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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)

Abstract A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10–20 minutes, each to a precision of several microns, with a reconfiguration time of fewer than 2 minutes. Over the next 5 yr, they will enable the newly constructed Dark Energy Spectroscopic Instrument (DESI) to measure the spectra of 35 million galaxies and quasars. DESI will produce the largest 3D map of the universe to date and measure the expansion history of the cosmos. In addition to the 5020 robotic positioners and optical fibers, DESI’s Focal Plane System includes six guide cameras, four wave front cameras, 123 fiducial point sources, and a metrology camera mounted at the primary mirror. The system also includes associated structural, thermal, and electrical systems. In all, it contains over 675,000 individual parts. We discuss the design, construction, quality control, and integration of all these components. We include a summary of the key requirements, the review and acceptance process, on-sky validations of requirements, and lessons learned for future multiobject, fiber-fed spectrographs.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

Astrometric Calibration and Performance of the Dark Energy Spectroscopic Instrument Focal Plane

Abstract The Dark Energy Spectroscopic Instrument, consisting of 5020 robotic fiber positioners and associated systems on the Mayall telescope at Kitt Peak, Arizona, is carrying out a survey to measure the spectra of 40 million galaxies and quasars and produce the largest 3D map of the universe to date. The primary science goal is to use baryon acoustic oscillations to measure the expansion history of the universe and the time evolution of dark energy. A key function of the online control system is to position each fiber on a particular target in the focal plane with an accuracy of 11 μ m rms 2D. This paper describes the set of software programs used to perform this function along with the methods used to validate their performance.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2022

dlppi2 (b1)

The Doppler lidar (DL) is an active remote-sensing instrument that provides range- and time-resolved measurements of the line-of-sight component of air velocity (i.e., radial velocity) and attenuated aerosol backscatter. The DL operates in the near-infrared and is sensitive to backscatter from atmospheric aerosol, which are assumed to be ideal tracers of atmospheric wind fields. The DL works by transmitting short pulses of infrared laser light into the atmosphere. Atmospheric aerosols scatter a small fraction of that light energy back to the transceiver, where it is collected and recorded as a time-resolved signal. From the delay between the outgoing pulse and the backscattered signal, the instrument infers the distance to the scattering volume. Coherent detection is used to measure the Doppler frequency shift of the backscatter signal. This is accomplished by mixing the backscatter signal with a reference laser beam (i.e., local oscillator) of known frequency. The onboard signal processor then determines the Doppler frequency shift from the spectrum of the mixed signal. The Doppler frequency shift and thus the radial air velocity is determined from the peak of the Doppler spectrum. The attenuated backscatter is determined from the energy content of the Doppler spectra. The DL provides accurate measurements of radial velocity in regions of the atmosphere where aerosol concentrations are high enough to ensure good signal-to-noise ratio. Thus, valid data are usually limited to the atmospheric boundary layer where aerosol is ubiquitous. Valid measurements can also be obtained in elevated aerosol layers or in optically thin clouds above the boundary layer. Most of the ARM DLs have full upper-hemispheric scanning capability, enabling 3D mapping of turbulent flows in the atmospheric boundary layer. With the scanner pointed vertically, the DL provides height- and time-resolved measurements of vertical velocity.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1992

Rotational Raman Lidar for Lower Tropospheric Temperature Profiling

Accurate sensing of the tropospheric temperature profile is basically needed in meteorology and 3D mapping of the boundary layer atmospheric temperature over urban and industrial areas. Several temperature lidar techniques were investigated, including Differential Absorption Lidar (DIAL), rotational and vibrational Raman, Rayleigh and high resolution Rayleigh schemes. For the tropospheric applications, the rotational Raman scheme looks potentially advantageous, but several stringent technical problems still remain to be solved. Reported here are the continuing efforts of the system development of the rotational Raman lidar.

Kobayashi, Takao↗
NASA NTRS1991

Exocentric judgements in real environments and stereoscopic displays

Spatial direction errors during interpretation of perspective images, such as 3D map displays, may originate from misjudgment of the orientation of the viewing direction used to make the display. One source of these errors could be perceptual evidence of the display surface. Two experiments are reported in which the same judgment exocentric task was presented, but the cues to the picture surface were reduced or eliminated by presenting the task as a stereoscopic, virtual image or by a geometrically matched physical model. A theory developed to model exocentric direction errors on perspective displays has been fitted to the data from these two experiments. The parameters estimated from the fit in both experiments indicate that the subjects may be more correctly estimating the viewing direction than in ordinary perspective displays. Consequently, in some real world or stereo viewing conditions, errors in estimating the viewing direction are not likely to dominate exocentric direction errors.

Ellis, Stephen R.↗
NASA NTRS2010

Plasma IMS Composition Measurements for Europa and the Other Galilean Moons

NASA and ESA are planning the joint Europa Jupiter System Mission (EJSM) to the Jupiter system with specific emphasis to Europa and Ganymede, respectively. The Japanese Space Agency is also planning an orbiter mission to explore Jupiter's magnetosphere and the Galilean satellites. For NASA's Jupiter Europa Orbiter (JEO) we are developing the 3D Ion Mass Spectrometer (IMS) with two main goals which can also be applied to the other Galilean moons, 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the 4 pi surface composition to trace elemental and significant isotopic levels. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second gives information about transfer of material between the Galilean moons, and between the moon surfaces and subsurface layers putatively including oceans. The measurement of the interactions for all the Galilean moons can be used to trace the in situ ion measurements of pickup ions back to either Europa's or Ganymede's surface from the respectively orbiting spacecraft. The IMS instrument, being developed under NASA's Astrobiology Instrument Development Program, would maximally achieve plasma measurement requirements for JEO and EJSM while moving forward our knowledge of Jupiter system composition and source processes to far higher levels than previously envisaged. The composition of the global surfaces of Europa and Ganymede can be inferred from the measurement of ejected neutrals and pick-up ions using at minimum an in situ payload including MAG and IMS also fully capable of meeting Level 1 mission requirements for ocean detection and survey. Elemental and isotopic analysis of potentially extruded oceanic materials at the moon surfaces would further support the ocean objectives. These measurements should be made from a polar orbiting spacecraft about Europa or Ganymede at height 100 km. The ejecta produced by sputtering of the surfaces of Europa and Ganymede has been shown to be representative of the surface composition. Level 2 science on surface geology and composition can then be further enhanced by addition of the following: 3D Ion Neutral Mass Spectrometer (INNS), 3D plasma electron spectrometer (ELS), and hot plasma energetic particle instrument. The measurement approach is to alternate between times measuring pickup ions and times measuring plasma and magnetic field parameters along the spacecraft trajectory. By measuring the pickup ion energy, arrival direction and mass-per-charge, the ion can be traced back along the ejection trajectory to the approximate area of origin if the 3-D electric field and magnetic field are known. In situ observations of plasma flow velocities and vector magnetic fields can be used to determine the local convective electric field (E = -VXB) along the spacecraft trajectory. By combining this information with models of the magnetospheric interaction with Europa, one can generate 3D maps of the electric and magnetic field and compute the trajectories of the pickup ions back to the surface or exospheric points of origin. In the case of Ganymede there is the additional complexity of its own internal dipole magnetic field, while Io's volcanic activity introduces the complexity of a highly structured denser atmosphere. Callisto with its less globally extended exosphere will have a simpler interaction than for Europa (i.e., more like our moon). We will discuss these differences in light of the above proposed technique. Finally, the INNS observations and neutral exosphere models are needed to estimate production rates of pickup ions. The hot plasma measurements are needed to correct for sputtering rates which can be time dependent and electron plasma observations for electron impact ionization rates. Instrument characteristics, field-of-view requirements, modes of operation and effects of radiation on instrument functionality will be discussed.

Sittler, Edward↗
NASA NTRS2010

Flash LIDAR Emulator for HIL Simulation

NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project is building a system for detecting hazards and automatically landing controlled vehicles safely anywhere on the Moon. The Flash Light Detection And Ranging (LIDAR) sensor is used to create on-the-fly a 3D map of the unknown terrain for hazard detection. As part of the ALHAT project, a hardware-in-the-loop (HIL) simulation testbed was developed to test the data processing, guidance, and navigation algorithms in real-time to prove their feasibility for flight. Replacing the Flash LIDAR camera with an emulator in the testbed provided a cheaper, safer, more feasible way to test the algorithms in a controlled environment. This emulator must have the same hardware interfaces as the LIDAR camera, have the same performance characteristics, and produce images similar in quality to the camera. This presentation describes the issues involved and the techniques used to create a real-time flash LIDAR emulator to support HIL simulation.

Brewster, Paul F.↗
NASA NTRS2014

FLASH LIDAR Based Relative Navigation

Relative navigation remains the most challenging part of spacecraft rendezvous and docking. In recent years, flash LIDARs, have been increasingly selected as the go-to sensors for proximity operations and docking. Flash LIDARS are generally lighter and require less power that scanning Lidars. Flash LIDARs do not have moving parts, and they are capable of tracking multiple targets as well as generating a 3D map of a given target. However, there are some significant drawbacks of Flash Lidars that must be resolved if their use is to be of long-term significance. Overcoming the challenges of Flash LIDARs for navigation-namely, low technology readiness level, lack of historical performance data, target identification, existence of false positives, and performance of vision processing algorithms as intermediaries between the raw sensor data and the Kalman filter-requires a world-class testing facility, such as the Lockheed Martin Space Operations Simulation Center (SOSC). Ground-based testing is a critical step for maturing the next-generation flash LIDAR-based spacecraft relative navigation. This paper will focus on the tests of an integrated relative navigation system conducted at the SOSC in January 2014. The intent of the tests was to characterize and then improve the performance of relative navigation, while addressing many of the flash LIDAR challenges mentioned above. A section on navigation performance and future recommendation completes the discussion.

Brazzel, Jack↗
NASA NTRS2011

Radar and Lidar Radar DEM

Using radar and lidar data, the aim is to improve 3D rendering of terrain, including digital elevation models (DEM) and estimates of vegetation height and biomass in a variety of forest types and terrains. The 3D mapping of vegetation structure and the analysis are useful to determine the role of forest in climate change (carbon cycle), in providing habitat and as a provider of socio-economic services. This in turn will lead to potential for development of more effective land-use management. The first part of the project was to characterize the Shuttle Radar Topography Mission DEM error with respect to ICESat/GLAS point estimates of elevation. We investigated potential trends with latitude, canopy height, signal to noise ratio (SNR), number of LiDAR waveform peaks, and maximum peak width. Scatter plots were produced for each variable and were fitted with 1st and 2nd degree polynomials. Higher order trends were visually inspected through filtering with a mean and median filter. We also assessed trends in the DEM error variance. Finally, a map showing how DEM error was geographically distributed globally was created.

remote sensing↗
NASA NTRS2017

Pisgah Lava Cave Communication Test: Science Case Study for the Networked Constellations Initiative

As part of the science case study for the Networked Constellations initiative, a team of JPL scientists explore the possibility of a mission to study the lava caves on Mars. Natural caves on Mars and the Moon present a unique opportunity to learn about the planetary geology and to provide a shelter for human explorers. Due to power and communication challenges, a network of assets has significant advantages over a single asset sent inside a cave. However, communication between the assets and the data downlink present significant difficulties due to the presence of rough walls, boulders, and other obstacles with unknown dielectric constant inside a typical cave, disturbing the propagation of the radio waves. A detailed study is needed to establish the limitations of the current communication technologies and to develop requirements for the new communication technology applicable to the cave environment. On May 4 of 2017, Konstantin Belov, Doug Ellison, and Abby Fraeman visited a lava cave in Pisgah, CA. The purpose of the visit was to build a 3D map of the cave, which could be used to create a model of radio wave propagation, and to conduct a series of communication tests using off-the-shelf equipment to verify the in-cave communication challenges. This experiment should be considered as a simple 'proof of concept' and is the subject of this report.

Belov, K.↗
NASA NTRS2019

Loftid Aeroshell Engineering Development Unit Structural Testing

NASA’s Hypersonic Inflatable Aerodynamic Decelerator (HIAD) technology was selected for a Technology Demonstration Mission under the Space Technology Mission Directorate in 2017. HIAD is an enabling technology that can facilitate atmospheric entry of heavy payloads to planets such as Earth and Mars using a deployable aeroshell. The deployable nature of the HIAD technology allows it to avoid the size constraints imposed on current rigid aeroshell entry systems. This enables use of larger aeroshells resulting in increased entry system performance (e.g. higher pay-load mass and/or volume, higher landing altitude at Mars). The Low Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) is currently scheduled for late-2021. LOFTID will be launched out of Vandenberg Air Force Base as a secondary payload on an Atlas V rocket. The flight test features a 6m diameter, 70-deg sphere-cone aeroshell and will provide invaluable high-energy orbital re-entry flight data. This data will be essential in supporting the HIAD team to mature the technology to diameters of 10m and greater. Aeroshells of this scale are applicable to potential near-term commercial applications and future NASA missions. Currently the LOFTID project has completed fabrication of the engineering design unit (EDU) inflatable structure (IS) and the flexible thermal protection system (F-TPS). These two components along with the rigid nose and center body comprise the HIAD aeroshell system. This EDU aeroshell is the precursor to the LOFTID aeroshell that will be used for flight. The EDU was built to verify the design given the subtle differences between the LOFTID aeroshell and past aeroshell designs that have been fabricated under the NASA HIAD project. To characterize the structural performance of the LOFTID aeroshell design, three structural tests will be performed. The first test to be conducted is static load testing, which will induce a uniform load across the forward surface of the aeroshell to simulate the expected pressure forces during atmospheric entry. The IS integrated with the rigid center body will first be tested alone to provide data for analytical model correlation, and then the F-TPS will be integrated for a second series of static load testing of the full aeroshell system. Instrumentation will be employed during the test series to measure component loads during testing, and a laser scanner will be used to generate a 3D map of the aeroshell surface to verify that the shape of the structure is acceptable at the simulated flight loads. After static load testing, pack and deployment testing will be conducted multiple times on the integrated system to demonstrate the aeroshell’s ability to fit within the required packed volume for the LOFTID mission without experiencing significant damage. Finally, the aeroshell will undergo modal testing to characterize its structural response. This presentation will discuss the setup and execution of each of the three tests that the EDU aeroshell will undergo. In addition, initial results of the testing will be presented outlining key findings as LOFTID moves for-ward with fabrication of the flight aeroshell.

Swanson, G. T.↗
NASA NTRSDate not supplied

The Gandalf Staff: A Mobile Tool for Lunar Exploration (2nd year of development)

The Gandalf Staff is a mobile tool designed to be a flexible device supporting crewed and uncrewed operations on the lunar surface. The core of the device is a 24v battery with communications and data storage systems. Initial optional components supporting crewed Extra-Vehicular Activity (EVA) include a LiDAR and 360˚ camera. These provide 3D mapping of the traverse for documentation, and to aid future planning. The mapping also creates outreach opportunities for the public to “stand beside” the astronaut in Virtual Reality (VR). The staff provides external lighting for field site illumination in the south polar region low sun angle environment. Navigation instruments for crew position determination with Lunar Search and Rescue (LunaSAR) are also included. The staff itself can be used as a walking aid or as a splint for Incapacitated Crew Rescue (ICR). As a stand-alone device, the staff operates as a long duration untended science platform collecting environmental data and sending it to a lunar base station. The stand-alone mode requires connection to an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could become an electrical recharging station. To make rapid progress in the 1st year, and also to demonstrate innovative project management techniques, NASA guided a private industry partner, T STAR, in leading Capstone Engineering student teams at Texas A&M University (TAMU) for proof-of-concept development and testing. These teams developed the power system and demonstrated successful integration of LiDAR, WiFi communications, and external lighting subsystems. Another industry team at Jacobs Technology prototyped a tripod to hold the staff upright. For the 2nd year (FY’22), NASA will again collaborate with partners to prototype enhanced power and lighting concepts. Year 2 will also add new capability for LunaSAR and geophysical science instrumentation using a heat probe. The heat probe is based upon Apollo heritage but modified to measure subsurface volatile ice regimes at the Artemis landing site. Components of the Gandalf Staff can be developed, tested, and deployed independently, or on the integrated staff, rovers, or utility trailers. The project supports crew safety, lunar sample curation, mission science, and public outreach goals of NASA. PLAIN TEST SUMMARY: Gandalf Staff is a 24v battery powered mobile tool for the lunar surface supporting crewed geologic field site exploration, or as a stand-alone science platform. As a tool assisting astronauts conducting field geology, the Gandalf Staff provides external lighting to illuminate shadowed regions on the surface. It also documents the process of collecting rocks and dust samples using a LiDAR (laser range instrument) and cameras. The staff provides a beacon for emergency location of astronauts and augments communications when the astronauts are blocked by large boulders. As a standalone science platform, the Gandalf Staff provides a power system for instruments and sensors to measure the lunar environment over long periods of time. The staff gathers data and sends the results to a lunar base station for analysis.

External Lighting↗
NASA NTRS2022

Design and Development of High-Performance Imaging Lidars for Extreme Radiation Environments of Europa

To enable safe landing on unknown terrain, such as Europa, JPL has been developing two next-generation dual-mode lidars that can provide long range altimetry as well as dense 3D mapping in real-time during landing. In this paper, we discuss the overall concept, development strategy and report on the detailed progress of the lidar development. Besides, the use for Europa, the flexible design and reconfigurability of lidars allow for a wide range of operation on other planetary bodies.

Machan, Roman↗
NASA NTRS2021

Two-Spacecraft Orbiting in Opposition to Enable Bistatic Radar Observations Around an Asteroid

Fundamental answers about the origin and evolution of the Solar System hinge on our ability to image in detail the 3D interior structure of small bodies at highresolution. By collecting radar measurements we can ultimately create 3D maps of the interior structure. In this study we focus our attention on a specific mission scenario which consists of a carrier spacecraft and two daughter spacecraft sent to orbit the asteroid Apophis. The orbits of the spacecraft are optimized to maximize radar measurements by dynamically modeling the harmonics and solar radiation pressure. For long mission durations, orbital correction maneuvers maintain the spacecraft in formation.

Anderson, Rodney L.↗
NASA NTRSDate not supplied

Improvements to GNSS Positioning in Challenging Environments by 3DMA Lidar Informed Selective Satellites Usage

The use of global navigation satellite systems (GNSS) for position estimation tends to yield poor results when operating inside of an urban canyon due to large obstructions (e.g., buildings) that disrupt signals as they travel from a satellite to a receiver resulting in a position estimate that may significantly fluctuate in magnitude and direction. Identifying and removing signals that are non-line-of-sight (NLOS) to the receiver and only using signals that are line-of-sight (LOS) can improve the estimated position. However, quickly and accurately determining the LOS status of each measurement can be challenging without additional information about the operating environment. Use of publicly available lidar data can be used to incorporate techniques, such as 3D-mapping-aided (3DMA), to estimate the LOS status of satellites and augment the position solution accordingly. To complicate the issue, the error on the GNSS position estimate in an urban canyon is often so large that is it not sufficient to use as an approximate location for LOS prediction. That is, at times the calculated GNSS solution is not representative of the true location and cannot be used to accurately predict which satellites are within LOS due to the difference in the physical geometry associated with the two locations. This paper explores the use of a GNSS/inertial fused position solution as the initial position estimate for predicting which satellites are within LOS in an urban environment and the impact that removal of predicted NLOS satellites has on the GNSS position solution.

GPS↗
NASA NTRS2024

Three-Dimensional Atmospheric Dynamics of Jupiter from Ground-Based Doppler Imaging Spectroscopy in the Visible

We present three-dimensional (3D) maps of Jupiter’s atmospheric circulation at cloud-top level from Doppler-imaging data obtained in the visible domain with JIVE, the second node of the JOVIAL network, which is mounted on the Dunn Solar Telescope at Sunspot, New Mexico. We report on 12 nights of observations between May 4 and May 30, 2018, representing a total of about 80 hours. Firstly, the average zonal wind profile derived from our data is compatible with that derived from cloud-tracking measurements performed on Hubble Space Telescope images obtained in April 2018 from the Outer Planet Atmospheres Legacy (OPAL) program. Secondly, we present the first ever two-dimensional maps of Jupiter’s atmospheric circulation from Doppler measurements. The zonal velocity map highlights well-known atmospheric features, such as the equatorial hot spots and the Great Red Spot (GRS). In addition to zonal winds, we derive meridional and vertical velocity fields from the Doppler data. The motions attributed to vertical flows are mainly located at the boundary between the equatorial belts and tropical zones, which could indicate active motion in these regions. Qualitatively, these results compare well to recent Juno data that have unveiled the three-dimensional structure of Jupiter’s wind field. To the contrary, the motions attributed to meridional circulation are very different from what is obtained by cloud tracking, except at the GRS. Because of limitations with data resolution and processing techniques, we acknowledge that our measurement of vertical or meridional flows of Jupiter are still to be confirmed.

Francois-Xavier Schmider↗
DOE OSTI2020

TORONE: Total Characterisation by Remote Observation of Nuclear Environments - 20591

This paper describes the autonomous robotic systems developed in the TORONE project (Total Characterisation by Remote Observation of Nuclear Environments) for combined characterisation by remote techniques in nuclear environments. There are four main components to the system. Firstly, robot operation which uses a Robot Operating System (ROS) allowing ease of communication between hardware and software alongside robot vision systems such as Lidar and/or photogrammetry. Secondly, radiation detection instrumentation for gamma and neutron sources which is also collimated for spatial resolution. Thirdly, photonic characterisation instrumentation for remote material identification by means of Raman spectroscopy and Laser induced breakdown spectroscopy (LIBS). Finally, a data management system is described which contains the TORONE characterisation data with the ability to overlay material characterisation information onto 3D maps of the nuclear environment. Preliminary results are described alongside discussion of some of the synergies of the combined approach. There are many applications of such an autonomous system in nuclear decommissioning, waste management and asset management. (authors)

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

Savannah River Site H-Canyon Advancing Technologies for Remote Inspections - 20345

In 2017, the DOE Environmental Management Office of Technology Development (DOE-EM TD) sponsored the H-Canyon Advanced Technology Demonstration (ATD) to demonstrate to DOE facilities the value of using new commercial-off-the-shelf (COTS) and near-ready technologies to solve difficult problems and enhance worker safety. The DOE Savannah River Site (SRS) H-Canyon Air Exhaust Tunnel (HCAEX) inspection task was identified as representative of the hazardous, human denied environments which could benefit from advanced technologies. The HCAEX underground concrete tunnel is visually inspected biannually using a camera mounted on a remotely operated vehicle (ROV) designed and built by SRNL. While tunnel images have provided valuable visual information, it is desirable to have a higher order of understanding of the environment to support a more thorough structural integrity (SI) analysis and for long term planning purposes. As part of the ATD, the Concrete Integrated Product Team (CIPT) was formed to identify and evaluate available sensors and methods mature enough to remotely obtain tunnel concrete characterization data of high value and with a high probability of success. The team included SMEs and H-Canyon stakeholders in the field of concrete, nondestructive examination (NDE), structural integrity, sensors and remote systems from SRNL, SRNS, LANL, DOE-SR and the Army Corps of Engineering. The CIPT completed an in-depth identification of customer concrete inspection needs and potential technology solutions. Sensors and methods were evaluated on performance, data usefulness, cost and the feasibility of a successful deployment given the unique tunnel access challenges and environment. Two technologies were identified as promising by the CIPT for near term demonstration and evaluation: Lidar (Light Detection and Ranging) 3-dimensional (3D) mapping and remote robotic deployment of NDE instrumentation. Laser spectroscopy to characterize tunnel surface chemical changes was also of interest, but presently cost prohibitive. This paper will include a discussion of the two efforts underway to evaluate and implement the CIPT recommendations. First, the status of the November 2019 deployment of Lidar at a single location into the tunnel is presented. This initial deployment provided the team a learning curve and lessons learned on the challenges of tunnel deployment to include remote operation and data collection, stabilization of the sensor in high air flow (∼30 mph), ability to achieve a tolerance accuracy of 0.25-inches, and the probability to identify change in tunnel dimensions over time. Secondly, a discussion on the development of the Robotic Arm Concrete Inspection Test Bed capable of deploying NDE instruments to examine custom concrete forms will be presented. Concrete forms simulating the rough concrete surfaces, strength, composition and potential structural defects that can be found at our DOE EM facilities have been designed and built for the test bed. Two state-of-the art concrete NDE instruments have been identified as having potential to work on rough concrete walls, they are being tested and characterized as to their ability to provide desired structural integrity data to include wall thickness and defect identification on the developed test beams. Lastly, lessons learned, and the path forward will be presented. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗