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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 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Neutron Leakage Spectra of the EUCLID Experiment [Abstract]

Integral experiments with sub-critical and critical configurations of special nuclear material are performed in support of nuclear data validation and adjustment. Different nuclear data evaluations may have different values for individual cross sections due to uncertainties in (or lack of) differential experiments, but compensating errors in these data sets can lead to the same k eff results for one application while vastly different for another application. One example of this is 239 Pu, where both ENDF/B-VIII.0 and JEFF-3.3 correctly compute k eff of the Jezebel critical assembly, but the individual contributions from each reaction are vastly different. To help resolve this specific case, the Experiments Underpinned by Computational Learning for Improvements in Nuclear Data (EUCLID) project used machine learning to design a set of experiments to help resolve the compensating errors in 239 Pu. A total of six responses were measured during the experimental campaign, which constrain the data in ways that k eff alone cannot and will be used for adjustment of the nuclear data. One of these responses is the neutron leakage spectrum, which recent work has shown to be useful for constraining the prompt fission neutron spectrum and inelastic scattering. The neutron leakage spectra were measured utilizing a 3 in. right cylinder EJ-301D detector. The measured signal in the detector was deconvoluted using spectrum unfolding techniques, which are presented and compared to simulations.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

Criticality Experiments to Reduce Compensating Errors in Plutonium Nuclear Data

Compensating errors between nuclear data observables in a library can adversely impact application simulations. The primary goal of the EUCLID project (Experiments Underpinned by Computational Learning for Improvements in Nuclear Data) is to reduce compensating errors in nuclear data. A new criticality experiment, described in this work, was designed with the specific target nuclear data of 239 Pu fission, inelastic scattering, elastic scattering, capture, nu-bar, and prompt fission neutron spectrum (PFNS). This work will focus on the design and execution of the EUCLID experiment, performed on the Planet vertical lift critical assembly machine at the National Criticality Experiments Research Center (NCERC). The criticality experiment includes two different configurations with very different geometries: one is cube-like to minimize neutron leakage while the other is slab-like to maximize leakage. Having these two widely varying configurations allows the scattering sensitivities of 239 Pu to the neutron multiplication factor to be greatly changed while minimally impacting the other cross section sensitivities. Both configurations utilize the Pu ZPPR (Zero Power Physics Reactor) plates as fuel. The experiments were designed using a D-Optimality criteria, which is an optimization method minimizing the log-determinant of the adjusted nuclear data covariance for the target reactions. These experiments include not only inference of k eff , as done in all critical benchmark experiments, but several other responses as well, such as neutron multiplication measurements and reaction rate ratios. After analysis of the measured data is complete, adjustment of nuclear data will be performed to assess whether the new experimental data successfully reduced compensating errors.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2023

Rare earth enrichment process by contacting raw material with a base at specific pH values

Disclosed herein are methods for preparing a hydraulic pre-concentrate enriched in rare earth elements and critical minerals, the method comprising: (a) contacting a raw material with a first base in an amount sufficient to adjust the pH to a value from about 4.0 to about 6.0, thereby forming a mixture comprising a first aqueous phase and a first solid concentrate; (b) separating the first aqueous phase from the first solid concentrate; (c) contacting the first aqueous phase with a second base in an amount sufficient to adjust the pH to a value from about 7.0 to about 9.0, thereby forming a mixture comprising a second aqueous phase and the hydraulic pre-concentrate; (d) removing the second aqueous phase and collecting the hydraulic pre-concentrate; wherein the raw material comprises rare earth elements; and wherein the hydraulic pre-concentrate is enriched in rare earth elements.

Ziemkiewicz, Paul F.↗
DOE OSTI2020

Design and Development of a Robotic Exoskeleton Device for use in Glove Boxes - 20374

Glovebox operators in nuclear facilities often operate under radioactive environment and typically perform monotonous, dull and repetitive work. This can result in muscle fatigue leading to increased levels of accidents. Current research work aims in assisting the glovebox operators by designing a novel upper limb exoskeleton device to reduce injuries and increase worker efficiency. Almost none of the commercially available hand and upper body exoskeletons are directly suitable for use in gloveboxes. This explains the novelty of the present work in developing a wearable powered robotic exoskeleton device. The device consists of electronics, motors and spring systems mounted on adjustable plates and is supported by a stationary frame behind the worker. The device is intended to be portable and adjustable according to the operator height. The elbow has a flexion movement assisted with motor control by way of a Bowden cable system. The system is floated on a spring and pulley combination that allows for extra safety and smoothness of operation. The end points are fixed near the pivot points to help minimize unwanted movement/torque. The extension movement of the upper and lower arm are assisted by gravity and a counter spring. The shoulder and upper arm movement are held in a neutral position with a spring system for counter balance allowing small movements within the glovebox. This initial concept considers only the vertical movement of the arm. The abduction and adduction movement will not be assisted or impeded by the over shoulder plate or at the forearm plate allowing for full range of motion. Several glovebox aspects such as the level of task assistance, ergonomic design, minimum hindrance in dexterity/operator movements and tear resistance for hazardous safety reasons will be considered in the design of the exoskeleton. Computer models will be simulated to test the load levels and stress conditions on the exoskeleton to enhance the designs. The exoskeleton focusses on major muscular involvement reduction through weight offset and active assistance with minimal parts and hence the device is derived with several joint links and contains both passive and active joints. The paper details the various stages in the design development and prototype testing of the exoskeleton device. Upon successful prototype device development, human testing will be conducted in a replica of the SRS-235F hot cell facility constructed at FIU-ARC. The final stage of the project will be potential testing/deployment of the exoskeleton device in one of the glovebox facilities in Savannah River Nuclear Waste site. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

3D Printable Polymers for Radiological Applications

Additive manufacturing of polymers is a widely used and growing technology throughout the DOE complex. Composite filaments for Fused Deposition Modeling (FDM) printers are commonly used to enhance material properties such as mechanical strength, operating temperature and chemical resistance. Radio luminescent properties were added to 3D filaments by impregnating clear poly(ethylene terephthalate)-glycol (PETG) with X-ray scintillator powder. X-ray scintillators have unique, narrow emission spectra which can be imaged with low light DSLR cameras, photomultiplier tubes, or spectrometers. Filament Production: 1. Pellets are loaded into the hopper. 2. Temperature and extrusion speed are set on extruder. 3. Extruder turned on and filament is pulled from nozzle along air path to cool. 4. Spooler drive speeds set. 5. Filament is inserted through Filameasure then guided along drive wheels and into traverse. 6. Parameters adjusted to obtain 1.75 mm diameter 7. Filament is inserted into spooler wheel. Traverse speed set and slip nut adjusted to make tight and even roll. From Raw Materials to Printed Part: Clear PETG pellets were dipped in ZnS:Cu scintillator powder to coat pellets. Coated and uncoated pellets were mixed together before inserting into hopper. Filament showed trace amounts of powder and luminesced under UV light. Powder distribution is random and not reproducible thus providing a unique identification marker potentially useful for national security applications. Multiple X-ray scintillators can be arranged in a panel to discriminate incident X-ray photon energies. Variable panel arrangement: pixelated, layered, solid from homogenous filament. Ratio of emission intensities. Response varies with incident photon energy. Spectrally separate scintillators. Scintillators: Yttrium Oxide Europium Doped - Red, Gadolinium Oxysulfide Terbium Doped - Green, Barium Magnesium Aluminate Europium Doped - Blue, Zinc Sulfide Copper Doped - Green. Powder concentrations will need to be increased in the filament for use in the energy discriminating panel. Homogeneity in the filament will be a challenge that can be solved by turning the pellets into a powder and mixing it with scintillator powder prior to extrusion. The panels will be tested using x-ray booths and button sources such as Am-241, Cs-137, and Co-60.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Implementation of the Glycolate Destruction Process with Sodium Permanganate in the Defense Waste Processing Facility (DWPF) - 20141

The Savannah River Site (SRS) seeks to replace formic acid with glycolic acid as a chemical reductant in the Defense Waste Processing Facility (DWPF), where borosilicate glass is mixed with high-level radioactive waste, melted at high temperatures, then poured into stainless steel canisters for safe storage. Prior research and development have demonstrated the feasibility and advantages of the new nitric-glycolic acid flowsheet over the current nitric-formic acid flowsheet to chemically adjust the radioactive sludge slurry waste in the Sludge Receipt and Adjustment Tank (SRAT) prior to vitrification. Use of glycolic acid reduces hydrogen and ammonia generation during the reduction process, thus reducing flammability hazards and purge requirements in the DWPF processing vessels. In addition, glycolic acid will support the new Salt Waste Processing Facility (SWPF) by allowing for receipt of higher volumes of waste due to reduction of flammable gases, increased boil-up rates in the vessels, and easing the processing of future sludge batches containing high levels of mercury. However, during DWPF operations, trace amounts of glycolate are anticipated to be entrained in the recycle stream and sent to the Concentration, Storage, and Transfer Facilities (CSTF) via the Recycle Collection Tank (RCT). The RCT receives condensate from the Slurry Mix Evaporator Condensate Tank (SMECT) and Off-gas Condensate Tank (OGCT) that may contain unreacted glycolate. A literature review found the potential for hydrogen generation due to thermolysis of glycolate in caustic CSTF conditions. Savannah River National Laboratory (SRNL) conducted several tests on simulant and radioactive waste from various tanks at SRS and confirmed that glycolate added to waste at concentrations of approximately 1000 mg/L and higher generates hydrogen through thermolysis. There are potential operating scenarios in the future where glycolate concentration could exceed 1000 mg/L in the 2H Evaporator Drop Tank, the highest accumulation point for DWPF organics received via recycle. These findings presented a need to develop another process to mitigate the impact of glycolic acid to the CSTF. Several DWPF compatible options were evaluated for their ability to destroy glycolate in the DWPF recycle stream under various processing conditions, thereby mitigating its introduction to the CSTF. Downselection testing identified sodium permanganate as the most promising and simplest option to oxidize glycolate. It has been demonstrated to be effective in various RCT simulant compositions, operating temperatures, oxidant addition rates, solution pH, and initial glycolate concentrations. A feasibility study identified existing tanks within the facility that could be used for receiving and storing the commercially available sodium permanganate, as well as feeding it to the RCT for processing. The use of existing equipment as well as the ability to purchase the pre-mixed chemical reduces implementation and operational complexity. The downstream impacts of the sodium permanganate reaction were also evaluated and demonstrated to have minimal impact on other chemical species present in the RCT and CSTF, as well as on the materials of construction of the RCT and CSTF vessels and associated piping and instrumentation. Future work is in progress to validate the glycolate destruction process with testing in actual radioactive RCT waste before implementation in DWPF. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Oxidation of Glycolate in the Defense Waste Processing Facility (DWPF) Recycle Collection Tank - 20305

The Savannah River Site's Defense Waste Processing Facility (DWPF) operations are being upgraded with the introduction of the Nitric-Glycolic Flowsheet. Glycolic acid has been shown superior to formic acid as the reducing acid used during chemical processing. The new flowsheet improves or maintains necessary parameters such as 1) reduction of mercury, 2) adjustment of feed rheology and 3) adjustment of melter oxidation/reduction potential. Further, the potential for catalytic hydrogen generation in DWPF processing is virtually eliminated. DWPF process condensates are collected and returned to the SRS Concentration, Storage and Transfer Facilities (CSTF). The Recycle Collection Tank (RCT) collects off-gas condensate during chemical processing, vitrification, and other unit operations performed in DWPF and is the singular return vessel delivering recycle effluent back to CSTF. Each batch of recycle may contain a small amount of glycolate from chemical processing and melter off-gas condensates. To avoid potential flammability issues due to thermolysis of glycolate in the CSTF, chemical oxidation within the RCT has been investigated as an option for mitigating the transfer of glycolate. Sodium permanganate has been down-selected as the best option for oxidation of glycolate. Testing was performed using both 2-L and 22-L reactors (16,800:1 and 1,530:1 scale by volume) with non-radioactive waste simulants to approximate the expected RCT compositions. RCT simulants were evaluated at various process pH and temperature conditions. Also, RCT operations, namely the sequence of addition of corrosion inhibitors (NaOH and NaNO{sub 2}) versus a permanganate strike, were evaluated. Glycolate was introduced via a sludge simulant to mimic both expected entrainment and abnormal process foam-over conditions - the range being between 68 and 5100 mg/kg glycolate. Glycolate destruction was monitored by ion chromatography (IC). The corresponding manganese behavior was monitored in real-time using in situ ultraviolet-visible (UV-Vis) spectroscopy. RCT glycolate content can be reduced to below the IC detection limit within 90 minutes for all concentrations investigated. Ion Chromatography analysis revealed that under alkaline conditions, glycolate is primarily oxidized to oxalate with no significant formation of CO{sub 2} or carbonate, and nitrite is not oxidized to nitrate. Initially, complete oxidation of organics species and nitrite was assumed. Determination of the mechanistic chemical reaction has allowed the required amount of permanganate to be more accurately predicted and the total addition to be significantly reduced. UV-Vis measurements reveal that permanganate (Mn{sup 7+}) is reduced to manganate (Mn{sup 6+}) in the RCT. The oxidant stoichiometry is defined by using the initial permanganate to glycolate (P/G) molar ratio. At low initial glycolate concentration (68 and 140 mg/kg), the minimum required initial permanganate to glycolate (P/G) molar ratio was found to be 5-6. With high initial glycolate concentrations (5100 mg/kg) a lower (P/G) molar ratio of ∼2.5 was needed. The final portion of this effort supporting the nitric/glycolic flowsheet will be to test actual (fully radioactive) RCT samples as per the above simulant tests. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Bayesian estimation of cross-section and errors of experiment and calculation for accurate prediction of neutronic characteristics

In some experiments, there might be a correlation of experimental errors such as an error caused by fabrication. The correlation of calculation errors also might exist among analyses of experiments. In the present study, considering these correlations, the cross-section and errors of experiment and calculation are adjusted for the accurate prediction of neutronic characteristics. The adjustment method is derived based on Bayesian theory. The 'a posteriori' distributions of cross-section and errors of experiment and calculation are obtained by the derivation. The case study is performed by using the benchmarks of light-water moderated experiments reported in ICSBEP. The error from fuel rod fabrication and measurement are included in the experiment error, and the error from the simplification of the benchmark model is included in the calculation error. Since these errors have a positive correlation among the benchmarks, the prediction accuracy is expected to be improved by considering these correlations. For the sensitivity analysis of the correlation among benchmarks, the correlation coefficient of experiment error and that of calculation error is assumed from 0.0 to 0.9. The results indicate that the prediction accuracy of the multiplication factor can be improved by increasing the correlation coefficient of experiment error and that of calculation error. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2024

Flattop-HEU Benchmark Reevaluation Summary

The Flattop critical assembly was first constructed in the 1950’s at Los Alamos National Laboratory as a follow-on to the Topsy experiment. Flattop is composed of a sphere of special nuclear material (SNM) surrounded by a thick spherical reflector made of natural uranium (NU). Two SNM cores currently exist: a highly-enriched-uranium (HEU) core and a plutonium core. The reflector is composed of three parts: a stationary hemisphere and two movable quarter spheres. For fine reactivity control, there are three control rods of NU that are inserted into the stationary hemisphere from underneath the assembly. The final components that allow for reactivity adjustment are the glory hole pieces, mass adjustment buttons, and hemispherical caps. These pieces can be loaded in various configurations to change the available reactivity loaded in the system.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2022

Warm Unit Stand Analysis for Proton Improvement Project II

The Proton Improvement Project II, commonly referred to as PIP II, is a linear accelerator overhaul at Fermilab to eventually double the output of its existing proton beam to continue to be the leading force in high energy physics. The proton beam is created through a series of high frequency cryomodules that must be connected utilizing a combination of magnets and vacuum pumps to ensure the beam is properly aligned. A housing mechanism for the magnets and vacuum pumps (Warm Units) will be placed between the cryomodules for realignment and require multiple stages of 6 degree-of-freedom adjustment options, to ensure that the beam alignment can fit all realistic requirements. Extensive testing and design modifications on the Warm Unit stand was completed to confirm not only the strength of the unit in nominal configuration, but also at each possible adjustment orientation for each 6 degree-of-freedom option. Structural analysis was also completed for various unique loading conditions i ncluding transportation loading and confirming the unit satisfies international building code. Simultaneously, testing and design modifications were done to confirm that the frequency modes of the system resided outside of concern ranges, which is determined by Fermilab safety codes and is set to exceed 15 Hz. Design changes that simultaneously stiffen the system to raise the lowest frequency modes while expanding access for technicians and allow for easier fabrication were developed and implemented into the Warm Unit stand. Various relationships between the design changes and the overall vibrational patterns were also developed for future use and study as the rest of PIP II matures.

43 PARTICLE ACCELERATORS↗
DOE OSTI2024

FLEXIBLE POWER TRANSFORMERS TO IMPROVE RESILIENCY OF TRANSMISSION NETWORKS

For decades, transformer flexibility of operation has been limited to adjustable voltage ratio and, in some cases, several ratings with staged cooling. Transformers reconnectable to multiple voltage ratings have been primarily applied as emergency replacements. Other versions of “flexible transformers” were developed for continuous, long-term operation at specific sites, with application limited to large utilities. A new technology that supports today’s power systems adaptability requirements has been developed to provide not only voltage and power rating flexibility, but also an adjustable short-circuit impedance. This last, unique feature allows for a closer match to actual system operational requirements and could be used in the future to enhance resiliency and improve dynamic control of electrical grids. While the solution’s fundamentals have already been introduced in several technical forums, the intention of this article is to focus on the potential benefits of this new type of transformer and share the deployment experience of a full-scale prototype that has been in operation in a major U.S. utility since 2021

flexible transformer, resilient grid, variable lea↗
DOE OSTI2024

Using Computer Simulations to Optimize Biofuel Production

The DOE strives to ensure America's security and prosperity by addressing energy challenges. NREL shares this goal and tries to achieve a clean energy world. Fossil fuels are problematic for both organizations. Using them endangers American security. Their supply is finite and burning them causes environmental damage. Biofuels are a good alternative to fossil fuels. They are renewably produced on American soil and can lower greenhouse gas emissions. Also, cars and planes need no costly mechanical adjustments to use biofuels. However, the fuels themselves are expensive. For my SULI project, I reduced the cost of biofuels by optimizing the production process through computer simulations. Existing simulations were accurate but slow. One simulation takes up to eight hours, and researchers must do hundreds. My solution reduces the computing time. I treated the biomass particles in the simulation as one-dimensional. That simplified the simulation equations, making them easier for the computer to solve. Still, biomass particles are three-dimensional. The 1D assumption was wrong and produced inaccurate results. To maintain accuracy while increasing speed, I developed a method to convert 1D simulation results into usable 3D data. I adjusted the 1D simulation until the output matched the 3D results for a specific environment. I found out how much the simulation changed when the environment changed. Machine learning algorithms defined a relationship between 1D and 3D data for all environments. This lets scientists convert fast 1D simulation results into valid 3D data.

1D↗
DOE OSTI2024

Electrospinner Upgrades for Nanofiber Production

Electrospinning is an inexpensive and flexible method for producing nanofibers. Nanofibers are highly adaptable with potential applications in accelerator target systems, air and water filtration, and biomedicine. This project aims to upgrade and test an existing roll-to-roll electrospinner that is more economical for industrial nanofiber production. Varying the diameter of nanofiber can change its functional properties. The current unit cannot adjust spinneret-collector separation, which determines nanofiber diameter. The electro-spinneret channel also does not have lateral adjustment capabilities for precise alignment. Lastly, the viscosities of our polymer solutions have not been quantified. Solution injection into the channel is presently inconsistent because of imperfect nozzle sizing, resulting in waste and decreased efficiency. Modeling was done with Siemens NX CAD software, and viscosity was measured using a Brookfield DVE-LV viscometer. A dual scissor lift design for channel displacement, powered by a dual-shaft DC motor coupled to precision lead screws, was approved and construction was started. Preliminary channel modifications also were initiated. Going forward, the scissor lift system will be integrated and evaluated with our electrospinner, along with further channel modifications. Viscosity measurements of polyvinyldimethylformamide (PVDF) were recorded with inconsistent results due to inadequate testing conditions. Future viscosity trials must be completed in accordance with testing requirements. The optimization and commercialization of roll-to-roll electrospinner units can make nanofiber production more feasible for many new industries and consumer products.

Black, Niko↗
DOE OSTI2024

Geometry Optimization of Cable-Based Actuation for Small-Scale Model Testing of a Floating Marine Turbine: Preprint

This research aims to apply combined wave and tidal current loads to a small-scale floating marine current turbine in a wave tank, where an actuation system applies hydrodynamic and mooring forces on the hardware based on results from a simulation. We use a real-time hybrid test setup with physical wave forcing from the wave tank and simulated current and mooring forces implemented through a tensioned cable array. For this paper, we developed an optimization algorithm that adjusts the hardware geometry of the cable array to achieve more efficient tension allocation across the cables for the loads that need to be actuated. By adjusting the points where the cables are attached to the floating platform and the angles between the platform and the winches, an optimal cable geometry can be found to minimize tension variations in the lines, maintain the desired pretension, and prevent excessive tensions. We present the optimization problem formulation, the actuation system evaluation approach, and optimization results that show effective cable actuation setups that are being considered for implementation in the wave tank tests.

cable-based actuation↗
DOE OSTI2024

Adaptive Narrowband Damping for Improving Harmonic Stability of Modular Multilevel Converter: Preprint

Harmonic instability events between modular multilevel converter (MMC) and ac systems have been widely reported in recent years. To resolve it, this paper proposes an adaptive narrowband damping control that automatically programs, adds and adjusts damping around the oscillation frequency when detect the oscillation. The paper first presents a low-pass filter design for MMC control loops, which pushes all negative damping of MMC impedance down to the medium frequency range (< approximately 1000 Hz). This makes narrowband damping can be more targeted and easier to design because multiple harmonic oscillations are avoided. An adaptive damping control that uses online oscillation detection is then proposed, which can automatically configure the narrowband damper to provide damping to the MMC at the detected oscillation frequency. In contrast to existing narrowband damping methods, the proposed adaptive narrowband damper adjusts the damping gain (e.g., to zero when system resonance disappears) and the width of the damping range automatically based on continuous monitoring of system resonance conditions. Electromagnetic transient (EMT) simulation results validate the efficacy of the proposed method in two typical MMC-based power systems.

active damping↗
DOE OSTI2024

Variable stiffness magnetic spring

This disclosure presents a new type of variable stiffness magnetic spring, which can have a highly linear translational force characteristic. The variable stiffness is achieved through the rotation of a central magnet. Both positive and negative spring constants can be created. Using an analytic-based field analysis modelling technique, the operating principle and linearity characteristics of the adjustable magnetic spring are studied. The use of a magnetic spring with an adjustable negative spring constant could enable an ocean generator to continuously operate in a resonant state, thereby greatly increasing its power generation capability. The described variable stiffness spring could also be useful in other energy harvesting applications, robotic actuator applications, and/or other applications.

Bird, Jonathan↗
DOE OSTI2024

Multispectral impedance determination under dynamic load conditions

Impedance testing devices, circuits, systems, and related methods are disclosed. A method may include exciting a device coupled to a load, and capturing a response of the device. The method may further include adjusting the response based on an estimated load response of the device, and estimating an impedance of the device based on the adjusted response.

Christophersen, Jon P.↗
DOE OSTI2024

System and method for transparent augmented reality

A system and method for displaying augmented reality information for a real object. A transparent display displays the information for the real object within a field of view, such that the information and the real object are simultaneously viewable by a user. Data-gathering peripheral devices gather data of the field of view, including a camera gathering visual data for tracking the real object. An articulating arm moveably supports and facilitates repositioning the display and redirecting the data-gathering peripheral devices in a particular direction. A security interlock disables the data-gathering peripherals when the articulating arm is moved beyond a pre-established threshold, thereby preventing the data-gathering peripherals from gathering data of a real environment outside of a limit of the field of view as determined by the pre-established threshold. The security interlock may include an adjustable contact switch which adjustably defines the pre-established threshold in at least one direction.

Runyan, Paul Ryan↗