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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

Wildfire Mitigation Plans in Power Systems: A Literature Review

Some of the deadliest wildfires in the U.S., such as California’s 2018 wildfires, have been ignited by power systems. In an effort to prevent and minimize the ignition of wildfires, or control them if ignited, energy companies have developed wildfire mitigation plans. This paper provides energy companies and power system operators, engineers, researchers, and suppliers an overview of the state-of-the-art studies that address key topics in these wildfire mitigation plans and compares the wildfire mitigation plans of several energy companies. The key topics include grid design and system hardening, asset management and inspection, situational awareness and forecasting, operational response, vegetation management, public safety power shutoff, and risk-spend efficiency. Here this paper also presents a comparison of several energy companies’ decision-making criteria for initiating a public safety power shutoff. Finally, we discuss opportunities for future research studies that could help energy companies prevent wildfire ignitions.

42 ENGINEERING↗

MRDIS Case Study

The Mobile Radiation Detection and Identification System (MRDIS) is a large mobile scanner that inspects containers in transit from cargo ships for radiological materials. The MRDIS platform operates as a two-part system with one MRDIS using a plastic Polyvinyl Toleune (synthetic polymer) for primary detection and another MRDIS that uses spectroscopic detectors for secondary isotopic identification. MRDIS can operate either independently or as part of a team, depending on the needs of the port. MRDIS is controlled by a human operator, who searches the computer monitor for any traces of radiological materials when the containers pass through the center of the system. Each MRDIS can also feed data into a central system or collect data on its own for additional material analysis. The system integrates radiation detection, radioisotope identification, an optical character recognition system, occupancy/speed sensors, wireless communications, and data processing capabilities to discern what specific radiological materials are of particular interest. In addition, Sandia engineers created a detailed set of requirements for subsequent models, allowing for faster implementation of additional detection systems.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

A Modular Accelerator Robotics Framework for AD Robotics

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khan, M. [Fermilab; Rensselaer Poly.; Unlis↗

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↗

Modular Accelerator Robotics Framework Implementation For Accelerator Inspection

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khana, M. [Unlisted, US, IL] (ORCID:0009000↗

An Overview of Manufacturing Controls for Production of High-Consequence, Single-Use Systems

Extended Testing (Crowder, et al. (2025) ) is a reliability demonstration technique that can be used to dramatically reduce sample size requirements. Manufacturing controls are needed to supplement extended testing by identifying production issues that a reduced sample sizes might overlook, especially built-in, or latent, manufacturing defects. This report focuses on some of the most commonly used, yet most impactful, manufacturing control tools that are used to limit production-related defects and efficiently screen any remaining defects at final inspection. These tools include statistical process control (SPC), acceptance sampling, environmental stress screening (HASS and ESS), and mistake proofing. The goal is to minimize the probability that built-in defects ever reach the customer. In terms of nuclear weapons (NW), the goal is to prevent defective units from ever entering the nation’s NW stockpile. Examples of each of the techniques are illustrated with case studies.

42 ENGINEERING↗

Verifying Deep Reductions in the Nuclear Arsenals: Development and Demonstration of a Motion-detection Subsystem for a “Buddy Tag” Using Non-export Controlled Accelerometers

Future nuclear arms-control agreements may place numerical limits on items that are difficult to monitor with national technical means, even when complemented with onsite inspections. Such items could include small objects and mobile assets, such as non-deployed nuclear warheads and mobile missile launchers. Typically, this verification task can be addressed with unique identifiers, but standard tagging techniques may be unacceptable in this case due to host concerns about safety and intrusiveness. First proposed in the late 1980s and partially developed by Sandia National Laboratories in the early 1990s, the “Proximity Tag” or “Buddy Tag” concept seeks to overcome these concerns by separating the tag from the treaty accountable item itself. A buddy tag has two key elements: a tamper-indicating enclosure and a motion-detection system designed to detect illicit movements in a stand-down period. As part of this project, we have built a buddy-tag prototype for demonstration and evaluation purposes. This paper reviews the design choices and functionalities of the tag’s motion-detection subsystem.We pursue a modular approach for the tag’s hardware, built around an Arduino-class microcontroller and a non-export-controlled low-noise accelerometer, and use open-source algorithms for the motion-detection software. Finally, we discuss the results of an extensive experimental campaign involving both indoor and outdoor measurements assessing the performance of the tag under real-world environmental conditions.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Nuclear Safety [Vol. 35, No. 1, January-June 1994]

Nuclear Safety is a review journal that covers significant developments in the field of nuclear safety. Its scope includes the analysis and control of hazards associated with nuclear energy, operations involving fissionable materials, and the products of nuclear fission and their effects on the environment. Primary emphasis is on safety in reactor design, construction, and operation; however, the safety aspects of the entire fuel cycle, including fuel fabrication, spent-fuel processing, nuclear waste disposal, handling of radioisotopes, and environmental effects of these operations, are also treated. Table of Contents for this issue follows. GENERAL SAFETY CONSIDERATIONS: THE CHERNOBYL ACCIDENT: 1 Chernobyl Accident Management Actions, A. R Sich 25 The IAEA-ASSET Approach to Avoiding Accidents is to Recognize the Precursors to Prevent Incidents, F. Reisch; ACCIDENT ANALYSIS: 36 A Review of the Available Information on the Triggering Stage of a Steam Explosion, D. F. Fletcher; 58 Analysis and Modeling of Flow-Blockage-Induced Steam Explosion Events in the High-Flux Isotope Reactor, R. P. Taleyarkhan, V. Georgevich, C. W. Nestor, U. Gat, B. L. Lepard, D. H. Cook, J. Freels, S. J. Chang, C. Luttrell, R. C. Gwaltney, and J. Kirkpatrick; 74 An Analysis of Disassembling the Radial Reflector of a Thermionic Space Nuclear Reactor Power System, M. S. El-Genk and D. V. Paramonov; CONTROL AND INSTRUMENTATION: 86 Standards for High-Integrity Software, D. R. Wallace, D. R. Kuhn, L M. Ippolito, and L. Beltracchi; DESIGN FEATURES: 98 Adoption of New Design Features for the Next Generation Nuclear Power Reactors, L. S. Tong; 114 Review of Nuclear Piping Seismic Design Requirements, G. C. Slagis and S. E. Moore; ENVIRONMENTAL EFFECTS: 128 PC-Based Probabilistic Safety Assessment Study for a Geological Waste Repository Placed in a Bedded Salt Formation, S. A. Khan; OPERATING EXPERIENCES: 142 Managing Aging in Nuclear Power Plants: Insights from NRC’s Maintenance Team Inspection Reports, A. Fresco and M. Subudhi; 150 Reactor Shutdown Experience, Compiled by J. W. Cletcher; 153 Selected Safety-Related Events, Compiled by G. A. Murphy; RECENT DEVELOPMENTS: 158 Reports, Standards, and Safety Guides, D. S. Queener; 168 Proposed Rule Changes as of Dec. 31, 1993; ANNOUNCEMENTS: 177 Symposium on Radioactive and Mixed Waste—Risk as a Basis for Waste Classification; 177 1995 Incineration Conference 178 Ninth Power Plant Dynamics Control and Testing Symposium; 174 The Authors

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Nuclear Safety [Vol. 35, No. 1, January-June 1994]

Nuclear Safety is a review journal that covers significant developments in the field of nuclear safety. Its scope includes the analysis and control of hazards associated with nuclear energy, operations involving fissionable materials, and the products of nuclear fission and their effects on the environment. Primary emphasis is on safety in reactor design, construction, and operation; however, the safety aspects of the entire fuel cycle, including fuel fabrication, spent-fuel processing, nuclear waste disposal, handling of radioisotopes, and environmental effects of these operations, are also treated. Table of Contents for this issue follows. THE CHERNOBYL ACCIDENT: 1 Chernobyl Accident Management Actions, A. R Sich; GENERAL SAFETY CONSIDERATIONS: 25 The IAEA-ASSET Approach to Avoiding Accidents is to Recognize the Precursors to Prevent Incidents, F. Reisch; ACCIDENT ANALYSIS: 36 A Review of the Available Information on the Triggering Stage of a Steam Explosion, D. F. Fletcher; 58 Analysis and Modeling of Flow-Blockage-Induced Steam Explosion Events in the High-Flux Isotope Reactor, R. P. Taleyarkhan, V. Georgevich, C. W. Nestor, U. Gat, B. L. Lepard, D. H. Cook, J. Freels, S. J. Chang, C. Luttrell, R. C. Gwaltney, and J. Kirkpatrick; 74 An Analysis of Disassembling the Radial Reflector of a Thermionic Space Nuclear Reactor Power System, M. S. El-Genk and D. V. Paramonov; CONTROL AND INSTRUMENTATION: 86 Standards for High-Integrity Software, D. R. Wallace, D. R. Kuhn, L M. Ippolito, and L. Beltracchi; DESIGN FEATURES: 98 Adoption of New Design Features for the Next Generation Nuclear Power Reactors, L. S. Tong; 114 Review of Nuclear Piping Seismic Design Requirements, G. C. Slagis and S. E. Moore; ENVIRONMENTAL EFFECTS: 128 PC-Based Probabilistic Safety Assessment Study for a Geological Waste Repository Placed in a Bedded Salt Formation, S. A. Khan; OPERATING EXPERIENCES: 142 Managing Aging in Nuclear Power Plants: Insights from NRC’s Maintenance Team Inspection Reports, A. Fresco and M. Subudhi; 150 Reactor Shutdown Experience, Compiled by J. W. Cletcher; 153 Selected Safety-Related Events, Compiled by G. A. Murphy; RECENT DEVELOPMENTS: 158 Reports, Standards, and Safety Guides, D. S. Queener; 168 Proposed Rule Changes as of Dec. 31, 1993; ANNOUNCEMENTS: 177 Symposium on Radioactive and Mixed Waste—Risk as a Basis for Waste Classification; 177 1995 Incineration Conference 178 Ninth Power Plant Dynamics Control and Testing Symposium; 174 The Authors

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Characterization of nonlinear ultrasonic waves behavior while interacting with poor interlayer bonds in large-scale additive manufactured materials

Over the past decades, researchers have developed several nonlinear ultrasonic techniques for quality control of materials commonly used in different applications. Owing to the superior sensitivity of nonlinear ultrasound waves to small defects such as micro-cracks, their applicability in different nondestructive testing (NDT) problems has been investigated in numerous studies. These studies utilize frequency domain analysis to detect the generation of higher harmonics because of the formation of defects in the inspected medium. Frequency domain analysis based on the Fourier transform is a significant approach used in linear systems; however, it may not perform adequately on nonlinear systems. Hence, studies on nonlinear dynamics and physics consider analyzing systems' behavior in the phase-space domain. In contrast to the frequency domain analysis, which can result in information loss, analysis in the phase-space domain retains all the information regarding a system's states. Here, we investigate the nonlinearities induced by poor interlayer bonding in polymer-based additive manufactured parts in the phase-space domain. It is convenient to characterize the nonlinearity in the phase-space domain because it provides a geometrical representation of a system's states. Two types of low quality interlayer bond are considered. The first type is simulated artificially while the second type is manufactured by reducing the bond quality during the printing process. The analysis verified that the received ultrasonic signals exhibit classical nonlinear behavior in the phase-space domain while interacting with simulated poor interlayer bonds. In addition, the results showed that the behavior of ultrasonic waves is amplitude-dependent and evolves into models that have not been previously reported. Furthermore, Largest Lyapunov Exponent (LLE) is used to quantify the behavior of nonlinear ultrasonic waves while interacting with poor interlayer bonds. Using LLE, it was observed that the divergence rate of the phase-space trajectories depends on the amplitude of the excitation. This observation quantitatively proves that nonlinear behavior of ultrasound while interacting with poor interlayer bonds can be amplitude-dependent. The results of both simulated and inherent poor interlayer bond cases showed that LLE can be used as a reliable quantitative damage-sensitive feature to detect and potentially characterize weak bonds, which are difficult to detect using conventional approaches. Additionally, the reported results in the phase-space domain provide a basis for proposing a new mathematical model for ultrasonic waves interacting with poor interlayer bonds.

36 MATERIALS SCIENCE↗

Spread spectrum time domain reflectometry (SSTDR) and frequency domain reflectometry (FDR) cable inspection using machine learning

Cables are initially qualified for nuclear power plant use for 40 years. As plants extend their operating license to 60 and 80 years, justification for continued cable use must shift to a condition-based approach since it is cost prohibitive to completely replace cables that are likely still capable of performing their design function. The Pacific Northwest National Laboratory (PNNL) Accelerated and Real Time Experimental Nodal Analysis (ARENA) cable motor test bed was used to test the response of a commercial spread spectrum time domain reflectometry (SSTDR) system, a laboratory instrument software-controlled SSTDR, and a vector network analyzer-based frequency domain reflectometry (FDR) system to various cable anomalies. The three instrument systems were able to interrogate cables over a range of frequency bandwidths that can be helpful for human data analysis. Data were subjected to supervised and unsupervised machine learning (ML) analyses to distinguish normal undamaged cable responses from anomalous cable responses. Both supervised and unsupervised ML approaches produced encouraging results with an undamaged/anomalous prediction accuracy from 0.69% to 0.87%. Recommendations for further development and field implementation include increased and more balanced sample sets particularly including more training data.

SSTDR, FDR, Reflectometry, Machine Learning, ARENA↗

A functional modeling approach for quality assurance in metal additive manufacturing

Purpose: Due to the complexity of and variations in additive manufacturing (AM) processes, there is a level of uncertainty that creates critical issues in quality assurance (QA), which must be addressed by time-consuming and cost-intensive tasks. This deteriorates the process repeatability, reliability and part reproducibility. So far, many AM efforts have been performed in an isolated and scattered way over several decades. Here, a systematically integrated holistic view is proposed to achieve QA for AM. Design/methodology/approach: A systematically integrated view is presented to ensure the predefined part properties before/during/after the AM process. It consists of four stages, namely, QA plan, prospective validation, concurrent validation and retrospective validation. As a foundation for QA planning, a functional workflow and the required information flows are proposed by using functional design models: Icam DEFinition for Function Modeling. Findings: The functional design model of the QA plan provides the systematically integrated view that can be the basis for inspection of AM processes for the repeatability and qualification of AM parts for reproducibility. Research limitations/implications: A powder bed fusion process was used to validate the feasibility of this QA plan. Feasibility was demonstrated under many assumptions; real validation is not included in this study. Social implications: This study provides an innovative and transformative methodology that can lead to greater productivity and improved quality of AM parts across industries. Furthermore, the QA guidelines and functional design models provide the foundation for the development of a QA architecture and management system. Originality/value: This systematically integrated view and the corresponding QA plan can pose fundamental questions to the AM community and initiate new research efforts in the in-situ digital inspection of AM processes and parts.

36 MATERIALS SCIENCE↗

A PROVEN APPROACH FOR EFFECTIVE COMPUTER SECURITY SELF-ASSESSMENTS AT NUCLEAR FACILITIES

A proven method for conducting cybersecurity self-assessments at nuclear power plants is now available for international use. This method was originally developed by Pacific Northwest National Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission (NRC), for use at U.S. nuclear power plants. The “Method,” described in NUREG/CR-6847 “Cyber Security Self-Assessment Method for U.S. Nuclear Power Plants,” was originally a limited release document that was withheld from public disclosure but is now publicly available. The Method provides a systematic, phased, and risk-informed approach to help decision makers and security specialists understand their relative cybersecurity posture. Completed Method assessments may be used to support or validate selection of computer security controls to mitigate cyber threats as well as demonstrate compliance with regulations or statutes enacted by competent authorities. The Method assesses the cybersecurity posture of key systems at a nuclear facility with a focus on protection of design base functions. It considers both physical and digital elements of system vulnerabilities and the resulting potential consequences from exploitation. It is well-suited for addressing blended cyberattacks. A semi-quantitative analytical approach is used in the evaluation of potential vulnerabilities, consequences, and risks and provides a technical basis for the selection of security controls to mitigate cyberattacks. The Method’s application at U.S. nuclear power plants has been very encouraging. The only nuclear plant in the United States that did not have adverse findings during its initial NRC computer security inspection prepared for inspection through the diligent application of this self-assessment method and the implementation of recommendations that came out of that self-assessment. Nuclear facilities around the world might find application of the Method extremely helpful for making cost-effective, risk-based decisions regarding computer security and for preparing to pass computer security inspections by their competent authorities.

Cyber security, Nuclear security, Self-assessment↗

Cybersecurity for the Operational Technology Environment (CyOTE) (Final Technical Report)

Electric grids have historically been susceptible to both physical attacks and environmental hazards but the implementation of smart grids, remote management, and self-healing networks, has now made the grid vulnerable to cyber attacks. To address risks introduced by routable connectivity, utilities must establish dynamic solutions to identify, protect, detect, respond to, and recover from cyber security threats and vulnerabilities. In response to the evolving threat landscape U.S. Department of Energy-Office of Cybersecurity, Energy Security, and Emergency Response (DOE CESER) initiated the Cybersecurity for the OT Environment (CyOTE) pilot program, a U.S. Department of Energy (DOE) effort designed to leverage U.S. intelligence capabilities to prevent, detect, or mitigate a cyber attack on utility operational technology (OT) networks. As part of the CyOTE pilot, The Southern Company (Southern Company or Southern) researched, evaluated and deployed emerging Commercial off the Shelf (COTS) technologies and cyber security monitoring architectures to provide previously unrealized network visibility and situational awareness through deep packet inspection and data analytics. This Final Scientific/Technical Report documents the objectives, methodology, lessons learned, and results of Southern Company’s participation in the CyOTE pilot from December 2018 to September 2023.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Ventilation: Fume Hoods Self-Study Course # 48002

This course presents an overview of the requirements and safe work practices for the use of engineered ventilation controls (EVCs) at Los Alamos National Laboratory (LANL). EVCs addressed in this manual include fume hoods, local exhaust ventilation (LEV) systems other than fume hoods, portable and in-place high-efficiency particulate air (HEPA) filtration systems. Requirements from LANL Procedure P101-16, Industrial Ventilation (non-HVACR) that address EVC certification and use, along with responsibilities of workers who use EVCs and the responsible line managers (RLMs) of such workers, are also presented. Per 101-16, 6.1, workers who use, maintain, or certify (i.e., inspect and test) fume hoods, or Persons in Charge (PICs) who oversee others in those tasks, must complete this course.

42 ENGINEERING↗

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↗

E-Tunnel wastewater discharge permit quarterly monitoring report. Water pollution control permit Nev 96021, third quarter 2020

Monitoring and sampling activities are performed at the E-Tunnel Wastewater Disposal System (ETDS ) in accordance with the requirements of Water Pollution Control (WPC) Permit NEV 96021, Revision 1, which is effective October 1, 2013. Although the end date of the WPC permit is September 30, 2018, the Nevada Division of Environmental Protection (NDEP), in a letter dated September 21, 2018, provided guidance that indicated the WPC Permit NEV 96021, Revision 1, is in effect until NDEP notifies the U.S. Department of Energy, National Nuclear Security Administration Nevada Field Office otherwise. This QMR includes the results of monthly inspections and monitoring for July, August, and September 2020. Monthly inspections and monitoring were conducted on July 21, August 19, and September 16, 2020. Inspections include a visual assessment of the berms, ponding, water levels relative to the overflow pipes, tunneling or burrowing into the berms, soil conditions on and around the berms, erosion or sloughing of the slopes of the berms, seeps at the toe of the berms, deep-rooting botanicals on the berms, and fencing. Monthly monitoring includes measurement s of the instantaneous flow rate, hydrogen ion activity (pH), and specific conductance of the ETDS discharge. The report will be submitted to the State of Nevada.

54 ENVIRONMENTAL SCIENCES↗

E-Tunnel Wastewater Discharge Permit Quarterly Monitoring Report

Monitoring and sampling activities are performed at the E-Tunnel Wastewater Disposal System (ETDS) in accordance with the requirements of Water Pollution Control (WPC) Permit NEV 96021, Revision 1, which is effective October 1, 2013. Although the end date of the WPC permit is September 21, 2018, provided Nevada Division of Environmental Protection (NDEP), in a letter date September 21, 2018, provided guidance that indicated the WPC Permit NEV 96021, Revision 1, is in effect until NDEP notifies the U.S. Department of Energy, National Nuclear Security Administration Nevada Field Office otherwise. This QMR includes the results of monthly inspections and monitoring for April, May, and June 2020. Monthly inspections and monitoring were conducted on April 21, May 28, and June 24 2020. Inspections include a visual assessment of the berms, ponding, water levels relative to the overflow pipes, tunneling or burrowing into the berms, seeps at the toe of the berms, deep-rooting botanicals on the berms, and fencing. Monthly monitoring includes measurements of the instantaneous flow rate, hydrogen ion activity (pH), and specific conductance of the ETDS discharge.

99 GENERAL AND MISCELLANEOUS↗