretative ice charts for various winter shipping areas in the Great Lakes are broadcast to facsimile recorders aboard Great Lakes vessels. The operational aspects of this ice information system are being demonstrated by NASA, U.S. Coast Guard, and NOAA/National Weather Service. Results from the 1974-75 winter season demonstrated the ability of this system to provide all-weather ice information to shippers in a timely manner.

Schertler, R. J.↗
DOE OSTI2015

A front-end readout Detector Board for the OpenPET electronics system

Here, we present a 16-channel front-end readout board for the OpenPET electronics system. A major task in developing a nuclear medical imaging system, such as a positron emission computed tomograph (PET) or a single-photon emission computed tomograph (SPECT), is the electronics system. While there are a wide variety of detector and camera design concepts, the relatively simple nature of the acquired data allows for a common set of electronics requirements that can be met by a flexible, scalable, and high-performance OpenPET electronics system. The analog signals from the different types of detectors used in medical imaging share similar characteristics, which allows for a common analog signal processing. The OpenPET electronics processes the analog signals with Detector Boards. Here we report on the development of a 16-channel Detector Board. Each signal is digitized by a continuously sampled analog-to-digital converter (ADC), which is processed by a field programmable gate array (FPGA) to extract pulse height information. A leading edge discriminator creates a timing edge that is "time stamped" by a time-to-digital converter (TDC) implemented inside the FPGA. In conclusion, this digital information from each channel is sent to an FPGA that services 16 analog channels, and then information from multiple channels is processed by this FPGA to perform logic for crystal lookup, DOI calculation, calibration, etc.

47 OTHER INSTRUMENTATION↗
DOE OSTI2017

Automation Toward Tether-less Robotic Operations in Nuclear Facilities - 17474

Automation capabilities that enable communication-denied nuclear robotic operations have come of age. These layer over tethered operation or enable un-tethered systems for some operations. Tele-operated, tethered devices are traditionally preferred for nuclear remote systems. Tethers provide comm, power, and a means for mechanical extraction. They also restrict mobility and create additional failure points, and in some cases, circumstances preclude mechanical recovery by tether. Tethering has superb advantages where it is viable, but a subset of nuclear EM challenges compel mobile remote systems that forgo tethering. Tethering was essential at a time when autonomy or wireless comm could not accomplish viable operations, but now an emerging class of un-tethered exploration and service robots are compelling for situations where tethers compound waste and exposure, or are not viable. Technical advances in localization, modeling, planning, autonomy, integration and reliability have made it possible to augment tethered operations or operate altogether without tether in selective operations. Tether preclusion technologies include localization, perception, navigation, safeguarding and task prescription. These effectively accomplish tasks like way-point following, wall-following, coverage patterning, navigate-to-goal, next-best view and many others. Although these are not yet general for the broad agenda of the nuclear complex, these are already useful for many operations. These provide a foundational base that can be built upon over time for more complex operations yet to come. As a context and analog study, the technologies are exhibited by robotically (without tether) modeling a coal mine with tracks and train cars. This is analogous to technology and operation that might apply for inspection of waste storage at WIPP or the PUREX tunnels. Autonomous exploration of this nature is within state-of-art and possible with or without tether. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗