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NASA NTRS1996

MCTP Summer Research Internship Program. Research Presentation Day: Experience Mathematics and Science in the Real World

This paper presents the summaries of the MCTP Summer Research Internship Program. Technological areas discussed include: Mathematical curriculum development for real world problems; Rain effects on air-water gas exchange; multi-ring impact basins on mars; developing an interactive multimedia educational cd-rom on remote sensing; a pilot of an activity for for the globe program; fossils in maryland; developing children's programming for the american horticultural society at river farm; children's learning, educational programs of the national park service; a study of climate and student satisfaction in two summer programs for disadvantaged students interested in careers in mathematics and science; the maryland governor's academy, integrating technology into the classroom; stream sampling with the maryland biological stream survey (MBSS); the imaging system inspection software technology, the preparation and detection of nominal and faulted steel ingots; event-based science, the development of real-world science units; correlation between anxiety and past experiences; environmental education through summer nature camp; enhancing learning opportunities at the Salisbury zoo; plant growth experiment, a module for the middle school classroom; the effects of proxisome proliferators in Japanese medaka embryos; development of a chapter on birth control and contraceptive methodologies as part of an interactive computer-based education module on hiv and aids; excretion of gentamicin in toadfish and goldfish; the renaissance summer program; and Are field trips important to the regional math science center?

Source record↗

DOE OSTI2021

New Orthophoto Generation Strategies from UAV and Ground Remote Sensing Platforms for High-Throughput Phenotyping

Remote sensing platforms have become an effective data acquisition tool for digital agriculture. Imaging sensors onboard unmanned aerial vehicles (UAVs) and tractors are providing unprecedented high-geometric-resolution data for several crop phenotyping activities (e.g., canopy cover estimation, plant localization, and flowering date identification). Among potential products, orthophotos play an important role in agricultural management. Traditional orthophoto generation strategies suffer from several artifacts (e.g., double mapping, excessive pixilation, and seamline distortions). The above problems are more pronounced when dealing with mid- to late-season imagery, which is often used for establishing flowering date (e.g., tassel and panicle detection for maize and sorghum crops, respectively). In response to these challenges, this paper introduces new strategies for generating orthophotos that are conducive to the straightforward detection of tassels and panicles. The orthophoto generation strategies are valid for both frame and push-broom imaging systems. The target function of these strategies is striking a balance between the improved visual appearance of tassels/panicles and their geolocation accuracy. The new strategies are based on generating a smooth digital surface model (DSM) that maintains the geolocation quality along the plant rows while reducing double mapping and pixilation artifacts. Moreover, seamline control strategies are applied to avoid having seamline distortions at locations where the tassels and panicles are expected. The quality of generated orthophotos is evaluated through visual inspection as well as quantitative assessment of the degree of similarity between the generated orthophotos and original images. Several experimental results from both UAV and ground platforms show that the proposed strategies do improve the visual quality of derived orthophotos while maintaining the geolocation accuracy at tassel/panicle locations.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1988

The photons payload, G-494: A learning experience

PHOTONS (Photometric Thermospheric Oxygen Nightglow Study) is an optical remote sensing payload developed for Get Away Special (GAS) flight by the National Research Council of Canada. The device is extremely sensitive and is suitable for making measurements of low intensity, aeronomically generated atmospheric emissions in the nadir and the limb and of Shuttle ram glow. The unit uses a sealed canister and UV transmitting viewing ports. During the flight of STS 61-C, PHOTONS received one hour of operation and aeronomic observations were made. Good diagnostic data were obtained and the science part of the experiment malfunctioned. Post flight inspection revealed that the payload was in perfect working order except for total failure of the photomultiplier detectors. The experiment and the payload are described and the flight results are discussed along with the cause of the malfunctions. It is shown that enough was learned from the flight diagnostic data and about the cause of the malfunction to conclude that the engineering flight was successful and that subsequent flight of the PHOTONS payload will be productive.

Harris, F. R.↗

DOE OSTI2019

Remote Technology to Retrieve Waste Below the 324 Building at the Hanford Site - 19622

The Waste Technology Engineering Laboratory (324 Building) is a Category 2 Nuclear Facility at Hanford. The 324 Building Disposition Project is responsible for the removal and remedial actions under CERCLA. Additionally, there are RCRA Dangerous Waste Management Units which the CERCLA actions are presumed to satisfy. The Radiochemical Engineering Complex (REC) is a group of four hot cells (A, B, C and D Cells) with an interconnecting airlock inside of the 324 Building. Underneath the REC B-Cell are contaminated soils that have an estimated 12,793 R/Hr dose rate and remediation is under CERCLA 300-FF-2 Operable Unit. The current action consists of debris removal from the floor of B-Cell, B-Cell floor removal, and excavation of the soils beneath the floor to a depth of up to twelve feet with four Remote Excavator Arms (REA). This paper provides insight into the preparation and performance of high tolerance core drilling into a hot cell complex. Installation of the REA Through Support (REA TS) mechanism through the 4'-6' concrete shield walls is a complex series of tasks with demanding tolerances at each of four locations around the perimeter of B-Cell. The use of training mock ups was included in the completion of this work. The REA TS is two 11 inch diameter high strength steel sleeves that have expandable collars at each end allowing the interstitial space between the outside of the sleeve and inside of the core drill to be grouted to form a substantial structural connection, and a 10 inch pipe with hydraulic hoses to power the REA. There are three cores required for each REA location. The REAs themselves are customized excavator arms, mounted on support columns to be used in the excavation and transfer of the contaminated soil into storage facilities. The tasks for the installation of the REA TSs are: 1) Characterization of B-Cell Cubicles. 2) Embedded Pipe Fill. 3) Interference Removal. a. Internal Walls, b. External Walls. 4) Core Drilling. 5) Go/No-Go gauge, and video inspection. 6) Installation of REA Through Support Assembly. The 324 Building REC Hot Cells have internal, external, and embedded utilities throughout the shield walls in conflict with the REA TS locations. Some of the embedded utilities have connection points inside of the B-Cell Cubicles. There were two separate issues at the conflicted locations. The first issue was the core drill cooling water would flow along the embedded utility potentially spreading legacy chemical and radiological contamination to areas of the facility that was unwanted. The second issue was that the REA TS required a substantial structural connection to the B-Cell wall, the cored diameter is larger than the REA TS and these interstitial areas required a full grouted connection. The embedded utilities posed a hazard that if unfilled, the interstitial grout would flow into the embedded utility and destabilize the required grouted structural connection. The B-Cell Cubicles had not been opened in over 10 years. A mockup was completed to install a glovebag over the cubicle opening and then to verify functionality and port requirements. The embedded utility pipe connections in the cubicles were then opened inside a glovebag to verify the correct connection points, connection method for future embedded pipe fill material delivery system, radiological characterization, and air flow to show that the embedded utility pipes were not blocked and would not pressurize. The embedded pipe fill material and grout system was mocked up and run several times to verify methodology and functionality. The B-Cell Cubicles were then reentered and the embedded utility pipe fill was completed using a hand pump. External interferences at the core drill locations were removed using standard interference removal techniques. Internal interferences at the core drill locations were removed using a remote cutting tool that was controlled through the use of the B-Cell crane, remote cameras and remote lighting. The core drilling was mocked up two separate times, the project's purpose built 'Mock Up Facility' was core drilled to verify tolerances and methodology prior to subcontract award, the core drill subcontractor built a 'dummy wall' to train and practice on achieving the demanding tolerances, coordinated alignments between the cores, short term and long term dose shielding techniques, and contamination control techniques. A core drill template, and additional anchoring techniques were used to maximize accuracy and precision of the REA TS core drills. A 'Go/No-Go' gauge was built and installed at each of the four REA TS locations to verify that the core drill met tolerances. The core drill locations were visually inspected using a boroscope. The REA TS installation was mocked up at the projects 'Mock Up Facility' beginning with basic hazard controls, then with intermediate hazard controls, and finally with full occupational safety, industrial hygiene, and radiological controls. The REA TSs were installed and grouted into place. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2019

Commissioning of Robotic Inspection and Automated Analysis System for Assay of Gas Diffusion Piping - 19500

Robotic, in-pipe, nondestructive assay (NDA) is a revolutionary and important means for measuring, analyzing, and reporting radioactive holdup deposits in enrichment piping. This innovation promises vast advantages for efficiency, safety, and cost savings. Payoff, however, lies in utilization much more than innovation. Crossing that threshold from a technical capability to an everyday tool occurs only after rigorous commissioning, adoption, and infusion. This must meet the highest standard, and there can be no compromise. Certification of a new NDA technology must meet the highest standards for quality, safety, and efficacy. Prior to this work, there was no precedent of procedure and method for certification of a robotic methodology for this purpose. The best of robotics had not certified NDA. The best of NDA had not certified robotics. Hence, a great deal of discovery, resourcefulness, and collaboration contributed to this success. This paper chronicles the first-of-kind chartering, co-development, testing, documentation, and site integration that certified this trailblazing in-pipe, robotic NDA. Commissioning had to demonstrate and certify end-to-end NDA automation from robot traversal to computer analysis to report generation of contaminated process piping at the Portsmouth, Ohio gaseous diffusion facility. This was a rigorous campaign of tests, evaluations, and documentation. Highlights included multiple tests in four elevated pipes exercised the gamut of NDA and robotic capabilities. Each of the four test pipes presented a unique loading of U-235. The tests demonstrated operations in both 30- inch and 42-inch diameter pipes with varying lengths and terminated by a variety of valves and fittings. Tests in a fifth pipe at floor level demonstrated deployment and applicability for pipes at this ground height and robot recognition of another fitting type. All operations, calibration, deployment, auto-reporting, and analysis were handled by Portsmouth site personnel. These tests concluded a series of component-level acceptance tests which certified all constituent technologies and operational features. Test metrics included comparison of reported to ground truth results and assessment of data quality from quality assurance and replicate measurement comparison. Beyond the radiometry associated with any NDA method, this unique commissioning path exercised and evaluated all the robotic features that are intrinsic to automation. These include odometry, geometric modeling, autonomy, remote launch and recovery, and end-to-end data flow. Each of these required verification and certification. These evaluations were first-of-kind for the decommissioning community, requiring innovation and resourcefulness in their own right. (authors)

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NASA NTRS2012

Cumulative Measurement Errors for Dynamic Testing of Space Flight Hardware

Located at the NASA Johnson Space Center in Houston, TX, the Six-Degree-of-Freedom Dynamic Test System (SDTS) is a real-time, six degree-of-freedom, short range motion base simulator originally designed to simulate the relative dynamics of two bodies in space mating together (i.e., docking or berthing). The SDTS has the capability to test full scale docking and berthing systems utilizing a two body dynamic docking simulation for docking operations and a Space Station Remote Manipulator System (SSRMS) simulation for berthing operations. The SDTS can also be used for nonmating applications such as sensors and instruments evaluations requiring proximity or short range motion operations. The motion base is a hydraulic powered Stewart platform, capable of supporting a 3,500 lb payload with a positional accuracy of 0.03 inches. The SDTS is currently being used for the NASA Docking System testing and has been also used by other government agencies. The SDTS is also under consideration for use by commercial companies. Examples of tests include the verification of on-orbit robotic inspection systems, space vehicle assembly procedures and docking/berthing systems. The facility integrates a dynamic simulation of on-orbit spacecraft mating or de-mating using flight-like mechanical interface hardware. A force moment sensor is used for input during the contact phase, thus simulating the contact dynamics. While the verification of flight hardware presents unique challenges, one particular area of interest involves the use of external measurement systems to ensure accurate feedback of dynamic contact. The measurement systems for the test facility have two separate functions. The first is to take static measurements of facility and test hardware to determine both the static and moving frames used in the simulation and control system. The test hardware must be measured after each configuration change to determine both sets of reference frames. The second function is to take dynamic measurements during hardware motion and contact. While performing dynamic testing of an active docking system, researchers found that the data from the motion platform, test hardware and two external measurement systems exhibited frame offsets and rotational errors. While the errors were relatively small when considering the motion scale overall, they substantially exceeded the individual accuracies for each component. After evaluating both the static and dynamic measurements, researchers found that the static measurements introduced significantly more error into the system than the dynamic measurements even though, in theory, the static measurement errors should be smaller than the dynamic. In several cases, the magnitude of the errors varied widely for the static measurements. Upon further investigation, researchers found the larger errors to be a consequence of hardware alignment issues, frame location and measurement technique whereas the smaller errors were dependent on the number of measurement points. This paper details and quantifies the individual and cumulative errors of the docking system and describes methods for reducing the overall measurement error. The overall quality of the dynamic docking tests for flight hardware verification was improved by implementing these error reductions.

Winnitoy, Susan↗

NASA NTRS1984

Geometric error analysis for shuttle imaging spectrometer experiment

The demand of more powerful tools for remote sensing and management of earth resources steadily increased over the last decade. With the recent advancement of area array detectors, high resolution multichannel imaging spectrometers can be realistically constructed. The error analysis study for the Shuttle Imaging Spectrometer Experiment system is documented for the purpose of providing information for design, tradeoff, and performance prediction. Error sources including the Shuttle attitude determination and control system, instrument pointing and misalignment, disturbances, ephemeris, Earth rotation, etc., were investigated. Geometric error mapping functions were developed, characterized, and illustrated extensively with tables and charts. Selected ground patterns and the corresponding image distortions were generated for direct visual inspection of how the various error sources affect the appearance of the ground object images.

Wang, S. J.↗

NASA NTRS2017

Remote Advanced Payload Test Rig (RAPTR) Portable Payload Test System for the International Space Station (ISS)

The RAPTR was developed to test ISS payloads for NASA. RAPTR is a simulation of the Command and Data Handling (C&DH) interfaces of the ISS (MIL-STD 1553B, Ethernet and TAXI) and is designed to facilitate rapid testing and deployment of payload experiments to the ISS. The ISS Program's goal is to reduce the amount of time it takes a payload developer to build, test and fly a payload, including payload software. The RAPTR meets this need with its user oriented, visually rich interface. Additionally, the Analog and Discrete (A&D) signals of the following payload types may be tested with RAPTR: (1) EXPRESS Sub Rack Payloads; (2) ELC payloads; (3) External Columbus payloads; (4) External Japanese Experiment Module (JEM) payloads. The automated payload configuration setup and payload data inspection infrastructure is found nowhere else in ISS payload test systems. Testing can be done with minimal human intervention and setup, as the RAPTR automatically monitors parameters in the data headers that are sent to, and come from the experiment under test.

Calvert, John↗

NASA NTRS2010

MMIC Amplifiers and Wafer Probes for 350 to 500 GHz

A wireless avionics interface exploits the constrained nature of data networks in flight systems to use a lightweight routing method. This simplified routing means that a processor is not required, and the logic can be implemented as an intellectual property (IP) core in a field-programmable gate array (FPGA). The FPGA can be shared with the flight subsystem application. In addition, the router is aware of redundant subsystems, and can be configured to provide hot standby support as part of the interface. This simplifies implementation of flight applications requiring hot stand - by support. When a valid inbound packet is received from the network, the destination node address is inspected to determine whether the packet is to be processed by this node. Each node has routing tables for the next neighbor node to guide the packet to the destination node. If it is to be processed, the final packet destination is inspected to determine whether the packet is to be forwarded to another node, or routed locally. If the packet is local, it is sent to an Applications Data Interface (ADI), which is attached to a local flight application. Under this scheme, an interface can support many applications in a subsystem supporting a high level of subsystem integration. If the packet is to be forwarded to another node, it is sent to the outbound packet router. The outbound packet router receives packets from an ADI or a packet to be forwarded. It then uses a lookup table to determine the next destination for the packet. Upon detecting a remote subsystem failure, the routing table can be updated to autonomously bypass the failed subsystem.

Samoska, Lorene A.↗

NASA NTRS2010

Interface Supports Lightweight Subsystem Routing for Flight Applications

Lux, James P.↗

NASA NTRS1978

Remote sensing applications to hydrologic modeling in the southern Sierra Nevada and portions of the San Joaquin Valley, volume 1

The author has identified the following significant results. Characteristics of LANDSAT MSS imagery present problems in using satellite radiation measurements to estimate the shortwave albedo of an alpine snow cover. Every 15 minute USGS quadrangle contains over 100,000 pixels which poses a computation problem if each pixel is to be evaluated individually. The sampling interval may be sufficiently great to mask some effects of terrain and vegetation on reflectance. Three frames of LANDSAT imagery are needed for complete coverage of the study area, yet less than one third of the area coverage from each frame covers an area of interest. Because of distortions inherent in the imagery, information regarding spacecraft altitude, attitude, and position must be statistically derived with respect to ground control points in the image whose geodetic locations are known. An inspection of shade points indicates that up to one third of the most heavily snow covered areas may saturate in bands 4 through 6. LANDSAT's 9 day repeat cycle is not optimum for snow cover reflectance modeling because the most pronounced changes in albedo occur most nearly following a new snowfall. Such a snowfall, occurring between overpasses, is inadequately represented by extrapolation from the previous overpasses.

Dozier, J.↗

NASA NTRS2004

Miniature Robotic Spacecraft for Inspecting Other Spacecraft

A report discusses the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam)-- a compact robotic spacecraft intended to be released from a larger spacecraft for exterior visual inspection of the larger spacecraft. The Mini AERCam is a successor to the AERCam Sprint -- a prior miniature robotic inspection spacecraft that was demonstrated in a space-shuttle flight experiment in 1997. The prototype of the Mini AERCam is a demonstration unit having approximately the form and function of a flight system. The Mini AERCam is approximately spherical with a diameter of about 7.5 in. (.19 cm) and a weight of about 10 lb (.4.5 kg), yet it has significant additional capabilities, relative to the 14-in. (36-cm), 35-lb (16-kg) AERCam Sprint. The Mini AERCam includes miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including two digital video cameras and a high-resolution still camera. The Mini AERCam is designed for either remote piloting or supervised autonomous operations, including station keeping and point-to-point maneuvering. The prototype has been tested on an air-bearing table and in a hardware-in-the-loop orbital simulation of the dynamics of maneuvering in proximity to the International Space Station.

Fredrickson, Steven↗

NASA NTRS2005

Spinoff 2005

Topics covered include: Lighting the Way for Quicker, Safer Healing; Discovering New Drugs on the Cellular Level; Hydrogen Sensors Boost Hybrids; Today s Models Losing Gas?; 3-D Highway in the Sky; Popping a Hole in High-Speed Pursuits; Monitoring Wake Vortices for More Efficient Airports; From Rockets to Racecars; All-Terrain Intelligent Robot Braves Battlefront to Save Lives; Keeping the Air Clean and Safe--An Anthrax Smoke Detector; Lightning Often Strikes Twice; Technology That's Ready and Able to Inspect Those Cables; Secure Networks for First Responders and Special Forces; Space Suit Spins; Cooking Dinner at Home--From the Office; Nanoscale Materials Make for Large-Scale Applications; NASA s Growing Commitment: The Space Garden; Bringing Thunder and Lightning Indoors; Forty-Year-Old Foam Springs Back With New Benefits; Experiments With Small Animals Rarely Go This Well; NASA, the Fisherman's Friend; Crystal-Clear Communication a Sweet-Sounding Success; Inertial Motion-Tracking Technology for Virtual 3-D; Then Why Do They Call Earth the Blue Planet?; Valiant 'Zero-Valent' Effort Restores Contaminated Grounds; Harnessing the Power of the Sun; Water and Air Measures That Make 'PureSense'; Remote Sensing for Farmers and Flood Watching; Pesticide-Free Device a Fatal Attraction for Mosquitoes Making the Most of Waste Energy Washing Away the Worries About Germs Celestial Software Scratches More Than the Surface A Search Engine That's Aware of Your Needs Fault-Detection Tool Has Companies 'Mining' Own Business; Software to Manage the Unmanageable; Tracking Electromagnetic Energy With SQUIDs; Taking the Risk Out of Risk Assessment; Satellite and Ground System Solutions at Your Fingertips; Structural Analysis Made 'NESSUSary'; Software of Seismic Proportions Promotes Enjoyable Learning; Making a Reliable Actuator Faster and More Affordable; Cost-Cutting Powdered Lubricant NASA s Radio Frequency Bolt Monitor: A Lifetime of Spinoffs Going End to End to Deliver High-Speed Data; Advanced Joining Technology: Simple, Strong, and Secure; Big Results From a Smaller Gearbox; Low-Pressure Generator Makes Cleanrooms Cleaner; and The Space Laser Business Model.

Source record↗

DOE OSTI2022

Examining Autonomous Inspection of Geologic Repositories

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out-standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static as activities must encompass verification of the design prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material, including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, it discusses the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed loop autonomation to complete tasks. The feasibility of using rovers for these verification tasks is explored, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Finally, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system

autonomous monitoring↗

NASA NTRS1994

Consistency in long-term observations of oceans and ice from space

Satellite remote sensing has provided powerful tools for constructing long-term records of observations of many of Earth's geophysical processes. Geophysicists studying climage change would like to construct time series of data which are as long, accurate, and consistent as possible. While technological advances continue to improve the quality of observations from space, they also present consistency problems. The scanning multichannel microwave radiometer (SMMR), which operated from October 1978 to August 1987, and the special sensor microwave imager (SSMI), which overlapped with the SMMR for nearly two months in 1987, have provided microwave radiances which have been used to monitor long-term changes in sea ice concentration and snow accumulation, among other things. Inspection has shown, however, that brightness temperatures from the two sensors over the same polar firn-covered scene can differ by as much as 14 K. Calibration corrections for polar firn have been derived; in this paper, we present calculations addressing the physics of the small frequency and viewing angle differences between the SMMR and the SSMI on microwave emission from polar scenes containing free water. We focus here only on surface emission. We use a surface scattering model and study the effects of surface roughness, snow wetness, snow density, and young sea ice concentration. We also compare data from Antarctica with our modeled results. We find that for most scenes, surface roughness dominates over the effects of frequency and viewing angle differences, but that for open long-term times series, data must be calibrated and constructed at the geophysical product level rather than at the level of measured radiances.

Zabel, I. H. H.↗

DOE OSTI2018

An Historic Perspective of NPDES Individual Permit for Storm Water Discharges from Solid Waste Management Units at Los Alamos National Laboratory - 18667

The Los Alamos National Laboratory (LANL) and the associated communities of Los Alamos and White Rock are located in Los Alamos County in north-central New Mexico approximately 60 mi north-northeast of Albuquerque and 25 mi northwest of Santa Fe. The 36-mi{sup 2} facility is situated on the Pajarito Plateau, which consists of a series of fingerlike mesas separated by deep east-to-west oriented canyons cut by predominately ephemeral and intermittent streams. The mesa tops range in elevation from approximately 7800 ft. on the flanks of the Jemez Mountains to about 6200 ft. at their eastern termination above the Rio Grande Canyon. The land surrounding the Laboratory is largely undeveloped. Public access to much of the facility is limited for safety and security reasons. Large tracts of surrounding land are held by the U.S. Forest Service (Santa Fe National Forest), the Bureau of Land Management (Bandelier National Monument), the General Services Administration and San Ildefonso Pueblo. Storm water discharges from Solid Waste Management Units (SWMUs) have been regulated at the LANL since the early 1990's and have evolved into an Individual Stormwater Permit (IP) that may be one of the most complex in the nation. Historically, storm water discharges from SWMUs at LANL were regulated under a nationwide general permit using a watershed based approach requiring a Storm Water Pollution Prevention Plan (SWPPP), monitoring at sub-watershed scale 'USGS like' gage stations, and inspection and maintenance of erosion controls. In 2001, the Cerro Grande Fire destroyed many Laboratory structures, residential homes and over 80,000 acres of forested lands in the upper watershed above Los Alamos that significantly changed the local hydrology. Several years later, a Federal Facilities Compliance Agreement (FFCA) was issued by U.S. Environmental Protection Agency (USEPA) that was followed by a Clean Water Act lawsuit filed by concerned citizens, the result of which required more focus on stormwater discharges from individual SWMUs and an IP covering over 400 Sites. The IP contains non-numeric technology-based effluent limitations, coupled with a comprehensive, coordinated inspection and monitoring program, to minimize pollutants in LANL's storm water discharges associated with historical industrial activities from specified Sites. Non-numeric technology-based effluent limitations include minimizing pollutants in discharges through erosion and sedimentation controls, management of run-on and runoff, employee training, inspection and maintenance of controls, annual reporting and public involvement. The IP establishes Target Action Levels (TALs) that are equivalent to New Mexico State water-quality criteria. These TALs are used as benchmarks to determine the effectiveness of control measures implemented under the IP. That is, storm water quality sample results from SWMU discharges are compared with applicable TALs. If one or more sample results exceed a TAL, LANL must take additional corrective action. The TAL results are also confounded by high levels of naturally occurring constituents such as aluminum and gross alpha, and urban constituents such as copper, zinc and PCBs which may not be a source from the regulated SWMU. Due to the remote rugged terrain, security access issues, number of monitoring locations, stringent TALs, reporting requirements and public involvement requirements, this permit is likely one of the most stringent and complex in the country. The Laboratory has implemented this permit in a compliant manner for the past seven years and is anticipating the issuance of a new permit in the next few months. This paper will cover permit requirements related to control measure installations, monitoring, reporting and public involvement as well as process improvements and remaining water quality initiatives such as developing studies to address issues such as discriminating between natural background levels and LANL-related contaminants during the execution of this unique permit. (author)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2020

Autonomous Inspection of Geologic Repositories: Current State of the Art and Future Directions

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning, including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out- standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static. Activities must encompass verification of the design, prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, we discuss the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed loop autonomation to complete tasks. We explore the feasibility of using rovers for these verification tasks, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Lastly, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2018

A Comparison of Two Alternative Types of Unmanned Aerial Vehicles for Indoor Spaces - 18502

This paper examines two lesser known, but technological mature, unmanned aerial vehicle (UAVs) approaches to working in indoor spaces. Tethered UAVs reduce safety concerns by physically limiting the range of the UAV. The tether can provide other advantages including supplying long-term power, carrying heavier payloads, enabling uninterrupted communications, better performance in high winds, and providing more flexibility in viewpoints than an aerial mast. Caged UAVs reduce safety concerns by protecting the UAV, and its environment, form damage due to collisions or contact. The protective cage can offer other advantages including bracing or rolling the UAV over a surface to simply control or reduce energy, lessen wind resistance, and allow the UAV to inspect a structure at close, repeatable distances. The paper established the problems associated with flying UAVs in indoor spaces. It reviews the state of the practice for both tethered and caged UAVs, then compares the two approaches to traditional multi-rotor UAVs. The paper concludes that commercially available tethered and caged UAVs are useful and ready for immediate adoption. (authors)

42 ENGINEERING↗