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DOE OSTI2026

Modular Accelerator Robotics Framework Implementation For Accelerator Inspection

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khana, M. [Unlisted, US, IL] (ORCID:0009000↗

DOE OSTI2021

REGULATORY REQUIREMENTS, GUIDANCE, AND REVIEW OF EMBEDDED DIGITAL DEVICES IN SAFETY SYSTEMS

Interest in embedded digital devices (EDDs) for monitoring and providing control of components is increasing in the nuclear power market as more and more users both within and outside the nuclear sector are employing EDDs. EDDs in other industries or countries may be known by the related terms as smart devices, devices of limited functionality, or intelligent devices. EDDs can sometimes perform a safety role when embedded in components such as temperature transmitters, pressure transmitters, voltage regulators, gas analyzers, boiler controllers, relays, and radiation monitors. The introduction of EDDs can affect safety by creating new hazards, vulnerabilities, failure modes, triggering mechanisms, and other potential safety concerns at both the component and system levels. The U.S. Nuclear Regulatory Commission’s (NRC’s) existing regulations and guidance cover the use of EDDs in safety-related and important to safety systems in nuclear power plants (NPPs). In addition to potential future challenges, the nature of EDDs being implemented in similar or identical manners between different plants and industries opens up the potential of leveraging the reviews of other regulators or utilization of industry certifications.Key words: embedded digital device, firmware

Halverson, D. S.↗

NASA NTRS1986

Atmospheric electrical modeling in support of the NASA F106 Storm Hazards Project

With the use of composite (non-metallic) and microelectronics becoming more prevalent in the construction of both military and commercial aircraft, the control systems have become more susceptible to damage or failure from electromagnetic transients. One source of such transients is the lightning discharge. In order to study the effects of the lightning discharge on the vital components of an aircraft, NASA Langley Research Center has undertaken a Storm Hazards Program in which a specially instrumented F106B jet aircraft is flown into active thunderstorms with the intention of being struck by lightning. One of the specific purposes of the program is to quantify the environmental conditions which are conductive to aircraft lightning strikes.

Helsdon, J. H.↗

NASA NTRSDate not supplied

Evaluating and Exploring Extreme Precipitation in CHIRPS3, CHIMES, and the Climate Hazards Station Database

Between 2015 and 2019, the impacts and losses associated with droughts, floods, and hurricanes surged through the interaction of increasing exposure and more extreme weather and climate (Funk 2021). In 2020, the Aon-Benfield Reinsurance Company reported that cyclones, floods, and droughts resulted in $165 billion (USD) in losses. For 2020, EM-DAT lists 363 flood, landslide, storm, and drought events impacting some 98 million people. As hazards mount, models indicate more variable precipitation, and observations indicate increasing extremes in humid regions, yet the small number of available gauge observations is declining. In this talk we briefly introduce two new resources: version 3 of the 1981-near present Climate Hazards center Infrared Precipitation with Stations (CHIRPS3) archive, and the 2000-near present Climate Hazards IMErg with Stations archive (CHIMES). The satellite-only CHIRP3 and CHIME components are based, respectively, on geostationary thermal infrared Cold Cloud Duration (CCD) values and the NASA GPM IMERGlate product. These archives benefit from thousands of station observations. In addition to standard global sources, the Climate Hazards station database includes about 5,000 additional stations in humid tropical and sub-tropical areas associated with likely increases in extreme rainfall. While effectively monitoring extreme precipitation is important to humanitarian agencies like FEWS NET, and to hydrologic modeling applications (a, b), evaluations of the widely used CHIRPS2 product indicate a propensity to underestimate extremes. Here, we explain the source of this problem. Then, focusing on pentad totals in 12 well-gauged regions, we use the high-quality gauge-based REGEN dataset to show that CHIRP3 and CHIME perform substantially better than CHIRP2. We examine trends in extremes in these validation regions, comparing REGEN results with values from the satellite-only CHIRP2, CHIRP3, CHIME and the gauge-enhanced CHIRP2, CHIRP3, CHIME. Trends in dry and humid regions are contrasted and compared. We conclude with global evaluations of the pentad CHIRP3, CHIRPS3, CHIME, CHIMES, and Climate Hazards station database products. How does the performance of the shorter period of record CHIME compare with CHIRP3? We anticipate that the sophisticated microwave-based IMERGlate inputs into CHIME will perform better. Where do we see the largest increases in extremes in these products? How well might CHIRPS3 and CHIMES perform in the context of humanitarian assistance efforts?

C Funk↗

DOE OSTI2022

Expectations of Future Natural Hazards in Human Adaptation to Concurrent Extreme Events in the Colorado River Basin

Human adaptation to climate change is the outcome of long-term decisions continuously made and revised by local communities. Adaptation choices can be represented by economic investment models in which the often large upfront cost of adaptation is offset by the future benefits of avoiding losses due to future natural hazards. In this context, we investigate the role that expectations of future natural hazards have on adaptation in the Colorado River basin of the USA. We apply an innovative approach that quantifies the impacts of changes in concurrent climate extremes, with a focus on flooding events. By including the expectation of future natural hazards in adaptation models, we examine how public policies can focus on this component to support local community adaptation efforts. Findings indicate that considering the concurrent distribution of several variables makes quantification and prediction of extremes easier, more realistic, and consequently improves our capability to model human systems adaptation. Hazard expectation is a leading force in adaptation. Even without assuming increases in exposure, the Colorado River basin is expected to face harsh increases in damage from flooding events unless local communities are able to incorporate climate change and expected increases in extremes in their adaptation planning and decision making.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2009

The Integrated Hazard Analysis Integrator

Hazard analysis addresses hazards that arise in the design, development, manufacturing, construction, facilities, transportation, operations and disposal activities associated with hardware, software, maintenance, operations and environments. An integrated hazard is an event or condition that is caused by or controlled by multiple systems, elements, or subsystems. Integrated hazard analysis (IHA) is especially daunting and ambitious for large, complex systems such as NASA s Constellation program which incorporates program, systems and element components that impact others (International Space Station, public, International Partners, etc.). An appropriate IHA should identify all hazards, causes, controls and verifications used to mitigate the risk of catastrophic loss of crew, vehicle and/or mission. Unfortunately, in the current age of increased technology dependence, there is the tendency to sometimes overlook the necessary and sufficient qualifications of the integrator, that is, the person/team that identifies the parts, analyzes the architectural structure, aligns the analysis with the program plan and then communicates/coordinates with large and small components, each contributing necessary hardware, software and/or information to prevent catastrophic loss. As viewed from both Challenger and Columbia accidents, lack of appropriate communication, management errors and lack of resources dedicated to safety were cited as major contributors to these fatalities. From the accident reports, it would appear that the organizational impact of managers, integrators and safety personnel contributes more significantly to mission success and mission failure than purely technological components. If this is so, then organizations who sincerely desire mission success must put as much effort in selecting managers and integrators as they do when designing the hardware, writing the software code and analyzing competitive proposals. This paper will discuss the necessary and sufficient requirements of one of the significant contributors to mission success, the IHA integrator. Discussions will be provided to describe both the mindset required as well as deleterious assumptions/behaviors to avoid when integrating within a large scale system.

Morris, A. Terry↗

NASA NTRS2013

Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 μm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.

Roback, VIncent E.↗

NASA NTRSDate not supplied

Open Science for Life in Space: Data Sharing and Tools for Knowledge Discovery

The next era in human space exploration is rapidly approaching. The use of health countermeasures and biomonitoring systems for space missions are required to counteract space health hazards and to support life to thrive in deep space (e.g., humans, animals, plants, crops; entire ecosystems within spacecrafts/habitats/spacesuits). The development of these mission components will be highly dependent on our understanding of basic biological and health responses to myriad space hazards (ionizing radiation, altered gravitational fields, altered day-night cycles, confined isolation, hostile-closed environments, distance-duration from Earth, planetary dust-regolith, and extreme temperatures/atmospheres). The fast-growing array of space biological and mission telemetry data, which in the past was simply archived after minimal analysis, holds great potential once applied to these mission challenges if it can be reorganized and formatted for Open Science. Organizing the data for such analysis is a challenge because of its multi-hierarchical, multi-modal, and heterogenous nature (molecular, cellular, tissue, organ, whole organism, behavior, ecosystem, microbiome; tabular, omics, imaging, video, biospecimen, environmental physical-chemical telemetry). This session focuses on current approaches in this domain such as: making space biological data FAIR (findable, accessible, interoperable, reusable), effective data ingestion/dissemination, observational versus experimental data, Open Science collaborations, data analysis techniques, AI/ML/knowledge graph/modeling methods, and data integration/discovery tools.

open science↗

NASA NTRSDate not supplied

In-Time Safety Assessment & Risk Prediction for Unmanned Aerial Systems

One of the critical challenges in emerging autonomous systems is timely mitigation of hazards encountered during operation which may not be known or accounted for at the time of design. Efficient execution of unmanned systems therefore demands a paradigm shift from scheduled periodic maintenance to predictive risk analysis that includes condition-based-monitoring, real-time reliability assessment and hazard mitigation. Particularly, the state-of-health parameters needs to be computed at the component level, unit level as well as the integrated system level. While in the former two levels, the physics of health propagation may be based on underlying electro-mechanical properties, system level prognostics often relies on data-driven models. Further, uncertainty from model, measurements and input sources should be accurately quantified to generate meaningful prediction results that can be fed into reliable decision making processes. Finally, the expected risk and time to failure has to be computed based on the current state-of-health of the overall system. This talk presents a conceptual design of such an in-time safety assurance approach for unmanned aerial vehicles (UAV) operating at low altitudes near and over populated areas. Typical in-flight hazard incidents include unplanned detour, proximity to obstacles, mid-flight component faults, limited battery life and poor quality of GPS measurements. Safety assessment therefore comprises trajectory generation and re-plan, battery RUL computation, distributed fault diagnostics and uncertainty management of predicted trajectory based on GPS measurement noise. The entire monitoring framework will be demonstrated on simulated as well as real UAV flight experiments conducted at the NASA Langley Research Center. This tutorial will therefore guide the audience through a step-by-step tracking of an autonomous system with focus on in-time risk prediction in the presence of unforeseen hazards and uncertain environment.

diagnostics↗

NASA NTRS1978

Autonomous control of roving vehicles for unmanned exploration of the planets

The guidance of an autonomous rover for unmanned planetary exploration using a short range (0.5 - 3.0 meter) hazard detection system was studied. Experimental data derived from a one laser/one detector system were used in the development of improved algorithms for the guidance of the rover. The new algorithms which account for the dynamic characteristics of the Rensselaer rover can be applied to other rover concepts provided that the rover dynamic parameters are modified appropriately. The new algorithms will also be applicable to the advanced scanning system. The design of an elevation scanning laser/multisensor hazard detection system was completed. All mechanical and electronic hardware components with the exception of the sensor optics and electronic components were constructed and tested.

Yerazunis, S. W.↗

NASA NTRS1985

Orbital debris issues

Man-made orbital debris, identified as a potential hazard to future space activities, is grouped into size categories. At least 79 satellites have broken up in orbit to date and, in combination with exploded rocket casings and antisatellite debris, threaten 10 km/sec collisions with other orbiting platforms. Only 5 percent of the debris is connected to payloads. The total population of orbiting objects over 4 cm in diameter could number as high as 15,000, and at 1 cm in diameter could be 32,000, based on NASA and NORAD studies. NASA has initiated the 10 yr Space Debris Assessment Program to characterize the hazards of orbiting debris, the potential damage to typical spacecraft components, and to identify means of controlling the damage.

Kessler, D. J.↗

NASA NTRS1995

Protocol for Atomic Oxygen Testing of Materials in Ground-Based Facilities

A second version of standard guidelines is proposed for improving materials testing in ground-based atomic oxygen environments for the purpose of predicting the durability of the tested materials in low Earth orbit (LEO). Accompanying these guidelines are background information and notes about testing. Both the guidelines and the additional information are intended to aid users who wish to evaluate the potential hazard of atomic oxygen in LEO to a candidate space component without actually flying the component in space, and to provide a framework for more consistent atomic oxygen testing in the future.

Minton, Timothy K.↗

NASA NTRS2004

Charged Particle Dose Measurements by the Odyssey/MARIE Instrument in Mars Orbit and Model Calculations

Knowledge of the space radiation environment is crucial both for human space exploration, and robotic space missions. It is likely that human explorers will return to the moon, and then go to Mars within the next thirty years. The radiation environment that they will encounter is a significant obstacle to future exploration, and must be dealt with successfully before longterm human missions outside of the magnetosphere can take place. Shielding technologies and materials must be developed to lower the dose and dose equivalent that human beings will receive on such missions. To begin this development, a fairly complete and accurate understanding of the space environment must be obtained. The major components of the space particle radiation environment that are most hazardous to humans are: galactic cosmic rays (GCR), the particles contained in solar particle events, (SPE), and secondary particles generated in material in the spacecraft itself. The intensity of the GCR varies by roughly a factor of two over the eleven-year solar cycle, inversely with the level of solar activity. These GCR particles are fully stripped nuclei, predominantly protons and helium, but also significant numbers of heavier ions, including carbon, oxygen, and iron. Since the ionization caused by nuclei passing through matter is proportional to the square of its charge (Z=10). The MARIE instrument has been described elsewhere.

Cleghorn, T. F.↗

NASA NTRS2004

Overview of NASA Glenn Aero/Mobile Communication Demonstrations

The Glenn Research Center at Lewis Field (GRC) has been involved with several other NASA field centers on various networking and RF communications demonstrations and experiments since 1998. These collaborative experiments investigated communications technologies new to aviation, such as wideband Ku satcom, L-band narrowband satcom, and IP (Internet Protocol), using commercial off-the-shelf (COTS) components These technologies can be used to distribute weather and hazard data, air traffic management and airline fleet management information, and passenger cabin Internet service.

Brooks, David↗

NASA NTRS2004

Overview of NASA Glenn Aero/Mobile Communications Demonstrations

Brooks, David↗

NASA NTRSDate not supplied

Tailoring of NASA-STD-3001 to Lunar Gateway Program Requirements

The Gateway Program must meet NASA's Agency-level human rating requirements, which are intended to accommodate human capabilities and limitations while protecting the safety of the crew, and providing to the maximum extent practical, the capability to safely recover the crew from hazardous situations. Human systems integration represents a key human rating component of Moon to Mars systems to support the execution of Artemis missions, including compliance with mandatory standards for Health and Medical, Safety and Mission Assurance, and Engineering. The human system requirements, together with the human systems integration plan, medical operations requirements, and Gateway sub-system specifications, represent the flow-down of NASA Health and Medical Standards (NASA-STD-3001, Volumes 1 and 2) into the Gateway system. This paper discusses how these documents and other human systems integration activities provide full consideration of human capabilities and limitations as part of the total system design trade space, serving as an example on how the human must be effectively integrated as part of the system in order to achieve mission success. At a bigger scale, the paper con-tributes to the application of systems engineering standards to cutting-edge space exploration initiatives and to the dialogue on how systems engineering can continue to evolve to meet the needs of such ambitious projects.

Systems engineering↗

NASA NTRS2000

Hypergolic Propellant Safety Course

Under the sponsorship of the NASA Safety Training Center at the Johnson Space Center, a hypergolic propellant safety course has been developed. This is a 2-day course on guidelines for hypergolic propellant system design, materials selection, operations, storage, and transportation. Recognizing that numerous fuels and oxidizers can be hypergolic, this course is specific to the hydrazine family of fuels and nitrogen tetroxide and its variants. The objectives of the course are to enable the student to identify and evaluate the hazards of hypergolic propellants, and to understand the methods for controlling those hazards and responding to emergencies. The course covers properties and hazards of the hydrazines and oxidizers; design and operations in hypergolic facilities; materials selection for use in hypergol systems; storage vessels, piping, and component considerations; hypergol detection; fire fighting practices; operating and transportation principles and procedures; and emergency practices and considerations. A hazards analysis methodology is presented. Numerous references are provided and the applicability of certain regulatory documents is discussed. A brief overview of other propellants, including hydrogen peroxide, is given at the end of the course.

Rathgeber, Kurt A.↗

DOE OSTI2021

Equatorial waves triggering extreme rainfall and floods in southwest Sulawesi, Indonesia

On the basis of detailed analysis of a case study and long-term climatology, it is shown that equatorial waves and their interactions serve as precursors for extreme rain and flood events in the central Maritime Continent region of southwest Sulawesi, Indonesia. Meteorological conditions on January 22, 2019, leading to heavy rainfall and devastating flooding in this area were studied. It is shown that a convectively coupled Kelvin wave (CCKW) and a convectively coupled Rossby wave (CCERW) embedded within the larger-scale envelope of the Madden-Julian Oscillation (MJO) enhanced convective phase, contributed to the onset of a mesoscale convective system which developed over the Java Sea. Low-Level convergence from the CCKW forced mesoscale convective organization and orographic ascent of moist air over the slopes of southwest Sulawesi. Climatological analysis shows that 92 % of December-January-February floods and 76% of extreme rain events in this region were immediately preceded by positive low-level westerly wind anomalies. It is estimated that both CCKWs and CCERWs propagating over Sulawesi double the chance of floods and extreme rain event development, which the probability of such hazardous events occurring during their combined activity is eight times greater than on a random day. While the MJO is a key component shaping tropical atmospheric variability, it is shown that its usefulness as a single factor for extreme weather-driven hazard prediction is limited.

Latos, Beata↗