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NASA NTRS2003

Airborne Cavity Ring-Down Measurement of Aerosol Extinction and Scattering During the Aerosol IOP

Large uncertainties in the effects of aerosols on climate require improved in-situ measurements of extinction coefficient and single-scattering albedo. This paper describes preliminary results from Cadenza, a new continuous wave cavity ring-down (CW-CRD) instrument designed to address these uncertainties. Cadenza measures the aerosol extinction coefficient for 675 nm and 1550 nm light, and simultaneously measures the scattering coefficient at 675 nm. In the past year Cadenza was deployed in the Asian Dust Above Monterey (ADAM) and DOE Aerosol Intensive Operating Period (IOP) field projects. During these flights Cadenza produced measurements of aerosol extinction in the range from 0.2 to 300 Mm-1 with an estimated precision of 0.1 Min-1 for 1550 nm light and 0.2 Mm-1 for 675 nm light. Cadenza data from the ADAM and Aerosol IOP missions compared favorably with data from the other instruments aboard the CIRPAS Twin Otter aircraft and participating in those projects.= We present comparisons between the Cadenza measurements and those friom a TSI nephelometer, Particle Soot Absorption Photometer (PSAP), and the AATS 14 sun-photometer. Measurements of the optical properties of smoke and dust plumes sampled during these campaigns are presented and estimates of heating rates due to these plumes are made.

Strawa, A. W.↗

NASA NTRS2004

Formations Near the Libration Points: Design Strategies Using Natural and Non-Natural Arcs

Space based observatory and interferometry missions, such as Terrestrial Planet Finder (TPF), Stellar Imager, and MAXIM, have sparked great interest in multi-spacecraft formation flight in the vicinity of the Sun-Earth/Moon (SEM) libration points. The initial phase of this research considered the formation keeping problem from the perspective of continuous control as applied to non-natural formations. In the present study, closer inspection of the flow, corresponding to the stable and center manifolds near the reference orbit, reveals some interesting natural relative motions as well as some discrete control strategies for deployment. A hybrid control strategy is also employed that combines both the natural formation dynamics with non-natural motions via input feedback linearization techniques.

Howell, K. C.↗

NASA NTRS2007

Automating CapCom Using Mobile Agents and Robotic Assistants

Mobile Agents (MA) is an advanced Extra-Vehicular Activity (EVA) communications and computing system to increase astronaut self-reliance and safety, reducing dependence on continuous monitoring and advising from mission control on Earth. MA is voice controlled and provides information verbally to the astronauts through programs called "personal agents." The system partly automates the role of CapCom in Apollo-including monitoring and managing navigation, scheduling, equipment deployment, telemetry, health tracking, and scientific data collection. Data are stored automatically in a shared database in the habitat/vehicle and mirrored to a site accessible by a remote science team. The program has been developed iteratively in authentic work contexts, including six years of ethnographic observation of field geology. Analog field experiments in Utah enabled empirically discovering requirements and testing alternative technologies and protocols. We report on the 2004 system configuration, experiments, and results, in which an EVA robotic assistant (ERA) followed geologists approximately 150 m through a winding, narrow canyon. On voice command, the ERA took photographs and panoramas and was directed to serve as a relay on the wireless network.

Clancey, William J.↗

NASA NTRS2008

Microgravity, Mesh-Crawling Legged Robots

The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

Behar, Alberto↗

NASA NTRS2010

Developing NDE Techniques for Large Cryogenic Tanks - Year 2 Report

The Shuttle Program requires very large cryogenic ground storage tanks in which to store liquid oxygen and hydrogen. The existing Launch Complex-39 Pad tanks, which will be passed onto future launch programs, are over 40 years old and have received minimal refurbishment and only external inspections over the years. The majority of the structure is inaccessible without a full system drain of cryogenic liquid and insulation in the annular region. It was previously thought that there was a limit to the number of temperature cycles that the tanks could handle due to possible insulation compaction before undergoing a costly and time consuming complete overhaul; therefore the tanks were not drained and performance issues with these tanks, specifically the Pad B LH2 tank, were accepted. There is a need and an opportunity, as the Shuttle program ends and work to upgrade the launch pad progresses, to develop innovative non-destructive evaluation (NDE) techniques to analyze the current tanks. Techniques are desired that can aid in determining the extent of refurbishment required to keep the tanks in service for another 20+ years. A non-destructive technique would also be a significant aid in acceptance testing of new and refurbished tanks, saving significant time and money, if corrective actions can be taken before cryogen is introduced to the systems. Year one of this project concentrated on analysis of the current tanks located at LC-39 while cryogen was present. Year two of this project concentrated on analysis of detectable thermal variations on the outer surface of the tanks as the cryogen was drained and the inner vessel warmed to ambient conditions. Two techniques have been deployed in the field to monitor the tank. The first consisted of a displacement sensor to monitor for any expansions at the base of the tank during warm-up that could indicate a compaction issue with the insulation. The second technique was continued thermal monitoring of the tank through and after warm up. The indications noted in the thermal images were compared to bore-scope images of the annular region taken once the tank was inert and warmed to ambient conditions. Similar thermal imaging was performed on a smaller tank where an insulation void was induced to compare the effectiveness of thermal imagining on a different tank geometry.

Arens, Ellen↗

NASA NTRS2019

Comparison of Integrated Digital Radiometer with Concurrent Water Vapor Radiometer using the Alphasat Receivers in Milan, Italy

In June 2014, NASA Glenn Research Center (GRC) and the Politecnico di Milano (POLIMI) jointly deployed a pair of coherent 20 GHz and 40 GHz beacon receivers to the POLIMI campus in Milan, Italy to characterize the atmospheric channel at Ka- and Q-band within the framework of the Alphasat experiment. The Milan receivers observe the continuous-wave beacons broadcast over Europe by the Aldo Paraboni Technology Demonstration Payload (TDP #5), and, in September 2017, both channels were upgraded to incorporate a novel digital radiometer (DR) measurement which NASA has recently employed in other propagation measurement campaigns. In November 2016, a co-located water vapor radiometer (WVR) was also installed at POLIMI, and the concurrent data from both the WVR and DR thusly enables validation of this new DR technique against the established WVR. Herein, we preliminarily investigate the calibration of the DR measurements using the WVR data and also assess a calibration method that may be implemented where WVR data is not readily available.

Zemba, Michael J.↗

NASA NTRS2019

Comparison of Integrated Digital Radiometer with Concurrent Water Vapor Radiometer Using the Alphasat Receivers in Milan, Italy

Zemba, Michael↗

DOE OSTI2022

A Circular Economy for Lithium-Ion Batteries Used in Mobile and Stationary Energy Storage: Drivers, Barriers, Enablers, and Policy Considerations

The demand for large-format lithium-ion batteries (LIB) is expected to continue in the U.S. to meet renewable energy and decarbonization goals. Total installed large-scale stationary battery energy storage is expected to increase almost 10-fold from 2021 to 2025 and LIBs account for 97% of the expected market share. Similarly, LIBs deployed in electric vehicles is expected to increase, with passenger electric vehicles alone expected to reach 16 million units on U.S. roads by 2030 and 46 million by 2025. The expected demand for LIBs brings supply chain concerns and a growing need for a circular economy for LIB materials. Domestic reuse and recycling is one potential circular economy solution for LIB. This presentation identifies drivers, barriers, and enablers to a circular economy for LIBs, as well as, the current U.S. law and regulatory landscape for the reuse and recycling of LIB materials, and how certain policy frameworks impact reuse and end-of-life management decisions for LIB materials.

barriers↗

DOE OSTI2024

Virtual Test Bed (VTB): NRIC FY24 Program Review

NRIC: Deliver successful demonstration and deployment of advanced nuclear energy EBRII Test Bed (DOME) ZPPR Test Bed (LOTUS) Virtual Test Bed (VTB): Accelerate deployment of advanced reactors by leveraging state-of-the-art ModSim tools to evaluate performance and safety Ok, but what is it? Library of Reference Model: database of advanced multiphysics advanced reactor models that users can download, edit, and re-run Continuous Software QA: linking repository to software development to avoid legacy issues while enabling rapid code development Virtual models of the test bed: developing demonstration-relevant models (e.g., candidates for DOME/LOTUS) to accelerate safety evaluations

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2025

Important Human Actions for Advanced Reactors: Implications for Human Factors

As advanced reactor platforms continue to develop and gain traction in the energy sector there is a need for risk-informed, scalable regulations that match that progress. This is a core component of the U.S. Nuclear Regulatory Commission’s proposed Part 53 Rule Making; the Accelerating Deployment of Versatile, Advanced Nuclear for Clean Energy (ADVANCE) Act; and other efforts that seek to update nuclear power regulations. This paper covers one key aspect of that regulatory evolution: Important Human Actions (IHA). In this paper, we discuss how the understanding and definitions of IHAs have changed and what that means for human factors engagement through the process of developing these technologies. Instead of a narrow focus on control actions that led to an increase in core damage risk, the new focus is on IHAs is “wherever they occur.” What this means is that having a highly automated or passive safety system does not eliminate IHAs. Rather, it shifts the focus point to all the actions that enable these systems. Everything from maintenance, to design, to training can be considered an IHA and that dramatically shifts the efforts and level of engagement necessary for human factors to enable these technologies. We discuss the notions of risk-informed human factors that underpin these efforts, give several examples, and briefly describe the risk assessment methodologies that will be needed. In the past, IHAs were identified and then became a focus point of human factors engineering (HFE) activities to ensure a robust evaluation of the task was completed. The future is less clear. HFE for nuclear energy will need to evolve and become more integrated in technology development than ever before.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗

NASA NTRSDate not supplied

A Notional Artemis Lunar Surface Exploration Package (ArLSEP) based on the Gandalf Staff Platform

Introduction: The Artemis program is planning to deliver crew and cargo to the lunar surface, but there is no current package for supporting lunar in-struments and experiments similar to the Apollo Lunar Surface Exploration Package (ALSEP). This abstract provides a possible concept for such a package using the Gandalf Staff Platform as a common core. Gandalf Staff: The Gandalf Staff is an early prototype system developed over FY’21/FY’22 using NASA Science Technology Mission Directorate (STMD) Center Information Fund (CIF) grants to de-sign, build and test “proof-of-concept” components. These components include a 24v battery powered monopole that powers a suite of subsystems, including a Graphical User Interface (GUI) for crew, surface voice and data communications, Lunar Search and Rescue (LunaSAR) navigation and communications, LiDAR, field site external lighting, 360-degree camera, and a geothermal instrument for measuring sub-surface temperature gradient. The staff can be carried independently by an Extra-Vehicular Activity (EVA) astronaut, or can be mounted into a tripod for “hands free” support at a surface site being investigated. The staff can be attached to an external solar array and power storage system for long-duration operations. [1,2] ALSEP: An ASLEP flew on each mission Apollo 12 to Apollo 17. For Apollo 11, a simplified packaged called the Early Apollo Scientific Experiments Pack-age (EASEP) was flown. Each package included a “Central Station” that provided the power and communications connected to a variety of instruments and sensors. The power was provided by a Radioisotope Thermoelectric Generator (RTG) fueled by Plutoni-um-238 generating 70 watts of power (initially, decayed over time) [3]. The communications system provide for direct to Earth data transfer from the lunar surface. Each pack-age was stowed externally in the Lunar Module (LM) Scientific Equipment (SEQ) bay with a mass up to 163 kg (Apollo 17). The crew unloaded the ALSEP from the LM and deployed the instruments on the lunar surface. Although designed to operate for only 1 year, many sites operated for up to 8 years successfully [4]. The Active Seismic Experiment (ASE) included 3 geophones for detecting seismic waves created by mortars and thumpers deployed by the crew. Other active experiments measured the lunar atmosphere, the heat flow in the subsurface, the lunar gravity and potential gravity waves, the lunar magnetic field, the solar wind and plasma interactions in cislunar space. Passive experiments included collectors for dust and cosmic rays, and retroreflectors for precise measurements of distance using a laser from Earth. The ALSEP program continues to generate insights into lunar formation and evolution. ArLSEP Concepts: The lunar surface science package for the Artemis program will hopefully exceed the capability of the ALSEP. There are multiple issues for discussion leading to the design of a new ArLSEP, needing requirements definition from the science community, NASA mission architecture, and NASA budget planners. 1. Delivery Mechanism Two possible projects currently provide capability to deliver scientific cargo to the lunar surface: 1) the Commercial Lunar Payload Services (CLPS) [5] and the Human Landing System (HLS) [6, 7]. Each project is controlled by a different organization within NASA and budgeted with different criteria although both support lunar exploration. The HLS system delivers crew (and potentially cargo) to human landing sites. If an ArLSEP is “predeployed” to such a site, the design must include power (either from the vehicle or independently) to keep the electronics functioning until deployed by the crew. If an ArLSEP is delivered on a vehicle after the crew is present on the lunar surface, safety protocols require adequate distance from the humans for impact from descent propelled sur-face regolith ejecta. This distance can not exceed the capability of the crew to walk (if no rover) to the vehicle for ArLSEP deployment. 2. Overall Guidelines The general design of ArLSEP will likely follow the ALSEP with a common system for communications and power; however, significant architecture differences between Apollo and Artemis exist. Power: The RTG will not be available for early Artemis missions nor likely follow-on Lunar Exploration Transportation Services (LETS) missions [8]. Thus, ArLSEP power must be supplied by solar arrays with sufficient battery capability to “keep alive” necessary electronics during any lunar surface eclipse period. Communication: The Artemis program is developing a series of communications satellites for lunar orbit to provide surface transmission of data and voice to Earth. Called “LunaNET”, this network is component useful for ArLSEP since south polar locations may not always have direct “line-of-sight” to Earth [9]. 3. Concept of Operations (ConOps) The general ConOps for ArLSEP is to deliver the package to lunar surface before the crew arrives, and then have the crew deploy the package after some period of time. This requires coordinated design (for power systems) and launch window (for schedule) on both the cargo and crew missions. Once the ArLSEP is deployed, it will operate autonomously for a number of years. It should be designed to be EVA compatible for crew maintenance and upgrade. 4. Notional Design (for discussion purpose only) The landing site near the South Pole is expected to have no eclipse cycle exceeding 5 days, so the “keep alive” power is 144 hours (6 days to include margin). A 12v ArLSEP will use rechargeable LiFePO4 cells, which are common in the Electric Vehicle (EV) industry. With a current of 5 amps and a 125 watt system, the mass is about 90kg. The comm. system and structure adds another 10kg, thus the “Central Station” is approximately 100kg. The solar power is collected on four arrays (each 2m above the surface), and the entire ArLSEP is designed to stow in a 2m x 1m x 1m volume. The experiment and instrument design will vary for each installation and add mass to the total (although they are expected to fit within the 2m3 volume). Seismic wave generation will likely not be provided with mortars, thus an electric “thumper” will be required. Active instruments such as imaging systems and sensing instruments will benefit from the additional power and communication capability provided by ArLSEP. Passive systems such as retroreflectors, witness plates, and cosmic dust collectors can be added to either the landing vehicle and/or the ArLSEP. With repeated HLS missions to the same human site, the ArLSEP can be expanded and easily maintained for long duration science collection on the lunar surface.

ALSEP↗

NASA NTRS2021

Mass Inferencing Model Creation And Deployment To Lunar Excavation Robot, RASSOR

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. This research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. Radio wave propagation time to the Moon and back is ~2.56 seconds. Though teleoperation is possible with this delay, autonomous capability that enables RASSOR to plan and execute excavation missions intelligently and efficiently is preferred. To teleoperate or run autonomously, it is crucial for the quantity of regolith mass ingested by RASSOR to be available as a system state for efficient operation (e.g. knowledge of whether drums are full informs the task of highest priority, whether it be continuing to dig, or returning to a processing plant to offload regolith). A configurable data reduction and analysis pipeline was created to allow for straightforward incorporation of new data, such as that from lunar excavation, to improve model performance in new environments. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All four models take in system states and output a mass prediction for each set of the robot’s bucket drums. Initial results from deployment to RASSOR and testing in a simulated lunar environment show that the models have <10% mean error during robot operation. Future work includes refinement of a model that estimates regolith mass in real-time during excavation as well as further testing of the developed models on the hardware.

ROS↗

DOE OSTI2022

Advances in Secure 5G Network for a Nationwide Drone Corridor

Recent research has validated the proposal to add a separate set of antennas for 5G coverage in the air, while the conventional set of antennas continues to provide coverage on the ground, for a nationwide drone corridor for 5G cellular drones. More importantly, this drone corridor can be made secure and reliable by adapting the drone trajectories to avoid interference and security attacks, and with advanced precoding and physical layer security. Energy efficiency can also be improved with low-resolution massive multiple-input multiple-output (MIMO) systems that utilize low resolution digital to analog converters. This paper describes additional research findings to further support the creation of this nationwide drone corridor. We design optimal drone trajectory within the drone corridor to improve safety for pedestrians and vehicles on the ground. We derive the optimum antenna uptilt angle to minimize outage probability for a given drone corridor. We also study the placement of intelligent reflector surfaces in an urban drone corridor in order to improve the multi-path scattering and hence the spatial multiplexing gains for serving drones. We calculate trajectories to maximize data rate in the presence of smart interference when drones are used as relays and each drone may be deployed in the paths of data flows from multiple BSs to multiple UEs. Next we demonstrate how the use of the additional set of antennas along with the 3GPP standard based subframe blanking method can minimize the interference from ground reflection of the radio frequency (RF) radiation from the downtilted antennas. The paper concludes with plans to continue with experimental studies to advance this work further.

99 GENERAL AND MISCELLANEOUS↗

DOE OSTI2024

Identifying Controlling Variables for Mercury Vapors in Alpha-4 at Y-12: Two Year Data Collection Update

Multiple sensor packages were deployed at Alpha-4 by SRNL, in collaboration with United Cleanup Oak Ridge LLC (UCOR), to monitor mercury vapor concentrations and meteorological parameters. These sensors collected data, inside and outside of the legacy-use facility, for approximately two years. Though data gaps still exist, particularly in colder months, several controlling variables were identified that govern mercury vapor concentrations within Alpha-4. Temperature, barometric pressure gradients, humidity, and wind speed have been identified as controlling variables. A strong positive correlation was seen between mercury vapor concentrations and temperature which generally followed diurnal fluctuations. Temperatures below approximately 10 degrees Celsius did not show any spikes above the PEL, indicating more work can be performed at any time during the winter months – more data should be collected to confirm consistency in this finding. Additionally, spikes in mercury vapor concentrations above that of the permissible exposure limit (PEL; 100 µg/m 3 ) occurred primarily in late afternoon or evening/overnight hours (between 3 PM and 6 AM), which suggests D&D operations might be best scheduled during morning or daytime hours prior to the late afternoon. However, a limited number of spikes did occur outside of the identified window, although this may be attributed to disturbances in air flow and mercury vapor release from work activities performed inside of the Alpha-4 building. The analysis conducted allows for a strong predictive capability for estimating mercury vapor concentrations based upon accurate meteorological parameters. Still, additional data collection, particularly in the winter months, could help to strengthen the predictive power and validate the identified data trends. Further, increased temporal resolution could also help to better characterize the incipient stages of the increases and decreases in the mercury vapor concentration. Continued monitoring support by SRNL at Y-12 is underway at Alpha-4 to further close remaining data gaps and support deactivation and decommissioning work. Within a collaborative effort with UCOR, the SRNL team is collecting mercury vapor data to study the efficacy of a novel mercury suppressant, FerroBlack® which was recently deployed at Alpha-4. In addition, modifications to the current monitoring setup to increase measurement resolution is also being investigated.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2020

Biofuels Policies That Have Encouraged Their Production and Use: An International Perspective

This study evaluated the effectiveness of technology-push and market-pull policies in encouraging the production and use of biofuels in 15 countries including major biofuels producers. Biofuels production and consumption data for the 12-year period of 2006-2017 showed that in most of the surveyed countries, biofuels policies played an important role in developing and growing regional and national biofuels markets. Blending mandates continue to be the main market-pull policy used to create and expand biofuels markets. Countries with a mixture of market-pull and technology-push policy instruments have been most successful at increasing biofuels production and use and also developing and deploying less mature advanced biofuels. Most policies have primarily promoted the production and use of biofuels for road transport with key long-distance transport sectors (aviation and shipping) drawing less policy attention despite being significant fuel consumers and carbon emitters. While many older policies were originally developed to promote energy security, more recent policies, such as low carbon fuel standard, have reduction in the carbon intensity of transportation fuels as a primary goal. While policies have been essential in promoting the on-going growth of biofuels, they have not been sufficient to drive the level of development needed to decarbonize the transport sector.

biofuels for transport↗

NASA NTRS1973

Lunar atmospheric composition experiment

On the Apollo 17 mission, a miniature mass spectrometer, called the lunar atmospheric composition experiment (LACE), was carried to the moon as part of the Apollo lunar surface experiments package (ALSEP) to study the composition of and variation in the lunar atmosphere. The instrument was successfully deployed in the Taurus-Littrow valley with its entrance aperture oriented upward to intercept and measure the downward flux of gases at the lunar surface. Initial activation of the LACE instrument occurred on December 27, 1972, approximately 50 hr after sunset, and operation continued throughout the first lunar night. Sunrise brought a high background gas level and necessitated discontinuing operation during lunar daytime except for a brief check near noon. Near sunset, operation was resumed and continued throughout the night. This sequence was repeated for the second and third lunations.

J. H. Hoffman↗

NASA NTRS1991

The X-ray Timing Explorer

The capabilities and projected mission objectives of the X-ray Timing Explorer (XTE) are set forth with attention given to the components of the space explorer. The XTE instrument complement is reviewed and specific data and graphic descriptions are presented regarding the large-area proportional counter array, the all-sky monitor, and the high-energy crystal scintillation experiment. The XTE provides low-background continuous 2-200 keV response with large apertures, rapid maneuverability, and detailed energy-resolved studies of phenomena close to neutron stars. The synergism of the mission capabilities is shown to permit a powerful mechanism for timing and broad-band spectral studies after deployment by the NASA Explorer Platform in approximately 1995.

Bradt, H. V.↗