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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

An Evaluation of MODIS-Retrieved Aerosol Optical Depth over a Mountainous AERONET Site in the Southeastern US

The literature shows that aerosol optical depth (AOD) derived from the MODIS Collection 5 (C5) dark target algorithm has been extensively validated by spatiotemporal collocation with AERONET sites on both global and regional scales.Although generally comparing well over the eastern US region, poor performance over mountains in other regions indicate the need to evaluate the MODIS product over a mountain site. This study compares MODIS C5 AOD at 550nm to AOD measured at the Appalachian State University AERONET site in Boone, NC over 30 months between August 2010 and September 2013. For the combined Aqua and Terra datasets, although more than 70% of the 500 MODIS AOD measurements agree with collocated AERONET AOD to within error envelope of +/- (0.05 + 15%), MODIS tends to have a low bias (0.02-0.03). The agreement between MODIS and AERONET AOD does not depend on MODIS quality assurance confidence (QAC) value. However, when stratified by satellite, MODIS-Terra data does not perform as well as Aqua, with especially poor correlation (r = 0.39) for low aerosol loading conditions (AERONET AOD less than 0.15).Linear regressions between Terra and AERONET possess statistically-different slopes for AOD < 0.15 and AOD > or = 0.15. AERONET AOD measured only during MODIS overpass hours is highly correlated with daily-averaged AERONET AOD. MODIS monthly-averaged AOD also tracks that of AERONET over the study period. These results indicate that MODIS is sensitive to the day-to-day variability, as well as the annual cycle of AOD over the Appalachian State AERONET site. The complex topography and high seasonality in AOD and vegetation indices allow us to specifically evaluate MODIS dark target algorithm surface albedo and aerosol model assumptions at a regionally-representative SE US mountain site.

air quality↗
DOE OSTI2023

200-DV-1 Laboratory Treatability Study: Proof-of-Principle Results

This document presents the Phase 1 technical approach and results of laboratory-scale treatability testing of nine in situ remedial technologies for their consideration in a future Feasibility Study (FS) for the 200-DV-1 OU. The primary objective of this initial assessment was a proof-of-principle testing evaluation primarily via batch experiments to determine the potential reduction and sequestration of primary contaminants of interest with and without potential co-contaminants of interest. An effectiveness rate of 35% transformation to immobile or nontoxic end products, along with other experimental indicators, was used by the project team to determine the technologies that advanced to Phase 2 for further evaluations. For most technologies, the performance was evaluated based on a series of sequential extractions designed to evaluate the mobility of contaminants before and after treatment, with each subsequent extraction representing a relative decrease in mobility. The results of this study will be used to inform testing for Phase 2 of the treatability study for further evaluation of selected technologies. The final results from the treatability study, following the completion of remaining experimental phases, will be used to determine whether the technologies tested can be appropriately evaluated in a FS to expand on the limited number of viable DVZ remediation technologies. After completion of the laboratory treatability study and the 200-DV-1 OU Remedial Investigation (RI) and Resource Conservation and Recovery Act Facility Investigation (RFI) of the waste sites, results will be evaluated to determine whether field studies are needed to provide additional information on effectiveness, implementability, or costs for evaluating these technologies in the FS for their site-specific application.

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DOE OSTI2021

UNREVIEWED DISPOSAL QUESTION EVALUATION: Disposal of the Idaho National Laboratory Routinely Generated Remote Handled Low-Level Waste at the Area 5 Radioactive Waste Management Site, Nevada National Security Site, Nye County, Nevada

This Unreviewed Disposal Question Evaluation assesses whether the Idaho National Laboratory Routinely Generated Remote Handled Low-Level Waste (NEID09MFCRLLW, Revision 7) is suitable for shallow land burial at the Area 5 Radioactive Waste Management Site on the Nevada National Security Site. Disposal of the INL Routinely Generated Remote Handled LLW meets all performance objectives of DOE Manual DOE M 435.1-1, Radioactive Waste Management Manual, Chapter IV, Section P. The INL Routinely Generated Remote Handled LLW is recommended for acceptance without conditions.

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DOE OSTI2021

UNREVIEWED DISPOSAL QUESTION EVALUATION: Disposal of the Idaho National Laboratory Classified Mockup Low-Level Waste, Revision 1, at the Area 5 Radioactive Waste Management Site, Nevada National Security Site, Nye County, Nevada

This Unreviewed Disposal Question Evaluation (UDQE) assesses whether the Idaho National Laboratory (INL) Classified Mockup Low-Level Waste (LLW) (INEL208599QR0, Revision 1 [INL 2021]) is suitable for shallow land burial (SLB) at the Area 5 Radioactive Waste Management Site (RWMS) on the Nevada National Security Site (NNSS). Disposal of the INL Classified Mockup LLW meets all performance objectives of U.S. Department of Energy (DOE) Manual DOE M 435.1-1, Radioactive Waste Management Manual, Chapter IV, Section P (DOE 1999). The INL Classified Mockup LLW stream is recommended for acceptance without conditions.

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DOE OSTI2021

UNREVIEWED DISPOSAL QUESTION EVALUATION: Disposal of the Princeton Plasma Physics Laboratory Torus Cleanup System Molecular Sieve Dryer Bed at the Area 5 Radioactive Waste Management Site, Nevada National Security Site, Nye County, Nevada

This Unreviewed Disposal Question Evaluation (UDQE) assesses whether the Princeton Plasma Physics Laboratory (PPPL) Torus Cleanup System Molecular Sieve Dryer Bed (MSDB), PERM000000043, Revision 0 (Perma-Fix [PERM] 2021), is suitable for shallow land burial (SLB) at the Area 5 Radioactive Waste Management Site (RWMS) on the Nevada National Security Site (NNSS). Disposal of the PPPL Torus Cleanup System MSDB meets all performance objectives of DOE Manual DOE M 435.1-1, Radioactive Waste Management Manual, Chapter IV, Section P (DOE 1999). The PPPL Torus Cleanup System MSDB waste stream is recommended for acceptance without conditions.

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NASA NTRSDate not supplied

Restoring the Dunes: Using Satellite Imagery to Help Restore Turtle Nesting Grounds In Puerto Rico After Hurricane Maria

The North coast of Puerto Rico sustained heavy damage from Hurricane Maria and other subsequent tropical storms. This damage included erosion of beaches and foredunes. The foredunes are a delicate ecological environment, which provides important nesting grounds for endangered turtles. Local ecologists have been working to restore these dunes with mixed results. Presented here is an evaluation of dune restoration sites, and strategies to improve the success of subsequent restoration efforts. This involves both historical satellite image analysis and field work to evaluate sediment migration pathways. Local ecologists use a technique called Biomimicry to restore dunes. This involves inserting sticks or plants into the ground, simulating the effects of natural vegetation to slow wind speeds and deposit wind-blown sand. Manually planted vegetation can follow to stabilize the trapped sand. While often successful, this technique occasionally fails to accumulate significant amounts of sand. Satellite imagery shows that one of the controlling factors is the orientation of the dune and beach to the prevailing wind. Dunes that are oriented parallel to the prevailing wind are relatively slower-growing due to sediment bypass. Satellite imagery also indicates that the fastest growing dunes are in close proximity to major sediment sources. This is complicated by large dams, which limit the amount of sediment delivered to the coast. Field observation shows that biomimicry matrices are occasionally located too close to the swash zone, where storms over-top the dunes, poisoning stabilizing vegetation with salt water. Another common observation was that many dunes were starting to form behind fallen trees, suggesting that a different type of biomimicry might be successful. Satellite and field observation suggest that strategies to protect nearshore environments and improve dune restoration biomimicry efforts include: 1) orient biomimicry matrices at a higher angle to prevailing winds. 2) Prioritize sites near river mouths, particularly those without upstream dams. 3) Test other orientations of biomimicry, such as horizontal boards to mimic fallen trees. 4) Improve sediment supply by preventing further dam development, and releasing trapped sediment.

Paul Bremner↗
DOE OSTI2020

Hydrologic Evaluation of the Ringold Upper Mud Aquifer in the 100-H Area of the Hanford Site

Aquifer tests were recently performed in the Hanford Site 100-H Area to provide a hydrologic evaluation of the Ringold Formation member of Wooded Island – upper mud unit (RUM) aquifer to reduce uncertainty regarding its lateral continuity and characterize aquifer properties within the high-concentration portion of the RUM Cr(VI) plume. A constant-rate pumping test was performed in well 199-H3-22 in October 2019. Additionally, the hydraulic responses from pump and treat (P&T) shutdown events occurring in June, July, and October 2019 were analyzed for aquifer hydraulic properties.

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NASA NTRS1971

Field Data Collection: an Essential Element in Remote Sensing Applications

Field data collected in support of remote sensing projects are generally used for the following purposes: (1) calibration of remote sensing systems, (2) evaluation of experimental applications of remote sensing imagery on small test sites, and (3) designing and evaluating operational regional resource studies and inventories which are conducted using the remote sensing imagery obtained. Field data may be used to help develop a technique for a particular application, or to aid in the application of that technique to a resource evaluation or inventory problem for a large area. Scientists at the Forestry Remote Sensing Laboratory have utilized field data for both purposes. How meaningful field data has been collected in each case is discussed.

Pettinger, L. R.↗
NASA NTRS1978

Terrestrial central station array life-cycle analysis support study

Plant elements evaluated included designs for module, panel and array structures, as well as balance-of-plant systems. Installation and maintenance procedures and the impact of site environment were also evaluated. In terms of the cost of energy produced, the horizontal array configuration was found to be less expensive than the tandem array at latitudes less than 40 deg. Both of these configurations are less expensive than the rack design. However, the costs of energy for all three configurations are within approximately ?10 percent of each other. For flat plate panels, the seasonally adjusted and tracking array configurations are not economically attractive when compared to the three other designs. Balance-of-plant costs are approximately equal to (goal) module costs. The array structures and foundations are the most expensive items in the balance-of-plant costs.

Source record↗
NASA NTRS1994

Basalt generation at the Apollo 12 site. Part 1: New data, classification, and re-evaluation

New data are reported from five previously unanalyzed Apollo 12 mare basalts that are incorporated into an evaluation of previous petrogenetic models and classification schemes for these basalts. This paper proposes a classification for Apollo 12 mare basalts on the basis of whole-rock Mg# (molar 100*(Mg/(Mg+Fe))) and Rb/Sr ratio (analyzed by isotope dilution), whereby the ilmenite, olivine, and pigeonite basalt groups are readily distinguished from each other. Scrutiny of the Apollo 12 feldspathic 'suite' demonstrates that two of the three basalts previously assigned to this group (12031, 12038, 12072) can be reclassified: 12031 is a plagioclase-rich pigeonite basalt; and 12072 is an olivine basalt. Only basalt 12038 stands out as a unique sample to the Apollo 12 site, but whether this represents a single sample from another flow at the Apollo 12 site or is exotic to this site is equivocal. The question of whether the olivine and pigeonite basalt suites are co-magmatic is addressed by incompatible trace-element chemistry: the trends defined by these two suites when Co/Sm and Sm/Eu ratios are plotted against Rb/Sr ratio demonstrate that these two basaltic types cannot be co-magmatic. Crystal fractionation/accumulation paths have been calculated and show that neither the pigeonite, olivine, or ilmenite basalts are related by this process. Each suite requires a distinct and separate source region. This study also examines sample heterogeneity and the degree to which whole-rock analyses are representative, which is critical when petrogenetic interpretation is undertaken. Sample heterogeneity has been investigated petrographically (inhomogeneous mineral distribution) with consideration of duplicate analyses, and whether a specific sample (using average data) plots consistently upon a fractionation trend when a number of different compostional parameters are considered. Using these criteria, four basalts have been identified where reported analyses are not representative of the whole-rock composition: 12005, an ilmenite basalt; 12006 and 12036, olivine basalts; and 12031 previously classified as a feldspathic basalt, but reclassified as part of the pigeonite suite.

Neal, Clive R.↗
DOE OSTI2019

Integrated Solutions for Optimized Performance (ISOP) Final Technical Report

The goal of this project was to demonstrate technical feasibility of an integrated approach for deep energy retrofits by packaging innovative technologies with smart communicating controls that represent the next generation of energy efficiency. The integrated solutions for optimized performance (ISOP) package integrates (i) advanced lighting and plug load controls; (ii) intelligent daylight harvesting through automated self-powered shades and window films; (iii) advanced HVAC controls sequences (ASHRAE Guideline (GDL) 36); and (iv) fault detection and diagnosis (FDD) and continuous commissioning (CCx) using advanced analytics. These technologies address energy use across multiple building end uses that represent more than 60% of the energy consumption in all commercial buildings. The project was structured to be implemented over three budget periods: Budget Period 1 scope included site selection, project design, site-specific customization of technology packages, procurement of technologies, initiation of installation of technologies, the development of a measurement and verification plan and collection of pre-retrofit data collection. The first year go/no-go decision was based on securing host sites representing 250,000 sq. ft. of occupied operational spaces, savings analysis, technology procurement and initiation of installation. Budget Period 2 planned to complete technology installations and initiate data collection of post-retrofit performance data. The second year go/no-go was to be the completion of technology installations and commissioning, metering and data collecting to support the requirements laid out in site specific M&V plans. Budget Period 3 planned to collect and analyze post-retrofit performance data and provide data and reporting to support energy efficiency rebate programs. After the team completed activities planned for Budget Period 1, the team reached a Go/No-Go Decision Point. At that point, TRC recommended that DOE discontinue the project without prejudice due to challenges with securing demonstration sites to meet the full 250,000 sf of occupied operational spaces and DOE concurred. In Budget Period 1, the TRC team developed criteria to recruit and evaluate potential demonstration host sites. TRC worked with Princeton University, the project demonstration partner, to identify buildings on their campus as potential candidates for the demonstration. Following the selection of demonstration sites, the TRC team customized energy technology packages according to the needs and characteristics of each site. TRC defined technology specifications, identified vendors, and conducted analysis to estimate energy and cost savings potential. The project team then developed schedules for technology procurement processes and scheduled for installation at all selected demonstration sites. The project team worked with Princeton University and DOE to develop an approach to verify energy savings achieved through measurement and verification (M&V) 2.0 methods. Princeton University initiated open bids to procure the necessary materials and installation contractors. Bid results came back higher than estimates due to a couple of factors – lack of familiarity of the bidders with the proposed technologies and lack of local trained installers to execute the installation of these new measures. Due to the higher bids, projects no longer met the internal cost-effectiveness criteria used by Princeton to proceed with procurement of the full suite of technologies as proposed in ISOP. Princeton had already procured parts of the ISOP package as part of a campus-wide initiative for FDD and lighting retrofits, but with the higher costs for other ISOP components, Princeton could no longer commit to the full ISOP package on the selected sites. Based on this, the team reached the Go/No-Go decision point, where they decided not to proceed with the project. Princeton is separately installing portions of the ISOP package where they individually meet Princeton’s payback criteria but on a different schedule than would have been needed for the DOE ISOP project. The team has learned several lessons from project progress in the first budget period. The team will utilize these lessons in future projects, as should any team which proceeds with a project around the ISOP technology. The first lesson is that more information about the proposed sites is required earlier in the process (perhaps even at the proposal stage) in order to have a successful demonstration. Technical details not evident earlier in the process (such as the TLED limitations for ALCS) can derail project execution. The second lesson is that pricing of emerging technologies is highly variable due to lack of familiarity of local installers and distributor with the proposed technologies as well as alternate bids using products they were more familiar with, but that cost more than the ones proposed by TRC. Finally, the last major lesson is that the host site’s internal project criteria is of critical importance. Based on these higher installed costs and lack of an informed installer base for the products proposed for this project, the project does not meet Princeton’s simple payback goals of five years.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS2000

Evaluation of DVD-R for Archival Applications

For more than a decade, CD-ROM and CD-R have provided an unprecedented level of reliability, low cost and cross-platform compatibility to support federal data archiving and distribution efforts. However, it should be remembered that years of effort were required to achieve the standardization that has supported the growth of the CD industry. Incompatibilities in the interpretation of the ISO-9660 standard on different operating systems had to be dealt with, and the imprecise specifications in the Orange Book Part n and Part Hi led to incompatibilities between CD-R media and CD-R recorders. Some of these issues were presented by the authors at Optical Data Storage '95. The major current problem with the use of CD technology is the growing volume of digital data that needs to be stored. CD-ROM collections of hundreds of volumes and CD-R collections of several thousand volumes are becoming almost too cumbersome to be useful. The emergence of Digital Video Disks Recorder (DVD-R) technology promises to reduce the number of discs required for archive applications by a factor of seven while providing improved reliability. It is important to identify problem areas for DVD-R media and provide guidelines to manufacturers, file system developers and users in order to provide reliable data storage and interchange. The Data Distribution Laboratory (DDL) at NASA's Jet Propulsion Laboratory began its evaluation of DVD-R technology in early 1998. The initial plan was to obtain a DVD-Recorder for preliminary testing, deploy reader hardware to user sites for compatibility testing, evaluate the quality and longevity of DVD-R media and develop proof-of-concept archive collections to test the reliability and usability of DVD-R media and jukebox hardware.

Martin, Michael D.↗
DOE OSTI2021

The Molecular Path Approaching the Active Site in Catalytic Metal–Organic Frameworks

How molecules approach, bind at, and release from catalytic sites is key to heterogeneous catalysis, including for emerging metal-organic framework (MOF)-based catalysts. Here, we use in situ synchrotron X-ray scattering analysis to evaluate the dominant binding sites for reagent and product molecules in the vicinity of catalytic Ni-oxo clusters in NU-1000 with different surface functionalization under conditions approaching those used in catalysis. The locations of the reagent and product molecules within the pores can be linked to the activity for ethylene hydrogenation. For the most active catalyst, ethylene reagent molecules bind close to the catalytic clusters, but only at temperatures approaching experimentally observed onset of catalysis. The ethane product molecules favor a different binding location suggesting that the product is readily released from the active site. An unusual guest-dependence of the framework negative thermal expansion is documented. We hypothesize that reagent and product binding sites reflect the pathway through the MOF to the active site and can be used to identify key factors that impact the catalytic activity.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

2020 Postclosure Groundwater Monitoring and Inspection Report, Central Nevada Test Area, Subsurface Corrective Action Unit 443

This report presents the groundwater monitoring data collected by the U.S. Department of Energy (DOE) Office of Legacy Management (LM) from the Central Nevada Test Area (CNTA), Nevada, Site, Subsurface Corrective Action Unit (CAU) 443 in Nye County, Nevada (Figure 1). The CNTA is the site of an underground nuclear test in 1968 that resulted in residual contamination near the detonation depth of 3200 feet (ft); the contamination requires long-term monitoring. Responsibility for the environmental restoration and long-term monitoring was transferred from DOE’s National Nuclear Security Administration, Nevada Field Office, to LM on October 1, 2006. The environmental restoration and site closure process were completed in 2015 in accordance with the amended 1996 Nevada Federal Facility Agreement and Consent Order (FFACO) (State of Nevada et al. 1996, as amended) and all applicable Nevada Division of Environmental Protection (NDEP) policies and regulations. The Closure Report, Central Nevada Test Area, Subsurface Corrective Action, Unit 443 (DOE 2018), also called the Closure Report, originally was completed in January 2016 and revised in October 2018; it describes LM’s plan for long-term postclosure monitoring. This includes monitoring of the radioisotopes of interest and water elevations, inspecting the site and maintaining the institutional controls (ICs), evaluating and reporting data, and documenting the site’s records and data management processes (DOE 2018).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Evaluation of Exterior Shades at PNNL Lab Homes and Occupied Field Sites (Final Report)

In residential applications, heat transfer through windows accounts for a significant portion of a home’s cooling load. Exterior shades are window attachments that can be applied on the exterior-side of windows in a home. Exterior shades can reduce solar heat gain, reduce glare through a window, and improve comfort in the home. To assess the performance of residential exterior shades, the U.S. Department of Energy (DOE), Office of Energy Efficiency and Renewable Energy (EERE), Building Technologies Office (BTO) commissioned a series of field studies for exterior fabric shades to be performed by Pacific Northwest National Laboratory (PNNL) during the cooling seasons of 2019 and 2020. This report describes the experimental setup and results of these exterior shade field studies. PNNL, in collaboration with Lawrence Berkeley National Laboratory (LBNL), evaluated exterior shades at the PNNL Lab Homes and three occupied field sites in Richland, Washington. At the Lab Homes, the energy performance of exterior shades was evaluated in a controlled side-by-side environment. At the occupied field sites, exterior shades were characterized by measuring shade usage, documenting installation practices, and surveying customer perspectives.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Expanding the Scope of Bacterial CRISPR Activation with PAM-Flexible dCas9 Variants

CRISPR-Cas transcriptional tools have been widely applied for programmable regulation of complex biological networks. In comparison to eukaryotic systems, bacterial CRISPR activation (CRISPRa) has stringent target site requirements for effective gene activation. While genes may not always have an NGG protospacer adjacent motif (PAM) at the appropriate position, PAM-flexible dCas9 variants can expand the range of targetable sites. Here we systematically evaluate a panel of PAM-flexible dCas9 variants for their ability to activate bacterial genes. We observe that dxCas9-NG provides a high dynamic range of gene activation for sites with NGN PAMs while dSpRY permits modest activity across almost any PAM. Similar trends were observed for heterologous and endogenous promoters. For all variants tested, improved PAM-flexibility comes with the trade-off that CRISPRi-mediated gene repression becomes less effective. Weaker CRISPR interference (CRISPRi) gene repression can be partially rescued by expressing multiple sgRNAs to target many sites in the gene of interest. Furthermore, our work provides a framework to choose the most effective dCas9 variant for a given set of gene targets, which will further expand the utility of CRISPRa/i gene regulation in bacterial systems.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

2019 Groundwater Monitoring Report Project Shoal Area: Subsurface Corrective Action Unit 447

The Project Shoal Area is a site in Nevada where an underground nuclear test was conducted in 1963. It later came to be known as the Shoal, Nevada, Site. Surface contamination at the site has been remediated, but investigation of groundwater contamination resulting from the test is still in the corrective action process. Annual sampling and water-level monitoring are conducted as part of the subsurface corrective action strategy, which has focused on revising the site conceptual model and evaluating the adequacy of the monitoring well network. It has also included enhancements to the monitoring well network to address uncertainties in the groundwater flow direction and the cause of rising water levels in site wells west of the shear zone since the first hydrologic characterization (HC) wells were installed in 1996. Revisions to the site conceptual model and enhancements to the monitoring strategy were provided to Nevada Division of Environmental Protection (NDEP) in the Addendum to: Corrective Action Decision Document/Corrective Action Plan (CADD/CAP) for the Subsurface Corrective Action Unit 447 Shoal, Nevada, Site. NDEP approved the addendum to the CADD/CAP, which included an expanded contaminant boundary and compliance boundary for the site.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Performance Evaluation of Augmented Teleoperation of Contact Manipulation Tasks

At Argonne National Laboratory, an enhanced telerobotic concept has been suggested by providing augmented virtual fixtures for precise and dexterous manipulation. The proposed technology incorporated a human-robot interface that can assist personnel on the processes of Deactivation and Decommissioning in sites of high radiation. It has been implemented on a dual-arm robot system, known as Baxter, by integrating the Robotic Operating System (ROS) with 3D sensors and visual-haptic operator interface. However, what remained before its practical utilization is the capability for precisely placing the virtual fixtures. To this end, the objectives involved camera calibration, which required hardware fabrication and setup, as well as modification and implementation of ROS. The goal of this Research and Development is to develop an augmented-reality- based operator interface for human-inclusive, intelligent, and autonomous robotic system for the Deactivation and Decommissioning (D and D) of radioactive sites. The objectives are to develop: Collaborative Robot; Multi-modal Mixed-Reality Human-Robot Interface; Intelligent and Autonomous Behaviors. In order to achieve this, Baxter's Head-Kinect camera and Left-Hand camera need to be calibrated to overlap the real environment with the simulated environment. Camera calibration, which is crucial for precisely placing the virtual fixtures, was successful after running the simulations. The real and simulated environments overlapped, permitting the utilization of augmented teleoperation and the dexterous manipulation of Baxter for D and D applications in nuclear sites. Future steps: Performance evaluation of augmented teleoperation of contact manipulation tasks: Multiple-Camera 3D Reconstruction and Automation. Oculus Interface: Augmented reality and machine learning for enhanced telerobotic operation (Augmented Tele-autonomy): Machine-learning techniques for complex and flexible autonomous robotic behaviors. Interactive remote operation of robotic systems. Mesh cutting with simulation and real robot.

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