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At least 127 records · Page 7

Trust-Enhancing Probabilistic Transfer Learning for Sparse and Noisy Data Environments

There is an increasing aspiration to utilize machine learning (ML) for various tasks of relevance to national security. ML models have thus far been mostly applied to tasks and domains that, while impactful, have sufficient volume of data. For predictive tasks of national security relevance, ML models of great capacity (ability to approximate nonlinear trends in input-output maps) are often needed to capture the complex underlying physics. However, scientific problems of relevance to national security are often accompanied by various sources of sparse and/or incomplete data, including experiments and simulations, across different regimes of operation, of varying degrees of fidelity, and include noise with different characteristics and/or intensity. State-of-the-art ML models, despite exhibiting superior performance on the task and domain they were trained on, may suffer detrimental loss in performance in such sparse data environments. This report summarizes the results of the Laboratory Directed Research and Development project entitled Trust-Enhancing Probabilistic Transfer Learning for Sparse and Noisy Data Environments. The objective of the project was to develop a new transfer learning (TL) framework that aims to adaptively blend the data across different sources in tackling one task of interest, resulting in enhanced trustworthiness of ML models for mission- and safety-critical systems. The proposed framework determines when it is worth applying TL and how much knowledge is to be transferred, despite uncontrollable uncertainties. The framework accomplishes this by leveraging concepts and techniques from the fields of Bayesian inverse modeling and uncertainty quantification, relying on strong mathematical foundations of probability and measure theories to devise new uncertainty-aware TL workflows.

97 MATHEMATICS AND COMPUTING↗

Inspecta Annual Technical Report

Sandia National Laboratories (SNL) is designing and developing an Artificial Intelligence (AI)-enabled smart digital assistant (SDA), Inspecta (International Nuclear Safeguards Personal Examination and Containment Tracking Assistant). The goal is to provide inspectors an in-field digital assistant that can perform tasks identified as tedious, challenging, or prone to human error. During 2021, we defined the requirements for Inspecta based on reviews of International Atomic Energy Agency (IAEA) publications and interviews with former IAEA inspectors. We then mapped the requirements to current commercial or open-source technical capabilities to provide a development path for an initial Inspecta prototype while highlighting potential research and development tasks. We selected a highimpact inspection task that could be performed by an early Inspecta prototype and are developing the initial architecture, including hardware platform. This paper describes the methodology for selecting an initial task scenario, the first set of Inspecta skills needed to assist with that task scenario and finally the design and development of Inspecta’s architecture and platform.

42 ENGINEERING↗

Sim-Situ: A Framework for the Faithful Simulation of in situ Processing

The amount of data generated by numerical simulations in various scientific domains led to a fundamental redesign of how the analysis and visualization of simulation outputs are performed. The throughput and capacity of storage subsystems have not evolved as fast as the computing power in extreme-scale supercomputers, making the classical post-hoc approach highly inefficient. In situ processing has then emerged as a solution in which simulation and data analysis/visualization are intertwined for better performance and greater interactivity.Determining the best allocation, i.e., how many resources to allocate to simulation and analysis respectively, mapping, i.e., where and at which frequency to run the analysis/visualization, and data transfer mode is a complex task whose performance assessment is crucial to the efficient execution of in situ processing. However, such a performance evaluation of different strategies usually relies either on directly running them on the targeted execution environments, which can rapidly become extremely time- and resource-consuming, or on resorting to simplified models of the components of an in situ application, which can lack of realism. In both cases, the validity of the performance evaluation is limited.In this paper, we present Sim-Situ, a simulation-based framework for the faithful performance evaluation of in situ processing strategies. We designed Sim-Situ to reflect the typical features of in situ processing systems. Thanks to its modular design, Sim-situ has the necessary flexibility to easily and faithfully evaluate the behavior and performance of various allocation, mapping, and data transfer strategies. We illustrate the simulation capabilities of Sim-Situ on a Molecular Dynamics use case. We study the impact of different strategies on performance and show how users can leverage Sim-Situ to determine interesting tradeoffs when adding analysis/visualization components to their application.

Honoré, Valentin↗

Refining fast calorimeter simulations with a Schrödinger Bridge

Machine learning-based simulations, especially calorimeter simulations, are promising tools for approximating the precision of classical high energy physics simulations with a fraction of the generation time. Nearly all methods proposed so far learn neural networks that map a random variable with a known probability density, like a Gaussian, to realistic-looking events. In many cases, physics events are not close to Gaussian and so these neural networks have to learn a highly complex function. We study an alternative approach: Schrödinger bridge Quality Improvement via Refinement of Existing Lightweight Simulations (SQuIRELS). SQuIRELS leverages the power of diffusion-based neural networks and Schrödinger bridges to map between samples where the probability density is not known explicitly. We apply SQuIRELS to the task of refining a classical fast simulation to approximate a full classical simulation. On simulated calorimeter events, we find that SQuIRELS is able to reproduce highly non-trivial features of the full simulation with a fraction of the generation time.

Calorimeter methods↗

Adaptive X-ray imaging with reinforcement learning

X-ray imaging is a powerful technique to scan samples in a variety of contexts including biological, environmental and materials science, but commonly requires a synchrotron light source to produce X-rays at sufficient intensity. As these facilities are expensive to operate, the available beam time is limited and always in high demand. Particularly if the illuminated samples are sparse, standard raster scanning methods can be time-consuming, with a majority of that time being spent on areas of the image that carry little information. To increase the efficiency and maximize the information gain for a given time budget, we split the scanning process into a series of steps where previous measurements are used to inform the decision making and adapt the exposure distribution at later stages of the sequence. We formulate this task as a reinforcement learning problem where the goal is to produce a sequence of exposure maps that maximize a predefined scalar metric. We demonstrate the potential of this approach in simulations where the adaptive illumination can accelerate the measurement process by up to an order of magnitude compared with standard raster scanning. Finally, we present the first results from deploying the trained agents on an X-ray fluorescence beamline at the Stanford Synchrotron Radiation Lightsource.

Reinforcement Learning↗

ALDX Mission Assurance Plan and Quality Plan

This document describes how ALDX assures successful mission delivery, via nurturing essential scientific and computational capabilities in our staff, negotiating and delivering upon milestones, and ensuring a safe, secure, and productive work environment. The document also describes how we manage and minimize different types of risks, ranging from risks associated with completing essential mission tasks, to risks in safety and security in our organization, as discussed in the Risk Register/Heat Map. It also describes how ALDX assures Quality in its work.

99 GENERAL AND MISCELLANEOUS↗

Acquisition and Implementation of a Comprehensive Environmental Permits Linking Tool at Savannah River Site - 20234

Historically, Savannah River Nuclear Solutions LLC (SRNS) tracked environmental regulatory commitments and the requirements from hundreds of permits at the Savannah River Site (SRS) using several separate methods, making integrated compliance assurance cumbersome and labor-intensive. When SRNS experienced an increase in environmental issues in 2017, SRNS management and U.S. Department of Energy - Savannah River (DOE-SR) management decided a single, proactive approach was needed to capture environmental permit information (including regulations, Consent Orders, DOE Orders, and any other state or federally issued statement of requirements), track the tasks necessary to ensure compliance with these requirements, and thereby mitigate the risk of noncompliance. SRNS developed a list of mandatory objectives that the tool must meet to function as a Comprehensive Environmental Permits Linking Tool (CEPLT). A key requirement was the ability to map Site permits to their governed locations and display the associated requirements at the compliance point (e.g., outfall, stack, waste unit, etc.). Several options included modifying existing onsite resources, building a custom onsite solution, purchasing an off-the-shelf solution, and contracting an offsite developer to build a custom solution. SRNS concluded an off-the-shelf solution with configuration and customization options would provide the flexibility to fit the unique needs of Savannah River Site (SRS) while taking advantage of industry-tested software and providing a reduced deployment timeline. SRNS chose Gensuite{sup R} a, a cloud-based solution that offers numerous a la carte applications in the environmental, health, and safety arenas, as the best candidate. SRNS selected three (3) integrated applications (Compliance Calendar, Permit Manager, and Mapper) to function as the CEPLT. The Compliance Calendar module allows for creation and tracking of regulatory commitment tasks assigned to responsible environmental professionals. Permit Manager organizes permits and other requirement documents, linking the commitments in each to Compliance Calendar tasks and/or implementing procedures. Mapper provides GIS capability for mapping the data from the other two modules to their physical onsite locations. The CEPLT was configured to allow for other SRS Site Tenants to eventually utilize the applications. Additionally, DOE-SR uses the CEPLT to provide an overview of contractor environmental compliance activities and to organize DOE-specific documents and tasks. The CEPLT fulfilled the requirement of meeting current compliance needs as well as providing the ability to grow as new organizations are incorporated and functionality is expanded. SRNS now uses the CEPLT to more effectively manage permit requirements, improve knowledge transfer, and increase the Site's overall protection of the environment, the Site worker, and the public. Possible future uses of the system include integration of mobile applications for timely communication of potential non-compliant conditions and DOE complex-wide deployment allowing for enhanced DOE site and Head Quarters oversight. Implementation of CEPLT will result in cost savings, both in terms of dollars and man-hours. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

New Tank Mapping Method Improves Waste Removal Process

Savannah River Mission Completion is the Liquid Waste (LW) contractor at the Savannah River Site (SRS). The LW mission is tasked with treating and disposing of legacy nuclear waste. There are multiple facilities involved in this work, including the Concentration, Storage, and Transfer Facilities (CSTF), the Defense Waste Processing Facility (DWPF), the Salt Waste Processing Facility (SWPF), and the Saltstone Production Facility (SPF). The CSTF includes 43 underground waste tanks used to store and support processing of radioactive liquid waste. Waste removal activities, such as salt dissolution campaigns and sludge agitation, are conducted within the CSTF waste tanks to convert the waste into a form that allows for downstream processing at other LW facilities. While performing these waste removal campaigns, camera inspections are performed to assess the quantity and distribution of the remaining waste within the waste tank (i.e. saltcake or sludge). Understanding the quantity and distribution of the salt/sludge within the waste tanks allows for improved waste removal strategies (e.g. mixing pump operation) and refined safety controls. Typically, several camera inspections are performed during a waste removal transfer to verify the elevation of the visible salt/sludge mounds against the known elevation of the liquid surface. The camera inspection footage must then be interpreted by a trained engineer who will develop a 2-D map that depicts the waste distribution at various elevations within the waste tank. This tank mapping is then used in conjunction with conservative assumptions to evaluate the volume of saltcake or sludge that is present within the waste tank.

Mini, Melany↗

Central and Eastern North America Ground-Motion Characterization (NGA-East)

This document is the final project report of the Next Generation Attenuation for Central and Eastern North America (CENA) project (NGA-East). The NGA-East objective was to develop a new ground-motion characterization (GMC) model for the CENA region. The GMC model consists of a set of new ground-motion models (GMMs) for median and standard deviation of ground motions and their associated weights to be used with logic-trees in probabilistic seismic hazard analyses (PSHA). NGA-East is a large multidisciplinary project coordinated by the Pacific Earthquake Engineering Research Center (PEER), at the University of California. The project has two components: (1) a set of scientific research tasks, and (2) a model-building component following the framework of the “Seismic Senior Hazard Analysis Committee (SSHAC) Level 3” (Budnitz et al. 1997; NRC 2012). Component (2) is built on the scientific results of component (1) of the NGA-East project. This report documents the tasks under component (2) of the project. Under component (1) of NGA-East, several scientific issues were addressed, including: (a) development of a new database of ground motion data recorded in CENA; (b) development of a regionalized ground-motion map for CENA, (c) definition of the reference site condition; (d) simulations of ground motions based on different methodologies; and (e) development of numerous GMMs for CENA. The scientific tasks of NGA-East were all documented as a series of PEER reports. The scope of component (2) of NGA-East was to develop the complete GMC. This component was designed as a SSHAC Level 3 study with the goal of capturing the ground motions’ center, body, and range of the technically defensible interpretations in light of the available data and models. The SSHAC process involves four key tasks: evaluation, integration, formal review by the Participatory Peer Review Panel (PPRP), and documentation (this report). Key tasks documented in this report include review and evaluation of the empirical groundmotion database, the regionalization of ground motions, and screening sets of candidate GMMs. These are followed by the development of new median and standard deviation GMMs, the development of new analyses tools for quantifying the epistemic uncertainty in ground motions, and the documentation of implementation guidelines of the complete GMC for PSHA computations. Appendices include further documentation of the relevant SSHAC process and additional supporting technical documentation of numerous sensitivity analyses results. The PEER reports documenting component (1) of NGA-East are also considered “attachments” to the current report and are all available online on the PEER website (https://peer.berkeley.edu/). The final NGA-East GMC model includes a set of 17 GMMs defined for 24 ground-motion intensity measures, applicable to CENA in the moment magnitude range of 4.0 to 8.2 and covering distances up to 1500 km. Standard deviation models are also provided for site-specific analysis (single-station standard deviation) and for general PSHA applications (ergodic standard deviation). Adjustment factors are provided for consideration of source-depth effects and hanging-wall effects, as well as for hazard computations at sites in the Gulf Coast region.

58 GEOSCIENCES↗

Autonomous Inspection of Geologic Repositories: Current State of the Art and Future Directions

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning, including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out- standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static. Activities must encompass verification of the design, prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, we discuss the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed loop autonomation to complete tasks. We explore the feasibility of using rovers for these verification tasks, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Lastly, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

CRIC and Rucio integration for CMS Data Management

The Large Hadron Collider (LHC) at CERN smashes protons together at close to the speed of light with seven times the energy of the most powerful accelerators built up to now. Some of the collision energy is turned into mass, creating new particles which are observed in the Compact Muon Solenoid (CMS) particle detector. CMS data is analyzed by scientists around the world to build up a picture of what happened at the heart of the collision. This will help us answer questions such as: ”what is the Universe really made of and what forces act within it?” and ”what gives everything substance?”. All the data produced by the experiment are collected and stored in a distributed system, since it must provide an high throughput and performing access to these data to scientists and physicists spread all over the world. In order to answer the previous questions and many others, CMS users must first obtain a copy of a portion of these data, and then to analyze it, therefore the first challenge is to decide in which storage site to save this duplicate so they can access it as quickly as possible. The second issue is each storage site shares a limited memory space with many CMS users, and each one needs to be assigned to a well defined personal amount of storage to pin data he needs. The main goal of my Summer Internship is to make scalable and automatic this user-site mapping which is based on a preexisting policy, proving a structured and organized algorithm to accomplish this task. Hence we are going to define, and solve, the main challenges encountered, and the technical solution used to generalize the algorithm to handle different policies for different countries.

43 PARTICLE ACCELERATORS↗

Examining Autonomous Inspection of Geologic Repositories

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out-standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static as activities must encompass verification of the design prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material, including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, it discusses the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed loop autonomation to complete tasks. The feasibility of using rovers for these verification tasks is explored, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Finally, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system

autonomous monitoring↗

Pixelated CZT Technology for the Detection, Identification, and Localization of Gamma-Ray Sources - 18311

Radioactive waste-management applications require good measurements to qualitatively and quantitatively characterize waste materials. Often these measurements must be done in situ, and the user wishes to learn something of the isotopic and spatial distribution of the source. Therefore, there is a need for a portable instrument that can map radioactive contamination and quantify sources. This presentation introduces several instruments that have been applied to this task, along with example measurements in relevant applications. All instruments are based on 3D-position-sensitive CdZnTe (CZT) detectors. This technology routinely achieves better than 1.1% FWHM energy resolution at 662 keV and operates at room temperature with a startup time under 2 minutes. All are packaged in portable enclosures with WiFi and Bluetooth capabilities for wireless communication. These capabilities allow the technology to be used in more advanced measurements in the field. A unique capability of these detectors is the ability to image the spatial distribution of gamma rays from a single stationary measurement. The first product, Polaris-H, has been in use at commercial nuclear power plants since 2013. The system, currently used at over 50% of the US nuclear-power fleet, integrates a 3D-position-sensitive CZT detector, associated readout electronics, an embedded computer, a battery with over 7-hour life, an optical camera, and a laser range finder in a portable water-proof enclosure. The system connects wirelessly to a tablet which displays a gamma-ray spectrum and isotope-specific images of the gamma-ray distribution in all directions in real time. The CZT detectors have a dynamic range from 50 keV up to 3 MeV. Coded aperture or pinhole imaging is used for energies below 250 keV, and Compton imaging is used for energies above 250 keV. List-mode data is saved to an external USB memory stick to enable more advanced analysis, including isotopic activity analysis, via H3D's post-processing software. Additional systems based on the same architecture have been developed to optimize the technology for other applications. These include Polaris-H Quad, which provides over 3 times the sensitivity for applications involving weaker sources, and Polaris-H Shield, which uses a collimator to provide images and isotope information over a narrower field of view in order to measure weaker sources in the presence of stronger sources of the same isotope. H3D has also developed custom systems that have been mounted on robots and drones that enable remote operation of the technology. Results from the measurements collected at commercial nuclear power plants and other applicable sites will be presented to show how these instruments can be used to detect, identify, and localize gamma-ray sources. Advanced analysis techniques to show the accurate quantification of the gamma-ray source will also be presented. Applications range from characterizing simple objects, to locating hottest points, estimating contamination distributions on an isotope-by-isotope basis, and differentiating scatter and direct emissions. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Quantum/AI Topology-Aware Latency-Adaptive HPC Workflow Scheduling Optimization

The growing demand for more powerful high-performance computing (HPC) systems has led to a steady rise in energy consumption by supercomputing worldwide. This study is focused on comparing our Application-Topology Mapper (ATMapper) to the popular Simple Linux Utility for Resource Management (SLURM) for the purpose of exploring methods that can further optimize job-scheduling within HPC systems. ATMapper is an Artificial-Intelligence based approach to job-scheduling that is currently being enhanced with quantum annealing (QA) to generate optimal schedules faster. We are applying QA to speedup our ATMapper process to achieve higher computing efficiency, thereby reducing HPC energy consumption. Here, we examine how four job-scheduling approaches perform in processor node assignment when using an example network architecture of 4 interconnected nodes. Using a specialized script, we are assessing the schedule of a computation flow with 11 interdependent tasks. The data movements among nodes were tracked to count for the number of interactions (network hops) between nodes needed to complete the tasks. The total number of hops and the job completion time were then used to quantify the efficiency of the different mapping approaches. In addition to SLURM, we also compare our ATMapper to the QA-enabled LBNL TIGER and the D-Wave Distributed Computing processor assignment approaches. The preliminary results showed that our topology-aware, latency-adaptive ATMapper is significantly more efficient when compared to the other scheduling approaches due to its load-imbalance network allocation. The scheduler displayed a computing efficiency of 53% by performing significantly fewer network hops than its alternatives. By reducing the number of hops, ATMapper was able to perform all 11 tasks by using only 3 nodes out of given 4. This research indicates the potential to use QA/AI for HPC job-scheduling. Later, we will test a SLURM simulator program to draw further comparisons on the effectiveness of ATMapper's scheduling approach. The results of this comparison will serve as a baseline for later improving SLURM's performance using a QA-enhanced ATMapper approach.

Caraveo, Braulio [University of Huston - Clear Lak↗

Mapping use cases and dataset needs for benchmarking buildings data

A perennial challenge in buildings research is the lack of high-quality datasets that can be relied upon for a wide array of tasks, including model calibration and improving energy efficiency and load flexibility. Instrumenting a building for data collection is resource intensive, so it is important to be methodical in the approach and ensure that resulting data are flexible and useful for a broad range of analyses. This study aims to fill the gaps in characterizing potential use cases for buildings datasets and mapping them to dataset needs using a well-defined data infrastructure. Here, we have developed a systematic mapping strategy between buildings dataset needs and use cases to help streamline the processes of efficiently targeting datasets, designing building sensing systems, and determining buildings research use cases. We selected 14 prospective use cases and 11 refined buildings data categories for developing the preliminary dataset-needs-to-use-cases mapping matrix (‘DN-UC mapping matrix’) with generic ‘Tags’—a detailed sub-level of data categories extracted by justifying the needs of an aspect of the datasets to use cases. We present two example applications of the developed mapping matrix to demonstrate use of the mapping matrix and its effectiveness.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Deep Transfer Learning With Field-Based Measurements for Large Area Classification

Classification of Electro-Optical (EO) datasets using Deep Neural Networks (DNNs) has lead to high-performance supervised learning algorithms. However, DNNs require a large amount of labeled data for training which often have limited availability in ecological studies. Up-to-date classification of vegetation in sensitive Arctic ecosystems continue to be a challenge. In an ecosystem undergoing rapid change, capturing the dynamics of vegetation requires the existing maps of vegetation (such as Alaska Existing Vegetation Type (AKEVT), circa 2000) to be updated based on frequent field based observation of vegetation. A method is needed to transfer the knowledge gained from field-collected observations to a larger area using DNNs. Transfer learning is a machine learning technique where a model trained on one task is re-purposed on another similar task. This paper seeks to train DNNs using field-collected observations and apply transfer learning to apply the knowledge gained to update existing vegetation map at larger scale. We test two DNN methods, (1) a deep multilayer perceptron (MLP) model and (2) siamese MLP network that uses a structure to rank similarity between inputs and can be used for training datasets with few samples and show good performance with limited datasets (e.g. few-shot learning). The results show ∼90% accuracy (using the field observations for evaluation) when transfer learning is applied to a siamese network, compared to ∼45% accurate when a MLP is trained on the AKEVT and evaluated on the field observations. The approach show promise for improving and update the existing vegetation maps over large areas using limited field-based observations.

Langford, Zach↗

Radiological Scouting, Monitoring and Inspection Using Drones

Human populations and natural ecosystems are bound to be exposed to ionizing radiation from the deposition of artificial radionuclides resulting from nuclear accidents, nuclear devices or radiological dispersive devices (“dirty bombs”). On the other hand, Naturally Occurring Radioactive Material industries such as phosphate production or uranium mining, contribute to the on site storage of residuals with enhanced concentrations of natural radionuclides. Therefore, in the context of the European agreements concerning nuclear energy, namely the European Atomic Energy Community Treaty, monitoring is an essential feature of the environmental radiological surveillance. In this work, we obtain 3D maps from outdoor scenarios, and complete such maps with measured radiation levels and with its radionuclide signature. In such scenarios, we face challenges such as unknown and rough terrain, limited number of sampled locations and the need for different sensors and therefore different tasks. We propose a radiological solution for scouting, monitoring and inspecting an area of interest, using a fleet of drones and a controlling ground station. First, we scout an area with a Light Detection and Ranging sensor onboard a drone to accurately 3D-map the area. Then, we monitor that area with a Geiger–Müller Counter at a low-vertical distance from the ground to produce a radiological (heat)map that is overlaid on the 3D map of the scenario. Next, we identify the hotspots of radiation, and inspect them in detail using a drone by landing on them, to reveal its radionuclide signature using a Cadmium–Zinc–Telluride detector. We present the algorithms used to implement such tasks both at the ground station and on the drones. The three mission phases were validated using actual experiments in three different outdoor scenarios. We conclude that drones can not only perform the mission efficiently, but in general they are faster and as reliable as personnel on the ground.

Pinto, Luís Ramos (ORCID:0000000319975484)↗

Autonomous Monitoring of Nuclear Repositories: Current State of the Art and Future Directions

Geological repositories for nuclear waste, including spent nuclear fuel, present a significant challenge for traditional International Atomic Energy Agency (IAEA) safeguards tools due to their inaccessibility and demanding operational conditions. The IAEA has been working closely with Member State organizations currently involved in repository construction and planning, including Euratom, the Finnish and Swedish regulatory authorities, and relevant facility operators. However, the verification challenge remains unsolved, and there persists an out- standing need for tools and approaches that will help the IAEA verify that no nuclear material is diverted from a repository environment. The challenge is also not static. Activities must encompass verification of the design, prior to and during the construction/operation phase, and post backfill. Throughout these various phases, it is imperative that the IAEA maintains a continuity of knowledge (CoK) of all material including information on material inventory and flow. This paper highlights these challenges and outlines how they might be addressed by using remote or autonomous vehicles. Specifically, we discuss the current state of the art in robotic autonomy for known or partially known environment mapping and patrolling, as well as shared autonomy, where humans collaborate with closed-loop autonomation to complete tasks. We explore the feasibility of using rovers for these verification tasks, along with the challenges associated with system implementation. Hardware and software suggestions are provided based on the adoption of similar technologies in other comparable areas and ability to close technical gaps. Lastly, human-robotic interactions are considered based on the challenges of the environment of the repository and effective deployment and continued operation of the robot system.

geologic repository, safeguards, IAEA, Robotics↗