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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 613 records · Page 34

Scale up, Field Testing, and Optimization of Nontoxic, Durable, Economical Coatings for Control of Invasive mussels at Hydropower Facilities (Final Report for CRADA 527)

In this effort, Pacific Northwest National Laboratory (PNNL) demonstrated the technical maturation of a durable, economical, and nontoxic coating (Superhydrophobic Lubricant Infused Composite, SLIC) that prevents invasive mussels and other unwanted organisms from growing on hydropower and marine structures. The physical characteristics of SLIC were measured using a variety of industry standard methods, just as a commercially available paint would, to show that it can rival other antifouling paints on the market not just in antifouling efficacy, but in structural integrity. SLIC also underwent extensive field testing in diverse field sites across the US to demonstrate that it is effective in varying environments. Engagement with industrial partners showed there is continued interest and need for a cost-effective, durable antifouling coating such as SLIC.

13 HYDRO ENERGY↗

CO 2 absorption intensification using three-dimensional printed dynamic polarity packing in a bench-scale integrated CO 2 capture system

Postcombustion carbon capture using a chemical absorbent is a promising technology to reduce CO 2 emission. However, the overall construction and operating costs remain a major challenge. In order to intensify the absorption process and to reduce these costs, a novel dynamic polarity structured packing (DP packing) with alternate patterns of surface polarity has been developed to enhance local macro-scale turbulence within the advanced viscous solvent to reduce the mass transfer diffusion resistance. Here, three DP structured packings that incorporate multiple polymeric materials were fabricated using three-dimensional printing technique and evaluated through parametric testing using a bench-scale integrated CO 2 capture unit with 76.2 mm ID absorber. At optimized operating conditions, the DP packing showed a relative 22.7% increase in absorption and 20.0% decrease in energy penalty.

60 APPLIED LIFE SCIENCES↗

Real-time Anomaly Detection at the L1 Trigger of CMS Experiment

We present the preparation, deployment, and testing of an autoencoder trained for unbiased detection of new physics signatures in the CMS experiment Global Trigger (GT) test crate FPGAs during LHC Run 3. The GT makes the final decision whether to readout or discard the data from each LHC collision, which occur at a rate of 40 MHz, within a 50 ns latency. The Neural Network makes a prediction for each event within these constraints, which can be used to select anomalous events for further analysis. The GT test crate is a copy of the main GT system, receiving the same input data, but whose output is not used to trigger the readout of CMS, providing a platform for thorough testing of new trigger algorithms on live data, but without interrupting data taking. We describe the methodology to achieve ultra low latency anomaly detection, and present the integration of the DNN into the GT test crate, as well as the monitoring, testing, and validation of the algorithm during proton collisions.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Demonstration of Improved CHP Systems utilizing Improved Gas Turbine and sCO2 Cycles Using Additive Manufacturing (AM) Components

This project seeks to integrate a sCO2 bottoming cycle with a 5.3 MW gas turbine to develop a CHP system that is able to transition rapidly between 50% and 100% load by engaging or bypassing the bottoming cycle while maintaining electrical system efficiency above 30% at all times. The project team will engineer an optimized design of the power systems. The needed new key components, such as advanced heat exchangers and a steam injection system for the gas turbine, will be developed and their performance demonstrated in rig tests. The feasibility of the whole integrated CHP system will be validated through a cyber-physical approach.

36 MATERIALS SCIENCE↗

Developing Separate Effects Transient Test Experiments Using an Out-of-Pile Flowing Water Loop

In 2017 the Transient Reactor Test Facility was restarted after being placed in a standby state since 1994. This Test Reactor’s restart has since enabled the progressive development of new nuclear technologies within the U.S. that were previously required to outsource to other countries. While the reactor’s restart was a large feat worthy of recognition, the experimental use of its characteristics has required the further development of in-pile experimental infrastructure sufficient to support programmatic needs. This hardware have taken the form of capsule designs (compact and elongated) as well as loop concepts representing the phenomena of interest for a subset of separate effects tests desire for each respective testing campaign. The Transient Testing Program has a large-integrated effort that aligns with the U.S. Department of Energy’s current needs. This study compliments those programmatic elements by developing, fabricating and demonstrating a full-scale flowing water loop in an out-of-pile environment. The goal of this effort is to develop a pragmatic understanding of the engineering capabilities and limitations associated with geometric form-factors, metering technology, and controls logic under representative thermal hydraulic conditions that would be experienced within the TREAT reactor during an in-pile reactivity initiated accident test. The outcomes of this study result in an evaluation of the conceptual design of a comprehensive flowing water loop including objective figures of merit (FoMs) for comparing unique instrumentation and the basis for their selection during operations. These efforts directly contribute to and are required for the further advancement of transient testing capabilities within the U.S.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Verification of Spent Fuel Inside Dry Storage Casks by Cask Top Fast Neutron Mapping (FY2023 Mid-Year Report)

This project is developing a prototype scanner array verification system for detection of missing fuel assemblies in spent-fuel storage casks. The prototype consists of six fast-neutron scintillator detectors mounted to a linear actuator frame that is placed on the top of a spent fuel cask to scan across all fuel assembly positions. The scanner array was assembled and tested at LLNL in FY2022. A field test schedule has been requested at the Idaho National Laboratory (INL) Cask Farm site for FY2023. Note that the Cask Farm contractor determines this scheduling and not INL directly. Further system automation will be designed and implemented with the goal of obtaining a level of system operation that meets IAEA needs. This includes integration of the scanner array and data-acquisition control software into a single interface for operator use. In addition, commercial operators and the IAEA may have special requirements for portability, shipping, lifting, and installation. Prior to the Field Test at INL, the system will be operated at LLNL to exercise lifting procedure and linear actuators, monitor stability of detector energy and pulse-shape discrimination calibration, and test system software integration efforts. Following the Field Test, we will present results and discuss the technology with the IAEA. We will incorporate additional improvements to the system based on lessons learned from the field test and feedback from the IAEA. If successful, the technology can be transferred to the IAEA or other stakeholders for assessment.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Compare predictions of transient fission gas release by empirical and mechanistic models to experiments in high burnup UO 2 fuel

Understanding and predicting fuel performance at high burnup require improving our understanding of transient fission gas release. High-burnup operations enable new mechanisms of fission gas release, which affect fuel performance. The Nuclear Regulatory Commission has recently published its interpretation of existing fuel fragmentation, relocation, and dispersal data in a research information letter. There, transient fission gas release was identified as one of the main factors that contributes to fuel fragmentation, relocation, and dispersal, and therefore limits fuel extension to high burnup. However, transient fission gas release is a complex phenomenon that cannot be fully described by simple empirical descriptions. This report summarizes the development of a mechanistic model for high-burnup transient fission gas release in the fuel performance code BISON. This research was supported by the Nuclear Energy Advanced Modeling and Simulation program during fiscal year 2023 to improve our understanding of high-burnup transient fission gas release and ability to predict it as a function of operation history. To support the development of a mechanistic transient fission gas release model, the existing Simple Integrated Fission Gas Release and Swelling (Sifgrs) model in BISON has been completely refactored to make it more modular and extensible. This effort supports the model's application to high-burnup conditions, its extension to other fuel forms, and the continuous improvement of its current features. Once refactoring was completed, models for high-burnup structure formation, fission gas transfer from non-restructured fuel to high-burnup structure, high-burnup structure intragranular and intergranular fission gas behavior, high-burnup structure bubble evolution, fuel pulverization, and the resulting transient fission gas release were tested and implemented in the Simple Integrated Fission Gas Release and Swelling (Sifgrs) model or tightly coupled to it. The new mechanistic model was then compared to an empirical model developed in parallel by a Nuclear Energy University Program project using a Studsvik high-burnup loss-of-coolant-accident assessment case. Finally, the report details the preliminary BISON results for a benchmark activity organized by the Nuclear Energy Agency to evaluate fuel performance codes' predictive capabilities for burst fission gas release. This work represents an important step toward a mechanistic understanding of fission gas release in high-burnup conditions.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

A Critical Review of High Burnup Fuel Fragmentation, Relocation, and Dispersal under Loss-Of-Coolant Accident Conditions

High burnup fuel in excess of ~6268 GWd/MTU has been observed to severely fragment when subjected to temperature transient conditions as in a loss-of-coolant accident. In the event of cladding failure, the severely fragmented fuel can relocate into the balloon region and potentially disperse through the burst opening into the reactor’s primary system. This observation has led to implementation of several independent test programs designed to focus on various aspects of fuel fragmentation, relocation, and dispersal. The purpose of this review is to perform a critical, holistic assessment of fuel fragmentation, relocation, and dispersal under loss-of-coolant conditions to identify data gaps in the experimental data base. Phenomena have been identified and well defined through the various testing programs, and general agreement regarding the governing parameters (temperature, burnup, heating rate, cladding deformation, etc.) has been established. However, there is a significant data gap connecting research to commercial application. Furthermore, previous research attempted to evaluate the problem holistically, but has yet to provide a comprehensive understanding of the problem. Major identified data gaps consist of (1) a comprehensive understanding of pretransient fuel rod conditions (fuel temperature, fuel stress, rod internal pressures, microstructure, etc.), (2) definition of prototypic loss-of-coolant accident conditions (heating rate, fuel temperatures, fuel stress), (3) identification of the differences between nuclear and electrical integral loss-of-coolant accident tests, and connection of fuel rod performance (cladding ballooning, burst opening, potential relocation, fragmentation susceptibility, etc.) to fuel fragmentation, relocation, and dispersal severity. Finally, the content of this manuscript provides a clear path for connecting testing and data acquisition to commercial application by providing concrete means for filling data gaps and prioritized testing regimes.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Design and Manufacturing of High Performance, Reduced Charge Heat Exchangers

Air-to-fluid heat exchangers (HXs) play a critical role as the main heat transfer component in Heating, Ventilation, Air-Conditioning, and Refrigeration (HVAC&R) systems. However, their airside thermal resistance significantly inhibits their overall performance. Furthermore, these HXs must be continually more compact to meet the latest refrigerant charge limits to reduce emissions. Recent literature suggests that traditional HX geometries (e.g., round or flat tubes with fins), have reached their limits, and more sophisticated shape- and topology-optimized designs are required to achieve the next jump in performance. This research sheds light on the next generation of air-to-refrigerant HXs and aims to address several practical issues to commercialization such as novelty challenges (improved performance for significant charge reduction; modeling expertise & time investment), manufacturing challenges (non-round tube manufacturing; tube-header integration; product qualification, e.g., burst pressure testing, extreme operational environment, etc.), and operational challenges (flow maldistribution, fouling & wetting, noise & vibration). For example, a >20% improvement on one (or more) HX-level performance metrics (e.g., envelope volume, airside pressure drop, face area, capacity, refrigerant charge, weight, cost, etc.) must be achieved before a HX design is considered for commercialization. We present a new, comprehensive and experimentally validated air-to-refrigerant HX optimization framework with simultaneous thermal-hydraulic performance and mechanical strength considerations for novel, non-round, shape- and topology-optimized tubes capable of optimizing single and two-phase HX designs for any refrigerant choice and performance requirement with significant engineering time savings compared to conventional design practices. The framework was exercised for a wide range of applications and refrigerants, resulting in HXs which achieved greater than 20% improved performance, 20% reductions in size, and 25% reductions in refrigerant charge. To enable non-round tube bundle use in next generation HVAC&R equipment, novel manufacturing techniques were investigated, including the development of conventional manufacturing methods for small diameter, non-round tubes and novel tube-header integration strategies. In total, ten HX prototypes were manufactured, nine using conventional methods directly attributed to this project and one using advanced additive manufacturing methods. The five-year manufacturing feasibility of the proposed HXs was found to have a good outlook. The non-round tube HX simulated performance was validated through comprehensive experimental testing, including nine in-house component-level tests, one independent component-level test at an industry partner laboratory, and in-house system-level tests of using a commercially-available, residential packaged A/C unit which was retrofitted with a non-round tube prototype HX. It was found that HX designs proposed by the new framework can successfully predict experimental thermal-hydraulic performance within ±10-20% the first time with no manual design changes, eliminating the need for time-consuming and expensive prototyping efforts. This work will accelerate design and time to market for next generation HXs while simultaneously facilitating industry transition to new refrigerants at lower charge.

42 ENGINEERING↗

Mechanical response of HFIR-irradiated M5FRAMATOME cladding under simple and complex loading conditions

This study investigates the mechanical behavior of High Flux Isotope Reactor (HFIR) irradiated M5FRAMATOME cladding under simple and complex loading conditions through axial tensile and reversible cyclic bending. Axial tension specimens were pre-machined prior to HFIR irradiation while cyclic bend specimens were inserted as intact tubes. Tests articles were neutron-irradiated to 4 and 16 dpa, and specimens were tested at ORNL's hotcell facilities. The axial tension tests were conducted under constant displacement control, and the reversible cyclic bend tests were performed using ORNL's Cyclic Integrated Reversible-Bending Fatigue Tester (CIRFT) apparatus. Results showed that mechanical response of Cr-coated and uncoated M5FRAMATOME cladding were similar and independent of irradiation dose for axial tension tests, while Cr-coated specimens’ reversible cyclic bend behavior differed from uncoated counterparts. For all tests, irradiation temperature showed a significant impact on the mechanical behavior. Below 280°C, all axial tensile specimens whether coated or not behaved similarly. Above 280°C, YS and UTS showed decrease with increasing irradiation temperature. A similar behavior was also observed in cyclic bend tests as well. The mechanical damage during cyclic bend tests was linked to damage accumulation in unirradiated Cr-coated zircaloy-4 specimens, and the effect of irradiation temperature was related to changing characteristics of defect mobility during high temperature irradiation.

Cinbiz, Nedim [ORNL] (ORCID:0000000346268515)↗

Engineering-Scale Integrated Energy System Data Projection Demonstration via the Dynamic Energy Transport and Integration Laboratory

The objective of this study is to demonstrate and validate the Dynamic Energy Transport and Integration Laboratory (DETAIL) preliminary scaling analysis using Modelica language system-code Dymola. The DETAIL preliminary scaling analysis includes a multisystem integral scaling package between thermal-storage and hydrogen-electrolysis systems. To construct the system of scaled equations, dynamical system scaling (DSS) was applied to all governing laws and closure relations associated with the selected integral system. The existing Dymola thermal-energy distribution system (TEDS) facility and high-temperature steam electrolysis (HTSE) facility models in the Idaho National Laboratory HYBRID repository were used to simulate a test case and a corresponding scaled case for integrated system HYBRID demonstration and validation. The DSS projected data based on the test-case simulations and determined scaling ratios were generated and compared with scaled case simulations. The preliminary scaling analysis performance was evaluated, and scaling distortions were investigated based on data magnitude, sequence, and similarity. The results indicated a necessity to change the normalization method for thermal storage generating optimal operating conditions of 261 kW power and mass flow rate of 6.42 kg/s and the possibility of reselecting governing laws for hydrogen electrolysis to improve scaling predictive properties. To enhance system-scaling similarity for TEDS and HTSE, the requirement for scaling validation via physical-facility demonstration was identified.

08 HYDROGEN↗

Enabling Interoperable SCADA Communications for PV Inverters through Embedded Controllers

The percentage integration of photovoltaic (PV) inverters in the field has increased significantly in the past 5 years. Regardless of the size of the PV plants and the inverters (residential vs. commercial), it is becoming crucial that these devices have the capability to communicate with peers (other smart devices) and with components that are at a hierarchy above the inverters (e.g., supervisory control and data acquisition (SCADA) systems, distributed controllers, and data managers). This project aims to develop a standard SCADA software code for inverters’ embedded controllers that will enable interoperability with other components in the system. To achieve this, the code will be developed using two different protocols: Distributed Network Protocol 3 and International Electrotechnical Commission 61850. The developed code is aimed to be deployed in simple embedded controllers. It will be tested in the National Renewable Energy Laboratory’s (NREL’s) Energy Systems Integration Facility. The tested code will then be made available through Triangle MicroWorks’s (TMW’s) software platform. The primary objectives of this project include training the NREL team with TMW’s embedded controller libraries, developing an interoperable communication code for embedded controllers, successfully testing and deploying the code, and demonstrating the newly developed code in a conference.

14 SOLAR ENERGY↗

Numerical Codes for the DESC-LSST Analysis Pipeline: Core Cosmology Library Standard Modules and Beyond wCDM Modules (Final Technical Report)

The overall objective of the project is to investigate and develop specific software modules and analysis components for the software pipeline of LSST Dark Energy Science Collaboration (DESC). Following the key projects of DESC Science Roadmap (SRM), we will write and test computer codes for the Core Cosmology Library (CCL) in order to complete its modules, functionalities, and interface to work with the analysis pipelines from the five science probes of DESC (parts of SRM deliverables CX4.2TJP, CX6.2CS). We will also code modules for CCL to test models beyond w-Cold-Dark-Matter (wCDM) and modification to gravity (MG). Interfaces for MG models will also be developed for the TJPCOSMO software which is the main pipeline of the Theory and Joint Probe (TJP) working group (deliverable TJP2.3). In order to use the full power of LSST data to constrain MG models, we will also work on constraints from nonlinear regime by running and analyzing MG N-Body simulations using a Parameterized-Post-Friedmann framework into the Gadget-2 simulation package (deliverable TJP2.2). Preliminary results for the simulations were obtained in the past. In collaboration with other DESC groups, we plan to make these simulations feedable to cosmic emulators that are practical for likelihood analyzes (deliverable TJP2.2, parts of CX6.2CS). We will also modify and integrate our current codes for consistency tests between data sets and probes into the pipeline (parts of deliverables CX8.2TJP, TJP2.3). We understand that other groups will contribute to some of these objectives but our team will focus and collaborate with others on the particular part of testing MG and models beyond wCDM and refine the DESC pipeline for this purpose. PI has been coordinating his work with the TJP and CS working groups and the DESC management team. PI is a full member of DESC since June 2013. He and his students have been contributing to LSST-DESC activities and work including TJP telecons, collaboration meetings, hack-weeks, and workshops. PI chaired or co-chaired sessions at collaboration meetings and hack-weeks about testing gravity and models beyond wCDM using LSST. He is coordinating the TJP2 projects for testing models beyond wCDM including the writing of DESC-research-note, development of code for pipeline, and N-Body simulations for MG and beyond wCDM models testable with LSST analyses. As stressed in the DESC white paper, SRM, and P5 report, one of the important questions in understanding cosmic acceleration and dark energy is to be able to distinguish whether the acceleration is due to a dark energy component in the universe or a modification to gravity. Answering these questions will have a significant impact on the question of cosmic acceleration and dark energy. The methods that we will use include analytical work, numerical code, and N-Body simulations. A first approach that that we will use consists of using growth rate parameters that enter the perturbed dynamics equations. These parameters take distinctive values for distinct gravity theories and have potential to distinguish between Dark Energy and Modified Gravity. The second method is to look for inconsistencies in Dark Energy parameter spaces using specific combinations of cosmological data sets. Our investigation addresses the Dark Energy problem that is relevant to the mission of the HEP program to understand how our universe works at its most fundamental level. It will allow us to make progress on the HEP mission to explore the nature of Dark Energy and the basic nature of space and time using future surveys such as LSST. The investigation supports the DOE HEP program Cosmic Frontier as it will contribute to the study and understanding of dark energy and fundamental properties of the universe. The investigation contributes directly to LSST-DESC key projects and their deliverables as described in the Science Road-map document to build analysis pipeline and to test dark energy and beyond wCDM models using LSST.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Experimental performance analysis of a dual source heat pump integrated with thermal energy storage

To mitigate disturbances to the electric grid resulting from the growing penetration of intermittent and decentralized renewable generation, a dual-source (air source and ground source) heat pump (DSHP) integrated with thermal energy storage (TES) was developed. The DSHP can use either ambient air or the shallow subsurface of the ground to provide space heating or space cooling to the building as the conventional heat pump and produce hot/cold water for charging TES. Using dual sources (air and ground) can reduce the required size of the expensive ground heat exchangers while retaining high energy efficiency. During the off-peak period, the DSHP cools/heats the TES with low-cost electricity or overproduced renewable power. The stored cooling/heating energy in the TES is released during peak hours of the electric grid to meet the thermal demands of the building without consuming electricity to run the DSHP. A 2-ton (7 kW) prototype DSHP was developed and integrated with a 50-gallon (189 L) TES tank filled with a phase change material. Field tests were conducted to characterize the performance of the integrated system operating in various operation modes.

Wang, Lingshi↗

Development of the Generation 3 Particle Pilot Plant Falling Particle Receiver

A falling particle receiver (FPR) has been designed to integrate with the G3P3-USA pilot plant currently being constructed at the National Solar Thermal Test Facility (NSTTF) at Sandia National Laboratories. This receiver integrates several innovative design features including a converging tunnel (SNOUT), an optimized cavity geometry, and a multistage “catch-and-release” trough. Details about the integration of these features and the final G3P3-USA FPR design and construction are described. Ray-tracing models of the FPR utilizing the NSTTF heliostat field are developed leveraging previous modeling efforts using SolTrace. Models demonstrate that at least 1.5 MWth of incident radiative energy can be provided to the FPR on a clear day throughout a typical year in Albuquerque, NM. Spillage fluxes around the periphery of the aperture are within acceptable bounds for the majority of the year. Intercept factors are computed for each utilized heliostat at the Vernal equinox to provide guidance to heliostat operators during operation of the system.

Mills, Brantley↗

Scattering using real-time path integrals

Background: Path integrals are a powerful tool for solving problems in quantum theory that are not amenable to a treatment by perturbation theory. Most path integral computations require an analytic continuation to imaginary time. While imaginary time treatments of scattering are possible, imaginary time is not a natural framework for treating scattering problems. More importantly, quantum algorithms for calculating path integrals require real-time evolution. Purpose: Here, we test a recently introduced method for performing direct calculations of scattering observables using real-time path integrals in order to understand the challenges facing real-time path integral calculations of scattering observables. Method: The computations are based on a new interpretation of the path integral as the expectation value of a potential functional on cylinder sets of continuous paths with respect to a complex probability distribution. The method can in principle be applied to arbitrary short-range potentials. Results: The method is applied to compute matrix elements of Møller wave operators applied to narrow wave packets. These are used to calculate half-shell sharp-momentum transition matrix elements for one-dimensional potential scattering. The calculations for half-shell transition operator matrix elements converge to the numerical solution of the Lippmann-Schwinger equation. Conclusions: This work presents a proof in principle that scattering observables can be computed using real-time Feynman path integrals. While the computational method is not efficient, it can be improved. It provides a laboratory for studying quantum computational algorithms that are applicable to scattering problems.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Development of the Intelligent, Preventive Infrared (IR) Inspection System Housed in Hybrid Robotic Platforms

Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗