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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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DOE OSTI2022

The sound of a Martian dust devil

Dust devils (convective vortices loaded with dust) are common at the surface of Mars, particularly at Jezero crater, the landing site of the Perseverance rover. They are indicators of atmospheric turbulence and are an important lifting mechanism for the Martian dust cycle. Improving our understanding of dust lifting and atmospheric transport is key for accurate simulation of the dust cycle and for the prediction of dust storms, in addition to being important for future space exploration as grain impacts are implicated in the degradation of hardware on the surface of Mars. Here we describe the sound of a Martian dust devil as recorded by the SuperCam instrument on the Perseverance rover. The dust devil encounter was also simultaneously imaged by the Perseverance rover’s Navigation Camera and observed by several sensors in the Mars Environmental Dynamics Analyzer instrument. Combining these unique multi-sensorial data with modelling, we show that the dust devil was around 25 m large, at least 118 m tall, and passed directly over the rover travelling at approximately 5 m s –1 . Acoustic signals of grain impacts recorded during the vortex encounter provide quantitative information about the number density of particles in the vortex. The sound of a Martian dust devil was inaccessible until SuperCam microphone recordings. This chance dust devil encounter demonstrates the potential of acoustic data for resolving the rapid wind structure of the Martian atmosphere and for directly quantifying wind-blown grain fluxes on Mars.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2019

Development of a Semi-autonomous Miniature Rover for Inspection of Double Shell Tank Floors - 19575

Leaks in the primary liner of double-shell tank (DST) 241-AY-102 at Hanford have prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. Last year, Florida International University (FIU) has continued to improve inspection tools that were developed in the previous years, to ensure that the resultant tools are able to overcome the challenges posed by the DSTs. Experimental testing conducted last year at the full-scale sectional mock-up of the DST's refractory slots revealed some shortcomings of the miniature rover, particularly in traversing over weld seams of different heights. The weld seams are the results of welded steel plate-joints for the DST. It was advised by the site engineers that the weld seams height could range from 6.35 mm - 9.525 mm (1/4 to 3/8 inches), and with 12.7 mm (1/2 inches) width. As the rover traverses over a weld seam, the gap between the rover's magnets and tank surface increases, causing the adhesive force to drop. The rover loses its surface contact if this adhesive force drops below its weight, jeopardizing the inspection tasks. In this paper, we present the numerical studies to calculate the minimum magnetic force required for the miniature rover to traverse over weld seams with different heights and the corresponding modifications to the rover design. Initial bench scale tests were conducted using a steel bar with 5 welds of varying heights. The testing validated the results from the simulation studies and established the rover's capability in traversing weld seams. Another challenge for the miniature rover is the use of a joystick or keypad for manual control. Utilizing these controls will likely be difficult for the operators due to the tight channels underneath the tank. Having a semi-autonomous navigational capability would alleviate the complexity of the inspection tasks and allow the operator to focus on the channel inspection. The goal is to implement lane-keeping capability, akin to that of a driverless car, for the inspection tool, so that it will maintain its relative position with respect to the wall of the channels. Am image processing pipeline has been developed using both the Robot Operating System (ROS) and OpenCV to process the image stream coming from the onboard camera, for the purpose of lane identification. Additionally, a PID controller has been implemented to navigate the miniature rover along the central location of the detected lane, while allowing the operator to control the tool's forward and backward motion. (authors)

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DOE OSTI2016

Development of Inspection Tools for the AY-102 Double-Shell Tank at the Hanford DOE Site - 16383

Florida International University (FIU) has been developing inspection tools to assist in identifying the location of the leak in the primary tank of AY-102. This effort has led to the development of a magnetic miniature rover and a pneumatic pipe crawler. The rover will travel through the refractory cooling channels and the crawler will travel through the air supply lines to the central plenum underneath the primary tank. Both tools will provide visual feedback and potentially identify the location of the leak. The magnetic miniature tool is a remote controlled rover with four wheels driven by independent micro DC motors. The rover will have to navigate through over 40 feet of channel that vary in width from 1.5 to 3.0 inches with four 90 deg. turns to reach the center of the tank. To avoid debris in the channel, the device will travel upside down magnetically attached to the bottom of the primary tank. The pneumatic pipe crawler is a worm type robot with a modular design, composed of interchangeable cylindrical modules connected with flexible links. The design is an evolution of previous peristaltic crawlers developed at FIU, and uses pneumatic actuators to emulate the contractions of the peristaltic movement. The crawler must travel approximately 100 feet through three and four inch piping and traverse through vertical risers, elbows and reducers to reach the central plenum. Prototypes for both the rover and the crawler have been designed and manufactured. Initial bench scale testing has validated the design concepts, demonstrating their ability to navigate through complex geometries. Future work will include full scale testing and evaluation of the systems' reliability. (authors)

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DOE OSTI2017

Development and Testing of Robotic Inspection Tools for the High-Level Waste Double Shell Tanks at Hanford - 17292

Florida International University (FIU) has been developing inspection tools that are capable of accessing the tank floors of double shell tanks through air supply lines and air refractory channels. This effort has led to the development of a pneumatic pipe crawler and a miniature rover. The miniature rover is a remote controlled vehicle with four wheels directly driven by independent micro DC motors.. The rover will have to navigate through channels as small as 3.81 cm by 3.81 cm, and includes turns with angles up to 90 deg.. To avoid debris, the device travels upside down, magnetically attached to the bottom of the primary tank. The pneumatic pipe crawler is a snake type robot with a modular design. The design is an evolution of previous peristaltic crawlers developed at FIU, and uses pneumatic actuators to emulate the contractions of the peristaltic movements. The inspection path consists of approximately 30 m of pipe (7.62 and 10.16 cm in diameter), reducers and several elbows. In this paper, engineering scale testing of the both systems is presented. Slight modifications have also been made to the designs, based on the testing, and are also explained. The engineering scale testing of the crawler includes approximately 30 m of piping that has the same lengths, dimensions and fittings as the air supply line of AY-102. The primary difference is that that actual line has a number of sections that are vertical. Testing of the miniature rover has included a test-bed manufactured with brick pavers, providing more realistic coefficients of friction between the tether and the channel. Efforts to reduce the load induced when the tether is in contact with a corner in the refractory channel will also be provided. (authors)

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DOE OSTI2020

Inspection Tools for Hanford Tanks and Waste Transport Systems - 20444

Recent integrity issues in the double-shell tanks (DST) at Hanford have motivated the need for developing innovative tools that can provide information regarding the health of the tanks. These issues include the primary linear failure of AY-102 and recent concerns of thinning in the DST secondary liners. Other concerns include erosion or corrosion on transfer lines and processing pipes. In recent years, Florida International University (FIU) has supported DOE-EM by developing tools that can assist in understanding the health of tanks and waste transport system at Hanford. More specifically, FIU has developed a miniature rover that can be deployed through small risers and gain access to refractory slots in the Hanford DSTs. It traverses through the slots on the primary liner upside down via magnets to avoid debris in the slots. Recent modifications include a spring loaded magnetic arm that allows the unit to traverse over large weld seams but does not reduce the overall functionality of the system. The system has also incorporated a control capsule that will sit within the annulus of the tank and improves on issues related to signal and voltage loss over long tether lines. Lastly, the unit is also being augmented with a second module that will include a means to prep the tank surface and obtain a thickness measurement using a dual element ultrasonic sensor. FIU has also developed a 6-inch peristaltic pipe crawler that operates similar to the previous pipe crawlers developed at FIU. This crawler is a marsupial type crawler that will navigate through the 6-inch drain lines, and deploy a small rover at the entrance of the drain slots. This rover will also traverse upside down on the secondary liner and provide information regarding the health of the liner. An initial prototype for the crawler unit has been developed, assembled and tested. The system is pneumatic and consists of three modules - two grippers and one extender. The validation tests are conducted in a mockup of the drain lines and demonstrate the system's ability to navigate through long pipe lengths and elbows. In this paper, a general overview of each of the aforementioned systems is presented along with results from testing and demonstrations that shows the applicability of each system. (authors)

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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)

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DOE OSTI2019

Development of Robotic Crawlers for Inspection of Radioactive Waste Tanks and Transfer Lines - 19573

The leaks in the primary liner of Double Shell Tank (DST) 241-AY-102 have motivated a number of research efforts to develop inspection tools that can obtain information regarding the integrity of the Hanford DSTs. Recently, there have been additional concerns regarding the DST secondary liners as well various pipelines within the waste transfer system. Over the past few years, Florida International University (FIU) has developed a pneumatic pipe crawler that can navigate through 3- and 4-inch diameter pipes and provide visual feedback while traveling through pipelines in excess of 100 feet and multiple 90 degree elbows. Recent updates to the crawler include a new sensor module that can provide information regarding environmental conditions within the pipeline and a mapping of the interior surface of the line. The sensor module is a carousel type device that can rotate 360 degrees and is placed near the front of the 3- and 4- inch crawler. The module can house a number of sensors including temperature, pressure, radiation, Lidar, optical camera and an inertial measurement unit (IMU). The intent of the module is to improve the functionality of the crawler by providing environmental conditions within the pipe and internal surface topography maps that can assist in understanding potential wear, pitting or thinning of the pipe. In addition to the 3- and 4-inch crawler, FIU is developing a 6-inch crawler that utilizes the same principles as the smaller unit. The objective of this tool is to navigate through the 6-inch drain lines leading to the drain channels within the foundation underneath the secondary liner of the DSTs. This crawler will house a miniature rover that will be deployed at the end of the drain pipe, where it connects to the foundation. The miniature rover will operate upside down, via magnets, underneath the secondary liner within the drain slots and provide visual information regarding the condition of the secondary liner. Thinning of the secondary liner has been noted from the annulus of the some of the DSTs, but it is unclear if the thinning is isolated to locations near the annulus. (authors)

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