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DOE OSTI2024

New Virtual Test Bed Capabilities: Virtual DOME Model and New Updates to Repository

The Department of Energy (DOE) Office of Nuclear Energy National Reactor Innovation Center accelerates the deployment of novel reactor concepts by establishing both physical and virtual spaces for building and testing various components, systems, and complete pilot plants. The Virtual Test Bed represents the virtual arm of the National Reactor Innovation Center and is a joint effort with the DOE Nuclear Energy Advanced Modeling and Simulation Program. The Virtual Test Bed mission is to accelerate the deployment of advanced reactors by facilitating the adoption of cutting-edge DOE advanced modeling and simulation tools to design, evaluate, and license reactors. This is primarily achieved by storing example challenge problems in an externally available repository and by developing models to fill the M&S gaps needed for potential demonstrators. Activities conducted this fiscal year focused on developing of a Demonstration of Microreactor Experiments shield model to help accelerate the confirmatory analysis required for the reactor demonstration. This model and workflow will allow developers to leverage advanced modeling and simulation tools to ensure their reactor demonstration concept will meet dose requirements and that the surrounding shield will stay within concrete temperature limits during steady-state and transient operation conditions. An initial model has been developed to evaluate the temperature distribution in the concrete shield during steady-state operation, including neutron and gamma heating effects. Various modeling strategies have been examined to understand their applicability and limitations with different reactor designs to make the workflow as reactor-agnostic as possible and computationally effective to maximize its usability. In addition to describing the Demonstration of Microreactor Experiments shield model and associated results, this report summarizes other accomplishments regarding repository maintenance and improvement and new external models hosted on the repository.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2022

Impacts of phase state and water content on secondary organic aerosol formation and partitioning (Final Technical Report)

Secondary organic aerosols (SOA) account for a major fraction of particulate matter in the atmosphere, affecting climate, air quality, and public health. SOA formation and evolution are highly complex processes involving both chemical reactions and transport of molecules in air, at particle surfaces, and within particles. The state of the matter, or “phase state,” comprising SOA can vary from a liquid, over an amorphous semi-solid, to a glassy solid, depending on chemical composition, water content, relative humidity (RH), and temperature. The occurrence of glassy and amorphous semi-solid states can pose limitations on the rate of transport of molecules, affecting gas-particle interactions and challenging the treatment of SOA in atmospheric models. The objective of this project was to improve fundamental understanding of the interplay of the phase state of particles and water content on the evolution of SOA formation. We have developed a method to estimate the glass transition temperature (T g ) of organic compounds to predict the phase state and viscosity of SOA. This method has been applied to high resolution mass spectrometry data of various types of SOA, achieving a good agreement with viscosity measurements. In addition, the viscosity estimation method was implemented into a regional model CMAQ to simulate diel and seasonal variations of SOA phase state over the U.S. Applying kinetic multilayer modeling, we analyzed laboratory experiments and ARM field measurements (e.g., HI-SCALE) on kinetic limitations of amine uptake. We have also conducted numerical simulations to estimate equilibration timescales of SOA partitioning. Overall, we have evaluated the impacts of phase state and water content on SOA lifecycle that should contribute to reducing the uncertainty of SOA representation in regional climate and air quality predictions. The project has yielded 17 publications, in which DE-SC0018349 is explicitly acknowledged. Please see the list of publications as below, followed by summary of research activities.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Real-Time, Simultaneous Soil Water Content and Meteorological Data Measurement to Support TRACER over Harris County, Texas (Field Campaign Report: Part I)

The main purpose of this project was to provide ground-truth and satellite-based soil water content data in the Houston, Texas, area to support the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s 2022 field campaign, the Tracking Aerosol Convection Interactions ExpeRiment (TRACER). This involved installing four soil monitoring stations at different locations in the Houston area, two of which were part of the ARM facility and two were ancillary. The two stations associated directly with ARM were installed alongside other facilities managed and maintained by the TRACER research team during the intensive operational period (IOP), one located at the La Porte, Texas airport and the other near Guy, Texas. Data from these stations were assimilated with similar data collected by the Harris County Flood Control District (HCFCD) to improve the spatial coverage of the real-time monitoring network. The ground-truth data were compared to the satellite-based (National Aeronautics and Space Administration [NASA]’s Soil Moisture Active Passive [SMAP] mission) data in the TRACER area of interest, and analyzed further to nowcast gridded data over the Houston area. The nowcasted, gridded data product was made available to TRACER researchers for use in climate and land-atmosphere interaction modeling that can help understand formation and persistence of convective storms in dense urban areas, and predict possible environmental events such as floods.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Arctic Mixed-Phase Cloud Base Ice Precipitation Properties Over the NSA Site

Cloud-climate feedbacks are still the greatest source of uncertainty in current climate projections. Arctic clouds, which are predominantly stratiform and supercooled, often long-lived, and nearly continuously precipitate ice particles, contribute roughly 10% of the uncertainty attributed to the global cloud feedback. This arctic cloud uncertainty is driven by incomplete observational and theoretical knowledge required to estimate and explain the state and active processes occurring in those clouds. A focus on ice precipitation properties at arctic cloud base rather than the surface deconfounds the product of cloud condensate sink processes from the influence of the atmospheric thermodynamic state below cloud base, rendering cloud-base properties a more appealing target for inference and evaluation of model simulations. This data set provides more than 1800 samples of cloud-base ice precipitation properties over Utqiagvik, North Slope of Alaska, all of which were retrieved using the synthesis of ARM radar and lidar measurements. The retrieved ice precipitation variables in this data set include, among others, the ice number concentration, water content, PSD parameters, precipitation rate, mass-weighted fall velocity, vertical air motion, and effective radius, all of which are highly valuable for model evaluation and a general understanding of polar cloud sink processes. Each variable sample includes its mean value and associated uncertainty. Additional variables based on ARM measurements (liquid layer statistics, etc.) are included in this data set. The retrieval algorithm and analysis of this data set are described in Silber (JGR, 2023, https://doi.org/10.1029/2022JD038202).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Using Infrasound to Inform Avalanche Hazard Forecasts

Avalanches are natural hazards that occur when an unstable mass of snow breaks away from a mountain slope. It is expected that climate change will lead to increased avalanche activity, which can cause interruptions to water and power infrastructure, transportation blockages, higher risk for loss of life, and changes to ecosystems. Avalanche forecasts are key to mitigating hazards, and observations of recent avalanches comprise one of the key observations for deciding danger level. It is well understood that infrasound can be used to detect and locate snow avalanches in transitional snowpacks, even during snowstorms, but similar studies are lacking for maritime snowpacks. Here we show results from an infrasound field experiment in Tutl’uh (Turnagain Arm), Alaska, USA between January 31 – April 30 field deployment campaign. We show that (1) methods developed for transitional snowpacks can be applied to maritime snowpacks in Alaska, (2) background noise may be higher in this region due to natural and anthropogenic influences, and (3) low-cost infrasound sensors can withstand the harsh Alaskan winter and successfully collect data. We also discuss the impact of this work and a path forward.

58 GEOSCIENCES↗
DOE OSTI2023

Real-Time, Simultaneous Soil Water Content and Meteorological Data Measurement to Support TRACER over Harris County, Texas Field Campaign Report: Part II

The main purpose of this project was to provide ground-truth and satellite-based soil water content data in the Houston, Texas, area to support the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s 2022 field campaign, the Tracking Aerosol Convection Interactions ExpeRiment (TRACER). This involved installing four soil monitoring stations at different locations in the Houston area, two of which were part of the ARM facility and two were ancillary. The two stations associated directly with ARM were installed alongside other facilities managed and maintained by the TRACER research team during the intensive operational period (IOP), one located at the La Porte, Texas airport and the other located near Guy, Texas. Data from these stations were assimilated with similar data collected by the Harris County Flood Control District (HCFCD) to improve the spatial coverage of the real-time monitoring network. The ground-truth data were compared to the satellite-based (National Aeronautics and Space Administration [NASA]’s Soil Moisture Active Passive [SMAP] mission) data in the TRACER area of interest, and analyzed further to nowcast gridded data over the Houston area. The nowcasted, gridded data product was made available to TRACER researchers for use in climate and land-atmosphere interaction modeling that can help understand formation and persistence of convective storms in dense urban areas, and predict possible environmental events such as floods.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Arp 70: an interacting galaxy with extreme outflows

ABSTRACT We analysed a Fabry–Pérot (FP) cube of the interacting pair of galaxies Arp 70, which was obtained from the CeSAM public repository of FP data. On the larger galaxy Arp 70b, we detected the spectral signature of two different outflows, one located in the centre and the other associated with a giant H ii region in the arm region. The central outflow is especially prominent, with the flux of the secondary peaks in the emission-line profiles due to the outflowing gas being similar to that of the main peak. We used an archive fibre spectrum from SDSS to confirm this detection in H α as well as in the [N ii] line and, in addition, to perform diagnostics on the nature of the ionization. The emission at the centre is consistent with a low-ionization nuclear emission-line region and a weak active galactic nucleus. Using the spatial distribution of the profiles in the FP cube, we estimated the shape of the outflow which is consistent with two cones of expanding material, one approaching and the other receding from us, and used this to estimate the physical parameters of the outflow, finding energies of order 1057 erg and masses of order 108 M⊙. On the giant H ii region, we found a very large expanding superbubble with a diameter of ∼5 kpc. The bubble has an energy of order 1054 erg and a mass of about 4 × 107 M⊙. We discuss the possible origins for both of these features and whether they could be associated with the interaction between the galaxies.

Camps-Fariña, A.↗
DOE OSTI2024

PM2.5 Active Aerosol Collection Field Campaign Report

The long-range transport of aerosols can affect local air quality as well as contribute elements and constituents to mountain watersheds that have potentially positive (e.g., nitrate) and negative (e.g., heavy metals) effects to the local ecosystem. Isotopic analysis of aerosols can be a powerful tool for deconvolving the relative contributions of far-distant and local sources to the composition of collected aerosols. Our field campaign involved the week-long collection of PM2.5 (i.e., particulate matter with an aerodynamic diameter of about 2.5 microns) aerosols on filters, which were returned to the laboratories at Lawrence Berkeley National Laboratory (LBNL) for analysis. The sampling sites were located at the Gothic, Colorado Surface Atmosphere Integrated Field Laboratory (SAIL) Atmospheric Radiation Measurement (ARM) and the Mt. Crested Butte, Colorado SAIL ARM sites. The original intention was to measure the lead (Pb) and strontium (Sr) isotopic compositions of the collected aerosols at high precision to provide constraints on source portioning and attribution, as well as analyze the chemical compositions and nitrogen and carbon isotopic compositions. However, severe blank issues arose that prevented the planned isotopic analyses of Sr, Pb, C, and N and severely affected the analyses of the bulk chemical compositions of the collected aerosols, resulting in the failure of the study. The issue is described in Section 2.0.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Design and Development of a Robotic Exoskeleton Device for use in Glove Boxes - 20374

Glovebox operators in nuclear facilities often operate under radioactive environment and typically perform monotonous, dull and repetitive work. This can result in muscle fatigue leading to increased levels of accidents. Current research work aims in assisting the glovebox operators by designing a novel upper limb exoskeleton device to reduce injuries and increase worker efficiency. Almost none of the commercially available hand and upper body exoskeletons are directly suitable for use in gloveboxes. This explains the novelty of the present work in developing a wearable powered robotic exoskeleton device. The device consists of electronics, motors and spring systems mounted on adjustable plates and is supported by a stationary frame behind the worker. The device is intended to be portable and adjustable according to the operator height. The elbow has a flexion movement assisted with motor control by way of a Bowden cable system. The system is floated on a spring and pulley combination that allows for extra safety and smoothness of operation. The end points are fixed near the pivot points to help minimize unwanted movement/torque. The extension movement of the upper and lower arm are assisted by gravity and a counter spring. The shoulder and upper arm movement are held in a neutral position with a spring system for counter balance allowing small movements within the glovebox. This initial concept considers only the vertical movement of the arm. The abduction and adduction movement will not be assisted or impeded by the over shoulder plate or at the forearm plate allowing for full range of motion. Several glovebox aspects such as the level of task assistance, ergonomic design, minimum hindrance in dexterity/operator movements and tear resistance for hazardous safety reasons will be considered in the design of the exoskeleton. Computer models will be simulated to test the load levels and stress conditions on the exoskeleton to enhance the designs. The exoskeleton focusses on major muscular involvement reduction through weight offset and active assistance with minimal parts and hence the device is derived with several joint links and contains both passive and active joints. The paper details the various stages in the design development and prototype testing of the exoskeleton device. Upon successful prototype device development, human testing will be conducted in a replica of the SRS-235F hot cell facility constructed at FIU-ARC. The final stage of the project will be potential testing/deployment of the exoskeleton device in one of the glovebox facilities in Savannah River Nuclear Waste site. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Emergent microrobotic oscillators via asymmetry-induced order

Abstract Spontaneous oscillations on the order of several hertz are the drivers of many crucial processes in nature. From bacterial swimming to mammal gaits, converting static energy inputs into slowly oscillating power is key to the autonomy of organisms across scales. However, the fabrication of slow micrometre-scale oscillators remains a major roadblock towards fully-autonomous microrobots. Here, we study a low-frequency oscillator that emerges from a collective of active microparticles at the air-liquid interface of a hydrogen peroxide drop. Their interactions transduce ambient chemical energy into periodic mechanical motion and on-board electrical currents. Surprisingly, these oscillations persist at larger ensemble sizes only when a particle with modified reactivity is added to intentionally break permutation symmetry. We explain such emergent order through the discovery of a thermodynamic mechanism for asymmetry-induced order. The on-board power harvested from the stabilised oscillations enables the use of electronic components, which we demonstrate by cyclically and synchronously driving a microrobotic arm. This work highlights a new strategy for achieving low-frequency oscillations at the microscale, paving the way for future microrobotic autonomy.

42 ENGINEERING↗
DOE OSTI2020

Identifying a regional aerosol baseline in the eastern North Atlantic using collocated measurements and a mathematical algorithm to mask high-submicron-number-concentration aerosol events

Abstract. High-time-resolution measurements of in situ aerosol and cloud properties provide the ability to study regional atmospheric processes that occur on timescales of minutes to hours. However, one limitation to this approach is that continuous measurements often include periods when the data collected are not representative of the regional aerosol. Even at remote locations, submicron aerosols are pervasive in the ambient atmosphere with many sources. Therefore, periods dominated by local aerosol should be identified before conducting subsequent analyses to understand aerosol regional processes and aerosol–cloud interactions. Here, we present a novel method to validate the identification of regional baseline aerosol data by applying a mathematical algorithm to the data collected at the U.S. Department of Energy's (DOE) Atmospheric Radiation Measurement (ARM) user facility in the eastern North Atlantic (ENA). The ENA central facility (C1) includes an aerosol observing system (AOS) for the measurement of aerosol physical, optical, and chemical properties at time resolutions from seconds to minutes. A second temporary supplementary facility (S1), located ∼0.75 km from C1, was deployed for ∼1 year during the Aerosol and Cloud Experiments (ACE-ENA) campaign in 2017. First, we investigate the local aerosol at both locations. We associate periods of high submicron number concentration (Ntot) in the fine-mode condensation particle counter (CPC) and size distributions from the Ultra-High Sensitivity Aerosol Spectrometer (UHSAS) as a function of wind direction using a meteorology sensor with local sources. Elevated concentrations of Aitken-mode (< 100 nm diameter) particles were observed in correspondence with the wind directions associated with airport operations. At ENA, the Graciosa Airport and its associated activities were found to be the main sources of high-concentration aerosol events at ENA, causing peaks in 1 min Ntot that exceeded 8000 and 10 000 cm−3 at C1, in summer and winter, respectively, and 5000 cm−3 at S1 in summer. Periods with high Ntot not associated with these wind directions were also observed. As a result, the diverse local sources at ENA yielded a poor relationship between Ntot measurements collected at C1 and S1 (R2=0.03 with a slope =0.05±0.001). As a first approach to mask these events, the time periods when the wind direction was associated with the airport operations (west to northwest and southeast to south at C1 and east to south at S1) were applied. The meteorological masks removed 38.9 % of the data at C1 and 43.4 % at S1, and they did not significantly improve the relationship between the two sites (R2=0.18 with a slope =0.06±0.001). Due to the complexity of high-Ntot events observed at ENA, we develop and validate a mathematical ENA Aerosol Mask (ENA-AM) to identify high-Ntot events using 1 min resolution data from the AOS CPC at C1 and S1. After its parameterization and application, ENA-AM generated a high correlation between Ntot in the summer at C1 and S1 (R2=0.87 with a slope =0.84±0.001). We identified the regional baseline at ENA to be 428±228 cm−3 in the summer and 346±223 cm−3 in the winter. Lastly, we compared masked measurements from the AOS with the ARM Aerial Facility (AAF) during flights over C1 in the summer to understand submicron aerosol vertical mixing over C1. The high correlation (R2=0.71 with a slope of 1.04±0.01) observed between C1 and the AAF Ntot collected within an area of 10 km surrounding ENA and at altitudes < 500 m indicated that the submicron aerosol at ENA was well mixed within the first 500 m of the marine boundary layer during the month of July during ACE-ENA. Our novel method for determining a regional aerosol baseline at ENA can be applied to other time periods and at other locations with validation by a secondary site or additional collocated measurements.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Microchemomechanical devices using DNA hybridization

Significance With simple DNA origami lever arms arranged in hinges and accordion structures, we amplify the nanometer displacements from DNA hairpin zippers to 4-μm motion, easily observable and quantified in real space and real time with conventional optical microscopy. Mechanically pulling a bead tethered on the accordion end, we measure high-energy recovery and retraction speeds up to 50 μm/s. On longer time scales, we have also opened and closed the hinges with light and heat. DNA nanotechnology, and particularly DNA origami, combined with colloids and emulsions can provide powerful architectures. The present study is a step toward activating such colloidal/cellular scale devices using DNA as a power source/fuel. We envision artificial active flagella, cilia, micropumps, and other cellular scale devices.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

Considerations on Managing Flowsheet and Technology for DFLAW Production

This report evaluates best practices for flowsheet and technology (F&T) management and makes recommendations for Hanford tank waste treatment operations initially for Direct Feed Low Activity Waste (DFLAW). Establishing practicing F&T management operations prior to hot commissioning the Hanford Waste Treatment Plant is desirable to ensure focused F&T leadership and F&T capabilities and competencies are immediately ready to sustain DFLAW production operations. Management of F&T is characterized by the five programmatic elements important to sustained operations and leads to recommendations for Hanford tank waste treatment operations:

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Polymerizations of 2-(Trimethylsilyl)ethanesulfonyl-activated aziridines

A novel N-sulfonyl aziridine, N-((2-(trimethylsilyl)ethyl)sulfonyl)-2-methyl-aziridine (SES-MeAz) was synthesized, and its controlled anionic ring-opening polymerization to form poly(SES-MeAz) studied. The desulfonylation of poly(SES-MeAz)s can be achieved under mild conditions, with tetrabutylammonium fluoride (TBAF) to form polypropylene imine (PPI), although purification of the PPI was not completely successful. The block copolymer p(pTs-MeAz)-b-p(SES-MeAz), (pTs-MeAz = N-para-tosyl-2-methyl-aziridine) was prepared by a sequential polymerization. The desulfonylation of the block copolymer is the first example of the selective removal of a sulfonyl protecting group from a poly(sulfonylazirdine) block copolymer and this is the first formation of a polysufonylaziridine-block-polypropylene imine copolymer. Three-armed star-shaped poly(SES-MeAz)s were also successfully synthesized and exhibited improved solubility compared with linear poly(SES-MeAz)s.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

A Multi-Instrument Cloud Condensation Nuclei Spectrum Product (Final Technical Report)

A wealth of observational data exists on the characteristics of atmospheric particulate matter, over multiple years, at the DOE ARM Southern Great Plains (SGP) Central Facility site. This site is located in a region of the country that frequently experiences weather extremes, and that is removed from many local sources of pollution but is affected by transported smoke, dust, and urban emissions. The relationships between particulate matter, cloud formation and evolution, and precipitation are therefore of strong interest, and are being explored via modeling on a variety of scales. These models require as input detailed information on the characteristics of particles capable of serving as the nuclei for cloud formation. Sufficient data exist to be able to put together a picture of the nature of the total aerosol and the cloud condensation nuclei (CCN) subset, and their variability, through merged data products. This study was aimed at exploiting the multiple measurement types at SGP to develop the first such multi-year estimates. Further, the resulting data were analyzed to understand temporal patterns ranging from hourly to seasonal, thereby gaining insights into the particle sources affecting the atmosphere in this region. DOE-funded datasets that were analyzed in this study include total particle number concentrations, submicron aerosol scattering coefficients, dry aerosol size distributions, and more recently, time-resolved submicron aerosol chemical composition. Data are also available for the number concentrations of particles that are activated in a cloud condensation nucleus instrument at a series of setpoint supersaturations, providing direct observations of the number concentrations of “CCN”. This variable is the quantity that is generally desired for inclusion in numerical models that seek to represent and predict the impacts of varying aerosol characteristics on the formation and microphysical properties of clouds. One limitation of the use of direct CCN observations is that they are not available for supersaturations larger than about 1%, which is insufficient for deep convection and may be insufficient even for shallow convection, depending on the nature of the available CCN and the dynamics of the cloud. We developed a data-based approach to representing the full aerosol size spectrum with size-dependent hygroscopicity, and used this to extrapolate CCN spectra beyond the limited measurements. Five years of SGP aerosol data (2009 -2013) were analyzed. As a side product of our work, we identified and communicated several previously-unflagged data quality issues. The resulting merged aerosol distributions, along with fits for seasonal averages, were published and submitted to the ARM archive as a special value-added product (VAP; submitted as a PI product). CCN spectra were computed for the same data period and will similarly be published and submitted to the archive for use by the community. We also note that our methodologies and findings have been discussed at several Joint ARM User Facility/Atmospheric System Research (ASR) Principal Investigators Meetings and that recent ARM/ASR aerosol data reporting strategies have included similar ideas for data merging, indicating that this work has had a lasting impact on ARM aerosol data acquisition and reporting. The proposed work advances the science of the interactions of aerosols, clouds and precipitation, with direct application to improve representation of such interactions for clouds in regional and global climate models. The archived data will continue to serve research studies in the future.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

A Succession of Cloud, Precipitation, Aerosol and Air Quality Field Experiments in the Coastal Urban Environment

The interactions and feedbacks among clouds, aerosols, pollutants, and the thermodynamic and kinematic environment remains an area of active research with important implications for our understanding of climate, weather and air quality. These linkages are further complicated in coastal and urban environments where local circulations and anthropogenic influences impact each of these components and their interactions. Within this context, fundamental questions regarding the lifecycle of convective clouds, aerosols and pollutants have brought together a diverse, integrated, and interagency collaboration of scientists to collect and analyze measurements, in the Houston, Texas, area, from the summer of 2021 through the summer of 2022, with subsequent modeling studies to address these important research objectives. Herein, the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) Facility and Atmospheric System Research (ASR) Program, the National Science Foundation’s (NSF) Physical and Dynamic Meteorology Program, the National Aeronautic and Space Administration’s (NASA’s) Tropospheric Composition Research and Health and Air Quality Applied Sciences Programs and the Texas Commission on Environmental Quality (TCEQ) are collaborating on a joint set of field campaigns to study the interactions of cloud, aerosol, and pollutants within the coastal, urban environment. In the Houston area, onshore flow from the Gulf of Mexico and the associated sea breeze circulation generates numerous isolated convective cells, particularly in the summer months, that interact with a variety of urban and industrial emissions.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Autonomous Navigation and Control of UGVs' in Nuclear Power Plants - 20381

The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Aerosol Inlets for a Mid-Sized Uncrewed Aerial System (UAS)

The purpose of this technical report is to document the efforts to design and test two inlet systems for aerosol sampling suitable for deployment on a medium-sized fixed-wing Uncrewed Aerial System (UAS). This work, which was supported by the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) user facility, was conducted at the Pacific Northwest National Laboratory (PNNL) for the ARM Aircraft Facility (AAF) starting in November 2017. The current work is a part of AAF efforts to instrument the ArcticShark (a mid-sized UAS owned and operated by the AAF) for atmospheric research and develop a scientific payload for deployment on a similar-sized UAS with minimal adaptation and integration. An aerosol inlet system is necessary to sample and transport ambient air sample to the scientific instrumentation with minimal distortions to the aerosols. Two isokinetic aerosol inlets were designed: the first is a simple passive system for a single instrument suitable to be installed in a wing pylon; the second is a system with active control designed to sample and distribute air among several heterogeneous instruments and to provide basic humidity control of the air sample so that the measured aerosol parameters should correspond to “dry” conditions (a common requirement). Both systems could be easily adapted for deployment on another platform and/or with a different set of instrumentation. Several conducted flight tests showed that the inlets’ performance met our design goals.

54 ENVIRONMENTAL SCIENCES↗