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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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2014

SU-E-T-204: Improving Multiple Isocenter Coincidence: Elekta Beam Modulator with HexaPOD Six Degrees Couchtop

Purpose: With evolution from frame-based to image-guided SRS/SRT technique, the coincidence of multiple isocenters must be within a tight tolerance: MV, kV, table mechanical, and, in this case, HexaPOD 6° patient positioning system. Reported here is a method for improving the effectiveness of an isocenter alignment procedure which ultimately led to isocenter coincidence on an Elekta Beam Modulator LINAC equipped with 4 mm MLC leaves and a fixed secondary jaw to within a radius of 1mm. Methods: Utilizing a self-leveling laser, the Elekta ball (BB) bearing phantom (8mm steel ball), the Modus QA Isocenter Cube software, and a colleague-provided isocenter alignment method, the kV, table mechanical, and HexaPOD isocenters were localized to the MV isocenter. Isocenter coincidence was tested using the Isocenter Cube from Modus QA, brought to kV isocenter using CBCT and the HexaPOD system. MV images were taken at various gantry, collimator, and couch angles and then analyzed with the aforementioned software to determine coincidence of the 5mm steel ball at cube center with MV isocenter. To improve overall coincidence, two errors were addressed iteratively: (1) LINAC mechanical and radiation isocenter coincidence allowing each isocenter volume to have similar variations during gantry and collimator rotation and (2) collimator rotational walkout which reduced the size of both mechanical and radiation isocenters. Beam steering was performed to bring MV isocenter closer to mechanical and collimator walkout was adjusted by physically shifting the MLC bank. Initial procedures were repeated to align all isocenters and perform regular checks for consistency. Results: Post-initial alignment revealed a maximum diameter of 1.8mm for MV isocenter and maximum isocenter alignment error of up to 1.22mm radius which improved to roughly 1.0mm MV isocenter diameter and <0.71mm radius alignment error with a consistency within 0.25mm. Conclusion: With the methods described, all isocenters were brought into alignment within a radius of 1mm.

07 ISOTOPE AND RADIATION SOURCES↗
DOE OSTI2017

The Impact of Correcting for Translational and Rotational Errors Using the HexaPOD in Head and Neck Stereotactic Body Radiation Therapy Patients

The HexaPOD has been developed to correct for errors in six degrees of freedom (6DOF), which enables it with the potential to improve setup accuracy. This is critical in hypofractionated head and neck (H&N) stereotactic body radiation therapy (SBRT) plans, which have highly conformal dose distributions and close proximity of critical normal structures.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2018

Hexapod coloron at the LHC

Instead of the usual dijet decay, the coloron may mainly decay into its own “Higgs bosons”, which subsequently decay into many jets. This is a general feature of the renormalizable coloron model, where the corresponding “Higgs bosons” are a color-octet Θ and a color-singlet φ I . In this paper, we perform a detailed collider study for the signature of p p &#x2192;<!-- → --> G &#x2032;<!-- ' --> &#x2192;<!-- → --> ( &#x0398;<!-- Θ --> &#xA0; &#x2192;<!-- → --> g g ) ( &#x03D5;<!-- φ --> I &#x2192;<!-- → --> g g q q &#x00AF;<!-- ¯ --> ) with the coloron G' as a six-jet resonance. For a light φ I below around 0.5 TeV, it may be boosted and behave as a four-prong fat jet. We also develop a jet-substructure-based search strategy to cover this boosted φ I case. Independent of whether φ I is boosted or not, the 13 TeV LHC with 100 fb -1 has great discovery potential for a coloron with the mass sensitivity up to 5 TeV.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2021

Linear delta systems, hexapod systems, and related methods

A linear delta system includes a support frame, rails mounted to the support frame, linear actuators, each linear actuator configured to translate along a longitudinal length of a respective rail, pairs of parallel rods each coupled to the linear actuators, a platform coupled to a longitudinal end of each of the pairs of parallel rods opposite the respective linear actuator, and an object coupled to the platform. Longitudinal axes of the rails are oriented parallel to each other and lie within a common plane or an uncommon plane. A method of forming a linear delta system includes mounting rails to a support frame, the rails having longitudinal axes that are parallel to each other and lying within a common plane, coupling a linear actuator to each of the rails, coupling a pair of parallel rods to each linear actuator, and coupling a platform to the pairs of parallel rods.

Crawford, Anthony L.↗
DOE OSTI2013

An accuracy assessment of different rigid body image registration methods and robotic couch positional corrections using a novel phantom

Purpose: Image guided radiotherapy (IGRT) using cone beam computed tomography (CBCT) images greatly reduces interfractional patient positional uncertainties. An understanding of uncertainties in the IGRT process itself is essential to ensure appropriate use of this technology. The purpose of this study was to develop a phantom capable of assessing the accuracy of IGRT hardware and software including a 6 degrees of freedom patient positioning system and to investigate the accuracy of the Elekta XVI system in combination with the HexaPOD robotic treatment couch top. Methods: The constructed phantom enabled verification of the three automatic rigid body registrations (gray value, bone, seed) available in the Elekta XVI software and includes an adjustable mount that introduces known rotational offsets to the phantom from its reference position. Repeated positioning of the phantom was undertaken to assess phantom rotational accuracy. Using this phantom the accuracy of the XVI registration algorithms was assessed considering CBCT hardware factors and image resolution together with the residual error in the overall image guidance process when positional corrections were performed through the HexaPOD couch system. Results: The phantom positioning was found to be within 0.04 ({sigma}= 0.12) Degree-Sign , 0.02 ({sigma}= 0.13) Degree-Sign , and -0.03 ({sigma}= 0.06) Degree-Sign in X, Y, and Z directions, respectively, enabling assessment of IGRT with a 6 degrees of freedom patient positioning system. The gray value registration algorithm showed the least error in calculated offsets with maximum mean difference of -0.2({sigma}= 0.4) mm in translational and -0.1({sigma}= 0.1) Degree-Sign in rotational directions for all image resolutions. Bone and seed registration were found to be sensitive to CBCT image resolution. Seed registration was found to be most sensitive demonstrating a maximum mean error of -0.3({sigma}= 0.9) mm and -1.4({sigma}= 1.7) Degree-Sign in translational and rotational directions over low resolution images, and this is reduced to -0.1({sigma}= 0.2) mm and -0.1({sigma}= 0.79) Degree-Sign using high resolution images. Conclusions: The phantom, capable of rotating independently about three orthogonal axes was successfully used to assess the accuracy of an IGRT system considering 6 degrees of freedom. The overall residual error in the image guidance process of XVI in combination with the HexaPOD couch was demonstrated to be less than 0.3 mm and 0.3 Degree-Sign in translational and rotational directions when using the gray value registration with high resolution CBCT images. However, the residual error, especially in rotational directions, may increase when the seed registration is used with low resolution images.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

Sci-Fri PM: Radiation Therapy, Planning, Imaging, and Special Techniques - 09: Impact of the distance of reflective markers from linac isocenter on the positional accuracy of an infrared tracking system

Purpose: The HexaPOD™ six degree of freedom couchtop is equipped with an optical tracking system, consisting of a stereoscopic camera and a reference frame (RF) carrying infrared reflective markers. The manufacturer recommends placing the RF within 50 cm from linac isocenter (ISO), which is a serious limitation since the RF does not fit around the shoulders of most brain patients. This study quantifies the impact of extended RF distances from ISO on positional accuracy. Methods: An in-house tool with an estimated resolution of 0.3 mm and 0.1° was used. It is a large cube and a mathematical model of HexaPOD motion to determine the intersection of room lasers with the ruled cube edges. Combinations of translations (±1 and ±3 cm) and rotations (±2.5°) were executed on two HexaPOD couchtops for multiple RF distances from ISO (35 to 77 cm). For each combination, ten laser readings were fed into a least squares algorithm to determine the executed translations and rotations while minimizing operator reading errors. Results: The usable tracking volume is up to an RF distance of 82 cm from ISO. Positional accuracy of the HexaPOD/iGuide system is 0.6 mm and 0.1° (95% confidence). Positional accuracy variations versus RF distance from ISO are statistically insignificant (p = 0.05). Our results generally confirm recent internal estimates by the manufacturer (for future release). Conclusions: RF distances up to 77 cm from ISO are clinically acceptable, provided performing a patient safety study with a verification scan.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

A six degrees of freedom femtosecond laser system for fabrication of small-scale mechanical property specimens

Here, we present the details of a novel ultra-short pulsed laser machining workstation that has been employed for high-throughput laser machining of small-scale mechanical property specimens. This system employs a six degrees of freedom hexapod positioning stage capable of macroscopic movements at high positional accuracy. We developed a methodology that uses quantitative image analysis to measure key parameters required to minimize the hexapod positioning and rotational error. Application of this system to laser machining of small-scale 316L stainless steel tensile specimens and ultra-high molecular weight polyethylene compressive specimens using eucentric tilt and rotation about the specimen axis will be shown, where serial laser milling at a specimen tilt angle of 10° was used to effectively eliminate any taper in the sample cross section that is typically found in laser machining.

47 OTHER INSTRUMENTATION↗
DOE OSTI2015

THE DARK ENERGY CAMERA

The Dark Energy Camera is a new imager with a 2.°2 diameter field of view mounted at the prime focus of the Victor M. Blanco 4 m telescope on Cerro Tololo near La Serena, Chile. The camera was designed and constructed by the Dark Energy Survey Collaboration and meets or exceeds the stringent requirements designed for the wide-field and supernova surveys for which the collaboration uses it. The camera consists of a five-element optical corrector, seven filters, a shutter with a 60 cm aperture, and a charge-coupled device (CCD) focal plane of 250 μm thick fully depleted CCDs cooled inside a vacuum Dewar. The 570 megapixel focal plane comprises 62 2k × 4k CCDs for imaging and 12 2k × 2k CCDs for guiding and focus. The CCDs have 15 μm × 15 μm pixels with a plate scale of 0.″263 pixel{sup −1}. A hexapod system provides state-of-the-art focus and alignment capability. The camera is read out in 20 s with 6–9 electron readout noise. This paper provides a technical description of the camera's engineering, construction, installation, and current status.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Installation of the Dark Energy Spectroscopic Instrument at the Mayall 4-meter telescope

The Dark Energy Spectroscopic Instrument (DESI) is a Stage IV ground-based dark energy experiment that will measure the expansion history of the Universe using the Baryon Acoustic Oscillation technique. The spectra of 35 million galaxies and quasars over 14000 square degrees will be measured during the life of the experiment. We describe the installation of the major elements of the instrument at the Mayall 4m telescope, completed in late 2019. The previous prime focus corrector, spider vanes, and upper rings were removed from the Mayall’s Serrurier truss and replaced with the newlyconstructed DESI ring, vanes, cage, hexapod, and optical corrector. The new corrector was optically aligned with the primary mirror using a laser tracker system. The DESI focal plane system was integrated to the corrector, with each of its ten 500-fiber-positioner petal segments installed using custom installation hardware and the laser tracker. Ten DESI spectrographs with 30 cryostats were installed in a newly assembled clean room in the Large Coude Room. The ten cables carrying 5000 optical fibers from the positioners in the focal plane were routed down the telescope through cable wraps at the declination and hour angle axes, and their integral slitheads were integrated with the ten spectrographs. The fiber view camera assembly was installed to the Mayall’s primary mirror cell. Servers for the instrument control system replaced existing computer equipment. The fully integrated instrument has been commissioned and is ready to start its operations phase.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2014

Development and evaluation of a prototype tracking system using the treatment couch

Purpose: Tumor motion increases safety margins around the clinical target volume and leads to an increased dose to the surrounding healthy tissue. The authors have developed and evaluated a one-dimensional treatment couch tracking system to counter steer respiratory tumor motion. Three different motion detection sensors with different lag times were evaluated. Methods: The couch tracking system consists of a motion detection sensor, which can be the topometrical system Topos (Cyber Technologies, Germany), the respiratory gating system RPM (Varian Medical Systems) or a laser triangulation system (Micro Epsilon), and the Protura treatment couch (Civco Medical Systems). The control of the treatment couch was implemented in the block diagram environment Simulink (MathWorks). To achieve real time performance, the Simulink models were executed on a real time engine, provided by Real-Time Windows Target (MathWorks). A proportional-integral control system was implemented. The lag time of the couch tracking system using the three different motion detection sensors was measured. The geometrical accuracy of the system was evaluated by measuring the mean absolute deviation from the reference (static position) during motion tracking. This deviation was compared to the mean absolute deviation without tracking and a reduction factor was defined. A hexapod system was moving according to seven respiration patterns previously acquired with the RPM system as well as according to a sin{sup 6} function with two different frequencies (0.33 and 0.17 Hz) and the treatment table compensated the motion. Results: A prototype system for treatment couch tracking of respiratory motion was developed. The laser based tracking system with a small lag time of 57 ms reduced the residual motion by a factor of 11.9 ± 5.5 (mean value ± standard deviation). An increase in delay time from 57 to 130 ms (RPM based system) resulted in a reduction by a factor of 4.7 ± 2.6. The Topos based tracking system with the largest lag time of 300 ms achieved a mean reduction by a factor of 3.4 ± 2.3. The increase in the penumbra of a profile (1 × 1 cm{sup 2}) for a motion of 6 mm was 1.4 mm. With tracking applied there was no increase in the penumbra. Conclusions: Couch tracking with the Protura treatment couch is achievable. To reliably track all possible respiration patterns without prediction filters a short lag time below 100 ms is needed. More scientific work is necessary to extend our prototype to tracking of internal motion.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2020

The Dark Energy Spectrographic Instrument (DESI) Guide-Focus Assembly

The specific research of the DESI project is to study in detail the expansion history of the Universe over the past 10 billion years. In order to do this, the project designed, fabricated, tested and commissioned the DESI instrument which has been deployed at the Mayall Telescope at the Kitt Peak National Observatory near Tucson, Arizona. The DESI project was conducted by approximately 30 US and foreign national laboratories. Our CRADA with the The Institut de Física d’Altes Energies (IFAE) in Barcelona (Spain) involved both research planning for eventual observing on the DESI telescope; and in providing hardware jointly designed by LBNL and IFAE; ten guide and focus sensor systems (GFAs) that either provide feedback to the Mayall telescope tracking system or provide focus position information to the DESI corrector hexapod. The key major goals of this CRADA were achieved.For survey planning, Drs. Fernandez, Fosalba, Garcia-Bellido, and Gaztañaga were all important contributors to the working groups to which they were assigned. Their application of redshift techniques, development of simulations to support target selection, exploration of the use of alternative observables to extract cosmological information like AP and void statistics, and the use of PAU data to assist in the optimization of targeting selections have been vital in the early planning for targets during commissioning. The major role in the project involved Drs. Castander, Miquel, Padilla, and Sànchez. They were all directly involved with the development of the Guide-Focus Assembly (GFA) hardware, software and filter validation. In order to accomplish the goals of the DESI Project, the Mayall telescope must track DESI targeted galaxies for up to 15 minutes and the DESI corrector must be repositioned on its hexapod system for different telescope orientations. The guide and focus assemblies (GFA) provide in this information. There are ten GFA modules on the focal plane, six providing tracking information and four providing focus information. A common GFA design supports both functions by a simple switching of its operating mode. IFAE designed, fabricated, tested and delivered twelve GFAs. Once received at LBNL, the GFAs were integrated with the focal plane. This was an iterative process as the GFA’s were delivered as they were made. Our working relationship with the IFAE scientists and engineers was remarkable given the distance and time zone issues. The GFAs have performed extremely well during the commissioning phase of the instrument.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2019

Momentum-resolved resonant inelastic soft X-ray scattering (qRIXS) endstation at the ALS

A momentum resolved resonant inelastic X-ray scattering (qRIXS) experimental station with continuously rotatable spectrometers and parallel detection is designed to operate at different beamlines at synchrotron and free electron laser (FEL) facilities. This endstation, currently located at the Advanced Light Source (ALS), has five emission ports on the experimental chamber for mounting the high-throughput modular soft X-ray spectrometers (MXS). Coupled to the rotation from the supporting hexapod, the scattered X-rays from 27.5° (forward scattering) to 152.5° (backward scattering) relative to the incident photon beam can be recorded, enabling the momentum-resolved RIXS spectroscopy. The components of this endstation are described in details, and the preliminary RIXS measurements on highly oriented pyrolytic graphite (HOPG) reveal the low energy vibronic excitations from the strong electron-phonon coupling at C K edge around σ* band. Lastly, the grating upgrade option to enhance the performance at low photon energies is presented and the potential of this spectroscopy is discussed in summary.

36 MATERIALS SCIENCE↗
DOE OSTI2016

Multilayer based soft-x-ray polarimeter at MAX IV Laboratory

A high precision five rotation-axes polarimeter using transmission multilayers as polarizers and reflection multilayers as analyzers has been designed and manufactured. To cover the extreme ultraviolet regime, Mo/Si, Cr/C, Sc/Cr, and W/B{sub 4}C multilayers for transmission and reflection have also been designed and produced. The polarimeter mechanics is supported on a hexapod to simplify the alignment relative to photon beam. The instrument is designed so that it can be easily transferred between different beamlines.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2016

AMiBA: cluster Sunyaev-Zel'dovich effect observations with the expanded 13-element array

The Yuan-Tseh Lee Array for Microwave Background Anisotropy (AMiBA) is a co-planar interferometer array operating at a wavelength of 3 mm to measure the Sunyaev–Zel’dovich effect (SZE) of galaxy clusters at arcminute scales. The first phase of operation—with a compact 7-element array with 0.6 m antennas (AMiBA-7)—observed six clusters at angular scales from 5{sup ′} to 23{sup ′}. Here, we describe the expansion of AMiBA to a 13-element array with 1.2 m antennas (AMiBA-13), its subsequent commissioning, and cluster SZE observing program. The most noticeable changes compared to AMiBA-7 are (1) array re-configuration with baselines ranging from 1.4 m to 4.8 m, allowing us to sample structures between 2{sup ′} and 10{sup ′}, (2) 13 new lightweight carbon-fiber-reinforced plastic (CFRP) 1.2 m reflectors, and (3) additional correlators and six new receivers. Since the reflectors are co-mounted on and distributed over the entire six-meter CFRP platform, a refined hexapod pointing error model and phase error correction scheme have been developed for AMiBA-13. These effects—entirely negligible for the earlier central close-packed AMiBA-7 configuration—can lead to additional geometrical delays during observations. Our correction scheme recovers at least 80 ± 5% of the point-source fluxes. We, therefore, apply an upward correcting factor of 1.25 to our visibilities to correct for phase decoherence, and a ±5% systematic uncertainty is added in quadrature with our statistical errors. We demonstrate the absence of further systematics with a noise level consistent with zero in stacked uv-visibilities. From the AMiBA-13 SZE observing program, we present here maps of a subset of 12 clusters with signal-to-noise ratios above five. We demonstrate combining AMiBA-7 with AMiBA-13 observations on Abell 1689, by jointly fitting their data to a generalized Navarro–Frenk–White model. Our cylindrically integrated Compton-y values for five radii are consistent with results from the Berkeley-Illinois-Maryland Array, the Owens Valley Radio Observatory, the Sunyaev–Zel’dovich Array, and the Planck Observatory. We also report the first targeted SZE detection toward the optically selected cluster RCS J1447+0828, and we demonstrate the ability of AMiBA SZE data to serve as a proxy for the total cluster mass. Finally, we show that our AMiBA-SZE derived cluster masses are consistent with recent lensing mass measurements in the literature.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

The Optical Corrector for the Dark Energy Spectroscopic Instrument

The Dark Energy Spectroscopic Instrument (DESI) is currently measuring the spectra of 40 million galaxies and quasars, the largest such survey ever made to probe the nature of cosmological dark energy. The 4 m Mayall telescope at Kitt Peak National Observatory has been adapted for DESI, including the construction of a 3$_{.}^{°}$2 diameter prime focus corrector that focuses astronomical light onto a 0.8 m diameter focal surface with excellent image quality over the DESI bandpass of 360–980 nm. The wide-field corrector includes six lenses, as large as 1.1 m in diameter and as heavy as 237 kilograms, including two counterrotating wedged lenses that correct for atmospheric dispersion over zenith angles from 0° to 60°. The lenses, cells, and barrel assembly all meet precise alignment tolerances on the order of tens of microns. The barrel alignment is maintained throughout a range of observing angles and temperature excursions in the Mayall dome by use of a hexapod, which is itself supported by a new cage, ring, and truss structure. In this paper we describe the design, fabrication, and performance of the new corrector and associated structure, focusing on how they meet DESI requirements. In particular, we describe the prescription and specifications of the lenses, design choices and error budgeting of the barrel assembly, stray light mitigations, and integration and test at the Mayall telescope. We conclude with some validation highlights that demonstrate the successful corrector on-sky performance, and we list some lessons learned during the multiyear fabrication phase.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2017

Modular Platforms for Advanced Inspection, Locomotion, and Manipulation - 17150

Robots can provide remote access, manipulation, and inspection capabilities to augment human workers and improve safety in potentially dangerous decommissioning, radioactive waste management, and emergency response operations. However, such activities may require navigating challenging and unstructured environments, such as those with uneven terrain, obstacles, or loose debris. This remains a difficult task, even for modern robots. What's more, a robot's physical design can inhibit it from accessing hard-to-reach areas such as the tight spaces around, underneath, or inside piping and equipment. To address these challenges, we have developed a series of physically robust hardware modules that can be configured into a variety of robot morphologies, specialized to support different operational needs. Each hardware module consists of a number of onboard sensors and a high performance actuator with a series elastic element to sense and control interaction forces for improved locomotion and manipulation. Using this hardware, we have designed several robotic platforms that support the access, manipulation, and inspection requirements of decommissioning and radioactive waste management. To highlight current capabilities and potential opportunities for technological improvement, we present the outcomes from field demonstrations of our modular platforms at the Office of Environmental Management's Science of Safety Portsmouth Gaseous Diffusion Plant Robotics Challenge. Specifically, results include a serpentine robot climbing vertical structures such as pipes, posts, and supports to demonstrate advanced inspection. Additionally, we discuss field trials of a similar modular configuration that yields a highly dexterous manipulator arm and camera system capable of adding manipulation and inspection functionality to existing structures. Results are presented from inspection tasks in which the manipulator is installed on another mobile robotic platform. Finally, we show our hardware modules can be reconfigured into platforms capable of withstanding significant impacts and of alternative means of locomotion, as may be required to cross terrain too challenging for traditional wheeled robots. Results describe the performance of a hexapod robot that uses proprioceptive feedback to locomote in outdoor trials reminiscent of emergency response conditions. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Analysis of Radiation Damage in Electronics of Unmanned Aerial and Ground Robotic Platforms - 19470

Gamma ray measurements are important for monitoring of nuclear facilities. Robotic platforms are used to carry radiation detectors and cameras to enable remote sensing and visual surveillance, allowing for the operation in hazardous, hard to reach zones. The prediction of radiation damage in electronic components of robots is vital. The radiation damage analysis was carried out for two robotic platforms exposed to neutron and gamma ray flux: a ground hexapod platform PhantomX (a 'spider robot') and an aerial platform - the DJI S1000+ octocopter. The FLUKA code was used to analyze the displacement per atom values in electronic components of these robots. The packaging of the components and the shielding design was determined to increase the robot's lifetime in areas where radiation dose levels are high. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗