The purpose of this research was to develop a telerobotic master device consisting of a 7-axis backdrivable robotic arm, and a pressure-sensitive grip-controller integrated with a Compact Remote Console (CRC), thus creating a highly functional teleoperation station targeted to control a 6-axis industrial robotic arm and dexterous robotic hand to be used for demolition work in a nuclear setting. We successfully completed the development of one of the world?s smallest brushless motor controllers due partially to funding through this grant. These controllers are used to drive the motors in the master robotic arm. We also completed the development of an improved model of a highly advanced 4 degree-of-freedom arm ? this same arm is the core component in the teleoperation system. The WAM arm and a 3-axis gimbals were integrated with a commercially available CRC at our consultant?s lab at University of Tennessee. Additional support hardware and software were combined to tie the master control system to an existing industrial robot in the lab. A master controller for a dexterous hand was developed and became an integral part of the gimbals handle. Control algorithms were developed and the software was written and implemented. The entire system was then debugged and …

This project was undertaken by Michigan Technological University and Special Metals Corporation to develop creep-resistant, coking-resistant oxide-dispersion-strengthened (ODS) tubes for use in industrial-scale ethylene pyrolysis and steam methane reforming operations. Ethylene pyrolysis tubes are exposed to some of the most severe service conditions for metallic materials found anywhere in the chemical process industries, including elevated temperatures, oxidizing atmospheres and high carbon potentials. During service, hard deposits of carbon (coke) build up on the inner wall of the tube, reducing heat transfer and restricting the flow of the hydrocarbon feedstocks. About every 20 to 60 days, the reactor must be taken off-line and decoked by burning out the accumulated carbon. This decoking costs on the order of $9 million per year per ethylene plant, accelerates tube degradation, and requires that tubes be replaced about every 5 years. The technology developed under this program seeks to reduce the energy and economic cost of coking by creating novel bimetallic tubes offering a combination of improved coking resistance, creep resistance and fabricability not available in current single-alloy tubes. The inner core of this tube consists of Incoloy(R) MA956, a commercial ferritic Fe-Cr-Al alloy offering a 50% reduction in coke buildup combined with improved carburization …

For electricity and hydrogen production, an advanced reactor technology receiving considerable international interest is a modular, passively-safe version of the high-temperature, gas-cooled reactor, known in the U.S. as the Modular Helium Reactor (MHR), which operates at a power level of 600 MW(t). For electricity production, the MHR operates with an outlet helium temperature of 850 C to drive a direct, Brayton-cycle power-conversion system with a thermal-to-electrical conversion efficiency of 48 percent. This concept is referred to as the Gas Turbine MHR (GT-MHR). For hydrogen production, both electricity and process heat from the MHR are used to produce hydrogen. This concept is referred to as the H2-MHR. This report provides pre-conceptual design descriptions of full-scale, nth-of-a-kind H2 MHR plants based on thermochemical water splitting using the Sulfur-Iodine process and High-Temperature Electrolysis.

During the nuclear testing era, the former Soviet Union carried out extensive observations of underground nuclear explosions, recording both their own shots and those of foreign nuclear states. Between 1961 and 1989, the Soviet Complex Seismological Expedition deployed seismometers at time-varying subsets of over 150 sites to record explosions at regional distances from the Semipalatinsk and Lop Nor test sites and from the shot points of peaceful nuclear explosions. This data set included recordings from broadband, multi-channel ChISS seismometers that produced a series of narrow band outputs, which could then be measured to perform spectral studies. [ChISS is the Russian abbreviation for multichannel spectral seismometer. In this instrument the signal from the seismometer is passed through a system of narrow bandpass filters and recorded on photo paper. ChISS instruments have from 8 to 16 channels in the frequency range from 100 sec to 40 Hz. We used data mostly from 7 channels, ranging from 0.08 to 5 Hz.] Quantitative, pre-digital era investigations of high-frequency source scaling relied on this type of data. To augment data sets of central Central Asia explosions, we have measured and compiled 537 ChISS coda envelopes for 124 events recorded at Talgar, Kazakhstan, at a distance …

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The primary goal of this visit was to perform a joint assessment of the Renewable Energy and Water Desalination Center's (REWDC) program in radioactive waste management. The visit represented the fourth technical and scientific interaction with Libya under the DOE/NNSA Sister Laboratory Arrangement. Specific topics addressed during the visit focused on Action Sheet P-05-5, ''Radioactive Waste Management''. The Team, comprised of Mo Bissani (Team Lead), Robert Fischer, Scott Kidd, and Jim Merrigan, consulted with REWDC management and staff. The team collected information, discussed particulars of the technical collaboration and toured the Tajura facility. The tour included the waste treatment facility, waste storage/disposal facility, research reactor facility, hot cells and analytical labs. The assessment team conducted the first phase of Task A for Action Sheet 5, which involved a joint assessment of the Radioactive Waste Management Program. The assessment included review of the facilities dedicated to the management of radioactive waste at the Tourja site, the waste management practices, proposed projects for the facility and potential impacts on waste generation and management.

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Capturing the Daylight Dividend conducted activities to build market demand for daylight as a means of improving indoor environmental quality, overcoming technological barriers to effective daylighting, and informing and assisting state and regional market transformation and resource acquisition program implementation efforts. The program clarified the benefits of daylight by examining whole building systems energy interactions between windows, lighting, heating, and air conditioning in daylit buildings, and daylighting's effect on the human circadian system and productivity. The project undertook work to advance photosensors, dimming systems, and ballasts, and provided technical training in specifying and operating daylighting controls in buildings. Future daylighting work is recommended in metric development, technology development, testing, training, education, and outreach.

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HTML Annual Report for 10/1/04 - 9/30/05, assigned ORNL Technical Report # ORNL/TM-2006/41. Incorrect number appears in next field.

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The results of Monte Carlo radiation shielding study performed with the MARS15 code for the vertical test cryostat facility to be installed in the Industrial Building 1 at Fermilab are presented and discussed.

This paper presents the technical case for high-temperature nuclear hydrogen production. A general thermodynamic analysis of hydrogen production based on high-temperature thermal water splitting processes is presented. Specific details of hydrogen production based on high-temperature electrolysis are also provided, including results of recent experiments performed at the Idaho National Laboratory. Based on these results, high-temperature electrolysis appears to be a promising technology for efficient large-scale hydrogen production.

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Interim technical report compares and evaluates new diesel and diesel hybrid-electric articulated buses operated as part of the King County Metro Transit (KC Metro) fleet in Seattle, Washington.

This Corrective Action Decision Document has been prepared for Corrective Action Unit (CAU) 145, Wells and Storage Holes in Area 3 of the Nevada Test Site, Nevada, in accordance with the ''Federal Facility Agreement and Consent Order'' (1996). Corrective Action Unit 145 is comprised of the following corrective action sites (CASs): (1) 03-20-01, Core Storage Holes; (2) 03-20-02, Decon Pad and Sump; (3) 03-20-04, Injection Wells; (4) 03-20-08, Injection Well; (5) 03-25-01, Oil Spills; and (6) 03-99-13, Drain and Injection Well. The purpose of this Corrective Action Decision Document is to identify and provide the rationale for the recommendation of a corrective action alternative for the six CASs within CAU 145. Corrective action investigation activities were performed from August 1, 2005, through November 8, 2005, as set forth in the CAU 145 Corrective Action Investigation Plan and Record of Technical Change No. 1. Analytes detected during the Corrective Action Investigation (CAI) were evaluated against appropriate final action levels to identify the contaminants of concern for each CAS. The results of the CAI identified contaminants of concern at one of the six CASs in CAU 145 and required the evaluation of corrective action alternatives. Assessment of the data generated from investigation …

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Excavation of the 618-2 Burial Ground has produced many items of anomalous waste. Prior to temporary packaging and/or storage, these items have been characterized in the field to identify radiological and industrial safety conditions.