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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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Integration of the Kromek D3S Detector and Spot Robot For Secondary Inspections

Inspecting vehicles and containers for the presence of nuclear material is a challenging task for border control and security. When performed manually by inspectors, this task also has an associated risk of exposing the inspectors to unknown radiation. With the advent of agile, easy-to-program, quadruped robots like the Boston Dynamics Spot, automation of secondary inspection can improve the efficiency of the inspection process and alleviates the radiation risks to inspectors. In this project, Brookhaven National Laboratory and the University of Massachussetts at Lowell explored how to automate a simple secondary inspection mission. The Spot robot comes with its own software development kit (SDK) that allows clients/users to write custom code in the Python programming language to control the robot. Spot also has a payload computer called Spot-CORE, which runs the Ubuntu Linux operating system and allows users to integrate external sensors, such as a radiation detector, with Spot. In this study, the Kromek D3S detector has been integrated with Spot via the Spot-CORE, allowing Spot to capture gamma spectra and neutron counts for a specified acquisition period. Two custom routines, search and confirmation, have been developed and executed in this specified order. The search routine directs Spot to go around the nearest obstacle, e.g., vehicle and container, in a preset distance and step to collect gamma and neutron gross counts with the D3S detector. The radiation data and the robot location corresponding to each step are stored and fed to the confirmation routine at the end of the search. The confirmation routine then navigates Spot to the locations of the highest gamma or neutron counts to perform a long, e.g., one minute, measurement, and gives the operators the signature gamma spectra and neutron counts at the hotspots. This paper presents a detailed description of this automated system along with results of the preliminary tests in identifying the location and signature of a 137Cs radiation source in a vehicle.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2023

Radiation Protective Coveralls for Fermilab’s SPOT Robot

Fermilab’s Accelerator Division recently purchased a SPOT robot from Boston Dynamics to be used to automatically measure the residual radiation in the beamline tunnels. Fermilab will work with the College of DuPage Fashion Studies Department to design and develop a prototype Tyvek-garments (coveralls and booties) that can be easily used and replicated by the Fermilab operators to shield the SPOT robot from collecting radioactive dust while deployed.

43 PARTICLE ACCELERATORS↗
DOE OSTI2021

Community Outreach - Spot Robot Presentation

Los Alamos National Laboratory has recently obtained a Spot robot from Boston Dynamics to evaluate its suitability for work in and around laboratory facilities. Spot is a highly mobile quadruped robot capable of up to 90 minutes of operation. It can be outfitted with payloads up to 35 lbs. and supports both Boston Dynamics developed equipment, third party payloads, or custom developed payloads. One existing Boston Dynamics attachment is a robot arm that allows the robot to directly interact with its environment, open doors, turn valves, etc.

42 ENGINEERING↗
DOE OSTI2023

Spot Robot Staffing Augmentation in Process Modeling and Analysis (E-2) [Slides]

In September 2021 E-2 obtained its first Spot robot from Boston Dynamics to evaluate their suitability for work in and around laboratory facilities. Spot is a highly mobile quadruped robot capable of up to 90 minutes of operation. They can be outfitted with payloads up to 30 pounds and support Boston Dynamics-developed equipment, third party payloads, or custom-developed payloads. The platform showed immediate promise resulting in the procurement of a total of four units by the end of FY22 (Trinity, Gadget, Crossroads, and Sandstone).

42 ENGINEERING↗
DOE OSTI2023

INTEGRATION OF THE H3D-M400 DETECTOR AND SPOT ROBOT FOR AUTOMATED AREA SURVEY MISSIONS

Office of Nuclear Smuggling Detection and Deterrence (NSDD) is charged to identify and develop technologies to detect, disrupt, and investigate smuggling of radiological and nuclear materials •Border protection involves primary inspections using Radiation Portal Monitors (RPM), complimented with secondary and area survey inspections, usually performed manually using portable radiation detectors (PRDs) -RPM rely on fast technologies which provide quick scans of passing cargo/vehicles -Secondary inspections rely on trained, field deployed staff responsible for additional interdiction of screened cargo/vehicle putting them in potentially hazardous environment -Area survey inspections rely on trained, field deployed staff responsible for scanning and identifying presence of radiation while patrolling through a facility or public space •This project explores the use of technology which could reduce risks to field inspectors and add efficiency •The work presented here is a proof of principle of detector-robot integration to perform area survey inspections

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2026

Autonomous Radiation Cartographer (ARC) System Training Manual

This training manual is designed to provide end users with a comprehensive knowledge base for the safe and effective use of the Autonomous Radiation Cartographer (ARC) System. The ARC is a fully autonomous radiation detection robot based on the Spot Robot platform manufactured by Boston Dynamics.

42 ENGINEERING↗
DOE OSTI2024

spot_bt_ros v.0.1.0

SAND2024-08478O The spot_bt_ros tool allows users to easily construct complex autonomous behaviors for Boston Dynamic's Spot robot without having to overly rely on the Spot software development kit (SDK). This package specifically allows a user to run the Robot Operating System 2 alongside the SDK. Using a form-of-state machine called a "behavior tree,” the software develops different "leaves" or actions that the robot undergoes. Attaching multiple actions in sequence creates a "branch" and several of these make up the "tree." Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Kakish, Zahi↗
DOE OSTI2025

Sim2Real Autonomous Robotic Exploration [Poster]

Autonomous robots offer promising solutions for exploration in environments that are inaccessible or hazardous to humans. Despite this, physical training of such robots is often constrained by safety risks, high cost or limited accessibility. This project presents an end-to-end simulation to reality pipeline leveraging Nvidia Isaac Sim and Boston Dynamics' Spot to enable autonomous navigation in indoor environments. A reinforcement learning policy is first trained using Nvidia Isaac Lab to establish Spot's locomotion pattern. Virtual LiDAR sensors are then integrated to perform SLAM-based navigation using simulated odometry. Finally, the simulated navigation scheme is transferred to a physical Spot robot to inspect and record images of a real-world room by repeating the learnt trajectory. The proposed framework highlights the potential of scalable training in simulation and reliable deployment in physical environments. Future directions include dynamic trajectory generation in unseen and challenging environments and integration of environmental sensing like temperature, radiation or humidity via sensor and material simulation.

97 - MATHEMATICS AND COMPUTING↗
DOE OSTI2023

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.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2024

spot_bt v.0.1.1

SAND2024-08430O spot_bt allows users to easily construct complex, autonomous behaviors without having to overly rely on Boston Dynamic’s Spot robot software development kit. Using a form-of-state machine called a "behavior tree," the software develops and applies different "leaves" or actions to the robot. Attaching multiple actions in sequence creates a "branch," and a series of these make up the "tree." The software works on any x86 or aarch64 hardware but must run on a Linux OS. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525

Kakish, Zahi↗
DOE OSTI2021

Corrosion Protection and Dissimilar Material Joining for Next Generation Lightweight Vehicles

The Arconic Technology Center working with Honda R&D Americas, LLC and the Ohio State University evaluated the corrosion performance of several multi-material conditions and demonstrated the production worthiness of the Resistance Spot Riveting (RSR™) process. RSR is a new technology being developed by Howmet Fastening Systems (formerly Arconic, Inc.) that employs a fastener that is installed using conventional resistance spot welding equipment to produce multi-material joints. The goal of the 3-year project was to demonstrate the use of RSR to join aluminum to steel and aluminum to carbon fiber composites on a prototype scale. Deployment of this technology would help the automotive industry achieve an additional 10 to 20% weight reduction over high strength steels. These weight-savings to the body in white generally translates to 2.5-5.0% of overall vehicle curb weight. The resulting total weight-savings could provide a 1.5% to 3.0% total improvement in fuel efficiency for vehicles that incorporate RSR for multi-material joining. The RSR technology addresses several production barriers to achieving DOE’s fuel efficiency targets including eliminating the need of additional capital for new joining technologies and the flexibility to process conventional steel and multi-material structures with the same equipment. Additionally, the trend towards ultra-high strength steels limits the availability of conventional joining technologies that can effectively process these multi-material combinations. In order to accomplish these goals, the following program milestones were completed by the team: 1) Developed RSR process parameters, producing multi-material joints for mechanical testing and corrosion assessments. 2) Conducted corrosion evaluation of RSR and baseline joints assembled between automotive type aluminum alloys, steels, and carbon fiber using several corrosion mitigation strategies. 3) Developed a production ready feed system and integrate into a robotic resistance spot welding station to simulate automotive production conditions. 4) Produced demonstration assemblies for testing and evaluation.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Cold Spray Additive Manufacturing For New Pipeline Fabrication In Live, Natural Gas Distribution Mains

ULC Technologies (ULC) and the Penn State University Applied Research Lab (PSU ARL) developed a process and approach for rehabilitating live, natural gas distribution pipelines using Cold Spray Additive Manufacturing (CSAM). Robotic inline fabrication of a new pipe will be performed inside a natural gas main without disrupting customers. The material studied was blended with stainless steel which offers corrosion resistance, high strength and compatibility with hydrogen to enable a robust pipeline system that is future proofed. Stainless steel coatings sprayed and tested in the lab showed excellent strength, ductility, and porosity values. ULC initially sought to use methane as the process gas for compatibility with the host pipe, but after evaluating the field and lab challenges, nitrogen was deemed to be more suitable. Early robotic concepts have been developed that indicate technical feasibility. While the technology development originally targeted natural gas distribution mains, market research showed a broader need. Spot repairs performed in natural gas transmission mains may be a more economical approach for reinforcing distribution and transmission mains compared with full pipe-in-pipe rehabilitation. Additive manufacturing offers custom programming, as well as high accuracy and precision. This means custom contours can be manufactured in situ, offering flexibility in the repair solution, such as fabricating internal full circumferential sleeves. The value of the repair can be high at difficult-to-reach locations and in pipes that need reinforcement before the injection of methane-hydrogen blends.

03 NATURAL GAS↗
DOE OSTI2021

Perseverance’s Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) Investigation

The Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) is a robotic arm-mounted instrument on NASA’s Perseverance rover. SHERLOC has two primary boresights. The Spectroscopy boresight generates spatially resolved chemical maps using fluorescence and Raman spectroscopy coupled to microscopic images (10.1 μm/pixel). The second boresight is a Wide Angle Topographic Sensor for Operations and eNgineering (WATSON); a copy of the Mars Science Laboratory (MSL) Mars Hand Lens Imager (MAHLI) that obtains color images from microscopic scales (~13 μm/pixel) to infinity. SHERLOC Spectroscopy focuses a 40 μs pulsed deep UV neon-copper laser (248.6 nm), to a ~100 μm spot on a target at a working distance of ~48 mm. Fluorescence emissions from organics, and Raman scattered photons from organics and minerals, are spectrally resolved with a single diffractive grating spectrograph with a spectral range of 250 to ~370 nm. Because the fluorescence and Raman regions are naturally separated with deep UV excitation (<250 nm), the Raman region ~ 800 – 4000 cm -1 (250 to 273 nm) and the fluorescence region (274 to ~370 nm) are acquired simultaneously without time gating or additional mechanisms. SHERLOC science begins by using an Autofocus Context Imager (ACI) to obtain target focus and acquire 10.1 μm/pixel greyscale images. Chemical maps of organic and mineral signatures are acquired by the orchestration of an internal scanning mirror that moves the focused laser spot across discrete points on the target surface where spectra are captured on the spectrometer detector. ACI images and chemical maps (< 100 μm/mapping pixel) will enable the first Mars in situ view of the spatial distribution and interaction between organics, minerals, and chemicals important to the assessment of potential biogenicity (containing CHNOPS). Single robotic arm placement chemical maps can cover areas up to 7x7 mm in area and, with the < 10 min acquisition time per map, larger mosaics are possible with arm movements. This microscopic view of the organic geochemistry of a target at the Perseverance field site, when combined with the other instruments, such as Mastcam-Z, PIXL, and SuperCam, will enable unprecedented analysis of geological materials for both scientific research and determination of which samples to collect and cache for Mars sample return.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗