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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 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
DOE OSTI2019

Pressure Safety Data Package for Remote Balloon Launcher (RBL)

The Barrow Hydrogen Fill System is intended for use by the authorized Sandia National Laboratories personnel and its contractors who are involved in research relating to the deployment of weather balloons for the Department of Energy's Atmospheric Radiation Measurement Program (ARM) https://www.arm.gov/ and The National Weather Service (NWS) https://www.weather.gov/. Hydrogen is supplied from a hydrogen generation shelter and outdoor storage tank. The balloons are filled and released by a remote balloon launcher (RBL) commercially available from Vaisala. The RBL was designed to be used with helium or hydrogen and has be recently inspected by Vaisala for hydrogen operation. This system is composed of a pressure regulator, ball valves, pressure relief valves, tubing, hose. All pressurized components are "off the shelf items and have a minimum pressure rating of 300 psi and are assembled using "Best Practices" and trained pressure component installers. Non pressurized components are comprised of industry recommended components and are assembled using "Best Practices" techniques.

42 ENGINEERING↗
NASA NTRS1974

Design considerations for the Shuttle/Orbiter closed-circuit television subsystem

The Shuttle/Orbiter Program requirements relative to operational and performance parameters of the CCTV (closed circuit television) subsystem and their influence upon design considerations are presented. The anticipated use of the CCTV for rendezvous, docking, manipulator arm operation, satellite inspection and general orbiter operations is outlined to establish the performance requirements of each subsystem element. Typical physical characteristics, interface parameters, and remote-control design philosophy are briefly described.

Perry, W. E.↗
NASA NTRS1991

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

Task Performance and Analysis↗
NASA NTRS2006

STS-121: Discovery Mission Overview Briefing

Tony Ceccacci, Lead STS-121 Space Shuttle Flight director, and Rick LaBrode, Lead STS-121 ULF 1.1 International Space Station Flight Director, are shown in this STS-121 Discovery mission overview. Ceccacci begins with an overview of the mission and gives the mission goals. He also presents various slides of the STS-121 payload that includes: 1) Orbiter Docking System; 2) Integrated Cargo Carrier (ICC); 3) Multipurpose Logistics Module (MPLM); 4) TPS Sample Box Assembly; 5) Shuttle Remote Manipulator System (SRMS); and 6) Orbiter Boom Sensor System (OBSS). He shows a video presentation on the various processes involved in the inspections of the Orbiter that include: 1) Unberthing OBSS; 2) Starboard wing leading edge survey; 3) Wing leading edge passes; 4) Nose cap surveys; 5) Port side surveys; and 6) Docking with the International Space Station. Ceccacci ends his presentation with discussing the work performed from flight day 1 to flight day 14. Rick LaBrode begins with discussing the on-orbit status of the Expedition 13 crew. He then presents a video of the MPLM installation, forward hatch of MPLM, resupply stowage platform, resupply stowage racks, and Oxygen Generator System (OGS) rack. Questions are answered from the media.

Source record↗
NASA NTRS2004

Compact Microscope Imaging System with Intelligent Controls

The figure presents selected views of a compact microscope imaging system (CMIS) that includes a miniature video microscope, a Cartesian robot (a computer- controlled three-dimensional translation stage), and machine-vision and control subsystems. The CMIS was built from commercial off-the-shelf instrumentation, computer hardware and software, and custom machine-vision software. The machine-vision and control subsystems include adaptive neural networks that afford a measure of artificial intelligence. The CMIS can perform several automated tasks with accuracy and repeatability . tasks that, heretofore, have required the full attention of human technicians using relatively bulky conventional microscopes. In addition, the automation and control capabilities of the system inherently include a capability for remote control. Unlike human technicians, the CMIS is not at risk of becoming fatigued or distracted: theoretically, it can perform continuously at the level of the best human technicians. In its capabilities for remote control and for relieving human technicians of tedious routine tasks, the CMIS is expected to be especially useful in biomedical research, materials science, inspection of parts on industrial production lines, and space science. The CMIS can automatically focus on and scan a microscope sample, find areas of interest, record the resulting images, and analyze images from multiple samples simultaneously. Automatic focusing is an iterative process: The translation stage is used to move the microscope along its optical axis in a succession of coarse, medium, and fine steps. A fast Fourier transform (FFT) of the image is computed at each step, and the FFT is analyzed for its spatial-frequency content. The microscope position that results in the greatest dispersal of FFT content toward high spatial frequencies (indicating that the image shows the greatest amount of detail) is deemed to be the focal position.

McDowell, Mark↗
NASA NTRSDate not supplied

A New Control Paradigm: Multiple Aircraft Controlled by Multiple Operators

Remotely piloted aircraft systems (RPAS) are becoming more and more prevalent in the aerospace operations. This is true in a number of diverse domains; urban air mobility, medical product delivery, infrastructure inspection, high altitude pseudo-satellites, search and rescue, auto cargo and several other applications. One aspect that all of these share in common is the need for scalability to be viable and continue to grow. The Association of Uncrewed Vehicle Systems International (AUVSI) develops an annual economic report. They project that in the first three years of integration more than 70,000 jobs will be created in the US alone, with an economic impact of more than $13.6 billion. This benefit will grow through 2025 when we foresee more than 100,000 jobs created and economic impact of $82 billion. For many of these domains to reach these levels and have the scalability needed, they will require a remote pilot to control multiple aircraft (1:N) or the extension of that, multiple pilots controlling multiple aircraft (m:N). This is a new control paradigm that raises multiple issues in various areas. The issues include regulatory, technical, safety, community acceptance and Human Factors. Human factors issues include displays, pilot workload, pilot situation awareness just to name a few. This panel brings together researchers, developers and operators that have been working in the area of m:N. They will discuss the need, the issues and some potential solutions.

multi-vehicle control↗
NASA NTRS1997

Initial Results from Vision-based Control of the Marsokhod Rover

A geologist characterizing a field site typically wanders from one interesting geologic feature to another. Performing geology remotely with a mobile robot, we have observed the same behavior: geologists see a visually-interesting feature and wish to approach it for closer inspection. To date, navigating a mobile robot to a visually-interesting feature has been accomplished by driving to a location close to the feature. This introduces two problems: assigning a location to the feature and navigating the rover to that location. In practice, solutions to both of these problems are susceptable to positional error. Fundamentally, we can see where we want the robot to go, but it is difficult to precisely quantify where either the target or the robot are located. The development of vision-based control of robot manipulators suggests an alternative approach for mobile robot explorers. We have developed a vision-based control system that enables the Marsokhod rover to drive to within sampling distance of visually-designated rock or natural feature. We will describe this system and our initial results using it during a field experiment in the Painted Desert of Arizona.

Wettergreen, David↗
NASA NTRS2010

Principal Components Analysis of Reflectance Spectra Returned by the Mars Exploration Rover Opportunity

The Mars Exploration Rover Opportunity has spent over six years exploring the Martian surface near its landing site at Meridiani Planum. Meridiani bedrock observed by the rover is largely characterized by sulfate-rich sandstones and hematite spherules, recording evidence of ancient aqueous environments [1]. The region is a deflationary surface, allowing hematite spherules, fragments of bedrock, and "cobbles" of foreign origin to collect loosely on the surface. These cobbles may be meteorites (e.g., Barberton, Heat Shield Rock, Santa Catarina) [2], or rock fragments of exotic composition derived from adjacent terranes or from the subsurface and delivered to Meridiani Planum as impact ejecta [3]. The cobbles provide a way to better understand Martian meteorites and the lithologic diversity of Meridiani Planum by examining the various rock types located there. In the summer of 2007, a global dust storm on Mars effectively disabled Opportunity's Miniature Thermal Emission Spectrometer (Mini-TES), which served as the Athena Science Team s primary tool for remotely identifying rocks of interest on a tactical timescale for efficient rover planning. While efforts are ongoing to recover use of the Mini-TES, the team is currently limited to identifying rocks of interest by visual inspection of images returned from Opportunity's Panoramic Camera (Pancam). This study builds off of previous efforts to characterize cobbles at Meridiani Planum using a database of reflectance spectra extracted from Pancam 13-Filter (13F) images [3]. We analyzed the variability of rock spectra in this database and identified physical characteristics of Martian rocks that could potentially account for the observed variance. By understanding such trends, we may be able to distinguish between rock types at Meridiani Planum and regain the capability to remotely identify locally unique rocks.

Mercer, C. M.↗
DOE OSTI2020

ASNF Engineering Scale Drying Experiment Acceptance Criteria for Fabricated Items

This document specifies the acceptance criteria for items fabricated by Holtec International under the scope of INL Contract # 215725, consistent with the parameters described in INL/EXT-19-56017, Aluminum-clad Spent Nuclear Fuel Engineering Scale Drying Experiment Design. Verification is confirmed with initials (or the need for remediation may be identified) along with the date of inspection for each requirement. Verification may be performed by independent proxy (University of South Carolina participant, under INL Contract Number 207046) or by an INL employee, remotely by camera images.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Robotics for Nuclear Monitoring and Inspection - 18029

As a greater number of the world's nuclear facilities approach the end of their planned lifetime and enter the decommissioning and dismantling phase, a greater impetus than ever is being placed on the use of novel technologies to assist in this otherwise extremely lengthy, complicated and costly process. Being host to numerous first-generation plants, as well as the Sellafield Limited nuclear reprocessing facility, the UK is now requiring the use of a range of robotic systems and is well-placed to act as a test-bed for the deployment of these platforms. Presented in this work is the overview of the wide range of robotic research that is occurring at the University of Bristol. Not limited to ground-based platforms - those developed at the University Bristol,UK, include; airborne, underwater as well as pipeline network monitoring systems. Through the application of each of these robotic systems, not only is the dose-rate otherwise experienced by the operator removed, but the costs associated with the work are also significantly reduced, as well as the speed at which it is performed dramatically increased. All the systems descried in this work have been successfully deployed at one (or multiple) nuclear sites, with the results used to inform further decommissioning - typically within environments previously uncharacterised due either to their inaccessibility or high levels of radioactivity. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2017

Assessment of the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility Vault Concrete Data

This document provides a summary of the concrete performance data collected during vault fabrication and installation. The report includes the process by which quality data was collected during vault fabrication and installation, the inspection requirements, and a summary of resulting test data with the potential to impact vault system durability. This report also includes quantitative data collected on cured concrete samples poured for random concrete batches throughout the concrete component fabrication process. Quantitative data includes total porosity, bulk density, absorption, effective porosity, and gas-phase permeability. Chloride diffusivity data collected during the concrete mix selection process are also included for completeness. Data shows that the vault quality assurance program resulted in components received insignificant defects and damaged areas during the fabrication stage and during the vault installation stage. Data collected on the cured concrete samples show the gas-phase permeability and effective porosity are slightly higher than the data used to select the concrete mix designs.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2019

Authentication Protocol for ICS without Encryption

Industrial control systems (ICS) describes the different types of control systems and associated instrumentation, which includes the devices, systems, networks, and controls used to operate and/or automate industrial processes. Depending on the industry, each ICS functions differently and are built to electronically manage tasks efficiently. Historically, industrial plants have included networking, and changes have been made over time without consideration for security. Many ICS devices currently have inadequate security features. Adding encryption in ICS is undesirable because many of the new detection method involves deep packet inspection. Therefore, we propose to develop a method of providing authentication between devices without encrypting the data. This testbed design will allow rapid development and experimentation with Cyber Physical Systems. Modbus connects to a supervisory computer with a Remote Terminal Unit (RTU) in Supervisory Control and Data Acquisition (SCADA) systems. Our project seeks to enhance security in the ICS environment by adding device authentication to the lower levels of the plant floor. This approach was selected as it allows verification of the sender of data from level 1/level 0 devices up to supervisory systems. This addition is desirable as it adds enhanced verification to the integrity of system data without obscuring (via encryption) the data being transmitted across the network. This is important because many ICS systems are real time critical (decryption adds to latency) and many other good security options require deep packet inspection (which encryption completely defeats). To accomplish this, a proof of concept of adding an authentication scheme was designed and will be tested with a common ICS protocol. The setup includes a single serial cable connecting the serial ports on two devices, a Master and a Minion. Authentication will occur in the following methods: - Data layer involving Transport Layer Security/Secure Socket Layer (TLS/SSL); - TCP/IP route implementation; - Key exchange algorithm; - Raspberry Pi programming for authentication. A portion of the setup includes adding Raspberry Pi into the system as the device is handling the authentication for the network traffic. Modbus is the chosen ICS protocol. It is used to transmit signals from instrumentation and control devices back to a main controller or data gathering system. Typically, the device identity is assumed but not verified. For verifying device identity, we constructed a digital signature architecture with TLS. A novel adaptation of this is to use only the digital signature that is provided and not the encryption capability. This allows ICS traffic to flow unobscured while still providing verification for the integrity of the data. Verification of this process will involve adding additional I/O level network devices with spoofed IP addresses and detecting the authenticated versus unauthenticated traffic. Our TLS implementation will have encryption disabled but should still allow for digital signing of data. This will enable our system to distinguish between real end devices and spoofed end devices. This experiment is presently building the test setup. It is focusing on a small setting to identify authenticated and unauthenticated devices on the network. This should allow for scaling to a larger network size after the initial proof of concept. One concern with this scheme is a certificate deployment has a large scale key management. Network size will thus increase the key management task for security. In addition, we believe that further research should be done on exploring the use of this method to defeat man-in-the-middle attacks.

42 ENGINEERING↗
NASA NTRS1989

Making Internal Molds Of Long, Curved Tubes

Mold material carried to internal weld joint and removed after impression taken. Remotely operated device makes impression mold of interior surface of tube at weld joint. Mold provides indication of extent of mismatch between members at joint. Maneuvered to weld inspected through curved tube 3 in. in diameter by 50 in. long. Readily adapted to making molds to measure depth of corrosion in boiler tubes or other pipes.

Burley, Richard K.↗
DOE OSTI2024

A nuclear power plant digital twin for developing robot navigation and interaction

As robot technologies are rapidly improving, an increasing number of new ideas on utilizing robots for automated operation and maintenance tasks in nuclear power plants (NPPs) are being studied. However, due to safety concerns, researchers hardly found opportunities to test their new robot solutions on physical NPPs. In that sense, an efficient and realistic simulation environment plays a vital role in the development of automation systems for an NPP. In this paper, we propose the design of a 3D digital twin system capable of simulating NPP in real-time. This system obtains the data from a full-scope NPP simulator to reproduce the operating conditions of the plant. In addition, a scenario of a team of robots performing inspection tasks like temperature and pressure measurements will highlight its usability. This system enables development of intelligent robot swarms to deploy for inspection and maintenance purposes. It will positively impact autonomous control and operations for many types of reactors by reducing uncertainty in autonomous control and providing the tools necessary for remote intervention.

Energy & Fuels↗
NASA NTRS1983

Application of optical fibers to wide-band differential interferometry

A broadband differential optical interferometer that uses an optical-fiber waveguide to transmit coherent light to a surface under inspection is discussed. Input laser light is coupled into two single-mode optical fibers in a stationary input optics enclosure. The fibers transmit the light to a small, remote detection head where it is used in a wide-band differential interferometer to detect continuous and pulsed surface-particle displacements. The effective separation between the input optics and the detection head allows simple surface scanning and probe alignment. Detection of simulated acoustic emission pulses by a prototype test unit is reported.

Garg, A. O.↗
NASA NTRS1990

NASA's first dexterous space robot

NASA is developing the Flight Telerobotic Servicer (FTS), a robotic device that can be teleoperated under constant command of a human operator or run by itself under human supervision. Plans call for the FTS to assist the astronauts in the assembly, maintenance, servicing, and inspection of Space Station Freedom. The FTS project is driven by five major objectives: to reduce Space Station dependence on crew EVA, improve crew safety, enhance crew utilization, promote remote servicing capabilities for platforms, and accelerate technology transfer from research to U.S. industry. Another part of the FTS project is a ground system that will support operations and system evolution. Not only will the FTS provide a needed operational capability during the assembly and operation of Space Station Freedom, it will also provide an expanding foundation for proving more advanced robotic and telepresence concepts in space.

Mccain, Harry G.↗
DOE OSTI2017

Development and Testing of Robotic Inspection Tools for the High-Level Waste Double Shell Tanks at Hanford - 17292

Florida International University (FIU) has been developing inspection tools that are capable of accessing the tank floors of double shell tanks through air supply lines and air refractory channels. This effort has led to the development of a pneumatic pipe crawler and a miniature rover. The miniature rover is a remote controlled vehicle with four wheels directly driven by independent micro DC motors.. The rover will have to navigate through channels as small as 3.81 cm by 3.81 cm, and includes turns with angles up to 90 deg.. To avoid debris, the device travels upside down, magnetically attached to the bottom of the primary tank. The pneumatic pipe crawler is a snake type robot with a modular design. The design is an evolution of previous peristaltic crawlers developed at FIU, and uses pneumatic actuators to emulate the contractions of the peristaltic movements. The inspection path consists of approximately 30 m of pipe (7.62 and 10.16 cm in diameter), reducers and several elbows. In this paper, engineering scale testing of the both systems is presented. Slight modifications have also been made to the designs, based on the testing, and are also explained. The engineering scale testing of the crawler includes approximately 30 m of piping that has the same lengths, dimensions and fittings as the air supply line of AY-102. The primary difference is that that actual line has a number of sections that are vertical. Testing of the miniature rover has included a test-bed manufactured with brick pavers, providing more realistic coefficients of friction between the tether and the channel. Efforts to reduce the load induced when the tether is in contact with a corner in the refractory channel will also be provided. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗