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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 397 records · Page 22

CRADA Number NFE-19-07851 with Electro-Active Technologies Inc. (CRADA Final Report)

Cooperative Research and Development Agreement (CRADA) NFE-19-07851 between Oak Ridge National Laboratory (ORNL) and Electro-Active Technologies Inc. focused on developing a modular stack system to produce renewable hydrogen from food waste and renewable electricity. Developing technologies that can produce renewable, affordable hydrogen is key to enabling wider adoption of fuel cell technologies. Electro-Active has developed a microbial electrolysis process that leverages microbes growing on an anode to convert waste into electrons and protons, which are recombined and reacted with the help of an additional applied voltage to generate pure hydrogen at a cathode. The work done under the CRADA focused on developing a deeper understanding of the microbial community biocatalyst and how feedstock and process conditions affect structure and function in a prototype system in order to increase and sustain performance. Analysis indicates that developing a robust microbial community for conversion of food waste feedstocks at high rates within a microbial electrolysis system is possible, as well as maintaining this optimal microbial biocatalyst in larger systems. However, further work is needed to maintain performance in the system as it is scaled up to enable commercial deployment of the technology.

08 HYDROGEN↗

Tailoring Cementitious Materials Towards Value-Added Use of Large CO 2 Volumes

Hydraulic cements with alternative chemistries were developed for large-volume and value-added use of carbon dioxide. The hydraulic cements were processed using the energy-efficient mechanochemical technique at room temperature and atmospheric pressure. Carbon dioxide was captured directly from combustion emissions during processing. For this purpose, mechanochemical processing of hydraulic cements was accomplished under a flow of combustion emissions prior to the release of emissions to the atmosphere. The process removed a significant fraction of carbon dioxide from combustion emissions. The hydraulic cements captured carbon dioxide at about 10% of their weight. Two hydraulic cement chemistries were developed, and their mechanochemical processing was successfully scaled-up. The characteristic feature of one chemistry was its relatively low (near-neutral) pH where the integration of carbon dioxide yielded clear value. The second cement chemistry was based on alkali activation of industrial wastes. This chemistry could make value-added use of carbon dioxide, but it had to be refined to control the pH drop caused by CO 2 integration. These two cements render binding effects upon hydration by forming a combination of stable carbonates and aluminosilicates or phosphates. Efforts to develop cement chemistries based solely on carbonates were not successful. The mechanochemical process was found to integrate carbon dioxide into the alternative cement chemistries in the form of disordered and metastable carbonates. During hydration reactions, the disordered/metastable carbonates are either transformed into stable carbonate phases with desired binding efforts, or carbonates get integrated into the primary inorganic binders (hydrates). When compared with mechanochemical processing in pure carbon dioxide, mechanochemical processing in combustion emissions produced hydraulic cements with improved engineering properties. The mechanochemical process was scaled-up, and its variables as well as the raw materials formulations were optimized for implementation at pilot scale. Scale-up was found to enhance the carbon capture potential and the engineering qualities of the resulting hydraulic cements. This was because scale-up raises the intensity of mechanical energy input to raw materials. Certain mechanochemical phenomena cannot be induced, irrespective of the cumulative mechanical energy input, unless the intensity of impact is raised above a minimum level that cannot be achieved in laboratory-scale implementation of the process. Due to this effect, the duration of the mechanochemical process as well as its energy demand could be reduced significantly (by an order of magnitude) upon transition from laboratory to pilot scale, with the hydraulic cements produced at pilot scale offering engineering properties that were superior to those realized in laboratory-scale mechanochemical processing. The hydraulic cements produced at pilot scale via mechanochemical processing under a flow of combustion emissions were thoroughly characterized. They were found to meet standard requirements for ‘General Use’ hydraulic cements. They were compatible with the industrial-scale concrete production and construction practices that are used with the currently prevalent hydraulic cements. The new hydraulic cements with integrated carbon dioxide were found to offer distinct advantages over the currently prevalent Portland cement in terms of net carbon footprint and energy content. The combined raw materials and energy costs of the new hydraulic cements are competitive, and major cost savings can be realized because of the simplified production process that significantly lowers the capital investment in cement production plants. Mechanochemical processing of the new hydraulic cements under a flow of combustion emissions can be implemented using some existing components of cement manufacturing plants; this facilitates adoption of the technology by the cement industry.

36 MATERIALS SCIENCE↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory (BMS and RMS SOP)

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Modeling of Particle Thermal Energy Reservoir for Solar Industrial Process Heat (Final Technical Report)

Industrial process heat is a leading source of carbon emissions in the United States. To achieve decarbonization goals and reduce costs, solar industrial process heat (SIPH) systems have been investigated as a means of providing a carbon-free heat supply. Particle thermal energy storage (TES) could supplement solar resources (i.e., concentrating solar thermal and photovoltaics) to enable a high capacity factor (> 90%), carbon-free heat source. Particle TES has been considered due to its low-cost storage medium and capability to support a wide range of temperatures. This report provides technical details of developing a component and system modeling tool for a unique particle TES platform to assist the adoption of SIPH technology.

14 SOLAR ENERGY↗

A Data Processing Pipeline for Socio-Technical Network Analysis [Slides]

With the rapid adoption of emerging technologies, there is a need to catalog and model sociotechnical interdependencies that have been historically used to influence the operation of Critical Infrastructure networks including the impacts of mergers and acquisitions, hostile takeovers, and foreign investment. Our research intends to address this need with two primary contributions. First, we have developed a data curation and processing pipeline to generate sociotechnical networks extracted from a variety of data sources including SEC filings and infrastructure asset databases. The pipeline, implemented in Apache Airflow, extracts and normalizes the representation of entities and relations, specified within ontologies. Second, networks produced by our pipeline enable the development of graph-theoretic metrics that consider the properties of network components in addition to its topology. Measures of network complexity, such as degree distribution, reachability analyses, temporal analysis, and community detection may be adapted to indicate adversarial organizational influence. Our intent is to provide an extensible, machine-actionable approach to quickly communicate such models, reproduce previous results, and adapt them to new, unanticipated situations.

97 MATHEMATICS AND COMPUTING↗

Multiscale Modeling of Corrosion and Oxidation Performance and Their Impact on High-temperature Fatigue of Automotive Exhaust Manifold Components

The persistent need to reducing automobile emissions has led to the wide adoption of turbocharger technology and engine downsizing, which results in a substantial raise in exhaust temperature, reaching as high as 950°C. Therefore, the material selection for exhaust manifolds and turbocharger housings becomes significantly challenging. The successful development of the multiscale models on oxidation and corrosion performance, and their impact on high-temperature fatigue will enable the acceleration of new, high-performance, heat-resistant alloy solutions and the reduction of time and cost in achieving a durable design. In this project, we developed and validated multiscale models that can accurately predict the corrosion and oxidation performance and their impact on high-temperature fatigue of high-temperature automotive exhaust manifold components. The capability of accurately predicting the corrosion/oxidation-fatigue damage can significantly reduce the time and cost of achieving a durable design. The models were used to guide the development of new high thermomechanical fatigue (TMF) performance alloys.

Li, Mei↗

A Case Study of Luminaire-Level Lighting Control: Lighting the Northwest Energy Efficiency Alliance (NEEA) Office in Portland, OR

What happens when advanced lighting and control systems are installed in the real world? Are the advantages and energy savings realized? By observing the design, installation, commissioning, and ongoing use of connected lighting systems in real-world settings, it is possible to identify the strengths, challenges, and points of human-technology interaction that may be new or unfamiliar to those responsible for implementing or maintaining the lighting system. Ultimately, understanding and experiencing each stakeholder’s interaction with the technology can allow the research team to synthesize feedback for manufacturers, improve industry understanding of the technology, and increase adoption. The Northwest Energy Efficiency Alliance (NEEA) office in Portland, OR, is a single-floor installation that puts tunable-white, interoperability, and luminaire-level advanced control capabilities to the test. Compared to simpler, “out-of-the-box” systems that minimize field-adjustable settings, the system utilized in this space allowed for granular field adjustments which required the system specifier, client, and programming agent to make additional decisions regarding system operation while the system was being programmed. This report communicates the observational findings from the installation, programming, and ongoing operation of an advanced office LLLC system.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Durable, High-Performance Unitized Reversible Fuel Cells Based on Proton Conductors

The main objective of this project was to develop robust, highly efficient, and economically viable H + -conducting membrane-based, unitized reversible fuel cell (H-URFC) technology for large-scale co-located energy storage and power generation. Another objective of this project is to gain a profound understanding of the degradation mechanisms of key stack materials and interfaces using various in situ, ex situ, and operando measurements guided by theoretical analysis. Nanostructured components will be integrated into cell design and the interfaces between electrodes and electrolyte will be modified with active bi-functional catalysts and protective coatings in order to achieve >70% roundtrip efficiency at 1 A/cm2 in both the fuel cell and the electrolysis modes. The end goal of the project is to advance the technology to the point that a university-industry collaboration can be established to scale up the technology for early adoption, and eventually enabling a pathway to large-scale energy storage that utilizes chemical storage and conversion for electrical grid balancing.

08 HYDROGEN↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory: 2024 Edition

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility. This 2024 edition includes updates to the appendices to reflect the instrument changes from one year to another.

14 SOLAR ENERGY↗

Distributed Energy Resource (DER) Integration Framework: Regulatory Innovation for DER Compensation and Cost Allocation

Existing regulatory approaches to DER lack the precision and granularity necessary to ensure that DER can continue to scale in a cost-effective manner that is aligned with the public interest. To address this need, with the support of the U.S. Department of Energy’s Office of Electricity, Berkeley Lab and Current Energy Group developed an illustrative regulatory framework. By adopting a technology-neutral and modular approach, the framework enables flexibility and scalability for DER providers, utilities, and regulators. Clear price signals and incentives encourage the provision of valuable grid services, while equitable cost allocation promotes efficient use of distribution capacity and interconnection resources. This approach mirrors traditional ratemaking principles for importing customers and positions DERs as integral components of a dynamic and cost-effective energy future.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Large reductions in Permian Basin methane intensity shown in multi-year comparison of aerially-visible methane emissions

Spanning the US states of Texas and New Mexico, the Permian Basin has been a hotspot of methane emissions from oil and natural gas activity 1–4, although studies disagree over the magnitude of these emissions. The most comprehensive measurement campaigns published were conducted in 2019 1–5 .There have been large changes in the energy industry since then, including in the prices of oil and gas, both state and federal regulatory environments, investor and activist pressure over methane emissions, and the adoption of new technologies and policies by energy operators. Understanding how any or all of these might influence methane emissions is important for policy makers, oil and gas operators, and other stakeholders. We characterize the time evolution of Permian Basin methane emissions using a series of comprehensive aerial surveys conducted every year from 2020-2023 and compare them to the 2019 results cited above. To maintain comparability, all the data sets are from surveys using Insight M point source methane sensing technology. The scope of these surveys expanded over time: from 33-46% of wells, oil production, and gas production in 2020 to 60-65% in 2021, to 84% of wells and over 90% of both oil and gas production in 2023. These surveys by Insight M also include hundreds of gas processing plants and compressor stations as well as 1000s of km of gathering and transmission pipelines. Considering only the aerially detected portion of emissions (typically the majority of the total in such surveys 4), we find reductions of more than 70% in methane emissions intensity compared to the 2019 New Mexico-only Insight M survey, with variation depending on the year 3,4. Notably, although sources below 100 kg/hr contributed less than 10% of aerially measured emissions the 2019 New Mexico survey 3, these smaller sources constitute a larger proportion of total aerially measured emissions (although not the majority) in 2020-2023. Production facilities and gathering pipelines are responsible for the larges shares of total emissions, followed by compressor stations and gas processing plants. Permian methane emissions were also measured in a comprehensive 2019 Permian-wide survey by the Carbon Mapper team 2. That analysis led to a lower total emissions estimate at the time 4. These new Insight M-based emission rates are still roughly 30-70% lower than the aerially measured portion of the 2019 Carbon Mapper-based estimates 4. Further work is needed to harmonize these surveys in space and time to create the most intercomparable numbers possible 5. Additional analysis is needed to compare our findings to the more spatially constrained 2020, 2021, and 2023 Carbon Mapper surveys in the Permian 4,6. The evidence is strong from these two survey teams that emissions intensity has declined significantly since 2019. Reasons for this trend are currently unclear but point to possible success of emissions control programs. Future work investigating frequency, source, and operator-specific intensities could provide insights into the causes of this promising trend.

methane, oil and gas, data science, remote sensing↗

UNIFI's Grid-Forming (GFM) Inverter Reference Design: A Tutorial on Modeling, Control, and Experimental Implementation of GFM Inverters

The UNIFI Consortium's tutorial on grid-forming (GFM) inverters provides a comprehensive guide to the modeling, control, and experimental implementation of GFM inverters. As the integration of renewable energy accelerates, the transition from traditional grid following (GFL) to GFM inverters is crucial to ensure stable and sustainable power systems. This document outlines a reference design for three-phase and single-phase GFM inverters developed at the University of Texas at Austin. The tutorial also provides step-by-step guidance for accessing and using UNIFI’s GitHub repository, enabling users to design, build, and test GFM inverters efficiently. By fostering collaboration and equipping users with accessible resources, this initiative aims to drive widespread adoption of GFM technology across academia, utilities, and industries.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory: 2025 Edition

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility. This 2025 edition includes updates to the appendices to describe the current instrumentation of the NREL-SRRL.

14 SOLAR ENERGY↗

Synthesis Roadmap for Actinide Chloride Salts

Molten salt reactors (MSRs) are among the main advanced nuclear reactor types at the forefront of development by industry, with the support of the US government, for the next fleet of nuclear reactors to support the demand for energy in the coming decades. MSRs are highly unique because they are cooled and typically also fueled by molten salt. This quality brings about safety benefits such as low-pressure operation and self-stabilization of the neutron flux, operational benefits such as high-temperature operation and the ability for online refueling, and fuel and waste management benefits thanks to the flexibility of post-processing of molten salts and reprocessing options that involve removal of fission products and actinide separation. In fact, domestic deployment of molten salt (or molten salt–cooled) reactors is an approaching reality: a handful of molten salt reactor developers are planning to operate demonstration-scale reactors, as a step toward commercial-scale power reactors, within the decade. For example, Natura Resources received a construction permit in September 2024 for the deployment of MSR-1, which is a graphite-moderated thermal spectrum reactor, at Abilene Christian University. Also, TerraPower, in a collaborative effort with Southern Company and Idaho National Laboratory (INL), received approval from DOE in 2023 to proceed with the construction of the Molten Chloride Reactor Experiment (MCRE), a homogeneous chloride fast reactor at INL, and has begun assembly of system components. There are several other examples of developers at different stages of development of their own unique MSR designs (Jenet et al., 2025). As developers are in the process of obtaining approvals for their designs, deploying demonstration-scale reactors, and planning for their commercial-scale power reactors, there is a critical supply chain need for the synthesis of fuel for these reactors that must be addressed. The challenge generally is three-fold: (1) the quantity of fueled salt needed for these reactors is extraordinarily high (>100s of kilograms), but demonstrations of scaled-up techniques for fueled salt synthesis are significantly more limited than demonstrations of lab-scale syntheses; (2) each developer has a unique reactor design, which means different actinide halide elements in different carrier salts must be synthesized; and (3) there is a need for particularly high-purity salt so as to ensure the long-term operability of these reactors with minimal degradation to salt-wetted components, which necessitates synthesis techniques with high levels of quality control, repeatability, and well-characterized precursor and reactant materials. It is crucial that this supply chain challenge be addressed by demonstrating synthesis techniques that are scalable, de-risked, and well-documented so that these technologies may be adopted and utilized by industry to support the fueling needs of MSRs that are to come online within the next 10 years. With this supply chain challenge clearly defined for the developing MSR industry, it is important to consider that addressing such a challenge is oftentimes complex and context-dependent. There is not necessarily a single synthesis technique that can be scaled up and adopted to address the needs of all MSR developers; the synthesis approach that may be viable for producing a desired fuel salt will be entirely dependent on the exact salt composition needed, the quantity needed, purity needed, the refueling and waste plans, and the availability of a carrier salt for the fuel. Therefore, it is important to consider more broadly what synthesis techniques are available and have been demonstrated to understand the benefits, challenges, and general nuances that should be considered when evaluating a particular route for efficient production of high-purity fuel salts at scale.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Powder metallurgy hot isostatic pressing - workshop report

The findings of the powder metallurgy (PM) hot isostatic pressing (HIP) workshop confirmed that the accelerated adoption of this technology requires the following action items: 1. By 2035, the HIP infrastructure must be scaled to sizes larger than 4 .0 meters for manufacturing components relevant to energy and defense industries at large. 2. The community must develop cost-effective and agile standards, qualifications, and certification pathways for these HIP parts. 3. At the same time, domestic powder production should be expanded to a wide range of metallic alloys, including Cr-Mo steels, stainless steels, and titanium- and nickel-based superalloys, as well as to emerging alloy classes in the refractory space. 4. The above initiatives can be enhanced by implementing digital modeling and controls, including AI-driven simulations, in situ monitoring, and digital twins.

36 MATERIALS SCIENCE↗

Control Room of the Future Testbed Workshop – After-Action Report

The U.S. Department of Energy’s Office of Electricity is supporting a one-year, multi-laboratory effort to define the needs and requirements for a Control Room of the Future testbed, or CROFT. The effort responds to increasing grid complexity driven by large new loads, dynamic generation resources, and the growing adoption of advanced technologies and tools, including artificial intelligence (AI) and machine learning (ML). To support safe, secure, and effective grid modernization, CROFT will focus on how emerging technologies and tools can be rigorously evaluated in realistic operational settings, with attention to human-machine interaction, cognitive load, and workforce readiness. The project team includes Argonne National Laboratory, Idaho National Laboratory, National Laboratory of the Rockies, and Pacific Northwest National Laboratory. As part of the scoping effort, the team conducted two industry-focused workshops: one at DTECH on February 5, 2026, informed by prior industry interviews, and a second on May 4, 2026, adjacent to IEEE T&D. These engagements brought together utilities, vendors, consultants, national laboratories, academia, and government stakeholders to identify and prioritize use cases, barriers, validation needs, data-sharing constraints, and near- and longer-term requirements. This feedback will directly inform CROFT’s architecture and research focus areas, ensuring the testbed is grounded in real-world operational needs and designed to evaluate emerging technologies and tools in realistic control-room environments.

artificial intelligence↗

Development and Validation of a Process Model and Open-Source Process Simulator for Microalgae-Based Tertiary Phosphorus Recovery

Microalgae-based tertiary wastewater treatment has the potential to meet stringent effluent phosphorus limits, with the added benefit of producing a marketable feedstock. However, the lack of validated mechanistic models and their implementation in process simulators have limited the adoption of this technology. In this study, an updated lumped pathway metabolic model (Phototrophic-Mixotrophic Process Model, PM 2 ), including both photoautotrophic and heterotrophic metabolisms of microalgae, was developed to predict effluent phosphorus concentration and biomass yield in response to dynamic influent and varying environmental conditions. The model was implemented in QSDsan – an open-source, Python-based design and simulation platform – for robust simulation under uncertainty. A global sensitivity analysis was performed to prioritize model parameters for calibration. The model was then calibrated and validated using batch experimental data and 45 days of continuous online monitoring data from a full-scale (568 m 3 ·d -1 ) microalgae-based tertiary wastewater treatment plant (EcoRecover process). In particular, along with dynamic influent composition, temperature and light intensity data with diel variation were provided as model inputs to reflect the microalgal behavior under day-night cycling. Overall, the QSDsan-based microalgae process simulator was able to predict effluent phosphorus within 0.02–0.04 mg-P·L -1 , while also capturing the general trends of state variables according to nutrient availability.

Lumped pathway metabolic model↗

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↗