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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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All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Quantum effects on dislocation motion from ring-polymer molecular dynamics

Quantum motion of atoms known as zero-point vibration was recently proposed to explain a long-standing discrepancy between theoretically computed and experimentally measured low-temperature plastic strength of iron and possibly other metals with high atomic masses. This finding challenges the traditional notion that quantum motion of atoms is relatively unimportant in solids comprised of heavy atoms. Here we report quantum dynamic simulations of quantum effects on dislocation motion within the exact formalism of Ring-Polymer Molecular Dynamics (RPMD). To extend the reach of quantum atomistic simulations to length and time scales relevant for extended defects in materials, we implemented RPMD in the open-source code LAMMPS thus making the RPMD method widely available to the community. We use our RPMD/LAMMPS approach for direct calculations of dislocation mobility and its effects on the yield strength of α-iron. Our simulation results establish that quantum effects are noticeable at temperatures below 50 K but account for only a modest (≈13% at T = 0 K) overall reduction in the Peierls barrier, at variance with the factor of two reduction predicted earlier based on the more approximate framework of harmonic transition state theory. Our results confirm that zero-point vibrations provide ample additional agitation for atomic motion that increases with decreasing temperature, however its enhancing effect on dislocation mobility is largely offset by an increase in the effective atom size, an effect known as quantum dispersion that has not been accounted for in the previous calculations.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Mixing and dilution controls on marine CO 2 removal using alkalinity enhancement

Marine CO 2 removal (CDR) using enhanced-alkalinity seawater discharge was simulated in the estuarine waters of the Salish Sea, Washington, US. The high-alkalinity seawater would be generated using bipolar membrane electrodialysis technology to remove acid and the alkaline stream returned to the sea. Response of the receiving waters was evaluated using a shoreline resolving hydrodynamic model with biogeochemistry, and carbonate chemistry. Two sites, and two deployment scales, each with enhanced TA of 2997 mmol m -3 and a pH of 9 were simulated. The effects on air-sea CO 2 flux and pH in the near-field as well as over the larger estuary wide domain were assessed. The large-scale deployment (addition of 164 Mmoles TA yr -1 ) in a small embayment (Sequim Bay, 12.5 km 2 ) resulted in removal of 2066 T of CO 2 (45% of total simulated) at rate of 3756 mmol m -2 yr -1 , higher than the 63 mmol m -2 yr -1 required globally to remove 1.0 GT CO 2 yr -1 . It also reduced acidity in the bay, ΔpH ≈ +0.1 pH units, an amount comparable to the historic impacts of anthropogenic acidification in the Salish Sea. The mixing and dilution of added TA with distance from the source results in reduced CDR rates such that comparable amount 2176 T CO 2 yr -1 was removed over >1000 fold larger area of the rest of the model domain. There is the potential for more removal occurring beyond the region modeled. The CDR from reduction of outgassing between October and May accounts for as much as 90% of total CDR simulated. Of the total, only 375 T CO 2 yr -1 (8%) was from the open shelf portion of the model domain. With shallow depths limiting vertical mixing, nearshore estuarine waters may provide a more rapid removal of CO 2 using alkalinity enhancement relative to deeper oceanic sites.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2018

Robotic NDA of Holdup Deposits in Gaseous Diffusion Piping by Gamma Assay of Uranium-235 - 18331

This research exploits in-pipe access to develop robotically deployed, high-cadence, accurate, certain, paperless assay of U-235 in holdup deposits within process piping. Prior radiometric assay from outside the pipes suffered from manual deployment challenges, attenuation of detection through pipe walls, long counting times, approximate modeling, and shortfalls associated with transcription and human interpretation. These downsides limited the speed, quality, and economy of assay resulting in vast cost and budget consequences to D and D. D and D of outdated facilities cuts into these pipes as part of the demolition process, creating the unique, previously unexploited possibility of robotic in-pipe assay. The assay collimates radiation emanating from all but a short segment of pipe wall from reaching a gamma detector. Hence, the detector only views and measures source from a short segment of pipe at a given time. This is achieved by an innovative pair of collimating discs that are coaxial with the pipe and positioned fore and aft of the detector. The detector assembly is translated through pipes by an autonomous mobile robot. Beyond radiometric assay of U-235, the robot images and geometrically models the pipe interior and deposit appearance. The robot is recovered from the same pipe opening from which it is launched, hence it drives the same distance out and back, measuring the same deposits twice. This achieves redundant radiometric and odometric measurements which adds further to statistical significance of the method. (authors)

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

Open-Source and FAIR Research Software for Proteomics

Scientific discovery relies on innovative software as much as experimental methods, especially in proteomics, where computational tools are essential for mass spectrometer setup, data analysis, and interpretation. Since the introduction of SEQUEST, proteomics software has grown into a complex ecosystem of algorithms, predictive models, and workflows, but the field faces challenges, including the increasing complexity of mass spectrometry data, limited reproducibility due to proprietary software, and difficulties integrating with other omics disciplines. Closed-source, platform-specific tools exacerbate these issues by restricting innovation, creating inefficiencies, and imposing hidden costs on the community. Open-source software (OSS), aligned with the FAIR Principles (Findable, Accessible, Interoperable, Reusable), offers a solution by promoting transparency, reproducibility, and community-driven development, which fosters collaboration and continuous improvement. In this manuscript, we explore the role of OSS in computational proteomics, its alignment with FAIR principles, and its potential to address challenges related to licensing, distribution, and standardization. Drawing on lessons from other omics fields, we present a vision for a future where OSS and FAIR principles underpin a transparent, accessible, and innovative proteomics community.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Flux Cube Reconstruction from Slitless Spectroscopy

Slitless spectroscopy enables efficient, large-area surveys without target preselection, yet it faces challenges from source blending, higher noise, and lost spatial–spectral information. We present an advanced, nonparametric, data-driven algorithm that leverages multiple dispersion angles to reconstruct three-dimensional flux distributions, providing low-resolution integral field unit capabilities from slitless data. By treating each pixel as an independent element, our method naturally handles source confusion without requiring prior assumptions regarding redshifts, templates, or model libraries. We validate the algorithm using simulated Roman Space Telescope wide-field slitless spectroscopy images that are equivalent to what is expected from the High-Latitude Time-Domain Survey. First, we demonstrate that a host-galaxy model reconstructed from multiple dispersion angles can be used to accurately subtract host light from a transient, recovering a Type Ia supernova spectrum with minimal bias. Second, we showcase a high-fidelity flux-cube reconstruction of a complex galaxy, successfully measuring the redshift and recovering continuum, emission, and absorption features. This approach highlights the potential of multi-dispersion-angle slitless data to provide spatially resolved spectral information in a nonparametric way, which is traditionally accessible only with integral field spectroscopy, opening a new window into large, unbiased, and spatially resolved studies of galaxy evolution.

Griggio, M. [Space Telescope Science Institute, Ba↗
DOE OSTI2022

Semi-empirical simulation of in-motion radiation detection systems

The Replicative Assessment of Spectroscopic Equipment (RASE) is an open-source software that uses experimental data as the basis to simulate the response of commercial radiation detectors to sources in various situations, particularly in the context of nuclear security and safeguards applications. Dynamic RASE introduces the capability to simulate scenarios where sources and detector are in relative motion. Position-dependent experimentally acquired gamma spectra are ingested by Dynamic RASE to build maps that describe the detector response over all space. These response maps are used to replicate the time-dependent energy spectra collected as sources move on a path near the detector. Here, a Gaussian process is used to build each map, incorporating a novel kernel adapted to the special case of radiation detection. The approach has been validated against experimental data acquired using a NaI-based detector for 137 Cs and 54 Mn sources. The capability to create accurate simulations using either long-dwell static measurements or dynamic pass-by measurements as source data has been demonstrated. Quantitative relative performance, benefits, and shortcomings are discussed.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2021

Relationship between charge transfer state electroluminescence and the degradation of organic photovoltaics

The degradation of archetype organic photovoltaics comprising both vacuum and solution-deposited bulk heterojunction active regions is investigated and quantified using a theory based on detailed balance, which relates the open-circuit voltage to the efficiency of charge transfer state emission. To describe this relationship, we account for the difference between electroluminescent external quantum efficiency and the charge transfer emission efficiency. Here, an empirical factor, m, is introduced to distinguish between nonradiative defect sites both within, m = 1, and outside, m >1, of the photoactive heterojunction. The m-factor is used to determine the primary sources of degradation for archetype solution- and vacuum-processed material systems. We conclude that degradation occurs primarily within the donor–acceptor heterojunction for the vacuum-processed devices (where m = 1.020 ± 0.002) and outside of the photoactive heterojunction for the solution-processed devices studied, both with and without an anode buffer layer (where m = 2.93 ± 0.09 and m = 1.90 ± 0.01, respectively).

14 SOLAR ENERGY↗
DOE OSTI2018

Demeter – A Land Use and Land Cover Change Disaggregation Model

Demeter is an open source Python package that was built to disaggregate projections of future land allocations generated by an integrated assessment model (IAM). Projected land allocation from IAMs is traditionally transferred to Earth System Models (ESMs) in a variety of gridded formats and spatial resolutions as inputs for simulating biophysical and biogeochemical fluxes. Existing tools for performing this translation generally require a number of manual steps which introduces error and is inefficient. Demeter makes this process seamless and repeatable by providing gridded and land cover change (LULCC) products derived directly from an IAM—in this case, the Global Change Assessment Model (GCAM)—in a variety of formats and resolutions commonly used by ESMs. Demeter is publicly available via GitHub and has an extensible output module allowing for future ESM needs to be easily accommodated.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Intercalation-Induced Amorphization Boosts Aqueous Magnesium-Ion Storage

The design of aqueous battery cathode materials that can store divalent ions with high capacity and satisfactory reversibility is of great technical importance and challenge. Here, we report that divalent Mg 2+ storage is facilitated by an intercalation-induced amorphization of vanadate electrode materials. Electrokinetic analyses and in situ synchrotron X-ray diffraction and absorption spectroscopy collectively demonstrate that vanadate layered materials (Li–V 3 O 8 ) undergo a structural transformation to amorphization induced by Mg 2+ intercalation, and a reversible restoration of crystalline structure upon Mg 2+ deintercalation. Debye scattering simulations suggest that intercalation-induced turbostratic disorder, especially random rotations, translational shifts, oscillatory motions, or varied interlayer spacing of adjacent V–O molecular layers, could be responsible for the observed amorphization. The highly distorted local structure, in turn, facilitates Mg 2+ intercalation across the vanadate electrode materials, responsible for nearly 3/7 of the total Mg 2+ ions intercalated. The study presented reveals an intriguing relationship between ion transport and the reversible amorphization-to-crystallization dynamics it induces, opening a paradigm for designing advanced aqueous battery electrodes.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Long-Term Prediction of Radionuclide Emission from Submerged Objects in the Kara Sea

Analysis of the distribution of radionuclides in the water and bottom deposits in the bays of the Kara Sea attests that the radionuclide emission from the sources of radioactive materials dumped into the bays decrease over time. The equations of the transport of radionuclides in submerged objects into the marine environment beyond their limits were constructed on the basis of new results. Evaluations of the consequences of the long-term presence of submerged radiation-hazardous objects at the sea bottom depend on the temporal reduction of the time constant for the emission of radionuclides. The calculations show that taking account of this parameter with the formation of corrosion openings in closed submerged objects the emission of {sup 239}Pu from them into the ambient environment will almost cease after several hundreds of years (700 or more years). Neglecting this factor, the emission of {sup 239}Pu will continue to increase for 6000–12000 years, and the contamination of the bottom deposits by this isotope will be significant.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Direct sensitivity analysis on the parameterization of crystal plasticity models

Various methods for calibrating crystal plasticity finite element (CPFE) models lead to non-unique input parameter values, which subsequently introduce uncertainty in the predicted mechanical response. Sensitivity analysis (SA) conducted on crystal plasticity models is used to identify how variability in these parameters contribute to output uncertainty. Traditional SA on CPFE parameters uses simplified surrogate models to save computational time. However, the accuracy of the surrogate models depends on the quantity of training data used, and any modeling error can propagate into the SA results, potentially affecting their reliability. In this work, the elementary effects test (EET) method, a global SA technique using direct CPFE simulations was employed, and the results obtained were compared with the First Order Second Moment (FOSM) method. ExaConstit, an open-source GPU-enabled CPFE code, was used to perform the simulations and direct SA. The EET method was accurately able to capture the non-linear effects of all the input parameters on the output and is a valuable approach for reliably attributing parameter sensitivities in CPFE models. Based on the results, efficient strategies to perform future parameter calibration and SA are discussed. Additionally, the SA trends observed in different single crystal orientations closely mirrored the activity of the slip systems.

Elementary Effects Test↗
DOE OSTI2021

New particle formation in the remote marine boundary layer

Marine low clouds play an important role in the climate system, and their properties are sensitive to cloud condensation nuclei concentrations. While new particle formation represents a major source of cloud condensation nuclei globally, the prevailing view is that new particle formation rarely occurs in remote marine boundary layer over open oceans. Here we present evidence of the regular and frequent occurrence of new particle formation in the upper part of remote marine boundary layer following cold front passages. The new particle formation is facilitated by a combination of efficient removal of existing particles by precipitation, cold air temperatures, vertical transport of reactive gases from the ocean surface, and high actinic fluxes in a broken cloud field. The newly formed particles subsequently grow and contribute substantially to cloud condensation nuclei in the remote marine boundary layer and thereby impact marine low clouds.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

PPT-GPU: Scalable GPU Performance Modeling

Performance modeling is a challenging problem due to the complexities of hardware architectures. In this paper, we present PPT-GPU, a scalable and accurate simulation framework that enables GPU code developers and architects to predict the performance of applications in a fast, and accurate manner on different GPU architectures. PPT-GPU is part of the open source project, Performance Prediction Toolkit (PPT) developed at the Los Alamos National Laboratory. We extend the old GPU model in PPT that predict the runtimes of computational physics codes to offer better prediction accuracy, for which, we add models for different memory hierarchies found in GPUs and latencies for different instructions. To further show the utility of PPT-GPU, we compare our model against real GPU device(s) and the widely used cycle-accurate simulator, GPGPU-Sim using different workloads from RODINIA and Parboil benchmarks. The results indicate that the predicted performance of PPT-GPU is within a 10% error compared to the real device(s). In addition, PPT-GPU is highly scalable, where it is up to 450x faster than GPGPU-Sim with more accurate results.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

Simulation of Liquid Lithium Divertor Geometry Using SOLPS-ITER

Here, plasma-facing component (PFC) geometries are evaluated for a Fusion Nuclear Science Facility (FNSF) design to find solutions that are compatible with flowing liquid lithium components while satisfying requirements from the perspective of plasma and neutral particle transport. Flowing liquid metal (LM) divertor systems offer important advantages due to continual regeneration of the surface material, but may require modifications from standard optimized tokamak divertor designs. Scrape Off Layer Plasma Simulator for the International Thermonuclear Experimental Reactor (SOLPS-ITER) simulations are used to compare standard vertical target, open, and balanced baffled geometries. It is found that the open geometry offers little control of neutral particles and has narrow operating windows where the divertor fluxes can be lowered to acceptable levels, while maintaining the required upstream density. The addition of neutral baffles allows greater control over the divertor conditions with less impact on the upstream density. The divertor neutral pressure in the baffled geometry is slightly higher than the open divertor, but not as large with a vertical target. A first-pass coupling of the SOLPS solution with sheath and implantation/erosion models to compute the lithium emission shows that the lithium is largely confined to the near-surface region due to the small ionization mean free path and large main ion flow toward the surface. The lithium source was varied by three orders of magnitude. At the highest rate, when the sourced lithium approaches the level of the main ion recycling flux, a high core lithium concentration (~10%) is observed with only moderate power dissipation to affect the divertor plasma.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Hindsight logging for model training

In modern Machine Learning, model training is an iterative, experimental process that can consume enormous computation resources and developer time. To aid in that process, experienced model developers log and visualize program variables during training runs. Exhaustive logging of all variables is infeasible, so developers are left to choose between slowing down training via extensive conservative logging, or letting training run fast via minimalist optimistic logging that may omit key information. As a compromise, optimistic logging can be accompanied by program checkpoints; this allows developers to add log statements post-hoc, and "replay" desired log statements from checkpoint---a process we refer to as hindsight logging. Unfortunately, hindsight logging raises tricky problems in data management and software engineering. Done poorly, hindsight logging can waste resources and generate technical debt embodied in multiple variants of training code. In this paper, we present methodologies for efficient and effective logging practices for model training, with a focus on techniques for hindsight logging. Our goal is for experienced model developers to learn and adopt these practices. To make this easier, we provide an open-source suite of tools for Fast Low-Overhead Recovery (flor) that embodies our design across three tasks: (i) efficient background logging in Python, (ii) adaptive periodic checkpointing, and (iii) an instrumentation library that codifies hindsight logging for efficient and automatic record-replay of model-training. Model developers can use each flor tool separately as they see fit, or they can use flor in hands-free mode, entrusting it to instrument their code end-to-end for efficient record-replay. Our solutions leverage techniques from physiological transaction logs and recovery in database systems. Evaluations on modern ML benchmarks demonstrate that flor can produce fast checkpointing with small user-specifiable overheads (e.g. 7%), and still provide hindsight log replay times orders of magnitude faster than restarting training from scratch.

Computer Science↗
DOE OSTI2016

A PROTOSOLAR NEBULA ORIGIN FOR THE ICES AGGLOMERATED BY COMET 67P/CHURYUMOV–GERASIMENKO

The nature of the icy material accreted by comets during their formation in the outer regions of the protosolar nebula (PSN) is a major open question in planetary science. Some scenarios of comet formation predict that these bodies agglomerated from crystalline ices condensed in the PSN. Concurrently, alternative scenarios suggest that comets accreted amorphous ice originating from the interstellar cloud or from the very distant regions of the PSN. On the basis of existing laboratory and modeling data, we find that the N{sub 2}/CO and Ar/CO ratios measured in the coma of the Jupiter-family comet 67P/Churyumov–Gerasimenko by the Rosetta Orbiter Spectrometer for Ion and Neutral Analysis instrument on board the European Space Agency’s Rosetta spacecraft match those predicted for gases trapped in clathrates. If these measurements are representative of the bulk N{sub 2}/CO and Ar/CO ratios in 67P/Churyumov–Gerasimenko, it implies that the ices accreted by the comet formed in the nebula and do not originate from the interstellar medium, supporting the idea that the building blocks of outer solar system bodies have been formed from clathrates and possibly from pure crystalline ices. Moreover, because 67P/Churyumov–Gerasimenko is impoverished in Ar and N{sub 2}, the volatile enrichments observed in Jupiter’s atmosphere cannot be explained solely via the accretion of building blocks with similar compositions and require an additional delivery source. A potential source may be the accretion of gas from the nebula that has been progressively enriched in heavy elements due to photoevaporation.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

Global Geo-processed Data of Aquifer Properties by 0.5° Grid, Country and Water Basins

This repository of global hydrogeologic datasets contains aquifer properties on 0.5° scale, including depth to groundwater (Fan et al., 2013), aquifer thickness (de Graaf et al., 2015), WHYMap aquifer classes (Richts et al., 2011), porosity and permeability (Gleeson et al., 2014), digitized and geo-processed from their respective sources. Globally gridded aquifer properties could be used independently to estimate global groundwater availability or used as critical inputs to the superwell model to simulate groundwater extraction and provide estimates of pumped volumes and unit costs under user-specific scenarios. Key resources related to this data are: Niazi, H., Ferencz, S., Graham, N., Yoon, J., Wild, T., Hejazi, M., Watson, D., & Vernon, C. (2024; In-prep). Long-term Hydro-economic Assessment Tool for Evaluating Global Groundwater Cost and Supply: Superwell v1. Geoscientific Model Development. superwell model repository which uses this data to simulate groundwater extraction and provides estimates of the global extractable volumes and unit-costs ($/km3) of accessible groundwater production under user-specified extraction scenarios. Repository Overview Main output: aquifer_properties.csv contains all processed outputs, including aquifer properties like porosity, permeability, aquifer thickness, and depth to groundwater. shapefiles.zip: contains all digitized GIS databases and shapefile for all aquifer properties prep_inputs.R: R script that processes the shapefiles to produce the aquifer_properties file plot_inputs.R: R script for plotting the maps and conducting preliminary analysis on the available groundwater volume basin_to_country_mapping.csv, basin_country_region_mapping.csv and continent_county_mapping.csv provide the mapping between continents, 32 energy-economic macro regions, countries, and water basins for post-processing aquifer_properties.csv Maps: Each map visualizes the spatial distribution of one of the aquifer properties across the globe map_in_Porosity.png map_in_Permeability.png map_in_Aquifer_thickness.png map_in_Depth_to_water.png map_in_Grid_area_km.png map_in_WHYClass.png Sample inputs sample_inputs.py: this script samples inputs from the aquifer_properties dataset, ensuring the sampled and original inputs maintain the same distributions sampled_data_100.csv contains 100 sampled data points and sampled_data_100.png compares their distributions Dataset Overview The main outputs are consolidated in a comprehensive aquifer_properties.csv file and include the following fields: GridCellID: Unique identifier for each (roughly 0.5°) grid cell Continent: Continent name Country: Country name GCAM_basin_ID: Identifier for GCAM hydrologic basin Basin_long_name: Full name of the basin WHYClass: Hydrogeologic classification based on WHYMap aquifer classes (Richts et al., 2011) Porosity: Soil porosity (%) (Gleeson et al., 2014) Permeability: Soil permeability (in square meters; Gleeson et al., 2014) Aquifer_thickness: Thickness of the aquifer (in meters; de Graaf et al., 2015) Depth_to_water: Depth to groundwater (in meters; Fan et al., 2013) Grid_area: Area of the grid cell (in square meters) Key References The datasets are digitized versions of global hydrogeologic properties from the following key literature sources: Depth to Groundwater: Fan, Y., Li, H., & Miguez-Macho, G. (2013). Global Patterns of Groundwater Table Depth. Science, 339(6122), 940-943. https://doi.org/10.1126/science.1229881 Aquifer Thickness: de Graaf, I. E. M., Sutanudjaja, E. H., van Beek, L. P. H., & Bierkens, M. F. P. (2015). A high-resolution global-scale groundwater model. Hydrol. Earth Syst. Sci., 19(2), 823-837. https://doi.org/10.5194/hess-19-823-2015 Porosity and Permeability: Gleeson, T., Moosdorf, N., Hartmann, J., & van Beek, L. P. H. (2014). A glimpse beneath earth's surface: GLobal HYdrogeology MaPS (GLHYMPS) of permeability and porosity. Geophysical Research Letters, 41(11), 3891-3898. https://doi.org/10.1002/2014GL059856 Aquifer classes: Richts, A., Struckmeier, W. F., & Zaepke, M. (2011). WHYMAP and the Groundwater Resources Map of the World 1:25,000,000. In J. A. A. Jones (Ed.), Sustaining Groundwater Resources: A Critical Element in the Global Water Crisis (pp. 159-173). Springer Netherlands. https://doi.org/10.1007/978-90-481-3426-7_10 Cite as Niazi, H., Watson, D., Hejazi, M., Yonkofski, C., Ferencz, S., Vernon, C., Graham, N., Wild, T., & Yoon, J. (2024). Global Geo-processed Data of Aquifer Properties by 0.5° Grid, Country and Water Basins. MSD-LIVE Data Repository. https://doi.org/10.57931/2307831 Contact Reach out to Hassan Niazi or open an issue in superwell repository for questions or suggestions.

aquifer thickness↗
DOE OSTI2018

Automated Glovebox Work-cell Design - 18370

Los Alamos National Laboratory (LANL) is the primary plutonium science and manufacturing facility in the United States supporting multiple national security programs. It is responsible for completing a high variety of small-batch manufacturing tasks requiring the handling and precision machining of Special Nuclear Materials (SNM). Given the myriad of tasks that must be completed in a limited workspace, LANL intends to utilize flexible, multi-use robotic work-cells capable of completing a variety of mission critical tasks in a single glovebox with no re-tooling needed between batch jobs. This approach would allow LANL more flexibility in its production schedule and to meet its future production and research objectives. In this paper, we present a system that integrates multiple sensors and other manufacturing peripherals into existing glovebox infrastructure. Currently, a technician can place an object in the work area where vision sensors and supervisory software identify the object and its pose and automatically determine which manufacturing task to complete. Pose uncertainty is addressed in real-time by the task planner, eliminating the need for fixtures. Grasps are validated using pressure sensors, payload sensors, and grasp quality metrics to ensure that objects are not dropped or damaged during manipulation. The robot, sensors, and peripherals are controlled using open-source software built utilizing ROS (Robot Operating System), which minimizes redevelopment and allows for re-use and extensibility. Established capabilities support vision, collision-free path planning, and more, minimizing development time. For this effort, particular attention was given to the integration of general peripheral devices (drill, chuck, etc.), which is critical to efficiently utilizing ROS in manufacturing environments. This integration is achieved with an in-development framework that allows for quick integration of peripherals, including I/O devices and motors. Contact tasks utilize the Generalized Contact Control Framework (GCCF) previously developed at UT Austin. GCCF allows application developers to easily define multiple contact control tasks for a single robot. This paper summarizes the key software components necessary to develop the multi-use work-cell including existing ROS components. UT-developed software for grasp validation, peripheral integration, and contact control is presented in more depth. Finally the glovebox system is demonstrated completing a set of tasks with no fixturing necessary. Primary tasks include surface preparation/ablation, drilling, press-fitting, and sorting, as well as supporting material transfer and inspection tasks. The glovebox work-cell reduces cost, operator dose, ergonomic issues, and time loss due to material transfer between gloveboxes that only support one task. If multiple glovebox work-cells are in use, they have the potential to eliminate bottlenecks and scale production capabilities beyond current limits. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗