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All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

TRUST Testing Procedure Documentation

The TRUST testbed was designed and fabricated to conduct vibration testing and validate the behavior of hyper-elastic foams in a pre-loaded condition. The main goals of this testbed design were to ensure symmetry, proper instrumentation alignment and mounting, simplified geometry to make the data analysis validation process more straightforward, and to apply and monitor the applied pre-load. Based off of the test parameters, a shaker system was purchased. The baseplate was designed to mount directly to the bolt holes provided on the top of the shaker table. It was determined that the specimens will be cylindrical and vary in thickness from 2-10mm. The baseplate riser, center-mass, and testbed cap were designed to be cylindrical to make alignment about the center axis more straightforward. It was determined to fabricate the parts previously mentioned using Aluminum 6061-T6 due to its stiffness in order to reduce the likelihood of the stiff material impacting the data being collected for the foam specimens. The design concept used to apply the pre-load to the testbed was a through bolt/nut configuration. A through hole was included in each piece of the testbed, specimens, and instrumentation large enough to allow for 1/8” clearance between the through bolt and each of these pieces. This was imperative to avoid causing friction and complicating the validation model. A load cell was then purchased and used to measure the pre-load being applied to the testbed. It was also required to collect data for 3 axes at 3 different locations 120° apart on the center-mass. This configuration was required to be placed on the cylindrical face and toward the top and bottom of the center-mass. Slots were milled out in the middle of each sensor block with tight tolerances for mounting each of the accelerometers at 120° apart. This same approach was taken to mount 2 accelerometers on the baseplate at 180° apart. Holes were milled out of the corners of each accelerometer mounting slot to relieve the corner and allow for a flat edge at the back of each slot. Sensor blocks were mounted into the center-mass using 6-32 bolts at the required locations. This initial testbed design was fabricated at the TA53 machine shop.

42 ENGINEERING↗
DOE OSTI2021

Glass Crystallization Constraints for WTP LAW Operations: Assessment of Isothermal Treatments on Crystal Formation

Much work has been done to expand the glass composition region available for operation of the Hanford Waste Treatment and Immobilization Plant. This includes the development of updated glass property-composition models as well as constraints. This report supports this effort by suggesting constraints for avoiding excessive, and likely detrimental, crystallization during melter operation while processing advanced low-activity glass waste forms. The constraints target SnO 2 and ZrO 2 crystals that can form when melter temperatures drop below 1100 °C. These types of crystals were found to be potentially detrimental during processing as they are denser than low-activity waste glass melts. SnO 2 , density of 6.95 g/cm3, and ZrO 2 , density of 5.68 g/cm3, have the potential to form during melter idling and settle to the bottom of the less dense glass melt (approximate density 2.65 g/cm3). If the crystals are present in appreciable amounts, they can result in blockages of the pour-spout riser, which impacts glass pouring and melter operation. Using previously acquired results and results from testing during this effort, constraints were determined and are suggested as options to reduce the risk of forming crystals of the types and concentrations that are likely detrimental to melter operation.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Progress on Computational Modeling of Water-Based NSTF (FY2021)

This report documents the FY21 progress and achievements made in the computational analyses of the water-based NSTF. Both system-level and high-fidelity Computational Fluid Dynamics (CFD) analyses were performed to gain a complete understanding of the complex flow and heat transfer phenomena in natural convection systems. The progress on the waterbased NSTF experimental testing is summarized in a companion report (ANL-ART-230). As a continuation of progress from previous years, in FY21 the RELAP5 model of the NSTF was first updated to include a representative heated cavity that incorporated convection and conduction means of heat transfer. Two different cavity models were developed, one that models the radiation heat exchange among all surfaces in one enclosure (Cavity Model 1), and another that employs multiple radiation enclosures with each considering the surfaces at one axial level (Cavity Model 2). This updated RELAP5 deck was benchmarked with single-phase test data to tune form loss coefficients of the elbows and tees, along with heat transfer coefficients within the cavity and off the external insulation panels. This tuned model was then found to accurately predict fluid temperatures within 2.5% and both system and riser flow rates within 6% during single-phase, steady-state simulations. For transient simulations, there is a slight over prediction of the flow rate, fluid temperatures, and heater temperatures during the heat-up period, which indicate that the transient heat loss may be underestimated. Following, the capabilities of RELAP5-3D were examined, which feature a conduction enclosure model that is not present in the current version of RELAP5-MOD3.3 used for all previous NSTF simulations. As an initial comparison of the two codes, single-phase simulations were run that used similar input decks. The results indicate that the single-phase flow predicted by the two codes was very similar, however RELAP5-3D appears to predict a higher system flow during the two-phase transient when compared to the flow rates predicted by RELAP5-MOD3.3. Furthermore, RELAP5-3D run did not capture the density wave oscillations or geysering phenomena, which are large oscillation flow instabilities observed in the experimental facility. To further the prediction capabilities for capturing two-phase instabilities, Options 55, 57, 58, 61, which are implemented by default in RELAP5-MOD3.3 but not in RELAP5-3D, were investigated. When enabling Option 61, RELAP5-3D agrees well with MOD3.3 in predicting the total system flow, while other options have negligible effect on the predicted total system flow by RELAP5-3D. However, none of these options enables RELAP5-3D to produce the same flow instabilities. For future steps, efforts are currently underway to investigate RELAP5-3D’s different behavior in predicting low-pressure two-phase instabilities. STAR-CCM+ was used to perform CFD analysis of the water-based test facility and provide simulation results for comparisons to experimental data. Efforts first focused on describing the characteristics of flow within the heated cavity. A study was performed on whether possible leakage flow between the two sides of the cavity could substantially impact and explain the results. An additional second assumption was examined which defined adiabatic side walls, so physical insulation structures were added to the models to allow conduction across this outer insulation. The results suggest that potential porosity of the insulation could be a major factor in the temperature distribution within the cavity and should be considered in any studies where it is desirable to know the cavity wall temperatures to higher accuracy.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2021

MFIX DEM Enhancement for Industry-Relevant Flows (Final Report)

The overall goal of this two-phase project is to implement performance improvements of the Multiphase Flow with Interphase Exchanges (MFIX) Discrete Element Model (DEM) code that enable a transformative shift for industrial use. Prior to this effort, the largest simulations performed using MFIX are O(10 7 ) particles. This falls short of the O(10 9 ) particle simulations that must be completed on a timescale of days or weeks (vs. months or years) to enable simulations with physically-relevant domain sizes to be incorporated into industrial design cycles within five years. This was accomplished by tailoring best-in-class practices to bear on the unique challenges posed by the MFIX-DEM algorithm and code base. Scientific simulations (e.g., in cosmology, turbulent combustion) routinely use massively parallel computing to update far more particles in short wall clock times. Results from Phase 1 (1.5 years in duration) indicated significant gains in speed were possible for a wide range of benchmark cases. Moreover, a survey sent to >35 companies indicates that the timing is ideal for such an enhanced tool, with >80% of the respondents indicating that DEM is already value-added or will be within the next 5 years, and >70% of the respondents indicating that improved speed is the top computational priority. In Phase 2 (3.5 years in duration), the two major barriers that hinder industry from effectively using multiphase Computational Fluid Dynamics (CFD) to cut costs and improve performance, namely computational overhead and confidence in predictions, continued to be addressed. Regarding the former, the results from Phase 1 to guide the effort, with enhancements focused on an improved time-stepping algorithm and particle sorting. Four target problems of 1 billion particles each and increasing complexity were identified: homogeneous cooling, tumbler with continuous particle size distribution, discharge from a rectangular hopper and a cylindrical riser. Each of these were successfully simulated for relevant time scales (on order of seconds) using less than 24 hours of wall clock time. These represent the first 1-billion particle DEM simulations performed with MFIX, namely using the MFIX-Exa code. This code is currently under development at NETL in collaboration with Lawrence Berkeley National Laboratory. Regarding the second barrier on predictive uncertainty, experiments from Phase 1 (interacting nozzles - hydrodynamics only) and Phase 2 (very small-scale segregation experiments) were used to demonstrate the ability of two simplified approaches to uncertainty quantification (UQ). By limiting the number of particles, UQ based on the simplified treatment was compared to standard UQ, which was shown to have much higher computational demands. Experiments were also performed on a pilot-scale stripper unit to provide validation data for future CFD-DEM simulations and UQ.

20 FOSSIL-FUELED POWER PLANTS↗
DOE OSTI2022

Glass Crystallization Constraints for WTP LAW Operations: Assessment of Isothermal Treatments on Crystal Formation

Much work has been done to expand the glass composition region available for operation of the Hanford Tank Waste Treatment and Immobilization Plant. This includes the development of updated glass property-composition models as well as constraints. This report supports this effort by suggesting constraints for avoiding excessive, and likely detrimental, crystallization during melter operation while processing advanced low-activity glasses. The constraints target Cassiterite and ZrO 2 -containing phases (ZCP, e.g., Baddeleyite and Zircon) that can form when melter temperatures drop below 1100 °C. These types of crystals were found to be potentially detrimental during processing as they are denser than low-activity waste glass melts; with densities of 6.95 g/cm 3 for Cassiterite and 5.68 g/cm 3 for Baddeleyite (the most prevalent ZCP). Compared to melt densities of approximately 2.65 g/cm 3 . Thus, they have the potential to form during melter idling and settle to the bottom of the melter or inside the melter. If the crystals are present in appreciable amounts, they can result in blockages of the pour-spout riser, which impacts glass pouring and melter operation. Additionally, SnO 2 and ZrO 2 are added to glass formulations to improve glass durability. Their precipitation from the melt may reduce overall glass durability. Using previously acquired results and results from testing during this effort, the following constraints (Table S.1) were determined and are recommended to reduce the risk of forming crystals of the types and concentrations that are likely detrimental to melter operation.

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

Tank 49H solids disturbance analysis

Tank 49H serves as the feed tank for the Salt Waste Processing Facility (SWPF). Transfers into Tank 49H may disturb any solids that have settled to the bottom of the tank, resulting in feed that may exceed the insoluble solids content limit of 1,200 mg/L of the SWPF Waste Acceptance Criteria (WAC). During a transfer into Tank 49H, material that free falls into Tank 49H through a downcomer could potentially disturb any solids on the bottom of the tank and scour or suspend solids from a settled solids layer or turbid region. A previous analysis and report evaluated the potential to disturb solids when transferring into Tank 49H through the B4 riser and recommended a minimum tank level of 120 inches to prevent disturbing any solids in the bottom of the tank. The scope of this task is to perform additional fluid flow analysis to determine whether accounting for disturbed particle settling and particle mixing and dispersion during transfer could allow the minimum liquid level to be reduced below 120 inches. The analysis utilized models from the technical literature to calculate the size and shape of the “plunging jet” as a function of input parameters such as initial velocity, initial jet diameter, elevation of the initial jet, liquid level in the tank, and solids depth. The analysis relied on the M-Star® simulations performed for the previous analysis to provide bounding estimates of the amount of solid particles disturbed and used the MStar® software to calculate the dispersion and mixing of the disturbed solids with other liquid in the tank as the solids are transported to the transfer pump. The analysis showed that with a solid particle size of 5 micron or less, a liquid level of 120 inches should be maintained to prevent significant disturbance of the solid layer at the bottom of Tank 49H.

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

Preliminary Design of Reactor Cavity Cooling System for a Horizontal Compact HTGR

The Horizontal Compact High Temperature Gas Reactor (HC-HTGR) is being designed by a multi-disciplinary team of nuclear, mechanical, and structural engineers under the support of a DOE-NE Advanced Reactor Demonstration Program’s Advanced Reactor Concepts-20 (ARC-20) award. The objective of this ARC-20 project is to deliver a conceptual design for the proposed MIGHTR in 3 years and support its commercialization as a safe and low-cost HTGR. Argonne National Laboratory (Argonne) is responsible for the design and analysis of the reactor cavity cooling system (RCCS) as a safety system for passive decay heat removal of the reactor concept. This report documents the preliminary design study of the RCCS for the HC-HTGR. It includes the establishment of the design requirements, a high-level design study by initial scoping calculations, and preliminary performance calculations of the HC-HTGR RCCS design. Design requirements for the HC-HTGR RCCS have been established to guide preliminary design activities and scoping performance calculations. Initial scoping calculations including estimation of the water inventory, estimation of HVAC thermal capability, and a parametric study on loop dimensions by standalone RCCS analysis. Based on scoping calculation results, a set of baseline dimensions of the HC-HTGR RCCS was derived. A water panel modeling approach was investigated to explore various potential design options for the water panel under consideration for the HC-HTGR RCCS using RELAP5-3D. A test case study was performed to assess the prediction capability of two modeling approaches. The results were compared with CFD simulations conducted in constant RPV temperature and heat flux boundary conditions. It confirms the capability of the RELAP5-3D modeling approach to include all important heat transfer mechanisms expected in the HC-HTGR RCCS operation conditions. Then, a reference RELAP5-3D model for the 1/8 th of a compartment of the preliminary design of the HC-HTGR RCCS was developed. A preliminary performance analysis was conducted to evaluate single-phase natural circulation performance with different top tank temperature values and panel conduction performance in various operation conditions. From single-phase natural circulation performance analysis, the system operation mode was investigated in normal operating and limiting design conditions. It showed operation mode in a subcooled state with a proper top tank water cooling system. Parasitic heat loss by both internal air flow and RCCS was estimated, showing it satisfies maintaining below target maximum heat loss of the HC-HTGR RCCS. From the panel conduction performance analysis, two candidate materials for the riser tube such as carbon steel and stainless steel were compared in the thermal performance of HC-HTGR RCCS. From a single water panel test compared with CFD simulation results, it was confirmed that the current capability of the RELAP5-3D modeling approach for the water panel predicts the thermal conduction of two different materials of the water panel. Then, system-level thermal performance analysis was performed for 1/8 th of the compartment of the preliminary HC-HTGR RCCS design. It was first observed that the current preliminary HC-HTGR RCCS design had minimal impact on the overall thermal performance of the water panel by changing pipe material from carbon steel to stainless steel. From Argonne’s effort on the ongoing water-based NSTF testing program, several considerations other than the thermal performance point of view were addressed to be considered in selecting pipe materials.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2022

Blend Pump Mixing in Tank 27 Evaluation

For future waste disposal operations, Savannah River Mission Completion (SRMC) plans to operate Tank 27 as a blend tank. It is desirable to avoid additional worker exposure by using the planned commercial submersible mixing pump (CSMP) installations in Risers B2 and B4 to function as the blend pumps for prolonged blend tank operations. The purpose of this task is to evaluate the impacts to mixing across a range of pump installation heights from 1 to 201 inches. Specifications include: A maximum pump diameter of 22.5 inches, dual nozzles placed tangentially opposed with nominal inside diameter of 2 inches, a total flow range (both nozzles combined) of 500 to 1950 gallons per minute (gpm) and a maximum revolutions per minute (RPM) of 1800. Tank 27 is expected to have maximum fill height of 360 inches.

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

Finite Volume Discretization of the Euler Equations in Pronghorn

Modeling flow and heat transfer in high temperature gas reactors (HTGR) requires the ability to model a wide range of flow speeds from slow (natural convection), to intermediate (forced-flow conditions), to supersonic regimes (depressurization) for a wide range of geometries including the pebble bed, upper and lower plenum, and risers. In previous work, Pronghorn has effectively modeled low-to-medium speed flows in scenarios such as the one described in the two-dimensional PBMR-400 benchmark, using its finite-element-based streamline-upwind Petrov-Galerkin (SUPG) stabilized implementation of the Euler equations. However, limitations of this method become apparent when dealing with more complicated geometries (e.g. imposing slip boundary conditions at nodes belonging to two different boundaries) and when gas speeds are fast enough for shocks and supersonic flow to occur. For these problems, the finite-element-based solver lacks robustness and is plagued by slow iterative convergence or even divergence. In order to address these challenges, the Pronghorn code at INL has been updated with new, modified versions of its original equations. The new Pronghorn models are built on the finite volume method with a Harten-Lax-van Leer-Contact (HLLC) Riemann solver based numerical flux method, which (1) allows imposing slip boundary conditions much more robustly and (2) performs well for a wide range of flow speeds. The finite-volume-based flow solver will form the basis for a robust coarse-mesh thermal-hydraulics capability in Pronghorn.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

Tank 27 Solids Disturbance Testing Using M-Star for the Impact of CSMP Usage on Blend Tank Mixing Effectiveness

Savannah River Mission Completion (SRMC) plans to operate Tank 27as a blend tank for future waste disposal operations. It is desirable to avoid additional worker exposure by using the planned commercial submersible mixing pump (CSMP) installations in Risers B2 and B4 to function as the blend pumps for prolonged blend tank operations. The purpose of this task is to evaluate the impacts to mixing across a range of pump installation heights from 1 to 201 inches above the tank floor. The CSMPs shall maintain adequate blending within a 24 hour maximum timeframe and an adequate nozzle discharge velocity as outlined in U-ESR-G-00030, using the specifications of the planned CSMPs listed in PO SRRA149971 and M-DS-G-00081. Specifications include: maximum pump diameter of D=22.5 in., dual nozzles placed tangentially opposed with nominal inside diameter of 2 in., total flow range (both nozzles combined) of 500 to 1950 GPM and maximum RPM of 1800. Tank 27 is expected to have a fill height maximum of 360". This analysis began by using results from the 2010 testing and applying them to the Tank 27 design to calculate a mixing time as a function of pump flow rate. These results were modified to account for the higher liquid level in Tank 27. Once the liquid level was increased to 360 inches, the results were modified to account for a higher viscosity in Tank 27 than in the testing. Once the viscosity was increased, the effect of changing pump elevation was applied to calculations of the mixing time in Tank 27. Finally, the uncertainty from the testing was included in the analysis to recommend a blend time as a function of pump flow rate and elevation. The conclusion from this study is that the particles in tank 27 will be suspended at both the 600 and 900 gpm flow rates. Only particles above 90 micron will not be suspended in significant amounts when the flow rate is 600 gpm. At 900 gpm even 100 micron particles were thoroughly suspended in the tank. From the series of simulations it has been concluded that it will not be possible to mix tank 27 at the proposed fluid flow rates and not suspend the solid particles at the bottom of the tank.

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

Loop Thermosyphon Enhanced Solar Collector

A two-phase loop thermosyphon solar collector was developed to transfer thermal energy efficiently and passively from a concentrated solar collector to a thermal desalination process. The two-phase flow in the loop thermosyphon is driven by a difference in gravitational pressure head between the liquid return line and the two-phase riser located between the evaporator and condenser. A numerical model incorporating mass, energy, and pressure drop balances was developed to predict system performance and use as a design tool. Three iterations of loop thermosyphon solar collectors were designed, fabricated, and tested to validate the numerical analysis and demonstrate system integration. Additionally, a novel solar receiver design was evaluated based on volumetric absorption of the concentrated sunlight by an optically absorptive two-phase working fluid. Life tests were performed to evaluate the working fluid thermal stability and resistance to ultraviolet degradation. A glass receiver tube and associated glass-to-metal junctions were developed. Finally, a full-scale loop thermosyphon was integrated with a parabolic trough solar collector and tested on-sun.

14 SOLAR ENERGY↗
DOE OSTI2025

New Tank Mapping Method Improves Waste Removal Process

Waste Tank Mapping Overview • Camera inspections are performed within available tank top risers and used to create waste tank maps – Several camera inspections are performed during waste removal transfers to verify the elevation of the visible salt/sludge mounds against the known elevation of the liquid surface • Tank mappings are used to evaluate the volume and distribution of saltcake or sludge that is present within the waste tank – Allows for refined operating strategies and process safety controls • New tank mapping process creates a standardized approach for accurately defining waste distribution within a waste tank while minimizing the required camera inspection footage – First utilized during the 2023 Tank 22 Sludge Removal Campaign

Mini, Melany [Savannah River Mission Completion (S↗
DOE OSTI2025

FY-25 Progress on Computational Modeling of the Water Based NSTF

This report summarizes the system level modeling using RELAP5-3D of the Natural Convection Shutdown Heat Removal Test Facility (NSTF) completed in FY25. This year’s work focuses on a new tank configuration where the inlet of the tank was lowered in elevation by 45”. The stability boundaries of the NSTF are thoroughly studied and stability maps are constructed based on the stability and the oscillation patterns of the system. Five distinct operational modes are identified, namely single-phase liquid, uniform double peak oscillations, uniform sinusoidal oscillations, stable two-phase flow, and non-uniform oscillations. Next, the riser inlet throttling case of experimental test Run-104 is simulated with the RELAP5 model where good agreement is obtained between the model and the experimental data. The simulation also highlights the effects of backflow of water from the tank to the upper region of the chimney. Additionally, the decay heat removal test of Run-99 is simulated with the RELAP5 model. Comparison is carried out between this run and a similar run with the mid-tank inlet of Run-74 performed in FY22. With the lower tank inlet, the RELAP5 model is able to predict the experimental data more accurately than the previous mid tank inlet configuration. The discrepancy in model prediction accuracy highlights the non-symmetrical spatial effects in the tank that would otherwise be more easily captured with higher fidelity models. Lastly, two exploratory studies are conducted to investigate the behaviors of the NSTF when 1) heating is provided to the downcomer and 2) a bypass channel is added between the horizontal chimney section to the downcomer.

42 ENGINEERING↗
DOE OSTI2025

Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]

Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.

42 - ENGINEERING↗
DOE OSTI2026

SAM Code Enhancements for Fission Product Tracking of Noble Gases and Metals in MSRs

This report documents fiscal year 2026 enhancements to the System Analysis Module (SAM) for modeling fission product transport in liquid-fueled molten salt reactors (MSRs). The work advances three principal areas: noble gas transport, noble metal deposition, and user interface improvements. The noble gas transport capability integrates drift-flux gas transport, Henry’s law two-film interphase mass transfer with pressure-based nucleation suppression, Knudsen-regime pore diffusion into porous graphite with a conjugate salt-graphite interface constraint, built-in material properties, five Sherwood-number mass transfer correlations including three derived from high-fidelity NekRS simulations, and xenon-135 reactivity feedback through SAM’s point-kinetics model. This work also presents a comprehensive verification test suite, including new analytically verified cases for pressure-dependent onset of interphase gas transfer in a stagnant vertical pipe, a postulated FLiBe-graphite Xe extraction permeator, a gravity riser with a fission-product source, and a descending pipe with gas redissolution driven by hydrostatic pressure. A machine learning framework for bubble rise velocity prediction in molten salt systems is developed and benchmarked on molten-salt and diverse aqueous bubble datasets. The best-performing fine-tuned transfer-learning networks achieve an 82% reduction in RMSE relative to the Clift correlation, and is implemented directly in SAM. The noble metal transport capability is developed, including a liquid-wall deposition model and a gas-surface flotation mechanism that transfers insoluble particles entrained by sparging gas to wetted structures. Verification tests and demonstration cases cover the surface deposition, flotation efflux, and flotation shedding. Finally, a new [SpeciesTransport] input structure replaces positional global vectors with selfcontained, order-independent, named species blocks, simplifies the specification of multiphase species and decay chains, and remains fully compatible with existing SAM input files. Together, these developments improve the physical fidelity, verification basis, and usability of SAM for system-level analyses of fissionproduct behavior in MSRs.

Mui, Travis (ORCID:0000000303736470)↗
DOE OSTI2025

Development of a Multi-Robot System for Autonomous Inspection of Nuclear Waste Tank Pits

This paper introduces the overall design plan, development timeline, and preliminary progress of the Autonomous Pit Exploration System project. This project aims to develop an advanced multi-robot system for the efficient inspection of nuclear waste-storage tank pits. The project is structured into three phases: Phase 1 involves data collection and interface definition in collaboration with Hanford Site experts and university partners, focusing on tank riser geometry and hardware solutions. Phase 2 includes the selection of sensors and robot components, detailed mechanical design, and prototyping. Phase 3 integrates all components into a cohesive system managed by a master control package which also incorporates digital twin and surrogate models, and culminates in comprehensive testing and validation at a simulated tank pit at the Idaho National Laboratory. Additionally, the system’s communication design ensures coordinated operation through shared data, power, and control signals. For transportation and deployment, an electric vehicle (EV) is chosen to support the system for a full 10 h shift with better regulatory compliance for field deployment. A telescopic arm design is selected for its simple configuration and superior reach capability and controllability. Preliminary testing utilizes an educational robot to demonstrate the feasibility of splitting computational tasks between edge and cloud computers. Successful simultaneous localization and mapping (SLAM) tasks validate our distributed computing approach. More design considerations are also discussed, including radiation hardness assurance, SLAM performance, software transferability, and digital twinning strategies.

Nuclear waste management↗
DOE OSTI2020

Multiresolution GPC-Structured Control of a Single-Loop Cold-Flow Chemical Looping Testbed

Chemical looping is a near-zero emission process for generating power from coal. It is based on a multi-phase gas-solid flow and has extremely challenging nonlinear, multi-scale dynamics with jumps, producing large dynamic model uncertainty, which renders traditional robust control techniques, such as linear parameter varying H ∞ design, largely inapplicable. This process complexity is addressed in the present work through the temporal and the spatiotemporal multiresolution modeling along with the corresponding model-based control laws. Namely, the nonlinear autoregressive with exogenous input model structure, nonlinear in the wavelet basis, but linear in parameters, is used to identify the dominant temporal chemical looping process dynamics. The control inputs and the wavelet model parameters are calculated by optimizing a quadratic cost function using a gradient descent method. The respective identification and tracking error convergence of the proposed self-tuning identification and control schemes, the latter using the unconstrained generalized predictive control structure, is separately ascertained through the Lyapunov stability theorem. The rate constraint on the control signal in the temporal control law is then imposed and the control topology is augmented by an additional control loop with self-tuning deadbeat controller which uses the spatiotemporal wavelet riser dynamics representation. The novelty of this work is three-fold: (1) developing the self-tuning controller design methodology that consists in embedding the real-time tunable temporal highly nonlinear, but linearly parametrizable, multiresolution system representations into the classical rate-constrained generalized predictive quadratic optimal control structure, (2) augmenting the temporal multiresolution loop by a more complex spatiotemporal multiresolution self-tuning deadbeat control loop, and (3) demonstrating the effectiveness of the proposed methodology in producing fast recursive real-time algorithms for controlling highly uncertain nonlinear multiscale processes. The latter is shown through the data from the implemented temporal and augmented spatiotemporal solutions of a difficult chemical looping cold flow tracking control problem.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Co-Processing Catalytic Fast Pyrolysis Oil in an FCC Reactor

Studies of co-processing catalytic fast pyrolysis (CFP) oil with vacuum gas oil (VGO) are conducted in a Davison Circulating Riser (DCR). The CFP oil (CFPO) for this study was produced by upgrading fast-pyrolysis vapors from pine in an ex-situ fixed-bed reactor. CFPOs were co-processed at up to 5 vol% with VGO at 521°C and 2.57 bar. The yields of oil, aqueous phase, tail gas, and coke were measured. The amount of coke was determined from the carbon containing components in the regenerator flue gas. A compositional analysis was conducted with gas chromatography and elemental analyzers. The organic liquids were distilled into gasoline, jet-fuel, diesel, and resid fractions. A biocarbon analysis was conducted on the organic phase and its individual boiling-point fractions. The results show a small decrease in liquid yield and a generally increased gas yield when co-processing CFPO with VGO. For experiments with E-Cat as catalyst, approximately 70% of biocarbon is incorporated into liquid fuels relative to fossil carbon, while more of the biocarbon is contained in tail gas (as carbon dioxide or olefins) and/or coke. The measurements indicate that cracked CFPO components are predominantly included in the jet-fuel and diesel fractions. A techno-economic analysis (TEA) estimated the minimum fuel selling price (MSFP) for fuel-range products derived from FCC co-processing of CFPO at $3 to $4 per gasoline-gallon equivalent (GGE) at a yield of 51 GGE per ton of biomass.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗