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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 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Berthing simulator for space station and orbiter

The development of a real-time man-in-the-loop berthing simulator is in progress at NASA Lyndon B. Johnson Space Center (JSC) to conduct a parametric study and to measure forces during contact conditions of the actual docking mechanisms for the Space Station Freedom and the orbiter. In berthing, the docking ports of the Space Station and the orbiter are brought together using the orbiter robotic arm to control the relative motion of the vehicles. The berthing simulator consists of a dynamics docking test system (DDTS), computer system, simulator software, and workstations. In the DDTS, the Space Station, and the orbiter docking mechanisms are mounted on a six-degree-of-freedom (6 DOF) table and a fixed platform above the table. Six load cells are used on the fixed platform to measure forces during contact conditions of the docking mechanisms. Two Encore Concept 32/9780 computers are used to simulate the orbiter robotic arm and to operate the berthing simulator. A systematic procedure for a real-time dynamic initialization is being developed to synchronize the Space Station docking port trajectory with the 6 DOF table movement. The berthing test can be conducted manually or automatically and can be extended for any two orbiting vehicles using a simulated robotic arm. The real-time operation of the berthing simulator is briefly described.

Veerasamy, Sam↗
NASA NTRS1984

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Barker, L. K.↗
NASA NTRS1986

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗
DOE OSTI2016

Low-resolution gamma-ray spectrometry for an information barrier based on a multi-criteria template-matching approach

Gamma-ray spectrometry has been successfully employed to identify unique items containing special nuclear materials. Template information barriers have been developed in the past to confirm items as warheads by comparing their gamma signature to the signature of true warheads. Their development has, however, not been fully transparent, and they may not be sensitive to some relevant evasion scenarios. Here, we develop a fully open template information barrier concept, based on low-resolution measurements, which, by design, reduces the extent of revealed sensitive information. The concept is based on three signatures of an item to be compared to a recorded template. The similarity of the spectrum is assessed by a modification of the Kolmogorov–Smirnov test to confirm the isotopic composition. The total gamma count rate must agree with the template as a measure of the projected surface of the object. In order to detect the diversion of fissile material from the interior of an item, a polyethylene mask is placed in front of the detector. Neutrons from spontaneous and induced fission events in the item produce 2.223 MeV gamma rays from neutron capture by hydrogen-1 in the mask. This peak is detected and its intensity scales with the item's fissile mass. This analysis is based on MCNP Monte Carlo simulations of various plutonium configurations suggests that this concept can distinguish a valid item from a variety of invalid ones. The concept intentionally avoids any assumptions about specific spectral features, such as looking for specific gamma peaks of specific isotopes, thereby facilitating a fully unclassified discussion. Finally, by making all aspects public and allowing interested participants to contribute to the development and benchmarking, we enable a more open and inclusive discourse on this matter.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

Applied radiation tags for warhead dismantlement transparency

Here, this study explores the feasibility of applying radiation tags as a Chain of Custody tool to confirm the dismantlement of individual warheads by investigating time dependent emissions from special nuclear material. Precedents of photon and neutron sources that have been used to irradiate warhead components are presented. Measurements of irradiated Highly Enriched Uranium (HEU) are used to benchmark simulations with the CINDER90 library for MCNP. Delayed gamma emissions are simulated as a function of time since irradiation of moderated HEU and Weapons Grade Plutonium with photon and neutron sources. Models of commercial 9 MV and 15 MV linacs were found to induce ~10 9 fissions/g and ~10 11 fissions/g, respectively, creating 3 to 4 orders of magnitude more delayed gammas than neutron sources, modeled at 10 10 n/s. However, a DT neutron source was found to induce sufficient fissions, ~10 7 fissions/g, to create quantifiable signatures relative to intrinsic emissions. Applied radiation tagging is determined to be technically feasible, but its operational context and practical implementation requires significant development.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2014

The Nuclear Non-Proliferation Treaty and the Comprehensive Nuclear-Test-Ban Treaty, the relationship

The Nuclear Non-Proliferation Treaty (NPT) is the most important international security arrangement that we have that is protecting the world community and this has been true for many years. But it did not happen by accident, it is a strategic bargain in which 184 states gave up the right forever to acquire the most powerful weapon ever created in exchange for a commitment from the five states allowed to keep nuclear weapons under the NPT (U.S., U.K., Russia, France and China), to share peaceful nuclear technology and to engage in disarmament negotiations aimed at the ultimate elimination of their nuclear stockpiles. The most important part of this is the comprehensive nuclear test ban (CTBT); the thinking by the 184 NPT non-nuclear weapon states was and is that they understand that the elimination of nuclear weapon stockpiles is a long way off, but at least the NPT nuclear weapon states could stop testing the weapons. The CTBT has been ratified by 161 states but by its terms it can only come into force if 44 nuclear potential states ratify; 36 have of the 44 have ratified it, the remaining eight include the United States and seven others, most of whom are in effect waiting for the United States. No state has tested a nuclear weapon-except for complete outlier North Korea-in 15 years. There appears to be no chance that the U.S. Senate will approve the CTBT for ratification in the foreseeable future, but the NPT may not survive without it. Perhaps it is time to consider an interim measure, for the UN Security Council to declare that any future nuclear weapon test any time, anywhere is a 'threat to peace and security', in effect a violation of international law, which in today's world it clearly would be.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2014

Fiducial marker-based correction for involuntary motion in weight-bearing C-arm CT scanning of knees. II. Experiment

Purpose: A C-arm CT system has been shown to be capable of scanning a single cadaver leg under loaded conditions by virtue of its highly flexible acquisition trajectories. In Part I of this study, using the 4D XCAT-based numerical simulation, the authors predicted that the involuntary motion in the lower body of subjects in weight-bearing positions would seriously degrade image quality and the authors suggested three motion compensation methods by which the reconstructions could be corrected to provide diagnostic image quality. Here, the authors demonstrate that a flat-panel angiography system is appropriate for scanning both legs of subjectsin vivo under weight-bearing conditions and further evaluate the three motion-correction algorithms using in vivo data. Methods: The geometry of a C-arm CT system for a horizontal scan trajectory was calibrated using the PDS-2 phantom. The authors acquired images of two healthy volunteers while lying supine on a table, standing, and squatting at several knee flexion angles. In order to identify the involuntary motion of the lower body, nine 1-mm-diameter tantalum fiducial markers were attached around the knee. The static mean marker position in 3D, a reference for motion compensation, was estimated by back-projecting detected markers in multiple projections using calibrated projection matrices and identifying the intersection points in 3D of the back-projected rays. Motion was corrected using three different methods (described in detail previously): (1) 2D projection shifting, (2) 2D deformable projection warping, and (3) 3D rigid body warping. For quantitative image quality analysis, SSIM indices for the three methods were compared using the supine data as a ground truth. Results: A 2D Euclidean distance-based metric of subjects’ motion ranged from 0.85 mm (±0.49 mm) to 3.82 mm (±2.91 mm) (corresponding to 2.76 to 12.41 pixels) resulting in severe motion artifacts in 3D reconstructions. Shifting in 2D, 2D warping, and 3D warping improved the SSIM in the central slice by 20.22%, 16.83%, and 25.77% in the data with the largest motion among the five datasets (SCAN5); improvement in off-center slices was 18.94%, 29.14%, and 36.08%, respectively. Conclusions: The authors showed that C-arm CT control can be implemented for nonstandard horizontal trajectories which enabled us to scan and successfully reconstruct both legs of volunteers in weight-bearing positions. As predicted using theoretical models, the proposed motion correction methods improved image quality by reducing motion artifacts in reconstructions; 3D warping performed better than the 2D methods, especially in off-center slices.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2019

The First Human Trial of Transoral Robotic Surgery Using a Single-Port Robotic System in the Treatment of Laryngo-Pharyngeal Cancer

Background: This study aimed to evaluate the feasibility and safety of the DaVinci SP system for performing transoral robotic surgery (TORS) in patients with head and neck cancer. Methods: From October 2018 to April 2019, the medical records of 41 patients who underwent TORS using the DaVinci SP system were retrospectively reviewed. Results: During TORS, three robotic arms could be used to perform a geometric resection of the lesion in a narrow working space. The mean total operation time was 60 min, and the average time required to set up the robotic system was 10 min or less. All patients successfully underwent TORS. All robotic arms were inserted through a single port, which widened the working space around the patient’s head and allowed the operative assistant an easy approach to the patient during the operation. The joggle joint of the robotic arms aided easy manipulation within the confined working space. The joggle joints of the endoscopic arm were controlled through the navigation system, which was very helpful in securing superior visualization of the surgical site, especially in the area of the larynx and the hypopharynx. Conclusion: The study confirmed that the DaVinci SP system provided technical advantages above the Si and Xi systems for performing TORS. It was especially helpful in ensuring proper visualization of the surgical field and in performing precise surgery during surgery to the tongue base or the hypopharyngeal lesion.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2012

International Legal Framework for Denuclearization and Nuclear Disarmament -- Present Situation and Prospects

This thesis is the culminating project for my participation in the OECD NEA International School of Nuclear Law. This paper will begin by providing a historical background to current disarmament and denuclearization treaties. This paper will discuss the current legal framework based on current and historical activities related to denuclearization and nuclear disarmament. Then, it will propose paths forward for the future efforts, and describe the necessary legal considerations. Each treaty or agreement will be examined in respect to its requirements for: 1) limitations and implementation; 2) and verification and monitoring. Then, lessons learned in each of the two areas (limitations and verification) will be used to construct a proposed path forward at the end of this paper.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2013

Irradiation Experiment Conceptual Design Parameters for NBSR Fuel Conversion

It has been proposed to convert the National Institute of Standards and Technology (NIST) research reactor, known as the NBSR, from high-enriched uranium (HEU) fuel to low-enriched uranium (LEU) fuel. The motivation to convert the NBSR to LEU fuel is to reduce the risk of proliferation of special nuclear material. This report is a compilation of relevant information from recent studies related to the proposed conversion using a metal alloy of LEU with 10 w/o molybdenum. The objective is to inform the design of the mini-plate and full-size plate irradiation experiments that are being planned. This report provides relevant dimensions of the fuel elements, and the following parameters at steady state: average and maximum fission rate density and fission density, fuel temperature distribution for the plate with maximum local temperature, and two-dimensional heat flux profiles of fuel plates with high power densities. The latter profiles are given for plates in both the inner and outer core zones and for cores with both fresh and depleted shim arms (reactivity control devices). In addition, a summary of the methodology to obtain these results is presented.

42 ENGINEERING↗
DOE OSTI2013

Strip2CubeFace user%3CU%2B2019%3Es manual.

Commercial Off The Shelf (COTS) software for producing linked virtual tours based on 360 degree panoramas are becoming more and more available. However, the best current products for taking the images, stitching them into 360 degree panoramas, and then linking them together into complex virtual tours require different and incompatible input and output formats. This program is designed to bridge the gap between the iPix Interactive Studio export format, which consists of a single JPEG with the six faces of a cube connected horizontally, with the six individual JPEGs needed to be imported into Panotour Pro software. This report describes how to use the software program Strip2CubeFace, which takes the cube-strip JPEG exported from iPix Studio and coverts it into six JPEGs representing the six cube faces that Panotour Pro imports. As such, it represents a necessary link between the two COTS software programs key to making virtual tours quickly and easily. It becomes one member of the suite of software programs known as %E2%80%9CRaPP-TOURS%E2%80%9D or Rapid Processing of PanoTours Software necessary to simulate managed access and other permission requesting arms control-type training exercises.

Forden, Geoffrey Ethan↗
DOE OSTI2014

Irradiation Experiment Conceptual Design Parameters for NBSR Fuel Conversion

It has been proposed to convert the National Institute of Standards and Technology (NIST) research reactor, known as the NBSR, from high-enriched uranium (HEU) fuel to low-Enriched uranium (LEU) fuel. The motivation to convert the NBSR to LEU fuel is to reduce the risk of proliferation of special nuclear material. This report is a compilation of relevant information from recent studies related to the proposed conversion using a metal alloy of LEU with 10 w/o molybdenum. The objective is to inform the design of the mini-plate and full-size-Plate irradiation experiments that are being planned. This report provides relevant dimensions of the fuel elements, and the following parameters at steady state: average and maximum fission rate density and fission density, fuel temperature distribution for the plate with maximum local temperature, and two-dimensional heat flux profiles of fuel plates with high power densities. The latter profiles are given for plates in both the inner and outer core zones and for cores with both fresh and depleted shim arms (reactivity control devices). A summary of the methodology to obtain these results is presented. Fuel element tolerance assumptions and hot channel factors used in the safety analysis are also given.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2020

Evaluation of the Nanometrics Centaur Digitizer

Sandia National Laboratories has tested and evaluated a new digitizer, the Centaur, manufactured by Nanometrics, Inc. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as power, sensitivity, self-noise, dynamic range, system noise, modified noise power ration, relative transfer function, analog bandwidth, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Centaur provides six channels of 24 bit digitization, three of which may be transmitted utilizing CD1.1 protocol.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Kinemetrics Q330M+ Digitizer Evaluation

Sandia National Laboratories has tested and evaluated a new digitizer, the Q330M+, manufactured by Quanterra, a division of Kinemetrics Inc. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as sensitivity, input impedance, power consumption, self noise, dynamic range, system noise, relative transfer function, analog bandwidth, modified noise power ratio, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Q330M+ provides six channels of 24 bit digitization, all of which may be transmitted utilizing CD1.1 protocol, at multiple sample rates.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Guralp Affinity Digitizer Evaluation

Sandia National Laboratories has tested and evaluated a new digitizer, the Affinity, manufactured by Guralp Systems. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as sensitivity, power, self-noise, dynamic range, system noise, relative transfer function, modified noise power ratio, analog bandwidth, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Affinity provides eight, rather the typical six, channels of 24 bit high sample rate digitization, all of which may be transmitted utilizing the CD1.1 protocol, at multiple sample rates.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Prototype for Unclassified Algorithm

Continuing previous efforts to investigate and develop the Unclassified Radioisotope Algorithm, the goal of the FY19-FY20 effort was to develop a prototype detector system which uses the algorithm to confirm warhead attributes related to the presence of either weapons grade plutonium (WGPu) or highly enriched uranium (HEU). The final deliverable is a prototype attribute measurement system built with common, commercially available gamma radiation detector components, capable of confirming the presence of specific, complex radioactive sources of interest, without the collection and storage of gamma energy spectra. This is accomplished by processing each gamma pulse as it is received, applying weight values based on the energy and incrementing or decrementing scalar counters which can be compared with expected values to determine if the measured source is consistent with WGPu or HEU. This report documents the design of the prototype system as well as the development of the algorithm and performance testing results. While the previously conceptualized, simple algorithm resulted in a prohibitive amount of false positives, the goal for a simple attribute measurement system capable of verifying Ba-133 and Ra-226 (weapons grade plutonium and highly enriched uranium surrogate testing sources) at over 95% accuracy with sub 5% false positive rate was demonstrated.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗