In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic …

For staff to perform their jobs effectively and efficiently, they must be adequately trained. Well-trained staff are also more likely to be satisfied with their jobs and to remain with a given organization. In addition to hiring staff with relevant backgrounds and skills, critical steps in maintaining adequately trained staff are to analyze skill levels needed for the various tasks that personnel are required to perform and to provide training to improve staff s skill base. This first analysis is commonly referred to as a training needs assessment. Training needs are usually determined by defining the tasks required for a particular job and the associated knowledge, skills, and abilities necessary to adequately accomplish these tasks. The Office of Northwestern Area Programs of the U.S. Department of Energy`s (DOE`s) Office of Environmental Management (EM) oversees environmental remediation activities in the Chicago, Idaho, Oakland, and Richland Operations Offices. For this organization to effectively carry out its mission, its staff need to be as proficient as possible in the appropriate knowledge and skills. Therefore, a training needs assessment was conducted to determine staff`s level of knowledge and proficiency in various skills. The purpose of the assessment was to: (1) Examine the types of …

The United States has a strong policy on prevention of the international spread of nuclear weapons. This policy was announced in Presidential Directive PDD-13 and summarized in a White House press release September 27, 1993. Two cornerstones of this policy are: seek to eliminate where possible the accumulation of stockpiles of highly- enriched uranium or plutonium; propose{hor_ellipsis}prohibiting the production of highly-enriched uranium (HEU) or plutonium for nuclear explosives purposes or outside international safeguards. The Department of Energy is currently struggling to devise techniques that safely and efficiently dispose of spent nuclear fuel (SNF) while satisfying national non-proliferation policies. SRS plans and proposals for disposing of their SNF are safe and cost effective, and fully satisfy non-proliferation objectives.

Immobilization is the fixation of the surplus fissile materials in an acceptable matrix such as glass or ceramics to create an environmentally benign form for disposal in a repository. In addition to the traditional characteristics required of an immobilization form to achieve isolation of the fissile material from the biosphere over geologic times, the immobilization form for the Fissile Materials Disposition Program (FMDP) must also possess the property that it is inherently as unattractive and inaccessible as the fissile material from commercial spent fuel. This latter requirement is similar to the wording of the ''spent fuel standard'' invoked in the National Academy of Sciences (NAS) study on plutonium disposition. High-level wastes (HLW) or separated cesium ({sup 137}Cs), can be added with the fissile material into the waste form to create a radiation field that increases the proliferation resistance and decreases reuse by the host nation in the following ways: (1) Plutonium will be diluted with elements that must be removed by extensive chemical processing to return it to weapons-usable purity; (2) The immobilized plutonium canisters will contain approximately 2 tonnes (2000 kg; 2.2 tons) of mass, thereby forcing the use of heavy equipment to move the canisters; (3) A gamma …

The major tasks of this research were (a) pollution prevention opportunity assessments on the overpacking operations for failed or corroded drums, (b) research on existing container corrosion data, (c) investigation of the storage environment of the new Resource Conservation and Recovery Act Type II storage modules, (d) identification of waste streams that demonstrate deleterious corrosion affects on drum storage life, and (e) corrosion test cell program development. Twenty-one waste streams from five US Department of Energy (DOE) sites within the DOE Complex were identified to demonstrate a deleterious effect to steel storage drums. The major components of these waste streams include acids, salts, and solvent liquids, sludges, and still bottoms. The solvent-based waste streams typically had the shortest time to failure: 0.5 to 2 years. The results of this research support the position that pollution prevention evaluations at the front end of a project or process will reduce pollution on the back end.

The Q3 magnets have 2 independent heater elements that are energized by the quench protection system. One heater element in the Q3 magnet at A4 became an open circuit after the initial cooldown. Recently the second element became an open circuit. The Q3 magnet at A4 is powered in series with a Q3 magnet at B1. The heaters in the magnet at B1 are still intact. The purpose of this study is to determine if the magnet circuit can be operated without undue risk of damage to the magnets. The risk of damage to the magnet at A4 is less of a concern since repairing the heaters is expected to be a major effort in any event. There is one spare Q3 magnet.

The Environmental Evaluation Group (EEG) previously analyzed the probability of a catastrophic accident in the waste hoist of the Waste Isolation Pilot Plant (WIPP) and published the results in Greenfield (1990; EEG-44) and Greenfield and Sargent (1993; EEG-53). The most significant safety element in the waste hoist is the hydraulic brake system, whose possible failure was identified in these studies as the most important contributor in accident scenarios. Westinghouse Electric Corporation, Waste Isolation Division has calculated the probability of an accident involving the brake system based on studies utilizing extensive fault tree analyses. This analysis conducted for the U.S. Department of Energy (DOE) used point estimates to describe the probability of failure and includes failure rates for the various components comprising the brake system. An additional controlling factor in the DOE calculations is the mode of operation of the brake system. This factor enters for the following reason. The basic failure rate per annum of any individual element is called the Event Probability (EP), and is expressed as the probability of failure per annum. The EP in turn is the product of two factors. One is the {open_quotes}reported{close_quotes} failure rate, usually expressed as the probability of failure per hour and …

One type of wind-powered battery charging will be explored in this paper. It consists of a wind turbine driving a permanent magnet alternator and operates at variable speed. The alternator is connected to a battery bank via a rectifier. The characteristic of the system depends on the wind turbine, the alternator, and the system configuration. If the electrical load does not match the wind turbine, the performance of the system will be degraded. By matching the electrical load to the wind turbine, the system can be improved significantly. This paper analyzes the properties of the system components. The effects of parameter variation and the system configuration on the system performance are investigated. Two basic methods of shaping the torque-speed characteristic of the generator are presented. The uncompensated as well as the compensated systems will be discussed. Control strategies to improve the system performance will be explored. Finally, a summary of the paper will be presented in the last section.

The interaction of superconductivity with magnetism has been one of the most interesting and important phenomena in solid state physics since the 1950`s when small amounts of magnetic impurities were incorporated in superconductors. The discovery of the magnetic superconductors RNi{sub 2}B{sub 2}C (R = rare earth, Y) offers a new system to study this interaction. The wide ranges of superconducting transition (T{sub c}) and antiferromagnetic (AF) ordering temperatures (T{sub N}) (0 K {le} T{sub c} {le} 16 K, 0 K {le} T{sub N} {le} 20 K) give a good opportunity to observe a variety of interesting phenomena. Single crystals of high quality with appropriate size and mass are crucial in examining the anisotropic intrinsic properties. Single crystals have been grown successfully by an unusual high temperature flux method and characterized thoroughly by X-ray, electrical transport, magnetization, neutron scattering, scanning electron microscopy, and other measurements.

Tremendous progress has been made in the construction of physical and genetic maps of the human chromosomes. The next step in the solving of disease related problems, and in understanding the human genome as a whole, is the systematic isolation of transcribed sequences. Many investigators have already embarked upon comprehensive gene searches, and many more are considering the best strategies for undertaking such searches. Because these are likely to be costly and time consuming endeavors, it is important to determine the most efficient approaches. As a result, it is critical that investigators involved in the construction of transcriptional maps have the opportunity to discuss their experiences and their successes with both old and new technologies. This document contains the proceedings of the Fourth Annual Workshop on the Identification of Transcribed Sequences, held in Montreal, Quebec, October 16-18, 1994. Included are the workshop notebook, containing the agenda, abstracts presented and list of attendees. Topics included: Progress in the application of the hybridization based approaches and exon trapping; Progress in transcriptional map construction of selected genomic regions; Computer assisted analysis of genomic and protein coding sequences and additional new approaches; and, Sequencing and mapping of random cDNAs.

This Annual Summary Report on the Surveillance and Maintenance Activities for the Oak Ridge National Laboratory Environmental Restoration Program for Fiscal Year 1995 was prepared to communicate the accomplishments of the Program during fiscal year 1995. This work was performed under work breakdown structure element 1.4.12.6.1.14.20 (activity data sheet 3314, ``Remedial Action Surveillance and Maintenance``). Publication of this document meets the Life Cycle Baseline milestone date of November 30, 1995. This document provides the accomplishments for both the Remedial Action and Decontamination and Decommissioning Surveillance and Maintenance programs.

The Appalachian Clean Coal Technology Consortium (ACCTC) has been established to help U.S. Coal producers, particularly those in the Appalachian region, increase the production of lower-sulfur coal. The cooperative research conducted as part of the consortium activities will help utilities meet the emissions standards established by the 1990 Clean Air Act Amendments, enhance the competitiveness of U.S. coals in the world market, create jobs in economically-depressed coal producing regions, and reduce U.S. dependence on foreign energy supplies. In keeping with the recommendations of the Advisory Committee, first-year R&D activities are focused on two areas of research: fine coal dewatering and modeling of spirals. The industry representatives to the Consortium identified fine coal dewatering as the most needed area of technology development. Dewatering studies are being conducted by Virginia Tech`s Center for Coal and Minerals Processing. A spiral model will be developed by West Virginia University. The most promising approach to improving spiral separation efficiency is through extensive computer modeling of fluid and solids flow in the various operating regions of the spiral. Accomplishments for these two tasks are described.

As part of the design certification process, probabilistic safety assessments (PSAS) are performed at the design stage for each advanced nuclear power plant. Among other usages, these PSAs are important inputs in defining the Technical Specifications (TSs) for these plants. Knowledge gained from their use in improving the TSs for operating nuclear power plants is providing methods and insights for using PSAs at this early stage. Evaluating the safety or the risk significance of the TSs to be defined for an advanced plant encompasses diverse aspects: (a) determining the basic limiting condition for operation (LCO); (b) structuring conditions associated with the LCO; (c) defining completion times (equivalent to allowed outage times in the TS for conventional plants); and, (d) prescribing required actions to be taken within the specified completion times. In this paper, we consider the use of PSA in defining the TSs for an advanced nuclear plant, namely General Electric`s Advanced Boiling Water Reactor (ABWR). Similar approaches are being taken for ABB-CE`s System 80+ and Westinghouse`s AP-600. We discuss the general features of an advanced reactor`s TS, how PSA is being used in reviewing the TSs, and we give an example where the TS submittal was reviewed using a …

The United States Environmental Protection Agency`s (EPA) Data Quality Objectives (DQO) process was applied to two environmental monitoring networks for the purpose of optimizing field quality control sampling to give the highest quality monitoring data with minimal impact on resources. The DQO process, developed primarily to aid in cleanup and restoration activities, is a systematic approach to designing sampling, and analysis programs with improved efficiency, cost savings, and measureable and traceable data quality. The two monitoring- networks studied had not been subjected to the systematic review and analysis of the DQO process defined by the EPA. The two monitoring networks studied had relied upon field duplicates or replicates as the main source of field quality control data. Sometimes, both duplicate and routine sample were analyzed by the same analytical laboratory; at other times they were analyzed by different laboratories. This study identified some potential inconsistencies between analytical data and reporting limits from two different laboratories. Application of the EPA DQO process resulted in recommendations for changes in the field quality control sampling program, allowed new insight into the monitoring data, and raised several issues that should be the subject of further investigation.

This Ph.D. Thesis describes several separation and detection schemes for the analysis of small volume and amount of samples, such as intracellular components and single enzymes developed during research. Indirect Laser-induced fluorescence detection and capillary electrophoresis were used to quantify lactate and pyruvate in single red blood cells. The assay of specific enzyme activities was achieved by monitoring the highly fluorescent enzymatic reaction product, NADH. LDH activity was found not to be a unique marker for diagnosis of leukemia. Reactions of single LDH-1 molecules were investigated by monitoring the reaction product with LIF detection.

This document serves as a User`s Manual and Reference for the library of Tcl and Tk procedures produced by the Operations Analysis Group. Also covered are compiled interpreter extensions.

The Transuranic Storage and Assay Facility (TRUSAF) provides storage of Transuranic (TRU) and Transuranic Mixed (TRUM) waste from U.S. DOD and DOE offsite and onsite generators. In addition to storage, TRUSAF also performs assay and RTR (real time radiography) on each TRU drum with the intent of certification of the waste to WIPP-WAC (Waste Isolation Pilot Plant-Waste Acceptance Criteria) to allow eventual disposal of the TRU waste at WIPP. Due to the uncertainties associated with WIPP-WAC and the potential for all TRU WIPP-WAC certification at the generator or WRAP (Waste Receiving and Processing) facility, this study documents the requirements for TRU assay and RTR of all incoming TRU drums and establishes SWM (Solid Waste Management) policy on future assay and RTR of received TRU waste.

This paper describes the health effects of concern associated with electricity generation, information from which health effects can be estimated, and how the boundaries of analysis are determined. It also describes advances, new approaches, and trends in the risk assessment process. It discusses the application of these advances to comparative risk studies. Trends in the risk assessment process include more explicit characterization of quantitative uncertainty, the broader application and acceptance of Monte Carlo analysis and other numerical methods to the propagation of uncertainties through the analysis, greater realism in risk assessment, and the application of greatly increased computational capabilities.

In order to provide a strategy for space reactor technology development, the Defense Nuclear Agency (DNA) has authorized a brief review of potential national needs that may be addressed by space reactor systems. a systematic approach was used to explore needs at several levels that are increasingly specific. Level 0 -- general trends and issues; Level 1 -- generic space capabilities to address trends; Level 2 -- requirements to support capabilities; Level 3 -- system types capable of meeting requirements; Level 4 --generic reactor system types; and Level 5 -- specific baseline systems. Using these findings, a strategy was developed to support important space reactor technologies within a limited budget. A preliminary evaluation identified key technical issues and provide a prioritized set of candidate research projects. The evaluation of issues and the recommended research projects are presented in a companion paper.

Assessments were performed to evaluate compliance with the airborne radionuclide emission monitoring requirements in the National Emission Standards for Hazardous Air Pollutants. In these assessments, potential unabated offsite doses were evaluated for 31 emission locations at the US DOE`s Pacific Northwest National Laboratory on the Hanford Site. Four buildings met Sate and Federal critical for continuous sampling of airborne radionuclide emissions. The assessments were performed using building radionuclide inventory data obtained in 1995.

The Underground Injection Practices Research Foundation (UIPRF) administered a grant project funded by the US Department of Energy relating to Class 2 injection well operations in various primacy and direct implementation states throughout the country. This effort provided substantial benefits to state regulatory agencies and oil and gas producing companies. It enhanced the protection of the environment through the protection of ground water resources and improved oil and gas production operations within affected states. This project involved the following accomplishment: (1) Completed the design and installation of the only comprehensive, fully relational PC-Based Oil and Gas regulatory data management system (the Risk Based Data Management System) in the country. Additionally, training and data conversion was conduced and the RBDMS User`s Guide and the RBDMS Administrator`s Guide were completed. (2) State wide Area-Of-Review (AOR) workshop were held in California and Oklahoma and a national three-day workshop was held in Kansas City, Missouri where 24 state oil and gas agencies were represented.

This past year, the authors have been working on several problems associated with defects in crystals and small structures. In one series of studies, they have been investigating the structure and energetics of surfaces as a function of surface orientation. One of the goals of their present research is to model non-topological defects in crystals and very small structures using elastic models as parameterized using atomistic calculations. In order to do this, they need to make sure that the atomistic and elastic models describe the same bulk system. To this end, they have developed a set of Embedded Atom Method interatomic potentials that produce an elastically isotopic perfect fcc crystal. In another project they evaluated the accuracy of the Free Energy Minimization Method. Another goal is to understand the effect of small system size on the behavior of materials. To that end, they have been performing simulations on the structure and thermodynamics of small spherical clusters of atoms and thin films, as a function of systems size. Recently, they have extended these calculations on small systems to alloys where appropriate focus is on surface segregation. Finally, they have been working to understand the effects of strain energy on the thermodynamics …

The Advanced Test Reactor (ATR) at INEL provides intense neutron fields for irradiation-effects testing of reactor material samples, for production of radionuclides used in industrial and medical applications, and for scientific research. Characterization of the neutron environments in the irradiation locations of the ATR has been done by means of neutronics calculations and by means of neutron dosimetry based on the use of neutron activation monitors that are placed in the various irradiation locations. The primary purpose of this report is to present the results of an extensive characterization of several ATR irradiation locations based on neutron dosimetry measurements and on least-squares-adjustment analyses that utilize both neutron dosimetry measurements and neutronics calculations. This report builds upon the previous publications, especially the reference 4 paper. Section 2 provides a brief description of the ATR and it tabulates neutron spectral information for typical irradiation locations, as derived from the more historical neutron dosimetry measurements. Relevant details that pertain to the multigroup neutron spectral characterization are covered in section 3. This discussion includes a presentation on the dosimeter irradiation and analyses and a development of the least-squares adjustment methodology, along with a summary of the results of these analyses. Spectrum-averaged cross sections for …

The Bicron Surveyor MX is a portable radiation monitoring instrument used by the Office of Radiation Protection at Oak Ridge National Laboratory. This instrument must be calibrated in order to assure reliable operation. A manual calibration procedure was developed, but it was time consuming and repetitive. Therefore, an automated tester station that would allow the technicians to calibrate the instruments faster and more reliably was developed. With the automated tester station, calibration records and accountability could be generated and maintained automatically. This allows the technicians to concentrate on repairing defective units. The Automated Bicron Tester consists of an operator interface, an analog board, and a digital controller board. The panel is the user interface that allows the technician to communicate with the tester. The analog board has an analog-to-digital converter (ADC) that converts the signals from the instrument into digital data that the tester can manipulate. The digital controller board contains the circuitry to perform the test and to communicate the results to the host personal computer (PC). The tester station is connected to the unit under test through a special test harness that attaches to a header on the Bicron. The tester sends pulse trains to the Bicron and …