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Robotics Plan in Support of DOME Testbed Operations
Various robotic tooling options have been evaluated for the NRIC DOME concept of operations (ConOps). Framatome was contracted to develop a wide-ranging list of commercial off the shelf (COTS) and custom robotic systems to be considered for performing the DOME ConOps functions. Subsequent project tasks from Framatome narrowed down the list and scored the most viable options. The abbreviated list, and associated scoring, has been reviewed and assessed to provide formal recommendations for the robotic ConOps functions of DOME. The overhead telescoping mast & Kraft arm assembly is recommended as the primary system for reactor demobilization and removal. The estimated cost is $\$700$K with a timeline to develop and deliver of about 2.5 years. The mast & Kraft arm would still require an overhead lift system for mobilization and installation. Either the refurbished polar crane or a new gantry crane delivery platform could both serve as the overhead lift and delivery system. The estimated costs for the refurbishment polar crane and new gantry crane systems are, respectively, $\$4.4$M and $\$3$M with about 2.5 years to develop and deliver. A Brokk + Kraft crawler & arm is recommended as a secondary robotic system to support the overhead mast & Kraft arm system. The Brokk + Kraft crawler & arm would cost an estimated $\$726$k and would take about 1.5 years to develop and deliver. The Boston Dynamics SPOT robot is also recommended for the in-service monitoring during experimentation operations. The estimated cost is $\$220$K with a timeline to deliver of 8-14 months. The Elios 3 aerial drone is recommended to perform large area radiation dose rate mapping and visual inspections. The estimated cost is a $\$100$K and will also need about 8-14 months to develop and deliver. A mockup rig is also recommended to be procured an employed to test & verify the robotic capabilities as well as provide needed training for operations personnel. It is estimated that a mockup rig would cost about $\$500$k and would take up to a year to develop and build.
Proof-of-Concept Application of Impedance-Based Health Monitoring on Space Shuttle Ground Structures
Many of the structures responsible for the launch, ground systems and support operations of the space shuttle are still being used well past their nominal expected design life. This has led to an increased interest in monitoring these structures in order to decrease the risk of eventual breakdown or structural failure. One monitoring method, which has shown promising results for such applications, is the impedance-based structural health monitoring technique. This paper presents results from proof-of-concept tests on the launch pad's orbiter access arm bolted connection, solid rocket booster hold down post, mobile launch platform heat shield and crawler transporter bearing. Modification for future tests are suggested.
Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]
Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.
WRPS Hanford Update [Slides]
The purpose of this report is to coordinate with the staff from WRPS, the current contract holder for operations at the Hanford site to better inform design decisions for the Autonomous systems for Hanford waste tank handling project. The project goals are to support risk reduction associated with monitoring, inspection and mapping of Hanford tank underground pits and includes: 1. A pit mock-up demonstration of Idaho National Laboratory’s (INL) Autonomous Pit Exploration System (APES) technology, which has two configurations: A. The Autonomous Robotic Arm, which is a proposed collaboration with Florida International University (FIU) and has capabilities to visually inspect, monitor, map and conduct simple tool manipulation tasks in the tank pits, and B. The robotic crawler configuration, which has capabilities to deploy to the bottom of the pits and conduct closer and bottom-up visual inspections. 2. An Implementation Plan that identifies Hanford site-wide application of the INL remote robotics technologies to enhance the performance of the tank farm systems and the characterization of the waste they contain to mitigate risk and optimize the overall waste mission. 3. A first-of-a-kind environmental digital twin will be produced. Digital twins to date require permanently installed sensors in order to produce asset specific predictions. This project will use the intermittent signals during inspections from deployed sensors on robotic systems to produce the data sets used by AI/ML to enable predictions of issues on tanks.
Crawling Aid
The Institute for the Achievement of Human Potential developed a device known as the Vehicle for Initial Crawling (VIC); the acronym is a tribute to the crawler's inventor, Hubert "Vic" Vykukal; is an effective crawling aid. The VIC is used by brain injured children who are unable to crawl due to the problems of weight-bearing and friction, caused by gravity. It is a rounded plywood frame large enough to support the child's torso, leaving arms and legs free to move. On its underside are three aluminum discs through which air is pumped to create an air-bearing surface that has less friction than a film of oil. Upper side contains the connection to the air supply and a pair of straps which restrain the child and cause the device to move with him. VIC is used with the intent to recreate the normal neurological connection between brain and muscles. Over repetitive use of the device the child develops his arm and leg muscles as well as coordination. Children are given alternating therapy, with and without the VIC until eventually the device is no longer needed.
Operational Lessons Learned from the Ares I-X Flight Test
The Ares I-X flight test, launched in 2009, is the first test of the Ares I crew launch vehicle. This development flight test evaluated the flight dynamics, roll control, and separation events, but also provided early insights into logistical, stacking, launch, and recovery operations for Ares I. Operational lessons will be especially important for NASA as the agency makes the transition from the Space Shuttle to the Constellation Program, which is designed to be less labor-intensive. The mission team itself comprised only 700 individuals over the life of the project compared to the thousands involved in Shuttle and Apollo missions; while missions to and beyond low-Earth orbit obviously will require additional personnel, this lean approach will serve as a model for future Constellation missions. To prepare for Ares I-X, vehicle stacking and launch infrastructure had to be modified at Kennedy Space Center's Vehicle Assembly Building (VAB) as well as Launch Complex (LC) 39B. In the VAB, several platforms and other structures designed for the Shuttle s configuration had to be removed to accommodate the in-line, much taller Ares I-X. Vehicle preparation activities resulted in delays, but also in lessons learned for ground operations personnel, including hardware deliveries, cable routing, transferred work and custodial paperwork. Ares I-X also proved to be a resource challenge, as individuals and ground service equipment (GSE) supporting the mission also were required for Shuttle or Atlas V operations at LC 40/41 at Cape Canaveral Air Force Station. At LC 39B, several Shuttle-specific access arms were removed and others were added to accommodate the in-line Ares vehicle. Ground command, control, and communication (GC3) hardware was incorporated into the Mobile Launcher Platform (MLP). The lightning protection system at LC 39B was replaced by a trio of 600-foot-tall towers connected by a catenary wire to account for the much greater height of the vehicle. Like Shuttle, Ares I-X will be stacked on a MLP and rolled out to the pad on a Saturn-era crawler-transporter. While Ares I-X was only held in place by the four hold-down posts on its aft skirt during rollout, a new vehicle stabilization system (VSS) attached to the vertical service structure kept the vehicle from undue swaying prior to launch at the pad, LC 39B. Following the launch, the flight test vehicle first stage was recovered with the aid of new parachutes resized to accommodate the five-segment-long first stage, which had a much greater length and mass than the Shuttle s reusable solid rocket boosters. After splashdown, recovery divers exercised extra care when handling the first stage to ensure that the flight data recorders in the fifth segment simulator were not damaged by exposure to sea water. The data recovered from the Ares I-X flight test will be very valuable in verifying the predicted environments and models used to design the vehicle. Lessons learned from Ares I-X will be shared with the Ares Projects through written and verbal reports and through integration of mission team members into the Project workforce.