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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

NDE Technology Development Program for Non-Visual Volumetric Inspection Technology - Phase I Summary Report

This report provides a summary of the outcomes and findings of the sensor testing and evaluation work performed in FY2017 and first quarter of FY2018 under Phase I of the NDE Technology Development Program. The objective of this summary report is to provide a condensed version of the information provided in the Phase I program plan, Phase I test plan, the two comprehensive Phase I interim test reports issued for Technology Screening and advanced Sensor Effectiveness Testing, and the results from testing and demonstrations conducted Post-Sensor Effectiveness Testing for the purpose of supporting the selection of sensor technologies for maturation under Phase II. The orthogonal research and planning that should accompany technology maturation to support Phase II and Phase III are also included. The full details of the test mock-ups and flaws, sensor technologies, tests, evaluation criteria, and evaluation results are included in Phase I and provided in the interim Phase I test reports on Technology Screening and Sensor Effectiveness Testing.

47 OTHER INSTRUMENTATION↗
DOE OSTI2018

NDE Technology Development Program for Hanford DST Non-Visual Volumetric Inspection Technology – Phase II; Technical Letter Report on Air-slot NDE Sensor Maturation Testing

The Pacific Northwest National Laboratory (PNNL) located in Richland, Washington, hosted and administered Phase II Flaw Detection Performance Tests in August 2018 that allowed the newly matured ultrasonic guided wave phased-array (GWPA) air-slot NDE sensor—“Hanford-Probe A”—developed by Guidedwave to be evaluated for its flaw detection capability and repeatability. A portion of the Phase II Flaw Detection Performance Tests was performed on a subset of test flaws on which the original GWPA sensor was evaluated during Phase I Sensor Effectiveness Testing (SET) to facilitate a comparison in flaw detection performance between Hanford-Probe A and the original GWPA sensor demonstrated in Phase I. The objective of the performance comparison was to determine the extent to which GWPA sensor design changes impacted the flaw detection performance upon which selection of the sensor technology was originally based for the purpose of determining whether the flaw detection performance of the newly matured Hanford-Probe A GWPA air-slot NDE sensor is at least equal to that of the original GWPA sensor evaluated under Phase I SET. This technical letter report presents the results produced by the new Hanford-Probe A on the Phase I test flaws and the results of the flaw detection performance comparison between Hanford-Probe A and the original GWPA sensor demonstrated in Phase I.

47 OTHER INSTRUMENTATION↗
NASA NTRS2005

Micro-Inspector Spacecraft for Space Exploration Missions

NASA is seeking to embark on a new set of human and robotic exploration missions back to the Moon, to Mars, and destinations beyond. Key strategic technical challenges will need to be addressed to realize this new vision for space exploration, including improvements in safety and reliability to improve robustness of space operations. Under sponsorship by NASA's Exploration Systems Mission, the Jet Propulsion Laboratory (JPL), together with its partners in government (NASA Johnson Space Center) and industry (Boeing, Vacco Industries, Ashwin-Ushas Inc.) is developing an ultra-low mass (<3.0 kg) free-flying micro-inspector spacecraft in an effort to enhance safety and reduce risk in future human and exploration missions. The micro-inspector will provide remote vehicle inspections to ensure safety and reliability, or to provide monitoring of in-space assembly. The micro-inspector spacecraft represents an inherently modular system addition that can improve safety and support multiple host vehicles in multiple applications. On human missions, it may help extend the reach of human explorers, decreasing human EVA time to reduce mission cost and risk. The micro-inspector development is the continuation of an effort begun under NASA's Office of Aerospace Technology Enabling Concepts and Technology (ECT) program. The micro-inspector uses miniaturized celestial sensors; relies on a combination of solar power and batteries (allowing for unlimited operation in the sun and up to 4 hours in the shade); utilizes a low-pressure, low-leakage liquid butane propellant system for added safety; and includes multi-functional structure for high system-level integration and miniaturization. Versions of this system to be designed and developed under the H&RT program will include additional capabilities for on-board, vision-based navigation, spacecraft inspection, and collision avoidance, and will be demonstrated in a ground-based, space-related environment. These features make the micro-inspector design unique in its ability to serve crewed as well as robotic spacecraft, well beyond Earth-orbit and into arenas such as robotic missions, where human teleoperation capability is not locally available.

microspacecraft↗
NASA NTRS2003

Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

Wagenknecht, J.↗
NASA NTRS1993

Graphical Operator Interface for Space Telerobotics

This paper addresses potential applications of advanced graphical operator interfaces using graphics and graphical user interfaces in space telerobotic operations. Possible applications are illustrated with examples of graphics visualization displays developed for advanced teleoperation and with an example of an operator interface design developed for remote surface inspection at the Jet Propulsion Laboratory

Telerobotics↗
DOE OSTI2019

Novel Radiometry for In-Pipe Robotic Inspection of Holdup Deposits in Gaseous Diffusion Piping - 19503

This paper details the first complete, DOE approved, deployed and operational radiometry for robotic nondestructive assay (NDA) of holdup deposits in gaseous diffusion piping. Some features, like peak-finding, Compton correction, detector efficiency, and material properties are characteristic of typical manual methods. Most features are specific to in-pipe robotic deployment. These include in-motion radiometry, self-determined location, geometric modeling of thick deposits, bounding of self-attenuation thickness and auto-checking of replicate measurements. Significant are the means for determining all the properties, equations, and constants for automatically computing and displaying all the quantities, uncertainties and information needed for NDA reporting, analysis, and review. Earlier work by this team demonstrated rudimentary but convincing robotic in-pipe NDA of holdup deposits in pipes. Cold testing with high-enrichment mat sources and hot tests with low U-235 loadings together succeeded to exhibit convincing proof-of-principle. This research-grade radiometry implementation lacked accurate odometry, efficiency calibration, high-fidelity detector modeling, attenuation modeling, forward geometric modeling, auto-segmenting, uncertainty modeling, replicate checking, deconvolution and much more. This work explains the technical basis behind robotic in-pipe NDA. It includes discussion of a new method for modeling of self-attenuation using in-pipe deposit geometry information, detail of the method's total measurement uncertainty, and explanation of calibration methods and results. Beyond development of automation-specific radiometric elements, the paper highlights analyses, testing, and technical bases specific to and supportive of the methodology. Examples include collimation characterization, detector efficiency determination, auto-calibration methodology, and odometric replicate-checking. Results of this methodology are formalized in a DOE EM Technical Basis Document, implemented in software, formally verified in review and acceptance testing and proceduralized as a means for D and D NDA at the Portsmouth enrichment facility. Measurement of U-235 quantity is a well-known cost and schedule driver in D and D of every defunct gaseous diffusion enrichment facility in the world. The radiometry methodologies and results detailed in this paper were the high hurdles. Having established the technical basis for this automated NDA, the opportunity is to apply this to many sizes and robot forms for addressing holdup deposit NDA throughout the D and D community. (authors)

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

Development of Robotic Inspection Systems for In-situ Characterisation Prior to Decommissioning - 20306

The University of Bristol's South West Nuclear Hub is part of two large UK academic research collaborations aiming to reduce the costs of nuclear power by trialing innovative solutions to major decommissioning challenges. Robotics and Artificial Intelligence in Nuclear (RAIN) and the National Centre for Nuclear Robotics (NCNR) are the two collaborations tasked by the UK research councils to coordinate this activity, for the benefit of the nuclear industry. This paper presents a summary of Bristol's research aimed at generating and demonstrating a series of technologies ready for commercialization. (authors)

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NASA NTRS1995

Fault-Tolerant Control For A Robotic Inspection System

Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

Tso, Kam Sing↗
DOE OSTI2020

November 2019 Initial Deployment of LiDAR in the H-Canyon Exhaust Tunnel

The H-Canyon Exhaust Tunnel (CAEX) structure is periodically inspected under the Structural Integrity Program using camera equipped crawlers or poles to remotely perform visual inspections. To explore the use of enhanced inspection methods a “Proof of Concept” using the Light Detection and Ranging (LiDAR) technology was performed over a 2-day period in November 2019. The purpose of the “Proof of Concept” deployment was to confirm whether a commercially available LiDAR unit could successfully operate and remotely transmit data from the tunnel CAEX environment and whether the data would provide quantitative information to establish baseline measurements. The LiDAR performance requirement was a measurement accuracy of ± 0.25-inches over a 30-foot distance. This report documents the work activities leading to the deployment, the deployment and processing of data, lessons learned from the deployment and the post data processing methods that will be applied to future deployments.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2001

Mini AERCam: A Free-Flying Robot for Space Inspection

The NASA Johnson Space Center Engineering Directorate is developing the Autonomous Extravehicular Robotic Camera (AERCam), a free-flying camera system for remote viewing and inspection of human spacecraft. The AERCam project team is currently developing a miniaturized version of AERCam known as Mini AERCam, a spherical nanosatellite 7.5 inches in diameter. Mini AERCam development builds on the success of AERCam Sprint, a 1997 Space Shuttle flight experiment, by integrating new on-board sensing and processing capabilities while simultaneously reducing volume by 80%. Achieving these productivity-enhancing capabilities in a smaller package depends on aggressive component miniaturization. Technology innovations being incorporated include micro electromechanical system (MEMS) gyros, "camera-on-a-chip" CMOS imagers, rechargeable xenon gas propulsion, rechargeable lithium ion battery, custom avionics based on the PowerPC 740 microprocessor, GPS relative navigation, digital radio frequency communications and tracking, micropatch antennas, digital instrumentation, and dense mechanical packaging. The Mini AERCam free-flyer will initially be integrated into an approximate flight-like configuration for laboratory demonstration on an airbearing table. A pilot-in-the-loop and hardware-in-the-loop simulation to simulate on-orbit navigation and dynamics will complement the airbearing table demonstration. The Mini AERCam lab demonstration is intended to form the basis for future development of an AERCam flight system that provides on-orbit views of the Space Shuttle and International Space Station unobtainable from fixed cameras, cameras on robotic manipulators, or cameras carried by space-walking crewmembers.

Fredrickson, Steven↗
DOE OSTI2018

Savannah River Site H-Canyon Collaborative Advanced Technology Demonstration (ATD) - 18313

In support of the Department of Energy's Environmental Management Office of Technology Development (DOE-EM TD) Robotics Technology thrust to pull innovative commercial off the shelf (COTS) and near ready technologies to the field to expedite remaining EM mission clean up and enhance worker safety, the required FY19 Savannah River Site (SRS) H-Canyon Air Exhaust (HCAEX) tunnel inspection task will be used to demonstrate and evaluate the benefit of pulling advanced technology solutions to EM facilities. Presently a biannual visual inspection of the SRS HCAEX tunnel is required to evaluate the structural integrity of the tunnel. While the ability to see inside the tunnel in recent years has been highly invaluable, it is desirable to have a better understanding of the tunnel environment to support a more thorough structural integrity analysis and for long term planning purposes. This higher order of understanding can be accomplished through state of the art COTS sensors and those currently in development and near ready. The ATD will identify and develop for deployment advanced technologies to be hosted on the FY19 inspection platform to acquire high value data desired by the stakeholder. This presentation will include an overview of the ATD mission, background on the tunnel and harsh remote environment in which the inspection robot will work and the high priority inspection needs identified by the H-Canyon facility stakeholders. Discussion will include previous and planned robotic platform modifications to facilitate work in the tunnel and a discussion on the advanced technologies identified to be implemented for the inspection. The ATD will be completed over approximately a 2-year period and has already begun in the form of planning, identification of stakeholder needs, specification of a robust platform and identification of the high priority sensor needs to be pursued. This presentation will be a status of the ATD at approximately the 7-month mark. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2025

Statistical Analysis of Imaging Laser Scan Data of an Exhaust Tunnel at the SRS

• The SRS H-Canyon Building is a critical facility under the responsibility of DOE-EM. • It includes an Air Exhaust Tunnel (HCAEX) that allows for ventilation of the process airflow. • Inspections are performed remotely because of hazards, e.g. radioactivity, debris, high airflow, and nitric acid vapors.

Wells, William Willie [Savannah River National Lab↗
NASA NTRS1971

Inexpensive high-temperature furnace for thermocouple calibration

New furnace calibrates unknown thermocouple by comparing its electrical output to a reference thermocouple /previously calibrated by optical pyrometry/, as both are heated simultaneously. Thermocouples may be radioactive, thus heat source must be accessible by remote manipulation and inspection measurements. Advantages of furnace operation are cited.

Gracey, C. M.↗
NASA NTRS2003

Mobile Sensor Technologies Being Developed

The NASA Glenn Research Center is developing small mobile platforms for sensor placement, as well as methods for communicating between roving platforms and a central command location. The first part of this project is to use commercially available equipment to miniaturize an existing sensor platform. We developed a five-circuit-board suite, with an average board size of 1.5 by 3 cm. Shown in the preceding photograph, this suite provides all motor control, direction finding, and communications capabilities for a 27- by 21- by 40-mm prototype mobile platform. The second part of the project is to provide communications between mobile platforms, and also between multiple platforms and a central command location. This is accomplished with a low-power network labeled "SPAN," Sensor Platform Area Network, a local area network made up of proximity elements. In practice, these proximity elements are composed of fixed- and mobile-sensor-laden science packages that communicate to each other via radiofrequency links. Data in the network will be shared by a central command location that will pass information into and out of the network through its access to a backbone element. The result will be a protocol portable to general purpose microcontrollers satisfying a host of sensor networking tasks. This network will enter the gap somewhere between television remotes and Bluetooth but, unlike 802.15.4, will not specify a physical layer, thus allowing for many data rates over optical, acoustical, radiofrequency, hardwire, or other media. Since the protocol will exist as portable C-code, developers may be able to embed it in a host of microcontrollers from commercial to space grade and, of course, to design it into ASICs. Unlike in 802.15.4, the nodes will relate to each other as peers. A demonstration of this protocol using the two test bed platforms was recently held. Two NASA modified, commercially available, mobile platforms communicated and shared data with each other and a central command location. Web-based control and interrogation of similar mobile sensor platforms have also been demonstrated. Expected applications of this technology include robotic planetary exploration, astronaut-to-equipment communication, and remote aerospace engine inspections.

FROM↗
NASA NTRS2014

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗
NASA NTRS1994

Detection of Cracks at Welds in Steel Tubing Using Flux Focusing Electromagnetic Probe

The inspection of weldments in critical pressure vessel joints is a major concern in the nuclear power industry. Corrosive environments can speed the fatigue process and access to the critical area is often limited. Eddy current techniques have begun to be used to help overcome these obstacles [1]. As direct contact and couplants are not required, remote areas can be inspected by simply snaking an eddy current coil into the intake tube of the vessel. The drawback of the eddy current method has been the high sensitivity to small changes in the conductivity and permeability of the test piece which are known to vary at weldments [1]. The flaw detection mechanism of the flux focusing electromagnetic probe can help alleviate these difficulties and provide a unique capability for detecting longitudinal fatigue cracks in critical tube structures. The Flux Focusing Electromagnetic Flaw Detector, originally invented for the detection of fatigue and corrosion damage in aluminum plates [2-3], has been adapted for use in testing steel tubing for longitudinal fatigue cracks. The modified design allows for the probe to be placed axisymmetrically into the tubing, inducing eddy currents in the tube wall. The pickup coil of the probe is fixed slightly below the primary windings and is rotated 90 so that its axis is normal to the tube wall. The magnetic flux of the primary coil is focused through the use of ferromagnetic material so that in the absence of fatigue damage there will be no flux linkage with the pickup coil. The presence of a longitudinal fatigue crack will cause the eddy currents induced in the tube wall to flow around the flaw and directly under the pickup coil. The magnetic field associated with these currents will then link the pickup coil and an unambiguous increase in the output voltage of the probe will be measured. The use of the flux focusing electromagnetic probe is especially suited for the detection of flaws originating at or near tube welds. The probe is shown to discriminate against signals due solely to the weld joint so that flaw signals are not hidden in the background in these locations. Experimental and finite element modeling results are presented for the flaw detection capabilities of the probe in stainless steel tubes.

Wincheski, Buzz↗
DOE OSTI2018

Replacement of Melter 2 at the Defense Waste Processing Facility (DWPF) - 18608

The original DWPF melter was replaced in 2002 with an identical unit, and radioactive operation of Melter 2 commenced in 2003. After nearly 14 years of service, a lower electrode failure of Melter 2 occurred in February 2017 which required its removal and replacement with Melter 3. The scope of the replacement outage involves several significant evolutions: - Shutdown of Melter 2 and placement into a safe state; - Remote external and internal inspection of Melter 2 to chronicle its condition prior to removal; - Disassembly and removal of Melter 2 from the process cell; - Placement of Melter 2 into a storage box and transport to a storage vault; - Preparation and initial testing of Melter 3 prior to transport to the DWPF; - Transport to the DWPF and installation of Melter 3 in the process cell; - Final startup testing and initiation of radioactive operation. Upon determination that repair of Melter 2 was not feasible, DWPF created an outage team to integrate schedules and resources needed to execute melter replacement as well as including maintenance scope for facility work that can only be performed when the melter is de-energized. The execution of this scope required integration with other mission critical outage activities already in progress, and planned to start, including initial facility tie-in scope for the new Salt Waste Processing Facility (SWPF). This unplanned addition of the melter replacement scope to the existing outage scope resulted in the longest facility outage period since the initiation of radioactive operations at the DWPF in 1996. Successful completion of this scope across all Liquid Waste facilities would require balance - for schedules, resources, priority, funding, etc. To overcome the significant challenges created by this additional scope, a WAR Room was established to ensure adequate integration and coordination of critical resources, and daily progress. The execution of this scope has required the integration of nearly two dozen work groups across multiple facilities at Savannah River Site (SRS), in addition to support from nearly a dozen vendors. The melter replacement outage was executed with a high degree of disciplined operation to ensure the facility was ready to resume glass pouring operation in time to support restart of the Liquid Waste program at the Savannah River Site (SRS). This paper will provide a brief overview of Melter 2 operational history. The execution of the removal and replacement operations will be described with a specific focus on lessons learned and opportunities where the outage execution diverged from the original Melter 1 replacement outage. It is expected to be of interest to vitrification facilities, as well as facilities, which require remote maintenance and replacement of large process equipment. (author)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Automated commissioning and inspection for PV systems

An electric system includes a local power controller and solar panel system that includes a plurality of solar modules on one or more branch circuits. A method for commissioning the electric system includes an installer using a commissioning device to send and receive information from a remote system and the local power controller performing an automatic self-test of the electric system. The results of the self-test may be packaged with photographs and measurements of the electric system and sent to a remote system where an inspector can inspect the electric system remotely. After receiving approval by the inspector, the local power controller may automatically activate each branch circuit of the electric system and thus enabling the electric system to generate electricity.

14 SOLAR ENERGY↗