A Novel Treatment for Acid Mine Drainage Utilizing Reclaimed Limestone Residual (open access)

A Novel Treatment for Acid Mine Drainage Utilizing Reclaimed Limestone Residual

The viability of utilizing Reclaimed Limestone Residual (RLR) to remediate Acid Mine Drainage (AMD) was investigated. Physical and chemical characterization of RLR showed that it is composed of various minerals that contain significant quantities of limestone or calcium bearing compounds that can be exploited for acid neutralization. Acid Neutralization Potential (ANP) test results showed that RLR has a neutralization potential of approximately 83% as calcium carbonate (CaCO{sub 3}). Neutralization tests with most of the heavy metals associated with AMD showed removal efficiencies of over 99%. An unexpected benefit of utilizing RLR was the removal of hexavalent chromium Cr (VI) from the aqueous phase. Due to an elevation in pH by RLR most AMD heavy metals are removed from solution by precipitation as their metal hydroxides. Cr (VI) however is not removed by pH elevation and therefore subsequent ongoing tests to elucidate the mechanism responsible for this reaction were conducted.
Date: August 31, 2004
Creator: Moo-Young, Horace K. & Ochola, Charles E.
Object Type: Report
System: The UNT Digital Library
Hohlraum-driven ignition-like double-shell implosions on the Omega laser facility (open access)

Hohlraum-driven ignition-like double-shell implosions on the Omega laser facility

High-convergence ignition-like double-shell implosion experiments have been performed on the Omega laser facility [T.R. Boehly et al., Opt. Commun. 133, 495 (1997)] using cylindrical gold hohlraums with 40 drive beams. Repeatable, dominant primary (2.45 MeV) neutron production from the mix-susceptible compressional phase of a double-shell implosion, using fall-line design optimization and exacting fabrication standards, is experimentally inferred from time-resolved core x-ray imaging. Effective control of fuel-pusher mix during final compression is essential for achieving noncryogenic ignition with double-shell targets on the National Ignition Facility [Paisner et al., Laser Focus World 30, 75 (1994)].
Date: October 1, 2004
Creator: Amendt, P.; Robey, H. F.; Park, H. S.; Tipton, R. E.; Turner, R. E.; Milovich, J. L. et al.
Object Type: Article
System: The UNT Digital Library
Line-imaging velocimeter for shock diagnostics at the OMEGA laser facility (open access)

Line-imaging velocimeter for shock diagnostics at the OMEGA laser facility

None
Date: January 26, 2004
Creator: Celliers, P M; Bradley, D K; Collins, G W; Hicks, D G; Boehly, T R & Armstrong, W J
Object Type: Article
System: The UNT Digital Library
Performance characteristics of a cosmology package on leading HPCarchitectures (open access)

Performance characteristics of a cosmology package on leading HPCarchitectures

The Cosmic Microwave Background (CMB) is a snapshot of the Universe some 400,000 years after the Big Bang. The pattern of anisotropies in the CMB carries a wealth of information about the fundamental parameters of cosmology. Extracting this information is an extremely computationally expensive endeavor, requiring massively parallel computers and software packages capable of exploiting them. One such package is the Microwave Anisotropy Dataset Computational Analysis Package (MADCAP) which has been used to analyze data from a number of CMB experiments. In this work, we compare MADCAP performance on the vector-based Earth Simulator (ES) and Cray X1 architectures and two leading superscalar systems, the IBM Power3 and Power4. Our results highlight the complex interplay between the problem size, architectural paradigm, interconnect, and vendor-supplied numerical libraries, while isolating the I/O file system as the key bottleneck across all the platforms.
Date: January 1, 2004
Creator: Carter, Jonathan; Borrill, Julian & Oliker, Leonid
Object Type: Article
System: The UNT Digital Library
Advance Abrasion Resistant Materials for Mining (open access)

Advance Abrasion Resistant Materials for Mining

The high-density infrared (HDI) transient-liquid coating (TLC) process was successfully developed and demonstrated excellent, enhanced (5 times higher than the current material and process) wear performance for the selected functionally graded material (FGM) coatings under laboratory simulated, in-service conditions. The mating steel component exhibited a wear rate improvement of approximately one and a half (1.5) times. After 8000 cycles of. wear testing, the full-scale component testing demonstrated that the coating integrity was still excellent. Little or no spalling was observed to occur.
Date: June 1, 2004
Creator: Mackiewicz-Ludtka, G.
Object Type: Report
System: The UNT Digital Library
Meso-scale controlled motion for a microfluidic drop ejector. (open access)

Meso-scale controlled motion for a microfluidic drop ejector.

The objective of this LDRD was to develop a uniquely capable, novel droplet solution based manufacturing system built around a new MEMS drop ejector. The development all the working subsystems required was completed, leaving the integration of these subsystems into a working prototype still left to accomplish. This LDRD report will focus on the three main subsystems: (1) MEMS drop ejector--the MEMS ''sideshooter'' effectively ejected 0.25 pl drops at 10 m/s, (2) packaging--a compact ejector package based on a modified EMDIP (Electro-Microfluidic Dual In-line Package--SAND2002-1941) was fabricated, and (3) a vision/stage system allowing precise ejector package positioning in 3 dimensions above a target was developed.
Date: December 1, 2004
Creator: Galambos, Paul C.; Givler, Richard C.; Pohl, Kenneth Roy; Czaplewski, David A.; Luck, David L.; Braithwaite, Mark J. et al.
Object Type: Report
System: The UNT Digital Library
Delaware Basin Monitoring Annual Report (open access)

Delaware Basin Monitoring Annual Report

The Delaware Basin Drilling Surveillance Program (DBDSP) is designed to monitor drilling activities in the vicinity of the Waste Isolation Pilot Plant (WIPP). This program is based on Environmental Protection Agency (EPA) requirements. The EPA environmental standards for the management and disposal of transuranic (TRU) radioactive waste are codified in 40 CFR Part 191 (EPA 1993). Subparts B and C of the standard address the disposal of radioactive waste. The standard requires the Department of Energy (DOE) to demonstrate the expected performance of the disposal system using a probabilistic risk assessment or performance assessment (PA). This PA must show that the expected repository performance will not release radioactive material above limits set by the EPA's standard. This assessment must include the consideration of inadvertent drilling into the repository at some future time.
Date: September 30, 2004
Creator: Washington Regulatory and Environmental Services
Object Type: Report
System: The UNT Digital Library
Red River Wildlife Management Area HEP Report, Habitat Evaluation Procedures, Technical Report 2004. (open access)

Red River Wildlife Management Area HEP Report, Habitat Evaluation Procedures, Technical Report 2004.

A habitat evaluation procedures (HEP) analysis conducted on the 314-acre Red River Wildlife Management Area (RRWMA) managed by the Idaho Department of Fish and Game resulted in 401.38 habitat units (HUs). Habitat variables from six habitat suitability index (HSI) models, comprised of mink (Mustela vison), mallard (Anas platyrhynchos), common snipe (Capella gallinago), black-capped chickadee (Parus altricapillus), yellow warbler (Dendroica petechia), and white-tailed deer (Odocoileus virginianus), were measured by Regional HEP Team (RHT) members in August 2004. Cover types included wet meadow, riverine, riparian shrub, conifer forest, conifer forest wetland, and urban. HSI model outputs indicate that the shrub component is lacking in riparian shrub and conifer forest cover types and that snag density should be increased in conifer stands. The quality of wet meadow habitat, comprised primarily of introduced grass species and sedges, could be improved through development of ephemeral open water ponds and increasing the amount of persistent wetland herbaceous vegetation e.g. cattails (Typha spp.) and bulrushes (Scirpus spp.).
Date: November 1, 2004
Creator: Ashley, Paul
Object Type: Report
System: The UNT Digital Library
Lipid membranes on nanostructured silicon. (open access)

Lipid membranes on nanostructured silicon.

A unique composite nanoscale architecture that combines the self-organization and molecular dynamics of lipid membranes with a corrugated nanotextured silicon wafer was prepared and characterized with fluorescence microscopy and scanning probe microscopy. The goal of this project was to understand how such structures can be assembled for supported membrane research and how the interfacial interactions between the solid substrate and the soft, self-assembled material create unique physical and mechanical behavior through the confinement of phases in the membrane. The nanometer scale structure of the silicon wafer was produced through interference lithography followed by anisotropic wet etching. For the present study, a line pattern with 100 nm line widths, 200 nm depth and a pitch of 360 nm pitch was fabricated. Lipid membranes were successfully adsorbed on the structured silicon surface via membrane fusion techniques. The surface topology of the bilayer-Si structure was imaged using in situ tapping mode atomic force microscopy (AFM). The membrane was observed to drape over the silicon structure producing an undulated topology with amplitude of 40 nm that matched the 360 nm pitch of the silicon structure. Fluorescence recovery after photobleaching (FRAP) experiments found that on the microscale those same structures exhibit anisotropic lipid mobility that …
Date: December 1, 2004
Creator: Slade, Andrea Lynn; Lopez, Gabriel P. (University of New Mexico, Albuquerque, NM); Ista, Linnea K. (University of New Mexico, Albuquerque, NM); O'Brien, Michael J. (University of New Mexico, Albuquerque, NM); Sasaki, Darryl Yoshio; Bisong, Paul (University of New Mexico, Albuquerque, NM) et al.
Object Type: Report
System: The UNT Digital Library
Revolutionary systems for catalytic combustion and diesel catalytic particulate traps. (open access)

Revolutionary systems for catalytic combustion and diesel catalytic particulate traps.

This report is a summary of an LDRD project completed for the development of materials and structures conducive to advancing the state of the art for catalyst supports and diesel particulate traps. An ancillary development for bio-medical bone scaffolding was also realized. Traditionally, a low-pressure drop catalyst support, such as a ceramic honeycomb monolith, is used for catalytic reactions that require high flow rates of gases at high-temperatures. A drawback to the traditional honeycomb monoliths under these operating conditions is poor mass transfer to the catalyst surface in the straight-through channels. ''Robocasting'' is a unique process developed at Sandia National Laboratories that can be used to manufacture ceramic monoliths with alternative 3-dimensional geometries, providing tortuous pathways to increase mass transfer while maintaining low-pressure drops. These alternative 3-dimensional geometries may also provide a foundation for the development of self-regenerating supports capable of trapping and combusting soot particles from a diesel engine exhaust stream. This report describes the structures developed and characterizes the improved catalytic performance that can result. The results show that, relative to honeycomb monolith supports, considerable improvement in mass transfer efficiency is observed for robocast samples synthesized using an FCC-like geometry of alternating rods. Also, there is clearly a …
Date: December 1, 2004
Creator: Stuecker, John Nicholas; Witze, Peter O.; Ferrizz, Robert Matthew; Cesarano, Joseph, III & Miller, James Edward
Object Type: Report
System: The UNT Digital Library
LDRD final report on new homogeneous and supported oligomerization catalysts (LDRD 42461). (open access)

LDRD final report on new homogeneous and supported oligomerization catalysts (LDRD 42461).

The overall purpose of this LDRD is multifold. First, we are interested in preparing new homogeneous catalysts that can be used in the oligomerization of ethylene and in understanding commercially important systems better. Second, we are interested in attempting to support these new homogeneous catalysts in the pores of nano- or mesoporous materials in order to force new and unusual distributions of a-olefins to be formed during the oligomerization. Thus the overall purpose is to try to prepare new catalytic species and to possibly control the active site architecture in order to yield certain desired products during a catalytic reaction, much like nature does with enzymes. In order to rationally synthesize catalysts it is imperative to comprehend the function of the various components of the catalyst. In heterogeneous systems, it is of utmost importance to know how a support interacts with the active site of the catalyst. In fact, in the catalysis world this lack of fundamental understanding of the relationship between active site and support is the single largest reason catalysis is considered an 'empirical' or 'black box' science rather than a well-understood one. In this work we will be preparing novel ethylene oligomerization catalysts, which are normally P-O …
Date: November 1, 2004
Creator: Hascall, Anthony G. & Kemp, Richard Alan
Object Type: Report
System: The UNT Digital Library
A digital accelerometer array utilizing suprathreshold stochastic resonance for detection of sub-Brownian noise floor accelerations. (open access)

A digital accelerometer array utilizing suprathreshold stochastic resonance for detection of sub-Brownian noise floor accelerations.

The goal of this LDRD project was to evaluate the possibilities of utilizing Stochastic resonance in micromechanical sensor systems as a means for increasing signal to noise for physical sensors. A careful study of this field reveals that in the case of a single sensing element, stochastic resonance offers no real advantage. We have, however, identified a system that can utilize very similar concepts to stochastic resonance in order to achieve an arrayed sensor system that could be superior to existing technologies in the field of inertial sensors, and could offer a very low power technique for achieving navigation grade inertial measurement units.
Date: December 1, 2004
Creator: Carr, Dustin Wade & Olsson, Roy H.
Object Type: Report
System: The UNT Digital Library
Molecular dynamics of membrane proteins. (open access)

Molecular dynamics of membrane proteins.

Understanding the dynamics of the membrane protein rhodopsin will have broad implications for other membrane proteins and cellular signaling processes. Rhodopsin (Rho) is a light activated G-protein coupled receptor (GPCR). When activated by ligands, GPCRs bind and activate G-proteins residing within the cell and begin a signaling cascade that results in the cell's response to external stimuli. More than 50% of all current drugs are targeted toward G-proteins. Rho is the prototypical member of the class A GPCR superfamily. Understanding the activation of Rho and its interaction with its Gprotein can therefore lead to a wider understanding of the mechanisms of GPCR activation and G-protein activation. Understanding the dark to light transition of Rho is fully analogous to the general ligand binding and activation problem for GPCRs. This transition is dependent on the lipid environment. The effect of lipids on membrane protein activity in general has had little attention, but evidence is beginning to show a significant role for lipids in membrane protein activity. Using the LAMMPS program and simulation methods benchmarked under the IBIG program, we perform a variety of allatom molecular dynamics simulations of membrane proteins.
Date: October 1, 2004
Creator: Woolf, Thomas B. (Johns Hopkins University School of Medicine, Baltimore, MD); Crozier, Paul Stewart & Stevens, Mark Jackson
Object Type: Report
System: The UNT Digital Library
Effect of high-viscosity interphases on drainage between hydrophilic surfaces. (open access)

Effect of high-viscosity interphases on drainage between hydrophilic surfaces.

Drainage of water from the region between an advancing probe tip and a flat sample is reconsidered under the assumption that the tip and sample surfaces are both coated by a thin water 'interphase' (of width {approx}a few nm) whose viscosity is much higher than the bulk liquid's. A formula derived by solving the Navier-Stokes equations allows one to extract an interphase viscosity of {approx}59 KPa-sec (or {approx}6.6x10{sup 7} times the viscosity of bulk water at 25C) from Interfacial Force Microscope measurements with both tip and sample functionalized hydrophilic by OH-terminated tri(ethylene glycol) undecylthiol, self-assembled monolayers.
Date: October 1, 2004
Creator: Feibelman, Peter Julian
Object Type: Report
System: The UNT Digital Library
Dimensional errors in LIGA-produced metal structures due to thermal expansion and swelling of PMMA. (open access)

Dimensional errors in LIGA-produced metal structures due to thermal expansion and swelling of PMMA.

Numerical methods are used to examine dimensional errors in metal structures microfabricated by the LIGA process. These errors result from elastic displacements of the PMMA mold during electrodeposition and arise from thermal expansion of the PMMA when electroforming is performed at elevated temperatures and from PMMA swelling due to absorption of water from aqueous electrolytes. Both numerical solutions and simple analytical approximations describing PMMA displacements for idealized linear and axisymmetric geometries are presented and discussed. We find that such displacements result in tapered metal structures having sidewall slopes up to 14 {micro}m per millimeter of height for linear structures bounded by large areas of PMMA. Tapers for curved structures are of similar magnitude, but these structures are additionally skewed from the vertical. Potential remedies for reducing dimensional errors are also discussed. Here we find that auxiliary moat-like features patterned into the PMMA surrounding mold cavities can reduce taper by an order of magnitude or more. Such moats dramatically reduce tapers for all structures, but increase skew for curved structures when the radius of curvature is comparable to the structure height.
Date: April 1, 2004
Creator: Kistler, Bruce L.; Dryden, Andrew S.; Crowell, Jeffrey A.W. & Griffiths, Stewart K.
Object Type: Report
System: The UNT Digital Library
Closure Report for Corrective Action Unit 358: Areas 18, 19, 20 Cellars/Mud Pits, Nevada Test Site, Nevada (open access)

Closure Report for Corrective Action Unit 358: Areas 18, 19, 20 Cellars/Mud Pits, Nevada Test Site, Nevada

This closure report documents that the closure activities performed at Corrective Action Unit 358: Areas 18, 19, 20 Cellars/Mud Pits, were in accordance with the Nevada Division of Environmental Protection approved Streamlined Approach for Environmental Restoration Plan for Corrective Action Unit 358.
Date: January 1, 2004
Creator: United States. National Nuclear Security Administration. Nevada Site Office.
Object Type: Report
System: The UNT Digital Library
Performance of Personal Workspace Controls Final Report (open access)

Performance of Personal Workspace Controls Final Report

One of the key deliverables for the DOE-funded controls research at LBNL for FY04 was the development of a prototype Personal Workspace Control system. The successful development of this system is a critical milestone for the LBNL Lighting Controls Research effort because this system demonstrates how IBECS can add value to today's Task Ambient lighting systems. LBNL has argued that by providing both the occupant and the facilities manager with the ability to precisely control the operation of overhead lighting and all task lighting in a coordinated manner, that task ambient lighting can optimize energy performance and occupant comfort simultaneously [Reference Task Ambient Foundation Document]. The Personal Workspace Control system is the application of IBECS to this important lighting problem. This report discusses the development of the Personal Workspace Control to date including descriptions of the different fixture types that have been converted to IBECS operation and a detailed description of the operation of PWC Scene Controller, which provides the end user with precise control of his task ambient lighting system. The objective, from the Annual Plan, is to demonstrate improvements in efficiency, lighting quality and occupant comfort realized using Personal Workspace Controls (PWC) designed to optimize the delivery of …
Date: December 1, 2004
Creator: Rubinstein, Francis; Kiliccote, Sila; Loffeld, John; Pettler,Pete & Snook, Joel
Object Type: Report
System: The UNT Digital Library
Photonic encryption : modeling and functional analysis of all optical logic. (open access)

Photonic encryption : modeling and functional analysis of all optical logic.

With the build-out of large transport networks utilizing optical technologies, more and more capacity is being made available. Innovations in Dense Wave Division Multiplexing (DWDM) and the elimination of optical-electrical-optical conversions have brought on advances in communication speeds as we move into 10 Gigabit Ethernet and above. Of course, there is a need to encrypt data on these optical links as the data traverses public and private network backbones. Unfortunately, as the communications infrastructure becomes increasingly optical, advances in encryption (done electronically) have failed to keep up. This project examines the use of optical logic for implementing encryption in the photonic domain to achieve the requisite encryption rates. This paper documents the innovations and advances of work first detailed in 'Photonic Encryption using All Optical Logic,' [1]. A discussion of underlying concepts can be found in SAND2003-4474. In order to realize photonic encryption designs, technology developed for electrical logic circuits must be translated to the photonic regime. This paper examines S-SEED devices and how discrete logic elements can be interconnected and cascaded to form an optical circuit. Because there is no known software that can model these devices at a circuit level, the functionality of S-SEED devices in an optical …
Date: October 1, 2004
Creator: Tang, Jason D.; Schroeppel, Richard Crabtree & Robertson, Perry J.
Object Type: Report
System: The UNT Digital Library
Climate change effects on international stability : a white paper. (open access)

Climate change effects on international stability : a white paper.

This white paper represents a summary of work intended to lay the foundation for development of a climatological/agent model of climate-induced conflict. The paper combines several loosely-coupled efforts and is the final report for a four-month late-start Laboratory Directed Research and Development (LDRD) project funded by the Advanced Concepts Group (ACG). The project involved contributions by many participants having diverse areas of expertise, with the common goal of learning how to tie together the physical and human causes and consequences of climate change. We performed a review of relevant literature on conflict arising from environmental scarcity. Rather than simply reviewing the previous work, we actively collected data from the referenced sources, reproduced some of the work, and explored alternative models. We used the unfolding crisis in Darfur (western Sudan) as a case study of conflict related to or triggered by climate change, and as an exercise for developing a preliminary concept map. We also outlined a plan for implementing agents in a climate model and defined a logical progression toward the ultimate goal of running both types of models simultaneously in a two-way feedback mode, where the behavior of agents influences the climate and climate change affects the agents. Finally, …
Date: December 1, 2004
Creator: Murphy, Kathryn; Taylor, Mark A.; Fujii, Joy; Malczynski, Leonard A.; McNamara, Laura A.; Reinert, Rhonda K. et al.
Object Type: Report
System: The UNT Digital Library
qSF wavefront triplication in a transversely isotropicmaterial (open access)

qSF wavefront triplication in a transversely isotropicmaterial

Triplication of a wavefront, also classically known as birefringence, can and does occur in transversely isotropic (TI) media. With the growing interest in shear waves, and in particular, converted shear waves, it becomes necessary to study this phenomenon, and the bright spots that accompany it. In a plane that includes the medium's rotational symmetry axis, there may exist a range of angles within which the qSV wave, whose polarization lies in that plane, may propagate at three distinct velocities. The region of the qSV wave curve where this can occur always corresponds to the region of the qSV slowness curve where the closed qSV curve about the origin is concave. When the range of angles is small and the three arrivals are close together, the usual situation, the qSV wave within that small range will be significantly brighter than in other directions. When the range of angles is large, the two cusps of the wave surface, on the borders of the region of triplication will both be bright spots.
Date: June 1, 2004
Creator: Schoenberg, Michael & Daley, Thomas M.
Object Type: Article
System: The UNT Digital Library
Corrective measures evaluation work plan : Technical Area V Groundwater : revision 0. (open access)

Corrective measures evaluation work plan : Technical Area V Groundwater : revision 0.

This document, which is prepared as directed by the Compliance Order on Consent (COOC) issued by the New Mexico Environment Department, identifies and outlines a process to evaluate remedial alternatives to identify a corrective measure for the Sandia National Laboratories/New Mexico Technical Area (TA)-V Groundwater. The COOC provides guidance for implementation of a Corrective Measures Evaluation (CME) for the TA-V Groundwater. This Work Plan documents an initial screening of remedial technologies and presents a list of possible remedial alternatives for those technologies that passed the screening. This Work Plan outlines the methods for evaluating these remedial alternatives and describes possible site-specific evaluation activities necessary to estimate remedy effectiveness and cost. These methods will be reported in the CME Report. This Work Plan outlines the CME Report, including key components and a description of the corrective measures process.
Date: December 1, 2004
Creator: Lebow, Patrick S.; Dettmers, Dana L. & Hall, Kevin A.
Object Type: Report
System: The UNT Digital Library
Streamlined Approach for Environmental Restoration Plan for Corrective Action Unit 496: Buried Rocket Site, Antelope Lake, Tonopah Test Range (open access)

Streamlined Approach for Environmental Restoration Plan for Corrective Action Unit 496: Buried Rocket Site, Antelope Lake, Tonopah Test Range

This Streamlined Approach for Environmental Restoration (SAFER) plan details the activities necessary to close Corrective Action Unit 496: Buried Rocket Site, Antelope Lake. CAU 496 consists of one site located at the Tonopah Test Range, Nevada.
Date: May 1, 2004
Creator: United States. National Nuclear Security Administration. Nevada Site Office.
Object Type: Report
System: The UNT Digital Library
Determination of critical length scales for corrosion processes using microelectroanalytical techniques. (open access)

Determination of critical length scales for corrosion processes using microelectroanalytical techniques.

A key factor in our ability to produce and predict the stability of metal-based macro- to nano-scale structures and devices is a fundamental understanding of the localized nature of corrosion. Corrosion processes where physical dimensions become critical in the degradation process include localized corrosion initiation in passivated metals, microgalvanic interactions in metal alloys, and localized corrosion in structurally complex materials like nanocrystalline metal films under atmospheric and inundated conditions. This project focuses on two areas of corrosion science where a fundamental understanding of processes occurring at critical dimensions is not currently available. Sandia will study the critical length scales necessary for passive film breakdown in the inundated aluminum (Al) system and the chemical processes and transport in ultra-thin water films relevant to the atmospheric corrosion of nanocrystalline tungsten (W) films. Techniques are required that provide spatial information without significantly perturbing or masking the underlying relationships. Al passive film breakdown is governed by the relationship between area of the film sampled and its defect structure. We will combine low current measurements with microelectrodes to study the size scale required to observe a single initiation event and record electrochemical breakdown events. The resulting quantitative measure of stability will be correlated with metal …
Date: March 1, 2004
Creator: Zavadil, Kevin Robert & Wall, Frederick Douglas
Object Type: Report
System: The UNT Digital Library
Distributed Planning and Control for Teams of Cooperating Mobile Robots (open access)

Distributed Planning and Control for Teams of Cooperating Mobile Robots

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of the control approaches for distributed planning and cooperation in multi-robot teams.
Date: June 15, 2004
Creator: Parker, L. E.
Object Type: Report
System: The UNT Digital Library