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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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18 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Successful cleanroom installation of PIP-II SSR2 coupler using robotic arm

To minimize the contamination of SRF cavities, remote installation techniques are needed during the installation of components. Recent work at Fermilab has been performed to begin the process of developing techniques for assembling cavities using robotics. Multiple alignment methods were prototyped including alignment and computer vision methods. Using a remotely controlled robotic arm, the alignment and installation of couplers have been successfully performed on prototype PIP-II SSR2 cavities in a cleanroom. The installation process will be shown to show to demonstrate the potential of future installations on other cavities and cavity ancillaries.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

Cleanroom Assembly and Cavity Testing

A tutorial about the cleanroom assembly and cavity testing. The presentation discusses how-tos, best practices, and lessons learned.

Wu, Genfa [Fermilab]↗
DOE OSTI2024

Successful Cleanroom Installation of PIP-II SSR2 Coupler Using Robotic Arm

The Fermilab Side-Coupled Linac accelerates H- beam from 116 MeV to 400 MeV through seven 805 MHz modules. Twelve wire scanners are present in the Side Coupled Linac and four are present in the transfer line between the Linac and the Booster synchrotron ring. These wire scanners act as important diagnostic instruments to directly collect information on the beam s transverse distribution. The manipulation of the conditions of wire scanner data collection enables further characterization of the beamline, such as calculating emittance and the Twiss parameters of the beam at select regions. Here we present the results of these studies and characterization of the non-Gaussian transverse beam distribution observed.

Narug, C.↗
DOE OSTI2026

Assessment and Improvement Proposals for High-Pressure Rinsing Processes during Cleanroom Preparation of Superconducting Radio-Frequency Cavities for Particle Accelerators

The goal of this internship is to develop a fluid dynamics characterization of the high-pressure flow used for cleaning the internal surface of the SRF cavities. Initially, the High Pressure Rinsing (HPR) process is introduced, focusing on the problems of the SRF cavities and how this method can be used to increase their acceleration efficiency and performance. The characterization of the problem is then presented, including an introduction to the multiphase flow modeling and the analysis of the Fermilab facility for the HPR. To accomplish the goal, a preliminary estimation of the variables was performed using MATLAB. Then, multiple 2D simulations were developed with Ansys Fluent, and the influence of the main parameter was investigated. The simulation results are then presented and analysed, with a focus on the possible future developments of the HPR process fluid dynamic characterization.

43 PARTICLE ACCELERATORS↗
DOE OSTI2026

Developing a Digital Twin for SRF Cavity Assembly at Fermilab

When assembling Superconducting Radio Frequency (SRF) Cavities, maintaining an environment devoid of particulates like dust and other small particles is essential. If a single spec of dust enters the cavity a significant degradation of performance can occur. To avoid a cavity failure Fermilab assembles the SRF cavities within a ISO-4 (Class 10) environment. This environment though is still susceptible to foreign contaminants when technicians enter and new components are added to the cleanroom. To reduce the risk even more Fermilab has introduced a cobot manipulator into the cleanroom environment to speed up the assembly time which will reduce the time that the technicians operate in the cleanroom. But, this still leaves the potential of contaminants to enter the cleanroom if new components need to be tested within the cleanroom. This project aims to lay the groundwork to develop a Digital Twin environment of the cleanroom to aid in manufacturing processes and testing. In its simplest form, a digital twin is a bidirectional link between a physical system and its digital counterpart or twin. NVIDIA Isaac Sim is used as the digital twin foundation for the digital representation of the cleanroom, specifically for the UR16e assembly area. A simulated UR16e was used to validate the performance of Isaac Sim as a testing environment by comparing the tool center points (TCP) positional data between the simulated and digital representation of the UR16e. Due to a new vision based robotic assembly process being introduced to the cleanroom a digital representation of the physical camera was tested and validated to ensure that it will produce close to the same outcome as the physical environment. The TCP comparison results showed a peak translational error of approximately 0.1mm and rotational errors of up to 8 between the simulated and digital UR16es. While the camera validation performed with high repeatability across multiple runs, it still requires minor tuning before it can accurately replicate a physical camera.

Imburgia, Joseph [Northern Illinois U.]↗
DOE OSTI2025

Robotic Assembly of SRF Cavity Pair

Superconducting Radio Frequency (SRF) cavities for particle accelerators require tight tolerances, ultrahigh vacuum, and strict cleanliness during assembly. As in the semiconductor industry, defects such as particles and residues are deleterious to performance, possibly rendering a cavity unfit for use. This problem is addressed primarily through cleanroom assembly during sensitive steps and rigorous chemical processing to prevent and remove such defects. Human workers are often the largest source of contamination, even with proper gowning and practices. The semiconductor industry has long integrated robots in cleanroom operation, but this has not occurred for SRF cavity production; SRF cavities, unlike wafers, are complex shapes, require more hands-on mechanical assembly, and are low-volume production items. At Jefferson Laboratory, a co-operative robot (cobot) has been setup to overcome these problems. Cobots are safe for use alongside human workers and can integrate new tools such as a 3D camera part detection and gripper for item manipulation. Therefore, cobots represent a promising avenue for reducing particulate generated during a variety of assembly tasks. A mockup of a cavity pair and coupler was setup and the cobot programmed to automatically pick up the coupler and place on the mating cavity flange. Particle counting methods were setup to measure human vs cobot assembly particulate generation inside a cavity mockup. Other potential uses will be discussed for further improving SRF cavity assembly steps, where a cobot can replace or assist a human operator, and what potential gains are expected.

Duzik, Adam [Thomas Jefferson National Accelerator↗
DOE OSTI2026

Autonomous Coupler Alignment Using Position-Based Visual Servoing in a ROS 2 Framework

As robotic arms are becoming increasingly common alongside humans as collaborative robots, their high precision in motion enables tasks to be performed at significantly higher speeds with reduced disruption in the environment. The Fermi National Accelerator Laboratory is exploring this application by incorporating a UR16e from Universal Robots in a cleanroom setting during assembly of couplers to superconducting radio frequency cavities as part of the PIP-II project. The goal of the robotic assembly process is to precisely position the UR16e robot so that the coupler flange, mounted on the robot’s end-effector, is accurately aligned with and pressed against the cavity flange, requiring only final fastening by a lab technician. This thesis builds upon an initial system in which the robotic process was limited to the alignment phase using position-based visual servoing with an eye-in-hand camera to only align the coupler to the cavity with an offset distance. The objective of this thesis is to further advance autonomous robotic assembly by extending the process. To this end, the entire software framework was reconstructed, as the previous development environment posed significant challenges in modifying the software and adapting to hardware changes. The main contributions of this thesis are as follows: (i) a modular and scalable software framework based on ROS~2 was developed to facilitate performance expansion and interchangeability of software and hardware components; (ii) the desired alignment position for position-based visual servoing was parameterized to enable flexible configuration; and (iii) a methodology was developed to close the offset distance between the coupler and cavity utilizing the internal force-torque sensing capability of the UR16e, as visual feedback is not available during the offset-closing phase. The proposed autonomous robotic assembly reduces assembly time and technician involvement, thereby minimizing the risk of airborne particulate contamination, which is essential in the cleanroom setting. Moreover, the ROS~2-based framework provides a foundation for further expansion and continued advancement of robotic automation in Fermilab.

Giffen, Nickolas [Northern Illinois U.]↗
DOE OSTI2024

Effect of Iron Contamination and Polysilicon Gettering on the Performance of Polysilicon‐Based Passivating Contact Solar Cells

Over the past decade, silicon solar cells with carrier-selective passivating contacts based on polysilicon capping an ultra-thin silicon oxide (commonly known as TOPCon or POLO) have demonstrated promising efficiency potentials and are regarded as an evolutionary upgrade to the PERC (passivated emitter and rear contact) cells in manufacturing. The polysilicon-based passivating contacts also exhibit excellent gettering effects that relax the wafer and cleanroom requirements to some extent. Here, in this work, we experimentally explore the impact of bulk iron contamination and polysilicon gettering on the passivation quality of the polysilicon/oxide structure and the resulting solar cells performance. Results show that both n- and p-type polysilicon/oxide passivating contacts are not affected by iron gettering, demonstrating robust and stable passivation quality. However, for a very high bulk iron contamination (1 × 10 13 cm −3 ), the accumulated iron in the p-type lightly boron-doped emitter in crystalline silicon would degrade the emitter saturation current density. This can cause a reduction in both open-circuit voltage and short-circuit current. Meanwhile, this very high iron content (1 × 10 13 cm −3 ) can further degrade the fill factor and temperature coefficient of the cells. On the other hand, for an initial iron content of 2 × 10 12 cm −3 , which should be well above the iron level in the current industrial Czochralski silicon wafers, the resulting cells demonstrate similar performance as the control group with no intentional iron contamination. This work brings attention to both the benefits of polysilicon gettering effects as well as the potential degradation due to the accumulation of metal impurities in the p-type emitter region.

14 SOLAR ENERGY↗
DOE OSTI2025

Standardization of ancillary installation tooling for SRF cavities at Fermilab

For assemblies of cavities in cleanrooms, single-use tooling systems are made for the alignment and installation of ancillary components such as couplers and bellows. To minimize the number of tooling sets created, a design has been created to standardize alignment features to allow for assembly of different components with one set of tooling. A prototype set of tooling has been developed to with the required degrees of freedom for multiple assemblies while minimizing deformation during the assembly process. Prototype designs have been created for PIP-II SSR2 and 650 Cavities and for AUP Crab Cavities. Using 3D printing, this tooling can be quickly adjusted to allow for different ancillary components. The development process and status of the design will be discussed.

Narug, C. [Fermilab]↗
DOE OSTI2024

High pressure rinse simulations for PIP-II SRF cavities

The implementation of High Pressure Rinse (HPR) not only ensures thorough cleaning of the inner high purity niobium surface of Superconducting Radio Frequency (SRF) cavities but also unlocks their full potential for achieving peak performance. By effectively removing contaminants and impurities, HPR sets the stage for enhanced superconducting properties, improved energy efficiency, and superior operational stability. A simulation tool has been developed, facilitating the accurate prediction of both the quality and effectiveness of the rinsing process before its execution in the cleanroom. This tool, the focus of this paper, stands as a pivotal advancement in optimizing Superconducting Radio Frequency (SRF) cavity preparation. Furthermore, our paper will also present correlations with cavity cold testing results, demonstrating the practical applicability and reliability of the simulation predictions in real-world scenarios.

43 PARTICLE ACCELERATORS↗
DOE OSTI2024

Standardization of Ancillary Installation Tooling for SRF Cavities at Fermilab

For assemblies of cavities in cleanrooms, single-use tooling systems are made for the alignment and installation of ancillary components such as couplers and bellows. To try and minimize the amount of tooling sets used, a design has been created to standardize alignment features to allow for assembly of different components with one set of tooling. A prototype set of tooling has been developed to with the required degrees of freedom for multiple assemblies while minimizing deformation during the assembly process. Prototype designs have been created for PIP-II SSR2 and 650 Cavities and for AUP Crab Cavities. Using 3D printing, this tooling can be quickly adjusted to allow for different ancillary components. The development process and status of the design will be discussed.

Narug, Colin↗
DOE OSTI2025

Field Emission Analysis in SRF Cavities for PIP-II Using GEANT4

Field emission (FE) remains a significant hurdle for achieving optimal performance and reliability in superconducting radiofrequency (SRF) cavities used in accelerator cryomodules. A thorough understanding of the generation and propagation of FE-induced radiation is therefore essential to mitigate this problem. The absence of standardized measurement protocols further complicates the comparison of radiation data across different testing phases and facilities. This highlights the need for a precise quantitative method to diagnose and analyze FE-induced radiation. Such efforts could prove beneficial for improving cavity preparation and cleanroom assembly techniques during the prototype and production stages of Fermilab's Proton Improvement Plan-II (PIP-II) project. This study presents the initial steps of detailed Geant4 simulations aimed at analyzing FE-induced radiation in the low-beta 650 MHz 5-cell elliptical (LB650) cavity. Our goal is to combine these results with radiation diagnostics to enhance diagnostic accuracy and optimize detector positioning. This integrated approach ultimately aims to improve the preparation, assembly, and testing procedures for PIP-II SRF cavities, ensuring the delivery of FE-free cryomodules.

Wijethunga, Sajini A.K. [Fermilab] (ORCID:00000002↗
DOE OSTI2026

1016516285-AA - Handling Frame Assembly Table Structural and Seismic Analysis

Within the NIF (National Ignition Facility) sustainment project, LLNL is replacing all 1,728 blast shields with new ones. Before the new blast shield glass can be installed on NIF, it must pass through the AMOL (Amplifier Main Optics Loop). The AMOL process involves cleaning and coating the glass, assembling it into a Line Replaceable Unit (LRU), and performing testing and inspection. This work will be conducted in the OPFX cleanroom facility (Building 391, Room 1250) and requires several pieces of custom equipment. One key piece of equipment within the loop is the Handling Frame Assembly Table (see Figure 1.1). Its purpose is to assist operators in installing the blast shield glass into handling frames (1014442709) (see Figure 1.2). The table is also used to store handling frame assembly components. The primary components stored are the L-frames (1015208271), which are kept in a drawer underneath the table (see Figure 1.3). The purpose of this safety note is to ensure that the system does not pose a risk of injury to personnel during a seismic event. The system owner is OMST Engineering & Maintenance.

42 ENGINEERING↗
DOE OSTI2025

Field Emission Analysis in SRF Cavities for PIP-II Using GEANT4

Field emission (FE) remains a significant hurdle for achieving optimal performance and reliability in super-conducting radiofrequency (SRF) cavities used in accelerator cryomodules. A thorough understanding of the generation and propagation of FE-induced radiation is therefore essential to mitigate this problem. The absence of standardized measurement protocols further complicates the comparison of radiation data across different testing phases and facilities. This highlights the need for a precise quantitative method to diagnose and analyze FE-induced radiation. Such efforts could prove beneficial for improving cavity preparation and cleanroom assembly techniques during the prototype and production stages of Fermilab's Proton Improvement Plan-II (PIP-II) project. This study presents the initial steps of detailed Geant4 simulations aimed at analyzing FE-induced radiation in the low-beta 650 MHz 5-cell elliptical (LB650) cavity. Our goal is to combine these results with radiation diagnostics to enhance diagnostic accuracy and optimize detector positioning. This integrated approach ultimately aims to improve the preparation, assembly, and testing procedures for PIP-II SRF cavities, ensuring the delivery of FE-free cryomodules.

Wijethunga, S. A.K. [Fermilab] (ORCID:000000028765↗
DOE OSTI2024

Sampling Size Optimization for Bioburden Density Estimation in Planetary Protection

Planetary protection (PP) is a discipline that focuses on minimizing the biological contamination of spacecraft to ensure compliance with international policy. Precise estimation of bioburden - the total number of microbes in or on spacecraft hardware – and the bioburden density are of utmost importance for PP. Such estimation is the way concordance with requirements is demonstrated, and it is critical for quantifying the potential risk of inadvertently contaminating other planetary bodies. Although a suite of molecular techniques have been used to thoroughly characterize and profile the microbiome of various cleanroom environments and spacecraft, the gold standard remains the physical enumeration of microbes via culturing of samples directly taken from spacecraft and associated surfaces. However, due to technical, budgetary, and programmatic constraints, only a manageable portion (around 10%) of the entire spacecraft surface is directly sampled with cotton swabs or wipes. To generate the bioburden current best estimate (CBE) for components not directly verifiable, the accepted approach is to apply a NASA-defined bioburden estimate based on the components’ manufacturing or assembly environment. This approach utilizes a prespecified bioburden density estimation that applies a maximum value across the total surface area of the specified component. For hardware components that underwent similar assembly processes, an implied bioburden is adopted for all components, based on a direct verification of a representative component within the same lot. Once all components have a CBE, the bioburden estimates are generated. In previous publication [ 1], we have shown that statistical risks quantifying the accuracy of the estimates for sampled, prespecified, and implied components can be derived and ranked. For mean squared error (MSE) function, the risks are available analytically and hence a cost function can be obtained to optimize the risks with respect to the sampling area and sampling cost. Since the sampling area and sampling cost are two complimentary variables, their sum will have a well-defined minimum. This paper presents the multivariate optimization of the integrated risk of an empirical Bayes estimator to determine the optimal sampling schedule for a given number of components. It is assumed that given a number of components, N, the bioburden density for each component can either be sampled, implied, or prespecified. The multivariate optimization searches through different options to sample, imply or prespecify the bioburden density for a component, and account for the component’s surface area and cost of sampling. The idea of the optimization is based on the observation that the statistical risk of using an estimator is a monotonically decreasing function of the sampled area. The larger the sampled area, the lower the risk of using the estimator as the estimator becomes more and more accurate as the sampling area increases. On the other hand, the cost of sampling is monotonically increasing as the sampled surface grows. This makes the risk and total cost of sampling complimentary variables which can be counterbalanced to achieve an optimal overall value with respect to the sampled surface. In this paper, the integrated risk has been used to quantify the accuracy of the estimator. This risk has been selected because it depends on neither the true value of the parameter nor on the collected data. The cost of each sample was also available to obtain the total cost of sampling of N components. The paper will present the results based on computer-simulated data as well as the data collected during the InSight mission. The computer-simulated data have N components with randomly generated total areas and each component assigned to one of the three categories according to the method of estimating of bioburden density: sampled, implied, or prespecified. The cost of sampling is also available. The cost of sampling is estimated based on a cost model provided by the planetary protection group at JPL. For this paper, the overall cost was assumed to be a linear function of exposure. The optimization process finds the allocation of the components to the three categories that minimizes the tradeoff between integrated risk and total cost. For the InSight data, a set of components is selected representing all three categories, and optimization is performed to determine if the performed allocation was optimal or if a better allocation could have been obtained. To the best of our knowledge, this work is the first attempt not only perform an accurate estimation of bioburden density but also do it in an optimal way.

97 - MATHEMATICS AND COMPUTING↗