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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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114 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Online task-space motion control for positioner-coordinated multi-robot manufacturing systems

Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.

Arbogast, Alex [ORNL] (ORCID:0000000154740723)↗
DOE OSTI2024

Gamma-Ray and Cosmic Ray Muon Modalities for Cargo Inspection

Screening and inspection of cargo containers are two essential methods to nondestructively examine the contents of shipment. These methods enable the detection of illicit transportation of unauthorized materials such as nuclear and radioactive materials, explosives, drugs, and so on, typically at borders or secure facilities. Although high-energy X-ray transmission is a standard system and is widely used for cargo inspection, the inherent challenges of high false-positive rates and high attenuation factors necessitate the development of complementary techniques that can increase the detection efficiency and accuracy in large and dense materials. Gamma-rays, which possess higher penetration characteristics because of their high energy, offer an alternative nonintrusive modality for cargo scanning. They represent a promising inspection method when compared to X-rays for three reasons: (1) improved ability to detect nuclear and radioactive materials, (2) higher inspection throughput rates, and (3) lower false-positive rates. Currently, there are two main gamma-ray inspection techniques, active and passive interrogation. Active interrogation can be further grouped into (1) gamma-ray transmission imaging and (2) neutron-induced gamma-ray emission detection. Gamma-ray transmission imaging utilizes differences in material densities for mapping the shipment contents and detecting anomalies. It is analogous to the X-ray transmission method; however, the high-energy photons make it more difficult to shield against, which enables more efficient performance in large and dense material inspection. Neutron-induced gamma-ray emission inspection is designed for the detection of nuclear and radioactive material because those materials emit characteristic gamma-rays when they are activated by neutron absorption. On the other hand, passive interrogation techniques rely on high-efficiency detectors to detect radiation emitted from hidden special nuclear or other radioactive materials. Similar to passive interrogation, cosmic ray muon monitoring and imaging are relatively new techniques that do not require external radioactive sources. These techniques have received attention as a potential next-generation radiographic probe to identify illicit transportation of nuclear and radioactive materials in cargo containers. Cosmic ray muons have unique features, (1) much higher energies than X-rays or gamma-rays (on the order of 10−1—104 GeV), (2) enhanced penetration capability, and (3) natural occurrence, thereby eliminating the need for induced radiation sources. These features enable cosmic ray muons to be utilized for detection of special nuclear materials in high-background-noise environments. By analyzing incoming and outgoing muon trajectories, scattering angles, and energies, it has been shown that it would be possible to locate hidden and well-shielded materials in cargo containers via three-dimensional muon tomography images or signal analysis. Gamma-rays, cosmic ray muons, and other nonintrusive cargo inspection modalities are complementary to each other, allowing them to address various cargo inspection conditions (i.e., scanning time, cost, radiation exposure level, and types of target materials). This chapter presents a detailed review of the theoretical fundamentals and technical principles behind the current gamma-ray and cosmic ray muon modalities for cargo inspection. Additionally, critical assessments and suggestions for the future directions to advance the use of gamma and muon modalities are discussed.

Bae, Junghyun↗
DOE OSTI2024

CRADA Final Report: CRADA Number NFE-22-09330 with General Fusion

General Fusion is developing a magnetized target fusion (MTF) approach that involves compressing an initial magnetically confined plasma inside a cavity formed in liquid metal. This approach builds from concepts initially developed under the Linus program at the U.S. Naval Research Laboratory and combines it with advances from compact toroid experiment (CTX) and sustained spheromak plasma experiment (SSPX) in compact toroid plasmas and coaxial Marshall gun systems. Modeling the tokamak during compression is central to designing a successful MTF device. The plasma is formed by coaxial helicity injection in the General Fusion device. Immediately after formation, the plasma has a diverted tokamak configuration with a single null. As the wall moves inwards, the plasma is repelled from the conducting surface and driven inwards by currents induced by its magnetic field in the liquid metal wall. As the liquid metal closes (or bridges) the opening of the coaxial plasma injector, the magnetic field topology alters to remove the null. Due to this, the plasma moves from a diverted to a wall-limited configuration. The liquid metal liner continues to close in and change shape, reducing in radius by a factor of ten at the peak of plasma compression. A model of the MTF plasma must be able to handle this continually varying geometry, and to be predictive, it must faithfully include the real imperfections arising in the process. In this project, we pursued a Monte Carlo approach to closures for MHD by computing kinetic electron trajectories in an MHD plasma background from simulations of GF devices. This requires enhancing the capabilities of the KORC-T code for running large ensembles of kinetic trajectories by porting it to GPU architectures and enabling workflows for large ensembles on OLCF machines. With these capabilities, it is possible to produce a large library of kinetic calculations of electron orbits evolving in plasma configurations spanning the magnetic configurations and plasma density profiles, including non-axisymmetry, arising in the General Fusion’s existing PI3 spherical tokamak device. Using ensembles will capture particles passing a single point in space in a given magnetic configuration, and the entire dataset will cover a range of global magnetic field geometries. By sampling around many starting points, this dataset will capture the spatial dependence of the plasma parameters. From this large dataset, it is possible to produce a reduced model for the kinetic effects not captured in MHD.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2026

Constraining hydrodynamic models of inertial confinement fusion implosions using capsule surrogate experiments

We conduct capsule surrogate experiments at the National Ignition Facility to calibrate radiation hydrodynamic simulations to infer hydrodynamic conditions that are not observable in indirect drive ignition implosions. We tune the simulations by applying laser power and cross beam energy transfer (CBET) saturation multipliers to match the observables from capsule surrogate experiments. Shock timing, velocity, and symmetry are measured in liquid D 2 filled Keyhole capsule surrogate experiments and implosion trajectory, stagnation time, and shape time history are measured in in-flight 2D backlit x-ray radiography experiments (“2DConA”) of D 2 gas filled capsule implosions. Calibrated simulations suggest that the N210808 ignition implosion (fusion target gain = 0.7) had a shell mass remaining at stagnation of less than the nominal %5 (3.8%) and resulted in less confinement. For N221204, the shell was made 5.75 μm thicker to trade implosion velocity for increased confinement and resulted in a target gain = 1.5 with a shell mass remaining of 5.7%. Furthermore, a single adjusted model can reproduce all shock timing data as changes are made to shell thickness (79–85 μm) and laser wavelength separation (1.8–4.0 Å). However, for the 2DConA implosions, a 5% variation in the peak power laser multipliers and a 30% variation in late-time CBET between experiments are needed to match the observed stagnation times, in-flight $P_2$ shape, and hot-spot $P_2$ shape. While progress is being made to improve the models in simulations using focused experiments, capsule surrogate experiments will continue to be needed to optimize future ignition designs.

Lasers↗
DOE OSTI2024

Searching for Grid-Forming Technologies That Do Not Impact Protection Systems: A promising technology

The design of legacy-line protection elements has been guided by the behavior of synchronous machines during faults. Because of the significant field-winding inductance and rotating mass, the magnitude, angular frequency, and phase angle of the back-electromotive force (EMF) voltage waveforms of synchronous machines remain practically constant for several hundreds of milliseconds after a fault occurs. Furthermore this has facilitated the engineering of the memory-polarization technique in mho distance elements, which has been effective for machine-dominant power grids. However, this assumption is no longer held for inverter-based resources (IBRs) because of the lack of field winding and moment of inertia in power electronics devices. Notably, the negative-sequence directional overcurrent protection and the quadrilateral distance elements have been impacted by early IBRs with grid-following (GFL) controls because they did not inject negative-sequence currents during asymmetrical faults.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Cancer Incidence Trends in Successive Social Generations in the US

Importance: The incidence of some cancers in the US is increasing in younger age groups, but underlying trends in cancer patterns by birth year remain unclear. Objective: To estimate cancer incidence trends in successive social generations. Design, Setting, and Participants: In this cohort study, incident invasive cancers were ascertained from the Surveillance, Epidemiology, and End Results (SEER) program’s 13-registry database (November 2020 submission, accessed August 14, 2023). Invasive cancers diagnosed at ages 35 to 84 years during 1992 to 2018 within 152 strata were defined by cancer site, sex, and race and ethnicity. Exposure: Invasive cancer. Main Outcome and Measures: Stratum-specific semiparametric age-period-cohort (SAGE) models were fitted and incidence per 100 000 person-years at the reference age of 60 years was calculated for single-year birth cohorts from 1908 through 1983 (fitted cohort patterns [FCPs]). The FCPs and FCP incidence rate ratios (IRRs) were compared by site for Generation X (born between 1965 and 1980) and Baby Boomers (born between 1946 and 1964). Results: A total of 3.8 million individuals with invasive cancer (51.0% male; 8.6% Asian or Pacific Islander, 9.5% Hispanic, 10.4% non-Hispanic Black, and 71.5% non-Hispanic White) were included in the analysis. In Generation X vs Baby Boomers, FCP IRRs among women increased significantly for thyroid (2.76; 95% CI, 2.41-3.15), kidney (1.99; 95% CI, 1.70-2.32), rectal (1.84; 95% CI, 1.52-2.22), corpus uterine (1.75; 95% CI, 1.40-2.18), colon (1.56; 95% CI, 1.27-1.92), and pancreatic (1.39; 95% CI, 1.07-1.80) cancers; non-Hodgkins lymphoma (1.40; 95% CI, 1.08-1.82); and leukemia (1.27; 95% CI, 1.03-1.58). Among men, IRRs increased for thyroid (2.16; 95% CI, 1.87-2.50), kidney (2.14; 95% CI, 1.86-2.46), rectal (1.80; 95% CI, 1.52-2.12), colon (1.60; 95% CI, 1.32-1.94), and prostate (1.25; 95% CI, 1.03-1.52) cancers and leukemia (1.34; 95% CI, 1.08-1.66). Lung (IRR, 0.60; 95% CI, 0.50-0.72) and cervical (IRR, 0.71; 95% CI, 0.57-0.89) cancer incidence decreased among women, and lung (IRR, 0.51; 95% CI, 0.43-0.60), liver (IRR, 0.76; 95% CI, 0.63-0.91), and gallbladder (IRR, 0.85; 95% CI, 0.72-1.00) cancer and non-Hodgkins lymphoma (IRR, 0.75; 95% CI, 0.61-0.93) incidence decreased among men. For all cancers combined, FCPs were higher in Generation X than for Baby Boomers because gaining cancers numerically overtook falling cancers in all groups except Asian or Pacific Islander men. Conclusions and Relevance: In this model-based cohort analysis of incident invasive cancer in the general population, decreases in lung and cervical cancers in Generation X may be offset by gains at other sites. Generation X may be experiencing larger per-capita increases in the incidence of leading cancers than any prior generation born in 1908 through 1964. On current trajectories, cancer incidence could remain high for decades.

60 APPLIED LIFE SCIENCES↗