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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 289 records · Page 16

Evaluation of the Impact of Concentration and Extraction Methods on the Targeted Sequencing of Human Viruses from Wastewater

Sequencing human viruses in wastewater is challenging due to their low abundance compared to the total microbial background. This study compared the impact of four virus concentration/extraction methods (Innovaprep, Nanotrap, Promega, and Solids extraction) on probe-capture enrichment for human viruses followed by sequencing. Different concentration/extraction methods yielded distinct virus profiles. Innovaprep ultrafiltration (following solids removal) had the highest sequencing sensitivity and richness, resulting in the successful assembly of several near-complete human virus genomes. However, it was less sensitive in detecting SARS-CoV-2 by digital polymerase chain reaction (dPCR) compared to Promega and Nanotrap. Across all preparation methods, astroviruses and polyomaviruses were the most highly abundant human viruses, and SARS-CoV-2 was rare. These findings suggest that sequencing success can be increased using methods that reduce nontarget nucleic acids in the extract, though the absolute concentration of total extracted nucleic acid, as indicated by Qubit, and targeted viruses, as indicated by dPCR, may not be directly related to targeted sequencing performance. Further, using broadly targeted sequencing panels may capture viral diversity but risks losing signals for specific low-abundance viruses. Overall, this study highlights the importance of aligning wet lab and bioinformatic methods with specific goals when employing probe-capture enrichment for human virus sequencing from wastewater.

59 BASIC BIOLOGICAL SCIENCES↗

Analog Radio-Frequency Interferences (RFI) Detectors for Microwave Radiometers

Microwave radiometers use radio spectrum dedicated to sensing the environment. As wireless communications and other active services proliferate, this allocated spectrum is nearly being crowded out. The potential result is corrupted satellite measurements of the weather, the climate, and the environment. We present an analog RFI detector for microwave radiometers intended to mitigate the above risks. The double detector (DD) for RFI detection includes a square-law diode detector with short integration time for measuring the total power out of the radiometer, followed by a second diode detector which acts as a higher-order statistical fourth-moment detector. See Figure 1 for block diagram of the system. This novel design which uses purely analog components at radio andlor intermediate frequencies allows the system to easily augment conventional radiometer architectures used in both airborne and space borne instruments. An equivalent high-speed digital design would add an impractical level of cost and complexity to radiometer designs using today's technology.

Knuble, Joseph J.↗

Securing Smart Manufacturing: Detection of Cyber-Physical Attacks in CNC-Based Systems

As Industry 4.0 advances, the integration of computer numerical control (CNC) machines and advanced manufacturing technologies is transforming production into smart manufacturing systems that blend physical and digital processes as cyber-physical systems. However, this increased cyber-physical connectivity exposes manufacturing systems to cyber threats that can cause severe operational and financial disruptions. This paper presents a comparative study on cyber attacks and anomaly detection techniques in manufacturing, focusing on network traffic from CNC machines. The data extracted from network packets includes machine commands and control signals exchanged between the machine's interface and control system, crucial for maintaining operational integrity. We explore two types of cyber attacks, design modification and command injection, which pose substantial risks to CNC machine productivity and system integrity. Our investigation involves experiments on a real CNC system, highlighting the urgent need for effective detection mechanisms. To address these threats, we evaluate three anomaly detection methods: dynamic time warping (DTW), rolling average, and a deep learning, long short-term memory (LSTM) time-series-based autoencoder. Each is assessed for its effectiveness in identifying anomalous behaviors caused by the attacks. Our findings demonstrate the unique strengths and limitations of each detection technique, providing a deeper understanding of their applicability in realworld manufacturing environments. The comparative analysis indicates that while certain methods are highly effective against specific attack types, others offer broader applicability across different attacks. This study contributes to the accurate detection of anomalies in CNC machining processes, thereby enhancing the reliability and security of smart manufacturing systems against diverse cyber threats.

Williams, Bethanie [Tennessee Technological Univer↗

Design and Development of CubeSat Solar Array Deployment Mechanisms Using Shape Memory Alloys

The Advanced eLectrical Bus (ALBus) project is a technology demonstration mission of a 3-U CubeSat with an advanced, digitally controlled electrical power system capability and the novel use of Shape Memory Alloy (SMA) technology for reliable solar array deployable mechanisms. The ALBus cubesat has a need to deploy four solar arrays in addition to the body-mounted arrays on each side of the cubesat. A goal of the mission is to utilize the SMAs being developed at the NASA Glenn Research Center to deploy these solar arrays. The use of SMAs allows for the ability to test and reset the flight deployment mechanism prior to flight which reduces the risk of on orbit deployment failures common on cubesats. As a result, an SMA driven Retention and Release mechanism and an SMA driven hinge was designed, developed, and being prepared for flight. This paper summarized the development of these mechanisms, types and functionalities of SMAs used, and lessons learned throughout the process.

solar array deployment↗

Using EEG To Detect and Monitor Mental Fatigue

This project aims to develop EEG-based methods for detecting and monitoring mental fatigue. Mental fatigue poses a serious risk, even when performance is not apparently degraded. When such fatigue is associated with sustained performance of a single type of cognitive task it may be related to the metabolic energy required for sustained activation of cortical areas specialized for that task. The objective of this study was to adapt EEG to monitor cortical energy over a long period of performance of a cognitive task. Multielectrode event related potentials (ERPs) were collected every 15 minutes in nine subjects who performed a mental arithmetic task (algebraic sum of four randomly generated negative or positive digits). A new problem was presented on a computer screen 0.5 seconds after each response; some subjects endured for as long as three hours. ERPs were transformed to a quantitative measure of scalp electrical field energy. The average energy level at electrode P3 (near the left angular gyrus), 100-300 msec latency, was compared over the series of ERPs. For most subjects, scalp energy density at P3 gradually fell over the period of task performance and dramatically increased just before the subject was unable to continue the task. This neural response can be simulated for individual subjects using, a differential equation model in which it is assumed that the mental arithmetic task requires a commitment of metabolic energy that would otherwise be used for brain activities that are temporarily neglected. Their cumulative neglect eventually requires a reallocation of energy away from the mental arithmetic task.

Montgomery, Leslie↗

Recent Electric Propulsion Development Activities for NASA Science Missions

(The primary source of electric propulsion development throughout NASA is managed by the In-Space Propulsion Technology Project at the NASA Glenn Research Center for the Science Mission Directorate. The objective of the Electric Propulsion project area is to develop near-term electric propulsion technology to enhance or enable science missions while minimizing risk and cost to the end user. Major hardware tasks include developing NASA s Evolutionary Xenon Thruster (NEXT), developing a long-life High Voltage Hall Accelerator (HIVHAC), developing an advanced feed system, and developing cross-platform components. The objective of the NEXT task is to advance next generation ion propulsion technology readiness. The baseline NEXT system consists of a high-performance, 7-kW ion thruster; a high-efficiency, 7-kW power processor unit (PPU); a highly flexible advanced xenon propellant management system (PMS); a lightweight engine gimbal; and key elements of a digital control interface unit (DCIU) including software algorithms. This design approach was selected to provide future NASA science missions with the greatest value in mission performance benefit at a low total development cost. The objective of the HIVHAC task is to advance the Hall thruster technology readiness for science mission applications. The task seeks to increase specific impulse, throttle-ability and lifetime to make Hall propulsion systems applicable to deep space science missions. The primary application focus for the resulting Hall propulsion system would be cost-capped missions, such as competitively selected, Discovery-class missions. The objective of the advanced xenon feed system task is to demonstrate novel manufacturing techniques that will significantly reduce mass, volume, and footprint size of xenon feed systems over conventional feed systems. This task has focused on the development of a flow control module, which consists of a three-channel flow system based on a piezo-electrically actuated valve concept, as well as a pressure control module, which will regulate pressure from the propellant tank. Cross-platform component standardization and simplification are being investigated through the Standard Architecture task to reduce first user costs for implementing electric propulsion systems. Progress on current hardware development, recent test activities and future plans are discussed.

Pencil, Eric J.↗

Brick Schema Standardized Plug Load Control Strategies for Load Reduction: Preprint

Plug loads comprise a significant percentage of commercial building energy consumption. Applying intelligent controls to turn off plug loads when unused can provide dynamic load reduction and flexibility, which are key traits of grid-interactive efficient buildings. This capability is important for equitable decarbonization as it can enable disadvantaged communities to electrify buildings without costly upgrades to electrical infrastructure. In this work, we present the effectiveness of various control strategies along with the operational lessons that informed their design. During a three-year period, we operated over 600 smart outlets in 12 university office buildings. The attached plug loads consisted primarily of printers, TVs, water dispensers, and copiers. After recording baseline power measurements for one year, we designed plug load control (PLC) strategies for each plug load type, use, and for different risk tolerance levels because PLC can potentially be disruptive to daily work. We used the Brick Schema to facilitate the management of plug load locations and other metadata. For advanced controls, we integrated the smart plugs with heating, ventilation, and air conditioning (HVAC) systems through the campus building automation system. We found static schedules to be the least disruptive and most predictable for occupants, resulting in 38% and 66% energy savings in two studies. For printers, print server-triggered PLC produced 86% savings, the highest of all strategies with minimal occupant impact. Scheduling of water dispensers and digital signage TVs produced 49% and 70% savings respectively with opportunities to improve performance with the use of HVAC occupancy data.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗

Advanced Research on Integrated Energy Systems Cyber Range

As digital technologies expand to meet the needs of a more autonomous, interconnected, and advanced power system, new cybersecurity complexities and vulnerabilities arise. The ARIES Cyber Range enables the energy sector to evaluate these evolutions and validate cybersecurity solutions without impacting live systems. Combining power grid-scale hardware with emulation and simulation approaches, the ARIES Cyber Range can faithfully replicate modern energy systems - from grid physics to communication networks, and everything in between - with real-world fidelity. At NLR, researchers and partners are answering complex power system cybersecurity questions, examining emerging threats to the electric sector, and de risking new security technologies, all at a mission-relevant speed that keeps pace with rapidly evolving systems and hazards.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

Noninvasive Test Detects Cardiovascular Disease

At NASA's Jet Propulsion Laboratory (JPL), NASA-developed Video Imaging Communication and Retrieval (VICAR) software laid the groundwork for analyzing images of all kinds. A project seeking to use imaging technology for health care diagnosis began when the imaging team considered using the VICAR software to analyze X-ray images of soft tissue. With marginal success using X-rays, the team applied the same methodology to ultrasound imagery, which was already digitally formatted. The new approach proved successful for assessing amounts of plaque build-up and arterial wall thickness, direct predictors of heart disease, and the result was a noninvasive diagnostic system with the ability to accurately predict heart health. Medical Technologies International Inc. (MTI) further developed and then submitted the technology to a vigorous review process at the FDA, which cleared the software for public use. The software, patented under the name Prowin, is being used in MTI's patented ArterioVision, a carotid intima-media thickness (CIMT) test that uses ultrasound image-capturing and analysis software to noninvasively identify the risk for the major cause of heart attack and strokes: atherosclerosis. ArterioVision provides a direct measurement of atherosclerosis by safely and painlessly measuring the thickness of the first two layers of the carotid artery wall using an ultrasound procedure and advanced image-analysis software. The technology is now in use in all 50 states and in many countries throughout the world.

Source record↗

Monitoring River Basin Development and Variation in Water Resources in Transboundary Imjin River in North and South Korea Using Remote Sensing

This paper presents methods of monitoring river basin development and water variability for the transboundary river in North and South Korea. River basin development, such as dams and water infrastructure in transboundary rivers, can be a potential factor of tensions between upstream and downstream countries since dams constructed upstream can adversely affect downstream riparians. However, because most of the information related to North Korea has been limited to the public, the information about dams constructed and their locations were inaccurate in many previous studies. In addition, water resources in transboundary rivers can be exploited as a political tool. Specifically, due to the unexpected water release from the Hwanggang Dam, upstream of the transboundary Imjin River in North and South Korea, six South Koreans died on 6 September 2009. The Imjin River can be used as a political tool by North Korea, and seven events were reported as water conflicts in the Imjin River from 2001 to 2016. In this paper, firstly, we have updated the information about the dams constructed over the Imjin River in North Korea using multi-temporal images with a high spatial resolution (15-30 cm) obtained from Google Earth. Secondly, we analyzed inter- and intra-water variability over the Hwanggang Reservoir using open-source images obtained from the Global Surface Water Explorer. We found a considerable change in water surface variability before and after 2008, which might result from the construction of the Hwanggang Dam. Thirdly, in order to further investigate intra-annual water variability, we present a method monitoring water storage changes of the Hwanggang Reservoir using the area-elevation curve (AEC), which was derived from multi-sensor Synthetic Aperture Radar (SAR) images (Sentinel-1A and -1B) and the Shuttle Radar Topography Mission (SRTM) Digital Elevation Model (DEM). Since many previous studies for estimating water storage change have depended on satellite altimetry dataset and optical images for deriving AEC, the method adopted in this study is the only application for such inaccessible areas since no altimetry ground track exists for the Hwanggang Reservoir and because clouds can block the study area for wet seasons. Moreover, this study has newly proven that unexpected water release can occur in dry seasons because the water storage in the Hwanggang Reservoir can be high enough to conduct a release that can be used as a geopolitical tool. Using our method, potential risks can be mitigated, not in response to a water release, but based on pre-event water storage changes in the Hwanggang Reservoir.

Kim, Donghwan↗

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗

Standard Component Commodity Usage Guides (CUGs) for Charge-Coupled Devices (CCDs)

Communicating risk and reliability information within NASA Goddard’s missions is crucial to continuing the development of new technology and ensuring GSFC missions achieve their science objectives. The Reliability and Risk Assessment Branch (Code 371) within the SMA directorate is one of GSFC’s leaders in communicating this information to missions, and one tool 371 engineers use to provide this information is the Commodity Usage Guides (CUGs). CUGs are helpful in compiling various critical parameters and heritage information for standard payload components, ensuring project personnel inherit the lessons learned from previous experiences. The purpose of this project was to create CUGs for CCDs used within GSFC missions. To formulate a CUG applicable data was aggregated into the CUG template for Charge-Coupled Devices (CCDs)--electro-optical components used to convert photons into digital images and data. CCDs can easily be adapted to a variety of mission requirements making them widely used at GSFC, and therefore suitable for CUGs. Once the CUGs for CCDs are completed the information can be distributed to engineers, scientists and other project members to ensure the lessons learned are passed on to the next mission.

Christman, Jerika H.↗

Comparative Study in Laboratory Rats to Validate Sperm Quality Methods and Endpoints

Abstract The Naval Health Research Center, Detachment (Toxicology) performs toxicity studies in laboratory animals to characterize the risk of exposure to chemicals of Navy interest. Research was conducted at the Toxicology Detachment at WPAFB, OH in collaboration with Wright State University, Department of Biological Sciences for the validation of new bioassay methods for evaluating reproductive toxicity. The Hamilton Thorne sperm analyzer was used to evaluate sperm damage produced by exposure to a known testicular toxic agent, methoxyacetic acid and by inhalation exposure to JP-8 and JP-5 in laboratory rats. Sperm quality parameters were evaluated (sperm concentration, motility, and morphology) to provide evidence of sperm damage. The Hamilton Thorne sperm analyzer utilizes a DNA specific fluorescent stain (similar to flow cytometry) and digitized optical computer analysis to detect sperm cell damage. The computer assisted sperm analysis (CASA) is a more rapid, robust, predictive and sensitive method for characterizing reproductive toxicity. The results presented in this poster report validation information showing exposure to methoxyacetic acid causes reproductive toxicity and inhalation exposure to JP-8 and JP-5 had no significant effects. The CASA method detects early changes that result in reproductive deficits and these data will be used in a continuing program to characterize the toxicity of chemicals, and combinations of chemicals, of military interest to formulate permissible exposure limits.

Price, W. A.↗

Some Aeronautical Communications Experiments

Classically there has existed an asymmetry between the computing and communicating sides of aerospace systems. Over the past few decades, this asymmetry has shifted to favoring communication link technologies, meaning that advancements in available central processing units (CPUs), storage devices, and internal data buses have stagnated. Indeed, the increased emphasis placed on refining subsystem performance such as with antenna bandwidth in phased arrays, amplifier power efficiency, software defined radio (SDR) flexibility and encoding for data compression and error correction has given rise to successful debuts of multi-gigabit-per-second data return from long space-link distances. These accomplishments are easily quantifiable through link budgets and illustrate what is possible, but also reveal the deficiencies in overall communications capabilities. In particular, the ever-accelerating presence of aerospace vehicles gives rise to newer and larger classes of challenges to address the needs of 21st century systems. Furthermore remote sensing and imaging capabilities have far outpaced our ability to transmit their products to the ground, so we are increasingly dependent on pre-processing and downselection to contend with the communications bottleneck. No longer may we depend upon the constrained logistics in delivering end-to-end data delivery through manual reconfigurations, static event scheduling and execution on a per-vehicle basis, for these methods do not scale and therefore must give way to dynamic, networked approaches with an overall systems view in mind. Emerging mission requirements exhibit a trend toward multiple smaller-scale vehicles working together to perform dissimilar observations. Such operations necessitate sensor fusion across a constellation, and where data processing may be distributed throughout a fairly disconnected network whose topology changes over time in non-deterministic manners. Individual communications link performance is still very relevant to deploying an effective communications system, but now must be embedded within a greater architecture of capability to optimally utilize the bandwidth available from each link to generate an ultimate end-to-end quality of service. The deleterious effects of timing uncertainty across the arrangement presents a challenge to measurement synchronization and delivery, so a successful deployed system needs to be tolerant to the delays inherent in time-of-light between elements and digital processing latencies existing at each node. In this presentation we share the flight test results from a high performance Gbps laser communications terminal evaluated with a suite of store and forward capabilities called High-rate Delay Tolerant Networking (HDTN). The communications payload is operated over Lake Erie across a range of configurations including several convergence layers, and is evaluated to determine recovery time after link disruptions, information loss, efficiency and speed. The effectiveness of utilizing a flying laboratory to increase the Technology Readiness Level (TRL) of an integrated system in relevant environments is discussed, as well as the value of conducting aeronautics experiments to retire risk for technology infusion into space missions. Upcoming flight campaigns will be presented, including opportunities to demonstrate secure command and control, data intensive hyperspectral imaging, quantum link characterization, 4k High Definition (HD) video streaming and internetworked space-ground-aero relay operations. These experiments will pave the way for future missions which will depend upon interoperability across disparate government and privately owned networks, involve contention with uncertain and dynamic timing, and require agility to autonomously configure optimal parameters across networks of ever-increasing size and complexity to ensure data delivery. https://www1.grc.nasa.gov/space/scan/acs/tech-studies/dtn/

Daniel Raible↗

SuperLab 2.0 Showcase: Connecting Five Labs to Tackle Grid Complexity and Unlock Unique Grid Asset Potential

SuperLab 2.0 (a five-lab demonstration) is a collaborative, national-scale experiment showcasing the coordination of geographically distributed energy assets in real time. The demonstration integrates 25 physical and digital assets, spanning wind, photovoltaics, batteries, electrolyzers, DC fast chargers, microgrid controllers, building automation systems, small modular reactors, control centers, and gas turbines, across five U.S. Department of Energy (DOE) national laboratories: National Laboratory of the Rockies (NLR), Idaho National Laboratory, National Energy Technology Laboratory, Lawrence Berkeley National Laboratory, and Sandia National Laboratories. These assets are unified using Energy Sciences Network (ESnet), a low-latency, high-performance DOE network, and are controlled via a centralized energy controller hosted at NLR's Advanced Research on Integrated Energy Systems facility. The demonstration validates the ability to stress-test hybrid energy systems under dynamic scenarios to de-risk advanced control strategies for greater resilience and flexibility.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Dual-Wavelength Simultaneous Patterning of Degradable Thermoset Supports for One-Pot Embedded 3D Printing

Vat photopolymerization (VP) techniques have enabled the fabrication of complex geometries while balancing high precision and fast processing times. 3D printed objects are traditionally built layer-by-layer with newly cured layers being structurally supported by previous ones. Fabricating unsupported features such as overhangs and arches risks misalignment and sagging, limiting the range of accessible designs. To overcome this issue, support structures are fabricated along with the primary object as temporary scaffolds that provide stability and conserve print fidelity. For VP specifically, patterning dissolvable sacrificial supports is attractive to avoid manual removal after printing. In this study, we demonstrate a base-degradable thermoset to pattern print supports in a one-pot formulation along with the primary structural material. Efficient printing is enabled using a dual-wavelength negative imaging (DWNI) DLP printer that patterns the degradable thermoset with visible light and the permanent network with UV light, which are simultaneously projected using a single digital micromirror device (DMD). Printed objects undergo thermal postprocessing to enhance the final conversion of the primary material, after which thermoset supports are degraded in a basic, aqueous solution. This approach provides a robust method for the dual-wavelength patterning of sacrificial thermoset supports, broadening the range of accessible 3D printable materials and geometries.

3D printing↗

Gas Flow Detection System

This system provides a portable means to detect gas flow through a thin-walled tube without breaking into the tubing system. The flow detection system was specifically designed to detect flow through two parallel branches of a manifold with only one inlet and outlet, and is a means for verifying a space shuttle program requirement that saves time and reduces the risk of flight hardware damage compared to the current means of requirement verification. The prototype Purge Vent and Drain Window Cavity Conditioning System (PVD WCCS) Flow Detection System consists of a heater and a temperature-sensing thermistor attached to a piece of Velcro to be attached to each branch of a WCCS manifold for the duration of the requirement verification test. The heaters and thermistors are connected to a shielded cable and then to an electronics enclosure, which contains the power supplies, relays, and circuit board to provide power, signal conditioning, and control. The electronics enclosure is then connected to a commercial data acquisition box to provide analog to digital conversion as well as digital control. This data acquisition box is then connected to a commercial laptop running a custom application created using National Instruments LabVIEW. The operation of the PVD WCCS Flow Detection System consists of first attaching a heater/thermistor assembly to each of the two branches of one manifold while there is no flow through the manifold. Next, the software application running on the laptop is used to turn on the heaters and to monitor the manifold branch temperatures. When the system has reached thermal equilibrium, the software application s graphical user interface (GUI) will indicate that the branch temperatures are stable. The operator can then physically open the flow control valve to initiate the test flow of gaseous nitrogen (GN2) through the manifold. Next, the software user interface will be monitored for stable temperature indications when the system is again at thermal equilibrium with the test flow of GN2. The temperature drop of each branch from its "no flow" stable temperature peak to its stable "with flow" temperature will allow the operator to determine whether a minimum level of flow exists. An alternative operation has the operator turning on the software only long enough to record the ambient temperature of the tubing before turning on the heaters and initiating GN2 flow. The stable temperature of the heated tubing with GN2 flow is then compared with the ambient tubing temperature to determine if flow is present in each branch. To help quantify the level of flow in the manifolds, each branch will be bench calibrated to establish its thermal properties using the flow detection system and different flow rates. These calibration values can then be incorporated into the software application to provide more detailed flow rate information.

Moss, Thomas↗

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗