Results for “Robotics Technology” — Page 3

DOE OSTI2023

Assessment of Potential Ergonomic Injury Risk in the Nuclear Material Processing Glovebox Environment [Capstone Project]

Gloveboxes are isolation barriers that are used within many different industries such as pharmaceuticals, electronic parts fabrication, nuclear, and biological. The research on glovebox ergonomics is currently limited with few ergonomic professionals that focusing exclusively on glovebox working environments. There is existing documentation on occupational injuries, such as musculoskeletal disorders (MSD), sustained as a direct result of working in gloveboxes. The main elements that pose ergonomic risks to glovebox workers are operational repetition, duration, force, vibration, lifting heavy (more than 15lbs with two hands) objects, and awkward postures. This paper examines a small sample of the potential causal or risk factors that lead to the ergonomic injuries. A meta-analysis utilizing a random effect model is used to examine data from several studies which focus on, dexterity and strength changes as result of glove thickness, and robotic assistive technology as a means to improve postural mechanics. With the meta-analysis technique, similar data sets from different research studies can be coalesced into a single weighted, statistically significant result for subsequent consideration. The results from the analysis show that increased glove thickness results in decreased dexterity for operators thus increasing ergonomic risk factors such as task duration. It is also shown that glove thickness decreases grip strength but a similar decrease in pinch strength is not definitively demonstrated. With decreased grip strength, operators will need to exert more force (a known ergonomic risk factor) on processing tools, etc. during operations thus increasing the risk of ergonomic injury. The use of robotic assistive technology as a means to improve operator posture (risk factor) was also examined. Although it may be intuitively assumed that human-robotic collaboration would be beneficial in reducing risk factors, the result from this study’s analysis was not statistically significant. It is inferred that with additional directed research on this topic another study/analysis could be statistically significant demonstrating the benefits of the technology.

99 GENERAL AND MISCELLANEOUS↗

DOE OSTI2018

Glovebox Handling of High-Consequence Materials with Super Baxter and Gesture-Based Programming - 18598

The handling of high-consequence materials is a difficult task requiring safe object manipulation while avoiding the risk of contamination or spillage. Specific operations including opening containers, segregating the wastes, and repackaging are required to be safely executed inside contained spaces such as gloveboxes. However, the workers' ability and dexterity to manipulate objects through thick protective gloves are compromised in many aspects. The fixed position of the glovebox arm ports restricts the movements of the workers' arms, which also makes it hard to lift heavy objects. Further, the operational workspace inside the glovebox is restricted by the gloves' reachability. Safety of workers is the paramount concern in glovebox operations and the very reason for their existence. Sharp edges and tools increases the risk of glove punctures, which may expose the operator to chemicals and radiation and risks contamination in the vicinity outside the glovebox. The operators are also affected by ergonomic stressors due to prolonged and repetitive operations. To achieve a high degree of human safety, robotic solutions to handle high-consequence materials inside the glovebox are desirable, as they remove the operators from the hazards listed above. However, robots, in general, lack the degree of adaptability necessary for most high-consequence material handling tasks as these tasks are often unstructured or highly variable. Likewise, most human operators, while highly skilled in the tasks at hand (task expertise), lack the robot programming skills necessary to adapt the robot's motions to the variations (programming expertise). A way to bridge this divide is to make robot programming more intuitive to human operators. Since humans naturally teach one another through demonstration and learning, robotic 'programming by demonstration' paradigms have begun to appear to reduce the burden of robot reprogramming. Gesture-Based Programming attempts to achieve that by enabling a robot to observe the normal actions and affordances of a human performing a task to learn to map those onto the skills of the robot. In the end, this approach permits benefits from both the human and the robot: the human's adaptive decision making and the robot's resilience to high-consequence material. Robotic solutions assuringly provide protection for the operators, however their autonomy brings about other potential risks. Artificial Intelligence is not perfect; it is a black box, which can produce results, but the full extent of those results may not be known precisely. In self-driving cars, a hypothetical AI problem is the 'green man detector'. Since self-driving cars have presumably never seen a green man, how can we know it won't veer toward him the first time it sees a green man? Likewise, even though GbP provides an open method for safe task execution replicating a human, incorrect task inferences can lead to potential collisions or unintended operations. Thus, a hardware safety measure is proposed to provide reliable operation inside the glovebox, and true safe operations are achieved by mechanically limiting the operational range of each arm link. The operational range is computed and validated through exhaustive offline simulations, which can be streamlined by affordable computing power. Super Baxter is one such robot which incorporates these capabilities. It is a human-like, bimanual robot, being developed at the Collaborative Robotics Lab (CRL) in conjunction with the Dept. of Energy/Environmental Management, Rethink Robotics, Barrett Technology, and the NSF Center for Robots and Sensors for the Human Well-Being (RoSe-HUB). Super Baxter is envisioned to represent the next generation of collaborative robots that will be intrinsically human-safe, as well as exceptionally human-intuitive. In summary, Super Baxter will enable safe glovebox operations through low-shot Gesture based Programming incorporated with hardware safety measures. Two aspects of safety will be discussed in the paper. First, the safety of the operator achieved by allowing him to program Super Baxter remotely through Gesture based Programming. Second, the safety of the glovebox, achieved by incorporating hardware safety measures using joint limits. Further, the capability of Super Baxter on Gesture based Programming is demonstrated through typical object manipulation tasks in glovebox operations. (authors)

42 ENGINEERING↗

DOE OSTI2022

Autonomous aerial flight path inspection using advanced manufacturing techniques

Robotic systems have shown capabilities to perform inspection tasks in dangerous and difficult-to-access environments, such as those found in different components of power plants. However, most of the current robotic inspection technology is designed for specific components. Aerial robots, commonly termed as Drones, have raised an option to inspect a wider range of structural components. Nevertheless, current aerial inspecting technology still relies on a human pilot with limited line of sight, field of view and a reduced perception as the drone flies away, which prevents performing close-quarter inspection in intricate, structurally complex and GPS-denied environments. This work introduces offline inspection path generation methods based on robotics-integrated to manufacturing techniques. One method uses computer-aided manufacturing (CAM) techniques and the other an additive manufacturing (AM) approach to generate the flight path. That is to say, the drone would fly along the path described by a 3D (Three Dimensional) printer’s extruder or a CNC (Computer Numerical Control) machining tool, enabling to fly very close the structure even in physical structures with a complex geometry. Once the trajectories are generated, they are introduced for its validation in the Gazebo robotics simulator. Simulation results demonstrate the proper performance of the method and confirm that this approach can be used for close inspection of structural components.

42 ENGINEERING↗

DOE OSTI2019

Progress on Advancing Robotic Ultrasonic Volumetric Inspection Technology for Hanford Under-tank Inspection - 19474

The Hanford River Protection Project is reliant on safe interim storage of high-level waste at the Hanford site and will continue to depend on it until the waste has been treated and vitrified by the Hanford Waste Treatment and Immobilization Plant (WTP). The Hanford double-shell tanks (DSTs) have provided interim storage since the DSTs were put into service (1971 - 1986) and the RPP will continue to rely on their service until least 2050, at which time the 27 in-service DSTs will be 14-54 years beyond their original design lives. As the DSTs continue to age and be operated beyond design life, reliable leak integrity assessments of primary tanks and secondary liners will become increasingly important in order to provide situational awareness to tank operations personnel and to support risk-informed decisions on the selection of DSTs as waste feed staging tanks and the order and timing of future DST refurbishment or, alternatively, DST retrieval sequence. This paper summarizes progress made in fiscal year (FY) 2018 on the engineering of a robotic air-slot volumetric inspection system (RAVIS) that is designed to perform ultrasonic (volumetric) leak integrity inspections of physically inaccessible primary tank bottom plates and welds. Leak integrity inspections performed with the RAVIS will supplement today's primary tank leak integrity inspections, which are currently limited to physically accessible sidewall plates and welds. The RAVIS will be deployed into air slots of the insulating concrete (refractory) pad beneath the primary tanks and use its ultrasonic guided wave phased-array (GWPA) sensor to electronically steer an ultrasonic beam 360-degrees around the sensor to volumetrically examine adjacent carbon steel plates and welds covered by refractory pad material. Deployments of RAVIS down multiple air-slots will be performed to determine which regions of a tank bottom have sound leak integrity or which regions are in need of future wall thickness restoration or weld repair due to pitting corrosion, general corrosion, or heat/stress-induced cracks. The initial RAVIS design and the flaw detection test results for the first air-slot GWPA sensor that was designed to fit inside the air-slots will be presented in this paper. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2018

Panel reports session

This section brings together the reports of the 31 panel sessions listed below: - Avoiding the Human Capital Cliff in the DOE (PS22); - Implementing Technically-Based Cleanup; US DOE Balancing Regulatory and Fiscal Complexity (PS24); - United Kingdom - Remediation of Sellafield Legacy Ponds and Silos (PS25); - Aligning Decision-Making to Deliver Timely Results in Large Clean-up Programs (PS38); - Transition to Government Owned-Contractor Operated Site at Canadian Nuclear Laboratories (PS39); - Emerging Middle East Nuclear States' Status and Plans (PS40); - NPP Panel on Waste Management (PS41); - Robotics - International Innovations in Robotic Decommissioning Technology (PS43); - Fukushima Panel (1/2): Japan Fukushima Daiichi Decommissioning Update (PS54); - Fukushima Panel (2/2): Update on the Revitalization of Fukushima and the Surrounding Area (PS55); - US DOE LLW On-Site Disposal: LLW Disposal Facility Federal Review Group Review Process (PS56); - Challenges in DOE HLW Tank Management: Facility Start-up and Waste Disposition (PS57); - Waste Management Planning for Utility Small Modular Reactors (PS58); - US Nuclear Power Plant Waste Management - LLW Disposal Issues (PS59); - DOE-EM Robotics and Emerging Technologies Road-map (4/8) (PS60); - Graduating Students and New Scientists and Engineers - Wants and Needs - Are Companies Even Listening? (PS63); - U.S. Nuclear Robotics: Yesterday, Today, Tomorrow (5/8) (PS74); - US DOE Mixed Waste: Proposals for Dealing with Problematic Waste Streams and Policy Changes (PS76); - Current and Emerging US NRC LLW Regulatory Topics (PS77); - Agency Perspectives (US and International) on the Use of Risk and Dose Assessment Tools (PS80); - Progress on Deep Repository Programs Around the World (PS81); - US DOE Procurement and Contracting Opportunities (PS82); - Collaboration across Borders to Deliver Cleanup and Decommissioning Challenges (PS93a); - DOE Mission Success through Application of Practices and Solutions (PS94); - Challenges in Cask Certification - International Perspectives (PS96); - Robotics: Leveraging Innovations in Science and Technology to Benefit Safety Performance (PS98); - DOE Panel: DOE EM Featured Office - Portsmouth/Paducah Project Office (PS109); - Robotics: Lessons Learned from Industrial Robotics Deployment that can be Applied to the Nuclear Field (PS110a); - Roundtable: DOE Radioactive Management - Energy Facility Contractors Group - Waste Management Working Group (EFCOG WMWG) (PS118); - Thursday Topical Session 'Management of Used Nuclear Fuel: Will the United States Reengage and Align with International Efforts' (PS124); - Remotely Operated Vehicles for Emergency, Disaster, and Operational Upset Response (PS125)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2017

Robotic hand and fingers

Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

42 ENGINEERING↗

DOE OSTI2016

TH-A-BRC-00: New Task Groups for External Beam QA: An Overview

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-01: AAPM TG-135U1 QA for Robotic Radiosurgery

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-02: AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-03: AAPM TG218: Measurement Methods and Tolerance Levels for Patient-Specific IMRT Verification QA

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2018

Robot Positioning in Assembly and Installation

A positioning technology based on a robot and a laser tracker is proposed for use in assembly and installation operations. The technology is described for the installation of assembly systems at airplane plants.

42 ENGINEERING↗

DOE OSTI2022

Autonomous Aerial Power Plant Inspection in GPS-denied Environments

Inspection of coal-fired power plants is frequently dangerous, includes difficult places to reach, and can turn expensive due to the downtimes and cost of inspection crew. Robotic systems have shown capabilities to address some of these issues, but most of the current robotic inspection technology in power plants is designed for specific components. Conversely, recent advances in machine vision have empowered aerial platforms for long-range, remotely-controlled, GPS-based inspections of industrial plants. This capability has led to wide spread utilization of aerial robots (commonly termed Drones, UVS or UAS) platforms for inspection in less challenging environments where both collision avoidance, and GPS reception are not significant issues. The challenge in adapting airborne technology for power plant inspection lies in internal structures and the complex network of piping, and distribution systems, which impose significant risks for collision and can hinder the reception and transmission of GPS signals. The current state of the art in aerial inspection technology within the energy sector is controlled via radio control, and utilizes GPS-based navigation, for inspection of large-scale plants such as offshore platforms and wind turbine parks. Nevertheless, close-range and autonomous inspection in the GPS-denied environments of power plants has not yet been achieved, as it requires precise guidance and navigation with real-time situational awareness and obstacle avoidance capabilities. This endeavor introduced the use of rotary wing flying robots, due to their station keeping and vertical take-off capabilities for power plant components inspection. To enable close quarter inspection two methods were used. One method uses the 3D CAD (Three-dimensional Computer-Aided Design) model of the asset to inspect to generate the UAV’s inspection path. To acquire, analyze and process the 3D model, first, the STL file is produced to obtain surface points and vectors normal to the surface. Later, by introducing other variables such as wall offset and a controlled trajectory between each outline and each subsequent layer, the flight path is generated. The proposed framework will generate a path that will pass as close as desired from the surface and navigate in intricate environments. A second method, use advanced manufacturing techniques such as CNC (Computer Numerical Control) and additive manufacturing. Once the inspection flight path is obtained, vision-based navigation systems are employed to have the UAV autonomously tracking the provided trajectory. Finally, Artificial Intelligence-enabled developments are in charge of detecting cracks and corrosion in structural components of power plants. The proposed methods are validated in simulations, laboratory and industrial setups, where it is shown that the developed systems acting together enable close-quarter autonomous aerial inspection and mapping in power plant assets. The system can be further improved by adding more sensors to navigate in different GPS-denied environments, with non-homogeneous lighting conditions, dust and in general situations where vision-based systems may fail.

01 COAL, LIGNITE, AND PEAT↗

DOE OSTI2025

Biofoundries: Principles, Tools, and Applications

This chapter aims to provide a broad overview of biofoundries and introduces the principles, concepts, and case studies. We first outline the underlying principles of the Design-Build-Test-Learn (DBTL) framework and the role of automation, digital integration, and standardization. The chapter then explores core biofoundry technologies including robotic liquid handlers, high-throughput analytical instruments, and digital infrastructure for data management and workflow scheduling. Case studies spanning DNA assembly, protein engineering, metabolic engineering, and mammalian cell culture demonstrate the practical applications of the biofoundries. Economic and societal impacts are assessed alongside current limitations. We discuss the emerging trends including artificial intelligence integration and cloud-based distributed facilities to highlight its potential for biotechnology and the bioeconomy.

Singh, Nilmani↗

DOE OSTI2026

Robotics for HVAC applications: A critical review and future perspectives

Recent advances in artificial intelligence (AI), enhanced computational capabilities, and innovations in sensors and hardware have driven the increasing development and application of robots in heating, ventilation, and air conditioning (HVAC) systems. We selected and reviewed 101 studies published between 2005 and 2025, sourced from IEEE Xplore, Scopus, Web of Science, and the ACM Digital Library. To analyze these works, we developed a five-dimensional analytical framework (morphology, sensing, navigation, task execution, and system integration), inspired by the Springer Handbook of Robotics and tailored specifically for robotic applications in HVAC. Based on the reviewed studies, six distinct tasks spanning the entire HVAC lifecycle have been identified. Among the six tasks, inspection and maintenance dominate (59 %), followed by indoor monitoring and auditing (21 %), whereas leakage detection, comfort support, and installation/retrofit remain less explored. To address the identified gaps, this review proposes future research directions including investigating robot-aware HVAC design principles, developing multimodal HVAC sensing and data fusion techniques, enhancing robot training and hardware capabilities, and expanding robotic applications beyond Maintenance and Operations (M&O). The findings from this review inform future robotics research for HVAC applications and ultimately enhance system affordability, energy efficiency, resilience or reliability, and occupant environmental comfort. Moreover, it seeks to inspire researchers to explore the intersections of robotics, computer science, building science, and HVAC engineering fostering advancements in this multidisciplinary field.

AI↗

DOE OSTI2024

Leverage modern artificial intelligence (AI) enabled systems for waste reduction

Manufacturing industries continue to face challenges in reducing waste, as upstream strategies such as source reduction and product redesign require a deeper understanding of processes compared to conventional recycling methods. Recent advancements in artificial intelligence (AI) and machine learning (ML) have opened new opportunities to integrate modern computational techniques with traditional waste minimization strategies. This paper explores AI-enabled approaches for product redesign, source reduction, and recycling that can significantly reduce waste generation while improving efficiency and sustainability. AI-driven material substitution and lightweighting in product design enable discovery of novel materials with optimized properties, reducing waste without compromising performance. Reinforcement learning models optimize process parameters, raw material specifications, and machine sequencing to minimize production losses, while Industrial Internet of Things (IIoT) systems paired with AI analytics enhance real-time waste tracking, predictive maintenance, and quality inspection. Furthermore, AI-based demand forecasting and production planning reduce overproduction and excess inventory, as demonstrated in industrial applications. In recycling, ML-powered pattern recognition and robotic sorting technologies achieve higher accuracy in waste segregation, directly improving recycling efficiency. Complementary solutions such as smart bins and AI-enabled waste pickup scheduling optimize collection logistics, reducing both costs and emissions. Although implementation requires upfront investment in infrastructure and training, the long-term benefits include higher material efficiency, reduced waste, improved product quality, and stronger sustainability outcomes across the supply chain. By leveraging AI-enabled systems, manufacturers can align waste minimization efforts with circular economy principles, creating scalable solutions for both industry and society.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2015

Experience in remote-operated decommissioning with electromechanical equipment - 15354

For the Reprocessing Plant (WAK) in Karlsruhe, Germany, Waelischmiller developed remote handling technologies and robotics used for dismantling of several high-activity radioactive storage buildings. The key component in this project is the Waelischmiller system TELBOT{sup R}. The TELBOT{sup R} system has been successfully deployed in dozens of applications based on the customer's requirements and lessons learned. The objectives for this project were to deliver a reliable, high payload manipulator that is deployed on an excavator. The TELBOT{sup R} is a seven degree of freedom manipulator, with a 2.7 meter reach and a payload capacity of 100 kg at full reach. It is modular with selectable drives, arm lengths and joint modules. The motors and gears are located in a base behind the arm. Movements are effected by concentric tubes inside the arm links and concentric bevel gears inside the joints. Consequently, there is no wiring either inside or outside the arm and all axes can rotate freely. High-quality materials such as radiation-, acid- and corrosion-resistant materials and a final surface protective treatment are used in the manufacture of the TELBOT{sup R}. This paper will describe the TELBOT{sup R} system used by the German decommissioning program at Karlsruhe. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2018

Nuclear, Land marker for a Waste Isolation Site: International Architecture Competition - 18240

The design and construction of a nuclear waste marker must include many architectural considerations. Very little research has been conducted by architects to address this issue to date. Historically, the task of designating a nuclear waste site has been a discussion predominantly contained within the scientific and engineering communities. In an effort to engage architects within this dialogue, arch out loud hosted the NUCLEAR competition as an international, architectural investigation into the design of a nuclear waste site marker. The NUCLEAR competition asks participants to design a marker to designate the site of the Waste Isolation Pilot Plant (WIPP) located near Carlsbad, New Mexico. The marker will be meant to be a means of passive institutional controls (PICs) to deter inadvertent human intrusion upon the site and should last 10,000 years. The NUCLEAR competition defined the purpose of the nuclear waste site marker as a means to communicate the danger of inadvertent intrusion from future generations. The competition requires that entries must be both legible in communication and durable in their construction. The competition brief challenged participants to consider how customs and languages will evolve over time and to predict what motivations future generations might have for digging at the site. Other background information was provided about the site such as how waste was stored and how the unique geology of the site seals the waste. The 1993 Sandia National Laboratories report titled Expert Judgment on Markers to Deter Inadvertent Human Intrusion into the Waste Isolation Pilot Plant [1] was referenced along with the 1992 WIPP Land Withdrawal Act [2], interviews with WIPP scientists [3] involved with the WIPP PICs program and the Nuclear Energy Agency Records Knowledge and Memory working group. Competition participants were given digital 3-D Computer-Aided Design models for reference that included the underground storage portion of the site, existing buildings and the 16-square-mile site boundary identified in the 1992 WIPP Land Withdrawal Act [2]. This paper will: - Provide a detailed description of the submitted proposals including graphic analysis of the visualizations, diagrams, technical drawings, jury comments and statements. - Catalogue and identify the consistent themes within all submissions with possible categories including: 1) overall architectural form and language, 2) integration of written language and symbols within architecture, 3) use of technology and robotics, 4) construction methods and materials. (authors)

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DOE OSTI2019

Robotics on KM-IT platform - 19107

The Knowledge Management Information Tool (KM-IT) is a web-based system developed to maintain and preserve the Department of Energy's (DoE's) knowledge base. The system was developed by Florida International University's Applied Research Center (FIU-ARC) with the support of the D and D community including the DOE Office of Environmental Management, and with the collaboration and support of the DoE's Energy Facility Contractors Group (EFCOG) and the former ALARA Centers at Hanford and Savannah. The KM-IT system is a community driven system tailored to serve the technical issues faced by the workforce across the DOE Complex. This KM-IT web-based interactive system is operational and available for use at www.dndkm.org and is currently comprised of the following modules: Web Crawler, Hotline, Technology, Hanford's ALARA Center Reports, Specialist Directory, Lessons Learned, Best Practices, Video/Picture Library, Vendors and Industry News. The Web Crawler dynamically searches through the KM-IT repository as well as the web and displays search results based on the search criteria. The Hotline allows registered users to post questions/problems related to D and D and to receive solutions from a subject-matter specialist. The Technology module serves as repository of D and D technologies and contains technology/ demonstration fact sheets and vendor information. D and D community members can add Lessons Learned, Best Practices, and Pictures/Videos to the D and D repository, after a formal approval process. The Vendor module provides a directory of commercial vendors who provide D and D related technologies, supplies, and services. KM-IT makes an excellent use of the knowledge that exists within the D and D community by allowing D and D project managers around the DOE complex to collaborate by sharing innovative ideas, past experiences, and practices and by maintaining a directory of subject matter specialists. FIU is working on developing a new knowledge base using the existing KM-IT framework to provide focused information on robotics. FIU will develop the robotics technology and vendor modules to provide information related to robotics technologies and its application to many different areas including D and D, remote systems and waste processing. This robotics knowledge base will provide the ability to search through the information repository as well as display customized summary information including robotics technology descriptions, benefits, limitations, videos and pictures. The vendor module will provide information related to industry vendors for these technologies and include updated vendor contact information. The vendor module will also provide a search capability based on keywords as well as categories. The robotics knowledge base will publish commercially available technologies as well as the technologies that are still in the research and development phase with national laboratories and academic universities. The robotics KM-IT will be developed in phases to support all of the features of the KM-IT platform and will be published on www.rkmit.org. (authors)

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