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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 163 records · Page 9

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NASA NTRS2001

VIPER: Virtual Intelligent Planetary Exploration Rover

Simulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities. using a high-fidelity virtual-reality (VR) environment. a kinematically accurate simulator, and a flexible plan executive to allow users to simulate and visualize possible execution outcomes of a plan under development. This work is part of a larger vision of a science-centered rover control environment, where a scientist may inspect and explore the environment via VR tools, specify science goals, and visualize the expected and actual behavior of the remote rover. The VIPER system is constructed from three generic systems, linked together via a minimal amount of customization into the integrated system. The complete system points out the power of combining plan execution, simulation, and visualization for envisioning rover behavior; it also demonstrates the utility of developing generic technologies. which can be combined in novel and useful ways.

Edwards, Laurence↗

DOE OSTI2018

Result of Investigation for Inside PCV in 1F-1 by Shape Changing Robot named PMORPH - 18617

In Fukushima Daiichi Nuclear Power Station, before retrieval of molten fuel debris inside PCV, the operation such as decontamination, survey, repair and taking sample of fuel debris are implemented step by step. In case of investigation inside primary containment vessel (PCV), some remotely operated robots have been used for because human can't access to high radiation environment. Because a radiation dose is very high in PCV, therefore it is necessary to prevent the leak of radiation from PCV when a robot is inserted in PCV. Then a pipe of 100 mm inside diameter was let go through by the PCV wall, and the seal box which was completely sealed up attached to the end of pipe. The robot is put in the seal box beforehand and is inserted inside PCV through the pipe. So it is necessary for the robot to be small. In addition, it is necessary to be stable movement on rough plane inside PCV. Therefore shape change type robot 'PMORPH' was developed. This robot consists of three parts of the slim main body and two crawlers attached to the both ends of main body. When this robot is passed in the pipe, three parts lie in a straight line like 'I' shape. And when the robot moves on a rough plane, three parts are formed like 'U' shape. We minimized the use of electric parts in the main body against high radiation environment. And this robot carries a winch to let a sensor unit descend to basement floor. And we carried out the basement floor investigation (B2 investigation) using the robot to obtain information of fuel debris condition in March, 2017. As a result, some information of basement floor condition was acquired. In this paper, it is described the outline of the shape change robot and summary of the B2 investigation. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1973

NASIS data base management system - IBM 360/370 OS MVT implementation. 5: Retrieval command system reference manual

The retrieval command subsystem reference manual for the NASA Aerospace Safety Information System (NASIS) is presented. The output oriented classification of retrieval commands provides the user with the ability to review a set of data items for verification or inspection as a typewriter or CRT terminal and to print a set of data on a remote printer. Predefined and user-definable data formatting are available for both output media.

Source record↗

DOE OSTI2018

Advances in UAV Applications and Propulsion Technologies Drive the Development of UAV Propulsion Standards

The number of small unmanned aerial vehicles (UAVs) used for private and commercial applications is growing exponentially, beyond the domain of hobby enthusiasts. However, standards development has not been keeping up with the applications and technologies now available. The advent of inexpensive battery-powered quadcopters as stable aerial photography and remote-viewing platforms has expanded the utility of these systems into commercial and private applications for inspection and surveillance. With drone-delivered packages on the horizon, the potential for expansion will be even higher. These developments need to be incorporated into standards being produced for UAVs and propulsion systems.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2018

Engineering Scale Testing of Robotic Inspection Tools for Double Shell Tanks at Hanford - 18349

Waste found in the annulus of the AY-102 double-shell tank (DST) at Hanford has prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. During the last year, Florida International University (FIU) has been developing inspection tools that are capable of accessing the tank floors through the air supply line, the air refractory channels and the drain lines. This effort has led to the development of a pneumatic pipe crawler and a miniature rover. In this paper, updates to the inspection tool designs and the full scale testing of both systems are presented. The tools provide visual feedback for the operator, carrying with them onboard cameras and light sources. The images are streamed back live via a tether, which also provides power to the devices. To increase the sensing capabilities of both tools, temperature, humidity and radiation sensor modules are being integrated onto the developed systems, and can be interchanged depending on the inspection objectives. The miniature rover measures 7 cm in length and 3.8 cm in width, and travels upside down on the bottom of the tank to avoid debris accumulated in the channels. The video is also being processed real-time to provide control of the unit semi-autonomously. The pipe crawler measures approximately 76 cm in length and 6.4 cm in diameter, and travels using pneumatic actuators that emulate the peristaltic movement contractions typical of worm type robots. A full-scale sectional mock-up of the DST foundation, refractory system and annulus is currently being developed as a test-bed for the testing of the inspection tools. The intention of the test-bed is to demonstrate the viability of using both inspection tools in configurations similar to the actual tank. The test-bed includes a 2.43 m wide section of both tank liners, refractory channels and concrete foundation with drain slots. The test-bed is designed to be modular so that various plate thicknesses can be easily utilized and different refractory configurations can be incorporated. Currently, the refractory channels are of the tree type structure with turns that are approximately 30 degrees. Both inspection tools were demonstrated in the mock-up facility. The miniature rover ran successfully through the drain slots from the annulus to central plenum and had no issues making the 90-degree turns. The peristaltic crawler was able to navigate through the 7.62 cm air supply line from the annulus to the central plenum. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1990

Enhancement Of Penetrant-Inspection Images

Proposed computerized video system processes images of fluorescent dyes absorbed in flaws in welds. Video camera, held by operator or by remote manipulator, views weld illuminated by visible white and ultraviolet light. Images of penetrating dye in cracks and voids in weld joint appear on video monitor. Fluorescent features enhanced by software to facilitate identification of true flaws and record important data.

Wilson, Rhonda C.↗

DOE OSTI2022

Remote Monitoring Systems/Remote Data Transmission for International Nuclear Safeguards.

The use of remotely transmitted data from a nuclear facility under international nuclear safeguards to an inspectorate headquarters has been rapidly growing since inception as its value in reducing inspection effort and cost is demonstrated. There are opportunities for further growth moving forward including (1) the number of spent fuel casks in dry interim storage are increasing, leading to strain on inspection resources and potentially increased radiation exposure to inspectors, (2) the frequency of encapsulating spent nuclear fuel for final disposal in geological repositories occurs at a rate that may lead to the need for on-site inspectors unless systems can be developed to remotely transmit data, and (3) new facility types such as small modular reactors may rely heavily on remotely transmitted data due in part to remote locations of operation and mobility. Challenges need to be addressed too and include (1) hesitancy to implement remote data transmission by states, (2) data collection, transmission, security, and analysis, and (3) reliable power and communications. This report examines the evolution, equipment deployed, status, and opportunities/challenges of remote data transmission moving forward.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2022

AI-Enabled Robots for Automated Nondestructive Evaluation and Repair of Power Plant Boilers. Final Report

Boiler failure could cause loss of life and safety issues, cost hundreds of thousands of dollars in equipment repairs, property damage and production losses, and drive up the cost of electric power. Boiler maintenance is challenging and risky for inspectors working on scaffolding in confined hazardous spaces inside of a boiler and sometimes the space is hard to access. The operation is also time-consuming due to the large area of vertical structures for inspection and the tremendous effort needed for scaffolding. Recently, the use of robotics (e.g., drones and crawlers) in power plants for maintenance is growing rapidly. However, the existing robotics solutions show two notable technological gaps: no live repair capability, and no Artificial Intelligence (AI) for smart autonomy. The objective of this project is to develop an integrated autonomous robotic platform that is equipped with compact non-destructive evaluation (NDE) sensors to perform live inspection, operates onboard repair devices to perform live repair, and uses AI for intelligent data fusion and predictive analysis for automated and smart spatiotemporal inspection, analysis and repair of the furnace walls in coal-fired boilers. The approach to achieve the objective includes developing NDE sensors with signal processing techniques, designing and evaluating repair devices for robots based on fusion and solid-state technologies, and an autonomous robotic platform that can attach to and navigate on boiler furnace walls using magnetic drive tracks. The robot is also powered by AI to automate data gathering (e.g., 3D mapping and damage localization) and predictive analysis. This project has advanced the state-of-the-art by providing technological breakthroughs including compact NDE and repair tools for robots, AI capabilities for smart autonomy, and a robotic platform for automated boiler maintenance. This project has great potential to result in significant benefits including limiting or eliminating the need to send operators to assess difficult-to-access or hazardous areas, enabling automated live inspection and repair, avoiding time consuming scaffolding (especially for partial maintenance during unplanned outage), collecting comprehensive and well-organized data smartly, and avoiding or limiting the need for onsite or remote piloting technicians. The impacts can be tremendous in terms of the time and cost savings, reducing the risk for human operators, and increasing boiler reliability, usability, and efficiency. In addition, by developing the new technologies on the autonomous inspection and repair robot, by involving multiple undergraduate and graduate students working together with the faculty members on this project, and by generating knowledge and building up collaborations with industrial partners, this effort will significantly update the education capabilities, support long-term fundamental research, and maintain the leadership of Colorado School of Mines and Michigan State University in energy fields.

20 FOSSIL-FUELED POWER PLANTS↗

DOE OSTI2018

Hanford Double Shell Tank Integrity Inspection - Integration of Customized Robotics - 18400

28 steel, double-shell, million gallon waste storage tanks located at the Hanford site in Washington State store both radioactive and hazardous waste. To monitor their condition and ensure continued viability, these tanks are inspected periodically through a comprehensive integrity program. In 2012, the first leak in a double-shell tank at Hanford was discovered in the 241-AY tank farm (Tank AY-102) and the failure was observed to be from the primary tank bottom. However, the exact failure location and damage mechanism have not been determined. A decision was made to pursue the capability to inspect the primary tank bottom region in order to provide additional tank integrity information. This work is particularly challenging due to the confined space in the double-shell tank annulus region (i.e. the 30 inch space between the primary and secondary tank shells), the limited dimensions of the tank risers that provide access to the annulus space (risers as small as 10 inches in diameter), and also the very small dimensions of the air channels in the concrete refractory pad that the primary waste storage tank rests on (channels are approximately two inches in diameter). Veolia Nuclear Solutions, along with Key Subcontractor Inuktun, were contracted to provide the capability to conduct these tank inspections in support of Hanford's double-shell tank integrity program. The Veolia Nuclear Solutions /Inuktun team designed, built, tested and delivered a tethered miniature robotic crawler system that utilizes the marsupial approach - a larger deployment crawler positions a smaller inspection crawler. The deployment crawler is installed via the tank riser, is magnetically coupled to the side of the tank shell, and drives to the selected deployment location at the end of one of the refractory channels where the small inspection robot is subsequently deployed. Operation of the equipment is controlled from a trailer outside the tank farm (a distance of several hundred feet). The system design includes a custom mechanism that provides for positioning and cable handling as well as the controls interface (laptop connected via control cables). The solution leveraged the Veolia Nuclear Solutions/Inuktun team's experience with delivering similar modular systems for other US and international sites. This simple but innovative solution delivered on an accelerated project schedule underlines the ability to provide effective robotic solutions to the nuclear industry. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1981

ICAP - An Interactive Cluster Analysis Procedure for analyzing remotely sensed data

An Interactive Cluster Analysis Procedure (ICAP) was developed to derive classifier training statistics from remotely sensed data. ICAP differs from conventional clustering algorithms by allowing the analyst to optimize the cluster configuration by inspection, rather than by manipulating process parameters. Control of the clustering process alternates between the algorithm, which creates new centroids and forms clusters, and the analyst, who can evaluate and elect to modify the cluster structure. Clusters can be deleted, or lumped together pairwise, or new centroids can be added. A summary of the cluster statistics can be requested to facilitate cluster manipulation. The principal advantage of this approach is that it allows prior information (when available) to be used directly in the analysis, since the analyst interacts with ICAP in a straightforward manner, using basic terms with which he is more likely to be familiar. Results from testing ICAP showed that an informed use of ICAP can improve classification, as compared to an existing cluster analysis procedure.

Wharton, S. W.↗

NASA NTRS2004

Temporal Treatment of a Thermal Response for Defect Depth Estimation

Transient thermography, which employs pulse surface heating of an inspected component followed by acquisition of the thermal decay stage, is gaining wider acceptance as a result of its remoteness and rapidness. Flaws in the component s material may induce a thermal contrast in surface thermograms. An important issue in transient thermography is estimating the depth of a subsurface flaw from the thermal response. This improves the quantitative ability of the thermal evaluation: from one scan it is possible to locate regions of anomalies in thickness (caused by corrosion) and estimate the implications of the flaw on the integrity of the structure. Our research focuses on thick composite aircraft components. A long square heating pulse and several minutes observation period are required to receive an adequate thermal response from such a component. Application of various time-related informative parameters of the thermal response for depth estimation is discussed. A three-dimensional finite difference model of heat propagation in solids in Cartesian coordinates is used to simulate the thermographic process. Typical physical properties of polymer graphite composites are assumed for the model.

Plotnikov, Y. A.↗

NASA NTRS1988

Providing structural modules with self-integrity monitoring

With the advent of complex space structures (i.e., U.S. Space Station), the need for methods for remotely detecting structural damage will become greater. Some of these structures will have hundreds of individual structural elements (i.e., strut members). Should some of them become damaged, it could be virtually impossible to detect it using visual or similar inspection techniques. The damage of only a few individual members may or may not be a serious problem. However, should a significant number of the members be damaged, a significant problem could be created. The implementation of an appropriate remote damage detection scheme would greatly reduce the likelihood of a serious problem related to structural damage ever occurring. This report presents the results of the research conducted on remote structural damage detection approaches and the related mathematical algorithms. The research was conducted for the Small Business Innovation and Research (SBIR) Phase 2 National Aeronautics and Space Administration (NASA) Contract NAS7-961.

Walton, W. B.↗

DOE OSTI2018

Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection - 18094

Radiation source detection has seen various applications in the past decade, ranging from the detection of dirty bombs in public places to scanning critical nuclear facilities for leakage or flaws, and in the autonomous inspection of nuclear sites. Despite the success in detecting single point sources, or a small number of spatially separated point sources, most of the existing algorithms fail to localize sources in complex scenarios with a large number of point sources or non-trivial distributions and bulk sources. Even in simpler environments, most existing algorithms are not scalable to larger regions and/or higher dimensional spaces. For effective autonomous inspection, we not only need to estimate the positions of the sources, but also the number, distribution and intensities of each of them. In this paper, we present a novel algorithm for the robust localization of an arbitrary distribution of radiation sources using multi-layer sequential Monte Carlo methods coupled with suitable clustering algorithms. We achieve near-perfect accuracy, in terms of F1-scores (> 0.95), while allowing the algorithm to scale, both to large regions in space, and to higher dimensional spaces (5 tested). (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1972

Teleoperator technology and system development, volume 1

A two phase approach was undertaken to: (1) evaluate the performance of a general-purpose anthropomorphic manipulator with various controllers and display arrangements, (2) identify basic technical limitations of existing teleoperator designs, and associated controls and displays, and (3) identify, through experimentation, the effects that controls and displays have on the performance of an anthropomorphic manipulator. In Phase 1 the NASA-furnished manipulators, controls and displays were integrated with the remote maneuvering unit; in Phase 2 experiments were defined and performed to assess the utility of teleoperators for 6 typical space inspection, maintenance and repair tasks.

Source record↗

NASA NTRS2006

Spacecraft hazard avoidance utilizing structured light

At JPL, a <5 kg free-flying micro-inspector spacecraft is being designed for host-vehicle inspection. The spacecraft includes a hazard avoidance sensor to navigate relative to the vehicle being inspected. Structured light was selected for hazard avoidance because of its low mass and cost. Structured light is a method of remote sensing 3-dimensional structure of the proximity utilizing a laser, a grating, and a single regular APS camera. The laser beam is split into 400 different beams by a grating to form a regular spaced grid of laser beams that are projected into the field of view of an APS camera. The laser source and the APS camera are separated forming the base of a triangle. The distance to all beam intersections of the host are calculated based on triangulation.

remote sensing↗

DOE OSTI2025

LatticeAnalytics: Strut-Level Visualization and Inspection of Additively Manufactured Lattice Structures

Additive manufacturing (AM) is revolutionizing the production of custom components with complex internal geometries, essential for high-performance applications in diverse fields such as medicine and defense. These AM parts optimize strength while minimizing weight by utilizing internal lattice structures consisting of large quantities of small interconnected struts. However, the complexity of these structures, combined with the challenges of using X-ray Computed Tomography (XCT) data, makes validation of part reliability difficult. This ultimately inhibits the development of novel parts for our collaborating material scientists. Here, we introduce LatticeAnalytics, a novel framework specifically designed for visual inspection of defects in these lattice structures. Our framework offers an end-to-end solution that includes the data management of XCT scans, enables remote access for geographically dispersed teams through a web-based dashboard, and incorporates novel visualizations. Our analysis is facilitated by a coarse alignment between the lattice’s nominal model, a spatial graph, and the XCT data. We employ a simple VR-based approach for fast and rough alignment, followed by an offline registration and identification of the struts. With the nodes and struts aligned and identified in the volume, our framework allows querying of subvolumes containing a single strut at multiple resolutions. This avoids computation over the entire lattice and also allow for easy parallelization of down-stream computations, such as strut-specific metrics. To depict a fast overview of the strut quality, we introduce two innovative visual encodings, crucial for our collaborators’ research in creating novel AM parts: the Contour View and the Roughness Map, which depict critical geometrical and surface features of individual struts in standardized two 2D views. We evaluated the integrated system through expert interviews. The feedback confirms the framework’s practicality and its effectiveness in enhancing current inspection workflows. It solves major bottlenecks for our collaborators, ultimately helping them create novel parts with advanced properties.

Miao, Haichao [Lawrence Livermore National Laborat↗

NASA NTRS1982

Interpretation of HCMM images: A regional study

Potential users of HCMM data, especially those with only a cursory background in thermal remote sensing are familiarized with the kinds of information contained in the images that can be extracted with some reliability solely from inspection of such standard products as those generated at NASA/GSFC and now achieved in the National Space Science Data Center. Visual analysis of photoimagery is prone to various misimpressions and outright errors brought on by unawareness of the influence of physical factors as well as by sometimes misleading tonal patterns introduced during photoprocessing. The quantitative approach, which relies on computer processing of digital HCMM data, field measurements, and integration of rigorous mathematical models, can usually be used to identify, compensate for, or correct the contributions from at least some of the natural factors and those associated with photoprocessing. Color composite, day-IR, night-IR and visible images of California and Nevada are examined.

Source record↗

NASA NTRS1988

The Orbital Maneuvering Vehicle - A new capability

NASA's Orbital Maneuvering Vehicle (OMV) is a reusable remotely-controlled spacecraft for support of orbiting platforms through such functions as satellite delivery, satellite retrieval, satellite reboost, controlled satellite deorbit, satellite inspection, and subsatellite missions. The OMV will be a critical component of the Space Station program's operational scenario; it will be able to operate either from the Space Shuttle Orbiter or the Space Station, and can also be space-based. The maiden flight of the first OMV is projected for 1993.

Arcilesi, Charles J.↗