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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 OSTI2017

Physical Properties of Sub-galactic Clumps at 0.5 ≤ Z ≤ 1.5 in the UVUDF

We present an investigation of clumpy galaxies in the Hubble Ultra Deep Field at 0.5⩽z⩽1.5 in the rest-frame far-ultraviolet (FUV) using Hubble Space Telescope Wide Field Camera 3 broadband imaging in F225W, F275W, and F336W. An analysis of 1404 galaxies yields 209 galaxies that host 403 kpc scale clumps. These host galaxies appear to be typical star-forming galaxies, with an average of 2 clumps per galaxy and reaching a maximum of 8 clumps. We measure the photometry of the clumps and determine the mass, age, and star formation rates (SFR) using the spectral energy distribution fitting code FAST. We find that clumps make an average contribution of 19% to the total rest-frame FUV flux of their host galaxy. Individually, clumps contribute a median of 5% to the host galaxy SFR and an average of ∼4% to the host galaxy mass, with total clump contributions to the host galaxy stellar mass ranging widely from lower than 1% up to 93%. Clumps in the outskirts of galaxies are typically younger, with higher SFRs, than clumps in the inner regions. The results are consistent with clump migration theories in which clumps form through violent gravitational instabilities in gas-rich turbulent disks, eventually migrate toward the center of the galaxies, and coalesce into the bulge.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

Environmental Flow Requirements from FERC Licenses Across the US

Environmental flow requirements included in Federal Energy Regulatory Commission (FERC) hydropower licenses are important for balancing natural properties and benefits of river ecosystems (e.g., healthy species, recreation, water supply, flood control) supporting hydropower production. In some cases, environmental flow requirements may limit operational flexibility given current operational schemes and make a hydropower plant less able to provide power to the electric grid on demand. Hydropower plants may gain some flexibility as hydropower scheduling time periods are made to be more responsive to the short-term needs of an energy grid increasingly reliant on intermittent renewables. However, many flow requirements focus on the daily, monthly, or seasonal flow fluctuations which matches the time scale of most paradigms linking flow alterations to the health of river ecosystems. This dataset seeks to provide a greater understanding of how flexibility in environmental requirements can be leveraged to create positive outcomes for both the power system and the environment. It contains information on environmental flow requirements from the Protection, Mitigation, and Enhancement section of 50 randomly selected FERC licenses: 25 issued from 1998-2013 that were also included in the ORNL Mitigation Database (Schramm et al. 2015) and 25 issued from 2014-present. The information on environmental flow requirements was extracted from the PM&E section of 50 randomly selected FERC licenses: 25 issued from 1998-2013 that were also included in the ORNL Mitigation Database (Schramm et al. 2015) and 25 issued from 2014-present. The flow requirements were then categorized into flow augmentation categories based on whether the license stated a specific water management purpose for the given requirement called augmentation categories (i.e., fisheries or habitat, recreation or boating, industry, and general or unspecified; Table B). Requirements were also grouped into flow type categories (e.g., minimum flow rate, maximum flow rate, ramping rate). Additional information related to flow requirements such as the augmentation time-period and whether the flow rate was continuous (i.e., condition must be present at all-times) or instantaneous (i.e., condition present at a point in time) was also extracted from the licenses. Some licenses had specific flow requirements based on whether the project was in a wet, dry, or normal water year. If that information was presented in the license, it was also included in the data set. The location within the project was noted, hereafter, zone, in the dataset for flow requirements relating to specific areas of hydropower projects (Dam, Powerhouse, Bypass Reach). Maximum discharge capacities of hydropower facilities were also extracted from both the Existing Hydropower Assets (EHA) data set and the National Inventory of Dams (NID) databases. Each facility was coded with project identification codes from the EHA dataset to facilitate cross-referencing between datasets.

13 HYDRO ENERGY↗
DOE OSTI2021

Predictions of core plasma performance for the SPARC tokamak

SPARC is designed to be a high-field, medium-size tokamak aimed at achieving net energy gain with Ion Cyclotron Range-of-Frequencies (ICRF) as its primary auxiliary heating mechanism. Empirical predictions with conservative physics indicate that SPARC baseline plasmas would reach Q~11, well above its mission objective of Q>2. To build confidence that SPARC will be successful, physics-based integrated modeling has also been performed. The TRANSP code coupled with the theory-based TGLF turbulence model and EPED predictions for pedestal stability find that Q~9 is attainable in standard H-mode operation and confirms Q>2 operation is feasible even with adverse assumptions. In this analysis, ion cyclotron waves are simulated with the full wave TORIC code and alpha heating is modeled with the Monte-Carlo fast ion NUBEAM module. Detailed analysis of expected turbulence regimes with linear and nonlinear CGYRO simulations is also presented, demonstrating that profile predictions with the TGLF reduced model are in reasonable agreement.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

High performance sparse multifrontal solvers on modern GPUs

Here, we have ported the numerical factorization and triangular solve phases of the sparse direct solver STRUMPACK to GPU. STRUMPACK implements sparse LU factorization using the multifrontal algorithm, which performs most of its operations in dense linear algebra operations on so-called frontal matrices of various sizes. Our GPU implementation off-loads these dense linear algebra operations, as well as the sparse scatter–gather operations between frontal matrices. For the larger frontal matrices, our GPU implementation relies on vendor libraries such as cuBLAS and cuSOLVER for NVIDIA GPUs and rocBLAS and rocSOLVER for AMD GPUs. For the smaller frontal matrices we developed custom CUDA and HIP kernels to reduce kernel launch overhead. Overall, high performance is achieved by identifying submatrix factorizations corresponding to sub-trees of the multifrontal assembly tree which fit entirely in GPU memory. The multi-GPU setting uses SLATE (Software for Linear Algebra Targeting Exascale) as a modern GPU-aware replacement for ScaLAPACK. On 4 nodes of SUMMIT the code runs ~10X faster when using all 24 V100 GPUs compared to when it only uses the 168 POWER9 cores. On 8 SUMMIT nodes, using 48 V100 GPUs, the sparse solver reaches over 50TFlop/s. Compared to SuperLU, on a single V100, for a set of 17 matrices our implementation is faster for all but one matrix, and is on average 5X (median 4X) faster

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

The competing effects of wave amplitude and collisions on multi-ion species suppression of stimulated Brillouin scattering in inertial confinement fusion Hohlraums

Reduction in stimulated Brillouin scattering (SBS) from National Ignition Facility Hohlraums has been predicted through the use of multi-ion species materials on Hohlraum walls. This approach to controlling SBS is based upon introducing a lighter ion species to the heavier ion species Hohlraum wall in order to greatly increase the ion Landau damping of ion acoustic waves (IAWs). In a collisionless plasma, if the IAWs driven by SBS reach sufficient amplitudes, this increased damping is reduced or even eliminated by ion trapping in the IAWs. Here, the nonlinear behavior of IAWs is simulated with a multi-ion species Vlasov code, including interspecies ion–ion collisions, self-collisions, and electron–ion pitch-angle collisions. The effect of collisions on the trapping of ions and electrons in a large-amplitude IAW is studied in a regime of relevance to current Inertial Confinement Fusion experiments. Our simulations show that collisions can scatter trapped particles out of resonance with the IAW, suppressing trapping and helping to maintain an effective Landau damping of the IAW. The IAW amplitude required to trap particles in the presence of strong collisions is estimated analytically. These estimates are tested for strongly damped IAWs in tantalum oxide and pure helium plasmas. Here our simulations show that, above a threshold amplitude, the damping is reduced by an amount inversely proportional to the wave amplitude. Thus, the success of controlling SBS using a multispecies plasma may depend sensitively on laser power and pulse length.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2021

Emerging Pathways to Upgrade the US Housing Stock: A Review of the Home Energy Upgrade Literature

The residential buildings sector is responsible for about 20% of total US energy use. In order to achieve climate goals, we need ways to reduce carbon emissions and energy use in this sector. In addition, resiliency, electric grid stability, emergency survivability and other energy and building-related issues are becoming increasingly important challenges. New homes in most of the US meet various energy codes and are reasonably energy efficient. However, the vast majority of energy use is from existing homes that were not required to conform to energy performance requirements. It is becoming imperative to reach as many of these existing homes as possible and find ways to improve their energy-related performance. This must be done in such a way that it meets the needs and desires of homeowners and building occupants, as well as those of the contractors and design professionals engaged in doing the upgrades themselves. Energy retrofits of homes started in the 1970’s in response to the energy crisis, however, these retrofits were very limited in scope and relatively few homes were upgraded. Those homes that have been upgraded generally still have much scope for improvement. A huge effort is needed to get to scale to address the energy use in housing. The target population is effectively every home in the country, whether a large suburban single-family home, or a small downtown apartment. In order to provide a framework for analysis and the basis for plans to get to large-scale retrofits of homes, this literature review summarizes the state-of-the art in the US buildings industry. It identifies where more research, engineering, or technology is needed, as well as relevant industry trends, such as electrification, one-stop shop program design and others. It also examines other key topics, such as availability of financing, minimizing household disruption, and engaging home owners and occupants. This literature review builds on a similar review from several years ago (Less and Walker, 2014). The current review focuses on efforts in the intervening years. This literature review is part of a larger DOE study of deep energy upgrades that includes industry surveys and development of cost-stack analyses. For this review, we gathered data not just from the published literature, but also from practitioners in conjunction with other aspects of the larger DOE study. In some cases, we refer to comments from specific individuals or companies, or refer to specific products by name. This is not intended as an endorsement, but rather to provide clarity on sources of information and examples of relevant technologies.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2025

An ASME-Compliant Helium-4 Evaporation Refrigerator for the SpinQuest Experiment

This paper presents the design, safety basis, and commissioning results of a 1 K liquid helium-4 (4He) evaporation refrigerator developed for the Fermilab SpinQuest Experiment (E1039). The system represents the first high power helium evaporation refrigerator operated in a fixed target scattering experiment at Fermilab and was engineered to comply with the Fermilab ES&H Manual (FESHM) requirements governing pressure vessels, piping, cryogenic systems, and vacuum vessels. The design is mapped to ASME B31.3 (Process Piping) and the ASME Boiler and Pressure Vessel Code (BPVC) for pressure boundary integrity and overpressure protection, with documented compliance to FESHM Chapters 5031 (Pressure Vessels), 5031.1 (Piping Systems), and 5033 (Vacuum Vessels). This work documents the methodology used to reach compliance and approval for the 4He evaporation refrigerator at Fermilab which the field lacks. Design considerations specific to the high radiation target-cave environment including remotely located instrumentation approximately 20 m from the cryostat are summarized, together with the relief-system sizing methodology used to accommodate transient heat loads from dynamic nuclear polarization microwaves and the high-intensity proton beam. Commissioning data from July 2024 confirms that the system satisfies all thermal performance and safety objectives.

Roberts, Jordan D. [Virginia U.]↗
DOE OSTI2019

Using excitation-energy dependent fission yields to identify key fissioning nuclei in r -process nucleosynthesis

The possibility that nucleosynthesis in neutron star mergers may reach fissioning nuclei introduces significant uncertainties in predicting the relative abundances of $r$-process material from such events. We evaluate the impact of using sets of fission yields given by the 2016 GEF code for spontaneous (sf), neutron-induced $((n, f))$, and $β$-delayed (βdf) fission processes which take into account the approximate initial excitation energy of the fissioning compound nucleus. We further explore energy-dependent fission dynamics in the $r$ process by considering the sensitivity of our results to the treatment of the energy sharing and de-excitation of the fission fragments using the FREYA code. We show that the asymmetric-to-symmetric yield trends predicted by GEF 2016 can reproduce the high-mass edge of the second $r$-process peak seen in solar data and examine the sensitivity of this result to the mass model and astrophysical conditions applied. We consider the effect of fission yields and barrier heights on the nuclear heating rates used to predict kilonova light curves. We find that fission barriers influence the contribution of 254 Cf spontaneous fission to the heating at ~100 d, such that a light curve observation consistent with such late-time heating would both confirm that actinides were produced in the event and imply the fission barriers are relatively high along the 254 Cf β-feeding path. We lastly determine the key nuclei responsible for setting the r-process abundance pattern by averaging over thirty trajectories from a 1.2–1.4 M ⊙ neutron star merger simulation. Finally, we show it is largely the odd-N nuclei undergoing $(Z, N)(n, f)$ and $(Z, N)β$df that control the relative abundances near the second peak. We find the 'hot spots' for β-delayed and neutron-induced fission given all mass models considered and show most of these nuclei lie between the predicted $N$ = 184 shell closure and the location of currently available experimental decay data.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2024

3D modeling of the Staged Z-pinch with the FLASH code

The Staged Z-pinch (SZP) fusion concept is a magneto-inertial compression scheme developed by Magneto-Inertial Fusion Technologies, Inc. (MIFTI), in which small amounts of fusion fuel are brought to fusion-relevant conditions by passing multi-million amperes strong current through a cylindrical shell of high atomic number material. One- and two-dimensional modeling performed by MIFTI with the MACH2 code, suggests that net fusion energy gain can be achieved when currents in the 10 million amperes range compress a 50%-50% mixture of deuterium and tritium gas. In this project we enhance and use the FLASH code to execute high-fidelity, simulations of various SZP configurations, a collaboration between the Flash Center for Computational Science at the University of Rochester and the Laboratory for Laser Energetics, and MIFTI. FLASH is a high-performance computing, multi-physics, radiation magnetohydrodynamic (MHD) code with extended physics capabilities, which is developed at the Flash Center. The goal of this project is to assess the shell/fuel stability of the pinch to two- and three-dimensional MHD instabilities and to utilize FLASH’s extended physics capabilities to understand how extended-MHD effects impact implosion dynamics and plasma conditions at stagnation. The project is a natural extension of an ongoing collaborative effort between MIFTI and the Flash Center through the U.S. DOE Advanced Research Projects Agency-Energy (ARPA-E) BETHE program and can provide MIFTI with simulation capabilities that are currently beyond their reach with MACH2. Ultimately, MIFTI wants FLASH to become one of their simulation workhorses for reliable, high-fidelity SZP platform design. During the project, the Flash Center team developed a suite of in one- and two-dimensional FLASH simulations to model different variants of the SZP platform, performed code-to-code comparisons with MACH2, and used the FLASH code to design and model SZP experiments like the Double Eagle experiments that MIFTI recently performed. Also, the Flash Center team developed the capabilities of FLASH to be able to do three-dimensional simulations of pulsed-power experiments with the code for the first time. Two publications from this effort are currently under review and two more are in preparation. MIFTI has also committed to the use of FLASH for future SZP simulation efforts.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Predictions of core plasma performance for the SPARC tokamak

SPARC is designed to be a high-field, medium-size tokamak aimed at achieving net energy gain with ion cyclotron range-of-frequencies (ICRF) as its primary auxiliary heating mechanism. Empirical predictions with conservative physics indicate that SPARC baseline plasmas would reach $\textit{Q}$ ≈ 11, which is well above its mission objective of $\textit{Q}$ > 2. To build confidence that SPARC will be successful, physics-based integrated modelling has also been performed. The TRANSP code coupled with the theory-based trapped gyro-Landau fluid (TGLF) turbulence model and EPED predictions for pedestal stability find that $\textit{Q}$ ≈ 9 is attainable in standard H-mode operation and confirms $\textit{Q}$ > 2 operation is feasible even with adverse assumptions. In this analysis, ion cyclotron waves are simulated with the full wave TORIC code and alpha heating is modelled with the Monte–Carlo fast ion NUBEAM module. Detailed analysis of expected turbulence regimes with linear and nonlinear CGYRO simulations is also presented, demonstrating that profile predictions with the TGLF reduced model are in reasonable agreement.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2017

Numerical modeling of laser-driven experiments aiming to demonstrate magnetic field amplification via turbulent dynamo

The universe is permeated by magnetic fields, with strengths ranging from a femtogauss in the voids between the filaments of galaxy clusters to several teragauss in black holes and neutron stars. The standard model behind cosmological magnetic fields is the nonlinear amplification of seed fields via turbulent dynamo to the values observed. We have conceived experiments that aim to demonstrate and study the turbulent dynamo mechanism in the laboratory. Here, we describe the design of these experiments through simulation campaigns using FLASH, a highly capable radiation magnetohydrodynamics code that we have developed, and large-scale three-dimensional simulations on the Mira supercomputer at the Argonne National Laboratory. The simulation results indicate that the experimental platform may be capable of reaching a turbulent plasma state and determining the dynamo amplification. As a result, we validate and compare our numerical results with a small subset of experimental data using synthetic diagnostics.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Anomalous Absorption by the Two-Plasmon Decay Instability

Radiation-hydrodynamic simulations of directly driven fusion experiments at the Omega Laser Facility predict absorption accurately when targets are driven at low overlapped laser intensity. Discrepancies appear at increased intensity, however, with higher-than-expected laser absorption on target. Strong correlations with signatures of the two-plasmon decay (TPD) instability—including half-harmonic and hard-x-ray emission—indicate that TPD is responsible for this anomalous absorption. Scattered light data suggest that up to ≈ 30 % of the laser power reaching quarter-critical density can be absorbed locally when the TPD threshold is exceeded. A scaling of absorption versus TPD threshold parameter was empirically determined and validated using the laser–plasma simulation environment code.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2016

Double Emittance Exchanger as a Bunch Compressor for the MaRIE XFEL electron beam line at 1GeV

We demonstrate an alternative realization of a bunch compressor (specifically the second bunch compressor for the MaRIE XFEL beamline, 1GeV electron energy) using a double emittance exchanger (EEX) and a telescope in the transverse phase space.We compare our results with a traditional bunch compressor realized via chicane, taking into account the nonlinear dynamics, Coherent Synchrotron Radiation (CSR) and Space Charge (SC) effects. In particular, we use the Elegant code for tracking particles through the beam line and analyze the eigen-emittances evolution to separate the influence of the CSR/SC effects from the nonlinear dynamics effects. We optimize the scheme parameters to reach a desirable compression factor and minimize the emittance growth. We observe dominant CSR-effects in our scheme resulting in critical emittance growth and introduce alternative version of an emittance exchanger with a reduced number of bending magnets to minimize the impact of CSR effects.

43 PARTICLE ACCELERATORS↗
DOE OSTI2020

RELAP5-3D Modeling of High Temperature Test Facility (HTTF) Test PG-26

The High Temperature Test Facility (HTTF) at Oregon State University (OSU) is a scaled integral effects experiment designed to investigate transient behavior in high-temperature gas-cooled nuclear reactors with prismatic fuel and reflector blocks. Several tests have been completed, and more are still planned to at the HTTF, including depressurized conduction cooldown (DCC) and pressurized conduction cooldown (PCC) transients. This report analyses test PG-26, a progression of the Double Ended Inlet-Outlet Crossover Duct Break transient that is referred to as a DCC. PG-26 has been performed at the HTTF between May 30 and June 30, 2019. Core initial conditions (i.e., before the DCC started) have been met using low power (<100 kW) and two of ten available electric heaters. The DCC transient was initiated during the 50 th hour of the test. The break valves were opened, and hot helium from the core and cold helium from the reactor cavity simulation tank (RCST) started mixing. The gases flowed in a countercurrent fashion, where the top half of the hot duct contained hot helium that flowed in one direction and cold helium that flowed in the other direction in the bottom half of the duct. After the pressure and density reached equilibrium, the event entered a diffusion mode. The onset of a reverse natural circulation was not observed during the DCC period of the test. Version 4.4.2ie of the RELAP5-3D computer code has been used to model the HTTF PG-26 test, and results have been compared to available high-quality measured data. The model used in this study is the quality-controlled HTTF RELAP5-3D model (HTTF base 2018-04-19 QA), originally developed by P. Bayless. The report includes RELAP5-3D results of the “base calculations” as well as some sensitivities to important uncertain model inputs, such as primary helium mass flow rate, core ceramic thermal properties, as well as heat evacuation and loop friction models. Using the base RELAP5-3D model predicts a countercurrent helium flow in the hot duct observed at the beginning of the DCC, but instead of going into a molecular diffusion mode, the model predicts the onset of natural convection. Increasing friction in the core and hot duct prevents the natural convection from happening in some of the simulations. Although some temperatures are well predicted (and even overpredicted), the general tendency is to underpredict the ceramic and helium temperatures and heat removal rates during the DCC, resulting in many of the assessment findings being in minimal or insufficient agreement with the data. It is worth noting that the described discrepancies between measured data and RELAP5-3D predictions are not RELAP5-3D code limitations. More so, they reflect limitations in boundary condition and thermal property knowledge. While the RELAP5-3D calculations of the test provide some insights into what happens during the transient, and point to missing or potentially uncertain data to which the experimenters can direct their attention, the principal conclusion is that the PG-26 test data are insufficient for a system code assessment.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2023

Cryogenics Python Coding Calculations for Nitrogen & Helium Loss

Helium and Nitrogen are two significant chemical elements that are used to advance cryogenic scientific breakthroughs. Helium is a colorless, odorless, and tasteless gas that becomes liquid at (−452 °F). Nitrogen is a gas at its standard conditions; It becomes solid once temperatures reach below (-346 °F), and it boils and becomes a gas once temperatures reach above (-320 °F). During this research project I used a web-based interactive computing platform called Jupyter Lab to modify various python programs that calculate, and display helium and nitrogen inventory lost from three cryo plants

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2024

Harmonic generation in a terawatt x-ray free-electron laser

Abstract Terawatt x-ray free-electron lasers (XFELs) represent the frontier in further development of x-ray sources and require high current densities with strong transverse focusing. In this paper, we investigate the implications/potentialities of TW XFELs on the generation of harmonics at still shorter wavelengths and higher photon energies. The simulations indicate that significant power levels are possible at high harmonics of the XFEL resonance and that these XFELs can be an important coherent source of hard x-rays through the gamma ray spectrum. For this purpose, we use the MINERVA simulation code which self-consistently includes harmonic generation. Both helical and planar undulators are discussed in which the fundamental is at 1.5 Å and study the associated harmonic generation. While tapered undulators are needed to reach TW powers at the fundamental, the taper does not enhance the harmonics because the taper must start before saturation of the fundamental, while the harmonics saturate before this point is reached. Nevertheless, the harmonics reach substantial powers. Simulations indicate that, for the parameters under consideration, peak powers of the order of 180 MW are possible at the fifth harmonic with a photon energy of about 41 keV and still high harmonics may also be generated at substantial powers. Such high harmonic powers are certain to enable a host of enhanced applications.

Physics↗
DOE OSTI2019

A Novel TDC Scheme: Combinatorial Gray Code Oscillator Based TDC for Low Power and Low Resource Usage Applications

In common digital electronics design practice, combinatorial loop is less preferable, especially in the multi-bit cases. An exception of multi-bit feedback system that is allowed to be implemented in combinatorial loop is the Gray code sequence generator. The Gray code sequence generator runs by itself without being driven by an external clock. It steps through Gray code sequence significantly faster than the Gray code counter under the same silicon technology. In high energy physics experiments, it is necessary to find a low resource usage and low power TDC (Time-to-Digital-Converter) scheme for high channel count detectors. A Gray code oscillator based TDC is a good candidate for such a scheme. In this paper, we describe our work of design and implementation of a TDC based on combinatorial Gray code oscillator in a Xilinx Kintex-7 FPGA (Field-Programmable Gate Array). The implementation and test results are presented. The test result shows that the TDC using only 8 logic elements is able to reach a RMS precision of 160 ps for time difference measurements of a single pulse. The single pulse measurement precision can be further improved to 51 ps with the weighted average scheme using data from the same TDC channels captured by 4 consecutive system clock edges.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2019

R and DE Robotic Sensor Intern Team: Remote 3D Mapping Overview

The Department of Energy (DOE) nuclear complex includes many hazardous and challenging environments that must be inspected remotely and routinely for structural integrity evaluation and long-term planning purposes. The H-Canyon Air Exhaust (HCAEX) Tunnel biannual inspection is an example of such an environment. Presently inspections are performed by teleoperated robotic crawlers provide low resolution video feedback to the structural engineers. Advanced sensors such as Lidar and panospheric hi-res cameras have the potential to provide additional valuable data in future inspections. UT-Austin Lidar work in support of an H-Canyon deployment began with the DOE EM sponsored H-Canyon Integrated Research Project. The R and DE Robotic Sensor intern team includes two of the UT-Austin Masters students working on Lidar development to facilitate the pulling of university developed solutions to the field. The goal of this project is to develop a suite of sensors that could be used to gather advanced data in future HCAEX tunnel inspections. Of particular interest is the ability to map the tunnel walls at an accuracy that will allow for the comparison of two scans performed at different time periods to estimate the concrete erosion rate. Additionally, the development of the 3D point cloud in the GPS denied environment is the first step in being able to collect and overlay other 3D data such as radiation mapping. Project specific goals include: - Design and develop 3D mapping sensor suite. Merge Lidar point cloud with high res camera images Incorporate Inertial Measurement Unit (IMU) to assist with positioning. - Develop sensor software and user GUI Sensor data collection and integration software User GUI for reach back system. - Test solution on crawler in tunnel test bed Use crawler base similar to H-Canyon planned crawler Design and build test bed simulating tunnel conditions. To facilitate rapid sensor integration, software coding and user GUI development, the Robot Operating System (ROS) was employed as the development platform. ROS is a set of open source software libraries and tools that assist with the building of robot applications. ROS includes drivers for many sensors, state-of-the-art algorithms, and powerful developer tools. Sensors selected for the summer intern solution included assessment as to whether they possessed ROS drivers and associated sample code. Additionally, the ROS 3D Robot Visualizer (rviz) tool has been employed.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗