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 OSTI2013

A Single Tower Configuration of the Modular Gamma Box Counter System - 13392

Canberra's Standard Gamma Box Counter System is designed to perform accurate quantitative assays of gamma emitting nuclides for a wide range of large containers including B-25 crates and ISO shipping containers. Using a modular building-block approach, the system offers tremendous flexibility for a variety of measurement situations with wide ranges of sample activities and throughput requirements, as well as the opportunity to modify the configuration for other applications at a later date. The typical configuration consists of two opposing towers each equipped with two high purity germanium detectors, and an automated container trolley. This paper presents a modified configuration, consisting of a single tower placed inside a measurement trailer with three detector assemblies, allowing for additional vertical segmentation as well as a viewing a container outside the trailer through the trailer wall. An automatic liquid nitrogen fill system is supplied for each of the detectors. The use of a forklift to move the container for horizontal segmentation is accommodated by creating an additional operational and calibration set-up in the NDA 2000 software to allow for the operator to rotate the container and assay the opposite side, achieving the same sensitivity as a comparable two-tower system. This Segmented Gamma Box Counter System retains the core technologies and design features of the standard configuration. The detector assemblies are shielded to minimize interference from environmental and plant background, and are collimated to provide segmentation of the container. The assembly positions can also be modified in height and distance from the container. The ISOCS calibration software provides for a flexible approach to providing the calibrations for a variety of measurement geometries. The NDA 2000 software provides seamless operation with the current configuration, handling the data acquisition and analysis. In this paper, an overview of this system is discussed, along with the measured performance results, calibration methodology and verification, and minimum detectable activity levels. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2013

Westinghouse Modular Grinding Process - Enhancement of Volume Reduction for Hot Resin Supercompaction - 13491

In nuclear power plants (NPP) ion exchange (IX) resins are used in several systems for water treatment. Spent resins can contain a significant amount of contaminates which makes treatment for disposal of spent resins mandatory. Several treatment processes are available such as direct immobilization with technologies like cementation, bitumisation, polymer solidification or usage of a high integrity container (HIC). These technologies usually come with a significant increase in final waste volume. The Hot Resin Supercompaction (HRSC) is a thermal treatment process which reduces the resin waste volume significantly. For a mixture of powdered and bead resins the HRSC process has demonstrated a volume reduction of up to 75 % [1]. For bead resins only the HRSC process is challenging because the bead resins compaction properties are unfavorable. The bead resin material does not form a solid block after compaction and shows a high spring back effect. The volume reduction of bead resins is not as good as for the mixture described in [1]. The compaction properties of bead resin waste can be significantly improved by grinding the beads to powder. The grinding also eliminates the need for a powder additive.Westinghouse has developed a modular grinding process to grind the bead resin to powder. The developed process requires no circulation of resins and enables a selective adjustment of particle size and distribution to achieve optimal results in the HRSC or in any other following process. A special grinding tool setup is use to minimize maintenance and radiation exposure to personnel. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Proliferation resistance of small modular reactors fuels

In this paper the proliferation resistance of different types of Small Modular Reactors (SMRs) has been examined and classified with criteria available in the literature. In the first part of the study, the level of proliferation attractiveness of traditional low-enriched UO{sub 2} and MOX fuels to be used in SMRs based on pressurized water technology has been analyzed. On the basis of numerical simulations both cores show significant proliferation risks. Although the MOX core is less proliferation prone in comparison to the UO{sub 2} core, it still can be highly attractive for diversion or undeclared production of nuclear material. In the second part of the paper, calculations to assess the proliferation attractiveness of fuel in typical small sodium cooled fast reactor show that proliferation risks from spent fuel cannot be neglected. The core contains a highly attractive plutonium composition during the whole life cycle. Despite some aspects of the design like the sealed core that enables easy detection of unauthorized withdrawal of fissile material and enhances proliferation resistance, in case of open Non-Proliferation Treaty break-out, weapon-grade plutonium in sufficient quantities could be extracted from the reactor core.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2017

Modular Caustic-Side Solvent Extraction Unit (MCU) Improved Solvent Quality and Processing Results - 17496

The Modular Caustic-Side Solvent Extraction (CSSX) Unit (MCU) is a process for Cs-137 removal from legacy nuclear waste. MCU began hot operations in 2008 with an initial planned operating life of three years and a design life of five years. After eight years of operation, MCU has processed more than 23.8 million liters (6.3 million gallons) of waste. The MCU process uses a solvent developed by Oak Ridge National Laboratory (ORNL) to extract the fission product Cs-137 from liquid salt waste, or salt solution (SS), stored in the Tank Farms at Savannah River Site (SRS) after the material has been treated through the Actinide Removal Process (ARP). Batches of SS are prepared and first fed to the ARP, where it is treated to become clarified SS (CSS), then fed to MCU. Once the Cs-137 has been extracted by the solvent, the CSS becomes decontaminated SS (DSS), which is ultimately processed into a cementitious grout at the Saltstone Production Facility (SPF) and subsequently disposed of at the Saltstone Disposal Facility (SDF). The Cs-137 is then stripped from the solvent into an aqueous strip effluent (SE) stream for incorporation into borosilicate glass at the Defense Waste Processing Facility (DWPF). The solvent used in the MCU process is made of four components: the extractant (extracts Cs-137 from CSS), the modifier (increases solubility of extractant and suppressor in the diluent), the suppressor (suppresses the effects of anions and improves stripping), and the diluent (controls density and viscosity). There have been two solvents utilized during the lifetime of MCU. The first solvent was developed by ORNL and was used to design the plant based on its cesium removal capability. Due to the extended life of MCU, in order to continue to minimize the curies disposed at SDF, a new solvent capable of removing more cesium from the CSS was developed by ORNL and implemented at MCU. The second MCU solvent, Next-Generation Solvent (NGS), uses the same modifier and diluent as the original solvent, but a different extractant and suppressor. Subsequent changes to the overall MCU flowsheet were made for the use of NGS. The success of cesium removal from the CSS is often presented as the cesium decontamination factor (DF) achieved for each batch processed. The DF is the ratio of the concentration of cesium in the CSS to the cesium concentration in the DSS. The BOBCalixC6 based solvent was capable of achieving DFs between 100 and 400 for each DSS batch. The NGS solvent is capable of achieving DFs greater than 40,000 for each DSS batch. The NGS blend solvent is currently meeting the goals of the pure NGS solvent. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2015

Next generation solvent performance in the modular caustic side solvent extraction process - 15495

Changes to the Modular Caustic Side Solvent Extraction Unit (MCU) flow-sheet were implemented in the facility. Implementation included changing the scrub and strip chemicals and concentrations, modifying the O/A ratios for the strip, scrub, and extraction contactor banks, and blending the current BoBCalixC6 extractant based solvent in MCU with clean MaxCalix extractant based solvent. During the successful demonstration period, the MCU process was subject to rigorous oversight to ensure hydraulic stability and chemical/radionuclide analysis of the key process tanks (caustic wash tank, solvent hold tank, strip effluent hold tank, and decontaminated salt solution hold tank) to evaluate solvent carryover to downstream facilities and the effectiveness of cesium removal from the liquid salt waste. Results indicated the extraction of cesium was significantly more effective with an average Decontamination Factor (DF) of 1,129 (range was 107 to 1,824) and that stripping was effective. The contactor hydraulic performance was stable and satisfactory, as indicated by contactor vibration, contactor rotational speed, and flow stability; all of which remained at or near target values. Furthermore, the Solvent Hold Tank (SHT) level and specific gravity was as expected, indicating that solvent integrity and organic hydraulic stability were maintained. The coalescer performances were in the range of processing results under the BOBCalixC6 flow sheet, indicating negligible adverse impact of NGS deployment. After the Demonstration period, MCU began processing via routine operations. Results to date reiterate the enhanced cesium extraction and stripping capability of the Next Generation Solvent (NGS) flow sheet. This paper presents process performance results of the NGS Demonstration and continued operations of MCU utilizing the blended BobCalixC6-MaxCalix solvent under the NGS flowsheet. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2016

Facility Improvements and Modifications to Extend the Operational Life of the Modular Caustic-Side Solvent Extraction Process - 16082

Savannah River Remediation, LLC (SRR) is working to remove, stabilize, and dispose of approximately 36.7 million gallons (138.9 million liters) of liquid radioactive waste currently stored in 43 underground waste tanks, and ultimately close waste tanks. In 2008, as an interim salt treatment system to remove cesium from high level waste salt solutions prior to the Salt Waste Processing Facility start up, the Modular Caustic-Side Solvent Extraction Unit (MCU) initiated the removal of cesium from liquid radioactive salt waste prior to disposal. The MCU was designed and built for an expected three-year operational life and five-year design life. The first MCU cold runs began in June 2007 and hot startup was completed in April 2008. MCU remains in hot operation to this day, aiding in multiple, high-level tank closures. In an effort to continue liquid waste disposition at the Savannah River Site (SRS), equipment upgrades and operational improvements have been made to extend the life of the MCU beyond the original three years. Several pieces of fixed equipment have been converted into removable equipment which reduces the downtime associated with equipment change-outs and thereby reduces the dose to workers and processing impacts. Multiple pumps and filters have been upgraded to more robust designs. Process monitoring and controls have been upgraded to improve process performance. Redundant centrifugal contactor vibration equipment has been installed on each contactor in order to better assess the reliability, processing performance, and lifetime of the contactors. A new Solvent Hold Tank (SHT) Sampler has been installed to minimize the organic cross-contamination within the sampler, dose to workers, and sample analysis time. To increase processing availability and aid in visually obtained data, camera port has been added to the Salt Solution Feed Tank (SSFT). In order to decrease the overall background dose to the workers, the Process Vessel Ventilation (PVV) duct work now has the capability to be flushed to remove contamination. The caustic wash addition system has been modified to be a once-through system to improve equipment reliability, decrease downtime, and decrease dose to workers. In addition, the solvent that MCU utilizes to extract Cesium out of salt waste has been upgraded to Next Generation Solvent (NGS) which is based on MaxCalix extractant instead of a BobCalix extractant. Further, these upgrades and improvements have allowed MCU to be able to process at higher flow rates (up to 8.5 GPM) and with increased throughput (as high as 1.3 million gallons in FY13 and 5.3 million gallons since hot operations initiated) that have allowed SRR to continue the disposition of nuclear salt waste. The continued operation of MCU ensures more curies are stabilized into a glass matrix at SRS's Defense Waste Processing Facility (DWPF) and less curies are retained within South Carolina at SRS's Saltstone Disposal Facility (SDF). Unique challenges associated with modifying and improving a demonstration plant that is in hot operations and was designed to be temporary with a limited plant footprint have been successfully overcome. Further, creative strategies for removing old equipment have been utilized given the limited decontamination agents available for use that will not interfere with the organic solvent. This paper presents and discusses the deployment of these upgrades and operational improvements to MCU in order to allow continued, increased salt waste processing beyond the initial design life. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2016

Application of Modular Design in Abatement of Fuel Element Debris (FED) Liquid Waste Stream - 16635

This paper provides a description of the processes applied within the Aqueous Discharge Abatement Plant (ADAP) at Bradwell nuclear power plant in the UK. This incorporates the Fuel Element Debris (FED) abatement plant and the Modular Active Effluent Treatment Plant (MAETP). These plants are housed in adjacent, but separate, structures and are inter-linked and share common services and control systems. The FED abatement plant, which has a shorter mission than MAETP, can be removed for decommissioning or redeployment without any impact to MAETP operation. ADAP treats aqueous waste streams generated during the ongoing decontamination and decommissioning (D and D) operations for release from the Bradwell Power Station. The plant is designed to receive and treat two major classes of liquids: 1. Slightly contaminated water from various D and D sources and collected rainwater from the power station, referred to as Aqueous Effluent (AE). 2. Dissolved fuel element debris solution. This comprises of contaminated magnesium alloy (generated during the stripping of external structures from spent Magnox fuel elements prior to shipment for reprocessing) which has been dissolved in nitric acid. All received wastes are treated to remove heavy metals and radioactive constituents prior to isolation, sampling, verification, and ultimately release to the Blackwater Estuary. The treatment consists of multiple processes including precipitation, filtration, adsorption and ion exchange carefully designed to remove targeted radionuclides and heavy metals. (authors)

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

Challenges and Solutions in Operation and Lay-Up of the Modular Caustic- Side Solvent Extraction Unit - 20078

The Modular Caustic-Side Solvent Extraction (CSSX) Unit (MCU) was designed and constructed to provide interim salt waste processing so that the Liquid Waste Disposition Program (LWDP) could continue waste removal and tank closure until start-up of the Salt Waste Processing Facility (SWPF). MCU processes Clarified Salt Solution (CSS), or salt solution (SS) that has undergone actinide removal/filtration, to produce two waste streams: the cesium laden Strip Effluent (SE), which is incorporated into glass at the Defense Waste Processing Facility (DWPF), and the cesium depleted Decontaminated SS (DSS), which is incorporated into grout at the Saltstone Production Facility (SPF). MCU completed start-up in 2008 with an initial operating life of 3 years and design life of 5 years. Prior to reaching the end of the design life, multiple critical components were upgraded and/or replaced to mitigate risks associated with any delays in SWPF start-up. During the remainder of operation (until June 2019), MCU was challenged to maximize processing with minimal additional modifications to repair/improve aging infrastructure, while maintaining low levels of risk to workers and the environment. Notable challenges during the extended operating life of the facility involved both mechanical and operational issues. Two of the most significant issues were the increased frequency of Process Vessel Ventilation (PVV) High Efficiency Particulate Air (HEPA) filter change-outs and the biofouling of the SE coalescer (SEC). The major impacts of both issues were that replacement of these components 1) resulted in high exposure to workers, and 2) required substantial downtime, thus hindering achievement of processing goals. PVV HEPA filter replacements are required based on dose rate and differential pressure (dP) limits. After introducing a higher-curie feed to MCU, the operating time between change outs was reduced by approximately half. SEC replacements are required based on dP limits. After restarting from an extended outage, the operating life of the SEC was significantly reduced by more than half due to biofouling. As a result of extensive troubleshooting and process improvements, the facility was able to recover performance and extend the operating life of the PVV HEPA filters and the SEC media. Through troubleshooting both of these issues, the facility was also able to learn from prior experience and adapt in order to minimize down time and maintain throughput. Although the facility took advantage of short periods of downtime to perform nonintrusive troubleshooting and minor corrective/preventative maintenance activities, longer outages were periodically required for corrective maintenance involving process cell entry. During these outages, remote tools and specialized shield plates were employed to minimize dose to workers. Mock-ups of non-routine maintenance activities were critical to early identification of potential issues and improvements, which shortened outage duration. Consistent with the facility's operational strategy, evolutions needed for MCU layup were identified and sequenced to ensure safe conditions within the facility, meet pre-defined criteria for lay-up configuration, and protect workers, while minimizing the impact to SWPF integration. De-inventory and flushing of process areas was prioritized so that the total residual inventory was reduced as efficiently as possible. This paper discusses lessons learned and best practices from troubleshooting unique issues, performing complex maintenance activities, and implementing a layup strategy that best supports the overall system mission. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

Modular Coaxial Power Converter for High-Density Integration into Medium-Voltage Cables

This work proposes to combine the functionality benefits of power electronics with the power density benefits of medium-voltage cables to create a streamlined, high-density power electronics solution that seamlessly integrates with medium-voltage cables. Located at the ends of a medium- or high-voltage line, the proposed converter uses a cascade of coaxial power conversion cells to gradually step down the voltage, and excels in high step-down applications. By mimicking the coaxial geometry of medium-voltage cables, the converter preserves the axisymmetric electric field of the cable which, when combined with a solid insulating dielectric, provides a voltage scaling advantage over conventional planar and PCB-based converter solutions. Similar to medium voltage cables, the converter is fully passively cooled. A passive cooling strategy allows for combined installation with existing medium voltage cable systems without the added cost, maintenance needs, infrastructure, and reliability concerns associated with active cooling systems. The scalability of the modular structure in combination with the integration benefits provide a flexible power electronics system that can adapt to the evolving demands of the grid.

coaxial power conversion cells↗
DOE OSTI2024

Adaptive Narrowband Damping for Improving Harmonic Stability of Modular Multilevel Converter: Preprint

Harmonic instability events between modular multilevel converter (MMC) and ac systems have been widely reported in recent years. To resolve it, this paper proposes an adaptive narrowband damping control that automatically programs, adds and adjusts damping around the oscillation frequency when detect the oscillation. The paper first presents a low-pass filter design for MMC control loops, which pushes all negative damping of MMC impedance down to the medium frequency range (< approximately 1000 Hz). This makes narrowband damping can be more targeted and easier to design because multiple harmonic oscillations are avoided. An adaptive damping control that uses online oscillation detection is then proposed, which can automatically configure the narrowband damper to provide damping to the MMC at the detected oscillation frequency. In contrast to existing narrowband damping methods, the proposed adaptive narrowband damper adjusts the damping gain (e.g., to zero when system resonance disappears) and the width of the damping range automatically based on continuous monitoring of system resonance conditions. Electromagnetic transient (EMT) simulation results validate the efficacy of the proposed method in two typical MMC-based power systems.

active damping↗
DOE OSTI2024

A Comprehensive Assessment of the Viability of Small Modular Reactors in Africa: A Nuclear Security and Nonproliferation Perspective

In response to escalating global energy demands driven by industrialization and the pressing need for decarbonization, this paper explores the potential of Small Modular Reactors (SMRs) as a sustainable energy solution in Africa. Focusing on nuclear security and non-proliferation concerns, the study assesses Africa's energy landscape, emphasizing the need for diverse and reliable power sources. While highlighting the scalability and cost-effectiveness of SMRs, the analysis acknowledges potential challenges associated with their introduction, particularly concerning nuclear security and non-proliferation. Given the recommendation to use High Assay Low Enriched Uranium (HALEU) in some SMRs, it is important to critically consider the security implications of transporting nuclear materials, the proximity of the public to the plant, and the time taken to respond to planned assaults. The possibility of using HALEU makes the nuclear material more prone to adversaries such as sabotage, theft, and terrorism. Utilizing PESTLE analysis, this research seeks to outline the detailed political, economic, social, technological, environmental, and legal readiness of Africa to embrace the first-of-a-kind technology (SMR) while fulfilling its mandate to the Non-Proliferation Treaty (NPT). Examining regulatory frameworks, international cooperation, and safety protocols, the study underscores the importance of regional collaboration to prevent the misuse of nuclear technology for military and malicious intent. Drawing insights from successful case studies, the paper concludes by synthesizing key findings and proposing recommendations for policymakers and stakeholders. These recommendations encompass regulatory enhancement, capacity building, technology transfer, and diplomatic efforts to strengthen nuclear security, non-proliferation, and safeguards in Africa.

Prah, Christina↗
DOE OSTI2024

Multifaceted Challenges and Opportunities Associated with Small Modular Reactors in Africa: A Nonproliferation Perspective

In response to the increasing global energy demands driven by industrialization and the urgent need for decarbonization, this study explores the potential of Small Modular Reactors (SMRs) as a sustainable energy solution in Africa. With a focus on nonproliferation concerns, the paper assesses Africa's energy landscape, emphasizing the need for diverse and reliable power sources. While highlighting the scalability and cost-effectiveness of SMRs, the analysis acknowledges potential challenges associated with adhering to the Nonproliferation Treaty with their mass deployment in the African continent. Examining regulatory frameworks, international cooperation, and security protocols, the study also underscores the importance of regional collaboration to prevent the misuse of nuclear technology for military and malicious purposes. The economic and geopolitical implications of SMR deployment in Africa are also investigated, considering its contributions to energy security and economic growth. Drawing insights from successful case studies, the paper concludes by synthesizing key findings and proposing recommendations for policymakers and stakeholders. These recommendations encompass regulatory enhancement, capacity building, technology transfer, and diplomatic efforts to strengthen nuclear security, nonproliferation, and safeguards. The overarching aim is to advocate for a balanced approach that maximizes the benefits of SMRs while mitigating associated risks to ultimately contribute to the sustainable and secure development of nuclear energy in Africa.

Prah, Christina↗
DOE OSTI2024

A Fully Decentralized Modulation Scheme for Modular Multilevel Converters

As the number of submodules rapidly increase, control architecture of Modular Multilevel Converters (MMCs) is transforming from centralized to distributed in order to address the challenges of tremendous computational burden and massive wiring. In this digest, we propose a modulation scheme for the MMCs with distributed controls, where each submodule is able to handle both controls and modulation in a decentralized manner. It enables the distributed controllers to synchronize in terms of fast-switching pulse width modulation (PWM). Aiming at this key technical challenge, this research develops a physics-informed PWM control strategy of mirroring the spontaneous synchronization feature of coupled oscillator’s behavior at switching frequency. Thanks to less reliance on wirings and communications, the proposed approach has the potential of i) improving reliability of MMC systems, and ii) reducing cost and space requirements for MMCs. The proposed approach has been preliminarily verified through a simulation tool for power electronics systems.

Lu, Minghui [BATTELLE (PACIFIC NW LAB)]↗
DOE OSTI2025

COMPUTATION FLUID DYNAMICS ANALYSIS FOR GENERIC SMALL MODULAR REACTOR CONTAINMENT SEPARATE EFFECTS TEST

It is desirable for fourth-generation Small Modular Reactors to be passively cooled in standard and accident operations. Passive Containment Cooling Systems can reject heat from the containment structure, without using pumps or blowers. The targeted design containment structure is a large, domed, stainless steel, cylindrical vessel. In a postulated Design Basis Accident, steam will flash inside containment. Steam condensation occurs on the inner containment wall and transfers heat through the steel containment into a large body of water known as the annular reservoir (AR) surrounding the vessel serving as the ultimate heat sink. Natural circulation drives the flow in the AR and heat will be released to the environment by evaporation of water. Unique containment geometry requires a separate effects test (SET) facility for the verification and validation of the computer code and evaluation model development and assessment for reactor licensing efforts. In this study, STAR-CCM+, a computational fluid dynamics (CFD) code was used to inform the decision-making process on the design of the SET. The CFD simulation modeled, a two-phase turbulent flow with fluid film development and heat transfer for different containment geometries. The Reactor Excursion and Leak Analysis Program will also be used in a code-to-code verification against the CFD results.

21 - SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLAN↗
DOE OSTI2026

Pilot-Scale Modular Research Facility for Acidic Water Pollution Cleanup and Domestic Production of Critical Minerals for National Security

A recent study by Penn State researchers revealed that Pennsylvania AMD streams originate from abandoned mines, with coal refuse piles of the lower Kittanning coal seam containing the most valuable heavy rare earth elements. Penn State has developed a three-stage process to recover these critical minerals, tested it for proof of concept, and secured a patent. Funded by the US DOE, a modular pilot-scale research and development unit has been designed and built to process 1,000 gallons per day of AMD from a site managed by the Pennsylvania Department of Environmental Protection (PA DEP). The system will selectively recover iron, aluminum, rare earth elements, and cobalt-nickel-manganese concentrates from AMD, followed by a proprietary downstream purification process. These operations aim to produce concentrates of critical minerals while treating acid mine drainage to meet environmental standards and evaluate different feedstocks. This presentation will describe the design, operation, and innovations of the proposed process and pilot facility, emphasizing its role in promoting sustainable recovery of critical minerals from legacy waste streams.

Pisupati, Sarma V [Center for Critical Minerals, T↗
DOE OSTI2026

Modular Accelerator Robotics Framework Implementation For Accelerator Inspection

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khana, M. [Unlisted, US, IL] (ORCID:0009000↗