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DOE OSTI2021

Open Radiation Monitoring: Conceptual System Design

The Open Radiation Monitoring (ORM) Project seeks to develop and demonstrate a modular radiation detection architecture designed specifically for use in arms control treaty verification (ACTV) applications that will facilitate rapid development of trusted systems to meet the needs of potential future treaties. Development of trusted systems to support potential future treaties is a complex and costly endeavor that typically results in a purpose-built system designed to perform one specific task. The majority of prior trusted system development efforts have relied on the use of commercial embedded computers or microprocessors to control the system and process the acquired data. These processors are complex, making authentication and certification of measurement systems and collected data challenging and time consuming. We believe that a modular architecture can be used to reduce more complex systems to a series of single-purpose building blocks that could be used to implement a variety of detection modalities with shared functionalities. With proper design, the functionality of individual modules can be confirmed through simple input/output testing, thereby facilitating equipment inspection and in turn building trust in the equipment by all treaty parties. Furthermore, a modular architecture can be used to control data flow within the measurement system, reducing the risk of "hidden switches" and constraining the amount of sensitive information that could potentially be inadvertently leaked. This report documents a conceptual modular system architecture that is designed to facilitate inspection in an effort to reduce overall authentication and certification burden. As of publication, this architecture remains in a conceptual phase and additional funding is required to prove out the utility of a modular architecture and test the assumptions used to rationalize the design.

61 RADIATION PROTECTION AND DOSIMETRY↗

NASA NTRS1993

Mass storage at NSA

The need to manage large amounts of data on robotically controlled devices has been critical to the mission of this Agency for many years. In many respects this Agency has helped pioneer, with their industry counterparts, the development of a number of products long before these systems became commercially available. Numerous attempts have been made to field both robotically controlled tape and optical disk technology and systems to satisfy our tertiary storage needs. Custom developed products were architected, designed, and developed without vendor partners over the past two decades to field workable systems to handle our ever increasing storage requirements. Many of the attendees of this symposium are familiar with some of the older products, such as: the Braegen Automated Tape Libraries (ATL's), the IBM 3850, the Ampex TeraStore, just to name a few. In addition, we embarked on an in-house development of a shared disk input/output support processor to manage our every increasing tape storage needs. For all intents and purposes, this system was a file server by current definitions which used CDC Cyber computers as the control processors. It served us well and was just recently removed from production usage.

Shields, Michael F.↗

NASA NTRS2012

Autonomous Information Unit for Fine-Grain Data Access Control and Information Protection in a Net-Centric System

As communication and networking technologies advance, networks will become highly complex and heterogeneous, interconnecting different network domains. There is a need to provide user authentication and data protection in order to further facilitate critical mission operations, especially in the tactical and mission-critical net-centric networking environment. The Autonomous Information Unit (AIU) technology was designed to provide the fine-grain data access and user control in a net-centric system-testing environment to meet these objectives. The AIU is a fundamental capability designed to enable fine-grain data access and user control in the cross-domain networking environments, where an AIU is composed of the mission data, metadata, and policy. An AIU provides a mechanism to establish trust among deployed AIUs based on recombining shared secrets, authentication and verify users with a username, X.509 certificate, enclave information, and classification level. AIU achieves data protection through (1) splitting data into multiple information pieces using the Shamir's secret sharing algorithm, (2) encrypting each individual information piece using military-grade AES-256 encryption, and (3) randomizing the position of the encrypted data based on the unbiased and memory efficient in-place Fisher-Yates shuffle method. Therefore, it becomes virtually impossible for attackers to compromise data since attackers need to obtain all distributed information as well as the encryption key and the random seeds to properly arrange the data. In addition, since policy can be associated with data in the AIU, different user access and data control strategies can be included. The AIU technology can greatly enhance information assurance and security management in the bandwidth-limited and ad hoc net-centric environments. In addition, AIU technology can be applicable to general complex network domains and applications where distributed user authentication and data protection are necessary. AIU achieves fine-grain data access and user control, reducing the security risk significantly, simplifying the complexity of various security operations, and providing the high information assurance across different network domains.

Chow, Edward T.↗

DOE OSTI2024

Experiences and Lessons from Field Demonstration of Grid-forming Inverter in An AC Microgrid

The validation of GFM control strategies through simulation and hardware demonstration is important before their large-scale deployments in the real grid. Considering the importance of testing and validation, several works have explored the GFM inverter’s capability to blackstart a microgrid, synchronize and share loads, and interact with various types of generation sources and loads present in the grid. Herein, this paper complements the existing works by presenting the results and analysis of a field demonstration in an actual AC microgrid. The capability of a three-level neutral point clamped (NPC) GFM inverter equipped with a recursive feedback type of non-linear device level control to operate with PV source on its DC input and off-the-shelf PVGFL inverters and EV chargers of different kinds on the AC side is explored. The analysis and conclusions drawn would inform the readers to make better decisions during the field demonstration process.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2023

CO Oxidation on Ir 1 /TiO 2 : Resolving Ligand Dynamics and Elementary Reaction Steps

Identifying the rate-controlling steps and the evolution of the ligand environment throughout the catalytic cycle on supported single-atom catalysts is crucial to bridge the gap between heterogeneous and homogeneous catalysis. Here we identified the rate-controlling elementary steps for CO oxidation on TiO 2 -supported Ir single atoms and isolated the corresponding intermediate Ir complexes. Kinetic measurements, operando spectroscopy, and quantum-chemical calculations indicate that the reaction mechanism has two kinetically relevant steps, CO adsorption/oxidation and O 2 dissociation. By varying the reaction conditions, three Ir 1 complexes (states) along the reaction cycle were isolated and identified using in situ spectroscopy. Furthermore, we show that all the intermediate Ir 1 states share a common CO ligand that does not turn over. Finally, this study provides atomic level details on the active, intermediate complexes and reaction cycle of supported single-metal-atom catalysts, thereby offering future possibilities to control the ligand environment and reactivity.

36 MATERIALS SCIENCE↗

DOE OSTI2017

Synthesis, structure, and optoelectronic properties of II-IV-V 2 materials

II-IV-V 2 materials offer the promise of enhanced functionality in optoelectronic devices due to their rich ternary chemistry. In this review, we consider the potential for new optoelectronic devices based on nitride, phosphide, and arsenide II-IV-V 2 materials. As ternary analogs to the III-V materials, these compounds share many of the attractive features that have made the III-Vs the basis of modern optoelectronic devices (e.g. high mobility, strong optical absorption). Control of cation order parameter in the II-IV-V 2 materials can produce significant changes in optoelectronic properties at fixed chemical composition, including decoupling band gap from lattice parameter. Recent progress has begun to resolve outstanding questions concerning the structure, dopability, and optical properties of the II-IV-V 2 materials. Furthermore, remaining research challenges include growth optimization and integration into heterostructures and devices.

36 MATERIALS SCIENCE↗

DOE OSTI2017

Final Assembly and Factory Testing of the Jefferson Lab SHMS Spectrometer Quadrupole and Dipole Superconducting Magnets

Jefferson Lab is constructing an 11 Gev/c electron spectrometer called the Super High Momentum Spectrometer (SHMS) as part of the 12 GeV JLAB upgrade for experimental Hall C. Three of the five superconducting(SC) SHMS magnets are under construction at SigmaPhi in Vannes France as a result of an international competition for design and fabrication. The three magnets Q2 and Q3 60 cm bore quadrupoles and the 60 cm warm bore dipole are complete or near complete and have many design features in common. All three magnets share a common superconductor, collaring system, cryostat design, cold to warm support, cryogenic interface, burnout resistant current leads, DC power supply, quench protection, instrumentation and controls. The three magnets are collared, installed in cryostats and welded up and in various stages of final testing. The Q2 quadrupole is due to ship from France to America in August arriving during this ASC conference and has passed all final hipot, leak and pressure tests. The dipole is in leak and pressure testing as of July 2016 while the Q3 quadrupole requires some outer vacuum vessel assembly. Delivery of the Q3 and Dipole magnets will follow the Q2 at about 1 month intervals. Lastly, factory testing have included hipot and electrical tests, magnetic tests at low field, mechanical alignments to center the coils, leak tests and ASME Code required pressure tests. Upon installation in Hall C at JLAB cold testing will commence.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

DOE OSTI2015

Idaho National Laboratory’s FY14 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during Fiscal Year (FY) 2014 by Idaho National Laboratory (INL), a Department of Energy (DOE) sponsored entity, located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 13514 requires that federal agencies and institutions document reductions in GHG emissions. INL’s GHG inventory was calculated according to methodologies identified in federal GHG guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occur outside INL’s organizational boundaries, but are a consequence of INL’s activities). This inventory found that INL generated 73,521 metric tons (MT) of CO2 equivalent (CO2e ) emissions during FY14. The following conclusions were made from looking at the results of the individual contributors to INL’s FY14 GHG inventory: • Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO2e emissions • Other sources with high emissions were stationary combustion (facility fuels), employee commuting, mobile combustion (fleet fuels), business air travel, and waste disposal (including fugitive emissions from the onsite landfill and contracted disposal) • Sources with low emissions were wastewater treatment (onsite and contracted), business ground travel (in personal and rental vehicles), and fugitive emissions from refrigerants. This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance (BEA) and those managed by other contractors, it includes only the large proportion of Laboratory activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

New Materials for Electric Drive Vehicles - Final CRADA Report

This project was sponsored by the US DOE Global Initiatives for Proliferation Prevention. The object was for Ukrainian and US partners, including Argonne, AETC, and Dontech to develop special carbon materials and factory production equipment with the goal of making better car batteries to achieve DOE's goals for all-electric and plug-in hybrid electric vehicles. Carbon materials are used in designs for lithium-ion batteries and metal-air batteries, both leading contenders for future electric cars. Specifically, the collaborators planned to use the equipment derived from this project to develop a rechargeable battery system that will use the carbon materials produced by the innovative factory process equipment. The final outcome of the project was that the Ukrainian participants consisting of the Kharkov Institute of Physics and Technology (KIPT), the Institute of Gas of National Academy of Sciences of Ukraine and the Materials Research Center, Ltd. designed, built, tested and delivered 14 pieces of processing equipment for pilot scale carbon production lines at the AETC, Arlington Heights facilities. The pilot scale equipment will be used to process materials such as activated carbon, thermally expanded graphite and carbon coated nano-particles. The equipment was shipped from Ukraine to the United States and received by AETC on December 3, 2013. The equipment is on loan from Argonne, control # 6140. Plug-in hybrid electric vehicles (PHEV) and all-electric vehicles have already demostrated success in the U.S. as they begin to share the market with older hybrid electric designs. When the project was conceived, PHEV battery systems provided a ~40 mile driving range (2011 figures). DOE R&D targets increased this to >100 miles at reduced cost less than $250/kWh (2011 figures.) A 2016 Tesla model S has boasted 270 miles. The project object was to develop pilot-production line equipment for advanced hybrid battery system that achieves cycle life of 1000, an energy density of 280 Wh/kg and specific density of 600Wh/l. This project delivers factory equipment to produce these advanced battery materials.

36 MATERIALS SCIENCE↗

DOE OSTI2017

Idaho National Laboratory’s FY 2016 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during Fiscal Year (FY) 2016 by Idaho National Laboratory (INL), a Department of Energy (DOE) sponsored entity, located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 13693 requires that federal agencies and institutions document reductions in GHG emissions. INL’s GHG inventory was calculated according to methodologies identified in federal GHG guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occur outside INL’s organizational boundaries, but are a consequence of INL’s activities). This inventory found that INL generated 85,525 metric tons (MT) of CO 2 equivalent (CO 2 e ) emissions during FY 2016. The following conclusions were made from looking at the results of the individual contributors to INL’s FY 2016 GHG inventory: Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO 2 e emissions; Other sources with high emissions were employee commuting, mobile combustion (fleet fuels), stationary combustion (facility fuels), business air travel, and waste disposal (fugitive emissions from the onsite landfill); Sources with low emissions were wastewater treatment (onsite and contracted), business ground travel (in personal and rental vehicles), waste disposal (contracted disposal), and fugitive emissions from refrigerants. This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance (BEA) and those managed by other contractors, it includes only the Laboratory activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

Idaho National Laboratory's FY15 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during Fiscal Year (FY) 2015 by Idaho National Laboratory (INL), a Department of Energy (DOE) sponsored entity, located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 13693 requires that federal agencies and institutions document reductions in GHG emissions. INL’s GHG inventory was calculated according to methodologies identified in federal GHG guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occur outside INL’s organizational boundaries, but are a consequence of INL’s activities). This inventory found that INL generated 58,330 metric tons (MT) of CO 2 equivalent (CO 2 e ) emissions during FY15. The following conclusions were made from looking at the results of the individual contributors to INL’s FY15 GHG inventory: • Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO 2 e emissions • Other sources with high emissions were employee commuting, mobile combustion (fleet fuels), stationary combustion (facility fuels), business air travel, and waste disposal (including fugitive emissions from the onsite landfill and contracted disposal) • Sources with low emissions were wastewater treatment (onsite and contracted), business ground travel (in personal and rental vehicles), and fugitive emissions from refrigerants. This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance (BEA) and those managed by other contractors, it includes only the Laboratory activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

99 GENERAL AND MISCELLANEOUS↗

DOE OSTI2023

Idaho National Laboratory’s FY 2021 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during Fiscal Year (FY) 2021 by Idaho National Laboratory (INL)—a Department of Energy (DOE) sponsored entity located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 13834 requires that federal agencies and institutions track and report GHG emissions where required. INL’s GHG inventory was calculated according to methodologies identified in federal GHG guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occurring outside INL’s organizational boundaries but are a consequence of INL’s activities). This inventory found that INL generated 81,185.05 metric tons (MT) of CO 2 equivalent (CO 2 e) emissions during FY 2021. The following conclusions were made from looking at the results of the individual contributors to INL’s FY 2021 GHG inventory: Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO 2 e emissions; Other sources with high emissions were mobile combustion (fleet fuels), employee commuting, stationary combustion (facility fuels), and waste disposal (fugitive emissions from the onsite landfill); Sources with low emissions were waste disposal (contracted disposal), fugitive emissions from refrigerants, wastewater treatment (onsite and contracted), and business ground travel (in personal and rental vehicles). This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance, LLC (BEA) and those managed by other contractors, it includes only INL’s activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2023

Idaho National Laboratory’s FY 22 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during fiscal year (FY) 2022 by Idaho National Laboratory (INL)—a Department of Energy (DOE) sponsored entity located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 14057 requires that federal agencies and institutions track and report GHG emissions where required. INL’s GHG inventory was calculated according to methodologies identified in federal GHG guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occurring outside INL’s organizational boundaries, but are a consequence of INL’s activities). This inventory found that INL generated 75,572.42 metric tons (MT) of CO2 equivalent (CO2e) emissions during FY 2022. The following conclusions were made from looking at the results of the individual contributors to INL’s FY 2022 GHG inventory: • Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO2e emissions. • Other sources with high emissions were mobile combustion (fleet fuels), employee commuting, stationary combustion (facility fuels), and waste disposal (fugitive emissions from the onsite landfill). • Sources with low emissions were waste disposal (contracted disposal), fugitive emissions from refrigerants, wastewater treatment (onsite and contracted), and business ground travel (in personal and rental vehicles). This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance, LLC (BEA) and those managed by other contractors, it includes only INL’s activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2023

Idaho National Laboratory’s FY 2020 Greenhouse Gas Report

A greenhouse gas (GHG) inventory is a systematic approach to account for the production and release of certain gases generated by an institution from various emission sources. The gases of interest are those that climate science has identified as related to anthropogenic global climate change. This document presents an inventory of GHGs generated during fiscal year (FY) 2020 by Idaho National Laboratory (INL)—a Department of Energy (DOE) sponsored entity located in southeastern Idaho. In recent years, concern has grown about the environmental impact of GHGs. This, together with a desire to decrease harmful environmental impacts, would be enough to encourage the calculation of an inventory of the total GHGs generated at INL. Additionally, INL has a desire to see how its emissions compare with similar institutions, including other DOE national laboratories. Executive Order 13834 requires that federal agencies and institutions track and report GHG emissions where required. INL’s GHG inventory was calculated according to methodologies identified in federal GHG Guidance documents using operational control boundaries. It measures emissions generated in three scopes: (1) INL emissions produced directly by stationary or mobile combustion and by fugitive emissions, (2) the share of emissions generated by entities from which INL purchased electrical power, and (3) indirect or shared emissions generated by outsourced activities that benefit INL (occurring outside INL’s organizational boundaries, but are a consequence of INL’s activities). This inventory found that INL generated 76,494.12 metric tons (MT) of CO2 equivalent (CO 2 e) emissions during FY 2020. The following conclusions were made from looking at the results of the individual contributors to INL’s FY 2020 GHG inventory: (1) Electricity (including the associated transmission and distribution losses) is the largest contributor to INL’s GHG inventory, with over 50% of the CO 2 e emissions; (2) Other sources with high emissions were employee commuting, mobile combustion (fleet fuels), stationary combustion (facility fuels), and waste disposal (fugitive emissions from the onsite landfill); and (3) Sources with low emissions were waste disposal (contracted disposal), fugitive emissions from refrigerants, wastewater treatment (onsite and contracted), and business ground travel (in personal and rental vehicles). This report details the methods behind quantifying INL’s GHG inventory and discusses lessons learned on better practices by which information important to tracking GHGs can be tracked and recorded. It is important to note that because this report differentiates between those portions of INL that are managed and operated by Battelle Energy Alliance, LLC (BEA) and those managed by other contractors, it includes only INL’s activities overseen by BEA. It is assumed that other contractors will provide similar reporting for those activities they manage, where appropriate.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS1992

Nonlinear robust controller design for multi-robot systems with unknown payloads

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

Song, Y. D.↗

NASA NTRS1995

Network flexibility of the IRIDIUM (R) Global Mobile Satellite System

The IRIDIUM system is a global personal communications system supported by a constellation of 66 low earth orbit (LEO) satellites and a collection of earth-based 'gateway' switching installations. Like traditional wireless cellular systems, coverage is achieved by a grid of cells in which bandwidth is reused for spectral efficiency. Unlike any cellular system ever built, the moving cells can be shared by multiple switching facilities. Noteworthy features of the IRIDIUM system include inter-satellite links, a GSM-based telephony architecture, and a geographically controlled system access process. These features, working in concert, permit flexible and reliable administration of the worldwide service area by gateway operators. This paper will explore this unique concept.

Hutcheson, Jonathan↗

NASA NTRS1995

A prototype Upper Atmospheric Research Collaboratory (UARC)

The National Collaboratory concept has great potential for enabling 'critical mass' working groups and highly interdisciplinary research projects. We report here on a new program to build a prototype collaboratory using the Sondrestrom Upper Atmospheric Research Facility in Kangerlussuaq, Greenland and a group of associated scientists. The Upper Atmospheric Research Collaboratory (UARC) is a joint venture of researchers in upper atmospheric and space science, computer science, and behavioral science to develop a testbed for collaborative remote research. We define the 'collaboratory' as an advanced information technology environment which enables teams to work together over distance and time on a wide variety of intellectual tasks. It provides: (1) human-to-human communications using shared computer tools and work spaces; (2) group access and use of a network of information, data, and knowledge sources; and (3) remote access and control of instruments for data acquisition. The UARC testbed is being implemented to support a distributed community of space scientists so that they have network access to the remote instrument facility in Kangerlussuaq and are able to interact among geographically distributed locations. The goal is to enable them to use the UARC rather than physical travel to Greenland to conduct team research campaigns. Even on short notice through the collaboratory from their home institutions, participants will be able to meet together to operate a battery of remote interactive observations and to acquire, process, and interpret the data.

Clauer, C. R.↗

NASA NTRS2004

A Decision-Theoretic Approach to Autonomous Planetary Rover Control

The report discusses the: Decentralized Control of Markov Decision Processes. Study the complexity of decentralized control of Markov decision processes, and develop algorithms for finding optimal control policies. Scheduling Contract Algorithms. Develop an optimal method for scheduling runs of a contract anytime algorithm (one that takes the deadline as input) in situations where the deadline is unknown, multiple problem instances must be solved, and a multi-processor machine is available. Planetary Rover Control as a Markov Decision Process.Use the Markov decision process framework to formalize and solve problems in planetary rover control. Adaptive Peer Selection. Use reinforcement learning to maximize the expected down-load speed for a client in a peer-to-peer file sharing system.

Zilberstein, Shlomo↗