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At least 397 records · Page 22

Cybersecurity Considerations and Research Pathways for Grid-Interactive Efficient Buildings

Federal facilities serve critical missions and functions that require safe, reliable, and efficient operations. Digitization of several facility operations has increased the cost-effectiveness of energy usage and optimization of energy system performance. As the building controls landscape shifts to become more connected and smarter, building operators now face unique opportunities and challenges to adopt smart enabled devices that can lower energy usage while also optimizing building system performance. The grid-interactive efficient buildings (GEB) initiative aims to make buildings cleaner and more flexible through these smart devices. Smart enabled devices allow greater connectivity and control through remote operations and provide crucial data for analytics and increased efficiency. GEBs enable demand flexibility that has the potential to reduce electrical costs and transform the grid edge where buildings connect to power grids. This operation of interconnected systems, if not designed with cybersecurity practices, causes security gaps and introduces potential attack paths by adversarial and non-adversarial entities leading to disruption of operations.

building controls↗

Conducting Efficient Remote Science and Planning Operations for Ocean Exploration Using Exploration Ground Data Systems (xGDS)

NASA Ames’ Exploration Ground Data Systems (xGDS) supports rapid scientific decision making by synchronizing information in time and space, including video and still images, scientific instrument data, and science and operations notes in geographic and temporal context. We have deployed xGDS at multiple NASA field analog missions over the past decade. In the last two years, we have participated in SUBSEA, a multi-institution collaborative project*. SUBSEA used the research ship E/V Nautilus along with its two remotely operated vehicles (ROVs), Hercules and Argus, to explore deep ocean volcanic vents as an analog for ocean worlds (e.g. Enceladus). This work allowed us to compare the existing oceanographic operations methods and technologies used for ocean exploration with corresponding tools and approaches developed and used at NASA. In the first year of SUBSEA we observed existing remote science operations from the Inner Space Center (ISC)**. In the second year, we deployed xGDS at ISC to complement existing capabilities with xGDS tools designed to support remote Nautilus science operations from the ISC. During operations, video, ROV position and instrument telemetry were streamed from the ship to the ISC. As the science team watched dive operations, they could annotate the data with observations that were relevant to their work domain. Later, the team members could review the data at their own pace to collaboratively develop a dive plan for the next day, which had to be delivered on a fixed daily schedule. The opportunity to compare operations under different conditions enabled us to make several key observations about conducting remote science and planning operations efficiently: (i) Reviewing data collaboratively and interactively with temporal and spatial context was critical for the remote science team’s ability to plan dive operations on the Nautilus. (ii) Science team members were actively engaged with the remote dive operations because they could interact with the collected data and visualize it as they desired. (iii) Being able to replay past events at accelerated speeds, and jump to points in time and spaced based on search results, provided efficient access to critical points of interest in a massive volume of data, so the remote science team could deliver plans on time. * SUBSEA (Systematic Underwater Biogeochemical Science and Exploration Analog) is a multi-institution collaboration supported by NASA, NOAA’s Office of Exploration Research (OER), the Ocean Exploration Trust (OET) and the University of Rhode Island’s Graduate School of Oceanography (GSO).

Cohen, Tamar E.↗

Use of a Fourier transform spectrometer on a balloon-borne telescope and at the multiple mirror telescope (MMT)

The design and use of an infrared Fourier transform spectrometer which has been used for observations of laboratory, stratospheric, and astronomical spectra are described. The spectrometer has a spectral resolution of 0.032/cm and has operated in the mid-infrared (12 to 13 microns) as well as the far-infrared (40 to 140 microns), using both bolometer and photoconductor cryogenic detectors. The spectrometer is optically sized to accept an f/9 beam from the multi-mirror telescope (MMT). The optical and electronic design are discussed, including remote operation of the spectrometer on a balloon-borne 102-cm telescope. The performance of the laser-controlled, screw-driven moving cat's-eye mirror is discussed. Segments of typical far-infrared balloon flight spectra, lab spectra, and mid-infrared MMT spectra are presented. Data reduction, interferogram processing, artifact removal, wavelength calibration, and intensity calibration methods are discussed. Future use of the spectrometer is outlined.

Traub, W. A.↗

Space Station Freedom coupling tasks: An evaluation of their space operational compatibility

The development of the Space Station Freedom tasks that are compatible with both telerobotic as well as extravehicular activity is a necessary redundancy in order to insure successful day to day operation. One task to be routinely performed aboard Freedom will be the changeout of various quick disconnect fluid connectors. In an attempt to resolve these potentially contradictory issues of compatibility, mock-ups of couplings suitable to both extravehicular as well as telerobotic activity were designed and built. An evaluation performed at the Remote Operator Interaction Laboratory at NASA's Johnson Space Center is discussed, which assessed the prototype couplings as well as three standard coupling designs. Data collected during manual and telerobotic manipulation of the couplings indicated that the custom coupling was in fact shown to be faster to operate and generally preferred over the standard coupling designs.

Sampaio, Carlos E.↗

Generating Models of the Flattop Critical Assembly for Benchmark Experiments with Python

Los Alamos National Laboratory has been performing nuclear criticality experiments since 1946 at the Pajarito site, starting the Los Alamos Critical Experiments Facility in 1948. A transition period occurred between 2004 and 2011 as operations moved to the National Criticality Experiments Research Center (NCERC), where criticality experiments are now performed. Criticality experiments are essential for determination and verification of nuclear data used in calculations and modeling—such as radiation transport codes—throughout the industry, enhancing nuclear criticality safety. In addition to nuclear data validation and benchmarking, the remotely operated critical assemblies at NCERC are used for a variety of experiments and training classes supporting criticality safety.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

How to Interactively Operate the Global Hawk UAS NOAA/NASA ENSO Payload, from Your Armchair, Five Thousand Kilometers Away

This paper will describe the information technologies developed by NASA and NOAA for the February 2016 Sensing Hazards with Operational Unmanned Technology (SHOUT) El Niño Southern Oscillation (ENSO) Campaign. The air vehicle is a NASA Global Hawk UAS, with a primary payload of four instruments, two developed by NASA, two developed by NOAA. The aircraft is based at the NASA Armstrong Flight Research Center, Edwards Air Force Base, California. The payload components are remotely operated by scientists at various facilities, and the data collected downloaded over satellite links in real time for analysis and collaboration. NOAA: Advanced Vertical Atmospheric Profiling System (AVAPS), developed by NCAR, which deploys dozens of dropsondes at altitudes up to 65,000 ft to collect high vertical resolution measurements of the temperature, pressure, relative humidity, and wind speed and direction. NASA: High-Altitude Imaging Wind and Rain Airborne Profiler (HIWRAP), a radar designed to examine the factors of storm intensity: formation, structure and intensification. NOAA: O3 Photometer (UAS-O3), designed specifically for autonomous, precise, and accurate O3 measurements in the upper troposphere and lower stratosphere (UT/LS). NASA JPL: High Altitude MMIC Sounding Radiometer (HAMSR), an atmospheric microwave temperature and humidity sounder instrument that looks at the microwave spectrum.

Southern Oscilliation↗

Concepts and Tests for the Remote-Controlled Dismantling of the Biological Shield and Form work of the KNK Reactor - 13425

The compact sodium-cooled nuclear reactor facility Karlsruhe (KNK), a prototype Fast Breeder, is currently in an advanced stage of dismantling. Complete dismantling is based on 10 partial licensing steps. In the frame of the 9. decommissioning permit, which is currently ongoing, the dismantling of the biological shield is foreseen. The biological shield consists of heavy reinforced concrete with built-in steel fitments, such as form-work of the reactor tank, pipe sleeves, ventilation channels, and measuring devices. Due to the activation of the inner part of the biological shield, dismantling has to be done remote-controlled. During a comprehensive basic design phase a practical dismantling strategy was developed. Necessary equipment and tools were defined. Preliminary tests revealed that hot wire plasma cutting is the most favorable cutting technology due to the geometrical boundary conditions, the varying distance between cutter and material, and the heavy concrete behind the steel form-work. The cutting devices will be operated remotely via a carrier system with an industrial manipulator. The carrier system has expandable claws to adjust to the varying diameter of the reactor shaft during dismantling progress. For design approval of this prototype development, interaction between manipulator and hot wire plasma cutting was tested in a real configuration. For the demolition of the concrete structure, an excavator with appropriate tools, such as a hydraulic hammer, was selected. Other mechanical cutting devices, such as a grinder or rope saw, were eliminated because of concrete containing steel spheres added to increase the shielding factor of the heavy concrete. Dismantling of the biological shield will be done in a ring-wise manner due to static reasons. During the demolition process, the excavator is positioned on its tripod in three concrete recesses made prior to the dismantling of the separate concrete rings. The excavator and the manipulator carrier system will be operated alternately. Main boundary condition for all the newly designed equipment is the decommissioning housing of limited space within the reactor building containment. To allow for a continuous removal of the concrete rubble, an additional opening on the lowest level of the reactor shaft will be made. All equipment and the interaction of the tools have to be tested before use in the controlled area. Therefore a full-scale model of the biological shield will be provided in a mock-up. The tests will be performed in early 2014. The dismantling of the biological shield is scheduled for 2015. (authors)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Design of a video system providing optimal visual information for controlling payload and experiment operations with television

A program was conducted which included the design of a set of simplified simulation tasks, design of apparatus and breadboard TV equipment for task performance, and the implementation of a number of simulation tests. Performance measurements were made under controlled conditions and the results analyzed to permit evaluation of the relative merits (effectivity) of various TV systems. Burden factors were subsequently generated for each TV system to permit tradeoff evaluation of system characteristics against performance. For the general remote operation mission, the 2-view system is recommended. This system is characterized and the corresponding equipment specifications were generated.

Source record↗

Addressing Challenges to the Design & Test of Operational Lighting Environments for the International Space Station

In our day to day lives, the availability of light, with which to see our environment, is often taken for granted. The designers of land based lighting systems use sunlight and artificial light as their toolset. The availability of power, quantity of light sources, and variety of design options are often unlimited. The accessibility of most land based lighting systems makes it easy for the architect and engineer to verify and validate their design ideas. Failures with an implementation, while sometimes costly, can easily be addressed by renovation. Consider now, an architectural facility orbiting in space, 260 miles above the surface of the earth. This human rated architectural facility, the International Space Station (ISS) must maintain operations every day, including life support and appropriate human comforts without fail. The facility must also handle logistics of regular shipments of cargo, including new passengers. The ISS requires accommodations necessary for human control of machine systems. Additionally, the ISS is a research facility and supports investigations performed inside and outside its livable volume. Finally, the facility must support remote operations and observations by ground controllers. All of these architectural needs require a functional, safe, and even an aesthetic lighting environment. At Johnson Space Center, our Habitability and Human Factors team assists our diverse customers with their lighting environment challenges, via physical test and computer based analysis. Because of the complexity of ISS operational environment, our team has learned and developed processes that help ISS operate safely. Because of the dynamic exterior lighting environment, uses computational modeling to predict the lighting environment. The ISS' orbit exposes it to a sunrise every 90 minutes, causing work surfaces to quickly change from direct sunlight to earthshine to total darkness. Proper planning of vehicle approaches, robotics operations, and crewed Extra Vehicular Activities are mandatory to ensure safety to the crew and all others involved. Innovation in testing techniques is important as well. The advent of Solid State Lighting technology and the lack of stable national and international standards for its implementation pose new challenges on how to design, test and verify individual light fixtures and the environment that uses them. The ISS will soon be replacing its internal fluorescent lighting system to a solid state LED system. The Solid State Lighting Assembly will be used not only for general lighting, but also as a medical countermeasure to control the circadian rhythm of the crew. The new light source has performance criteria very specific to its spectral fingerprint, creating new challenges that were originally not as significant during the original design of the ISS. This presentation will showcase findings and toolsets our team is using to assist in the planning of tasks, and design of operational lighting environments on the International Space Station.

Clark, Toni A.↗

Robotic Manipulation Testbeds with HPSC

Interoperability and scalability of robotic manipulators will be key to develop and sustain a lunar surface and cislunar ecosystem. From in-space servicing, assembly, and manufacturing (ISAM) to logistics, maintenance, and science operations, robotic manipulation is a critical NASA capability need and the demand for high-performance spaceflight computing will only rise as robotic tasks become more autonomous. With increased complexity, testbeds for research, feasibility studies, and technology demonstrations will be essential. The Dexterous Robotics Team at NASA Johnson Space Center has established multiple robotic manipulation testbeds taking a supervised autonomous remote operations approach and plans to infuse High-Performance Spaceflight Computing (HPSC) to emulate the flight environment and close the gap between space technology development and flight operations.

Alex Sowell↗

Polar platform servicing performance limitations

The preferred service mode for space platform equipment repair, change or fluids resupply is to have manned operations via EVA and RMS. This requires that the platform achieve a rendezvous with the STS Orbiter. Because of the performance characteristics of the STS in high-inclination and high-altitude orbits, the orbit maneuvers for rendezvous must be provided by a space platform dedicated propulsion system, or by a separate Orbital Maneuvering Vehicle (OMV). An alternate service mode is to have remote operations at the platform operational altitude using an OMV. The polar platform studies examined the mass performance capability of dedicated propulsion and the OMV for both STS rendezvous and platform operational altitude service modes.

Klemetson, R. W.↗

Manipulator design and development for the Ranger satellite servicing vehicle

The Ranger program is a planned series of low cost telerobotics flight experiments, based on the use of Pegasus launch vehicles. As the first step towards this goal, the Space Systems Lab was developing a neutral buoyancy version of Ranger for use in design verification and operations testing. The design approach and results of the Ranger manipulator development program is related. Ranger is designed to incorporate four appendages: a pair of dexterous, seven degree of freedom manipulators for general manipulation; a six DOF grappling arm for securing the vehicle to the local work site; and a five DOF positioning manipulator for the stereo camera pair that provide feedback to the remote operator. Each of these manipulators incorporate unique approaches to satisfying design requirements. The numerical and operational requirements are given for Ranger manipulators, and the evolution is discussed of the differing design approaches based on similarities and differences in the requirements. Testing results for individual joints and manipulator assemblies are presented, followed by initial results of operational testing on satellite servicing tasks with the integrated Ranger neutral buoyancy vehicle.

Howard, Russell D.↗

RoboLab and virtual environments

A useful adjunct to the manned space station would be a self-contained free-flying laboratory (RoboLab). This laboratory would have a robot operated under telepresence from the space station or ground. Long duration experiments aboard RoboLab could be performed by astronauts or scientists using telepresence to operate equipment and perform experiments. Operating the lab by telepresence would eliminate the need for life support such as food, water and air. The robot would be capable of motion in three dimensions, have binocular vision TV cameras, and two arms with manipulators to simulate hands. The robot would move along a two-dimensional grid and have a rotating, telescoping periscope section for extension in the third dimension. The remote operator would wear a virtual reality type headset to allow the superposition of computer displays over the real-time video of the lab. The operators would wear exoskeleton type arms to facilitate the movement of objects and equipment operation. The combination of video displays, motion, and the exoskeleton arms would provide a high degree of telepresence, especially for novice users such as scientists doing short-term experiments. The RoboLab could be resupplied and samples removed on other space shuttle flights. A self-contained RoboLab module would be designed to fit within the cargo bay of the space shuttle. Different modules could be designed for specific applications, i.e., crystal-growing, medicine, life sciences, chemistry, etc. This paper describes a RoboLab simulation using virtual reality (VR). VR provides an ideal simulation of telepresence before the actual robot and laboratory modules are constructed. The easy simulation of different telepresence designs will produce a highly optimum design before construction rather than the more expensive and time consuming hardware changes afterwards.

Giarratano, Joseph C.↗

Some opportunities in teleoperated mining

Processes involved in remote control mining (fragmentation, material handling, ground and environmental control) are discussed with reference to longwall shear mining, the method which affords the greatest potential for the use of teleoperated systems. The breakup and haulage procedures are outlined, with attention to environmental control subsystems, i.e., noise and dust abatement. A description of a four-legged chock, attached to a section of a face conveyor and operated remotely, is presented.

Palowitch, E. R.↗

Cost‐benefit assessment framework for robotics‐driven inspection of floating offshore wind farms

Abstract Operations and maintenance (O&M) of floating offshore wind farms (FOWFs) poses various challenges in terms of greater distances from the shore, harsher weather conditions, and restricted mobility options. Robotic systems have the potential to automate some parts of the O&M leading to continuous feature‐rich data acquisition, operational efficiency, along with health and safety improvements. There remains a gap in assessing the techno‐economic feasibility of robotics in the FOWF sector. This paper investigates the costs and benefits of incorporating robotics into the O&M of a FOWF. A bottom‐up cost model is used to estimate the costs for a proposed multi‐robot platform (MRP). The MRP houses unmanned aerial vehicle (UAV) and remotely operated vehicle (ROV) to conduct the inspection of specific FOWF components. Emphasis is laid on the most conducive O&M activities for robotization and the associated technical and cost aspects. The simulation is conducted in Windfarm Operations and Maintenance cost‐Benefit Analysis Tool (WOMBAT), where the metrics of incurred operational expenditure (OPEX) and the inspection time are calculated and compared with those of a baseline case consisting of crew transfer vessels, rope‐access technicians, and divers. Results show that the MRP can reduce the inspection time incurred, but this reduction has dependency on the efficacy of the robotic system and the associated parameterization e.g., cost elements and the inspection rates. Conversely, the increased MRP day rate results in a higher annualized OPEX. Residual risk is calculated to assess the net benefit of incorporating the MRP. Furthermore, sensitivity analysis is conducted to find the key parameters influencing the OPEX and the inspection time variation. A key output of this work is a robust and realistic framework which can be used for the cost‐benefit assessment of future MRP systems for specific FOWF activities.

17 WIND ENERGY↗

Ground controlled robotic assembly operations for Space Station Freedom

A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.

Parrish, Joseph C.↗

Space Station Freedom coupling tasks: An evaluation of their telerobotic and EVA compatibility

Of the couplings included in this study, several design components were found to be of interest. With respect to the operation of the couplings, the various concepts resulted in differing reactions from the four subjects who participated in this study. The purpose of this study was not to conceive the final coupling design. Rather, it was intended as a step along an interactive process. The newly modified coupling will be included in a series of further controlled, as well as subjective, evaluations. This part of the ongoing work in the Remote Operator Interaction Laboratory (ROIL) designed to enhance the overall interface by improving design at both the teleoperator and telerobot ends of the system.

Sampaio, Carlos E.↗

Energy Harvesting RMSA Field Test

Sandia National Laboratories (SNL) is investigating photovoltaic (PV) cell configurations, integrating them with the battery-operated Remotely Monitored Sealing Array (RMSA), and testing and evaluating performance for enhanced battery life under various environmental conditions at the K-Area Material Storage (KAMS) facility at the Savannah River Site (SRS). Unattended safeguards equipment (e.g. seals) incorporates many low-power electronic circuits, which are often powered by expensive and environmentally toxic lithium batteries. These batteries must periodically be replaced, adding a radiological hazard for both safeguards inspectors and operators. An extended field test of these prototype PV energy harvesting (EH) RMSAs at an operational nuclear facility will give additional data and allow for an analysis of this technology in a variety of realistic conditions, which will be documented in a final report. RMSAs are used for this testing, but SNL envisions energy harvesting technology may be applicable to other safeguards equipment.

25 ENERGY STORAGE↗