A mobile robot system called Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance wit DOE`s technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trails at the Fernald site.

This paper describes the BOA system, a mobile pipe-external crawler used to remotely strip and bag (possibly contaminated) asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations across the DOE weapons complex. The mechanical removal of ACLIM is very cost-effective due to the relatively low productivity and high cost involved in human removal scenarios. BOA, a mechanical system capable of removing most forms of lagging (paper, plaster, aluminum sheet, clamps, screws and chicken-wire), and insulation (paper, tar, asbestos fiber, mag-block) uses a circular cutter and compression paddles to cut and strip the insulation off the pipe through compression, while a HEPA-filter and encapsulant system maintain a certifiable vacuum and moisture content inside the system and on the pipe, respectively. The crawler system has been built and is currently undergoing testing. Key design parameters and performance parameters are developed and used in performance testing. Since the current system is a testbed, we also discuss future enhancements and outline two deployment scenarios (robotic and manual) for the final system to be designed and completed by the end of FY `95. An on-site demonstration is currently planned for Fernald in Ohio and Oak Ridge in Tennessee.

This paper describes current work at the Oak Ridge National Laboratory to develop a robotic vision system capable of recognizing designated objects by their intrinsic geometry. This method, based on single camera vision, combines point features and a model-based technique using geometric feature matching for the pose calculation. In this approach, 2-D point features are connected into higher-order shapes and then matched with corresponding features of the model. Pose estimates are made using a closed-form point solution based on model features of four coplanar points. Rotations are represented by quaternions that simplify the calculations in determining the least squares solution for the coordinate transformation. This pose determination method including image acquisition, feature extraction, feature correspondence, and pose calculation has been implemented on a real-time system using a standard camera and image processing hardware. Experimental results are given for relative error measurements.

Inclusion characteristics influence weld metal microstructure development, especially the formation of high toughness acicular ferrite phase. Important inclusion characteristics are: size distribution, number density, volume fraction, composition. Previous work considered a sequential formation of various oxides and compounds to estimate the inclusion characteristics; however, effects of weld metal composition, nucleation and growth conditions on inclusion formation were ignored. In this work, the principles of ladle deoxidization and transformation kinetics involving nucleation and growth are used to estimate the inclusion characteristics as a function of weld metal composition and cooling conditions.

The heated turbulent flow over a backward-facing step is numerically solved using the commercial computational fluid dynamics program FLUENT. The methods used here consist of the default power-law upwinding scheme, default multigrid equation solution method and a standard k-{var_epsilon} turbulence model with wall functions. A total of four separate cases are reported. The four cases consist of combinations of partially and fully developed flow at the inlet with uniform or developed temperature profiles. Three mesh refinements are reported for each flow.

This contribution presents some lessons learned in the development of cooperation and knowledge transfer across the numerous interfaces involved in managing a corporate research laboratory.

Variation of model size as determined by grid density is studied for both model refinement and damage detection. In model refinement 3 it is found that a large model with a fine grid is preferable in order to achieve a reasonable correlation between the experimental response and the finite element model. A smaller model falls victim to the inaccuracies of the finite element method. As the grid become increasing finer, the FE method approaches an accurate representation. In damage detection the FE method is only a starting point. The model is refined with a matrix method which doesn`t retain the FE approximation, therefore a smaller model that captures most of the dynamics of the structure can be used and is preferable.

Addition of controlled residual elements (CRE), such as 0.007 wt % B, to type 308 stainless steel welds, improved creep-rupture properties. In this paper, B distribution and microstructure development were studied. The microstructural evolution during high-temperature aging was found to similar to that of commercial SS308 welds. Atom probe analysis showed that B and C segregate to the ferrite-austenite interface. Thermodynamic calculations suggest that the segregation is due to preferential partitioning of B and C to the liquid during solidification. Further work is needed to study B redistribution in aging stages.

ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports.

To model the shock-induced behavior of porous or damaged energetic materials, a nonequilibrium mixture theory has been developed and incorporated into the shock physics code, CTH. Foundation for this multiphase model is based on a continuum mixture formulation given by Baer and Nunziato. In this nonequilibrium approach, multiple thermodynamic and mechanics fields are resolved including the effects of material relative motion, rate-dependent compaction, drag and heat transfer interphase effects and multiple-step combustion. Benchmark calculations are presented which simulate low-velocity piston impact on a propellant porous bed and experimentally-measured wave features are well replicated with this model. This mixture model introduces micromechanical models for the initiation and growth of reactive multicomponent flow which are key features to describe shock initiation and self-accelerated deflagration-to-detonation combustion behavior. To complement one-dimensional simulation, two dimensional numerical simulations are presented which indicate wave curvature effects due to the loss of wall confinement.

The Advanced Neutron Source (ANS) is a state-of-the-art research reactor facility that will be built at the Oak Ridge National Laboratory (ORNL) and is designed to become the world`s most advanced thermal neutron flux source for scientific experiments. Therefore, the core of the ANS reactor (ANSR) must be designed to accommodate very high power densities using very high coolant mass fluxes and subcooling levels, The nominal average and peak heat fluxes in the ANSR are approximately 6 and 12 MW/M{sup 2}, respectively, with a nominal total thermal power of 303 MW. Highly subcooled heavy-water coolant (1.7 MPa and 85{degrees}C at the core exit) flows vertically upward at a very high mass flux of almost 27 Mg/M{sup 2}-s. The cooling channels in each fuel assembly are all parallel and share common inlet and outlet plenums, effectively imposing a common pressure drop across all the channels. This core configuration is subject to flow excursion (FE) and/or flow instability that may occur once boiling is initiated in any one of the channels. The FE phenomenon constitutes a different thermal limit than a true critical heat flux (CHF) or departure from nucleate boiling (DNB). In such a system, initiation of boiling in one of …

This paper presents a high bandwidth fiber-optic communication system intended for post accident recovery of weapons. The system provides bi-directional multichannel, and multi-media communications. Two smaller systems that were developed as direct spin-offs of the larger system are also briefly discussed.

Electrostatic particle-beam lenses using a concentric co-planar array of independently biased rings can be advantageous for some applications. Traditional electrostatic lenses often consist of axial series of biased rings, apertures, or tubes. The science of lens design has devoted much attention to finding axial arrangements that compensate for the substantial optical aberrations of the individual elements. Thus, as with multi-element lenses for light, a multi-element charged-particle lens can have optical behavior that is far superior to that of the individual elements. This paper discusses the possibility that transverse multiple-concentric-ring lenses can achieve high performance, while also having advantages in terms of compactness and optical versatility.

Nanosecond Pulsed Power Science and Technology has its origins in the 1960s and over the past decade has matured into a flexible and robust discipline capable of addressing key physics issues of importance to ICF and high Energy Density Physics. The major leverage provided by pulsed power is its ability to generate and deliver high energy and high power at low cost and high efficiency. A low-cost, high-efficiency driver is important because of the very large capital investment required for multi-megajoule ignition-class systems. High efficiency is of additional importance for a commercially viable inertial fusion energy option. Nanosecond pulsed power has been aggressively and successfully developed at Sandia over the past twenty years. This effort has led to the development of unique multi-purpose facilities supported by highly capable diagnostic, calculational and analytic capabilities. The Sandia Particle-beam Fusion Program has evolved as part of an integrated national ICF Program. It applies the low-cost, high-efficiency leverage provided by nanosecond pulsed power systems to the longer-term goals of the national program, i.e., the Laboratory Microfusion Facility and Inertial Fusion Energy. A separate effort has led to the application of nanosecond pulsed power to the generation of intense, high-energy laboratory x-ray sources for application …

This paper presents results from three areas of GaAs PCSS research and development: device lifetime, high current switching, and PCSS-driven laser diode arrays (LDA). The authors have performed device lifetime tests on both lateral and vertical switches as a function of current amplitude, pulse width, and charging time. At present, their longest-lived switch reached 4 {times} 10{sup 6} pulses. Scanning electron microscope (SEM) images show damage near the contacts even after only 5 pulses. They are presently searching for the threshold at which no damage is evident after a single shot. In high current tests, they have reached 5.2 kA at 4.2 kV. This was achieved using twenty fiber-optic coupled lasers to distribute current filaments over a 5 mm wide PCSS. Current waveforms and images of the current filaments as a function of current amplitude will be presented. The lasers used to trigger the high current PCSS were driven with a miniature PCSS. Low inductance, high speed GaAs PCSS are very effective as short pulse laser diode array drivers. Some types of arrays gain switch, producing a compressed optical pulse which is only 75 ps wide. Results from tests with a variety of laser diode arrays will be presented.

Simple models for the flow of solder onto a copper metallized strip and into V-shaped groves in copper were derived and compared to experimental results. The conditions for initiation of flow are established and followed by the determination of flow rates for the two geometrical configurations. The analysis leads to the conclusion that the standard approach to capillary flow is adequate for describing these kinetics. A computer simulation using the interfacial energy minimization code Surface Evolver, is also used to examine these systems and it is shown that it does predict the experimentally observed morphologies. The two approaches are compared and similarities are discussed.

The technology for extracting geothermal energy from the vast hot dry rock (HDR) geothermal resource has been under development by the Los Alamos National Laboratory for about 25 years. In 1992--1993, an extensive flow-testing program was conducted at the Fenton Hill, New Mexico HDR Test Facility. During two segments of this test energy was produced at a rate of 4 thermal megawatts on a continuous basis for periods of 112 and 65 days, respectively. Surface and logging measurements showed no decline in the temperature of the water produced from the HDR reservoir during the flow testing. In fact, tracer evidence indicated that the circulating water was continually gaining access to additional hot rock as the testing proceeded. Water consumption was low and all other test data were positive. The encouraging results of the flow testing at Fenton Hill provided the incentive for the United States Department of Energy (USDOE) to solicit the interest of private industry in a jointly funded program to construct and operate a facility that would produce and sell energy derived from HDR resources. A number of organizations responded positively. On the basis of the interest expressed in these responses, the USDOE subsequently authorized the issuance of …

A comprehensive experimental program was carried out at Univ. of Maryland Beam Transport facility to study the longitudinal beam physics of space-charge dominated bunches. This investigation included the behavior of (a) bunches with parabolic line charge profile, (b) bunches with rectangular line charge profile, and (c) local perturbations (slow and fast waves) in rectangular bunches. The major experimental results are presented in this paper.

The research objectives were: perform Gibbs ensemble Monte Carlo simulation of mixed solvent electrolytes (ethanol/water/NaCl); perform molecular dynamics simulation of supercritical aqueous (electrolyte) solutions; measure experimentally phase equilibria in water/alcohol/organic salt mixtures; and conduct integral equation studies of mixed solvent electrolytes. Progress on all objectives is reported (the most progress was on the molecular dynamics simulation).

Lost circulation is a persistent problem in geothermal drilling and often accounts for a significant fraction of the cost of drilling a typical geothermal well. The US Department of Energy sponsors work at Sandia National Laboratories to develop technology for reducing lost circulation costs. This paper describes a downhole tool that has been developed at Sandia for improving the effectiveness and reducing the cost of cementing operations used to treat lost circulation zones. This tool, known as the drillable straddle packer, is a low-cost, disposable assembly used for isolating a loss zone and directing the flow of cement into the zone. This paper describes the tool concept, hardware design, deployment procedure, laboratory testing, and technical issues addressed during the development process.

M. Lee`s program RESOLVE has recently been in extensive use at CEBAF to help identify and correct optics problems in recirculation arcs and in linac beamlines encountered during the commissioning of the 4- GeV accelerator. We describe the integration of the program with our machine applications software package. A significant vertical focusing error in one of the recirculation arcs, which is attributed to edge focusing of dipole magnets, was found from the analysis of difference orbit measurement data. A corrective measure has been successfully implemented. Optics checks in the spreader and recombiner regions are discussed along with linac optics and 60Hz jitter. 7 refs., 4 figs.

Under this CRADA we have carried out a joint research and development program between the Accelerator Test Facility at the National Synchrotron Light Source Department at Brookhaven National Laboratory and Northrop-Grumman Corporate Research Center of Princeton New Jersey, for the purpose of developing an advanced superferric undulator for the generation of Free-Electron Laser (FEL) radiation. The intent of this work was to enhance the performance of the superconducting microundulator recently developed at Brookhaven National Laboratory and to transfer this technology to the industrial participant that has expressed great interest in acquiring the manufacturing and physics design capabilities of this device.

The Continuous Electron Beam Accelerator Facility (CEBAF) uses the Experimental Physics and Industrial Control System (EPICS) for accelerator control. In EPICS, the atomic element of a control algorithm is a record. Records are grouped together to form generic applications, for example to control a single magnet. The generic applications are then instantiated for each specific item of machine hardware. Instantiated applications are executed on one of the 30 data acquisition and control computers that are used in the control system. There are roughly 125,000 unique, instantiated records at CEBAF, each associated with a specific piece of hardware. Management of these records in a database simplifies the task of application developers by allowing them to concentrate on algorithmic development instead of instantiation details. In addition, it decouples algorithmic development from the specification of operational parameters, allowing responsibility for those parameters to pass to machine operations staff. CEBAF needed an environment to provide support for development of EPICS database management tools. An object- oriented database (OODB) was chosen for two reasons: higher performance and the ability to smoothly manage objects of different types. 3 refs., 1 fig.

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