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

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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Robotic Assisted Non-Destructive Testing (NDT)

Mission Statement: Concrete wall characterization for structural integrity evaluation of H-Canyon exhaust tunnel using a remote controlled robotic arm with a NDT Concrete Instrument. Challenges: Rough and Curved Surfaces, Remote location. The UR5 is a collaborative robotic arm capable of: Payload: 11 lbs (5 kg), Reach: 33.5 in (850 mm), Footprint: 5.87 in (149 mm) diameter, Weight: 45.4 Ibs (20.6 kg). The force torque sensor reacts to a set value inputted by the user that can be utilized for sensitive products. This allows the UR5 to react to surfaces using the built-in function to search for a wall and orient itself normal to that plane. The Proceq Pundit 250 array is a nondestructive device that the user applies against a concrete wall and scans using ultrasonic transducers. The back wall and other defects can be show through the touchscreen. A fixture to hold the Proceq Pundit 250 array onto the UR5 robotic arm was designed and 3D printed. It includes openings for easy access to the buttons from the Pundit array as well as a reinforced structural design. The scan from the Pundit array can show the back-wall, rebars, and other defects to assist in determining the structural integrity. In order to scan, a program was made to search for the wall first. 1. The UR5 robotic arm will go to the desired location away from the wall. 2. It will then search for the wall by moving towards it slowly. 3. After contact, the force applied will slowly but steadily increase to a preset value inputted by the user. 4. The force torque sensor will use those values and communicate with the UR5 by adjusting the arm to become normal to the wall. 5. The arm will then apply force to push back the transducers on the Pundit array to avoid gaps. 6. It will then prompt the user to collect data and wait until finished. The UR5 teach pendant allows the user to program the robot to perform automated and repeatable tasks. It includes a free drive mode which allows the user to move the arm to a desired position by hand. The user can also apply restricted planes which include either stopped or slower motion to ensure safety. The concrete sample being tested includes rebars and different grades of surface roughness to understand the readings from the Proceq Pundit 250 array. Desired concrete samples are currently being fabricated that will simulate the terrain being tested.

3D PRINTING↗
DOE OSTI2024

Phase-field-guided design of record-high piezoelectricity and discovery of simultaneous high light transparency and high piezoelectricity in relaxor ferroelectrics

Here, the phase-field method has been extensively applied to predicting the domain structures and their responses to external fields and understanding experimentally observed domain states under different electromechanical conditions in ferroelectric heterostructures. This article highlights the successful examples of phase-field applications in guiding the design of relaxor ferroelectric ceramics and crystals with record-high piezoelectricity and the discovery of simultaneous high light transparency and piezoelectricity of relaxor ferroelectric crystals for a wide range of biomedical, robotics, and optoelectronics applications.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Sculpting crystals one Burgers vector at a time: Toward colloidal lattice robot swarms

Plastic deformation of crystalline materials with isotropic particle attractions proceeds by the creation and migration of dislocations under the influence of external forces. If dislocations are produced and migrated under the action of local forces, then material shape change can occur without the application of surface forces. We investigate how particles with variable diameters can be embedded in colloidal monolayers to produce dislocations on demand. Additionally, we find in simulation that when embedded clusters of variable diameter particles are taken through multiple cycles of swelling and shrinking, large cumulative plastic slip is produced by the creation and biased motion of dislocation pairs in the solid for embedded clusters of particular geometries. In this way, dislocations emitted by these clusters (biased “dislocation emitters”) can be used to reshape colloidal matter. Our results are also applicable to larger-scale swarms of robotic particles that organize into dense ordered two-dimensional (2D) arrangements. We conclude with a discussion of how dislocations fulfill for colloids the role sought by “metamodules” in lattice robotics research and show how successive applications of shear as a unit operation can produce shape change through slicing and swirling.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Experimental demonstration and modeling of a robotic neutron detector with spectral and directional sensitivity for treaty verification

International safeguards and arms control agreements often require labor-intensive, intrusive onsite inspections to perform verification tasks. The ability to localize a neutron source and/or characterize a neutron field may be imperative for identifying anomalies. We are interested in the role of autonomous mobile robots, which, if designed properly, may be more effective and efficient and less intrusive than their human counterparts. Toward developing such a capability, we, for this study, have constructed the N-SpecDir Bot, comprised of three boron-coated straw detectors azimuthally-distributed within a cylinder of high-density polyethylene, which is mounted on an omni-directional robotic platform. Our N-SpecDir Bot is specifically designed to provide spectral and directional sensitivity, in addition to gross counts, by utilizing the signals from the three detectors. The detection system has been extensively characterized by MCNP modeling, which has been benchmarked to experiments conducted at the Princeton Plasma Physics Laboratory. We demonstrate the spectral and directional sensitivity experimentally and in simulation, and provide a simple yet robust method for directional measurements.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2019

Commissioning of Robotic Inspection and Automated Analysis System for Assay of Gas Diffusion Piping - 19500

Robotic, in-pipe, nondestructive assay (NDA) is a revolutionary and important means for measuring, analyzing, and reporting radioactive holdup deposits in enrichment piping. This innovation promises vast advantages for efficiency, safety, and cost savings. Payoff, however, lies in utilization much more than innovation. Crossing that threshold from a technical capability to an everyday tool occurs only after rigorous commissioning, adoption, and infusion. This must meet the highest standard, and there can be no compromise. Certification of a new NDA technology must meet the highest standards for quality, safety, and efficacy. Prior to this work, there was no precedent of procedure and method for certification of a robotic methodology for this purpose. The best of robotics had not certified NDA. The best of NDA had not certified robotics. Hence, a great deal of discovery, resourcefulness, and collaboration contributed to this success. This paper chronicles the first-of-kind chartering, co-development, testing, documentation, and site integration that certified this trailblazing in-pipe, robotic NDA. Commissioning had to demonstrate and certify end-to-end NDA automation from robot traversal to computer analysis to report generation of contaminated process piping at the Portsmouth, Ohio gaseous diffusion facility. This was a rigorous campaign of tests, evaluations, and documentation. Highlights included multiple tests in four elevated pipes exercised the gamut of NDA and robotic capabilities. Each of the four test pipes presented a unique loading of U-235. The tests demonstrated operations in both 30- inch and 42-inch diameter pipes with varying lengths and terminated by a variety of valves and fittings. Tests in a fifth pipe at floor level demonstrated deployment and applicability for pipes at this ground height and robot recognition of another fitting type. All operations, calibration, deployment, auto-reporting, and analysis were handled by Portsmouth site personnel. These tests concluded a series of component-level acceptance tests which certified all constituent technologies and operational features. Test metrics included comparison of reported to ground truth results and assessment of data quality from quality assurance and replicate measurement comparison. Beyond the radiometry associated with any NDA method, this unique commissioning path exercised and evaluated all the robotic features that are intrinsic to automation. These include odometry, geometric modeling, autonomy, remote launch and recovery, and end-to-end data flow. Each of these required verification and certification. These evaluations were first-of-kind for the decommissioning community, requiring innovation and resourcefulness in their own right. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Self-Navigating Robotic Assistant for Long-term Wide Area Floor Contamination Monitoring - 18213

For Routine Contamination Testing (RCT) of an operational nuclear facility or one undergoing Decontamination and Decommissioning (D and D), workers utilize specified travel corridors (enclosed hallways or areas designated with tape or rope in open spaces) to minimize the risk of spreading contamination. Radiation health technicians must continually monitor these areas for contamination to minimize worker dose and prevent its spread to uncontrolled areas. For many sites, it is impractical for the technician to adequately survey such areas. The Nuclear Robotics Group (NRG) at UT Austin has developed a self-navigating robotic platform equipped with radiation detectors to augment the technician to improve both survey coverage and frequency. While maintaining a controlled velocity and floor-to-sensor distance, the system takes radiation measurements to identify and/or localize contamination sources. Readings above background levels are reported to a remote workstation to allow technicians to then respond accordingly. The completion of these mundane tasks by a robot allows the trained technicians to focus instead on operational tasks, D and D, or responding to alarms. The robot generates a map using a Lidar range sensor with established Simultaneous Localization and Mapping (SLAM) techniques. Range data is then compared to previously generated maps for robot localization and autonomous navigation. To maximize coverage, the robot executes a Complete Coverage Path Planning (CCPP) algorithm using a static map that is discretized into cells to assure comprehensive yet efficient coverage. As the system executes the generated plan, it builds a radiation map of the area for the technician to validate and verify the results. If contamination is detected, the robot will minimize the spread of contamination by stopping, sounding an alarm, and alerting the remote technician. The proposed system allows for long-term deployment with minimal human intervention. It is robust to both highly dynamic obstacles (i.e. personnel) and low dynamic changes (i.e. temporally stored cart) in the environment. This is accomplished through continuous spatiotemporal updating of the static map, and the utilization of a supervisory controller that allows the system to reliably respond to unexpected events or states (i.e. low battery, closed door, etc.). While the supervisory controller can respond to temporary complications, the system also recognizes the environment can change slowly over time necessitating that the CCPP automatically be updated to account for observed 'permanent' changes to the environment. To do this, the robot uses intermediate probabilistic data to make intelligent planning decisions offline while still maintaining local reactive obstacle avoidance and safety features. The self-updating of the map allows the robot to run longer without the need to remake the map, leading to more consistent monitoring data and less maintenance from the human technician. This paper will review the current system hardware, the CCPP algorithm, the supervisory controller, the probabilistic algorithm for identifying permanent changes, and recent experiments at UT Austin to experimentally validate the reported sensor coverage. (authors)

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

Compliant Intramedullary Stems for Joint Reconstruction

The longevity of current joint replacements is limited by aseptic loosening, which is the primary cause of non-infectious failure for hip, knee, and ankle arthroplasty. Aseptic loosening is typically caused either by osteolysis from particulate wear, or by high shear stresses at the bone-implant interface from over-constraint. Our objective was to demonstrate feasibility of a compliant intramedullary stem that eliminates over-constraint without generating particulate wear. The compliant stem is built around a compliant mechanism that permits rotation about a single axis. We first established several models to understand the relationship between mechanism geometry and implant performance under a given angular displacement and compressive load. We then used a neural network to identify a design space of geometries that would support an expected 100-year fatigue life inside the body. We additively manufactured one representative mechanism for each of three anatomic locations, and evaluated these prototypes on a KR-210 robot. The neural network predicts maximum stress and torsional stiffness with 2.69% and 4.08% error respectively, relative to finite element analysis data. We identified feasible design spaces for all three of the anatomic locations. Simulated peak stresses for the three stem prototypes were below the fatigue limit. Benchtop performance of all three prototypes was within design specifications. Our results demonstrate the feasibility of designing patient- and joint-specific compliant stems that address the root causes of aseptic loosening. Guided by these results, we expect the use of compliant intramedullary stems in joint reconstruction technology to increase implant lifetime.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2019

Building the Scale Model TELBOT Master Arm - 19585

For centuries, the art and science of modeling have gone hand in hand with the advancements of technology. Among the most impressive examples of the past modeling were ship models constructed for the British Royal Navy. Referred to as Admiralty models, they were principally constructed during the 18. and 19. centuries to depict proposed warship design. To this day, models are important in the field of engineering, where analytical modeling of a new design needs to be verified. In our project the old practice of building models will be fortified by the most advanced software and 3-D printing technology and used to manufacture a fully working Telbot Master Arm scaled down to 0.4-0.5 of its original size. The Telbot is a robotic arm used in different fields like the nuclear and chemical industry, often in combination with other products of our company. The main features of the Telbot's sleek construction are: 1) the high load capacity design; 2) unlimited rotation of all axes; 3) no external or internal wiring of the arm; 4) unlimited, fast and precise arm movements; 5) smooth and sealed arm bodies and joints; 6) high repeat accuracy; 7) resistance to radiation, and it can handle precise loads from 5 kg to 150 kg. Presently, to demonstrate such impressive design features and movement possibilities to its customers, HWM has to build a 3-D virtual reality simulation of the environment where Telbot is proposed to be used and then the arm simulates its movement in this environment. In addition, though HWM does have a showroom for Telbot, due to its weight and size it is not possible to take the full size Telbot on the road to show off its capabilities to customers. The challenge is to build a scaled down full working version of the Telbot robotic arm that can be moved in every direction and angle. The model will be based on the redeveloped T300 Telbot, with 3 joints and 7 free to move pivots. It will be at a 0.4 or 0.5 scale. The outer shell will be 3D printed. The sensors will forward the position and angle to HWM virtual reality software. With these features, any changes made on the model would get displayed in the software one-to-one. The result will be a Telbot Master arm model which can be easily transported; Waellischmiller would be able to present the Telbot not just virtually, but as a real product with all its functions and versatility and show it all over the world. The extensive construction of the virtual 3-D stimulation can be eliminated and the course of movement to reach specific positions could get simulated faster and easier. It can also be used internally and externally for training. This paper will address the challenges, materials used and manufacturing process of building a fully-working scaled-down version of the Telbot Master Arm. (authors)

3D PRINTING↗
DOE OSTI2019

Closed-Loop Error Learning Control for Uncertain Nonlinear Systems With Experimental Validation on a Mobile Robot

This article develops a closed-loop error learning control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal model by using the feedback linearization control (FLC) method. Then, an intelligent controller is designed based on the sliding mode learning algorithm that utilizes closed-loop error dynamics to learn the system behavior. The controllers are working in parallel, and the intelligent controller can gradually replace the feedback controller from the control of the system. In addition to the stability of the sliding mode learning algorithm, the closed-loop stability of an nth-order feedback linearizable system is proven. The simulation results demonstrate that the CLELC algorithm can improve control performance (e.g., smaller rise time, settling time, and overshoot) in the absence of uncertainties, and also provides robust control performance in the presence of uncertainties as compared to traditional FLC method. To test the efficiency and efficacy of the CLELC algorithm, the trajectory tracking problem of a tracked mobile robot is studied in real time. The experimental results demonstrate that the CLELC algorithm ensures highly accurate trajectory tracking performance than traditional FLC method.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2019

Development of a Semi-autonomous Miniature Rover for Inspection of Double Shell Tank Floors - 19575

Leaks in the primary liner of double-shell tank (DST) 241-AY-102 at Hanford have prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. Last year, Florida International University (FIU) has continued to improve inspection tools that were developed in the previous years, to ensure that the resultant tools are able to overcome the challenges posed by the DSTs. Experimental testing conducted last year at the full-scale sectional mock-up of the DST's refractory slots revealed some shortcomings of the miniature rover, particularly in traversing over weld seams of different heights. The weld seams are the results of welded steel plate-joints for the DST. It was advised by the site engineers that the weld seams height could range from 6.35 mm - 9.525 mm (1/4 to 3/8 inches), and with 12.7 mm (1/2 inches) width. As the rover traverses over a weld seam, the gap between the rover's magnets and tank surface increases, causing the adhesive force to drop. The rover loses its surface contact if this adhesive force drops below its weight, jeopardizing the inspection tasks. In this paper, we present the numerical studies to calculate the minimum magnetic force required for the miniature rover to traverse over weld seams with different heights and the corresponding modifications to the rover design. Initial bench scale tests were conducted using a steel bar with 5 welds of varying heights. The testing validated the results from the simulation studies and established the rover's capability in traversing weld seams. Another challenge for the miniature rover is the use of a joystick or keypad for manual control. Utilizing these controls will likely be difficult for the operators due to the tight channels underneath the tank. Having a semi-autonomous navigational capability would alleviate the complexity of the inspection tasks and allow the operator to focus on the channel inspection. The goal is to implement lane-keeping capability, akin to that of a driverless car, for the inspection tool, so that it will maintain its relative position with respect to the wall of the channels. Am image processing pipeline has been developed using both the Robot Operating System (ROS) and OpenCV to process the image stream coming from the onboard camera, for the purpose of lane identification. Additionally, a PID controller has been implemented to navigate the miniature rover along the central location of the detected lane, while allowing the operator to control the tool's forward and backward motion. (authors)

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

An Approach to Realize Generalized Optimal Motion Primitives Using Physics Informed Neural Networks

Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time to effectively interact with the environment. We postulate that autonomous manipulation can be enabled by basic sets of motion primitives as well, but do not necessitate mimicking human motion primitives. Here, this work presents an approach to generalized optimal motion primitives using physics-informed neural networks. Our simulated and experimental results demonstrate that optimality is notionally maintained where the mean maximum observed final position percent error was 0.564% and the average mean error for all the trajectories was 1.53%. These results indicate that notional generalization is attained using a physics-informed neural network approach that enables near optimal real-time adaptation of primitive motion profiles.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

Forces that control self-organization of chemically-propelled Janus tori

Control of the individual and collective behavior of self-propelled synthetic micro-objects has immediate application for nanotechnology, robotics, and precision medicine. Despite significant progress in the synthesis and characterization of self-propelled Janus (two-faced) particles, predictive understanding of their behavior remains challenging, especially if the particles have anisotropic forms. Here, by using molecular simulation, we describe the interactions of chemically-propelled microtori near a wall. The results show that a torus hovers at a certain distance from the wall due to a combination of gravity and hydrodynamic flows generated by the chemical activity. Moreover, electrostatic dipolar interactions between the torus and the wall result in a spontaneous tilt and horizontal translation, in a qualitative agreement with experiment. Simulations of the dynamics of two and four tori near a wall provide evidence for the formation of stable self-propelled bound states. Our results illustrate that self-organization at the microscale occurs due to a combination of multiple factors, including hydrodynamic, chemical, electrostatic and steric interactions.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2018

Final Scientific/Technical Report, Multi-Sensor Inspection and Robotic Systems for Dry Storage Casks

Once removed from service, fuel rod assemblies are cooled in a pool and then placed in dry storage until they can be transported to a repository for disposal. The extended duration that used nuclear fuel spends in dry storage makes it prudent to be able to nondestructively inspect the dry storage casks. The degradation mechanisms of most concern are chloride-induced stress corrosion cracking of the stainless steel canister that confines the spent fuel and distributed cracking of the concrete in the overpack structure. Multi-sensor inspection and robotic systems were researched, developed, built, and tested. One system operates completely outside the cask to inspect the concrete. The other system, known as the PRINSE system, for Proactive Robotic Inspection of Nuclear Storage Enclosures, enters the cask through an outlet vent and navigates around the outer surface of the stainless steel canister. The PRINSE system delivers sensors for: (i) real-time characterization of the canister surface in order to assess whether chlorides are present, (ii) detecting the presence of cracks using shear-horizontal ultrasonic guided waves, (iii) measuring the temperature of the canister surface, and (iv) a gamma radiation counter. The four sensing modalities are applicable to any cask containing a stainless steel canister, however the robotic delivery system is designed specifically for Holtec’s HI-STORM family of casks. Horizontal axis casks have exposed concrete surfaces. A fully contactless air-coupled scanning ultrasonic test platform and a frequency-wavenumber domain data analysis method are used for these concrete structures. Analysis, numerical simulation and experimental results demonstrate that distributed cracks in concrete can be detected and cracked regions localized within a scanned region of concrete. Vertical axis casks (like the HI-STORM family) have steel-clad concrete overpacks. In a separate effort, a semi-coupled test platform and a guided wave attenuation-based data analysis method are used for disbond detection. Analysis, numerical simulation and experimental results show that the bonding conditions of steel-concrete interfaces can be quantitatively characterized using the guided wave signal analysis scheme. The PRINSE system is designed for vertical axis dry storage casks, specifically the HI-STORM family. The double pulse laser-induced breakdown spectroscopy (LIBS) system takes advantage of an optical fiber to deliver intense light to the canister surface that enables surface composition characterization in-situ in real time. Chlorine concentrations as low as 10 mg/m2 were detected on stainless steel. Additionally, a simpler laser setup was created to detect sodium as a surrogate for chlorine, and sodium was detectable when the chlorine concentration was as low as 0.5 mg/m2. The electromagnetic acoustic transducers (EMATs) enable detection of stress corrosion cracks. The EMATs generate shear-horizontal waves that propagate around the canister and are reflected by cracks enabling 100% of the canister weld lines to be inspected. The EMAT-based crack detection system was tested at the Pacific Northwest National Laboratory on a canister containing blind defects and was shown to detect the crack sizes it was designed to detect. The PRINSE system is a novel marsupial robot. The command center and winch outside the cask control the delivery arm and train of cars that traverse the outside of the canister from the cask ventilation system. The sensors are housed in the cargo bays of three cars that comprise the train, which is lowered to the bottom of the canister by the winch. Encoders on the winch enable the sensors to be delivered to a prescribed location, e.g., for re-inspection of a problem area. The PRINSE system does not mar the canister surface, can be extracted manually in the case of a power failure, and is designed for an elevated temperature and gamma radiation environment, although not all components of the prototype are made from the final materials. The PRINSE system was tested on a full canister that was placed inside a HI-STORM cask at the Holtec Manufacturing Division. It was also demonstrated on a full-height mockup at Penn State to a live audience.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2019

A second‐generation virtual‐pinhole PET device for enhancing contrast recovery and improving lesion detectability of a whole‐body PET/CT scanner

Purpose We have developed a second‐generation virtual‐pinhole (VP) positron emission tomography (PET) device that can position a flat‐panel PET detector around a patient's body using a robotic arm to enhance the contrast recovery coefficient (CRC) and detectability of lesions in any region‐of‐interest using a whole‐body PET/computed tomography (CT) scanner. Methods We constructed a flat‐panel VP‐PET device using 32 high‐resolution detectors, each containing a 4 4 MPPC array and 16 16 LYSO crystals of 1.0 1.0 3.0 mm 3 each. The flat‐panel detectors can be positioned around a patient's body anywhere in the imaging field‐of‐view (FOV) of a Siemens Biograph 40 PET/CT scanner by a robotic arm. New hardware, firmware and software have been developed to support the additional detector signals without compromising a scanner's native functions. We stepped a 22 Na point source across the axial FOV of the scanner to measure the sensitivity profile of the VP‐PET device. We also recorded the coincidence events measured by the scanner detectors and by the VP‐PET detectors when imaging phantoms of different sizes. To assess the improvement in the CRC of small lesions, we imaged an elliptical torso phantom measuring 316 228 162 mm 3 that contains spherical tumors with diameters ranging from 3.3 to 11.4 mm with and without the VP‐PET device. Images were reconstructed using a list mode Maximum‐Likelihood Estimation‐Maximization algorithm implemented on multiple graphics processing units (GPUs) to support the unconventional geometries enabled by a VP‐PET system. The mean and standard deviation of the CRC were calculated for tumors of different sizes. Monte Carlo simulation was also conducted to image clusters of lesions in a torso phantom using a PET/CT scanner alone or the same scanner equipped with VP‐PET devices. Receiver operating characteristic (ROC) curves were analyzed for three system configurations to evaluate the improvement in lesion detectability by the VP‐PET device over the native PET/CT scanner. Results The repeatability in positioning the flat‐panel detectors using a robotic arm is better than 0.15 mm in all three directions. Experimental results show that the average CRC of 3.3, 4.3, and 6.0 mm diameter tumors was 0.82%, 2.90%, and 5.25%, respectively, when measured by the native scanner. The corresponding CRC was 2.73%, 6.21% and 10.13% when imaged by the VP‐PET insert device with the flat‐panel detector under the torso phantom. These values may be further improved to 4.31%, 9.65% and 18.01% by a future dual‐panel VP‐PET insert device if DOI detectors are employed to triple its detector efficiency. Monte Carlo simulation results show that the tumor detectability can be improved by a VP‐PET device that has a single flat‐panel detector. The improvement is greater if the VP‐PET device employs a dual‐panel design. Conclusions We have developed a prototype flat‐panel VP‐PET device and integrated it with a clinical PET/CT scanner. It significantly enhances the contrast of lesions, especially for those that are borderline detectable by the native scanner, within regions‐of‐interest specified by users. Simulation demonstrated the enhancement in lesion detectability with the VP‐PET device. This technology may become a cost‐effective solution for organ‐specific imaging tasks.

Jiang, Jianyong↗
DOE OSTI2025

Optimizing Bendability and Hardness of Age-Hardenable Aluminum Sheets through Local Thermo-Mechanical Processing

This paper introduces a novel thermo-mechanical process to modify the local mechanical properties of 6xxx aluminum (Al-Mg-Si-Cu) alloy sheets. In this process, two pairs of rollers travel along the length of a sheet while locally bending and unbending it so that the final shape and thickness of the sheet remains unchanged. Room temperature bending/unbending (B/U) produces a deformation gradient through thickness and local hardening in both T4 and T6 sheets (with 41% and 18% greater Vickers hardness, respectively). High temperature bending/unbending performed at ~ 500°C via induction heating, produces significant improvements in local formability as measured by bend testing. Formability levels equivalent to the as-received T4 temper are achieved within the processed zones of T6 sheets with bend angles of ~ 150°, without disturbing the T6 temper in the remainder of the sheet. Finite element simulations and characterization explained the mechanical property improvements and the heterogenous microstructure with weakened Cube texture. Due to its similarity with the roller hemming process, and its compact dimensions, the apparatus developed for B/U has the potential for seamless integration with roller hemming robots to selectively process high strength aluminum sheet materials within mass-production settings.

Efe, Mert [BATTELLE (PACIFIC NW LAB)]↗
DOE OSTI2022

The EGS Collab Project – Stimulations at Two Depths

The EGS Collab project, supported by the US Department of Energy, is performing intensively monitored rock stimulation and flow tests at the 10-m scale in an underground research laboratory to address challenges in implementing enhanced geothermal systems (EGS). Data and observations from the field tests are compared to simulations to understand processes and build confidence in numerical modeling of the processes. We have completed Experiment 1 (of 3), which examined hydraulic fracturing in a well-characterized underground fractured phyllite test bed at a depth of approximately 1.5 km at the Sanford Underground Research Facility (SURF) in Lead, South Dakota. Testbed characterization included fracture mapping, borehole acoustic and optical televiewers, full waveform sonic, conductivity, resistivity, temperature, campaign p- and s-wave investigations and electrical resistance tomography. Borehole geophysical techniques including passive seismic, continuous active source seismic monitoring, electrical resistance tomography, fiber-based distributed strain, distributed temperature, and distributed acoustic monitoring, were used to carefully monitor stimulation events and flow tests. More than a dozen stimulations and nearly one year of flow tests were performed. Quality data and detailed observations were collected and analyzed during stimulation and water flow tests using ambient temperature and chilled water. We achieved adaptive control of the tests using real-time monitoring and rapid dissemination of data and near-real-time simulation. More detailed numerical simulation was performed to answer key experimental design questions, forecast fracture propagation trajectories and extents, and analyze and evaluate results. Data are freely available from the Geothermal Data Repository. Experiment 2 examines the potential for hydraulic shearing in amphibolite at a depth of about 1.25 km at SURF. This site has a different set of stress and fracture conditions than Experiment 1. The Experiment 2 testbed consists of nine subhorizontal boreholes configured in two fans of two boreholes which surround the testbed and contain grouted-in electrical resistance tomography, seismic sensors, active seismic sources and distributed fiber sensors. A “five-spot” set of test wells that extends from a custom mined alcove includes an injection well and four production/monitoring wells. The testbed was characterized geophysically and hydrologically, and three stimulations have been performed using the Step-Rate Injection Method for Fracture In-Situ Properties (SIMFIP) tool to measure strains, and a new strain quantifying tool (downhole robotic strain analysis tool -DORSA) was deployed in a monitoring hole during stimulation. Real-time data were broadcast during stimulations to allow real-time response to arising issues.

EGS Collab, Enhanced Geothermal Systems, EGS, fiel↗
DOE OSTI2025

Regulating hydrogel mechanical properties with an electric field

Stimuli-responsive polymeric materials have attracted significant attention due to their ability to change properties in response to various external stimuli. Using an electric field as the stimulus is of particular interest as it possesses the potential for seamless integration of materials with electronic systems. While many materials with electric field responsive actuation have an associated mechanical property change, it is beneficial to develop materials that exhibit mechanical property changes without accompanying significant shape deformation. To address this challenge, here we designed a semi-interpenetrating polymer network (semi-IPN) hydrogel system containing both polyelectrolytes and salt ions, which enables electric field induced changes in mechanical properties while minimizing actuation. We first successfully verified the viability of our design by removing salt ions through a diffusion-only method where we witnessed the stiffness increased to 4.5 times the initial value while still being highly deformable. After this, we applied an electric field to transport the salt ions out of the hydrogel, as shown by both Raman spectroscopy and scanning electron microscopy. We were able to show a time-dependent stiffness increase, the maximum of which was 5 times the original stiffness. We quantified ion transport and water-splitting in the hydrogel by both experiments and simulations. Following this, we showed functional system reversibility by reversing the direction of the current to reinject salt ions into the semi-IPN hydrogel and reducing its stiffness to below the initial value. It's worth noting that our simulations enable us to understand the governing mechanisms behind ion generation and salt transport that leads to mechanical property changes. Finally, we were able to fabricate a spatially variable stiffness haptic interface with our hydrogel, with demonstrated reversibility and cyclability. This research can possibly find applications in soft robotics and haptics and also inspire the development of bio-compatible electronics related devices.

36 MATERIALS SCIENCE↗
DOE OSTI2025

Production of alternate realizations of DESI fiber assignment for unbiased clustering measurement in data and simulations

A critical requirement of spectroscopic large scale structure analyses is correcting for selection of which galaxies to observe from an isotropic target list. This selection is often limited by the hardware used to perform the survey which will impose angular constraints of simultaneously observable targets, requiring multiple passes to observe all of them. In SDSS this manifested solely as the collision of physical fibers and plugs placed in plates. In DESI, there is the additional constraint of the robotic positioner which controls each fiber being limited to a finite patrol radius. A number of approximate methods have previously been proposed to correct the galaxy clustering statistics for these effects, but these generally fail on small scales. To accurately correct the clustering we need to upweight pairs of galaxies based on the inverse probability that those pairs would be observed (Bianchi & Percival 2017). This paper details an implementation of that method to correct the Dark Energy Spectroscopic Instrument (DESI) survey for incompleteness. To calculate the required probabilities, we need a set of alternate realizations of DESI where we vary the relative priority of otherwise identical targets. These realizations take the form of alternate Merged Target Ledgers (AMTL), the files that link DESI observations and targets. We present the method used to generate these alternate realizations and how they are tracked forward in time using the real observational record and hardware status, propagating the survey as though the alternate orderings had been adopted. We detail the first applications of this method to the DESI One-Percent Survey (SV3) and the DESI year 1 data. We include evaluations of the pipeline outputs, estimation of survey completeness from this and other methods, and validation of the method using mock galaxy catalogs.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗