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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Machine Vision-based Robot Manipulators for Nuclear Applications - 20370

Decommissioning and dismantling of nuclear facilities are major challenges facing the nuclear industry. Robot manipulators with capabilities of restoring nuclear structures and significantly prolonging nuclear power generation in addition to their applications in decommissioning and dismantling (D and D) would immensely ease the above-mentioned challenge. Ability to remotely sense/monitor and analyze dangerous and hazardous environments such as nuclear reactors as well as performing reparatory tasks in such environments using robot manipulators require additional information from vision sensors. Structural sample collection and inspection as well as restoration require object and position information. Computer vision is used to obtain precise 3D position information. The current work uses the Sawyer robot with the integrated Cognex camera. The research presents an approach to facilitate and improve operations in a nuclear reactor using robotic vision control. The vision control system is modeled with Augmented Image Space-based visual servoing approach. Results showing accurate robot control. Object recognition is used to recognize the image and calculate it poses. To transform coordinates of the object's pose from the camera frame to the robotic frame transformation matrices are employed. Future work will employ a 3D camera (with depth information) using Denso robot. (authors)

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DOE OSTI2018

Monitoring Waste Tanks Using Guided Wave Technology - 18576

There are many challenges associated with the inspections of double-shell storage tanks containing radioactive waste, including limited space for accessibility and maneuverability, environments with high radiation, temperature and toxicity, and unknown physical conditions. Contents of the tank and limited space may prevent access of scanning devices that employ conventional NDE techniques such as ultrasonics, eddy current, or magnetic based methods. Resolving these challenges will become more urgent as the nuclear industry is forced to address the complications of the aging nuclear infrastructure - specifically at tank storage locations on laboratory sites across the DOE complex. A powerful, new approach to inspecting and monitoring the structural integrity of large structures, such as double-shelled tanks, is being developed using ultrasonic guided waves. Acoustic waves that propagate in a plate or other structure where the wavelength is larger than the thickness of the structure are known as ultrasonic guided waves. Ultrasonic guided waves can potentially propagate distances of tens to hundreds of feet in plate-like structures, such as those that comprise the walls and bottom of a storage tank. Guided waves enable the examination of relatively large inspection volumes from the outside surface of the structure. In double-shell tanks, the technology offers promise for examining the floor of the structure or the walls by placing guided wave sensors at accessible locations in the annulus. This guided wave technology has the capability to detect and localize areas of damage or degradation. While guided wave has recently been used in the nuclear and oil and gas industries for inspecting one-dimensional piping systems, current research is developing methods to apply this technology to the two-dimensional surfaces of double-shell storage tanks. Permanently installed sensors are being developed which would remotely collect data that would be analyzed to monitor the structural condition of the tank. Initial tests have been conducted on single plate structures to study guided wave interaction with various shapes and sizes of pertinent simulated damage mechanisms, and the experimental results were compared with hybrid finite-element numerical models. Dispersion curves were calculated to study guided wave modes and their properties in carbon steel plates and to evaluate behaviors at joints between plates. The next steps in the research process include applying the transmitters and sensors to full scale mockups, developing more mature data interpretation, and then demonstrations at an actual site. (authors)

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NASA NTRSDate not supplied

The NASA JSC Hypervelocity Impact Technology (HVIT) Office

The Hypervelocity Impact Technology (HVIT) office at the Johnson Space Center (JSC) is dedicated to support NASA flight programs in meeting their meteoroid and orbital debris (MMOD) protection requirements both efficiently and effectively, with a minimum of shielding mass, volume, and cost. This paper provides an overview of HVIT capabilities in providing hypervelocity tests, analyses, MMOD risk assessments and shielding expertise. HVIT personnel work closely with NASA Program personnel to develop program-specific MMOD protection requirements which are achievable based on initial risk assessments. Then HVIT proceeds with hypervelocity impact testing and hydrocode assessments to update and verify ballistic limit equations used in the MMOD risk assessment. The final MMOD risk assessment prior to flight will show compliance with MMOD requirements. This final assessment will also incorporate changes in the MMOD environment from meteoroid showers and orbital debris breakups. After the mission is flown, post-flight inspections are performed by HVIT to document and trend MMOD damage to returned spacecraft surfaces and hardware. A majority of the hypervelocity impact tests are performed at the NASA WSTF Remote Hypervelocity Test Laboratory (RHTL), although other hypervelocity facilities that provide complementary test capabilities are called on when necessary to fill data gaps. HVIT accomplishments in NASA mission support are described. In addition, current HVIT activities to aid on-going NASA crewed missions and science missions are presented.

Hypervelocity↗
NASA NTRS1981

Prospects for measuring phytoplankton bloom extent and patchiness using remotely sensed color images: An example

A 10 channel scanning radiometer, built as a prototype for the coastal zone color scanner on the Nimbus 7 satellite, was flown on a high altitude aircraft during a Gymnodium breve bloom along the west coast of Florida. The remotely measured ocean color imagery shows what is probably the patchy structure of a G. breve bloom extending over a 60 km by 100 km area. This conclusion is based on visual inspection of bathymetry to infer bottom reflection trends and on a single growth truth measurement of B G. breve obtained the previous day. The image shows coherent blooms which extend scales up to 60 km in length.

Mueller, J. L.↗
NASA NTRS2015

Future of Condition Based Maintenance at Stennis

This study seeks to understand the current state of condition based maintenance (CBM) at Stennis Space Center and set a bench mark for the future expansion of the CBM program. Condition based maintenance is the idea of maintaining an asset upon decreasing performance or when a failure is impending instead of at some arbitrary time regardless of condition. Special attention was paid to remote sensing and monitoring of assets around the center to cut maintenance costs and extend overall operational lifetime of those assets. It was found that 55 percent of the categories of assets which could actually utilize a remote CBM program are currently being partially monitored. CBM solutions that have been investigated and proposed for future deployment cover areas such as building integrity, oil analysis, power line and water pipe inspection.

George, Cory A.↗
NASA NTRS2005

Innovative Robot Archetypes for In-Space Construction and Maintenance

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Rehnmark, Fredrik↗
NASA NTRS1988

Planetary astronomy P. I. research summary

A systematic survey for near-Earth and planet-crossing asteriods is being conducted with the 0.46 m Schmidt at Palomar to increase the number of known asteroids and establish improved estimates of their populations and size distribution. Access to a limited number of PSS11 plates from the 1.2 m Schmidt are used also to search for unusual objects. Field pairs from the 0.46 m are photographed and inspected with a stereomicroscope; new objects are detected and followed to establich definitive orbits. When near-Earth asteroids are discovered, other astronomers are informed so that physical observations can be obtained. With remote sensing results, possible generic relationships are suggested. Population refinements can be accomplished by increasing the number of known asteroids under well-established conditions of search. From 13 observing runs made at Palomar, 215 new asteroids were discovered and reported with good orbits determined for 90. Significant discoveries are Apollo 1988 EG, Amor 1987 QB, and an unusual high inclination asteroid, 1988 EO. Other discoveries of importance include 12 Mars-crossers, 6 Hungaries, and 13 Phocaeas. The discovery of short-period comet Helin, 1988w, which makes a close approach to Saturn, is also notable.

Helin, Eleanor F.↗
NASA NTRS2015

Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

Devices for manipulating and precisely placing payloads are critical for efficient space operations including berthing of spacecraft, in-space assembly, construction and repair. Key to the success of many NASA space activities has been the availability of long-reach crane-like devices such as the Shuttle Remote Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS). These devices have been used for many operations including berthing visiting spacecraft to the International Space Station, deployment of spacecraft, space station assembly, astronaut positioning, payload transfer, and spacecraft inspection prior to atmospheric re-entry. Retiring the Space Transportation System has led to the removal of the SRMS from consideration for in-space missions, thus creating a capability gap. Recognizing this gap, work was initiated at NASA on a new architecture for long-reach space manipulators. Most current devices are constructed by joining revolute joints with carbon composite tubes, with the joints accounting for the majority of the device mass. For example in the case of the SRMS, the entire device mass is 410 kg (904 lbm); the joint structure, motors, gear train, cabling, etc., accounts for the majority of the system mass because the carbon composite tubes mass is 46 kg (101 lbm). An alternate space manipulator concept, the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) was created to address deficiencies in the current state-of-the-art in long-reach manipulators. The antagonistic tendon actuated joint architecture allows the motors actuating the joint to be removed from the joint axis, which simplifies the joint design while simultaneously providing mechanical advantage for the motors. The improved mechanical advantage, in turn, reduces the size and power requirements for the motor and gear train. This paper will describe recent architectural improvements to the TALISMAN design that: 1) improve the operational robustness of the system by enabling maneuvers not originally possible by varying the TALISMAN geometry; 2) enable efficient active antagonistic control of a joint while sharing cable between antagonistic tension networks; and 3) uses a unique arrangement of differential capstans to reduce motor torque requirements by an order of magnitude. The paper will also summarize recent efforts to enable autonomous deployment of a TALISMAN including the deployment concept of operations and associated hardware system design. The deployment forces are provided by the same motor systems that are used for articulation, thus reducing the mass associated with the deployment system. The deployment approach is being tested on a TALISMAN prototype which is designed to provide the same operational performance as a shuttle-class manipulator. The prototype has been fabricated and is operational in a new facility at NASA Langley Research Center that has a large area (15.2 m by 21.3 m [50 ft by 70 ft]) air-bearing floor.

Doggett, William R.↗
NASA NTRS1973

Utilization of remotely-sensed data in the management of inland wetlands

The author has identified the following significant results. ERTS-1 data and aerial photography are proving to be a useful tool for the inventory and management of inland wetlands. Two examples of the application of remotely-sensed data to specific wetland management needs or requirements are discussed. Studies of the Great Dismal Swamp are utilizing ERTS-1 imagery and color IR photography in: (1) study area selection; (2) field inspection; (3) vegetation mapping; (4) identification of drainage characteristics and moisture regime; (5) location of intensive study areas; and (6) detection of change. Thematic extractions of ERTS-1 data made using the United States Geological Survey's Autographic Theme Extraction System are aiding analyses of swamp hydrologic regime and providing information pertinent to quick recognition and inventory of wetlands from ERTS-1. DCP'S in south Florida wetlands provide near-real time data for water resources managers. Data relayed by satellite can be entered into models to provide predictive data and water storage information for long-term and short-term decision making.

Carter, V.↗
NASA NTRS2001

Compact Microscope Imaging System Developed

The Compact Microscope Imaging System (CMIS) is a diagnostic tool with intelligent controls for use in space, industrial, medical, and security applications. The CMIS can be used in situ with a minimum amount of user intervention. This system, which was developed at the NASA Glenn Research Center, can scan, find areas of interest, focus, and acquire images automatically. Large numbers of multiple cell experiments require microscopy for in situ observations; this is only feasible with compact microscope systems. CMIS is a miniature machine vision system that combines intelligent image processing with remote control capabilities. The software also has a user-friendly interface that can be used independently of the hardware for post-experiment analysis. CMIS has potential commercial uses in the automated online inspection of precision parts, medical imaging, security industry (examination of currency in automated teller machines and fingerprint identification in secure entry locks), environmental industry (automated examination of soil/water samples), biomedical field (automated blood/cell analysis), and microscopy community. CMIS will improve research in several ways: It will expand the capabilities of MSD experiments utilizing microscope technology. It may be used in lunar and Martian experiments (Rover Robot). Because of its reduced size, it will enable experiments that were not feasible previously. It may be incorporated into existing shuttle orbiter and space station experiments, including glove-box-sized experiments as well as ground-based experiments.

McDowell, Mark↗
NASA NTRS2015

Underwater Multi-Node Radio Communication Solutions for Planetary Exploration

The exploration of the presumably life harboring subsurface ocean of Europa will provide scientists with extensive new knowledge in the search for extraterrestrial life. A highly miniaturized payload is required to penetrate a narrow passage through the thick ice crust covering Europa's surface. Underwater wireless communications may be the most viable means of communication for such exploratory missions, accounting for size and weight restrictions. This presents a challenge to achieve satisfactory data rates and a range that permits autonomous underwater vehicles (AUVs) to communicate within their region of operation, as well as with a surface lander or orbiter. This work presents thorough prototype experimentation on an underwater communication system established between several nodes using RF signals. During an eight-week internship experience at NASA's Ames Research Center in September-October 2014, our team developed a Europa exploration mission concept, built representative hardware, and carried out tests to assess the feasibility of key aspects of the concept. Experiments demonstrating the viability of RF communication underwater comprised inspecting the effect of depth and horizontal distance on signal strength as well as the optimum positioning of antennas. To test the system's performance, two submersibles were designed and built. A commercially available remotely operated vehicle (ROV) was also modified and used as a main communication node. The two submersibles were wirelessly connected and accommodated sensors capable of characterizing water properties and equipped with 2.4 GHz, 1 mW transceivers to communicate the measured data. The communication procedure is that the main communication node requests the collected data from the two submersibles when in range and receives it instantly through RF. This work models what may take place during an actual mission to Europa. The developed mission concept involved a hybrid communication system consisting of acoustic and RF signals to enhance the capability of the nodes to communicate over greater distances. The AUVs will need to avoid obstacles and maneuver around to collect data based on predefined algorithms. Thus, they will be provided with two positioning systems; the inertial navigation system, backed with an acoustic positioning system to mitigate drift. The AUVs divide the ocean into planes and explore along circular paths increasing in diameter with depth. Moreover, they make use of miniaturized sensors to map the surrounding environment. In this paper, the ROV and the submersibles are described, along with sections explaining the mechanism of communication and the testing procedures conducted to yield results.

Europa↗
NASA NTRS2012

Smart Composite Overwrapped Pressure Vessel - Integrated Structural Health Monitoring System to Meet Space Exploration and International Space Station Mission Assurance Needs

Currently there are no integrated NDE methods for baselining and monitoring defect levels in fleet for Composite Overwrapped Pressure Vessels (COPVs) or related fracture critical composites, or for performing life-cycle maintenance inspections either in a traditional remove-and-inspect mode or in a more modern in situ inspection structural health monitoring (SHM) mode. Implicit in SHM and autonomous inspection is the existence of quantitative accept-reject criteria. To be effective, these criteria must correlate with levels of damage known to cause composite failure. Furthermore, implicit in SHM is the existence of effective remote sensing hardware and automated techniques and algorithms for interpretation of SHM data. SHM of facture critical composite structures, especially high pressure COPVs, is critical to the success of nearly every future NASA space exploration program as well as life extension of the International Space Station. It has been clearly stated that future NASA missions may not be successful without SHM [1]. Otherwise, crews will be busy addressing subsystem health issues and not focusing on the real NASA mission

Saulsberry, Regor↗
DOE OSTI2020

Augmented Monitoring and Condition Assessment Program for SNF Wet Storage Life Extension - 20489

Approximately 27 MTHM of spent nuclear fuel (SNF) owned and managed by the U.S. Department of Energy, Office of Environmental Management is stored in the L Basin at the Savannah River Site (SRS). This 'DOE SNF' is comprised of approximately 12,000 aluminum-clad, aluminum-based fuel assemblies (∼7 MTHM), and approximately 2000 non-aluminum fuel assemblies (∼20 MTHM). A program is in progress to perform Non-Destructive Examination (NDE) of the fuel and their storage containers to characterize the materials' condition, and to evaluate the effects of service to enable continued safe wet storage of the SNF. The Augmented Monitoring and Condition Assessment Program (AMCAP), a two-part program to develop and implement remote underwater Non-Destructive Examination of the aluminum SNF, and of the containers of the non-aluminum SNF, respectively, is aimed at the characterization and evaluation of corrosion degradation of aluminum fuel and container materials. The predominant design of the aluminum SNF (ASNF) stored in L Basin is the Materials Test Reactor (MTR) equivalent design, a plate fuel design. These SNF are stored in 5'' diameter tubes or 5'' x 5'' squares (called bundles) that are nominally 12' or up to 14' long. The SNF is de-bundled and inspected using a custom-designed MTR Fuel Inspection Table. The inspection table provides for indexed fuel positioning for a video camera examination with controlled lighting. A total of 10 of the SNF originating from foreign research and test reactors were selected for examination based on burnup, enrichment, and prior damage caused by service/storage history. A special inspection campaign of these 10 assemblies is in progress. The observed corrosion damage included minor to moderate attack from general corrosion, pitting, crevice, end grain and galvanic corrosion. Example results from the completed inspections are shown and discussed. The focus is a comparison of the as-received condition versus the as-found current storage condition that will serve to validate Water Chemistry and Corrosion Monitoring Programs. The non-aluminum SNF (NASNF) stored in L Basin are of diverse design that includes various geometries with claddings of stainless steel, Zircaloy, and Hastelloy. The fuel core materials include uranium alloys, oxides/mixed oxides, and carbides. These SNF materials, originating from early experimental and test reactors, are in various physical forms including single fuel elements and cut pieces. The fuel is stored in L Basin in various configurations including in direct bundled storage in aluminum tubes and in isolation cans that are in the bundles or in a larger over-size storage container (OSC). Concern with inside-out corrosion and the potential loss of configuration control and ability to handle the storage containers prompted the development of remote NDE methods that include visual and UT technologies to assess the condition of the containers. Candidate stored materials were selected for a special inspection campaign; the development of the NDE methods for the inspection for galvanic, crevice and sediment-induced corrosion (inside-out) are discussed. A summary of the SNF storage in L Basin at the SRS, and an overview of the AMCAP to enable continued safe storage of DOE SNF are described. (authors)

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NASA NTRS1984

The Shuttle Remote Manipulator System and its use in orbital operations

It is pointed out that the Shuttle Remote Manipulator System (RMS) is a key element in the Space Transportation System's ability to deploy, retrieve, and handle payloads in space. In addition, the RMS has the capability of performing other critical tasks such as inspection, construction, and satellite servicing. The present investigation is concerned with various end of arm tool concepts which could augment the RMS's capability enabling it to perform functions such as pushing/holding (applying pressure), prying, clamping (nonimpulse release) and shearing. Attention is also given to a tool for satellite servicing, a method for augmenting the operator's 'feel' for the job by force/moment sensing, and a possible four phase program for implementation of the tool system. A description is given of the key elements of RMS flight testing carried out to date.

Sachdev, S. S.↗
NASA NTRS1986

Mobile Remote Manipulator

Turret, roll arm, and trolley enhance manipulator dexterity. Remote manipulator moves on trolley base along structure. Roll-axis arm positions manipulator arm so it can extend end effector under structure. Yaw-axis rotation gives added reach to arm above structure. Designed for handling, inspecting, and maintaining modules of space station. Manipulators having such capabilities useful on Earth; robots in manufacturing, erection of large structures, or performing complicated tasks in hazardous locations.

Coryell, S.↗
DOE OSTI2017

Exploring the Use of Muon Momentum for Detection of Nuclear Material Within Shielded Spent Nuclear Fuel Dry Casks

The inspection of the storage containers that house used nuclear fuel is an important issue facing the nuclear industry; currently, there are limited options available to provide for even minimal inspections. During the long storage life of the fuel, intermediate handling and transportation activities may take place that can create concerns regarding fuel integrity (safety) and continuity of knowledge (safeguards and security). Accidents and natural disasters also contribute to this concern. The reliable and safe management of used nuclear fuel is among the critical tasks to be addressed for the advancement of fission-based nuclear energy in the United States and elsewhere. Since the early 1950's, when the first nuclear power plant began to produce electricity, approximately 65,000 metric tons of used nuclear fuel have been generated in the United States. The postponement of the opening of a permanent repository until 2048 will lead to increased used fuel accumulation at reactor sites. A rapid increase in storage installations with more than 9,000 casks storing {approx}420,000 assemblies is anticipated by 2050 even if no new nuclear power plants are built. After used nuclear fuel has been placed inside a cask, the cask is sealed, not allowing for visual inspection. Conventional methods, e.g., x-rays, are limited in that they cannot penetrate dense, well-shielded objects. More sophisticated techniques, such as penetrating neutrons or proton radiography, require the use of an expensive accelerator. Efforts by Ziock et al. using neutron and gamma-ray imagers concluded that '...the signatures are deemed insufficient to uniquely identify individual casks of the same type...'. It was found that the gamma-ray and neutron images were dominated by diffusion and thermalization effects resulting from the large amount of shielding. One promising mode of inspection would use cosmic-ray muons. These muons are naturally generated, are able to penetrate dense materials, and are incident from all directions above the horizon. Tomography performed using these muons could potentially provide efficient, inexpensive, remote assessment of used nuclear fuel. However, current muon applications are limited in that they have not included momentum measurement. If momentum measurement could be incorporated, that would represent a big step forward because it would allow more accurate estimation of the muon observables, e.g., scattering variance. This approach has the potential to reconstruct the contents of a cask with improved resolution and identify partial defects, fuel assemblies, and individual fuel rods.

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NASA NTRS1987

Dedicated robotic servicing for the space station

The concept of a series of dedicated robotics manipulators that would be resident in the subsystems of the Space Station is presented. These would be used to do Orbital Replacement Unit (ORU) exchanges, inspection of the components, and in certain cases subsystem assembly. By performing these well-definded tasks automatically, higher crew productivity would be achieved. In order to utilize the robots effectively, ORU's must be designed to allow remote release and quick disconnection of the electrical, fluid, and thermal connections. The robot must be of a modular design for ease of maintenance and must have an adaptive control capability to make-up for slight errors in programming.

Thompson, R. F.↗
NASA NTRS2001

Summary of ADTT Website Functionality and Features

This report summarizes development of the ADTT web-based design environment by the ELORET team in 2000. The Advanced Design Technology Testbed had been in development for several years, with demonstration applications restricted to aerodynamic analyses of subsonic aircraft. The key changes achieved this year were improvements in Web-based accessibility, evaluation of collaborative visualization, remote invocation of geometry updates and performance analysis, and application to aerospace system analysis. Significant effort was also devoted to post-processing of data, chiefly through comparison of similar data for alternative vehicle concepts. Such comparison is an essential requirement for designers to make informed choices between alternatives. The next section of this report provides more discussion of the goals for ADTT development. Section 3 provides screen shots from a sample session in the ADTT environment, including Login and navigation to the project of interest, data inspection, analysis execution and output evaluation. The following section provides discussion of implementation details and recommendations for future development of the software and information technologies that provide the key functionality of the ADTT system. Section 5 discusses the integration architecture for the system, which links machines running different operating systems and provides unified access to data stored in distributed locations. Security is a significant issue for this system, especially for remote access to NAS machines, so Section 6 discusses several architectural considerations with respect to security. Additional details of some aspects of ADTT development are included in Appendices.

Hawke, Veronica↗