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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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79 records · Page 5
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part II - Autonomous Navigation

Nuclear sites across the Unites States and other nations in the world, are prone to extreme radiation effects. To understand the radiation hazards, plan the cleanup efforts; and to meet the quality standards and guidelines, it is important to accurately characterize any nuclear facility. One of the current methods in characterizing facilities is the use of advanced autonomous systems. These are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. Conventional methods of taking radiation measurements by hand within or around the containment areas, and analyzing the collected data to obtain the result are: Ineffective, Puts scientists at risk of Radiation, Not cost-effective. The platform uses the Robotic Operating Systems (ROS) to integrate multiple sensors seamlessly. It can operate near real time by using a distributed processing system to handle large amounts of data: Surrounding cameras, A multi-channel 3D Lidar, Manipulator arm, High-performance gamma-ray spectrometer.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2026

Intern Poster Session 08/13: Autonomous Nuclear Robotics: Applications in nuclear waste inspection and hot cell experiments

The nuclear industry is experiencing renewed interest in autonomous robotics, yet most deployed systems remain teleoperated with limited autonomy. This work presents two contributions toward fully autonomous nuclear robotic systems: autonomous waste inspection at the Hanford Site and an autonomous hot cell laboratory framework. Inspections of Hanford's underground waste storage tanks are performed manually at significant cost and personnel exposure. We developed a reinforcement-learning (RL) training pipeline for a custom-built inspection arm. In parallel, we are designing an autonomous laboratory framework for post-irradiation examination in hot cells at the Specimen Preparation Laboratory (SPL) that integrates computer vision, task and motion planning, hardware execution, and operator-in-the-loop control. These systems demonstrate a path toward safer, more efficient nuclear operations by reducing human exposure while maintaining rigorous human oversight at critical decision points.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2021

Aerosol Direct Radiative Effects at the ARM SGP and TWP Sites: Clear Skies

The clear-sky aerosol direct radiative effect (DRE) was estimated at the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) and Tropical Western Pacific (TWP) sites. The NASA Langley Fu-Liou radiation model was used with observed inputs including aerosol vertical extinction profile from the Raman lidar; spectral aerosol optical depth (AOD), single-scattering albedo and asymmetry factor from Aerosol Robotic Network; temperature and water vapor profiles from radiosondes; and surface shortwave (SW) spectral albedo from radiometers. A radiative closure experiment was conducted for clear-sky conditions. The mean differences of modeled and observed surface downwelling SW total fluxes were 1 W m-2 at SGP and 2 W m -2 at TWP, which are within observational uncertainty. At SGP, the estimated annual mean clear-sky aerosol DRE is -3.00 W m -2 at the top of atmosphere (TOA) and -6.85 W m -2 at the surface. The strongest aerosol DRE of -4.81 (-10.77) W m -2 at the TOA (surface) are in the summer when AODs are largest. The weakest aerosol DRE of -.28 (-2.77) W m -2 at the TOA (surface) are in November–January when AODs and single-scattering albedos are lowest. At TWP, the annual mean clear-sky DRE is -2.82 W m-2 at the TOA and -10.34 W m -2 at the surface. The strongest aerosol DRE of -5.95 (-22.20) W m -2 at the TOA (surface) are in November (October) due to the biomass burning season’s peak. The weakest aerosol DRE of -0.96 (-4.16) W m -2 at the TOA (surface) are in March (April) when AODs are smallest.

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

The Diurnal Variation of the Aerosol Optical Depth at the ARM SGP Site

Abstract This study examines the diurnal variation of the aerosol optical depth (AOD) at 355 nm observed by Raman lidar (RL) at the Atmospheric Radiation Measurement Program Southern Great Plains (SGP) site under both clear and cloudy‐sky conditions. Here only cloudy‐skies when the lidar signal is not fully attenuated are considered. The daytime AOD and its variation from the RL showed an excellent agreement with the Aerosol Robotic Network, demonstrating that the RL‐retrieved AOD is not affected by solar background contamination. The climatological annual‐mean daytime‐mean AOD is only slightly larger than the nighttime‐mean AOD (by 1%–3%). However, day‐to‐day variations are observed such that the daytime‐ and nighttime‐mean AOD difference for a given day can be large (about 95% of days have differences within 0.2). The seasonal AOD diurnal range (i.e., the difference between the maximum and minimum values) relative to the mean was 10%–15% except in the winter when it was 44%. The seasonal‐mean cloudy‐sky AOD diurnal variation is similar to that for clear‐sky, except that the AODs are larger (the annual‐mean cloudy‐sky AOD is larger than the clear‐sky by 24%). The aerosol lidar ratio diurnal variations are also examined, which are 10%–20% for all seasons with a minimum near 9 a.m. to 15 p.m. for all seasons except winter. Also presented is the annual‐mean AOD from the Cloud‐Aerosol Lidar and Infrared Pathfinder Satellite at SGP site: its daytime AOD is about 0.1 smaller than nighttime AOD because of daytime solar background contamination.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

All-sky aerosol direct radiative effects at the ARM SGP site

All-sky aerosol direct radiative effect (DRE) was estimated for the first time at the Atmospheric Radiation Measurement Southern Great Plains site using multi-year ground-based observations. The NASA Langley Fu-Liou radiation model was employed. Observed inputs for the radiation model include aerosol and cloud vertical extinction profile from Raman lidar; spectral aerosol optical depth, single-scattering albedo, and asymmetry factor from Aerosol Robotic Network; cloud water content profiles from radars; temperature and water vapor profiles from radiosondes; and surface shortwave spectral albedo from radiometers. A cloudy-sky radiative closure experiment was performed. The relative mean differences between modeled and observed surface downwelling shortwave total fluxes were 6% (7%) for transparent (opaque) cloudy-skies. The estimated annual mean all-sky aerosol DRE is -2.13±0.54W m -2 at the top of atmosphere (TOA) and -5.95±0.87 W m -2 at the surface, compared to -3.00±0.58 W m -2 AND -6.85±1.00 W m -2 , respectively, under clear-sky conditions. The seasonal cycle of all-sky aerosol DRE is similar to that of the clear-sky, except with secondary influences of the clouds: The cloud radiative effect is strongest (most negative) in the spring, which reduces the all-sky aerosol DRE. The relative uncertainties in all-sky aerosol DRE due to measurement errors are generally comparable to those in clear-sky conditions except for the aerosol single-scattering albedo. Finally, the TOA all-sky aerosol DRE relative uncertainty due to aerosol single-scattering albedo uncertainty is larger than that in clear-sky, leading to a larger total relative uncertainty. The measurement errors in cloud properties have small effects on the all-sky aerosol DRE.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

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

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

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

A Behavioral Robotics Approach to Radiation Mapping Using Adaptive Sampling

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

Adams, Joel↗