Search NASA⌕ Search

SEARCH · Search NASA

Results for “Modularity”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,135 records · Page 63
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

The algebraic structure of gravitational scrambling

We introduce a new algebraic framework to describe gravitational scrambling, including the semiclassical limit of any out-of-time-order correlation function that is built out of operator insertions separated by approximately the scrambling time. In two dimensions, the scrambling algebra, which we call a modular-twisted product, is defined in terms of two copies of the Leutheusser-Liu half-sided modular inclusion of von Neumann algebras; these describe early- and late-time operators respectively. In limits where the separation between insertions is taken to be either significantly greater or smaller than the scrambling time, the modular-twisted product reduces, respectively, to free- and tensor-product algebras that were previously studied in [arXiv:2209.10454]. In a sense, the modular-twisted product interpolates between these two products. Including the Hamiltonian in the scrambling algebra leads to a Type II$_\infty$ von Neumann algebra with finite renormalized entropies that interpolate between single-QES and multi-QES phases. We also describe how to generalize the modular-twisted product algebra to higher dimensions, including spatially localized boundary excitations.

FOS: Physical sciences↗
DOE OSTI2017

How to reduce Shutdown Dose Rates in ITER Diagnostics Equatorial Ports

The ITER vacuum vessel presents 54 access ports, arranged in three levels, where port plugs are inserted hosting different types of systems: test blanket modules, antennas, vacuum pumps, neutral beam injectors and diagnostics. At the equatorial level, nine out of the eighteen access ports present diagnostics port plugs, in which the diagnostics systems are deployed into three DSMs (Diagnostics Shield Modules). The DSMs, being a major constituent in volume of the port plugs, must help to fulfill the design target of Shutdown Dose Rates (SDDR) corresponding to 100 μSv.h{sup -1} after 10{sup 6} s of cooling time for planned in-situ maintenance operations in the port interspace. Additionally, the DSMs are largely responsible for the port plug drained weight limit of 45 T, which imposes limitations to the shielding technology. Up to now, all the proposed DSM designs combine differently stainless steel, water and/or B{sub 4}C as shielding to accommodate a maximum of 1.1 m{sup 3} of DSM bulk shield, contained into a L 1845 x W 518 x H 2011 mm stainless steel box weighting 5.8 T for each DSM. These proposals show insufficient shielding properties with respect to SDDR, while none of them satisfies currently the weight limit. However, during 2016, a new DSM concept has been developed, named 'modular DSM', with significant engineering advances and changes. The DSM length has been increased by 500 mm, up to 2345 mm. The SS box has been reduced to the minimum structure required, presenting the same weight while being larger and hosting a larger volume of bulk shielding inside. Thus, the volume of bulk shielding has been enlarged up to 1.5 m{sup 3} per DSM. The shielding technology is based on B{sub 4}C bricks deployed in SS trays that are attached to the vertical plates. This results in a bulk shielding made of 65% of B{sub 4}C, 10% SS and 25% void, with effective density of 2.4 g.cm{sup -3}. In summary, the modular DSM, without a weight increase, hosts extra 0.5 m3 of bulk shielding along an additional 500 mm of length, to be used with a light but highly neutron absorber, what allows fitting the weight limit of 45 T for the port plug once drained. From now, the non-modular DSMs will be referred as 'short DSMs'. The modular DSM's advantages with respect to the short DSM versions have shown that the DSMs design can be improved in generic approach, i.e. when the penetrations of the systems are not taken into consideration. A mention apart is required when port specific penetrations are considered. Provided that they will be an important radiation transmission path, their presence could significantly diminish the improvement. To clarify this issue, in this work we have carried out a nuclear analysis of the ITER equatorial port no. 11 integration considering the modular DSM. It is a first plasma port hosting the following 6 major diagnostics systems: Neutral Particle Analyzer (NPA), H-α monitor, Low Field Side (LFS) reflectometry, Visible - Ultraviolet divertor (VUV div), Visible - Ultraviolet core survey (VUV CS) and X-rays Crystal System (XRCS). For the baseline case, a SDDR matrix has been derived assigning responsibilities to the different EP no. 11 individual systems in terms of neutron flux transmission through them, and the related activation due to that neutron flux (activation of itself, but also of the rest of systems taken one by one). Different EP no. 11 configurations have been studied in addition to the baseline case. For example, the backfill of the port plug penetrations to protect all the empty space not required for systems sight. Another issue is the determination of the role of the Co impurity content minimization from 0.05 wt.% to 0.03 wt.% recently proposed. In this summary, only some results related to the baseline are given.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2022

Scattering strings off quantum extremal surfaces

We consider a Hayden & Preskill like setup for both maximally chaotic and sub-maximally chaotic quantum field theories. We act on the vacuum with an operator in a Rindler like wedge R and transfer a small subregion I of R to the other wedge. The chaotic scrambling dynamics of the QFT Rindler time evolution reveals the information in the other wedge. The holographic dual of this process involves a particle excitation falling into the bulk and crossing into the entanglement wedge of the complement to r = R\I. With the goal of studying the locality of the emergent holographic theory we compute various quantum information measures on the boundary that tell us when the particle has entered this entanglement wedge. In a maximally chaotic theory, these measures indicate a sharp transition where the particle enters the wedge exactly when the insertion is null separated from the quantum extremal surface for r. For sub-maximally chaotic theories, we find a smoothed crossover at a delayed time given in terms of the smaller Lyapunov exponent and dependent on the time-smearing scale of the probe excitation. The information quantities that we consider include the full vacuum modular energy R\I as well as the fidelity between the state with the particle and the state without. Along the way, we find a new explicit formula for the modular Hamiltonian of two intervals in an arbitrary 1+1 dimensional CFT to leading order in the small cross ratio limit. We also give an explicit calculation of the Regge limit of the modular flowed chaos correlator and find examples which do not saturate the modular chaos bound. Finally, we discuss the extent to which our results reveal properties of the target of the probe excitation as a “stringy quantum extremal surface” or simply quantify the probe itself thus giving a new approach to studying the notion of longitudinal string spreading.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2026

Novel thermal energy storage component: Development, performance, and phase transition diagnosis

Thermal energy storage (TES) using phase change materials (PCMs) is a promising technology for capturing and storing excess thermal energy for later use. However, challenges such as poor heat transfer efficiency and a lack of modular, scalable designs have limited widespread adoption of TES in real-world applications. This study developed and evaluated modular brick-type and blade-type TES prototypes featuring an aluminum housing, an embedded serpentine coil for active or passive thermal exchange, and a cost-effective metal mesh to enhance PCM thermal conductivity. The blade-type TES achieved notable geometric efficiency, with a thickness-to-length ratio of 0.03 and a thickness-to-width ratio of 0.08, enabling highly compact and modular thermal storage suitable for space-constrained applications. The paper presents a detailed evaluation of the TES prototypes’ performance. The comparative analysis indicated that the TES prototypes provide a highly cost-effective, thermally optimized alternative for compact energy storage and load shifting. A novel diagnostic technique was also introduced: using a portable endoscope to capture real-time visualizations of PCM phase transitions inside the TES. This method provides critical insights into internal heat transfer mechanisms, identifies potential issues, and offers valuable support for optimizing the TES design and developing the control algorithm. Overall, the modular brick-type and blade-type TES designs demonstrated in this work provide a scalable, efficient, and economically viable solution for advancing TES across residential, commercial, and industrial sectors. The designs’ compact structure, enhanced thermal performance, and integrated diagnostic capabilities make them strong candidates for future deployment in energy-efficient systems.

Gao, Zhiming [ORNL] (ORCID:0000000271397995)↗
DOE OSTI2020

Engineered Biosynthesis of Alkyne-Tagged Polyketides by Type I PKSs

Polyketides produced by modular polyketide synthases (PKSs) are important small molecules widely used as drugs, pesticides, and biological probes. Tagging these polyketides with a clickable functionality enables the visualization, diversification, and mode of action study through bio-orthogonal chemistry. We report the de novo biosynthesis of alkyne-tagged polyketides by modular type I PKSs through starter unit engineering. Specifically, we use JamABC, a terminal alkyne biosynthetic machinery from the jamaicamide B biosynthetic pathway, in combination with representative modular PKSs. We demonstrate that JamABC works as a trans loading system for engineered type I PKSs to produce alkyne-tagged polyketides. In addition, the production efficiency can be improved by enhancing the interactions between the carrier protein (JamC) and PKSs using docking domains and site-directed mutagenesis of JamC. This work thus provides engineering guidelines and strategies that are applicable to additional modular type I PKSs to produce targeted alkyne-tagged metabolites for chemical and biological applications.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

PluginPlay: Enabling exascale scientific software one module at a time

For many computational chemistry packages, being able to efficiently and effectively scale across an exascale cluster is a heroic feat. Collective experience from the Department of Energy’s Exascale Computing Project suggests that achieving exascale performance requires far more planning, design, and optimization than scaling to petascale. In many cases, entire rewrites of software are necessary to address fundamental algorithmic bottlenecks. This in turn requires a tremendous amount of resources and development time, resources that cannot reasonably be afforded by every computational science project. It thus becomes imperative that computational science transition to a more sustainable paradigm. Key to such a paradigm is modular software. While the importance of modular software is widely recognized, what is perhaps not so widely appreciated is the effort still required to leverage modular software in a sustainable manner. The present manuscript introduces PluginPlay, https://github.com/NWChemEx-Project/PluginPlay, an inversion-of-control framework designed to facilitate developing, maintaining, and sustaining modular scientific software packages. Here this manuscript focuses on the design aspects of PluginPlay and how they specifically influence the performance of the resulting package. Although, PluginPlay serves as the framework for the NWChemEx package, PluginPlay is not tied to NWChemEx or even computational chemistry. We thus anticipate PluginPlay to prove to be a generally useful tool for a number of computational science packages looking to transition to the exascale.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2025

Scoping Analysis of Pebble-Bed Reactors for the Destruction of the Transuranic Inventory of LWR Spent Nuclear Fuel

With the forecasted increase in the construction and operation of nuclear reactors, there will be a corresponding increase in the quantity of spent nuclear fuel (SNF) that requires long-term storage. In SNF, transuranic isotopes contribute the most to the long-term radiotoxicity of the fuel and pose a proliferation risk. One option that has been explored to address these issues is the removal of the transuranic isotopes from SNF and the conversion of these isotopes into transuranic fuel (TRU fuel). Here, this work sought to determine how effective a micro-modular Pebble-Bed High-Temperature Gas-Cooled Reactor (PB-HTGR); the 10-MW High Temperature Gas-cooled Test Reactor (HTR-10); and a salt-cooled small-modular pebble-bed reactor (PBR), i.e. the generic Fluoride-cooled High-temperature Reactor (gFHR), are at reducing the inventory of transuranic isotopes while still maintaining the intrinsic safety features of the PBR designs, such as negative temperature coefficients of reactivity. Optimized pebble designs utilizing TRU fuel were found for both reactors through the adjustment for the packing fraction of fuel in each pebble. The Axial Zone Equilibrium Modeling (A-ZEM) method was used in this work to help select the optimized pebble design. Once an optimized pebble design was selected and an equilibrium model was produced, the results from the deep burn (DB) HTR-10 and gFHR designs were compared to the results of two models from the literature. While both the DB gFHR and the DB HTR-10 were able to reduce the weapons-usable transuranic inventory, the performance of these reactors did not match that of the small-modular PB-HTGRs in the literature. Therefore, a need was identified for further refinement of the gFHR design using TRU fuel, as the results for this model were more promising than those of the DB HTR-10, which was strongly limited by the high leakage intrinsic to micro-modular PB-HTGRs.

Transuranic fuel↗
DOE OSTI2019

Spectral analysis for the M AJORNA D EMONSTRATOR experiment

The M AJORNA D EMONSTRATOR is an experiment constructed to search for neutrinoless double-beta decays in germanium-76 and to demonstrate the feasibility to deploy a ton-scale experiment in a phased and modular fashion. It consists of two modular arrays of natural and 76 Ge-enriched germanium detectors totaling 44.1kg (29.7kg enriched detectors), located at the 4850' level of the Sanford Underground Research Facility in Lead, South Dakota, USA. Data taken with this setup since summer 2015 at different construction stages of the experiment show a clear reduction of the observed background index around the ROI for 0$νββ$- decay search due to improvements in shielding. We discuss the statistical approaches to search for a 0$νββ$-signal and derive the physics sensitivity for an expected exposure of 10kg y from enriched detectors using a profile likelihood based hypothesis test in combination with toy Monte Carlo data.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2019

Data quality assurance for the Majorana Demonstrator

The Majorana Demonstrator is an experiment constructed to search for neutrinoless double-beta decays in germanium-76 and to demonstrate the feasibility to deploy a large-scale experiment in a phased and modular fashion. It consists of two modular arrays of natural and 7648 Ge-enriched germanium detectors totalling 44.1 kg, located at the 4850' level of the Sanford Underground Research Facility in Lead, South Dakota, USA. Any Neutrinoless double-beta decay search requires a thorough understanding of the background and the signal energy spectra. This talk will discuss the various techniques employed to ensure the integrity of the measured spectra. Data collection is monitored with a thorough set of checks, and subsequent careful analysis is performed to qualify the data for higher level physics analysis. Instrumental background events are tagged for removal, and problematic channels are removed from consideration as necessary.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2017

Spatial atomic layer deposition for coating flexible porous Li-ion battery electrodes

Ultrathin atomic layer deposition (ALD) coatings on the electrodes of Li-ion batteries can enhance the capacity stability of the Li-ion batteries. To commercialize ALD for Li-ion battery production, spatial ALD is needed to decrease coating times and provide a coating process compatible with continuous roll-to-roll (R2R) processing. The porous electrodes of Li-ion batteries provide a special challenge because higher reactant exposures are needed for spatial ALD in porous substrates. This work utilized a modular rotating cylinder spatial ALD reactor operating at rotation speeds up to 200 revolutions/min (RPM) and substrate speeds up to 200 m/min. The conditions for spatial ALD were adjusted to coat flexible porous substrates. The reactor was initially used to characterize spatial Al2O3 and ZnO ALD on flat, flexible metalized polyethylene terephthalate foils. These studies showed that slower rotation speeds and spacers between the precursor module and the two adjacent pumping modules could significantly increase the reactant exposure. The modular rotating cylinder reactor was then used to coat flexible, model porous anodic aluminum oxide (AAO) membranes. The uniformity of the ZnO ALD coatings on the porous AAO membranes was dependent on the aspect ratio of the pores and the reactant exposures. Larger reactant exposures led to better uniformity in the pores with higher aspect ratios. The reactant exposures were increased by adding spacers between the precursor module and the two adjacent pumping modules. The modular rotating cylinder reactor was also employed for Al2O3 ALD on porous LiCoO2 (LCO) battery electrodes. Uniform Al coverages were obtained using spacers between the precursor module and the two adjacent pumping modules at rotation speeds of 25 and 50 RPM. The LCO electrodes had a thickness of ~49 um and pores with aspect ratios of ~12-25. Coin cells were then constructed using the ALD-coated LCO electrodes and were tested to determine their battery performance. The capacity of the Al2O3 ALD-coated LCO battery electrodes was measured versus the number of charge-discharge cycles. Both temporal and spatial ALD processing methods led to higher capacity stability compared with uncoated LCO battery electrodes. The results for improved battery performance were comparable for temporal and spatial ALD-coated electrodes. The next steps are also presented for scale-up to R2R spatial ALD using the modular rotating cylinder reactor.

25 ENERGY STORAGE↗
DOE OSTI2015

Insights into Substrate Specificity of NlpC/P60 Cell Wall Hydrolases Containing Bacterial SH3 Domains

ABSTRACT Bacterial SH3 (SH3b) domains are commonly fused with papain-like Nlp/P60 cell wall hydrolase domains. To understand how the modular architecture of SH3b and NlpC/P60 affects the activity of the catalytic domain, three putative NlpC/P60 cell wall hydrolases were biochemically and structurally characterized. These enzymes all have γ- d -Glu-A 2 pm (A 2 pm is diaminopimelic acid) cysteine amidase (or dl -endopeptidase) activities but with different substrate specificities. One enzyme is a cell wall lysin that cleaves peptidoglycan (PG), while the other two are cell wall recycling enzymes that only cleave stem peptides with an N-terminal l -Ala. Their crystal structures revealed a highly conserved structure consisting of two SH3b domains and a C-terminal NlpC/P60 catalytic domain, despite very low sequence identity. Interestingly, loops from the first SH3b domain dock into the ends of the active site groove of the catalytic domain, remodel the substrate binding site, and modulate substrate specificity. Two amino acid differences at the domain interface alter the substrate binding specificity in favor of stem peptides in recycling enzymes, whereas the SH3b domain may extend the peptidoglycan binding surface in the cell wall lysins. Remarkably, the cell wall lysin can be converted into a recycling enzyme with a single mutation. IMPORTANCE Peptidoglycan is a meshlike polymer that envelops the bacterial plasma membrane and bestows structural integrity. Cell wall lysins and recycling enzymes are part of a set of lytic enzymes that target covalent bonds connecting the amino acid and amino sugar building blocks of the PG network. These hydrolases are involved in processes such as cell growth and division, autolysis, invasion, and PG turnover and recycling. To avoid cleavage of unintended substrates, these enzymes have very selective substrate specificities. Our biochemical and structural analysis of three modular NlpC/P60 hydrolases, one lysin, and two recycling enzymes, show that they may have evolved from a common molecular architecture, where the substrate preference is modulated by local changes. These results also suggest that new pathways for recycling PG turnover products, such as tracheal cytotoxin, may have evolved in bacteria in the human gut microbiome that involve NlpC/P60 cell wall hydrolases.

Xu, Qingping↗
DOE OSTI2020

Lessons from the Ramond sector

We revisit the consistency of torus partition functions in (1+1)d fermionic conformal field theories, combining old ingredients of modular invariance/covariance with a modernized understanding of bosonization/fermionization dualities. Various lessons can be learned by simply examining the oft-ignored Ramond sector. For several extremal/kinky modular functions in the bootstrap literature, we can either rule out or identify the underlying theory. We also revisit the N = 1 Maloney-Witten partition function by calculating the spectrum in the Ramond sector, and further extending it to include the modular sum of seed Ramond characters. Finally, we perform the full N = 1 RNS modular bootstrap and obtain new universal results on the existence of relevant deformations preserving different amounts of supersymmetry.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2014

Development of an Automated Decision-Making Tool for Supervisory Control System

This technical report was generated as a product of the Supervisory Control for Multi-Modular Small Modular Reactor (SMR) Plants project within the Instrumentation, Control and Human-Machine Interface technology area under the Advanced Small Modular Reactor (AdvSMR) Research and Development Program of the US Department of Energy. The report documents the definition of strategies, functional elements, and the structural architecture of a supervisory control system for multi-modular AdvSMR plants. This research activity advances the state of the art by incorporating real-time, probabilistic-based decision-making into the supervisory control system architectural layers through the introduction of a tiered-plant system approach. The report provides background information on the state of the art of automated decision-making, including the description of existing methodologies. It then presents a description of a generalized decision-making framework, upon which the supervisory control decision-making algorithm is based. The probabilistic portion of automated decision-making is demonstrated through a simple hydraulic loop example.

42 ENGINEERING↗
DOE OSTI2021

Open Radiation Monitoring: Histogram Builder Module Design

The Open Radiation Monitoring 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. A modular architecture can be used to reduce more complex systems to a series of single purpose building blocks, 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 details the first revision of a prototype circuit that will convert analog pulses directly into a histogrammed data set for further processing. The circuit was designed with both spectroscopy and multiplicity analysis in mind but can, in principle, be used to reduce any raw data stream into a histogram. The number of output channels is limited, and the histogram bin ranges are user configurable to allow for non-uniform and discontinuous bins, which makes it possible to restrict the information being passed down stream if desired. Pulse processing relies entirely on analog circuitry and non- programmable logic, which enables operation without the need for a central processor or other programmable control unit. The circuit remains untested under the Open Radiation Monitoring project due to the closure of the sponsoring program. However, further development and testing is scheduled to take place in support of a purpose-built trusted verification system development effort known as COGNIZANT, which demonstrates the potential benefit of developing a suite of modular trusted system components.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

“Hybridizing heat-integrated 3D printed modules with mass manufacturable, low pressure drop fiber sorbents” (Final Report)

The overall objective of this proposal was to research, develop, and evaluate a modular direct air capture (DAC) system that is simple and scalable. This system was based on the adsorption of CO 2 into commercial polyamines supported by porous fiber sorbents, which can be produced at kilometer per hour scales using our pre-pilot spinning line. We have housed these fiber materials in novel 3D printed modular housing systems that provide easy-to-manufacture and localized heat integration and flow control. This hybridization of fiber sorbent technology with modular housing provided several advantages that led to lower air pressure drops, higher sorbent productivity, as well as ease of manufacturing and assembly unrivaled by existing and emerging heat integrated contactor designs. The modular housing was fabricated with the following features, at a minimum: (i) a tapered air intake to reduce pressure drop related to entrance effects, (ii) a structured network of heat transfer channels to enable localized cooling and heating during adsorption and desorption, respectively, and (iii) low pressure drop supports for the fiber sorbents. This hybrid manufacturing approach provides a facile method for taking fiber sorbents from lab scale to pilot scale as it dramatically simplifies the fabrication of heat integrated contactor structures.

42 ENGINEERING↗
DOE OSTI2023

The Circular Home: Development and Demonstration of a Net Negative Carbon, Reusable Residence

This project started the development of an innovative modular building system intended for residential construction. The project was centered around single-family homes that were carbon-negative cradle-to-grave over a 100 year time frame, which is approximately double the current standard for operational life. The project sought to accomplish this objective by designing the modular home in a manner that ensures circularity, where the main house components can be used over several consecutive 50-year lifespans. To accomplish these objectives, this project utilized integrated design with the inclusion of life-cycle assessment to design the single-family house for architectural, structural, energy, mechanical, thermal, and moisture demands, while ensuring carbon negativity and annual net-zero energy use. The core technology of this project was the use of cross-laminated timber and biogenic materials, such as wood-fiber insulation, in the construction of the modular building units. The robustness and factory manufacturing ability of cross-laminated timber allow for factory construction of most of the home, which minimizes on-site time, saving money and reducing construction waste. During this project, initial milestones were met that delivered the architectural plans for the circular home and an initial structural testing matrix. Compared to current code-built homes, which average 13 kg CO2eq. / ft2 and are demolished at their end of life, the circular home has an estimated -30 kg CO2eq. / ft2 of embodied carbon emissions during its first build iteration. It is estimated that approximately 60%-70% of the total building mass could be reused and/or recycled during subsequent rebuilds. This project was concluded at approximately the 1/3 point and a separate project was established to conclude the remaining milestones. This project promises to benefit the public by delivering another option for single-family, and eventually multi-family, housing using a novel building construction system. The system of reusable modular construction facilitates not only lower emissions during the first building iteration, but also lower emissions during subsequent iterations that drastically reduce waste and help society meet its climate goals. Many other industries, such as clothing and technology sectors, are starting to focus on circularity and this project adds the residential building construction industry to that list.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2014

Anode-cathode power distribution systems and methods of using the same for electrochemical reduction

Power distribution systems are useable in electrolytic reduction systems and include several cathode and anode assembly electrical contacts that permit flexible modular assembly numbers and placement in standardized connection configurations. Electrical contacts may be arranged at any position where assembly contact is desired. Electrical power may be provided via power cables attached to seating assemblies of the electrical contacts. Cathode and anode assembly electrical contacts may provide electrical power at any desired levels. Pairs of anode and cathode assembly electrical contacts may provide equal and opposite electrical power; different cathode assembly electrical contacts may provide different levels of electrical power to a same or different modular cathode assembly. Electrical systems may be used with an electrolyte container into which the modular cathode and anode assemblies extend and are supported above, with the modular cathode and anode assemblies mechanically and electrically connecting to the respective contacts in power distribution systems.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2017

Novel Serpentine Robot Combinations for Inspection in Hard-to-Reach Areas of Damaged or Decommissioned Structures - 17335

U.S. government agencies, particularly the Dept. of Energy, need robotic tools to handle and inspect high-consequence materials - materials for which mishandling would result in great risk to both application operators and the general public. The remediation and documentation of nuclear waste has become a problem of national significance and it cannot be addressed without robotic tools. The use of robots bypasses the danger and decreases the preparation time to handle harmful materials. In the 1980's and 90's, the US Dept. of Energy (DOE) invested heavily in robotic technologies as part of a comprehensive program of research and development aimed at enabling safer and more efficient cleanup of nuclear waste sites. For the next generation of harder, more complex clean-up problems, there is a clear need for more R and D. There is a clear need for flexible, quickly deployable robotic technologies that can be configured to respond to unforeseen situations -- or can be purpose-built for planned activities -- while keeping human workers safe, yet effective. Modularity and inter-operability are core capabilities for inspection tasks in contaminated facilities with a large variety of inspection problems. With any tool, familiarity breeds ingenuity, and ingenuity leads to new innovations in efficiency, effectiveness, safety, and performance. For example, the simple screwdriver can be held fourteen different ways by an experienced machinist who knows exactly what he or she wants to accomplish at any given moment. As a tool, robots are no different. To maximize the efficiency, effectiveness, safety and performance, redeployment and reuse of familiar tools is essential. Modularity can assist with re-deployment and modularity manifests itself in both hardware and software. In some applications of inspection of high-consequence materials, a common concern has been the simplicity of the tool -- often correlated with cost (which is not always accurate) -- in case it becomes unrecoverable. In the case of robots, which have complex user interfaces and complex dynamics of interaction, the lack of familiarity can lead to clumsy operations and reduced accumulation of knowledge. As a result, while incremental successes may be achieved with sequential uses of different robots, there often is little knowledge gain that is generalizable across multiple uses. Total cost often goes down when a more sophisticated, but more familiar tool, can be used more frequently.An example is the inspection of the H-Canyon Exhaust Air Tunnel at the Savannah River Site nuclear waste facility in the United States [1]. This is a particularly nasty environment, due to the acidic gases, large amounts of erosion and debris, and wet, mucky puddles. Over the past twelve years, six inspections have been attempted with five different robotic vehicles. In fact, these inspections have been successful with their limited, but progressively increasing objectives, although most robots have been abandoned in the tunnel. While each vehicle has cost less than $75,000 (the sacrificial part), the total costs of development have been much higher. The robots used to investigate changed much from iteration to iteration and it is not clear a strong body of generalizable expertise was built up across trials. The authors of this study demonstrated the combination of two types of modular, serpentine, re-configurable robots for locomotion over complex terrains and the inspection of hard-to-reach areas. The MOTHERSHIP is a tread/limb/serpentine hybrid robot design for locomotion over complex terrains, while the CMU snake robot provides highly articulated inspection of highly confined spaces. The demonstration at the Portsmouth Gaseous Diffusion Plant involves a combination of the two whereby gross locomotion is achieved with the MOTHERSHIP and the CMU Snake deploys a sensor package to gather data from behind and under obstacles. Although statically configured in its present state, the combined robot is built of individual modules for which reconfiguration has been demonstrated in both labs at Purdue and CMU. In future work, much higher degrees of reconfiguration and re-purposing of both software and hardware are easily achievable with these unique platforms. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗