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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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All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Radiation-Hardened GaN-Based Wireless Communications Architectures for Terrestrial Nuclear Reactor Sensing and Instrumentation

Wireless technologies have become increasingly common in applications, ranging from close proximity inductive communication links in medical devices to short-range Bluetooth and WiFi communications and longer-range cellular communications. Nonetheless, these technologies are unsuitable for use in or around nuclear reactors due to the extreme radiation and temperatures inherent in these environments and their associated significant degradative effects on electronics hardware. However, recent work in wide bandgap– based electronics has shown promise for gallium nitride (GaN) as an emerging technology for the realization of practical wireless communications systems for use in harsh environments. This report presents initial progress on the development of wireless communications architectures designed specifically for nuclear reactor application, based on inherently radiation-hardened (rad-hard) GaN technology. Prior work on rad-hard analog communications topologies is reviewed, and several digital modulation and encoding schemes that utilize GaN-based electronics devices are newly proposed for application in reactor environments. Continuous-time and discrete-time system simulations were performed, and results are presented for the preliminary transmitter and receiver designs, respectively. In addition, an overview of a software-defined radio testbed, designed for communications protocol development, is provided. Future work will focus on implementing candidate radiation-resistant wireless architectures using a research AlGaN/GaN high electron mobility transistor (HEMT) integrated circuit process, which is available at the Ohio State University, and irradiation studies will be carried out to assess the true potential of this technology for reactor application.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2020

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part I - Environment Mapping

When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Optimal Control of the Energy-Saving Hybrid Hydraulic-Electric Architecture (HHEA) for Off-Highway Mobile Machines

Most off-highway constructions and agriculture equipment use hydraulics, which has unmatched power density, for power transmission and throttling as a means for control. A novel hybrid hydraulic-electric architecture (HHEA) has recently been proposed to improve efficiency for high-power machines that would have been cost-prohibitive to electrify directly. HHEA uses a set of common pressure rails (CPRs) to transmit the majority of power hydraulically and small electric motor drives to modulate that power and to achieve precise control. This article proposes a computationally efficient Lagrange multiplier method (LMM) for computing the optimal sequence of pressure rail selections to minimize energy use. This is needed to evaluate HHEA's energy-saving potential and for iterative architecture design and sizing. An interesting complication is that the cost function is not fully defined until the candidate control sequence is fully specified. This issue is dealt with by decomposing the original problem into a set of sub-problems with additional constraints that can be solved efficiently. Computational effort can be further reduced if actuators are optimized individually instead of together. However, additional steps are required to prevent the constraint functions from becoming discontinuous with respect to the Lagrange multipliers, which is necessary for meeting the constraints. Lastly, a case study of a construction machine demonstrates the efficacy of the method and shows that the HHEA reduces energy consumption by 68%-73% compared to the baseline load-sensing architecture.

Lagrange multiplier↗
DOE OSTI2021

Oregon Rivers Characterization Tool

DHS’s Regional Resiliency Assessment Program (RRAP) undertook the Oregon State Transportation Systems RRAP project between 2018-2021 to assess the seismic vulnerabilities of the state’s transportation system to a Cascadia Subduction Zone (CSZ) earthquake (CISA 2021). The project primarily focused on the effects of a CSZ earthquake on the mobility of emergency response efforts into the region. In the event that bridges located at crucial river crossings fail during a CSZ earthquake, rivers will become natural barriers affecting the ability to support response and recovery efforts. The characteristics of rivers (e.g., width, depth, and flow) are critical data to inform planning for the recovery of transportation systems across river barriers and determine reopening times following a CSZ earthquake. As part of the transportation system assessment, an Argonne National Laboratory (Argonne) project team developed a River Characterization Tool (RCT) to quantify the physical characteristics of the river system in Oregon, which can be used to inform a system-level analysis of transportation recovery and reopening times. This report mainly discusses approaches, methods, development, and applications of the RCT. The use of the river data generated from this tool for a system-level analysis of transportation recovery is discussed in the Oregon Transportation Systems RRAP Resiliency Assessment report (CISA 2021). The primary goal of the RCT is to generate statewide dataset of widths, depths, and flows for all rivers across Oregon to assess the effects of river barriers on emergency response and recovery efforts following a CSZ earthquake. The RCT leverages remote sensing data that multispectral sensors collect from satellites, employs a deep learning model to characterize river predictions, and computes river channel geometric dimensions with hydraulic relationships and river predictions. The entire process of river characterization is automated and implemented through the RCT.

58 GEOSCIENCES↗
DOE OSTI2020

OPTIMAL CONTROL AND ENERGY-SAVING ANALYSIS OF COMMON PRESSURE RAIL ARCHITECTURES: HHEA & STEAM

In recent years several novel hydraulic architectures have been proposed with the intention of significantly increasing system efficiency. Two of these architectures, Steigerung der Energieeffizienz in der Arbeitshydraulik mobiler Arbeitsmaschinen (STEAM), and the Hybrid Hydraulic-Electric Architecture (HHEA), use a system of multiple common pressure rails (CPRs) to serve the multiple degrees-of-freedom of the machine. The key difference is that STEAM throttles hydraulic power from these rails while HHEA combines electric and hydraulic power to meet actuator demands. As a throttle-less architecture, HHEA is expected to save more energy than STEAM at the expense of added complexity. Therefore, it is useful to quantify this additional energy saving. Both systems have discrete operational choices corresponding to how the CPRs are utilized for each actuator. It is necessary to determine optimal operation for each of these architectures for analysis and fair comparison. Techniques for optimal operation of the HHEA have been developed previously from the Langrange multiplier method. Applying the same optimal control method to STEAM encountered some technical challenge leading to the optimal control algorithm not being able to satisfy certain constraints. The issue is analyzed and solved by adding noise to the optimization. Using this proposed algorithm, case studies are performed to compare the energy-saving potentials of STEAM and HHEA for two sizes of excavators and a wheel-loader performing representative duty cycles. The baseline is a standard load-sensing architecture. Results show that STEAM and HHEA can reduce energy consumption between 35-65% and 50-80% respectively

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2022

Proton Tunable Analog Transistor for Low Power Computing

This project was broadly motivated by the need for new hardware that can process information such as images and sounds right at the point of where the information is sensed (e.g. edge computing). The project was further motivated by recent discoveries by group demonstrating that while certain organic polymer blends can be used to fabricate elements of such hardware, the need to mix ionic and electronic conducting phases imposed limits on performance, dimensional scalability and the degree of fundamental understanding of how such devices operated. As an alternative to blended polymers containing distinct ionic and electronic conducting phases, in this LDRD project we have discovered that a family of mixed valence coordination compounds called Prussian blue analogue (PBAs), with an open framework structure and ability to conduct both ionic and electronic charge, can be used for inkjet-printed flexible artificial synapses that reversibly switch conductance by more than four orders of magnitude based on electrochemically tunable oxidation state. Retention of programmed states is improved by nearly two orders of magnitude compared to the extensively studied organic polymers, thus enabling in-memory compute and avoiding energy costly off-chip access during training. We demonstrate dopamine detection using PBA synapses and biocompatibility with living neurons, evoking prospective application for brain - computer interfacing. By application of electron transfer theory to in-situ spectroscopic probing of intervalence charge transfer, we elucidate a switching mechanism whereby the degree of mixed valency between N-coordinated Ru sites controls the carrier concentration and mobility, as supported by density functional theory (DFT) .

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

A New Route Toward Atomically Flat and Defect-Free Ge/SiGe Planar Heterostructures

Germanium-based planar heterostructures are emerging as versatile platforms for realizing quantum devices. In particular, planar Ge/SiGe quantum wells (QWs) host hole states with exceptionally high mobility and strong, electrically tunable spin–orbit interactions, enabling full electrical control of quantum information. A key requirement for these systems is the growth of microscopic, defect-free, atomically flat Ge QW heterostructures on relaxed or reverse-graded SiGe buffer layers, as well as on commercial Ge substrates. While several physical deposition techniques have demonstrated high-quality planar Ge/SiGe QWs, a major challenge remains: minimizing defect density typically requires high growth temperatures, which are incompatible with standard CMOS process flows. Here, we present a convenient low-temperature process for realizing high-quality planar SiGe/Ge heterostructures using a combination of thermal and electron-beam evaporation. We systematically map the effects of ex-situ and in-situ substrate preparation protocols, growth temperature, and post-deposition annealing conditions, and correlate these parameters with surface roughness and defect density. We find that in-situ oxide desorption conditions and post-annealing parameters have the most pronounced impact on improving surface quality. Under optimized conditions, we achieve atomically smooth surfaces with root-mean-square roughness σrms​ ≤ 10 Å and negligible defect density. Interestingly, thermally evaporated Ge layers exhibit oriented triangular crystallites that elongate upon post-annealing in the presence of high Ge vapor pressure. These results demonstrate that this simple, low-temperature deposition approach is a viable and effective route for achieving high-quality Ge QW heterostructures, with strong potential for scalable quantum computing and sensing applications.

Tripathi, Malvika [Fermilab] (ORCID:00000001989251↗
DOE OSTI2026

A New Route Toward Atomically Flat and Defect-Free Ge/SiGe Planar Heterostructures

Germanium-based planar heterostructures are emerging as versatile platforms for realizing quantum devices. In particular, planar Ge/SiGe quantum wells (QWs) host hole states with exceptionally high mobility and strong, electrically tunable spin–orbit interactions, enabling full electrical control of quantum information. A key requirement for these systems is the growth of microscopic, defect-free, atomically flat Ge QW heterostructures on relaxed or reverse-graded SiGe buffer layers, as well as on commercial Ge substrates. While several physical deposition techniques have demonstrated high-quality planar Ge/SiGe QWs, a major challenge remains: minimizing defect density typically requires high growth temperatures, which are incompatible with standard CMOS process flows. Here, we present a convenient low-temperature process for realizing high-quality planar SiGe/Ge heterostructures using a combination of thermal and electron-beam evaporation. We systematically map the effects of ex-situ and in-situ substrate preparation protocols, growth temperature, and post-deposition annealing conditions, and correlate these parameters with surface roughness and defect density. We find that in-situ oxide desorption conditions and post-annealing parameters have the most pronounced impact on improving surface quality. Under optimized conditions, we achieve atomically smooth surfaces with root-mean-square roughness σrms​ ≤ 10 Å and negligible defect density. Interestingly, thermally evaporated Ge layers exhibit oriented triangular crystallites that elongate upon post-annealing in the presence of high Ge vapor pressure. These results demonstrate that this simple, low-temperature deposition approach is a viable and effective route for achieving high-quality Ge QW heterostructures, with strong potential for scalable quantum computing and sensing applications.

Tripathi, Malvika [Fermilab] (ORCID:00000001989251↗
DOE OSTI2022

Heat pulse testing at monitoring wells to estimate subsurface fluid velocities in geological CO 2 storage

Monitoring the injected CO 2 during geological CO 2 storage (GCS) is essential to assure containment and identify CO 2 leakage. Here in this work, a new approach is introduced to estimate the evolution of the downhole fluid velocity at a monitoring well and identify CO 2 arrival time using in-well heat pulse/tracer test. The proposed technique involves using a downhole heater to generate a series of heat pulses and measuring their corresponding temperature response. The surface temperature of the downhole heater is controlled by the supplied electrical power and the heat loss by convection to the surroundings. Convective heat transfer is well described using Newton's law of cooling in which the temperature difference between the heater and the surrounding fluids drives the heat transfer, for which the convection heat transfer coefficient (h) controls the magnitude of heat loss. Among various factors that control h, it depends on the type of the flowing fluid and its velocity. Through analyzing the measured temperature at different heat pulses, the changes in h - due to mobilization of the in-situ brine or CO 2 arrival - can be estimated. Consequently, the velocity of the flowing fluid across the heater can be obtained. Since heat transfer by convection is sensitive to the type of the surrounding fluid, intrusion of CO 2 can be detected from the relatively higher surface temperature obtained at CO 2 arrival. Churchill and Bernstein (1977)'s correlation is adopted to estimate the change of fluid velocity in terms of the change in h. To demonstrate the validity of the proposed technique, the results are applied and validated against those of COMSOL Multiphysics simulation tool for single-phase brine (before CO 2 arrival) and single-phase CO 2 (after CO 2 arrival). The observed temperature heating is sensitive to the flowing fluid velocity and fluid type. The temperature signal observed at CO 2 arrival is large and easily detectable using temperature monitoring tool which provides reliable indication for tracking CO 2 arrival at monitoring wells compared with passive temperature monitoring. The results obtained using the proposed technique agree very well with the numerical results obtained from the simulation tool with a maximum estimation error of 7 percent.

02 PETROLEUM↗
DOE OSTI2025

Real-Time, Adaptive Radiological Anomaly Detection and Isotope Identification Using Non-Negative Matrix Factorization

Spectroscopic anomaly detection and isotope identification algorithms are integral components in nuclear nonproliferation applications such as search operations. The task is especially challenging in the case of mobile detector systems because the observed gamma-ray background changes more than for a static detector system, and a pretrained background model can easily find itself out of domain. The result is that algorithms may exceed their intended false alarm rate or sacrifice detection sensitivity to maintain the desired false alarm rate. Non-negative matrix factorization (NMF) is a powerful tool for spectral anomaly detection and identification, but, like many similar algorithms that rely on data-driven background models, in its conventional implementation, it is unable to update in real time to account for environmental changes that affect the background spectroscopic signature. Here, we have developed a novel NMF-based algorithm that periodically updates its background model to accommodate changing environmental conditions. The adaptive NMF algorithm involves fewer assumptions about its environment, making it more generalizable than existing NMF-based methods while maintaining or exceeding detection performance on simulated and real-world datasets.

Anomaly detection↗
DOE OSTI2024

Hydrogen Detection Strategies to Support H2@SCALE - The NREL Sensor Laboratory

Hydrogen represents a major pathway to decarbonize and stabilize the national and international energy industry and select manufacturing markets. To facilitate the development of hydrogen markets, the US Department of Energy initiated H2@Scale to bring together stakeholders to advance affordable hydrogen production, transport, storage, and utilization to increase revenue opportunities in multiple energy sectors. One major impediment to hydrogen implementation is cost. To expedite the use of hydrogen in energy and other markets, the United States announced in 2021 the Hydrogen Shot, which seeks to reduce the cost of clean hydrogen by 80% to $1 per 1 kilogram in 1 decade ("1 1 1"). As the cost of hydrogen drops, new applications will emerge that will require unique configurations of existing equipment and infrastructure, and eventually lead to advances in the generation and utilization of hydrogen. As the hydrogen economy expands, sensors and detection methods will need to adapt to changing infrastructure demands to address the primary targets of health & safety, emissions monitoring, and process control. The NREL Sensor Laboratory is playing a pivotal role in advancing the use of hydrogen sensors and detection methodologies in each of these categories to support DOE's mission for safe and efficient utilization in emerging markets. Health & safety monitors are required to ensure that operators and facilities can react to unintended hydrogen releases, either as GH2, LH2, or as a constituent of blends (e.g., natural gas or ammonia). Current detection methodologies focus on safety applications to detect near its lower flammable limit (4 vol %), and typically include point sensors in applications such as fixed or mobile detectors (e.g., personal gas monitors). Methodologies amenable for area detection include acoustic, emerging optical imaging methods, and flame detectors. Comparable detection strategies can be utilized for emissions monitoring and quantization, however few methods can simultaneously cover both low (emissions) and high (health & safety) levels. Deployment of emission level detectors will be required to 1) reduce product loss through small but potentially significant leaks from an environmental or cost perspective, 2) reduce downtime of high demand systems by early identification of eminent system failures (leaks through pump or compressor seals indicative of impending failure), and 3) address potential emission monitoring requirements that may be set by regulating bodies. The first two points should be adopted by industry to reduce the cost-of-goods-sold. The third main category for hydrogen detection relates to process control and may be advantageous for many existing applications. Two main applications are emerging. For example, the purity requirements for hydrogen that is dispensed from refueling systems for hydrogen fuel cell electric vehicles (FCEV) is rigorously regulated by the Standard SAE J2719, which prescribes maximum allowable levels of multiple impurities in the hydrogen fuel and must be verified by a regulatory body. Hydrogen contaminant detectors (HCD) integrated to the fueling station can assure this compliance. HCDs must be able operate in 100% H2 backgrounds and be able to distinguish between multiple contaminants at low ppm to low ppb levels. Secondly, as a strategy to decarbonize the natural gas grid, there are proposals to blend hydrogen with natural gas. This blending will affect transport applications (pipeline infrastructure), stationary combustion systems (turbines), and consumer and commercial appliances. In the short-term, hydrogen levels up to 20% are proposed. Variations in the hydrogen level can have dramatic impact on the combustion process and on the potential response of safety sensors. These mixtures may be regulated so that the concentration at a delivery point must be monitored with high precision. However, routine maintenance may introduce background gases such as ambient air (with water) or maintenance gases (introduced with welding processes or adhesive outgassing.) Therefore, the detection methodology must be robust enough to recover or respond to various contaminants. Several reviews can be found in literature addressing sensing and detection technologies, including their limitations and applications. However, for most applications, limitations can be alleviated by combining various detection techniques either through system integration or implementation of machine learning methods (artificial intelligence). In this presentation, we will discuss several applications, highlight their current approach for hydrogen detection, and suggest detection strategies to supplement their limitations.

ENERGY STORAGE,HYDROGEN↗
DOE OSTI2025

Extreme heat vulnerability of manufactured housing in arid urban environments

This article explores the role of land cover in relation to housing type and tenure in shaping exposure to extreme urban heat, focusing on residents of mobile and manufactured housing (MH). We hypothesize that MH residents will experience greater exposure to extreme heat than those living in other housing types due to lower levels of proximate vegetation. This hypothesis is based on the unique property relations and tenure regimes that characterize MH, which may disincentivize investments in planting and maintaining trees and vegetation in arid environments. To test this hypothesis, we compare the amount of vegetation on properties across housing types, within-type tenure arrangements and between three urbanized areas in Arizona with different levels of exposure to extreme heat. To conduct this comparison, we combine multispectral land cover data for 1.7 million parcels with tax assessor data and building footprints to measure land cover at a high resolution. We find that MH units have significantly less vegetation than single-family residential properties, and that MH units in MH parks have less vegetation than those on individual lots. We conclude that municipalities should promote (e.g. through incentives or other policy interventions) the planting of more vegetation around MH units where there is a risk of extreme heat exposure. Future research can expand this analysis with a closer examination of how municipal ordinances and policies affect land cover by housing type and tenure.

heat↗
DOE OSTI2021

Utilizing a Storm-Generating Hotspot to Study Convective Cloud Transitions: The CACTI Experiment

The Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign was designed to improve understanding of orographic cloud life cycles in relation to surrounding atmospheric thermodynamic, flow, and aerosol conditions. The deployment to the Sierras de Córdoba range in north-central Argentina was chosen because of very frequent cumulus congestus, deep convection initiation, and mesoscale convective organization uniquely observable from a fixed site. The C-band Scanning Atmospheric Radiation Measurement (ARM) Precipitation Radar was deployed for the first time with over 50 ARM Mobile Facility atmospheric state, surface, aerosol, radiation, cloud, and precipitation instruments between October 2018 and April 2019. An intensive observing period (IOP) coincident with the RELAMPAGO field campaign was held between 1 November and 15 December during which 22 flights were performed by the ARM Gulfstream-1 aircraft. A multitude of atmospheric processes and cloud conditions were observed over the 7-month campaign, including numerous orographic cumulus and stratocumulus events; new particle formation and growth producing high aerosol concentrations; drizzle formation in fog and shallow liquid clouds; very low aerosol conditions following wet deposition in heavy rainfall; initiation of ice in congestus clouds across a range of temperatures; extreme deep convection reaching 21-km altitudes; and organization of intense, hail-containing supercells and mesoscale convective systems. These comprehensive datasets include many of the first ever collected in this region and provide new opportunities to study orographic cloud evolution and interactions with meteorological conditions, aerosols, surface conditions, and radiation in mountainous terrain.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Development of the Intelligent, Preventive Infrared (IR) Inspection System Housed in Hybrid Robotic Platforms

Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗