Oak Ridge National Laboratory (ORNL) is developing a core DNA sequencing facility to support biological research endeavors at ORNL and to conduct basic sequencing automation research. This facility is novel because its development is based on existing standard biology laboratory equipment; thus, the development process is of interest to the many small laboratories trying to use automation to control costs and increase throughput. Before automation, biology Laboratory personnel purified DNA, completed cycle sequencing, and prepared 96-well sample plates with commercially available hardware designed specifically for each step in the process. Following purification and thermal cycling, an automated sequencing machine was used for the sequencing. A technician handled all movement of the 96-well sample plates between machines. To automate the process, ORNL is adding a CRS Robotics A- 465 arm, ABI 377 sequencing machine, automated centrifuge, automated refrigerator, and possibly an automated SpeedVac. The entire system will be integrated with one central controller that will direct each machine and the robot. The goal of this system is to completely automate the sequencing procedure from bacterial cell samples through ready-to-be-sequenced DNA and ultimately to completed sequence. The system will be flexible and will accommodate different chemistries than existing automated sequencing lines. The …

The major problem with cavitation in pumps and hydraulic systems is that there is no effective (conventional) method for detecting or predicting its inception. The traditional method of recognizing cavitation in a pump is to declare the event occurring when the total head drops by some arbitrary value (typically 3%) in response to a pressure reduction at the pump inlet. However, the device is already seriously cavitating when this happens. What is actually needed is a practical method to detect impending rather than incipient cavitation. Whereas the detection of incipient cavitation requires the detection of features just after cavitation starts, the anticipation of cavitation requires the detection and identification of precursor features just before it begins. Two recent advances that make this detection possible. The first is acoustic sensors with a bandwidth of 1 MHz and a dynamic range of 80 dB that preserve the fine details of the features when subjected to coarse vibrations. The second is the application of Bayesian parameter estimation which makes it possible to separate weak signals, such as those present in cavitation precursors, from strong signals, such as pump vibration. Bayesian parameter estimation derives a model based on cavitation hydrodynamics and produces a figure …

Composites that consist of a dielectric host containing a particulate conductor as a second phase are of interest for electrical switching applications. Such composites are "smart" materials that can function as either voltage or current limiters, and the difference in fimction depends largely upon whether the dielectric is filled to below or above the percolation threshold. It also is possible to combine current and voltage limiting in a single composite to make a "super-smart" material.

Magnesium-aluminate spinel (MAS) and yttria-stabilized zirconia (YSZ) are being considered for use as ceramic matrices in proliferation resistant fuels and radioactive storage systems, and may be used either as individual entities or as constituents in multicomponent ceramic systems. It is worthwhile, therefore, to compare radiation damage in these two potentially important materials when subjected to similar irradiation conditions, e.g., ion beam irradiation. To compare radiation damage properties of these two materials, single crystals of spinel and zirconia were irradiated with 340 keV Xe{sup ++} ions at 120 K, and subsequently investigated by Rutherford backscattering and ion channeling (RBS/C), and optical absorption spectroscopy. Results indicate that damage accumulation in both spinel and zirconia follow a three stage process: (1) very slow damage accumulation over a wide range of dose; (2) rapid changes in damage over a range of doses from about 0.25 to 25 displacements per atom (DPA); (3) slower damage accumulation at very high doses and possibly saturation. Optical absorption results indicate that F-centers form in Xe ion-irradiated spinel and that the concentration of these centers saturates at high dose. Absorption bands are also formed in both spinel and zirconia that are due to point defect complexes formed upon irradiation. …

The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and …

Discharge - charge cycling of thin-film rechargeable lithium batteries with an amorphous or nanocrystalline LiXMn2.Y04 cathode reveals evidence for a true hysteresis in the lithium insertion reaction. This is compared with an apparent hysteresis attributed to a kinetically hindered phase transition near 3 V for batteries with either a crystalline or a nanocrystalline LiJ@Yo4 cathode.

The intermetallic-based alloys for high-temperature applications are introduced. General characteristics of intermetallics are followed by identification of nickel and iron aluminides as the most practical alloys for commercial applications. An overview of the alloy compositions, melting processes, and mechanical properties for nickel and iron aluminizes are presented. The current applications and commercial producers of nickel and iron aluminizes are given. A brief description of the future prospects of intermetallic-based alloys is also given.

Lifetime studies in four-point flexure were performed on a Hi-Nicalon^TM fiber-reinforced SiC matrix composite over a temperature range of 700 degrees to 1150 degrees C in air. The composite consisted of ~40 vol. % Hi-Nicalon^TM fiber (8-harness weave) with a 0.5 Mu-m BN fiber coating and a melt-infiltration SiC matrix wand was tested with as-machined surfaces. Lifetime results indicated that the composite exhibited a stress-dependent lifetime at stress levels above an apparent fatigue limit, similar to the trend observed in CG-Nicalon^TM fiber reinforced CVI SiC matrix composites. At less than or equal to 950 degrees C, the lifetimes of Hi-Nicalon/MI SiC composites decreased with increasing applied stress level and test temperature. However, the lifetimes were extended as test temperature increased from 950 degees to 1150 degrees C as a result of surface crack sealing due to glass formation by the oxidation of Mi SiC matrix. The lifetime governing processes were, in general, attributed to the progressive oxidation of BN fiber coating and formation of glassy phase, which formed a strong bond between fiber and matrix, resulting in embrittlement of the composite with time.

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a …

The Next Generation Munitions Handler/Advanced Technology Demonstrator (NGMI-VATTD) is a technology demonstrator for the application of an advanced robotic device for re-arming U.S. Air Force (USAF) and U.S. Navy (USN) tactical fighters. It comprises two key hardware components: a heavy-lift dexterous manipulator (HDM) and a nonholonomic mobility platform. The NGMWATTD is capable of lifting weapons up to 4400 kg (2000 lb) and placing them on any weapons rack on existing fighters (including the F-22 Raptor). This report describes the NGMH mission with particular reference to human-machine interfaces. It also describes preliminary testing to garner feedback about the heavy-lift manipulator arm from experienced fighter load crewmen. The purpose of the testing was to provide preliminary information about control system parameters and to gather feed- back from users about manipulator arm functionality. To that end, the Air Force load crewmen interacted with the NGMWATTD in an informal testing session and provided feedback about the performance of the system. Certain con- trol system parameters were changed during the course of the testing and feedback from the participants was used to make a rough estimate of "good" initial operating parameters. Later, formal testing will concentrate within this range to identify optimal operating parameters. User …

The floor of a black liquor recovey boiler at a mill in central Canada has experienced cracking and delamination of the composite tubing near the spout wall and deformation of the floor panels that is most severe in the vicinity of the spout wall. One possible explanation for the observed damage is impacts of salt cake falling from the convective section onto the floor. In order to determine if such impacts do occur, strain gauges and thermocouples were installed on the boiler floor in areas where cracking and deformation were most frequent. The data obtained from these instruments indicate that brief, sudden temperature fluctuations do occur, and changes in the strain experienced by the affected tube occur simultaneously. These fluctuations appear to occur less often along the spout wall and more frequently with increasing distance from the wall. The frequency of these temperature fluctuations is insufficient for thermal fatigue to be the sole cause of the cracking observed on the tubes, but the data are consistent with what might be expected from pieces of falling salt cake.

A metrology system is being developed for in-vessel inspection of present day experimental, and next generation fusion reactors. It requires accurate measuring capability to verify sub-millimeter alignment of plasma-facing components in the reactor vessel. A metrology system capable of achieving such accuracy for next generation reactors must be compatible with the vessel environment of high gamma radiation, high vacuum, elevated temperature, and magnetic field. This environment requires that the system must be remotely deployed. A coherent, frequency modulated laser radar system that is capable of correcting for environmental vibration meets these requirements. The metrologyhiewing system consists of a compact laser transceiver optics module which is linked through fiber optics to the laser source and imaging units, that are located outside of the harsh environment. The deployment mechanism configured for a next generation reactor was telescopic-mast positioning system. This paper identifies the requirements for the metrology/viewing system having precision ranging and surface mapping capability, and discusses the results of various environmental tests.

The Robotics Technology Development Program now known as the Robotics Crosscut Program, funded the development and deployment of a small remotely operated vehicle for inspection and cleanout of small horizontal waste storage tanks that have limited access. Besides the advantage of access through tank risers as small as 18-in. diameter, the small robotic system is also significantly less expensive to procure and to operate than larger remotely operated vehicle (ROV) systems. The vehicle specified to support this activity was the ROV Technologies, Inc., Scarab. The Scarab is a tracked vehicle with an independently actuated front and rear ''toe'' degree-of-freedom which allows the stand-off and angle of the vehicle platform with respect to the floor to be changed. The Scarab is a flexible remote tool that can be used for a variety of tasks with its primary uses targeted for inspection and small scale waste retrieval. The vehicle and any necessary process equipment are mounted in a deployment and containment enclosure to simplify deployment and movement of the system from tank to tank. This paper outlines the technical issues related to the Scarab vehicle and its deployment for use in tank inspection and waste retrieval operation

Sintering studies of CeO{sub 2} and CeO{sub 2} + 2 wt. % Ga{sub 2}O{sub 3} were completed. Firing temperatures studied were 1250-1650 C with 2 to 4 hour firing soak times in air. Powders fabricated by three methods (as-received, attrition-mill and nitrite-derived) were studied. Attrition-milled CeO{sub 2} improved densities as compared with as-received CeO{sub 2}. Attrition-milled CeO{sub 2} with 2 wt.% Ga{sub 2}O{sub 3} showed decreased densities with increasing temperatures. As-received CeO{sub 2} with 2 wt.% Ga{sub 2}O{sub 3} showed a opposite trend, increasing in density with increased firing temperature. Two pellet preparation methods were studied, a one-step-press method and a two-step-press method. The two-step-press method showed greater densities at lower firing temperatures and times as compared with the one-step-press method, however for CeO{sub 2} + 2 wt.% Ga{sub 2}O{sub 3}, the two methods gave equivalent results at 1650 C, 6 hr. firing conditions.

The largest problem facing the Department of Energy's Office of Environmental Management (EM) is the cleanup of the Cold War legacy nuclear production plants that were built and operated from the mid-forties through the late eighties. EM is now responsible for the remediation of no less than 353 projects at 53 sites across the country at, an estimated cost of $147 billion over the next 72 years. One of the keys to accomplishing a thorough cleanup of any site is a rigorous but quick contaminant characterization capability. If the contaminants present in a facility can be mapped accurately, the cleanup can proceed with surgical precision, using appropriate techniques for each contaminant type and location. The three dimensional, integrated characterization and archival system (3D-ICAS) was developed for the purpose of rapid, field level identification, mapping, and archiving of contaminant data. The system consists of three subsystems, an integrated work and operating station, a 3-D coherent laser radar, and a contaminant analysis unit. Target contaminants that can be identified include chemical (currently organic only), radiological, and base materials (asbestos). In operation, two steps are required. First, the remotely operable 3-D laser radar maps an area of interest in the spatial domain. Second, …

During this first quarter of the second year of the contract activity has involved several different tasks. The author has continued to work on three tasks most intensively during this quarter: the task of implementing the data base for geothermal system temperature-depth, the maintenance of the WWW site with the heat flow and gradient data base, and finally the development of a modeling capability for analysis of the geothermal system exploration data. The author has completed the task of developing a data base template for geothermal system temperature-depth data that can be used in conjunction with the regional data base that he had already developed and is now implementing it. Progress is described.

The primary objective of this research is to conduct advanced reservoir characterization and modeling studies in the Antelope Shale reservoir. Characterization studies will be used to determine the technical feasibility of implementing a CO2 enhanced oil recovery project in the Antelope Shale in Buena Vista Hills Field. The Buena Vista Hills pilot CO2 project will demonstrate the economic viability and widespread applicability of CO2 flooding in fractured siliceous shale reservoirs of the San Joaquin Valley. The research consists of four primary work processes: Reservoir Matrix and Fluid Characterization; Fracture Characterization; Reservoir Modeling and Simulation; and CO2 Pilot Flood and Evaluation. Work done in these areas is subdivided into two phases or budget periods. The first phase of the project will focus on the application of a variety of advanced reservoir characterization techniques to determine the production characteristics of the Antelope Shale reservoir. Reservoir models based on the results of the characterization work will be used to evaluate how the reservoir will respond to secondary recovery and EOR processes. The second phase of the project will include the implementation and evaluation of an advanced enhanced oil recovery (EOR) pilot in the West Dome of the Buena Vista Hills Field.

UNiGe crystallizing in the orthorhombic TiNiSi-type of structure orders magnetically below T{sub N}= 50 K with an additional magnetic phase transition at 42 K. Both structures (below 42 K commensurate antiferromagnetic, between 42 K and T{sub N} incommensurate) are non- collinear with significant a-axis component ({mu}{sub x} = 0.35 {mu}{sub B}U at 20 K). The magnetic properties are highly anisotropic both in the ordered and the paramagnetic state. There are two metamagnetic transitions both with the field applied along the b- and the c-axis. While the magnetic structure above the second metamagnetic transition is forced ferromagnetic for both field orientations, for the field applied along the a-axis the magnetization curve at 4.2 K is linear up to 38 T and no change in magnetic structure is observed.

Acceptance Test Report for the Interfarm cathodic protection -- Addition of rectifier 46, Project W-320.

The Beamlet laser is a single-aperture prototype for the National Ignition Facility (NIF). We have recently installed and activated a 55 m{sup 3} vacuum vessel and associated diagnostic package at the output of the Beamlet that we are using to characterize target plane irradiance at high power. Measurements obtained both with and without a kinoform diffractive optic are reported. Dependences on critical laser parameters including output power, spatial filtering, and wavefront correction are discussed and compared with simulations.

The goal of this project is engineering development of two advanced physical fine coal cleaning processes, column flotation and selective agglomeration, for premium fuel applications. Its scope includes laboratory research and bench-scale testing on six coals to optimize these processes, followed by design and construction of a 2 t/h process development unit (PDU). Large lots of clean coal are to be produced in the PDU from three project coals. Investigation of the near-term applicability of the two advanced fine coal cleaning processes in an existing coal preparation plant is another goal of the project and is the subject of this report.

The following technical report provides a detailed status report of the DOE grant project entitled `Environmental Guidance Documents for Exploration, Development, Production, and Transportation of Crude Oil and Natural Gas in Texas.` The grant funding allocated is for the purpose of provided the Railroad Commission of Texas (Commission) with resources and capabilities to draft, publish and distribute documents that provide guidance to oil and gas operators on issues concerning oil and gas naturally occurring radioactive material (NORM) waste, oil and gas hazardous waste, remediation of crude oil spills, management of non-hazardous oil and gas wastes, and mechanical integrity testing of Class II injection and disposal wells.

We tested the operation of 1024 channel diode arrays (Model AXUV-1024, from IRD, Inc.) in subdued room light to establish that they worked and to determine the direction and speed of the scan of the 1024 channels. Further tests were performed in vacuum in the HAP, High-Average-Power Facility. There we found that the bare or glass covered diodes detected primarily visible light as expected, but diodes filtered by aluminized parylene, produced a signal consistent with soft x-rays. It is probable that the spectral response and sensitivity, as discussed below, reproduce that previously demonstrated by 1 to 16 channel VUV-photodiodes; however, significantly more effort would be required to establish that experimentally. These detectors appear to be worth further evaluation where 25 w spatial resolution bolometers or spectrograph detectors of known sensitivity are required, and single-shot or 0.02-0.2s time response is adequate. (Presumably, faster readout would be available with custom drive circuitry.)

The ITP Process decontaminates radioactive waste in Tank 48H by precipitating cesium with TPB and adsorbing strontium on MST.