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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

TH-A-BRC-01: AAPM TG-135U1 QA for Robotic Radiosurgery

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

The multifunctional use of an aqueous battery for a high capacity jellyfish robot

The batteries that power untethered underwater vehicles (UUVs) serve a single purpose: to provide energy to electronics and motors; the more energy required, the bigger the robot must be to accommodate space for more energy storage. By choosing batteries composed primarily of liquid media [e.g., redox flow batteries (RFBs)], the increased weight can be better distributed for improved capacity with reduced inertial moment. Here, we formed an RFB into the shape of a jellyfish, using two redox chemistries and architectures: (i) a secondary ZnBr 2 battery and (ii) a hybrid primary/secondary ZnI 2 battery. A UUV was able to be powered solely by RFBs with increased volumetric (Q~ 11 ampere-hours per liter) and areal (108 milliampere-hours per square centimeter) energy density, resulting in a long operational lifetime (T~ 1.5 hours) for UUVs composed of primarily electrochemically energy-dense liquid (~90% of the robot’s weight).

Science & Technology - Other Topics↗
DOE OSTI2022

Multirobot Collaborative Pursuit Target Robot by Improved MADDPG

Policy formulation is one of the main problems in multirobot systems, especially in multirobot pursuit-evasion scenarios, where both sparse rewards and random environment changes bring great difficulties to find better strategy. Existing multirobot decision-making methods mostly use environmental rewards to promote robots to complete the target task that cannot achieve good results. This paper proposes a multirobot pursuit method based on improved multiagent deep deterministic policy gradient (MADDPG), which solves the problem of sparse rewards in multirobot pursuit-evasion scenarios by combining the intrinsic reward and the external environment. The state similarity module based on the threshold constraint is as a part of the intrinsic reward signal output by the intrinsic curiosity module, which is used to balance overexploration and insufficient exploration, so that the agent can use the intrinsic reward more effectively to learn better strategies. The simulation experiment results show that the proposed method can improve the reward value of robots and the success rate of the pursuit task significantly. The intuitive change is obviously reflected in the real-time distance between the pursuer and the escapee, the pursuer using the improved algorithm for training can get closer to the escapee more quickly, and the average following distance also decreases.

Zhou, Xiao↗
DOE OSTI2019

Robotic Nipple-Sparing Mastectomy and Immediate Breast Reconstruction with Gel Implant: Technique, Preliminary Results and Patient-Reported Cosmetic Outcome

Background: Experience with application of a robotic surgery platform in the management of breast cancer is limited. The preliminary results of the robotic nipple-sparing mastectomy (R-NSM) and immediate breast reconstruction (IBR) with Gel implant procedure are reported. Methods: The medical records of patients from a single institution who underwent an R-NSM and IBR with Gel implant procedure for breast cancer during the period March 2017 to February 2018 were assessed. Data on clinicopathologic characteristics, type of surgery, complications, and recurrence were analyzed to determine the effectiveness and oncologic safety of R-NSM. Patient-reported cosmetic outcome results were obtained. Results: A total of 22 patients who received 23 R-NSM and IBR with Gel implant procedures were analyzed. The mean operation time for R-NSM was 118.8 ± 50.6 min, and 74.5 ± 26.6 min for Gel implant reconstruction. Docking time quickly dropped from 20 to 6–8 min, and the time needed to complete R-NSM was usually completed within 100 min after accumulation of case experience. Mean blood loss was 37 ± 38.2 mL, and the positive surgical margin rate was 0%. Three (13%) patients had transit nipple ischemia change, and no total nipple-areolar complex necrosis cases were observed. No local recurrence or mortality was found during a mean 6.9 ± 3.5 months of follow-up. All 22 patients were satisfied with the postoperative aesthetic outcome. Conclusion: From our preliminary experience, R-NSM and IBR with Gel implant is a safe procedure, with good cosmetic results, and could be a promising new technique for breast cancer patients indicated for mastectomy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2019

Update on the Feasibility and Progress on Robotic Breast Surgery

Background: Robotic nipple-sparing mastectomy (RNSM) may allow for more precise anatomic dissection and improved cosmetic outcomes over conventional open nipple-sparing mastectomy; however, data regarding the feasibility and safety of the procedure are limited. Objective: The aim of this study was to present and discuss perioperative surgical outcomes and early oncologic follow-up data on consecutive patients undergoing RNSM from June 2014 to January 2019. Methods: Patients underwent RNSM and immediate robotic breast reconstruction through an axillary incision at a single institution. Perioperative data, complications at 3 months postoperatively, pathological data, and adjuvant therapies were recorded. Local recurrence-free, disease-free, and overall survival were analyzed. Results: Overall, 73 women underwent 94 RNSM procedures. Indications were invasive breast cancer in 39 patients, ductal carcinoma in situ in 17 patients, and BRCA mutation in 17 patients. Mean surgery time was 3 h and 32 min. One-step reconstruction with implant occurred in 89.4% of procedures. The rate of complications requiring reoperation was 4.3%, and the rate of flap or nipple necrosis was 1.1%. Median follow-up was 19 months (range 3.1–44.8). No local recurrences occurred. Overall survival at 12, 24, or 60 months was 98% (95% confidence interval 86–100%). Conclusion: We observed a low complication rate in 94 consecutive RNSM procedures, demonstrating the procedure is technically feasible and safe. We found no early local failures at 19 months follow-up. Long-term follow-up is needed to confirm oncologic safety. Future clinical trials to study the advantages and disadvantages of RNSM are warranted.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2024

Successful cleanroom installation of PIP-II SSR2 coupler using robotic arm

To minimize the contamination of SRF cavities, remote installation techniques are needed during the installation of components. Recent work at Fermilab has been performed to begin the process of developing techniques for assembling cavities using robotics. Multiple alignment methods were prototyped including alignment and computer vision methods. Using a remotely controlled robotic arm, the alignment and installation of couplers have been successfully performed on prototype PIP-II SSR2 cavities in a cleanroom. The installation process will be shown to show to demonstrate the potential of future installations on other cavities and cavity ancillaries.

43 PARTICLE ACCELERATORS↗
DOE OSTI2018

Robotic arm development platform

A robotic arm development platform will provide the tools for SRNL to increase its competency in this area and allow customer demonstrations to be performed so they can visualize how the technology relates to their application. The objective is to set up an adaptable development platform that can easily be re-configured for a variety of demonstrations for collecting data that will help engage the customer. Collaborative robots are designed with built in features allowing them to safely operate alongside employees.

42 ENGINEERING↗
DOE OSTI2019

Concrete Inspection in Remote Areas with Robotic Arms

The use of non-destructive examination (NDE) to assess the conditions of concrete structures has received extensive attention in recent years. NDE analysis techniques are used to evaluate the properties of materials and to ensure the integrity of structures without causing damages to them. NDE inspection is often performed manually by certified technicians, however in remote and high hazard environments this is impossible or undesirable for human safety. Development of remote and robotic technologies to perform these essential inspections is of interest to the DOE EM complex due to its aging infrastructure and hazardous environments. This goal of this seedling was to develop techniques to remotely examine inaccessible concrete structures and to evaluate results collected remotely to those obtained by human hand. Additionally, two promising state of the art NDE instruments were identified to be used for the characterization to include the new Proceq Ground Penetrating Radar (GPR) which generates results in 3D using Augmented Reality. A test bed was built to develop and evaluate deployment techniques of the NDE instruments with a robotic arm. Concrete test forms simulating the rough concrete surfaces, strength, composition and potential structural defects that can be found at our DOE EM facilities were built for the examination. Initial NDE instrumentation data collection has been performed on the concrete test forms.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

Radioactive Cleaning Robot

Here at Fermi, work is centered around particle accelerators. With the functionality of these accelerators comes a small amount of radioactive dust. For the sake of all employees in this environment, a yearly deep clean is necessary. The aim of this robot is to save time by running an automated cleaning robot 24/7.

Stachowicz, Emily↗
DOE OSTI2023

Radiation Protective Coveralls for Fermilab’s SPOT Robot

Fermilab’s Accelerator Division recently purchased a SPOT robot from Boston Dynamics to be used to automatically measure the residual radiation in the beamline tunnels. Fermilab will work with the College of DuPage Fashion Studies Department to design and develop a prototype Tyvek-garments (coveralls and booties) that can be easily used and replicated by the Fermilab operators to shield the SPOT robot from collecting radioactive dust while deployed.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

IROS 2023 Workshop Report: Draft Guidelines on Manufacturing Procedures, Test Methods and Reporting for Soft Robotics

Soft roboticists are facing challenges with reproducibility, which prevents researchers from making holistic comparisons to prior work, impedes full understanding of results, and forces the need to “reinvent the wheel,” delaying fundamental advances. Reproducibility of results is key to advancing science as well as achieving technology transfer from research laboratories to industrial applications. Recently, a discussion-based workshop dedicated to the topic, “Developing Standard Testing and Reporting Guidelines for Soft Robotics,” was held at IROS 2023 in Detroit, MI. The purpose of this document is to record a set of recommendations and voluntary draft guidelines for soft roboticists concerning fabrication/manufacturing, test procedures, and reporting, which were collectively developed at the workshop. Together as a community, we hope to improve the reporting standards of soft robotics and drive the field as a whole toward more rigorous research practices.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

RICH (Robotic Interface Control & Handling) System for VULCAN

High flux neutron beam and high efficiency detectors warrant quick turn arounds of neutron diffraction measurements at the engineering materials diffractometer VULCAN. Efficient change and alignment of samples and automatic measurements at VULCAN are desired for better use of neutron beam time by users. In this work, we aim to develop a proof-of-concept Robotic Interactive Control & Handling System (RICH) for sample handling at VULCAN that could assist high throughput experiments and reduce the overhead time significantly. This was realized by a six-axis desktop robot with trained AI models. The trained AI models can recognize and locate samples in various types of positions in a live video stream. In addition, we developed smart algorithms which used our models on multiple cameras to recognize where samples are with respect to multiple point of views, and then using user-inputted parameters, align them to perform complex measurements.

42 ENGINEERING↗
DOE OSTI2023

Robotic Systems integration for cleanroom SRF assembly at Fermilab

Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.

42 ENGINEERING↗
DOE OSTI2025

Robotic Assembly of SRF Cavity Pair

Superconducting Radio Frequency (SRF) cavities for particle accelerators require tight tolerances, ultrahigh vacuum, and strict cleanliness during assembly. As in the semiconductor industry, defects such as particles and residues are deleterious to performance, possibly rendering a cavity unfit for use. This problem is addressed primarily through cleanroom assembly during sensitive steps and rigorous chemical processing to prevent and remove such defects. Human workers are often the largest source of contamination, even with proper gowning and practices. The semiconductor industry has long integrated robots in cleanroom operation, but this has not occurred for SRF cavity production; SRF cavities, unlike wafers, are complex shapes, require more hands-on mechanical assembly, and are low-volume production items. At Jefferson Laboratory, a co-operative robot (cobot) has been setup to overcome these problems. Cobots are safe for use alongside human workers and can integrate new tools such as a 3D camera part detection and gripper for item manipulation. Therefore, cobots represent a promising avenue for reducing particulate generated during a variety of assembly tasks. A mockup of a cavity pair and coupler was setup and the cobot programmed to automatically pick up the coupler and place on the mating cavity flange. Particle counting methods were setup to measure human vs cobot assembly particulate generation inside a cavity mockup. Other potential uses will be discussed for further improving SRF cavity assembly steps, where a cobot can replace or assist a human operator, and what potential gains are expected.

Duzik, Adam [Thomas Jefferson National Accelerator↗
DOE OSTI2024

Component pose reconstruction using a single robotic total station for panelized building envelopes

The construction industry can benefit greatly from increased automation in construction processes in terms of precision, time, and labor costs. This is especially true for prefabricated construction for either new buildings or envelope retrofits. Here, prefabricated components are manufactured offsite according to design specifications and installed onsite. Accurate information on the component’s position and orientation (pose) is needed to achieve this. A tool named “Real-Time Evaluator” (RTE), designed to autonomously track prefabricated components as they are being installed and provide real-time installation instructions, is currently under development using a single robotic total station. This is challenging since at least three points are needed to determine the pose of an object in space. To achieve this goal with a single robotic total station, two key algorithms were developed: the “resection” algorithm aligns the digital twin with the physical twin regardless of the location of the total station, and the “transformation” algorithm gives instructions of translations and rotations to installers to achieve the desired installation pose. The algorithms were evaluated experimentally on a lab-scale demonstration. Results show that the resection algorithm achieved an average error of < 3.1 mm, while the transformation algorithm predicted the rotation angle along a single axis with an error of < 0.5◦.

Tang, Mengjia↗
DOE OSTI2024

Cable-Driven Parallel Robot (CDPR) for Panelized Envelope Retrofits: Feasible Workspace Analysis

Recent decades have seen remarkable progress in the field of robotic-assisted construction. Cable-driven parallel robots (CDPRs) emerge as promising tools for automating construction processes, due to their advantageous features such as scalability, reconfigurability, compact design, and high payload-to-weight ratio. This paper uses a simple static model to determine the feasibility of a CDPR for overclad panel installation in building envelope retrofits. Given that the building facade needs to be a subset of the CDPR’s wrench-feasible workspace, we focus on the sensitivity of the workspace concerning various cable arrangements and CDPR frame sizes (e.g., height and width extensions). Our analysis indicates that no cable arrangement satisfies the requirement of complete facade coverage and avoids cable-to-panel collisions. Thus, frame extension is needed to enhance coverage. However, in densely populated areas where width extension is limited by space constraints, height extension alone is insufficient to guarantee full facade coverage. This paper pioneers the investigation of CDPRs for panelized envelope retrofits, showcasing their advantages and limitations and paving the way for further research and development.

Liu, Yifang↗
DOE OSTI2026

Automated tape-target centering based on template matching for construction measurement tasks using robotic total station

Robotic total stations have transformed surveying and construction mapping through precise, efficient, and automated measurements. These instruments integrate a theodolite, which measures horizontal and vertical angles, with an electronic distance measurement (EDM) unit to determine distances, allowing accurate 3D measurement of observable points. Traditionally, users manually aimed the total station at a target. Recent advancements in robotic motor control and integration of cameras now enable automatic rotation and aiming, typically requiring only a single operator to position the target. Automated aiming is commonly performed using retroreflector prisms, which reflect light back to the source with minimal scattering, enabling high-precision measurements over long distances. However, retroreflectors, especially those designed for 360 degree, can be expensive and impractical for certain applications. This paper presents an algorithm for automating the center detection of low-cost disposable tape targets using the total station's onboard camera and a template matching algorithm. The algorithm identifies the target's center pixel in the image, and the instrument is commanded to aim at that location. We evaluated the performance of this template-matching-based centering method under various distances, angles, lighting conditions, and field environments, comparing its results to both manual aiming and conventional automated aiming of tape targets. Manual aiming was used as the baseline operational reference in the absence of an independent ground-truth measurement. The proposed approach achieves target centering results comparable to the manual baseline. This method provides a cost-effective alternative for high-precision applications where retroreflector targets are constrained by budget or logistics.

Harrington, Joshua [ORNL]↗