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At least 469 records · Page 26

Low Power, Radiation Resilient Synchronous Edge Processing for Remote Monitoring

Next-generation space remote sensing systems may be equipped with imaging arrays that sense data at a rate that outstrips the processing capability of any computing hardware that can operate within a satellite’s power budget. This project developed novel convolutional and recurrent neural networks to detect and estimate point-like events amid clutter, and investigated their efficient and accurate implementation on analog in-memory computing systems that are 10-1000× more energy-efficient than digital processors. This project leveraged two memory devices at different levels of technological maturity: a large-scale analog computing prototype using commercial SONOS charge-trap memory, and electrochemical memory (ECRAM) with intrinsic radiation hardness. We experimentally demonstrated end-to-end analog processing of our neural networks on SONOS and characterized the radiation response of both SONOS and ECRAM. We advanced the state-of-the-art in ECRAM precision and reliability, and developed co-design methods to enable accurate long-term operation of SONOS analog accelerators in space radiation environments.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

The High Luminosity LHC interaction region magnets towards series production

The High Luminosity Large Hadron Collider (HL-LHC) is the new flagship project of CERN. First endorsed in 2013 and approved in 2016, HL-LHC is an upgrade of the accelerator aiming to increase by a factor of ten the statistics of the LHC collisions at the horizon of 2035-2040. HL-LHC relies on cutting edge technologies: among them, large aperture superconducting magnets will replace the present hardware to allow a smaller beam size in two interaction points (IPs). The project involves the construction of about 150 magnets of six different types: the quadrupole triplet, two main dipoles and three orbit correctors. The triplet, manufactured at CERN and in the USA, will consist of 30 magnets based on Nb3Sn technology, with an operational peak field of 11.4 T. These will be the first quadrupole Nb3Sn magnets installed in a particle accelerator. The other five types of magnets, all relying on Nb-Ti technology, present non-trivial challenges in the design and construction; they will be manufactured as part of in-kind contribution under the responsibility of institutes in Japan, China, Spain, and Italy. The project is now in the phase of transition between qualification through short models and prototypes and the beginning of the series construction. In this paper we review the magnet requirements, the reasons for selecting the design, the technological challenges with respect to previous projects, and we summarize the steps that have been taken to validate the baseline.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Prototyping the Light Detection of the DUNE Near Detector

The Deep Underground Neutrino Experiment (DUNE) is a long-baseline neutrino oscillation experiment with a 70kt liquid argon time projection chamber (LAr TPC) at the Far Detector complex at the Sanford Underground Research Facility (SURF) and a Near Detector (ND) complex planned for the Fermi National Accelerator Laboratory. The ND complex plans for three detector subsystems, including a modular LAr TPC comprised of 35 optically segregated modules. The modular detector design required the development a novel dielectric light readout, the ArCLight technology, which can be operated in a high voltage environment and has a large active surface. A demonstrator of four modular detectors, DUNE ND-LAr 2x2, will operate in 2023 in Fermilab's NuMI beam. After the construction of the modules was completed, they were successfully operated and commissioned in liquid argon using cosmic-ray muons at the University of Bern. This talk will discuss the designs of the light readout systems used in these modules with focus on the construction and commissioning of the ArCLights as well as the performance of the LRS during the tests at Bern.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Marrying Quality Assurance with Design Engineering - A Winning Partnership! But, a Cultural Divide

Investors would like to be confident that a PV plant will work as promised before investing large sums of money. Data showing that PV modules can withstand thousands of hours of accelerated testing are a comfort, but are not sufficient to characterize the economic useful life (EUL) of the whole PV system. An inability to be confident of every aspect of the system can motivate less favorable contract terms. In the end, a winning partnership is obtained when a carefully engineered, durable design is married with a robust quality management system and the marriage is extended across all parts of the value chain. However, this marriage is challenging because of the conventional cultural divide between design engineers and quality management specialists. International standards are being developed to facilitate this partnership and include technology-specific requirements in the quality management systems used for component manufacture and system design, construction and operation.

14 SOLAR ENERGY↗

Initial Radiation of Nuclear Power Plant Components (CRADA NFE-17-06892 Final Report)

As advanced reactor concepts are developed, instrumentation and control (I&C) cables and sensors will play a significant role in assuring their operation is well understood, and safety-related process information can be collected reliably over the course of their design life. As a first step to develop acceptance criteria and define the limits of currently available nuclear I&C cable and sensor technology, a collaboration between Oak Ridge National Laboratory and Analysis and Measurement Services (AMS) Corporation was initiated under the Gateway for Accelerated Innovation in Nuclear (GAIN) Program. This collaborative effort focused on providing technical information related to the combined thermal and radiation aging of nuclear power plant (NPP) cables, companion NPP cable insulation samples, and two prototype temperature and two pressure sensors. This work was carried out using the instrumented gamma irradiation system that is part of the High Flux Isotope Reactor Gamma Irradiation Facility (HFIR GIF). This system provided the opportunity for the condition of the prototype sensors to be tracked during the irradiation in order to determine their functional limits with greater granularity when compared to a simple irradiation insertion at the HFIRGIF. Experimental assemblies for sensor irradiation were successfully completed, and sensor irradiation to accumulated dose of 3000 kGy at a rate of approximately 6 kGy/hr was carried out. Two prototype temperature assemblies were continuously monitored during exposure to 3000 kGy and found to have no observable degradation from the irradiation. Two pressure sensors were first irradiated to 1000 kGy. At which point, one of the sensors was found to operate normally; however, a second sensor failed the operability test. The operable pressure sensor output was then continuously monitored from 1000 kGy to 3000 kGy. The sensor output exhibited steady trendable drift versus the accumulated radiation dose. At the conclusion of the irradiation, the four test sensors were released for laboratory calibration checks. The calibration check of the temperature sensors found no significant change after irradiation compared to baseline measurements before irradiation; however, both pressure sensors failed the post-test calibration checks and both sensors were not functioning properly. These results will help inform sensor manufacturers and I&C design engineers of potential limitations of these types of sensors for use in high radiation environments associated with the compact configuration of new Small Modular Reactors (SMRs) such as NuScale’s reactor power module. Irradiations on NPP cables and companion samples were not completed due to programmatic delays, however a path forward that was based on lessons learned from this project was defined to accommodate future, comparable instrumented gamma irradiations at the HFIR GIF.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Mechanical design and fabrication of the VHF-gun, the Berkeley normal-conducting continuous-wave high-brightness electron source

A high repetition rate, MHz-class, high-brightness electron source is a key element in future high-repetition-rate x-ray free electron laser-based light sources. The VHF-gun, a novel low frequency radio-frequency gun, is the Lawrence Berkeley National Laboratory (LBNL) response to that need. The gun design is based on a normal conducting, single cell cavity resonating at 186 MHz in the VHF band and capable of continuous wave operation while still delivering the high accelerating fields at the cathode required for the high brightness performance. The VHF-gun was fabricated and successfully commissioned in the framework of the Advanced Photo-injector EXperiment, an injector built at LBNL to demonstrate the capability of the gun to deliver the required beam quality. In conclusion, the basis for the selection of the VHF-gun technology, novel design features, and fabrication techniques are described.

47 OTHER INSTRUMENTATION↗

Dynamic Power Convertor Development for Radioisotope Power Systems at NASA Glenn Research Center

The Thermal Energy Conversion Branch at NASA Glenn Research Center (GRC) is supporting the development of high-efficiency power convertors for use in Radioisotope Power Systems (RPS). Significant progress was made towards such a system that utilized Stirling conversion during the 2001 to 2015 timeframe. Flight development of the Advanced Stirling Radioisotope Generator (ASRG) was cancelled in 2013 by the Department of Energy (DOE) and NASA Headquarters primarily due to budget constraints, and the Advanced Stirling Convertor (ASC) technology contract was subsequently concluded in 2015. A new chapter of technology development has recently been initiated by the NASA RPS Program. This effort is considering all dynamic power convertor options, such as Stirling and Brayton cycles. Four convertor development contracts supporting this effort were awarded in 2017. The awarded contracts include two free-piston Stirling, one thermoacoustic Stirling, and one turbo-Brayton designs. The technology development contracts each consist of up to three phases: Design, Fabricate, and Test. As of May 2018, all contracts have completed the Design Phase, and each underwent a design review with an independent review board. Three of the contracts are planned to execute the Phase 2 option for fabrication. Convertors manifesting from these development efforts will then undergo independent validation and verification at NASA facilities, which will consist of convertor performance and RPS viability demonstrations. Example tests include launch vibration simulation, performance mapping over the environmental temperature range, and static acceleration exposure. In parallel with this renewed development effort, NASA GRC is still demonstrating free-piston Stirling convertor technology using assets from previous projects. The Stirling Research Laboratory (SRL) is still operating several convertors from previous development projects which have similarities and relevance to current contract designs. Four of which are flexure-bearing based, and another six are gas-bearing based. One of the flexure-bearing convertors has accumulated over 110,000 hours of operation, and holds the current record for maintenance-free heat-engine run-time. Another flexure-bearing convertor was recently manually shutdown after 105,620 hours of operation, then disassembled and inspected. This inspection produced a wealth of information about the effects of this amount of runtime on the technology's components. One of the engineering unit flexure-bearing convertors recently underwent launch simulation vibration test, a static acceleration exposure up to 20 g, and was then placed on extended operation. Amongst the gas-bearing convertors, the longest running unit has accumulated over 70,000 hours of operation. Four high-fidelity gas-bearing convertors from the ASRG project are still operating continuously, for which the longest runtime has reached 28,000 hours.

Oriti, Salvatore M.↗

Low-Energy Solvents For Carbon Dioxide Capture Enabled By A Combination Of Enzymes And Vacuum Regeneration

An integrated bench-scale system combining the attributes of the bio-renewable enzyme carbonic anhydrase (CA) with low-enthalpy CO 2 absorption solvents and vacuum regeneration was designed, built and operated for 500 hours using simulated flue gas. The objective was to develop a CO 2 capture process with improved efficiency and sustainability when compared to NETL Case 10 monoethanolamine (MEA) scrubbing technology. The use of CA accelerates inter-conversion between dissolved CO 2 and bicarbonate ion to enhance CO 2 absorption, and the use of low enthalpy CO 2 absorption solvents makes it possible to regenerate the solvent at lower temperatures relative to the reference MEA-based solvent. The vacuum regeneration-based integrated bench-scale system operated successfully for an accumulated 500 hours using aqueous 23.5 wt% K 2 CO 3 -based solvent containing 2.5 g/L enzyme to deliver an average 84% CO 2 capture when operated with a 20% enzyme replenishment rate per ~7 hour steady-state run period. The total inlet gas flow was 30 standard liters per minute with 15% CO 2 and 85% N 2 . The absorber temperature was 40°C and the stripper operated under 35 kPa pressure with an approximate 77°C stripper bottom temperature. Tests with a 30°C absorber temperature delivered >90% capture. On- and off-line operational measurements provided a full process data set, with recirculating enzyme, that allowed for enzyme replenishment and absorption/desorption kinetic parameter calculations. Dissolved enzyme replenishment and conventional process controls were demonstrated as straightforward approaches to maintain system performance. Preliminary evaluation of a novel flow-through ultrasonically enhanced regeneration system was also conducted, yet resulted in CO2 release within the range of temperature-dependent release, and further work would be needed to validate the benefits of ultrasonic enhanced stripping. A full technology assessment was completed in which four techno-economic cases for enzyme-enhanced aqueous K 2 CO 3 solvent with vacuum stripping were considered and a corresponding set of sensitivity studies were developed. The cases were evaluated using bench-scale and laboratory-based observations, AspenPlus® process simulation and modeling, AspenTech’s CCE® Parametric Software, current vendor quotations, and project partners’ know-how of unit operations. Overall, the DOE target of 90% CO 2 capture could be met using the benign enzyme-enhanced aqueous K 2 CO 3 -based alternative to NETL Case 10. The model-predicted plant COE performance, scaled to 550 MWe net output, was 9% higher than NETL Case 10 for an enzyme-activated case with minimized technical risk and highest confidence in physical system performance utilizing commercially available equipment. A COE improvement of 2.8% versus NETL Case 10 was predicted when favorable features of improved enzyme longevity and additional power output from a very low pressure (VLP) turbine were combined, wherein corresponding high capital and operational costs limited the level of COE benefit. The environmental, health and safety (EH&S) profile of the system was found to be favorable and was compliant with the Federal EH&S legislation reviewed. Further work on a larger scale test unit is recommended to reduce the level of uncertainty inherent in extrapolating findings from a bench-scale unit to a full scale PCC plant, and to further investigate several identified opportunities for improvement. Production feasibility and suitability of carbonic anhydrases for scale-up testing was confirmed both through the current project and through parallel efforts.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Dynamic Power Convertor Development for Radioisotope Power Systems at NASA Glenn Research Center

The Thermal Energy Conversion Branch at NASA Glenn Research Center is supporting the development of high-efficiency power convertors for use in radioisotope power systems (RPS). Significant progress was made toward such a system that utilized Stirling conversion during the 2001 to 2015 timeframe. Flight development of the Advanced Stirling Radioisotope Generator (ASRG) was canceled in 2013 by the U.S. Department of Energy (DOE) and NASA Headquarters primarily due to budget constraints, and the Advanced Stirling Convertor (ASC) technology contract was subsequently concluded in 2015. A new chapter of technology development has recently been initiated by the NASA RPS Program. This effort is considering all dynamic power convertor options, such as Stirling and Brayton cycles. Four convertor development contracts supporting this effort were awarded in 2017. The awarded contracts include two free-piston Stirling, one thermoacoustic Stirling, and one turbo-Brayton design. The technology development contracts each consist of up to three phases: design, fabrication, and test. As of May 2018, all contracts have completed the design phase, and each underwent a design review with an independent review board. Three of the contracts are planned to execute the phase 2 option for fabrication. Convertors manifesting from these development efforts will then undergo independent validation and verification (IV and V) at NASA facilities, which will consist of convertor performance and RPS viability demonstrations. Example tests include launch vibration simulation, performance mapping over the environmental temperature range, and static acceleration exposure. In parallel with this renewed development effort, Glenn is still demonstrating free-piston Stirling convertor technology using assets from previous projects. The Stirling Research Laboratory (SRL) is still operating several convertors from previous development projects, which have similarities and relevance to current contract designs. Four of these are flexure-bearing based and another six are gas bearing based. One of the flexure-bearing convertors has accumulated over 110,000 h of operation and holds the current record for maintenance-free heat-engine run time. Another flexure-bearing convertor was recently manually shut down after 105,620 h of operation, then disassembled and inspected. This inspection produced a wealth of information about the effects of this amount of run time on the technology's components. One of the engineering unit flexure-bearing convertors recently underwent a launch simulation vibration test, a static acceleration exposure up to 20 g, and was then placed on extended operation. Among the gas-bearing convertors, the longest running unit has accumulated over 70,000 h of operation. Four high-fidelity gas-bearing convertors from the ASRG project are still operating continuously for which the longest run time has reached 28,000 h.

Oriti, Salvatore M.↗

New Pathways for Hydropower: Getting Hydropower Built--What Does it Take?

This report is the result of a collaboration of experts with diverse perspectives and a wealth of experience in designing, developing, owning, and operating small hydropower facilities. These experts met in Golden, Colorado, in December 2013 to put forth innovative ideas about accelerating the development of small hydropower projects. Innovations put forth by these experts can yield more than just technology advancements. Innovation is possible in all phases of project development, from concept to commissioning to operations and maintenance. These innovative ideas were refined and organized in subsequent collaborations among these experts to produce this final version of the report.

13 HYDRO ENERGY↗

Launch Alaska Transportation and Energy Accelerator (LATEA)

The Launch Alaska Transportation and Energy Accelerator (LATEA), funded through the U.S. Department of Energy Office of Technology Commercialization’s Energy Program for Innovation Clusters (EPIC),advanced deployment of innovative and efficient transportation and energy technology in Alaska from October 2021 through June 2025. The project was designed to leverage Launch Alaska’s accelerator model to identify, recruit, and support transportation technology companies with novel solutions to market needs while building the stakeholder networks, demonstration opportunities, and institutional capacity necessary to accelerate commercialization in one of the most challenging operating environments in the United States.

08 HYDROGEN↗

Extending Ion Engine Technology to NEXT and Beyond

Extending ion engine technology beyond the current state-of-the art primary interplanetary electric propulsion system, the 2.3-kW NASA Solar Electric Propulsion Technology and Applications Readiness (NSTAR) system, will require thrusters with improved propellant throughput and total impulse capability. Many of the design choices that culminated in the NSTAR thrusters must be revisited, and their application to next generation ion engine technology must be evaluated. The concept of derating, which was successfully employed in NSTAR, has been applied to the 40 cm NASA Evolutionary Xenon Thruster (NEXT) currently under development at NASA Glenn Research Center (GRC). At 5-kW, NEXT operates with the same average beam current density as NSTAR, and at 10-kW, the peak beam current density is only ten percent greater than NSTAR. The result is that similar Ion optics technology is expected to yield comparable lifetime. Thick-accelerator- grid ion optics are also being tested to realize additional lifetime benefits. A 40-A discharge cathode is being developed for NEXT based on scaling the NSTAR design. Nevertheless, the experiences of the NSTAR ground tests and the thruster on the Deep Space One spacecraft indicate that the discharge cathode wear must be studied experimentally and theoretically to ensure that it meets the lifetime requirements. Although NEXT is in its infancy, investigations have already begun to examine possible modifications to engine design for even higher-power and higher-specific impulse engines. Ion optics using alternate materials such as titanium, graphite, or carbon-carbon composite are currently being investigated due to their low sputter yields at high voltage. To avoid the difficulties encountered using electrodes at high-currents, the use of a microwave-based ion thruster is under investigation for potential high-power ion thruster systems requiring long lifetimes. Additionally, alternative propellants are being considered for applications requiring high-specific impulse (>> 5000 s) and extremely long-life (>> 15,000 hr). Testing requirements make condensable propellants attractive for high-power engines. Although the NSTAR ion engine demonstrated the flight maturity of ion thruster technology, many challenges remain for the development of thrusters with improved propellant throughput and power handling capabilities.

Domonkos, Matthew T.↗

Presentation on a Space Acceleration Measurement System (SAMS)

The primary objective of the Space Acceleration Measurement Systems (SAMS) project is to provide an acceleration measurement system capable of serving a wide variety of space experiments. The design of the system being developed under this project takes into consideration requirements for experiments located in the middeck, in the orbiter bay, and in Spacelab. In addition to measuring, conditioning, and recording accelerations, the system will be capable of performing complex calculations and interactive control. The main components consist of a remote triaxial optical storage device. In operation, the triaxial sensor head produces output signals in response to acceleration inputs. These signals are preamplified, filtered and converted into digital data which is then transferred to optical memory. The system design is modular, facilitating both software and hardware upgrading as technology advances. Two complete acceleration measurement flight systems will be build and tested under this project.

Chase, Theodore L.↗

Modern and Future Colliders

Since the initial development of charged particle colliders in the middle of the 20th century, these advanced scientific instruments have been at the forefront of scientific discoveries in high energy physics over the past 60 years. Collider accelerator technology and beam physics have progressed immensely and modern facilities now operate at energies and luminosities many orders of magnitude greater than the pioneering colliders of the early 1960s. In addition, the field of colliders remains extremely dynamic and continues to develop many innovative approaches. Indeed, several novel concepts are currently being considered for designing and constructing even more powerful future colliders. In this paper, we first review the colliding beam method and the history of colliders, and then present, in detail, the major achievements of operational machines and the key features of near-term collider projects that are currently under development. We conclude with an analysis of numerous proposals and studies for far-future colliders. The evaluation of their respective potentials reveals tantalizing prospects for further significant breakthroughs in the collider field.

43 PARTICLE ACCELERATORS↗

A Design and Fabrication Options Trade Study for Metallic Fuel without Internal Sodium Bonding

Nuclear fuels using alloys of uranium, or metallic fuels, have many beneficial properties. The classical metallic fuel design uses a loose fitting cylindrical “slug” of fuel placed inside stainless-steel cladding tubes where the gap is filled with sodium. This sodium bond is liquid at operating temperature and conducts heat from the slug to the cladding, especially in early life before fuel swells into contact with the cladding. Despite the benefits of sodium bonding, there is a desire to develop metallic fuel technologies without it chiefly to reduce chemical reaction hazards in spent fuel storage from sodium fast reactors operating on once-through fuel cycles. Elimination of the sodium bond may also help unlock potential benefits for fuel fabrication, reactor neutronics, and compatibility with other types of reactors. Creating a sodium-free metallic fuel revolves around the problem of manufacturing fuel slug geometries which are in close contact with the cladding at beginning of life to facilitate heat transport while alleviating fuel-cladding chemical interactions (FCCI) at this interface and providing enough free volume to accommodate fuel swelling. Accelerating development and qualification of this fuel system will require careful selection of design and manufacturing options. To this end, a design trade-off study was performed to evaluate candidate options. Several design and manufacturing options were assessed, weighted, scored, and ranked with respect to fabrication, normal reactor operation, off-normal scenarios, and back-end considerations. This effort was performed both for “baseline” needs, which represented a once-through fuel cycle at temperatures and burnups known to be viable for sodium-bonded metallic fuel, and for “enhanced” needs to represent opportunities for closed fuel cycles and/or more aggressive temperatures/burnups. The outcomes of this study prioritized a baseline technology using U-Zr alloy with additives to mitigate FCCI, produced in annular slug geometry by continuous casting, clad in austenitic stainless-steel alloy, and followed by a final step to swage the cladding down to close the gap. This study prioritized an enhanced fuel technology using U-Mo alloy, also produced by continuous casting into an annular geometry, followed by coating/plating with an FCCI barrier on the slug, again with a final step to swage the cladding diameter down using oxide dispersion strengthened steel. It was noted that development of the enhanced fuel technology would entail more risk, thus U-Zr alloy was put forth as a backup to U-Mo if challenges are encountered with FCCI barriers, and advanced ferritic/martensitic steels are put forth as a backup to oxide dispersion strengthened steels if swaging and welding are found unworkable.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Dispenser Reliability: Materials R&D. A Hydrogen Fueling Infrastructure Research and Station Technology (H2FIRST) Report

Dispensers are the top cause of maintenance events and down-time at hydrogen fueling stations. In an effort to help characterize and enable improvements in dispenser reliability, an extensive accelerated lifetime testing set-up was designed and built at NREL involving components typically part of dispensing operations at fueling stations. Device Under Test (DUTs) included different components such as normally open valves, normally closed valves, fueling nozzles, breakaways devices and filters. Conditions of testing included pressures, and flow rates similar to light duty fuel cell electric vehicles fueling at -40°C, and -20°C for thousands of cycles in hydrogen. Tested components (failed and non-failed) were disassembled at SNL and polymeric O-rings were carefully retrieved and cataloged for chemical and physical characterization. Data collected was compared to similar O-rings from unexposed or non-tested components for hydrogen effects, and failure modes. Degradation analyses, based on select polymer chemistries common across all component types, their location within components, visual assessment of damage coupled with strong hydrogen effects from chemical characterization, was completed and presented to NREL and DOE. Overall, the failure rate amongst the components was not as high as expected for the test conditions. Among the component types tested, breakaways were the most susceptible to damage under these test conditions, with fueling nozzles a close second. The proper combination of selection of the right polymer and optimum component design was found to make a strong difference in component reliability under severe dispenser operating conditions. Physical degradation of polymers, rather than chemical changes due to low temperature hydrogen exposure, is more prevalent as failure mode for these test conditions. The nature and the extent of the degradation was much less at -20°C as compared to -40°C. The damage and failure rates were higher at lower temperatures than at higher test temperatures. As expected, increasing the number of cycles at the lowest test temperature (-40°C) increased damage. This indicates that cycling at the low temperature of -40°C required by SAE J2601 can reduce component life in fuel dispensing operations

08 HYDROGEN↗

The flight telerobotic servicer and technology transfer

The Flight Telerobotic Servicer (FTS) project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station Freedom (SSF). The FTS will provide a telerobotic capability in the early phases of the SSF program and will be employed for assembly, maintenance, and inspection applications. The current state of space technology and the general nature of the FTS tasks dictate that the FTS be designed with sophisticated teleoperational capabilities for its internal primary operating mode. However, technologies such as advanced computer vision and autonomous planning techniques would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Another objective of the FTS program is to accelerate technology transfer from research to U.S. industry.

Andary, James F.↗