Sample records for autonomous underwater inspection

  1. Pipeline inspection using an autonomous underwater vehicle

    SciTech Connect (OSTI)

    Egeskov, P.; Bech, M. [Maridan Aps., Hoersholm (Denmark); Bowley, R. [TSS Ltd., Weston-on-the-Green (United Kingdom); Aage, C. [Technical Univ. of Denmark, Lyngby (Denmark). Dept. of Ocean Engineering

    1995-12-31T23:59:59.000Z

    Pipeline inspection can be carried out by means of small Autonomous Underwater Vehicles (AUVs), operating either with a control link to a surface vessel, or totally independently. The AUV offers an attractive alternative to conventional inspection methods where Remotely Operated Vehicles (ROVs) or paravanes are used. A flatfish type AUV ``MARTIN`` (Marine Tool for Inspection) has been developed for this purpose. The paper describes the proposed types of inspection jobs to be carried out by ``MARTIN``. The design and construction of the vessel, its hydrodynamic properties, its propulsion and control systems are discussed. The pipeline tracking and survey systems, as well as the launch and recovery systems are described.

  2. Intelligent Planning for Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Yao, Xin

    such as the Mid-Atlantic Ridge 4 / 10 #12;Autonomous Underwater Vehicles Unmanned, untethered submersibles AutosubIntelligent Planning for Autonomous Underwater Vehicles Zeyn Saigol January 31, 2007 Supervisors Underwater Vehicles Classical planning systems Problem specification Markov Decision Processes 2 / 10 #12

  3. Path planning methods for Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Yi?it, Konuralp

    2011-01-01T23:59:59.000Z

    From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the ...

  4. Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection

    E-Print Network [OSTI]

    Kaess, Michael

    commercialized at scale. On the other hand, unmanned underwater vehicles have become extraordinarily capable. Leonard Abstract Inspection of ship hulls and marine structures using autonomous underwater vehicles has-capacity com- munications, autonomous underwater vehicles (AUVs) move freely and therefore usually require on

  5. Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles

    E-Print Network [OSTI]

    Petillo, Stephanie Marie

    2015-01-01T23:59:59.000Z

    The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment ...

  6. Planning for Autonomous Underwater Vehicles Zeyn Saigol

    E-Print Network [OSTI]

    Yao, Xin

    , 2007 4 / 25 #12;Autonomous Underwater Vehicles Unmanned, untethered submersibles Autosub, developedPlanning for Autonomous Underwater Vehicles Zeyn Saigol Intelligent Robotics Lab meeting July 31 in Southampton Cheaper than manned vehicles Can get to places tethered vehicles can't No need for human

  7. Design considerations for engineering Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Shah, Vikrant P. (Vikrant Pankaj)

    2007-01-01T23:59:59.000Z

    Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and ...

  8. XAUV : modular high maneuverability autonomous underwater vehicle

    E-Print Network [OSTI]

    Walker, Daniel G. (Daniel George)

    2009-01-01T23:59:59.000Z

    The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power ...

  9. autonomous underwater modeling: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    of rather expensive sensors such as Doppler Paris-Sud XI, Universit de 33 Design of an Autonomous Underwater Vehicle (AUV) charging system for underway, underwater...

  10. Automated Coordinator Synthesis for Mission Control of Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Kumar, Ratnesh

    Automated Coordinator Synthesis for Mission Control of Autonomous Underwater Vehicles S vehicles. The approach is aided by tools that allow graphical design, iterative redesign, and code autonomous underwater vehicle (AUV) programs to meet evolving requirements and capabilities. The hierarchical

  11. A Control System for OFDM Networked Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Zhou, Shengli

    . INTRODUCTION Autonomous Underwater Vehicles (AUVs) belong to a group of unmanned robots that are usedA Control System for OFDM Networked Autonomous Underwater Vehicles Michael Zuba, Carlos Villa, haining.mo, zhengpeng, jiaxing.che, jcui}@engr.uconn.edu Abstract--Autonomous Underwater Vehicle (AUV

  12. Autonomous Data Collection from Underwater Sensor Networks using Acoustic Communication

    E-Print Network [OSTI]

    Sukhatme, Gaurav S.

    for an autonomous underwater vehicle (AUV) to collect data from an underwater sensor network. The sensors. A potential solution is the use of a mobile autonomous under- water vehicle (AUV) equipped with an acousticAutonomous Data Collection from Underwater Sensor Networks using Acoustic Communication Geoffrey A

  13. Reducing Actuator Switchings for Motion Control of Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Smith, Ryan N.

    Reducing Actuator Switchings for Motion Control of Autonomous Underwater Vehicles Monique Chyba and energy minimization for AUVs). A major difficulty is to provide a formal estimation that compares

  14. Active Classification: Theory and Application to Underwater Inspection

    E-Print Network [OSTI]

    Hollinger, Geoffrey A; Sukhatme, Gaurav S

    2011-01-01T23:59:59.000Z

    We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods...

  15. Autonomous adaptive environmental assessment and feature tracking via autonomous underwater vehicles

    E-Print Network [OSTI]

    Petillo, Stephanie Marie

    In the underwater environment, spatiotemporally dynamic environmental conditions pose challenges to the detection and tracking of hydrographic features. A useful tool in combating these challenge is Autonomous Adaptive ...

  16. Large-area visually augmented navigation for autonomous underwater vehicles

    E-Print Network [OSTI]

    Eustice, Ryan M

    2005-01-01T23:59:59.000Z

    This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...

  17. A parallel hypothesis method of autonomous underwater vehicle navigation

    E-Print Network [OSTI]

    LaPointe, Cara Elizabeth Grupe

    2009-01-01T23:59:59.000Z

    This research presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating ...

  18. Reducing Actuator Switchings for Motion Control of Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Smith, Ryan N.

    Reducing Actuator Switchings for Motion Control of Autonomous Underwater Vehicles Monique Chyba, such as time, energy, payload or some combination of these. Indeed, the major issue is that due to the vehicles

  19. Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments

    E-Print Network [OSTI]

    Kunz, Clayton Gregory

    2012-01-01T23:59:59.000Z

    This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of ...

  20. Toward autonomous underwater mapping in partially structured 3D environments

    E-Print Network [OSTI]

    VanMiddlesworth, Mark (Mark Allen)

    2014-01-01T23:59:59.000Z

    Motivated by inspection of complex underwater environments, we have developed a system for multi-sensor SLAM utilizing both structured and unstructured environmental features. We present a system for deriving planar ...

  1. Imaging sonar-aided navigation for autonomous underwater harbor surveillance

    E-Print Network [OSTI]

    Johannsson, Hordur

    In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important ...

  2. Design of an Autonomous Underwater Vehicle (AUV) charging system for underway, underwater recharging

    E-Print Network [OSTI]

    Ewachiw, Mark Alexander, Jr

    2014-01-01T23:59:59.000Z

    Modern robotics have enabled the rapid proliferation of Autonomous Underwater Vehicles (AUVs) throughout the marine environment. As autonomy algorithms increase in robustness, complexity, and reliability, so too does the ...

  3. Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder

    E-Print Network [OSTI]

    LaPointe, Cara Elizabeth Grupe

    2006-01-01T23:59:59.000Z

    (cont.) Therefore, accurate underwater navigation using a single location transponder would provide dramatic time and cost savings for underwater vehicle operations. This thesis presents a simulation of autonomous underwater ...

  4. Cooperative localization for autonomous underwater vehicles

    E-Print Network [OSTI]

    Bahr, Alexander

    2009-01-01T23:59:59.000Z

    Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position ...

  5. DESIGNING AND IMPLEMENTING COLLABORATIVE BEHAVIORS FOR AUTONOMOUS UNDERWATER VEHICLES

    E-Print Network [OSTI]

    Idaho, University of

    DESIGNING AND IMPLEMENTING COLLABORATIVE BEHAVIORS FOR AUTONOMOUS UNDERWATER VEHICLES Thomas Bean tracts of open water. The Navy is seeking AUV technologies to expand search areas and reduce search times (WHOI) modem, and they have been designed to function effectively in open water. Various behaviors

  6. Implementation of a wireless underwater video link

    E-Print Network [OSTI]

    Morash, James Paul

    2008-01-01T23:59:59.000Z

    Autonomous underwater vehicles (AUVs) are increasingly being considered for remotely supervised missions, primarily for routine subsea inspection tasks currently performed by tethered remotely operated vehicles (ROVs). ...

  7. Open loop performance of a biomimetic flapping foil autonomous underwater vehicle

    E-Print Network [OSTI]

    Wolf, Malima Isabelle, 1981-

    2006-01-01T23:59:59.000Z

    Flapping foil propulsion is emerging as an alternative to conventional propulsion for underwater vehicles. MIT's Biomimetic Flapping Foil Autonomous Underwater Vehicle is a prototype vehicle that uses four three-dimensional ...

  8. TECHNOLOGY NEEDS FOR AUTONOMOUS UNDERWATER VEHICLES

    E-Print Network [OSTI]

    Griffiths, Gwyn

    , `composite materials' or `fuel cells'. The time horizon for the adoption of candidate solutions probably. In essence, these may be classed as remotely controlled autonomous vehicles. Examples include: · Marlin

  9. Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle

    E-Print Network [OSTI]

    Prestero, Timothy (Timothy Jason), 1970-

    2001-01-01T23:59:59.000Z

    mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the ...

  10. Integrated perception, modeling, and control paradigm for bistatic sonar tracking by autonomous underwater vehicles

    E-Print Network [OSTI]

    Lum, Raymond Hon Kit

    2012-01-01T23:59:59.000Z

    In this thesis, a fully autonomous and persistent bistatic anti-submarine warfare (ASW) surveillance solution is developed using the autonomous underwater vehicles (AUVs). The passive receivers are carried by these AUVs, ...

  11. Suave: Swarm Underwater Autonomous Vehicle Localization Jun Liu, Zhaohui Wang, Zheng Peng, Jun-Hong Cui and Lance Fiondella

    E-Print Network [OSTI]

    Zhou, Shengli

    Suave: Swarm Underwater Autonomous Vehicle Localization Jun Liu, Zhaohui Wang, Zheng Peng, Jun. This paper de- velops the "Suave" (Swarm underwater autonomous vehicle localization) algorithm to localize significantly improves localization accuracy, lowers energy consumption, and the probability of swarm detection

  12. Efficient control of an autonomous underwater vehicle while accounting for thruster failure

    E-Print Network [OSTI]

    Smith, Ryan N.

    Efficient control of an autonomous underwater vehicle while accounting for thruster failure Thomas to both time and energy consumption. The main characteristic of our algorithm is that it produces the autonomous underwater vehicle is submerged. Such failures may or may not affect the controllability

  13. Optical Delineation of Benthic Habitat Using an Autonomous Underwater Vehicle

    SciTech Connect (OSTI)

    Moline, Mark A.; Woodruff, Dana L.; Evans, Nathan R.

    2007-06-01T23:59:59.000Z

    To improve understanding and characterization of coastal regions, there has been an increasing emphasis on autonomous systems that can sample the ocean on relevant scales. Autonomous underwater vehicles (AUVs) with active propulsion are especially well suited for studies of the coastal ocean because they are able to provide systematic and near-synoptic spatial observations. With this capability, science users are beginning to integrate sensor suits for a broad range of specific and often novel applications. Here, the relatively mature Remote Environmental Monitoring Units (REMUS) AUV system is configured with multi-spectral radiometers to delineate benthic habitat in Sequim Bay, WA. The vehicle was deployed in a grid pattern along 5 km of coastline in depths from 30 to less than 2 meters. Similar to satellite and/or aerial remote sensing, the bandwidth ratios from the downward looking radiance sensor and upward looking irradiance sensor were used to identify beds of eelgrass on sub-meter scales. Strong correlations were found between the optical reflectance signals and the geo-referenced in situ data collected with underwater video within the grid. Results demonstrate the ability of AUVs to map littoral habitats at high resolution and highlight the overall utility of the REMUS vehicle for nearshore oceanography.

  14. Implementable Efficient Time and Energy Consumption Trajectories Design For an Autonomous Underwater Vehicle

    E-Print Network [OSTI]

    Smith, Ryan N.

    Implementable Efficient Time and Energy Consumption Trajectories Design For an Autonomous efficient trajectories onto a test-bed autonomous underwater vehicle. The trajectories are losely connected, their autonomy has become a large research interest. Much research has gone into making autonomous vehicles

  15. OCEAN SCIENCE APPLICATIONS FOR AUTONOMOUS UNDERWATER VEHICLES -THE WORKPLAN FOR AUTOSUB-1 for 1997-2000 AND BEYOND.

    E-Print Network [OSTI]

    Griffiths, Gwyn

    , Southampton, SO14 3ZH UK Presented at the Unmanned Underwater Vehicle Showcase, September 1997 SouthamptonOCEAN SCIENCE APPLICATIONS FOR AUTONOMOUS UNDERWATER VEHICLES - THE WORKPLAN FOR AUTOSUB-1 for 1997.griffiths@soc.soton.ac.uk www: http://www.soc.soton.ac.uk/OTD #12;OCEAN SCIENCE APPLICATIONS FOR AUTONOMOUS UNDERWATER VEHICLES

  16. AUV technology heads for new depths[Autonomous Underwater Vehicle

    SciTech Connect (OSTI)

    Hayes, D.

    2000-04-01T23:59:59.000Z

    High-tech unmanned submarine technologies initially developed by the US Navy are being adapted for a new role to assist the oil and gas industry's shift into deeper waters. To address the problem of costly data acquisition and inaccurate survey data, C and C Technologies of Lafayette, La., has hired Kongsberg Simrad to construct the Hugin 3000 deepwater autonomous underwater vehicle (AUV). As the technology is applied to energy exploration and production advances to meet the deepwater challenges beyond the continental shelf, AUVs will be increasingly employed, it is believed. The paper describes the Hugin project, unexpected situations, the vehicle position tracking system, vehicle operation and real-time data quality control, real-time data monitoring and control, Hugin field experience, and pipe route surveying.

  17. A constant-mass fuel delivery system for use in underwater autonomous vehicles

    E-Print Network [OSTI]

    Saxton-Fox, Theresa Ann

    2012-01-01T23:59:59.000Z

    This thesis describes the design and assembly of two constant-mass fuel tanks to be used in autonomous underwater vehicles (AUVs). The fuel tanks are part of a power supply designed to increase AUV endurance without limiting ...

  18. Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering

    E-Print Network [OSTI]

    Cooney, Lauren Alise

    2009-01-01T23:59:59.000Z

    The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of ...

  19. The creation of fiberglass tanks and parts for autonomous underwater vehicle constant buoyancy power supply

    E-Print Network [OSTI]

    Sack, Jean H. (Jean Hope)

    2013-01-01T23:59:59.000Z

    The purpose of this thesis was to construct and seal air and containment tanks and other parts for a constant buoyancy power supply for an Autonomous Underwater Vehicle, or AUV. While multiple materials and techniques were ...

  20. Design and analysis of an Extended Kalman Filter based navigator for an autonomous underwater vehicle 

    E-Print Network [OSTI]

    Just, Bradley Eugene

    1994-01-01T23:59:59.000Z

    DESIGN AND ANALYSIS OF AN EXTENDED KALMAN FILTER BASED NAVIGATOR FOR AN AUTONOMOUS UNDERWATER VEHICLE A Thesis by BRADLEY EUGENE JUST Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment... of the requirements for the degree of MASTER OF SCIENCE May 1994 Major Subject: Mechanical Engineering DESIGN AND ANALYSIS OF AN EXTENDED KALMAN FILTER BASED NAVIGATOR FOR AN AUTONOMOUS UNDERWATER VEHICLE A Thesis by BRADLEY EUGENE JUST Submitted to Texas A...

  1. Design and analysis of an Extended Kalman Filter based navigator for an autonomous underwater vehicle

    E-Print Network [OSTI]

    Just, Bradley Eugene

    1994-01-01T23:59:59.000Z

    DESIGN AND ANALYSIS OF AN EXTENDED KALMAN FILTER BASED NAVIGATOR FOR AN AUTONOMOUS UNDERWATER VEHICLE A Thesis by BRADLEY EUGENE JUST Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment... of the requirements for the degree of MASTER OF SCIENCE May 1994 Major Subject: Mechanical Engineering DESIGN AND ANALYSIS OF AN EXTENDED KALMAN FILTER BASED NAVIGATOR FOR AN AUTONOMOUS UNDERWATER VEHICLE A Thesis by BRADLEY EUGENE JUST Submitted to Texas A...

  2. Heading Lock Maneuver Testing of Autonomous Underwater Vehicle

    E-Print Network [OSTI]

    Muljowidodo, K

    2008-01-01T23:59:59.000Z

    In recent years, Autonomous Underwater Vehicle (UAV) research and development at Bandung Institute of Technology in Indonesia has achieved the testing stage in the field. This testing was still being classified as the early testing, since some of the preliminary tests were carried out in the scale of the laboratory. The paper would discuss the laboratory test and several tests that were done in the field. Discussions were stressed in the procedure and the aim that will be achieved, along with several early results. The testing was carried out in the lake with the area around 8300 Ha and the maximum depth of 50 meters. The location of the testing was chosen with consideration of minimizing the effect of the current and the wave, as well as the location that was not too far from the Laboratory. The type of testing that will be discussed in paper was Heading Lock Maneuver Testing. The vehicle was tested to move with a certain cruising speed, afterwards it was commanded by an arbitrarily selected heading directio...

  3. Large scale structure from motion for autonomous underwater vehicle surveys

    E-Print Network [OSTI]

    Pizarro, Oscar

    2004-01-01T23:59:59.000Z

    Our ability to image extended underwater scenes is severely limited by attenuation and backscatter. Generating a composite view from multiple overlapping images is usually the most practical and flexible way around this ...

  4. Collaborative Mapping with Autonomous Underwater Vehicles in Low-Bandwidth Conditions

    E-Print Network [OSTI]

    Idaho, University of

    representation of the search area among a small fleet of autonomous underwater vehicles. Using available acoustic of the search area, low-resolution mine-like object (MLO) locations, and potentially dangerous areas estimates for MLO contacts. Maintenance of such a map of the search area enables certain advanced behaviors

  5. Using a High Order Sliding Modes for diving control a torpedo Autonomous Underwater Vehicle

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    have been adopted for AUV's depth and steering control: Optimal control [4], Neural Network [7 are designed using a linear model of the robot. Recently, a new control method called High Order Sliding ModesUsing a High Order Sliding Modes for diving control a torpedo Autonomous Underwater Vehicle T

  6. Abstract-Homing and navigation capabilities are essential for many Autonomous Underwater Vehicle

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Abstract- Homing and navigation capabilities are essential for many Autonomous Underwater Vehicle's position in the vehicle frame. In order to triangulate his position, the AUV need to maneuver while an initial estimate of the vehicle's location with respect to a fixed or moving beacon. These initials

  7. Tenth International Symposium on Unmanned Untethered Submersible Technology: Special Session on Bio-Engineering Research Related to Autonomous Underwater Vehicles. September 8 -11,

    E-Print Network [OSTI]

    Fish, Frank

    -Engineering Research Related to Autonomous Underwater Vehicles. September 8 - 11, 1997, New England Center, Univ of NH Abstract - Maneuverability is critical to the performance of autonomous underwater vehicles (AUV) and fast underwater vehicles (AUV) is the ability to maneuver or turn. Rapid turns with small radii while maintaining

  8. Design of an autonomous underwater vehicle to evaluate the blazed array sonar and simultaneous localization and mapping algorithms

    E-Print Network [OSTI]

    Uhle, Matthew William

    2007-01-01T23:59:59.000Z

    This thesis has investigated aspects of the design of a new highly maneuverable Autonomous Underwater Vehicle - the XAUV. The overall goal for the design of this vehicle is to create a small, highly maneuverable AUV that ...

  9. Progressively communicating rich telemetry from autonomous underwater vehicles via relays

    E-Print Network [OSTI]

    Murphy, Christopher Alden

    2012-01-01T23:59:59.000Z

    As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to ...

  10. Optical proximity sensor and orientation control of autonomous, underwater robot

    E-Print Network [OSTI]

    Lozano, Martin, Jr

    2014-01-01T23:59:59.000Z

    Autonomous mobile robots need a reliable means of navigation to reach their target while avoiding collisions. This requires continuous knowledge of the vehicle's position, orientation, and motion as well as a way to identify ...

  11. SWAMI: An Autonomous Mobile Robot for Inspection of Nuclear Waste Storage Facilities

    E-Print Network [OSTI]

    Stephens, Larry M.

    SWAMI: An Autonomous Mobile Robot for Inspection of Nuclear Waste Storage Facilities Ron Fulbright Inspector (SWAMI) is a prototype mobile robot designed to perform autonomous inspection of nuclear waste user interface building tool called UIM/X. Introduction Safe disposal of nuclear waste is a difficult

  12. An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances

    E-Print Network [OSTI]

    Zhang, Jian Yuan Wen-Xia

    2012-01-01T23:59:59.000Z

    The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. The existence and uniqueness condition of feedforward-feedback optimal control law is proposed and the optimal control law algorithm is carried out. Lastly, simulations show the result is effectiveness with respect to external persistent disturbances and noise.

  13. SOLAR-POWERED AUTONOMOUS UNDERWATER VEHICLE DEVELOPMENT James Jalbert, John Baker, John Duchesney, Paul Pietryka, William Dalton

    E-Print Network [OSTI]

    batteries daily using solar panels to convert solar energy to electrical energy. #12;· Operate at depthsSOLAR-POWERED AUTONOMOUS UNDERWATER VEHICLE DEVELOPMENT James Jalbert, John Baker, John Duchesney in such applications. The concept of a vehicle that would allow on-station recharging of batteries, using solar cells

  14. Mapping of Submerged Aquatic Vegetation Using Autonomous Underwater Vehicles in Nearshore Regions

    SciTech Connect (OSTI)

    Jones, Mark E.; Miller, Lee M.; Woodruff, Dana L.; Ewert, Daniel W.

    2007-10-02T23:59:59.000Z

    The use of an autonomous underwater vehicle (AUV) equipped with sidescan sonar was investigated for determining the boundaries of nearshore submerged aquatic vegetation beds, specifically eelgrass (Zostera marina). Shifts in eelgrass bed morphology, size, and distribution are used as indicators in monitoring programs to measure the impacts of coastal development and environmental stressors on eelgrass and to establish the efficacy of restoration programs. However, many monitoring programs necessarily extend over multiple-year time periods. Therefore, techniques that are easily reproducible, accurate, and cost-effective can demonstrate distinct advantages over some of the more traditional and labor-intensive methods, such as diver assessments and transects of shoot counts. Remote monitoring of eelgrass beds using satellite and aerial imagery has been demonstrated with moderate success, but requires groundtruthing, which can be costly and which frequently cannot delineate the deeper boundaries of eelgrass beds. One possible means for low-cost mapping is the use of AUVs equipped with acoustic imaging hardware. AUVs provide an ideal platform, because they can be deployed by small teams (two people), they are highly maneuverable, they can cover large areas over a relatively short time period (3knot operational speed), and they are equipped with multiple oceanographic instruments for correlated data collection. This paper describes the use of sidescan-equipped AUV technology deployed over multiple time periods at the same location where imagery of eelgrass beds was obtained and analyzed for comparative purposes.

  15. P.J. Antsaklis, "Hybrid and Supervisory Control Systems in Autonomous Underwater Vehicles," First International Workshop on A utonomous U nderwater V ehicles f o r S hallow W aters a nd C oastal

    E-Print Network [OSTI]

    Antsaklis, Panos

    P.J. Antsaklis, "Hybrid and Supervisory Control Systems in Autonomous Underwater Vehicles," First, "Hybrid and Supervisory Control Systems in Autonomous Underwater Vehicles," First International Workshop , pp. 135-139, Lafayette, Louisiana, February 17-19, 1998. #12;P.J. Antsaklis, "Hybrid and Supervisory

  16. Autonomous underwater data muling using wireless optical communication and agile AUV control

    E-Print Network [OSTI]

    Doniec, Marek Wojciech

    2013-01-01T23:59:59.000Z

    Underwater exploration and surveillance currently relies on subsea cables and tethers to relay data back to the user. The cause for this is that water heavily absorbs most electromagnetic signals, preventing effective radio ...

  17. Extended Abstract: Uncertainty-Based Localization Solution for Under-Ice Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Pompili, Dario

    exploration to study the impact of climate change to the circula- tion of the world's oceans. These AUVs need System (GPS) underwater, over time, inaccu- racies in models for deriving position estimates, self Copyright 2011 ACM 978-1-4503-1151-9 ...$10.00. i j k l time DISLU Localization Localization DOPLU DOPLU

  18. SemiAutonomous Teleoperation of a Non-Holonomic Underwater Vehicle Using a Laser

    E-Print Network [OSTI]

    Loizou, Savvas G.

    the field of view has been examined in the past, in robotic manipulators [7], cartesian robots [8 describes a switching visual servoing control scheme designed for an underwater vehicle with non- holonomic controller design, the resulting controller has analytically guaranteed stability and convergence properties

  19. Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems

    E-Print Network [OSTI]

    Lozano, Martin, Jr

    2012-01-01T23:59:59.000Z

    While it is critical that nuclear plants frequently inspect their facilities for cracking, corrosion or other failure modes, humans cannot safely perform these tasks due to the hazardous conditions within the tanks and ...

  20. Simulating Human Reasoning in Mine-Like Object Inspection Assignments for a Formation of Unmanned Underwater Vehicles

    E-Print Network [OSTI]

    Idaho, University of

    of a fleet of unmanned underwater vehicles. Learning from the complexities involved in information processing in real life scenarios, decision making processes by a fleet of unmanned underwater vehicles can planner for a decentralized fleet of unmanned underwater vehicles was implemented, followed by a look

  1. Underwater Data Collection Using Robotic Sensor Networks

    E-Print Network [OSTI]

    Hollinger, Geoffrey A.

    We examine the problem of utilizing an autonomous underwater vehicle (AUV) to collect data from an underwater sensor network. The sensors in the network are equipped with acoustic modems that provide noisy, range-limited ...

  2. Target tracking onboard an autonomous underwater vehicle : determining optimal towed array heading in an anisotropic noise field

    E-Print Network [OSTI]

    Parra-Orlandoni, Maria Alejandra

    2007-01-01T23:59:59.000Z

    In order to overcome the challenges that an anisotropic noise field poses for underwater target tracking, we conduct an onboard estimation of the horizontal noise directionality in the real-time processing suite of an ...

  3. Autonomous Underwater Vehicle (AUV) path planning and adaptive on-board routing for adaptive rapid environmental assessment

    E-Print Network [OSTI]

    Wang, Ding, Ph. D. Massachusetts Institute of Technology

    2007-01-01T23:59:59.000Z

    In shallow water, a large part of underwater acoustic prediction uncertainties are induced by sub-meso-to-small scale oceanographic variabilities. Conventional oceanographic measurements for capturing such ocean-acoustic ...

  4. Defense from a distance ORNL robotics sensors detect underwater

    E-Print Network [OSTI]

    Pennycook, Steve

    the development of unmanned, autonomous underwater vehicles with sensors that can scan areas, detect anomalies resources. Reporter 1 Retiree Newsletter Winter 2014 An unmanned, autonomous underwater vehicle surveys. With an efficient algorithm, the unmanned underwater vehicle can use the algorithm to under- stand what is being

  5. IEEE TRANSACTIONS ON ROBOTICS, VOL. 28, NO. 1, FEBRUARY 2012 223 On Optimizing Autonomous Pipeline Inspection

    E-Print Network [OSTI]

    Li, Xin "Shane"

    health. As the most economical way to transport gas, oil, bio fuels, water resource, sewer, and so forth. For example, the leak of petroleum pipeline causes ocean pollution and ecocatastrophe. Regular inspections Editor T. Murphey and Editor J.-P. Laumond upon evaluation of the reviewers' comments. This work

  6. 526 IEEE JOURNAL OF OCEANIC ENGINEERING, VOL. 26, NO. 4, OCTOBER 2001 Power Systems for Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Singh, Hanumant

    526 IEEE JOURNAL OF OCEANIC ENGINEERING, VOL. 26, NO. 4, OCTOBER 2001 Power Systems for Autonomous Abstract--In this paper, we examine the issues involved in de- signing battery systems and power docking with reliable power and data transfer becomes critical to the system's success. Docking methods

  7. Increasing Underwater Vehicle Autonomy by Reducing Energy Consumption

    E-Print Network [OSTI]

    Chyba, Monique

    : Autonomous Underwater Vehicle, Minimum Energy Consumption, Optimal Control, Experiments. 1 IntroductionIncreasing Underwater Vehicle Autonomy by Reducing Energy Consumption M. Chybaa , T. Haberkornd , S, we concern ourselves with finding a control strategy that minimizes energy consumption along

  8. 1Centre for Autonomous Marine Operations and Systems -AMOSwww.ntnu.edu/amos 2Centre for Autonomous Marine Operations and Systems -AMOSwww.ntnu.edu/amos

    E-Print Network [OSTI]

    Nørvåg, Kjetil

    of Expertise Applications: · Unmanned aerial systems (UAS) · Autonomous underwater vehicles (AUV) · Spacecraft structures · Underwater robotics · Mapping and monitoring of the ocean space · Intelligent and autonomous systems · High speed vehicles · Simulator technology for marine systems · Hardware-in-the-loop (HIL

  9. Toward autonomous harbor surveillance

    E-Print Network [OSTI]

    Johannsson, Hordur

    2010-01-01T23:59:59.000Z

    In this thesis we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important ...

  10. Abstract--The inspection of large concrete walls with autonomous systems is still an unsolved problem. One of the

    E-Print Network [OSTI]

    Berns, Karsten

    pressure can be used. In the following the requirements imposed on a climbing robot for the inspection). For the inspection task it is necessary to move continuously (not possible with sliding frame mechanisms//agrosy.informatik.uni-kl..de Email berns@informatik.uni-kl.de A Climbing Robot based on Under Pressure Adhesion for the Inspection

  11. A Reactive Control Approach for Pipeline Inspection with an AUV

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    robots, or UUVs (unmanned underwater vehicles) have long been present per- forming commercial operations operations suggest that autonomous underwater vehicles will become increasingly present in com- mercial autonomous underwater vehicle. The method presented here, called the Deformable Virtual Zones (DVZ) method

  12. Exploiting the BandwidthDistance Relationship in Underwater Acoustic Networks

    E-Print Network [OSTI]

    Stojanovic, Milica

    (UWASNs) may also be augmented with autonomous underwater vehicles (AUVs); for example, this unmanned1 Exploiting the Bandwidth­Distance Relationship in Underwater Acoustic Networks Paolo Casari consumption, and transmission delay in a Underwater Wireless Acoustic Sensor Network (UWASN). We compare

  13. STABILITY OF A BOTTOMHEAVY UNDERWATER VEHICLE NAOMI EHRICH LEONARD \\Lambda

    E-Print Network [OSTI]

    Leonard, Naomi

    completely autonomous. In order for unmanned underwater vehicles to succeed they must be able to control of an actuator failure on board an unmanned underwater vehicle, nonlinear control methods can be used for motionSTABILITY OF A BOTTOM­HEAVY UNDERWATER VEHICLE NAOMI EHRICH LEONARD \\Lambda Department

  14. Application of Sampling Based Model Predictive Control to an Autonomous

    E-Print Network [OSTI]

    Collins, Emmanuel

    Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments55 Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle for an autonomous underwater vehicle (AUV). The algorithm combines the benefits of sampling-based motion planning

  15. Robotics and Autonomous Systems 62 (2014) 15811596 Contents lists available at ScienceDirect

    E-Print Network [OSTI]

    Hu, Huosheng

    Moving Horizon Estimation with application to localization of Autonomous Underwater Vehicles Sen Wang of Essex, UK h i g h l i g h t s · A novel localization method for Autonomous Underwater Vehicle t Localizing small Autonomous Underwater Vehicles (AUVs) that have limited payload and perception ca- pability

  16. Biologically inspired underwater propulsion and adhesion mechanisms

    E-Print Network [OSTI]

    Pan, Yichao

    2014-01-01T23:59:59.000Z

    The ultimate objective of this research is to develop an innovative underwater pipe inspection robot with both swimming and crawling capabilities as opposed to conventional in-pipe robots with wheeled designs or driven by ...

  17. Underwater Sensor Network Deployment for Water Quality Nadjib ACHIR and Khaled BOUSSETTA

    E-Print Network [OSTI]

    Zhou, Shengli

    of this evolution, underwater sensors could now be organized as an autonomous communicating network. Under and tsunami monitoring) etc. Moreover, the particularity of the underwater context (e.g. the long delay

  18. Autonomous Underwater Gliders Wood, Stephen

    E-Print Network [OSTI]

    Wood, Stephen L.

    of the ocean to harness the energy to change the vehicle's buoyancy, 3) those that are able to use other means of power such as ocean wave energy, and 4) hybrid vehicles that use standard propulsion systems and glider of energy and are specifically designed for the needs of the Blue Water scientist, which require greater

  19. IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS, ACCEPTED FOR PUBLICATION 1 A QoS-aware Underwater Optimization Framework

    E-Print Network [OSTI]

    Pompili, Dario

    .1- 1 s). Mobile Autonomous Underwater Vehicles (AUVs) can conserve energy by waiting for the `best, Autonomous Underwater Vehicles (AUVs), equipped with underwater sensors, are used for information gathering Optimization Framework for Inter-vehicle Communication using Acoustic Directional Transducers Baozhi Chen

  20. autonomous microexplosives subsurface: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    animals Fabrikant, Sara Irina 4 Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering MIT - DSpace Summary: The Odyssey IV...

  1. Autonomous adaptation and collaboration of unmanned vehicles for tracking submerged contacts

    E-Print Network [OSTI]

    Privette, Andrew Jamie

    2012-01-01T23:59:59.000Z

    Autonomous operations are vital to future naval operations. Unmanned systems, including autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs), are anticipated to play a key role for critical tasks ...

  2. Autonomous vehicles

    SciTech Connect (OSTI)

    Meyrowitz, A.L. [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States)] [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States); Blidberg, D.R. [Autonomous Undersea Systems Inst., Lee, NH (United States)] [Autonomous Undersea Systems Inst., Lee, NH (United States); Michelson, R.C. [Georgia Tech Research Inst., Smyrna, GA (United States)] [Georgia Tech Research Inst., Smyrna, GA (United States); [International Association for Unmanned Vehicle Systems, Smyrna, GA (United States)

    1996-08-01T23:59:59.000Z

    There are various kinds of autonomous vehicles (AV`s) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground, and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further, this paper deals with AV`s as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. The authors provide a survey of the technological progress that has been made in AV`s, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV`s depending on whether the focus is on vehicles underwater, on the ground, or in the air. The authors have separated the discussion into sections treating each of these categories.

  3. State-of-the-Art in Protocol Research for Underwater Acoustic Sensor Networks

    E-Print Network [OSTI]

    Pompili, Dario

    to observe and predict the ocean. Unmanned or Autonomous Underwater Vehi- cles (UUVs, AUVs), equipped (UW-ASNs) will consist of sensors and vehicles deployed underwater and networked via acoustic linksState-of-the-Art in Protocol Research for Underwater Acoustic Sensor Networks Ian F. Akyildiz

  4. 1756 IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 57, NO. 3, MAY 2008 Silent Positioning in Underwater

    E-Print Network [OSTI]

    Cheng, Xiuzhen "Susan"

    of sensors and vehicles (the unmanned underwater vehicle (UUV), the autonomous under- water vehicle (AUV and provides location privacy at underwater vehicles/sensors whose locations need to be determined. To study fading channels. The obtained results indicate that UPS is an effective scheme for underwater vehicle

  5. Joint Time and Spatial Reuse Handshake Protocol for Underwater Acoustic

    E-Print Network [OSTI]

    Lampe, Lutz

    , ocean exploration, undersea navigation and control over autonomous underwater vehicles, to name just and the high cost of retransmissions due to the long transmission delay and large energy consumption

  6. Design of an underwater vertical glider for subsea equipment delivery

    E-Print Network [OSTI]

    Ambler, Charles Kirby

    2010-01-01T23:59:59.000Z

    Delivery of subsea equipment and sensors is generally accomplished with unguided sinking platforms or powered autonomous underwater vehicles (AUVs). An alternative would be to augment existing platforms with navigation and ...

  7. Computational strategies for understanding underwater optical image datasets

    E-Print Network [OSTI]

    Kaeli, Jeffrey W

    2013-01-01T23:59:59.000Z

    A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical ...

  8. Decision algorithms for Unmanned Underwater Vehicles during offensive operations

    E-Print Network [OSTI]

    Smith, Tyler B. (Tyler Bradford)

    2006-01-01T23:59:59.000Z

    The field of research involving autonomous vehicles has expanded greatly over the past decade. This thesis addresses the case of a system of Unmanned Underwater Vehicles (UUVs) operating in littoral areas in an offensive ...

  9. A Geometric Analysis of Trajectory Design for Underwater Vehicles

    E-Print Network [OSTI]

    Smith, Ryan N.

    of mechanical systems. We focus in this paper on autonomous underwater vehicles (AUVs). These fall holds true when considering energy consumption as the optimization cost. Moreover, implementingA Geometric Analysis of Trajectory Design for Underwater Vehicles M. Chyba, T. Haberkorn, G

  10. Real-time Collaborative Tracking for Underwater Networked Systems

    E-Print Network [OSTI]

    Kastner, Ryan

    technique can strategically trade off localization accuracy and energy consumption, achieving more than 50. INTRODUCTION There has been a growing interest in operating groups of autonomous underwater vehicles information is needed for con- trol and navigation of underwater vehicles, in early warning systems

  11. Algorithms and analysis for underwater vehicle plume tracing.

    SciTech Connect (OSTI)

    Byrne, Raymond Harry; Savage, Elizabeth L. (Texas A& M University, College Station, TX); Hurtado, John Edward (Texas A& M University, College Station, TX); Eskridge, Steven E.

    2003-07-01T23:59:59.000Z

    The goal of this research was to develop and demonstrate cooperative 3-D plume tracing algorithms for miniature autonomous underwater vehicles. Applications for this technology include Lost Asset and Survivor Location Systems (L-SALS) and Ship-in-Port Patrol and Protection (SP3). This research was a joint effort that included Nekton Research, LLC, Sandia National Laboratories, and Texas A&M University. Nekton Research developed the miniature autonomous underwater vehicles while Sandia and Texas A&M developed the 3-D plume tracing algorithms. This report describes the plume tracing algorithm and presents test results from successful underwater testing with pseudo-plume sources.

  12. Asymptotically optimal path planning and surface reconstruction for inspection

    E-Print Network [OSTI]

    Papadopoulos, Georgios

    2014-01-01T23:59:59.000Z

    Motivated by inspection applications for marine structures, this thesis develops algorithms to enable their autonomous inspection. Two essential parts of the inspection problem are (1) path planning and (2) surface ...

  13. Multi-Cluster Protocol for Ad Hoc Mobile Underwater Acoustic Networks Francisco Salv-Garau and Milica Stojanovic

    E-Print Network [OSTI]

    Stojanovic, Milica

    @coitt.es, millitsa@mit.edu Abstract- An autonomous network of underwater vehicles is considered in which of connectivity, successful transmission rate, average delay and energy consumption. Simulation analysis is used Underwater Vehicles. I. INTRODUCTION Autonomous operations future naval capability (AOFNC) calls

  14. The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV

    E-Print Network [OSTI]

    Brown, Scott R.

    In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This ...

  15. AUTONOMOUS ROBOTIC INSPECTION EXPERIMENTAL SYSTEM

    SciTech Connect (OSTI)

    David N. Rocheleau, Senior Investigator; Edward A. Hamilton, Associate Director, SCUREF; Jerry L. Hudgins, Senior Investigator; Paul McCarty, Graduate Research Assistant; Robert J. Schalkoff, Senior Investigator; Robert O. Pettus, Project Manager & Principal Investigator

    1998-08-01T23:59:59.000Z

    This document contains appendices on these topics: COMPUTERS AND CONTROLS; COMPUTER VISION SYSTEM; ELECTRICAL SYSTEMS; MECHANICAL SYSTEMS; ROBOTIC VEHICLE SYSTEMS; FIELD TRIALS.

  16. Introduction to the Limnology and Oceanography Special Issue on Autonomous and Lagrangian Platforms and Sensors (ALPS)

    E-Print Network [OSTI]

    Fabrikant, Sara Irina

    types of subsurface floats, gliders, unmanned boats, autonomous underwater vehicles, and instrumented of subsurface floats, gliders, unmanned boats, autonomous underwater vehicles (AUVs), and instrumented animals. Unmanned sailboats and hybrid platforms are under development as well. Used either singly or in networks

  17. An Almost Global Tracking Control Scheme for Maneuverable Autonomous Vehicles and its

    E-Print Network [OSTI]

    Chyba, Monique

    . While applications of this control scheme include autonomous aerial and underwater vehicles, we focus on an autonomous underwater vehicle (AUV) application because of its richer, more nonlinearly coupled, dynamics of unmanned vehicles are expanding as these vehicles become more maneuverable with the passage of time. Recent

  18. Conceptual design of a thrust-vectoring tailcone for underwater robotics

    E-Print Network [OSTI]

    Nawrot, Michael T

    2012-01-01T23:59:59.000Z

    Thrust-vectoring on Autonomous Underwater Vehicles is an appealing directional-control solution because it improves turning radius capabilities. Unfortunately, thrust-vectoring requires the entire propulsion system be ...

  19. Evaluation of an acoustic detection algorithm for reactive collision avoidance in underwater applications

    E-Print Network [OSTI]

    Viquez Rojas, Oscar Alberto

    2013-01-01T23:59:59.000Z

    This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from ...

  20. The ICoN integrated communication and navigation protocol for underwater acoustic networks

    E-Print Network [OSTI]

    Kanthan, Rupesh R

    2005-01-01T23:59:59.000Z

    The deployment of autonomous underwater devices has increased dramatically in the last several years, presenting a strong and growing need for a network protocol to mediate acoustic communications between devices. This ...

  1. Biomimetic oscillating foil propulsion to enhance underwater vehicle agility and maneuverability

    E-Print Network [OSTI]

    Licht, Stephen Carl

    2008-01-01T23:59:59.000Z

    Inspired by the swimming abilities of marine animals, this thesis presents "Finnegan the RoboTurtle", an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce ...

  2. Underwater manipulator

    DOE Patents [OSTI]

    Schrum, P.B.; Cohen, G.H.

    1993-04-20T23:59:59.000Z

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  3. Passive and Active Acoustics Using an Autonomous Wave Glider

    E-Print Network [OSTI]

    Frandsen, Jannette B.

    ) and autonomous underwater vehicles (AUVs) (or unmanned underwater vehicles (UUVs)), have reached a sufficiently developed wave glider has the potential to be an effective unmanned platform for acoustic ap- plications. We component in many marine operations. Robotic vehicles serve in an increasing variety of roles for scientific

  4. QUO VADIS: QoS-aware Underwater Optimization Framework for Inter-vehicle Communication using

    E-Print Network [OSTI]

    Pompili, Dario

    Underwater Vehicles (AUVs) can conserve energy by waiting for the `best' network topology configuration, e communication energy consumption by adjusting the transducer directivity on-the-fly. I. INTRODUCTION Under explorations, Autonomous Underwater Vehicles (AUVs), equipped with un- derwater sensors, are used

  5. Cooperative control of autonomous underwater vehicles.

    E-Print Network [OSTI]

    Savage, Elizabeth

    2004-09-30T23:59:59.000Z

    been successfully applied to several two dimensional problems at Sandia. The original 2D algorithm was converted to 3D and tested for robustness in the presence of sensor error, position error and navigational error. Treating the robots as point masses... to convergence is delayed but the system still functioned adequately. Once simulations for the point masses had been exhausted, the dynamics of the robots were included. The robot equations of motion were described using Kane?s equations. Path...

  6. Optimal Node Placement in Underwater Wireless Sensor Networks

    E-Print Network [OSTI]

    Shihada, Basem

    . Autonomous Underwater Vehicles (AUVs) have been used in recent years to monitor and collect data from that cover a sparse area need to be optimally placed to reduce per node energy consumption. As the distance between the nodes increases, more energy is required to maintain a reasonable Signal-to-Noise (SNR) value

  7. A MOOS MODULE FOR MONITORING ENERGY USAGE OF AUTONOMOUS VEHICLES

    E-Print Network [OSTI]

    Idaho, University of

    A MOOS MODULE FOR MONITORING ENERGY USAGE OF AUTONOMOUS VEHICLES Anthony Kanago, Kevin Roos, James--Tracking the energy usage of an autonomous underwater vehicle (AUV) and making accurate data available provides is particularly relevant in the context of long, open-sea missions: energy consumption. A vehicle operating

  8. Wave Glider Autonomous Surface Vehicle Applications and Missions

    E-Print Network [OSTI]

    Frandsen, Jannette B.

    Wave Glider Autonomous Surface Vehicle Applications and Missions Jamie Griffith & Kyle Vanderlugt and logistical challenge. To address these challenges, Liquid Robotics (LRI) has developed the Wave Glider, an autonomous, mobile remote sensing solution. The Wave Glider is a hybrid sea-surface and underwater vehicle

  9. Design and Implementation of Time Efficient Trajectories for an Underwater Vehicle

    E-Print Network [OSTI]

    Smith, Ryan N.

    : Autonomous Underwater Vehicles, Optimal Control, Numerical Algorithm, Trajectory Planning. 1 Introduction- trol strategies that govern their motions. Traditionally, autonomous underwa- ter vehicles (AUV's) have. This is a first step toward minimizing a combination of both time and energy consumption along a given trajectory

  10. Design, Development and Testing of Underwater Vehicles: ITB Experience

    E-Print Network [OSTI]

    Muljowidodo, Said D; Budiyono, Agus; Nugroho, Sapto A

    2008-01-01T23:59:59.000Z

    The last decade has witnessed increasing worldwide interest in the research of underwater robotics with particular focus on the area of autonomous underwater vehicles (AUVs). The underwater robotics technology has enabled human to access the depth of the ocean to conduct environmental surveys, resources mapping as well as scientific and military missions. This capability is especially valuable for countries with major water or oceanic resources. As an archipelagic nation with more than 13,000 islands, Indonesia has one of the most abundant living and non-organic oceanic resources. The needs for the mapping, exploration, and environmental preservation of the vast marine resources are therefore imperative. The challenge of the deep water exploration has been the complex issues associated with hazardous and unstructured undersea and sea-bed environments. The paper reports the design, development and testing efforts of underwater vehicle that have been conducted at Institut Teknologi Bandung. Key technology areas...

  11. A Self-triggered Visual Servoing Model Predictive Control Scheme for Under-actuated Underwater Robotic Vehicles

    E-Print Network [OSTI]

    Dimarogonas, Dimos

    extensively used in the past for the autonomous operation of underwater robotic vehicles. Complex missions Robotic Vehicles Shahab Heshmati-Alamdari, Alina Eqtami, George C. Karras, Dimos V. Dimarogonas and Kostas Control (NMPC) scheme for an under- actuated underwater robotic vehicle. In this scheme, the control loop

  12. On the Impacts and Benefits of Implementing Full-Duplex Communications Links in an Underwater Acoustic Network

    E-Print Network [OSTI]

    Xie, Geoffrey

    . These networks may provide command and control for autonomous underwater vehicles, forward reporting by arraysOn the Impacts and Benefits of Implementing Full-Duplex Communications Links in an Underwater of sensor grids, ad hoc communications links to covert forces, or positive control of unmanned, forward

  13. Toniwha-bot: Towards Energetically Autonomous Marine Sensing Fred Stinchcombe*, Ian Horsfield, Eoin O'Keefe, Chris Melhuish and Chris Irgens

    E-Print Network [OSTI]

    West of England, University of the

    consumption is vital. It was recognised that the energy derived from the environment would not be sufficient in developing autonomous underwater vehicles that can function in marine environments with and emphasis on the extension of mission durations [1,2]. Current designs of autonomous underwater vehicles (AUV) tend

  14. Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles

    E-Print Network [OSTI]

    Hartsfield, J. Carl (Jasper Carl)

    2005-01-01T23:59:59.000Z

    A detailed study was conducted to prove the concept of an iterative approach to single transponder navigation for REMUS Autonomous Underwater Vehicles (AUVs). Although the concept of navigation with one acoustic beacon is ...

  15. Design and experimental evaluation of an Autonomous Surface Craft to support AUV operations

    E-Print Network [OSTI]

    Williams, Robert R., IV

    2007-01-01T23:59:59.000Z

    In recent years, there has been a large increase in the use of autonomous underwater vehicles (AUV) for numerous military, commercial, and scientific missions. These include mapping, oceanographic data collection, and ...

  16. Experiments with Underwater Robot Localization and Tracking

    E-Print Network [OSTI]

    Corke, Peter; Detwiler, Carrick; Dunbabin, Matthew; Hamilton, Michael; Rus, Daniela; Vasilescu, Iuliu

    2007-01-01T23:59:59.000Z

    navigation of unmanned underwater vehicles: a survey part 1:navigation of unmanned underwater vehicles: a survey part 2:

  17. Computer vision techniques for underwater navigation

    E-Print Network [OSTI]

    Barngrover, Christopher M.

    2010-01-01T23:59:59.000Z

    USVs) and unmanned underwater vehicles (UUVs), splitting theUnmanned Vehicle Systems International (AUVSI) Au- tonomous Underwater Vehicle

  18. Idle-time Energy Savings Through Wake-up Modes in Underwater Acoustic Networks

    E-Print Network [OSTI]

    Stojanovic, Milica

    (e.g., bit rate and latency) and in terms of energy consumption (i.e., transmit power, receive power the potential to use long term sensing devices and autonomous underwater vehicles (AUV) to explore the large transmission. To this end, researchers have begun devising MAC-layer protocols that minimize energy consumption

  19. Trajectory-aware Communication Solution for Underwater Gliders using WHOI Micro-Modems

    E-Print Network [OSTI]

    Pompili, Dario

    routing protocol is combined with practical cross-layer optimization to minimize energy consumption. Our collection, disaster preven- tion, and navigation. Autonomous Underwater Vehicles (AUVs) equipped protocol is designed to send packets to a region rather than to a point. To improve the network's energy

  20. Robot-Assisted Bridge Inspection after Hurricane Ike

    E-Print Network [OSTI]

    Murphy, Robin R.

    Robot-Assisted Bridge Inspection after Hurricane Ike Robin R. Murphy Texas A&M College Station, TX in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis vehicle, unmanned underwater vehicle I. INTRODUCTION While hurricanes are associated with large scale

  1. An autonomous mobile robot for known industrial environments

    E-Print Network [OSTI]

    Milios, Evangelos E.

    An autonomous mobile robot for known industrial environments S. B. Nickerson1 , P. Jasiobedzki4 , D types of industrial operations and environments for which mobile robots can be used to reduce human to workers. It is this industrial survey and inspection task in that the ARK (Autonomous Robot for a Known

  2. Design and implementation of an underwater sound recording device

    SciTech Connect (OSTI)

    Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.; Woodley, Christa M.; Weiland, Mark A.

    2011-09-01T23:59:59.000Z

    To monitor the underwater sound and pressure waves generated by activities such as underwater blasting and pile driving, an autonomous system used to record underwater acoustic signals was designed. The device designed allows two hydrophones or other dynamic pressure sensors to be connected, filters out high frequency noise, has a gain that can be independently set for each sensor, and allows two hours of data to be collected. Two versions of the USR were created; one is submersible to a maximum depth of 300 m, and the other, although watertight, is not intended to be fully submersed. Tests were performed in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to the each component. These tests verified that the device performs as well as larger commercially available data acquisition systems, which are not suited for field use. A prototype of the device was used in a case study to investigate the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. The case study demonstrated that the device was able to tolerate being operated in harsh environments, making it a valuable tool for collecting field measurements.

  3. Inspection & Maintenance

    E-Print Network [OSTI]

    vehicles they own or control: 1. Preventative maintenance/safety inspections at least every 3 to 6 months provides a Preventive Maintenance Check List for guidance and scheduling. 2. If a vehicle is under warranty, Fleet Services will ensure the vehicle has at least the normal preventative, scheduled maintenance

  4. Sound propagation around underwater seamounts

    E-Print Network [OSTI]

    Sikora, Joseph J., III

    2009-01-01T23:59:59.000Z

    In the ocean, low frequency acoustic waves propagate with low attenuation and cylindrical spreading loss over long-ranges, making them an effective tool for underwater source localization, tomography, and communications. ...

  5. Underwater Gas Expansion and Deflagration

    E-Print Network [OSTI]

    Jones, Van; Gilbert, John; McCue-Weil, Leigh

    2013-01-01T23:59:59.000Z

    The underwater combustion of a propane-air mixture in an acrylic cylinder is captured on video from multiple angles. This experiment is designed to provide visual data and pressure time-histories for future CFD validation studies.

  6. Comparison of advanced rechargeable batteries for autonomous underwater vehicles

    SciTech Connect (OSTI)

    Descroix, J.P.; Chagnon, G.

    1994-12-31T23:59:59.000Z

    For AUV to be promising in the field of military oceanic and scientific missions, it is of great importance that power sources must meet the system needs. In view of this, this article will address the present and near term options for electric power sources. Evaluation is based on a hypothetical AUV. It is expected that considerable results will be achieved with respect to the possible options and cost needed in the manufacture of such power sources. 5 refs.

  7. Geometric Methods for Robust Stabilization of Autonomous Underwater Vehicles \\Lambda

    E-Print Network [OSTI]

    Leonard, Naomi

    robustness and avoids having to linearize the dynamics (see [8]). The sliding mode con­ trol law consists's that avoids both lin­ earization and cancellation of nonlinearities. The pro­ posed control law is designed­ search under Grant N00014­96­1­0052. that is produced by gravitational and buoyant forces in a vehicle

  8. On the Optimal Detection of an Underwater Intruder in a Channel Using Unmanned Underwater Vehicles

    E-Print Network [OSTI]

    Sastry, S. Shankar

    On the Optimal Detection of an Underwater Intruder in a Channel Using Unmanned Underwater Vehicles- water intruder in a channel using one or more unmanned underwater vehicles (UUVs). In particular and a corresponding optimized trajectory for each patroller. In numerical tests for one, two, and three underwater

  9. rail inspections matrix

    Broader source: Energy.gov (indexed) [DOE]

    ENHANCED SAFETY INSPECTION OF COMERCIAL HIGHWAY VEHICLES TRANSPORTING TRANSURANICS, SPENT NUCLEAR FUEL, AND HIGH LEVEL WASTE TO RAIL INSPECTION STANDARDS -TEC-WG, RAIL TOPIC GROUP...

  10. Lower cost offshore field development utilizing autonomous vehicles

    SciTech Connect (OSTI)

    Frisbie, F.R.; Vie, K.J.; Welch, D.W.

    1996-12-31T23:59:59.000Z

    The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable or improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.

  11. PERFORMANCE EVALUATION OF AD HOC PROTOCOLS FOR UNDERWATER NETWORKS

    E-Print Network [OSTI]

    amongst Unmanned Underwater Vehicles (UUVs). Underwater networks face extreme challenges of low bandwidth amongst Unmanned Underwater Vehicles (UUVs). Underwater networks face extreme challenges of low bandwidth that the movement of underwater vehicles is not random and that it can be predicted or it is known beforehand

  12. Using optical communication for remote underwater robot operation

    E-Print Network [OSTI]

    Doniec, Marek Wojciech

    Underwater vehicles are typically operated using a tether or a slow acoustic link. We present an underwater optical communication system that enables a high-throughput and low-latency link to an underwater robot. The optical ...

  13. Utilities Inspection Technologies

    E-Print Network [OSTI]

    Messock, R. K.

    Preventive and predictive maintenance programs are enhanced by using various inspection technologies to detect problems and potential failures before catastrophic failure. This paper discusses successful inspection technologies that have been...

  14. Piping inspection instrument carriage

    SciTech Connect (OSTI)

    Zollinger, W.T.; Treanor, R.C.

    1993-09-20T23:59:59.000Z

    This invention is comprised of a pipe inspection instrument carriage for use with a pipe crawler or other locomotion means for performing internal inspections of piping surfaces. The carriage has a front leg assembly, a rear leg assembly and a central support connecting the two assemblies and for mounting an instrument arm having inspection instruments. The instrument arm has means mounted distally thereon for axially aligning the inspection instrumentation and means for extending the inspection instruments radially outward to operably position the inspection instruments on the piping interior. Also, the carriage has means for rotating the central support and the front leg assembly with respect to the rear leg assembly so that the inspection instruments azimuthally scan the piping interior. The instrument carriage allows performance of all piping inspection operations with a minimum of moving parts, thus decreasing the likelihood of performance failure.

  15. Cooperative Multihop Communication for Underwater Acoustic Networks

    E-Print Network [OSTI]

    Zhou, Shengli

    Cooperative Multihop Communication for Underwater Acoustic Networks Cecilia Carbonelli and Urbashi propagation 1. INTRODUCTION Underwater sensor networks will find applications in data collection, pollution acoustic (UWA) channels differ from those in other media, such as radio channels, due to the high temporal

  16. A REMOTE CONTROLLED UNDERWATER PHOTOGRAPHIC SURVEILLANCE SYSTEM

    E-Print Network [OSTI]

    A REMOTE CONTROLLED UNDERWATER PHOTOGRAPHIC SURVEILLANCE SYSTEM by Paul J. Kruse, Jr. MarineKernan, Director A Remote Controlled Underwater Photographic Surveillance System by Paul J. Kruse, Jr. United. September 1964 #12;#12;CONTENTS Page Introduction 1 Remote controlled photographic system and accessories 1

  17. Reliability of underwater hearing thresholds in pinnipeds

    E-Print Network [OSTI]

    Reichmuth, Colleen

    Reliability of underwater hearing thresholds in pinnipeds Brandon L. Southall Long Marine and certain testing parameters (e.g., equipment and research personnel), measured underwater hearing (0.2­6.4 kHz). These data address the reliability of acoustic signal detection measurements over time

  18. DYNAMICS & CONTROL OF UNDERWATER GLIDERS I: STEADY MOTIONS

    E-Print Network [OSTI]

    Virginia Tech

    underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles whichDYNAMICS & CONTROL OF UNDERWATER GLIDERS I: STEADY MOTIONS N. Mahmoudian, J. Geisbert, & C. Woolsey Blacksburg, VA 24060 www.unmanned.vt.edu June 6, 2009 Technical Report No. VaCAS-2007-01 Copyright c 2007 #12

  19. Underwater Vehicles hal-00733797,version1-19Sep2012

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    to unmanned underwater vehicles (UUV). The UUV family is known to have two separate branches: the RemotelyUnderwater Vehicles hal-00733797,version1-19Sep2012 Author manuscript, published in "Underwater Vehicles (2009) 525-538" #12;hal-00733797,version1-19Sep2012 #12;Underwater Vehicles Edited by Alexander V

  20. An automated miniature robotic vehicle inspection system

    SciTech Connect (OSTI)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18T23:59:59.000Z

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  1. Reduced Mandated Inspection by Remote Field Eddy Current Inspection of Unpiggable Pipelines

    SciTech Connect (OSTI)

    Albert Teitsma; Julie Maupin

    2006-09-29T23:59:59.000Z

    The Remote Field Eddy Current (RFEC) technique is ideal for inspecting unpiggable pipelines because all of its components can be made much smaller than the diameter of the pipe to be inspected. For this reason, RFEC was chosen as a technology for unpiggable pipeline inspections by DOE-NETL with the support of OTD and PRCI, to be integrated with platforms selected by DOENETL. As part of the project, the RFEC laboratory facilities were upgraded and data collection was made nearly autonomous. The resulting improved data collection speeds allowed GTI to test more variables to improve the performance of the combined RFEC and platform technologies. Tests were conducted on 6-, 8-, and 12-inch seamless and seam-welded pipes. Testing on the 6-inch pipes included using seven exciter coils, each of different geometry with an initial focus on preparing the technology for use on an autonomous robotic platform with limited battery capacity. Reductions in power consumption proved successful. Tests with metal components similar to the Explorer II modules were performed to check for interference with the electromagnetic fields. The results of these tests indicated RFEC would be able to produce quality inspections while on the robot. Mechanical constraints imposed by the platform, power requirements, control and communication protocols, and potential busses and connectors were addressed. Much work went into sensor module design including the mechanics and electronic diagrams and schematics. GTI participated in two Technology Demonstrations for inspection technologies held at Battelle Laboratories. GTI showed excellent detection and sizing abilities for natural corrosion. Following the demonstration, module building commenced but was stopped when funding reductions did not permit continued development for the selected robotic platform. Conference calls were held between GTI and its sponsors to resolve the issue of how to proceed with reduced funding. The project was rescoped for 10-16-inch pipes with the intent of looking at lower cost, easier to implement, tethered platform applications. OTD ended its sponsorship.

  2. Underwater wireless communications have witnessed major developments in recent years, especially in the last decade. While the first generation of applications involved just a single transmitter and receiver communicating at low bit-rates, nowadays un-

    E-Print Network [OSTI]

    Stojanovic, Milica

    with controllable speed, and Underwater Autonomous Vehicles (AUVs), following either pre-established paths or moving: · Energy consumption for every single node while actively transmitting, actively receiving, sleeping or being idle, energy consumption for every single packet, total energy consumption of the network. · End

  3. Optical fiber inspection system

    DOE Patents [OSTI]

    Moore, F.W.

    1985-04-05T23:59:59.000Z

    A remote optical inspection system including an inspection head. The inspection head has a passageway through which pellets or other objects are passed. A window is provided along the passageway through which light is beamed against the objects being inspected. A plurality of lens assemblies are arranged about the window so that reflected light can be gathered and transferred to a plurality of coherent optical fiber light guides. The light guides transfer the light images to a television or other image transducer which converts the optical images into a representative electronic signal. The electronic signal can then be displayed on a signal viewer such as a television monitor for inspection by a person. A staging means can be used to support the objects for viewing through the window. Routing means can be used to direct inspected objects into appropriate exit passages for accepted or rejected objects. The inspected objects are advantageously fed in a singular manner to the staging means and routing means. The inspection system is advantageously used in an enclosure when toxic or hazardous materials are being inspected. 10 figs.

  4. autonomous robotic inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    user interface to multiple cooperating robots implementing a novel behavioural architecture, the Behavioural Synthesis Architecture (BSA). We consider how these two types of...

  5. Piezoelectric materials used in underwater acoustic transducers

    SciTech Connect (OSTI)

    Li, Huidong; Deng, Zhiqun; Carlson, Thomas J.

    2012-07-07T23:59:59.000Z

    Piezoelectric materials have been used in underwater acoustic transducers for nearly a century. In this paper, we reviewed four different types of piezoelectric materials: piezoelectric ceramics, single crystals, composites, and polymers, which are widely used in underwater acoustic transducers nowadays. Piezoelectric ceramics are the most dominant material type and are used as a single-phase material or one of the end members in composites. Piezoelectric single crystals offer outstanding electromechanical response but are limited by their manufacturing cost. Piezoelectric polymers provide excellent acoustic impedance matching and transducer fabrication flexibility although their piezoelectric properties are not as good as ceramics and single crystals. Composites combined the merits of ceramics and polymers and are receiving increased attention. The typical structure and electromechanical properties of each type of materials are introduced and discussed with respect to underwater acoustic transducer applications. Their advantages and disadvantages are summarized. Some of the critical design considerations when developing underwater acoustic transducers with these materials are also touched upon.

  6. Analytic and numerical study of underwater implosion

    E-Print Network [OSTI]

    Gish, Lynn Andrew

    2013-01-01T23:59:59.000Z

    Underwater implosion, the rapid collapse of a structure caused by external pressure, generates a pressure pulse in the surrounding water that is potentially damaging to adjacent structures or personnel. Understanding the ...

  7. Contributions to automated realtime underwater navigation

    E-Print Network [OSTI]

    Stanway, Michael Jordan

    2012-01-01T23:59:59.000Z

    This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle ...

  8. Robust planning for unmanned underwater vehicles

    E-Print Network [OSTI]

    Frost, Emily Anne

    2013-01-01T23:59:59.000Z

    In this thesis, I design and implement a novel method of schedule and path selection between predetermined waypoints for unmanned underwater vehicles under uncertainty. The problem is first formulated as a mixed-integer ...

  9. Underwater communication via compact mechanical sound generation

    E-Print Network [OSTI]

    Ubellacker, Wyatt

    2013-01-01T23:59:59.000Z

    Effective communication with underwater remotely operated vehicles (UROV) can be difficult to accomplish. In water, simple radio communication is quickly dissipated at higher frequencies and lower frequencies require a ...

  10. The naval Research Laboratory has been actively involved in research in unmanned and autonomous systems since its opening in 1923. From one of the first unmanned

    E-Print Network [OSTI]

    systems since its opening in 1923. From one of the first unmanned ground vehicles to the developmentThe naval Research Laboratory has been actively involved in research in unmanned and autonomous of more than 200 prototype air, ground, underwater, and space platforms, and from smart sensors to smart

  11. Engineering Design and Safety Basis Inspection Criteria, Inspection...

    Broader source: Energy.gov (indexed) [DOE]

    to this is our commitment to enhance our program. Therefore, we have developed the Engineering Design and Safety Basis Inspection Criteria, Inspection Activities, and Lines of...

  12. Automation of Painted Slate Inspection

    E-Print Network [OSTI]

    Whelan, Paul F.

    Automation of Painted Slate Inspection BY Tim Carew (B.Eng.) carewt@eeng.dcu.ie Submitted...........................................................................................................18 2.1 Prior research on inspection of slates

  13. Automatic Fish Classification for Underwater Species Behavior Understanding

    E-Print Network [OSTI]

    Fisher, Bob

    Automatic Fish Classification for Underwater Species Behavior Understanding Concetto Spampinato an automatic fish classi- fication system that operates in the natural underwater en- vironment to assist marine biologists in understanding fish behavior. Fish classification is performed by combining two types

  14. Development of a low-cost underwater manipulator

    E-Print Network [OSTI]

    Cooney, Lauren Alise

    2006-01-01T23:59:59.000Z

    This thesis describes the design, modeling, manufacture, and testing of a low cost, multiple degree-of-freedom underwater manipulator. Current underwater robotic arm technologies are often expensive or limited in functionality. ...

  15. Distributed Space-Time Cooperative Schemes for Underwater Acoustic Communications

    E-Print Network [OSTI]

    Stojanovic, Milica

    Distributed Space-Time Cooperative Schemes for Underwater Acoustic Communications Madhavan, which is a main characteristic of underwater acoustic channels. A time-reversal distributed space in oceanic research, such as [3] [4]: data collec- tion, pollution monitoring, tactical surveillance

  16. Challenges for Efficient Communication in Underwater Acoustic Sensor Networks

    E-Print Network [OSTI]

    Pompili, Dario

    Challenges for Efficient Communication in Underwater Acoustic Sensor Networks Ian F. Akyildiz for oceano- graphic data collection, pollution monitoring, offshore explo- ration and tactical surveillance in collaborative monitoring missions. Underwater acoustic network- ing is the enabling technology

  17. Inspection Report: IG-0774

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed offOCHCO2: FinalOffers3.pdf0-45.pdf05IG-0465 Inspection Report: IG-0465682745 Inspection70Inspection

  18. Apparatus for inspecting piping

    DOE Patents [OSTI]

    Zollingger, W. Thor (Martinez, GA); Appel, D. Keith (Aiken, SC); Park, Larry R. (Raleigh, NC)

    1995-01-01T23:59:59.000Z

    An inspection rabbit for inspecting piping systems having severe bends therein. The rabbit consists of a flexible, modular body containing a miniaturized eddy current inspection probe, a self-contained power supply for proper operation of the rabbit, an outer surface that allows ease of movement through piping systems and means for transmitting data generated by the inspection device. The body is preferably made of flexible polyvinyl chloride (PVC) tubing or, alternatively, silicone rubber with a shrink wrapping of polytetrafluoroethylene (TEFLON.RTM.). The body is formed to contain the power supply, preferably a plurality of batteries, and a spool of communication wire that connects to a data processing computer external to the piping system.

  19. Apparatus for inspecting piping

    DOE Patents [OSTI]

    Zollingger, W.T.; Appel, D.K.; Park, L.R.

    1995-03-21T23:59:59.000Z

    An inspection rabbit is described for inspecting piping systems having severe bends therein. The rabbit consists of a flexible, modular body containing a miniaturized eddy current inspection probe, a self-contained power supply for proper operation of the rabbit, an outer surface that allows ease of movement through piping systems and means for transmitting data generated by the inspection device. The body is preferably made of flexible polyvinyl chloride (PVC) tubing or, alternatively, silicone rubber with a shrink wrapping of polytetrafluoroethylene (TEFLON{trademark}). The body is formed to contain the power supply, preferably a plurality of batteries, and a spool of communication wire that connects to a data processing computer external to the piping system. 6 figures.

  20. SYSTEM IDENTIFICATION OF UNDERWATER VEHICLES Javier Pereira and Alec Duncan

    E-Print Network [OSTI]

    .duncan@cmst.curtin.edu.au Abstract - Unmanned underwater vehicles (UUV's) are used in a number of applications such as pipelineSYSTEM IDENTIFICATION OF UNDERWATER VEHICLES Javier Pereira and Alec Duncan Australian Maritime hydrodynamic derivative measurements from sea trials using an underwater vehicle which is a half-scale model

  1. A New Compact Multichannel Receiver for Underwater Wireless Communication Networks

    E-Print Network [OSTI]

    Abdi, Ali

    size of the proposed receiver makes it particularly useful for small unmanned underwater vehicles1 A New Compact Multichannel Receiver for Underwater Wireless Communication Networks Ali Abdi of the particle velocity, in addition to the pressure, multichannel reception can be accomplished in underwater

  2. IDENTIFICATION OF UNDERWATER VEHICLE HYDRODYNAMIC COEFFICIENTS USING FREE

    E-Print Network [OSTI]

    Johansen, Tor Arne

    been an ever increasing num- ber of applications for unmanned underwater vehicles (UUV) in variousIDENTIFICATION OF UNDERWATER VEHICLE HYDRODYNAMIC COEFFICIENTS USING FREE DECAY TESTS Andrew Ross the potential accuracy of these new methods. Copyright c 2004 IFAC. Keywords: Low-speed underwater vehicles

  3. Wormhole-Resilient Secure Neighbor Discovery in Underwater Acoustic Networks

    E-Print Network [OSTI]

    Zhang, Rui

    ), Unmanned Underwater Vehicles (UUV), and surface stations, and nearby nodes communicate via acoustic ratherWormhole-Resilient Secure Neighbor Discovery in Underwater Acoustic Networks Rui Zhang and Yanchao in underwater acoustic networks (UANs) with floating node mobility. In hostile environments, neighbor discovery

  4. Fin Failure Compensation for an Unmanned Underwater Vehicle \\Lambda

    E-Print Network [OSTI]

    Leonard, Naomi

    Fin Failure Compensation for an Unmanned Underwater Vehicle \\Lambda Albert S.­F. Cheng and Naomi on a torpedo­shaped unmanned underwater vehicle (UUV) and design control laws to compensate for a fin that gets Island, is an unmanned underwater vehicle (UUV) representative of a class of UUV designed to have

  5. A Multi-Vehicle Testbed for Underwater Motion Coordination

    E-Print Network [OSTI]

    Shapiro, Benjamin

    Collective Unmanned Underwater Labora- tory (SCUUL) testbed is a multi-vehicle testbed that is used. SCUUL is a multi-vehicle testbed consisting of six propellor-driven unmanned underwater vehicles (UUVsA Multi-Vehicle Testbed for Underwater Motion Coordination Nitin Sydney Department of Aerospace

  6. Underwater Computer Vision: Two Decades of Traditional Approaches

    E-Print Network [OSTI]

    Treuille, Adrien

    waters). Why is vision difficult in underwater? environment lighting medium Sensor & sensor platform #12) Why is vision difficult in underwater? environment lighting medium Sensor & sensor platform #12;7 Why is vision difficult in underwater? environment lighting medium Sensor & sensor platform 4. Poor positioning

  7. An intelligent inspection and survey robot. Volume 1

    SciTech Connect (OSTI)

    NONE

    1995-12-15T23:59:59.000Z

    ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing 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 inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data.

  8. Controllable underwater anisotropic oil-wetting

    SciTech Connect (OSTI)

    Yong, Jiale; Chen, Feng, E-mail: chenfeng@mail.xjtu.edu.cn; Yang, Qing; Farooq, Umar; Bian, Hao; Du, Guangqing; Hou, Xun [State Key Laboratory for Manufacturing System Engineering and Key Laboratory of Photonics Technology for Information of Shaanxi Province, School of Electronics and Information Engineering, Xi'an Jiaotong University, Xi'an 710049 (China)

    2014-08-18T23:59:59.000Z

    This Letter demonstrates a simple method to achieve underwater anisotropic oil-wetting using silicon surfaces with a microgroove array produced by femtosecond laser ablation. The oil contact angles along the direction perpendicular to the grooves are consistently larger than those parallel to the microgroove arrays in water because the oil droplet is restricted by the energy barrier that exists between the non-irradiated domain and the trapped water in the laser-ablated microgrooves. This underwater anisotropic oil-wetting is able to be controlled, and the anisotropy can be tuned from 0° to ?20° by adjusting the period of the microgroove arrays.

  9. Autonomicity vs. Complexity Stefan Schmid

    E-Print Network [OSTI]

    Stavrakakis, Ioannis

    ­ and hopefully not that many · Autonomicity introduces complexity (and hence CAPEX ­ but only initially for the 1

  10. Home Inspection Checklist.

    E-Print Network [OSTI]

    Quiring, Susan M.

    1987-01-01T23:59:59.000Z

    ment, recreational and health facilities? Is the site free from threat of flooding? Are local zoning laws compatible with your plans for use of the home? Are paved streets, water, sewer and public walkways provided? Are local property taxes...8-1586 Texas Agricultural Extension Service HOME INSPECTION CHECKLIST MAR 3 1 1988 Susan M. Quiring* Why A Home Inspection? If you're looking for a "perfect" house, you won't find it. Every house has its strengths and weaknesses. Some flaws...

  11. MECHANICS AND NONLINEAR CONTROL: MAKING UNDERWATER VEHICLES

    E-Print Network [OSTI]

    Leonard, Naomi

    which pro­ vide powerful means to understand and describe mechanical system behavior. Methods incorporat performance and efficient use of on­board power. We highlight the underwater vehicle control sys­ tem both torques that mimic the stabilizing moment associated with gravitational and buoy­ ant forces, using

  12. UNDERWATER PAINT MARKING OF PORPOISES1

    E-Print Network [OSTI]

    UNDERWATER PAINT MARKING OF PORPOISES1 Identification of individual animals has always been, and that was easy to apply at sea. Even a temporary mark permitting positive iden- tification for only a few hours would be a boon. Paint seemed an answer (Schevill 1966). Materials and Methods Several standard paint

  13. The Stored Waste Autonomous Mobile Inspector (SWAMI)

    SciTech Connect (OSTI)

    Peterson, K.D.; Ward, C.R.

    1995-12-31T23:59:59.000Z

    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.

  14. Industrial Use of Infrared Inspections

    E-Print Network [OSTI]

    Duch, A. A.

    1979-01-01T23:59:59.000Z

    operating load. - Pinpointing of the exact location of the problems. - The inspections will locate problems which will, in most cases, go unnoticed using conventional techniques. An infrared inspection will locate problem areas in the plant electrica1...

  15. Implementation of automatic inspection system

    E-Print Network [OSTI]

    Chawla, Yugank

    2014-01-01T23:59:59.000Z

    Inspection is the formal examination of a product manufactured by any manufacturing process. Inspection process is critical to all the industries as it ensures that a good quality product reach at the end customers. In ...

  16. Infrared Inspection Techniques 

    E-Print Network [OSTI]

    Hill, A. B.; Bevers, D. V.

    1979-01-01T23:59:59.000Z

    Infrared scanning equipment has been used at Amoco's Texas City refinery since 1971 as an inspection tool. A camera scans the field of view and focuses the infrared radiation on a detector which converts the infrared signal to an electrical signal...

  17. Infrared Inspection Techniques

    E-Print Network [OSTI]

    Hill, A. B.; Bevers, D. V.

    1979-01-01T23:59:59.000Z

    Infrared scanning equipment has been used at Amoco's Texas City refinery since 1971 as an inspection tool. A camera scans the field of view and focuses the infrared radiation on a detector which converts the infrared signal to an electrical signal...

  18. Autonomous data transmission apparatus

    DOE Patents [OSTI]

    Kotlyar, Oleg M. (4675 W. 3825 S, Salt Lake City, UT 84120)

    1997-01-01T23:59:59.000Z

    A autonomous borehole data transmission apparatus for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters.

  19. Autonomous data transmission apparatus

    DOE Patents [OSTI]

    Kotlyar, O.M.

    1997-03-25T23:59:59.000Z

    A autonomous borehole data transmission apparatus is described for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters. 4 figs.

  20. Localization with Dive'N'Rise (DNR) Beacons for Underwater Acoustic Sensor Networks

    E-Print Network [OSTI]

    Zhou, Shengli

    Localization with Dive'N'Rise (DNR) Beacons for Underwater Acoustic Sensor Networks Melike Erol-Based Systems]: Underwater acoustic sensor networks - localization General Terms: Performance Keywords: Underwater sensor networks, localization, positioning, mobile beacon 1. INTRODUCTION Pollution monitoring

  1. Flexible ultrasonic pipe inspection apparatus

    DOE Patents [OSTI]

    Jenkins, C.F.; Howard, B.D.

    1994-01-01T23:59:59.000Z

    Pipe crawlers, pipe inspection {open_quotes}rabbits{close_quotes} and similar vehicles are widely used for inspecting the interior surfaces of piping systems, storage tanks and process vessels for damaged or flawed structural features. This paper describes the design of a flexible, modular ultrasonic pipe inspection apparatus.

  2. Energy-efficient scheduling and hybrid communication architecture for underwater littoral surveillance

    E-Print Network [OSTI]

    Cardei, Mihaela

    - cations. In combination with a scalable buoy positioning scheme that assures AUV underwater components are battery- powered, power efficiency is an important characteristic of the underwater

  3. Infrared microscope inspection apparatus

    DOE Patents [OSTI]

    Forman, S.E.; Caunt, J.W.

    1985-02-26T23:59:59.000Z

    Apparatus and system for inspecting infrared transparents, such as an array of photovoltaic modules containing silicon solar cells, includes an infrared microscope, at least three sources of infrared light placed around and having their axes intersect the center of the object field and means for sending the reflected light through the microscope. The apparatus is adapted to be mounted on an X-Y translator positioned adjacent the object surface. 4 figs.

  4. Inspection tester for explosives

    DOE Patents [OSTI]

    Haas, Jeffrey S. (San Ramon, CA); Simpson, Randall L. (Livermore, CA); Satcher, Joe H. (Patterson, CA)

    2010-10-05T23:59:59.000Z

    An inspection tester that can be used anywhere as a primary screening tool by non-technical personnel to determine whether a surface contains explosives. It includes a body with a sample pad. First and second explosives detecting reagent holders and dispensers are operatively connected to the body and the sample pad. The first and second explosives detecting reagent holders and dispensers are positioned to deliver the explosives detecting reagents to the sample pad. A is heater operatively connected to the sample pad.

  5. Inspection tester for explosives

    DOE Patents [OSTI]

    Haas, Jeffrey S. (San Ramon, CA); Simpson, Randall L. (Livermore, CA); Satcher, Joe H. (Patterson, CA)

    2007-11-13T23:59:59.000Z

    An inspection tester that can be used anywhere as a primary screening tool by non-technical personnel to determine whether a surface contains explosives. It includes a body with a sample pad. First and second explosives detecting reagent holders and dispensers are operatively connected to the body and the sample pad. The first and second explosives detecting reagent holders and dispensers are positioned to deliver the explosives detecting reagents to the sample pad. A is heater operatively connected to the sample pad.

  6. BOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES

    E-Print Network [OSTI]

    topography, and the equations of motion for the landslide and surface waves are solved simultaneouslyBOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES DENYS DUTYKH AND HENRIK KALISCH Abstract. Consideration is given to the influence of an underwater landslide on waves at the surface

  7. BOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES

    E-Print Network [OSTI]

    topography, and the equations of motion for the landslide and surface waves are solved simultaneouslyBOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES DENYS DUTYKH # AND HENRIK KALISCH Abstract. Consideration is given to the influence of an underwater landslide on waves at the surface

  8. ATTEMPTS TO GUIDE SMALL FISH WITH UNDERWATER SOUND

    E-Print Network [OSTI]

    . Preliminary studies were made under the direction of J. T, Barnaby, formerly Chief, North Pacific Fishery" - Electro-magnetic transducer 6 Piezo-electric crystal transducer l8 "Wampus" - Underwater turbine 20 amplifiers and signal generator used to provide sound to the underwater speaker shown in figure 6 '8 9

  9. Adaptive Routing in Underwater Delay/Disruption Tolerant Sensor Networks

    E-Print Network [OSTI]

    Cui, Jun-Hong

    , such as oceanographic data collection, pollution monitoring, offshore exploration, dis- aster prevention, assisted pose a range of challenges to underwater commu- nication and networking. Firstly, acoustic communication is usually employed in underwater sensor networks, and acoustic channels feature high error rate

  10. Fountain Codes and their Application to Broadcasting in Underwater Networks

    E-Print Network [OSTI]

    Rossi, Michele

    aim in this paper is to study the performance of broadcasting al- gorithms for underwater acoustic, Performance Keywords Underwater acoustic networks, broadcast, fountain codes, hybrid ARQ, modeling such as oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, etc., to name

  11. Propulsive Efficiency of the Underwater Dolphin Kick in Humans

    E-Print Network [OSTI]

    Fish, Frank

    Propulsive Efficiency of the Underwater Dolphin Kick in Humans Alfred von Loebbecke Rajat Mittal's propulsive efficiencies. These estimates are compared with those of a ceta- cean performing the dolphin kick kinematics is based on underwater video footage. The simulations indicate that the propulsive efficiency

  12. CX-008455: Categorical Exclusion Determination

    Broader source: Energy.gov [DOE]

    Autonomous Underwater Inspection Using a Three Dimensional Laser CX(s) Applied: B3.6 Date: 06/15/2012 Location(s): Colorado Offices(s): National Energy Technology Laboratory

  13. CX-008454: Categorical Exclusion Determination

    Broader source: Energy.gov [DOE]

    Autonomous Underwater Inspection Using a Three Dimensional Laser CX(s) Applied: B3.6 Date: 06/15/2012 Location(s): Colorado Offices(s): National Energy Technology Laboratory

  14. CX-008459: Categorical Exclusion Determination

    Broader source: Energy.gov [DOE]

    Autonomous Underwater Inspection Using Three Dimensional Laser CX(s) Applied: B3.6 Date: 06/15/2012 Location(s): Florida Offices(s): National Energy Technology Laboratory

  15. CX-008456: Categorical Exclusion Determination

    Broader source: Energy.gov [DOE]

    Autonomous Underwater Inspection Using Three Dimensional Laser CX(s) Applied: B3.6 Date: 06/15/2012 Location(s): Florida Offices(s): National Energy Technology Laboratory

  16. Pellet inspection apparatus

    DOE Patents [OSTI]

    Wilks, Robert S. (Plum Borough, PA); Taleff, Alexander (Churchill Borough, PA); Sturges, Jr., Robert H. (Plum Borough, PA)

    1982-01-01T23:59:59.000Z

    Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The fl GOVERNMENT CONTRACT CLAUSE The invention herein described was made in the course of or under a contract or subcontract thereunder with the Department of Energy bearing No. EY-67-14-C-2170.

  17. Acoustic inspection device

    DOE Patents [OSTI]

    Diaz, Aaron A.; Burghard, Brion J.; Skorpik, James R.; Pappas, Richard A.; Mullen, O. Dennis; Samuel, Todd J.; Reid, Larry D.; Harris, Joe C.; Valencia, Juan D.; Smalley, Jonathan T.; Shepard, Chester L.; Taylor, Theodore T.

    2005-09-06T23:59:59.000Z

    An ultrasound inspection apparatus particularly adapted to examine containers (sealed or unsealed) containing a liquid or solid bulk material. The apparatus has an overall configuration of a hand held pistol with a front transducer contact surface that is positioned against a front wall of the container. An ultrasound pulse is transmitted from the apparatus to be reflected from a back wall of a container being investigated. The received echo pulse is converted to a digital waveform. The waveform is analyzed relative to temperature, travel distance of the pulse(s), and time of travel to ascertain characteristics of the liquid or other materials and to provide identification of the same.

  18. Inspection Report: IG-0745

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEthe RankingReformManagerInspection Report:Inspectionand Special

  19. Inspection Report: IG-0746

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEthe RankingReformManagerInspection Report:Inspectionandl

  20. Inspection Report: IG-0821

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEthe RankingReformManagerInspection Report:Inspectionandl

  1. Design and implementation of an underwater sound recording device

    SciTech Connect (OSTI)

    Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.

    2011-09-19T23:59:59.000Z

    The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.

  2. Interest of correlation-based automatic target recognition in underwater optical images: theoretical justification and first

    E-Print Network [OSTI]

    Boyer, Edmond

    In underwater mine warfare, unmanned underwater vehicles (UUVS) are used as a complement to divers, to detect Underwater Vehicles (AUVs). In a typical mine hunting scenario, the mothership uses its sonars to studyInterest of correlation-based automatic target recognition in underwater optical images

  3. Estimation of Relative Position and Coordination of Mobile Underwater Robotic Platforms through Electric Sensing

    E-Print Network [OSTI]

    Boyer, Edmond

    examples. The approach is shown to allow coordination of unmanned underwater vehicles, including that of relative positioning for groups of cooperating underwater agents. More specifically, unmanned underwater System (GPS) constella- tion. Instead, underwater vehicles have come to rely on a number of alternate

  4. T-Lohi: A New Class of MAC Protocols for Underwater Acoustic Sensor Networks

    E-Print Network [OSTI]

    Heidemann, John

    and energy efficient design are important as we foresee many diverse applications for underwater sensor

  5. Columbia University Hazardous Waste Room Inspection Report

    E-Print Network [OSTI]

    Jia, Songtao

    Storage Area Hazardous Waste Room Inspection Report Location: Bldg. Room: Date: Inspected ByColumbia University Hazardous Waste Room Inspection Report Flammable Storage Area Lack Pack always closed while holding hazardous wastes? Comment: 12. Are containers labeled? Date

  6. Delivery Reliability for Natural Gas--Inspection Technologies

    SciTech Connect (OSTI)

    Albert Teitsma; Julie Maupin

    2005-10-01T23:59:59.000Z

    The Remote Field Eddy Current (RFEC) technique is ideal for inspecting unpiggable pipelines because all of its components can be made smaller than the diameter of the pipe to be inspected. For these reasons, RFEC was selected as a technology to be integrated with the Explorer II robotic platform for unpiggable pipeline inspections. The research work is a continuation of a prior DOE-NETL project but is now directed towards a seamless integration with the robot. The laboratory set-up has been improved and data collection is nearly autonomous. With the improved collections speeds, GTI has been able to test more variables. Tests have been run on 6-inch and 12-inch seamless and seam-welded pipes. Testing on the 6-inch pipes have included using five exciter coils, each of a different geometry. Two types of sensor coils have been tested. With a focus on preparing the technology for use on the Explorer II, improvements in power consumption have proved successful. Tests with metal components have been performed to check for interference with the electromagnetic field. The results of these tests indicate RFEC will produce quality inspections while on the robot. GTI has also been testing manufactured detection boards currently used for boiler tube inspections. These boards are appropriately compact for use on the Explorer II robot and are able to detect defects at the speed of robot travel. In addition to advanced sensor development, GTI has participated in sensor/platform definition and module design activities. Mechanical constraints, power requirements, limited control and communication protocols, and potential busses and connectors have been addressed. GTI has conducted a proper design process to produce a sound design for the RFEC components to fit into two modules. The remaining work to be performed in the design of the sensor module is packaging and strengthening.

  7. Thermographic inspection of massive structures

    SciTech Connect (OSTI)

    Renshaw, Jeremy B.; Guimaraes, Maria; Scott, David B. [Electric Power Research Institute (EPRI), 3420 Hillview Avenue, Palo Alto, CA 94304 (United States)

    2014-02-18T23:59:59.000Z

    Nondestructive Evaluation of concrete structures is a growing concern for the nuclear industry as well as for many other industries. As critical concrete components continue to age, the ability to assess the health and suitability for continued service has become a key consideration. In some cases, repair of these structures is difficult and expensive, while replacement is prohibitively expensive or, in some cases, not feasible. Therefore, the ability to inspect these key assets is a primary concern, especially in the nuclear industry. Due to the large size of containment buildings, cooling towers, and other large concrete assets, the ability to rapidly inspect for defects of concern is very desirable. Thermographic inspection appears to have the required ability to rapidly inspect large structures to ascertain the location and size of many of the defects of concern. This ability was demonstrated by performing a thermographic inspection of a large concrete dam in 2 days.

  8. Ultrasonic inspection and deployment apparatus

    DOE Patents [OSTI]

    Michaels, Jennifer E. (Ithaca, NY); Michaels, Thomas E. (Ithaca, NY); Mech, Jr., Stephen J. (Pasco, WA)

    1984-01-01T23:59:59.000Z

    An ultrasonic inspection apparatus for the inspection of metal structures, especially installed pipes. The apparatus combines a specimen inspection element, an acoustical velocity sensing element, and a surface profiling element, all in one scanning head. A scanning head bellows contains a volume of oil above the pipe surface, serving as acoustical couplant between the scanning head and the pipe. The scanning head is mounted on a scanning truck which is mobile around a circular track surrounding the pipe. The scanning truck has sufficient motors, gears, and position encoders to allow the scanning head six degrees of motion freedom. A computer system continually monitors acoustical velocity, and uses that parameter to process surface profiling and inspection data. The profiling data is used to automatically control scanning head position and alignment and to define a coordinate system used to identify and interpret inspection data. The apparatus is suitable for highly automated, remote application in hostile environments, particularly high temperature and radiation areas.

  9. Autonomous Underwater Vehicles: Development and Implementation of Time and Energy Efficient Trajectories1

    E-Print Network [OSTI]

    Smith, Ryan N.

    Trajectories1 Monique Chyba, Thomas Haberkorn, Ryan N. Smith, Song K. Choi, University of Hawaii2 1/A operations. Major internal components include a pressure sensor, internal navigation sensor and 24 batteries

  10. Development of an Autonomous Underwater Vehicle for Sub-Ice Environmental Monitoring in Prudhoe Bay, Alaska

    E-Print Network [OSTI]

    Wood, Stephen L.

    Alaska's northern coast. Of particular interest are the impacts of construction of offshore gravel. The overall design concept, modeling, and simulation for the AUV is discussed along with the design of the AUV drilling and exploration efforts are underway and expanding. Currently, the Mineral Management Service (MMS

  11. Development of an Autonomous Underwater Vehicle for Sub-Ice Environmental Monitoring in Prudhoe Bay, Alaska

    E-Print Network [OSTI]

    Wood, Stephen L.

    (Florida Tech). Of particular interest are the impacts of the construction of offshore gravel islands used sheet. This paper presents the overall design concept of the AUV, along with the design of the prototype, and software. INTRODUCTION In the Prudhoe Bay region of the Alaskan Beaufort Sea, oil drilling and exploration

  12. Design and construction of a low cost, modular Autonomous Underwater Vehicle

    E-Print Network [OSTI]

    Brege, Eric D

    2011-01-01T23:59:59.000Z

    Over the next 5 years, MIT Sea Grant is tasked with locating and photographing Didemnum Vexillum, an invasive species which threatens New England fishing habitats. Didemnum research is conducted in the photosynthesis zone ...

  13. Geometric Formation Control for Autonomous Underwater Vehicles Huizhen Yang and Fumin Zhang

    E-Print Network [OSTI]

    Zhang, Fumin

    ) dynamic model for the horizontal motion of each AUV that has control inputs over surge force and yaw controllers. We use the model for ODIN as an ex- ample to demonstrate the controller design process to a second-order particle model [1]­[7]. Formation control becomes more challenging if more practical

  14. Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Church, Joseph Christopher

    2014-01-01T23:59:59.000Z

    In this thesis, we developed a highly scalable design for modular Lorentz force actuators for use in segmented flexible-hull undersea vehicles such as the RoboTuna being developed at Franklin W, Olin College of Engineering. ...

  15. A strategy for the use of light emitting diodes by autonomous underwater vehicles

    E-Print Network [OSTI]

    Curran, Joseph R. (Joseph Robinson)

    2004-01-01T23:59:59.000Z

    Light Emitting Diode (LED) technology has advanced dramatically in a few short years. An expensive and difficult to manufacture LED array containing nearly 100 individual LEDs and measuring at least 5 cm² can now be replaced ...

  16. OPEN OCEAN OPERATIONAL EXPERIENCE WITH THE AUTOSUB-1 AUTONOMOUS UNDERWATER VEHICLE

    E-Print Network [OSTI]

    Griffiths, Gwyn

    secondary (lead-acid) and primary (manganese alkaline) batteries have been used to power the vehicle. Using sealed lead-acid batteries the maximum mission endurance is 10 hours, whereas with the primary battery.8 m long and 0.9 m in diameter with a battery payload capacity of 300 kg and a sensor capacity of 1000

  17. Creation and deployment of the NEREUS autonomous underwater chemical analyzer and Kemonaut, an odyssey class submarine

    E-Print Network [OSTI]

    Camilli, Richard, 1972-

    2003-01-01T23:59:59.000Z

    NEREUS is a compact self-contained low-power submersible membrane-inlet mass spectrometer, designed to measure dissolved volatile gasses in the water column. It is capable of intelligent data collection, analysis and ...

  18. Autonomous data processing and behaviors for adaptive and collaborative underwater sensing

    E-Print Network [OSTI]

    Rowe, Keja S

    2012-01-01T23:59:59.000Z

    In this thesis, I designed, simulated and developed behaviors for active riverine data collection platforms. The current state-of-the-art in riverine data collection is plagued by several issues which I identify and address. ...

  19. Inspection system calibration methods

    DOE Patents [OSTI]

    Deason, Vance A.; Telschow, Kenneth L.

    2004-12-28T23:59:59.000Z

    An inspection system calibration method includes producing two sideband signals of a first wavefront; interfering the two sideband signals in a photorefractive material, producing an output signal therefrom having a frequency and a magnitude; and producing a phase modulated operational signal having a frequency different from the output signal frequency, a magnitude, and a phase modulation amplitude. The method includes determining a ratio of the operational signal magnitude to the output signal magnitude, determining a ratio of a 1st order Bessel function of the operational signal phase modulation amplitude to a 0th order Bessel function of the operational signal phase modulation amplitude, and comparing the magnitude ratio to the Bessel function ratio.

  20. Security enhanced with increased vehicle inspections

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Security enhanced with increased vehicle inspections Security measures increase as of March: vehicle inspections won't delay traffic New increased security procedures meet LANL's...

  1. Independent Oversight Inspection, Office of Secure Transportation...

    Office of Environmental Management (EM)

    Office of Secure Transportation - March 2007 Independent Oversight Inspection, Office of Secure Transportation - March 2007 March 2007 Inspection of Emergency Management at the...

  2. CURRICULUM VITAE William A. Hoff

    E-Print Network [OSTI]

    -Martin Missiles and Fire Control 2010 While on sabbatical, performed research in vision-based autonomous vehicle vehicle system for the Department of Energy that demonstrated autonomous monitoring and inspection in computer vision for robotics and autonomous underwater vehicles. Served as a research associate

  3. Parametrized maneuvers for autonomous vehicles

    E-Print Network [OSTI]

    Dever, Christopher W. (Christopher Walden), 1972-

    2004-01-01T23:59:59.000Z

    This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a ...

  4. A First Extension of Geometric Control Theory to Underwater Vehicles

    E-Print Network [OSTI]

    Smith, Ryan N.

    A First Extension of Geometric Control Theory to Underwater Vehicles Monique Chyba Ryan N. Smith Organization of the Uni- versity of Hawaii at Manoa. play a major role in the dynamics of the vehicle

  5. Development of a snorkel for unmanned underwater vehicles

    E-Print Network [OSTI]

    Tia, Peter (Peter M.)

    2012-01-01T23:59:59.000Z

    The development of unmanned underwater vehicles (UUV) has provided a bevy of opportunities for the exploration of the ocean. However, one limitation has kept UUVs from truly becoming mass produced, its limited range. The ...

  6. A scalable electro-magnetic communication system for underwater swarms

    E-Print Network [OSTI]

    Zimmer, Uwe

    A scalable electro-magnetic communication system for underwater swarms Felix Schill 1 Uwe R. Zimmer for communication is small compared to propulsion requirements. Communication of state information can there- fore

  7. Tones for Real: Managing Multipath in Underwater Acoustic Wakeup

    E-Print Network [OSTI]

    Heidemann, John

    sensors--are only recently penetrating into underwater research. Acous- tic communication is best suited the oceans, lakes, and waterways that strongly influence our environment and can provide natural

  8. Tones for Real: Managing Multipath in Underwater Acoustic Wakeup

    E-Print Network [OSTI]

    Heidemann, John

    , in-situ sensing with many inexpensive sensors--are only recently penetrating into underwater research the oceans, lakes, and waterways that strongly influence our environment and can pro- vide natural resources

  9. Exploring Architectural Challenges in Scalable Underwater Wireless Sensor Networks

    E-Print Network [OSTI]

    Shi, Zhijie Jerry

    1 Exploring Architectural Challenges in Scalable Underwater Wireless Sensor Networks Z. Jerry Shi and Yunsi Fei Department of Computer Science and Engineering Department of Electrical and Computer sensor networks (UWSNs): Aquatic applications Design challenges in UWSNs ­ Communications ­ Networking

  10. F Reactor Inspection

    SciTech Connect (OSTI)

    Grindstaff, Keith; Hathaway, Boyd; Wilson, Mike

    2014-10-29T23:59:59.000Z

    Workers from Mission Support Alliance, LLC., removed the welds around the steel door of the F Reactor before stepping inside the reactor to complete its periodic inspection. This is the first time the Department of Energy (DOE) has had the reactor open since 2008. The F Reactor is one of nine reactors along the Columbia River at the Department's Hanford Site in southeastern Washington State, where environmental cleanup has been ongoing since 1989. As part of the Tri-Party Agreement, the Department completes surveillance and maintenance activities of cocooned reactors periodically to evaluate the structural integrity of the safe storage enclosure and to ensure confinement of any remaining hazardous materials. "This entry marks a transition of sorts because the Hanford Long-Term Stewardship Program, for the first time, was responsible for conducting the entry and surveillance and maintenance activities," said Keith Grindstaff, Energy Department Long-Term Stewardship Program Manager. "As the River Corridor cleanup work is completed and transitioned to long-term stewardship, our program will manage any on-going requirements."

  11. F Reactor Inspection

    ScienceCinema (OSTI)

    Grindstaff, Keith; Hathaway, Boyd; Wilson, Mike

    2014-11-24T23:59:59.000Z

    Workers from Mission Support Alliance, LLC., removed the welds around the steel door of the F Reactor before stepping inside the reactor to complete its periodic inspection. This is the first time the Department of Energy (DOE) has had the reactor open since 2008. The F Reactor is one of nine reactors along the Columbia River at the Department's Hanford Site in southeastern Washington State, where environmental cleanup has been ongoing since 1989. As part of the Tri-Party Agreement, the Department completes surveillance and maintenance activities of cocooned reactors periodically to evaluate the structural integrity of the safe storage enclosure and to ensure confinement of any remaining hazardous materials. "This entry marks a transition of sorts because the Hanford Long-Term Stewardship Program, for the first time, was responsible for conducting the entry and surveillance and maintenance activities," said Keith Grindstaff, Energy Department Long-Term Stewardship Program Manager. "As the River Corridor cleanup work is completed and transitioned to long-term stewardship, our program will manage any on-going requirements."

  12. Solar Permitting & Inspection Webinar Series

    Office of Energy Efficiency and Renewable Energy (EERE)

    ICLEI Local Governments for Sustainability U.S.A. and the Interstate Renewable Energy Council, Inc. (IREC) present a series of three webinars on Solar Permitting & Inspection. As part of the U...

  13. Multirobot inspection of industrial machinery

    E-Print Network [OSTI]

    Correll, Nikolaus

    Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned ...

  14. Inspect and Repair Steam Traps

    SciTech Connect (OSTI)

    Not Available

    2006-01-01T23:59:59.000Z

    This revised ITP tip sheet on inspecting and repairing steam traps provide how-to advice for improving industrial steam systems using low-cost, proven practices and technologies.

  15. Proceedings: EPRI Second Phased Array Inspection Seminar

    SciTech Connect (OSTI)

    None

    2001-11-01T23:59:59.000Z

    The Second EPRI Phased Array Inspection Seminar focused on industrial applications of phased array technology that have been achieved to date or are planned for the near future. Presentations were made by developers of inspection techniques, inspection services vendors, and utility personnel who have performed inspections using arrays.

  16. Grantee Checklist for the Inspection & Monitoring Requirement

    Broader source: Energy.gov [DOE]

    This document walks Grantees through the Inspection and Monitoring requirement of the Quality Work Plan.

  17. Sport divers and underwater parks: a market segmentation analysis

    E-Print Network [OSTI]

    Matheusik, Mick Eric

    1983-01-01T23:59:59.000Z

    SPORT DIVERS AND UNDERWATER PARKS: A MARKET SEGMENTATION ANALYSIS A Thesis by MICK ERIC MATHEUSIK Submitted to the Graduate College of Texas A&M University in partial fulfillment of the requirement for the degree of MASTER OF SCIENCE May... 1983 Major Subject: Recreation and Resources Development SPORT DIVERS AND UNDERWATER PARKS: A MARKET SEGMENTATION ANALYSIS A Thesis by MICK ERIC MATHEUSIK Approved as to style and content by: Allan S. Mills (Chairman of Committee) Clare . unn...

  18. Special Issue "Underwater Sensor Nodes and Underwater Sensor Networks" A special issue of Sensors (ISSN 1424-8220)

    E-Print Network [OSTI]

    Chen, Min

    aquatic environments. Marine surveillance, pollution detection and monitoring, and oceanographic data (salinity, conductivity, turbidity, pH, oxygen, temperature, depth, etc.) - Sediments and pollution sensor nodes - Acoustic sensors - Underwater sensor network architectures - Wired and wireless protocols

  19. ROBOTIC TANK INSPECTION END EFFECTOR

    SciTech Connect (OSTI)

    Rachel Landry

    1999-10-01T23:59:59.000Z

    The objective of this contract between Oceaneering Space Systems (OSS) and the Department of Energy (DOE) was to provide a tool for the DOE to inspect the inside tank walls of underground radioactive waste storage tanks in their tank farms. Some of these tanks are suspected to have leaks, but the harsh nature of the environment within the tanks precludes human inspection of tank walls. As a result of these conditions only a few inspection methods can fulfill this task. Of the methods available, OSS chose to pursue Alternating Current Field Measurement (ACFM), because it does not require clean surfaces for inspection, nor any contact with the Surface being inspected, and introduces no extra by-products in the inspection process (no coupling fluids or residues are left behind). The tool produced by OSS is the Robotic Tank Inspection End Effector (RTIEE), which is initially deployed on the tip of the Light Duty Utility Arm (LDUA). The RTEE combines ACFM with a color video camera for both electromagnetic and visual inspection The complete package consists of an end effector, its corresponding electronics and software, and a user's manual to guide the operator through an inspection. The system has both coarse and fine inspection modes and allows the user to catalog defects and suspected areas of leakage in a database for further examination, which may lead to emptying the tank for repair, decommissioning, etc.. The following is an updated report to OSS document OSS-21100-7002, which was submitted in 1995. During the course of the contract, two related subtasks arose, the Wall and Coating Thickness Sensor and the Vacuum Scarifying and Sampling Tool Assembly. The first of these subtasks was intended to evaluate the corrosion and wall thinning of 55-gallon steel drums. The second was retrieved and characterized the waste material trapped inside the annulus region of the underground tanks on the DOE's tank farms. While these subtasks were derived from the original intent of the contract, the focus remains on the RTIEE.

  20. Decentralized sensor placement and mobile localization on an underwater sensor network with depth adjustment capabilities

    E-Print Network [OSTI]

    Detweiler, Carrick (Carrick James)

    2010-01-01T23:59:59.000Z

    Over 70% of our planet is covered by water. It is widely believed that the underwater world holds ideas and resources that will fuel much of the next generation of science and business. Unfortunately, underwater operations ...

  1. Underwater acoustic sensor networks: research challenges Ian F. Akyildiz *, Dario Pompili, Tommaso Melodia

    E-Print Network [OSTI]

    Pompili, Dario

    Underwater acoustic sensor networks: research challenges Ian F. Akyildiz *, Dario Pompili, Tommaso will find applications in oceanographic data collection, pollution monitoring, offshore exploration acoustic networking is the enabling technology for these applications. Underwater networks consist

  2. Three-dimensional and two-dimensional deployment analysis for underwater acoustic sensor networks q

    E-Print Network [OSTI]

    Pompili, Dario

    Three-dimensional and two-dimensional deployment analysis for underwater acoustic sensor networks q Accepted 23 July 2008 Available online 7 August 2008 Keywords: Underwater acoustic sensor networks data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation

  3. An Architecture for Ocean Bottom UnderWater Acoustic Sensor Networks (UWASN)

    E-Print Network [OSTI]

    Melodia, Tommaso

    An Architecture for Ocean Bottom UnderWater Acoustic Sensor Networks (UWASN) Dario Pompili, Tommaso collection, pollution monitoring, offshore exploration, and tactical surveillance applications. To make Acoustic Networking (UWASN) is the en- abling technology for these applications [1]. Underwater Networks

  4. AUTONOMIC MULTIMEDIA DELIVERY SERVICES SELF-CONFIGURATION

    E-Print Network [OSTI]

    AUTONOMIC MULTIMEDIA DELIVERY SERVICES SELF-CONFIGURATION I. Al-oqily1 , A. Alshtnawi2 , K.M. Al-configuration architecture for multimedia delivery services. Index Terms-- self-configuration, autonomic computing, overlay

  5. Adaptive sampling in autonomous marine sensor networks

    E-Print Network [OSTI]

    Eickstedt, Donald Patrick

    2006-01-01T23:59:59.000Z

    In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. ...

  6. Issues in autonomous mobile sensor networks

    E-Print Network [OSTI]

    Dharne, Avinash Gopal

    2009-05-15T23:59:59.000Z

    Autonomous mobile sensor networks consist of a number of autonomous mobile robots equipped with various sensors and tasked with a common mission. This thesis considers the topology control of such an ad hoc mobile sensor network. In particular, I...

  7. Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to

    E-Print Network [OSTI]

    Whitcomb, Louis L.

    Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 11,000m an overview of the navigation and control system design for the new Nereus hybrid underwater vehicle Nereus hybrid underwater vehicle and summarizes the vehicle's navigation and control performance during

  8. Architecture and Applications of Language-Centered Intelligence for Unmanned Underwater Vehicles

    E-Print Network [OSTI]

    Idaho, University of

    Architecture and Applications of Language-Centered Intelligence for Unmanned Underwater Vehicles and hypothetical reasoning, and expand the behavioral repertoire of unmanned underwater vehicles (UUVs). We begin and tested for teams of unmanned underwater vehicles capable of performing different cooperative missions

  9. Diver-based control of a tethered unmanned underwater vehicle Andrew Speers and Michael Jenkin

    E-Print Network [OSTI]

    Jenkin, Michael R. M.

    Diver-based control of a tethered unmanned underwater vehicle Andrew Speers and Michael Jenkin: underwater robotics, human-robot communication Abstract: Human-robot communication with an underwater vehicle loss of the vehicle. Given this, the development of effective communication strate- gies for unmanned

  10. Miniature Autonomous Robotic Vehicle (MARV)

    SciTech Connect (OSTI)

    Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L.; Weber, T.M.

    1996-12-31T23:59:59.000Z

    Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.

  11. Using Advanced Scientific Diving Technologies to Assess the Underwater Environment

    SciTech Connect (OSTI)

    Southard, John A.; Williams, Greg D.; Sargeant, Susan L.; Diefenderfer, Heida L.; Blanton, Michael L.

    2003-03-31T23:59:59.000Z

    Scientific diving can provide unique information for addressing complex environmental issues in the marine environment and is applied to a variety of increasingly important issues throughout Puget Sound, including habitat degradation, endangered species, biological availability of contaminants, and the effects of overwater structures and shoreline protection features. The Pacific Northwest National Laboratory, Battelle Marine Sciences Laboratory uses trained scientific divers in conjunction with advanced technologies to collect in-situ information best obtained through direct observation and requiring minimal environmental disturbance. For example, advances in underwater communications allow divers to discuss observations and data collection techniques in real time, both with each other and with personnel on the surface. Other examples include the use of Dual frequency IDentification SONar (DIDSON), an underwater camera used to capture digital images of benthic structures, fish, and organisms during low light and high turbidity levels; the use of voice-narrated underwater video; and the development of sediment collection methods yielding one-meter cores. The combination of using trained scientific SCUBA divers and advanced underwater technologies is a key element in addressing multifaceted environmental problems, resulting in a more comprehensive understanding of the underwater environment and more reliable data with which to make resource management decisions.

  12. Development of the stored waste autonomous mobile inspector (SWAMI II)

    SciTech Connect (OSTI)

    Peterson, K.D.; Ward, C.R.

    1995-02-01T23:59:59.000Z

    A mobile robot system called the 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 with 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 trials at the Fernald site.

  13. Above Ground Storage Tank (AST) Inspection Form

    E-Print Network [OSTI]

    Pawlowski, Wojtek

    Above Ground Storage Tank (AST) Inspection Form Petroleum Bulk Storage Form Facility Name.ehs.cornell.edu/env/bulk-material-storage/petroleum-bulk-storage/Documents/AST_Inspection_Form.pdf #12;

  14. Electrical Engineering for Autonomousfor Autonomous

    E-Print Network [OSTI]

    Electrical Engineering for Autonomousfor Autonomous Exploration Robots Minor EE-Mi-109-11 Electrical Engineering Do you want to know more about EE? is all around us Electrical Engineering enables an introduction to Electrical Engineering for (mainly) students in Physics and in the constructive sciences

  15. An Autonomous Reliabilit Cloud Comput

    E-Print Network [OSTI]

    Buyya, Rajkumar

    An Autonomous Reliabilit Ami Cloud Comput Department of Computing and Informa Abstract--Cloud computing paradigm allo based access to computing and storages s Internet. Since with advances of Cloud. Keywords- Cloud computing; SLA negotiat I. INTRODUCTION Cloud computing has transferred the services

  16. Inspection of the objects on the sea floor by using 14 MeV tagged neutrons

    SciTech Connect (OSTI)

    Valkovic, V. [A.C.T.d.o.o., Prilesje 4, Zagreb (Croatia); Sudac, D.; Obhodas, J. [Dept. of Experimental Physics, Inst. Ruder Boskovic, Zagreb (Croatia); Matika, D. [Inst. for Researches and Development of Defense Systems, Zagreb (Croatia); Kollar, R. [A.C.T.d.o.o., Prilesje 4, Zagreb (Croatia); Nad, K.; Orlic, Z. [Dept. of Experimental Physics, Inst. Ruder Boskovic, Zagreb (Croatia)

    2011-07-01T23:59:59.000Z

    Variety of objects found on the sea floor needs to be inspected for the presence of materials which represent the threat to the environment and to the safety of humans. We have demonstrated that the sealed tube 14 MeV neutron generator with the detection of associated alpha particles can be used underwater when mounted inside ROV equipped with the hydraulic legs and variety of sensors for the inspection of such objects for the presence of threat materials. Such a system is performing the measurement by using the NaI gamma detector and an API-120 neutron generator which could be rotated in order to maximize the inspected target volume. The neutron beam intensity during the 10-30 min. measurements is usually 1 x 10{sup 7} n/s in 4{pi}. In this report the experimental results for some of commonly found objects containing TNT explosive or its simulant are presented. The measured gamma spectra are dominant by C, O and Fe peaks enabling the determination of the presence of explosives inside the ammunition shell. Parameters influencing the C/O ratio are discussed in some details. (authors)

  17. BUILDING INSPECTION Building, Infrastructure, Transportation

    E-Print Network [OSTI]

    BUILDING INSPECTION Building, Infrastructure, Transportation City of Redwood City 1017 Middlefield Sacramento, Ca 95814-5514 Re: Green Building Ordinance and the Building Energy Efficiency Standards Per of Redwood City enforce the current Title 24 Building Energy Efficiency Standards as part

  18. Robotic Welding and Inspection System

    SciTech Connect (OSTI)

    H. B. Smartt; D. P. Pace; E. D. Larsen; T. R. McJunkin; C. I. Nichol; D. E. Clark; K. L. Skinner; M. L. Clark; T. G. Kaser; C. R. Tolle

    2008-06-01T23:59:59.000Z

    This paper presents a robotic system for GTA welding of lids on cylindrical vessels. The system consists of an articulated robot arm, a rotating positioner, end effectors for welding, grinding, ultrasonic and eddy current inspection. Features include weld viewing cameras, modular software, and text-based procedural files for process and motion trajectories.

  19. FAA Fluorescent Penetrant Laboratory Inspections

    SciTech Connect (OSTI)

    WINDES,CONNOR L.; MOORE,DAVID G.

    2000-08-02T23:59:59.000Z

    The Federal Aviation Administration Airworthiness Assurance NDI Validation Center currently assesses the capability of various non-destructive inspection (NDI) methods used for analyzing aircraft components. The focus of one such exercise is to evaluate the sensitivity of fluorescent liquid penetrant inspection. A baseline procedure using the water-washable fluorescent penetrant method defines a foundation for comparing the brightness of low cycle fatigue cracks in titanium test panels. The analysis of deviations in the baseline procedure will determine an acceptable range of operation for the steps in the inspection process. The data also gives insight into the depth of each crack and which step(s) of the inspection process most affect penetrant sensitivities. A set of six low cycle fatigue cracks produced in 6.35-mm thick Ti-6Al-4V specimens was used to conduct the experiments to produce sensitivity data. The results will document the consistency of the crack readings and compare previous experiments to find the best parameters for water-washable penetrant.

  20. Independent Oversight Inspection, Hanford Site- September 2006

    Broader source: Energy.gov [DOE]

    Inspection of Environment, Safety, and Health and Emergency Management Programs at the Hanford Site Waste Stabilization and Disposition Project

  1. Chemical Fume Hood Commissioning & Annual Inspection

    E-Print Network [OSTI]

    Pawlowski, Wojtek

    Chemical Fume Hood Commissioning & Annual Inspection Laboratory Ventilation Management Program SOP for commissioning and annual inspection of laboratory fume hoods and is based on testing and specifications found procedures for fume hood commissioning and annual inspections based on testing and specifications found

  2. Autonomous, agile micro-satellites and supporting technologies

    SciTech Connect (OSTI)

    Breitfeller, E; Dittman, M D; Gaughan, R J; Jones, M S; Kordas, J F; Ledebuhr, A G; Ng, L C; Whitehead, J C; Wilson, B

    1999-07-19T23:59:59.000Z

    This paper updates the on-going effort at Lawrence Livermore National Laboratory to develop autonomous, agile micro-satellites (MicroSats). The objective of this development effort is to develop MicroSats weighing only a few tens of kilograms, that are able to autonomously perform precision maneuvers and can be used telerobotically in a variety of mission modes. The required capabilities include satellite rendezvous, inspection, proximity-operations, docking, and servicing. The MicroSat carries an integrated proximity-operations sensor-suite incorporating advanced avionics. A new self-pressurizing propulsion system utilizing a miniaturized pump and non-toxic mono-propellant hydrogen peroxide was successfully tested. This system can provide a nominal 25 kg MicroSat with 200-300 m/s delta-v including a warm-gas attitude control system. The avionics is based on the latest PowerPC processor using a CompactPCI bus architecture, which is modular, high-performance and processor-independent. This leverages commercial-off-the-shelf (COTS) technologies and minimizes the effects of future changes in processors. The MicroSat software development environment uses the Vx-Works real-time operating system (RTOS) that provides a rapid development environment for integration of new software modules, allowing early integration and test. We will summarize results of recent integrated ground flight testing of our latest non-toxic pumped propulsion MicroSat testbed vehicle operated on our unique dynamic air-rail.

  3. Autonomous Gliders Reveal Features of the Water Column Associated with Foraging by Adelie Penguins

    E-Print Network [OSTI]

    and emerging technologies such as unmanned underwater vehicles and individ- ually mounted satellite tracking to limited understanding. Recent advances in auton- omous underwater vehicle (AUV) technologies have allowed

  4. Improving the Science Return from Coastal Sensor Webs Using Autonomous Predictive Control and Resource Management

    E-Print Network [OSTI]

    Panangadan, Anand

    of underwater unmanned vehicles, and wireless communication parameters. The system operates on data obtained from a variety of sources including static sensors, unmanned underwater vehicles, and sensors attached

  5. Visual inspection submersible for nuclear power plant

    SciTech Connect (OSTI)

    Kimura, M.; Okano, H.; Ozaki, O.; Shimada, H. [Toshiba Corp., Yokohama (Japan)

    1995-08-01T23:59:59.000Z

    Remotely Operated Vehicles (ROV) are currently in use for visual inspections within reactor pressure vessels (RPV). In boiling water reactors (BWR), there is a complex RPV consisting of structures which are not disassembled during outages. To inspect the large volume of the RPV and associated components, the inspection vehicle must be compact and easily maneuverable. Toshiba has developed an ROV for the purpose of visual inspections in BWRS. This paper describes this ROV, the most compact visual inspection submersible yet manufactured and used in a BWR.

  6. Underwater noise of small personal watercraft Christine Erbea)

    E-Print Network [OSTI]

    and Technology, Curtin University, GPO Box U1987, Perth, Western Australia 6845, Australia C, Queensland, Australia. Underwater noise emissions consisted of broadband energy between 100 Hz and 10 kHz due Bramble Bay, Queensland, Australia, about 300m from shore, in 2.5m of water, in December 2008. They were

  7. Adaptive Power Controlled Routing for Underwater Sensor Networks

    E-Print Network [OSTI]

    Zhou, Shengli

    Adaptive Power Controlled Routing for Underwater Sensor Networks Manal Al-Bzoor, Yibo Zhu, Jun Liu of an in- terest packet sent by sink nodes. We use adaptive power control to send at high power level the sink nodes using shortest end to end paths. By using adaptive power control over concentric layered

  8. BOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES

    E-Print Network [OSTI]

    topography, and the equations of motion for the landslide and surface waves are solved simultaneously. Introduction Surface waves originating from sudden perturbations of the bottom topography are often termedBOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES DENYS DUTYKH AND HENRIK KALISCH

  9. BOUSSINESQ MODELING OF SURFACE WAVES DUE TO UNDERWATER LANDSLIDES

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    of a shallow body of fluid. The equations of motion which govern the evolution of the barycenter; submarine landslides; wave run-up; tsunami. Corresponding author. 1 hal-00654386,version1-21Dec2011 #12;2 D topography are often termed tsunamis. Two distinct generation mechanisms of a tsunami are underwater

  10. Toward Under-Ice Operations with Hybrid Underwater Robotic Vehicles

    E-Print Network [OSTI]

    Whitcomb, Louis L.

    techniques commonly employed for blue-water oceanography are unsuit- able for operations in ice covered seas, present day blue-water oceanographic methods for survey and sampling are extensive--they include ship for blue-water (i.e. not Arctic) operations: WHOI's Nereus HROV [8], [9], [42], SAAB Underwater Systems

  11. Energy Efficient Signaling Strategies for Tracking Mobile Underwater Vehicles

    E-Print Network [OSTI]

    Kastner, Ryan

    for underwater vehicles. The beacons may be buoys or vehicles on the surface with access to GPS or they may for tracking vehicles is a recurring cost, we propose to minimize the energy consumption by optimizing method to find the best schedule for beacon transmissions for a fixed signaling rate (or average power

  12. Three-Dimensional Routing in Underwater Acoustic Sensor Networks

    E-Print Network [OSTI]

    Pompili, Dario

    Three-Dimensional Routing in Underwater Acoustic Sensor Networks Dario Pompili and Tommaso Melodia applications in oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention in a 3D underwa- ter acoustic sensor network is investigated at the network layer, by considering

  13. Integrated Short Term Navigation of a Towed Underwater Body \\Lambda

    E-Print Network [OSTI]

    LeGland, François

    is con­ sidered. An underwater body, to be called here­ after the fish, is towed by a surface ship centimeters, the trajectory of the fish relative to its otherwise unknown initial position, during a few­ cated on board of the fish, can be integrated. INS measurements are known to track accurately the high

  14. Integrated Short Term Navigation of a Towed Underwater Body*

    E-Print Network [OSTI]

    LeGland, François

    . An underwater body, to be called here- after the fish, is towed by a surface ship at the end of a few hundred of the fish relative to its otherwise unknown initial position, during a few minutes experiment, so, acceleration measurements pro- vided by an INS (inertial navigation system) lo- cated on board of the fish, can

  15. POSITION ESTIMATION OF A TOWED UNDERWATER BODY \\Lambda

    E-Print Network [OSTI]

    LeGland, François

    The following ocean engineering problem is considered. An underwater body, to be called hereafter the fish as a synthetic array, it is needed to know with an ac­ curacy of 10 cm, the trajectory of the fish relative of the fish, can be integrated. INS measurements are known to accurately de­ tect high frequency components

  16. An Underwater Robotic Network for Monitoring Nuclear Waste Storage Pools

    E-Print Network [OSTI]

    Jeavons, Peter

    , it is still necessary to store this waste in cool- ing ponds for 20 to 60 years to remove the heatAn Underwater Robotic Network for Monitoring Nuclear Waste Storage Pools Sarfraz Nawaz1 , Muzammil spread with grow- ing world population. However, the radioactive waste generated in these power plants

  17. MEDIUM ACCESS CONTROL LAYER FOR UNDERWATER SENSOR NETWORKS*

    E-Print Network [OSTI]

    Chen, Min

    sensor networks, energy-efficient reliable MAC protocol, and slotted FAMA MAC protocol and low1 CHAPTER 1 MEDIUM ACCESS CONTROL LAYER FOR UNDERWATER SENSOR NETWORKS* Yanping Zhang* , Yang Xiao of Alabama Tuscaloosa, AL 35487-0290 USA E-mail: yangxiao@ieee.org + Dept. of Electrical and Computer

  18. An Advanced Channel Framework for Improved Underwater Acoustic Network Simulations

    E-Print Network [OSTI]

    Zhou, Shengli

    such as pollution, climate change and severe weather events is rapidly increasing. At the same time, as ocean underwater sensors, vehicles and devices together using acoustic communication. Network protocol development operation. However, acoustic communication performance is dynamic and dependent upon the environment

  19. Turbo Detection for Mobile MIMO Underwater Acoustic Communications

    E-Print Network [OSTI]

    Zheng, Yahong Rosa

    Turbo Detection for Mobile MIMO Underwater Acoustic Communications Jun Tao , Yahong Rosa Zheng-- Turbo detection for high data-rate single-carrier mobile multiple-input, multiple-output (MIMO signal is then sent to a MIMO turbo equalization module for detection. In the MIMO turbo equalization

  20. Apparatus for inspecting fuel elements

    DOE Patents [OSTI]

    Kaiser, B.J.; Oakley, D.J.; Groves, O.J.

    1984-12-21T23:59:59.000Z

    This disclosure describes an alpha monitor usable in an automated nuclear fuel pin loading and processing unit. Fuel pins or other elongated pins are fed laterally into the alpha monitor in a singular fashion and are translated by a first roller assembly into a weld flare machining and decontamination substation not forming a part of the invention. Pins return and are lifted upwardly and transferred across to a combined pin lifting and electrode operating means which lifts the pins upwardly into a clamshell electrode assembly which is spread open by a combined pin lifting and electrode operating means. Once inserted the clamshell type electrode arrangement closes around the fuel pins so that inspection can occur. Fuel pins are inspected by charging electrodes to a negative potential and measuring the change in charge occurring when positively charged alpha particles strike the negatively charged electrodes. After inspection, the fuel pins are lowered by the pin lifting and electrode operating means into a second roller assembly which longitudinally conveys approved pins from the airtight enclosure in which the alpha monitor is mounted. If the fuel pins are rejected then they are moved laterally by a second transfer means and onto another system for further processing.

  1. Semi autonomous mine detection system

    SciTech Connect (OSTI)

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01T23:59:59.000Z

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

  2. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM - 2011

    SciTech Connect (OSTI)

    West, B.; Waltz, R.

    2012-06-21T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2011 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2011 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per SRR-LWE-2011-00026, HLW Tank Farm Inspection Plan for 2011, were completed. Ultrasonic measurements (UT) performed in 2011 met the requirements of C-ESR-G-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 3, and WSRC-TR-2002-00061, Rev.6. UT inspections were performed on Tanks 25, 26 and 34 and the findings are documented in SRNL-STI-2011-00495, Tank Inspection NDE Results for Fiscal Year 2011, Waste Tanks 25, 26, 34 and 41. A total of 5813 photographs were made and 835 visual and video inspections were performed during 2011. A potential leaksite was discovered at Tank 4 during routine annual inspections performed in 2011. The new crack, which is above the allowable fill level, resulted in no release to the environment or tank annulus. The location of the crack is documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.6.

  3. Runtime Adaptation for Autonomic Heterogeneous Computing | ornl...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    goal is to make the complex functions of heterogeneous computing autonomic, handling load balancing, memory coherence and other performance critical factors in the runtime. This...

  4. A cloud-assisted design for autonomous driving

    E-Print Network [OSTI]

    Suresh Kumar, Swarun

    This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous ...

  5. System for inspection of stacked cargo containers

    DOE Patents [OSTI]

    Derenzo, Stephen (Pinole, CA)

    2011-08-16T23:59:59.000Z

    The present invention relates to a system for inspection of stacked cargo containers. One embodiment of the invention generally comprises a plurality of stacked cargo containers arranged in rows or tiers, each container having a top, a bottom a first side, a second side, a front end, and a back end; a plurality of spacers arranged in rows or tiers; one or more mobile inspection devices for inspecting the cargo containers, wherein the one or more inspection devices are removeably disposed within the spacers, the inspection means configured to move through the spacers to detect radiation within the containers. The invented system can also be configured to inspect the cargo containers for a variety of other potentially hazardous materials including but not limited to explosive and chemical threats.

  6. Feature selection for automatic solder joint inspection

    E-Print Network [OSTI]

    Lee, Cheng-Cheng

    1987-01-01T23:59:59.000Z

    - heating Wave Soldering Drag Soldering Post- soldering Cleaning Inspection and Testing Vapor So Ide ring Fig. 2. 3 Typical Soldering Process 12 (5) simplicity of repair, (6) visual inspectability. The first three properties depend upon both.../testing after the soldering. Good joints after inspection can be sent to the testing process directly, while bad joints should be returned to be touched up by the operator. The types of test depend upon the product. For a typical PC board, electrical test...

  7. 2003 Annual Inspection of the

    Office of Legacy Management (LM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742EnergyOn AprilA group currentBradleyTableSelling7 AugustAFRICAN3uj:'I,\Inspection Report for the

  8. 2006 Annual Inspection for the

    Office of Legacy Management (LM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742EnergyOn AprilA group currentBradleyTableSelling7 AugustAFRICAN3uj:'I,\Inspection Report for the3

  9. 2006 Annual Inspection for the

    Office of Legacy Management (LM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742EnergyOn AprilA group currentBradleyTableSelling7 AugustAFRICAN3uj:'I,\Inspection Report for

  10. Electrical Equipment Inventory and Inspection Information

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Electrical Equipment Inventory and Inspection Information APS Non-NRTL Electrical Equipment Inventory Spreadsheet ANL Recognized Reputable Electrical Equipment Manufacturer List as...

  11. Sandia National Laboratories: nondestructive inspection capabilities

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    inspection capabilities Sandia Participated in AMII to Support American-Made Wind-Turbine Blades On December 3, 2014, in Computational Modeling & Simulation, Energy, Materials...

  12. Independent Oversight Inspection, Nevada Test Site - September...

    Broader source: Energy.gov (indexed) [DOE]

    Site - September 2004 Independent Oversight Inspection, Nevada Test Site - September 2004 September 2004 Security and Emergency Management Pilot Integrated Performance Tests at the...

  13. Enduring Stockpile CMM Shell Inspection Plan (U)

    SciTech Connect (OSTI)

    Montano, Joshua D. [Los Alamos National Laboratory; Flores, Randy A. [Los Alamos National Laboratory

    2012-06-13T23:59:59.000Z

    The slides are intended to serve as a high level summary of the CMM Shell Inspection Plan as presented to Pu Sustainment Legacy Pit Production IPT.

  14. Independent Oversight Inspection of Environment, Safety, and...

    Broader source: Energy.gov (indexed) [DOE]

    Nuclear Security Administration (NNSA) Nevada Test Site (NTS) in September and October 2002. The inspection was performed as a joint effort by the OA Office of Environment,...

  15. Independent Oversight Inspection, Sandia National Laboratories...

    Energy Savers [EERE]

    Emergency Management at the Sandia Site Office and Sandia National Laboratories, New Mexico, Volume III This report provides the results of an independent oversight inspection of...

  16. Independent Oversight Inspection, Sandia National Laboratories...

    Office of Environmental Management (EM)

    National Laboratories, Summary Report - February 2003 February 2003 Inspection of Environment, Safety, and Health and Emergency Management at the Sandia National Laboratories...

  17. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2007-01-01T23:59:59.000Z

    2007 FrE12.5 Autonomous Robotic Sensing Experiments at Sanan autonomous, high resolution robotic spatial map- ping ofinsights for similar robotic investigations in aquatic

  18. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2006-01-01T23:59:59.000Z

    Autonomous Robotic Sensing Experiments at San Joaquin Riverof an autonomous, high-resolution robotic spatial mapping ofinsights for similar robotic investigations in aquatic

  19. The Autonomous Pathogen Detection System

    SciTech Connect (OSTI)

    Dzenitis, J M; Makarewicz, A J

    2009-01-13T23:59:59.000Z

    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  20. SNORKEL PRO-66 DAILY INSPECTION AND MAINTENANCE CHECKLIST

    E-Print Network [OSTI]

    Gelfond, Michael

    (installation, condition) 6 Battery terminals Visually inspect ( corrosion) 7 Battery fluid level Check fluid Oil leaks Visually inspect (hoses, tubes, fittings) 10 Tires Visually inspect (condition) 11 Bolts) 13 Guard rails Visually inspect condition 14 Platform gravity gate Visually inspect (operation) 15

  1. E-Print Network 3.0 - acceleration employing underwater Sample...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Sciences 5 Proceedings of the 2001 IEEE International Conference on Robotics & Automation Summary: -26, 2001 Control of Underwater ManipulatorsMounted on nn ROV Using...

  2. 06Towards Autonomous Robotic Systems Proceedings of

    E-Print Network [OSTI]

    Witkowski, Mark

    to the University of Surrey at Guildford. The TAROS series, now in its 9th year, continues as a premier platformTAROS-06 06Towards Autonomous Robotic Systems Proceedings of Towards Autonomous Robotic Systems. The TAROS series began as the TIMR (Towards Intelligent Mobile Robotics) conferences. The name was changed

  3. Autonomous Helicopter Formation using Model Predictive Control

    E-Print Network [OSTI]

    Sastry, S. Shankar

    Autonomous Helicopter Formation using Model Predictive Control Hoam Chung and S. Shankar Sastry are required to fly in tight formations and under harsh conditions. The starting point for safe autonomous into a formation, so that each vehicle can safely maintain sufficient space between it and all other vehicles

  4. Annual radioactive waste tank inspection program - 1996

    SciTech Connect (OSTI)

    McNatt, F.G.

    1997-04-01T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations processes are contained in large underground carbon steel tanks. Inspections made during 1996 to evaluate these vessels, and evaluations based on data accrued by inspections performed since the tanks were constructed, are the subject of this report.

  5. Annual Radioactive Waste Tank Inspection Program - 1998

    SciTech Connect (OSTI)

    McNatt, F.G.

    1999-10-27T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site separations processes are contained in large underground carbon steel tanks. Inspections made during 1998 to evaluate these vessels and auxiliary appurtenances, along with evaluations based on data accrued by inspections performed since the tanks were constructed, are the subject of this report.

  6. Annual radioactive waste tank inspection program - 1999

    SciTech Connect (OSTI)

    Moore, C.J.

    2000-04-14T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations processes are contained in large underground carbon steel tanks. Inspections made during 1999 to evaluate these vessels and auxiliary appurtenances along with evaluations based on data accrued by inspections performed since the tanks were constructed are the subject of this report.

  7. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM 2009

    SciTech Connect (OSTI)

    West, B.; Waltz, R.

    2010-06-21T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2009 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2009 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per LWO-LWE-2008-00423, HLW Tank Farm Inspection Plan for 2009, were completed. All Ultrasonic measurements (UT) performed in 2009 met the requirements of C-ESG-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 1, and WSRC-TR-2002-00061, Rev.4. UT inspections were performed on Tank 29 and the findings are documented in SRNL-STI-2009-00559, Tank Inspection NDE Results for Fiscal Year 2009, Waste Tank 29. Post chemical cleaning UT measurements were made in Tank 6 and the results are documented in SRNL-STI-2009-00560, Tank Inspection NDE Results Tank 6, Including Summary of Waste Removal Support Activities in Tanks 5 and 6. A total of 6669 photographs were made and 1276 visual and video inspections were performed during 2009. Twenty-Two new leaksites were identified in 2009. The locations of these leaksites are documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.4. Fifteen leaksites at Tank 5 were documented during tank wall/annulus cleaning activities. Five leaksites at Tank 6 were documented during tank wall/annulus cleaning activities. Two new leaksites were identified at Tank 19 during waste removal activities. Previously documented leaksites were reactivated at Tanks 5 and 12 during waste removal activities. Also, a very small amount of additional leakage from a previously identified leaksite at Tank 14 was observed.

  8. Flexible ultrasonic pipe inspection apparatus

    DOE Patents [OSTI]

    Jenkins, Charles F. (Aiken, SC); Howard, Boyd D. (Augusta, GA)

    1998-01-01T23:59:59.000Z

    A flexible, modular ultrasonic pipe inspection apparatus, comprising a flexible, hollow shaft that carries a plurality of modules, including at least one rotatable ultrasonic transducer, a motor/gear unit, and a position/signal encoder. The modules are connected by flexible knuckle joints that allow each module of the apparatus to change its relative orientation with respect to a neighboring module, while the shaft protects electrical wiring from kinking or buckling while the apparatus moves around a tight corner. The apparatus is moved through a pipe by any suitable means, including a tether or drawstring attached to the nose or tail, differential hydraulic pressure, or a pipe pig. The rotational speed of the ultrasonic transducer and the forward velocity of the apparatus are coordinated so that the beam sweeps out the entire interior surface of the pipe, enabling the operator to accurately assess the condition of the pipe wall and determine whether or not leak-prone corrosion damage is present.

  9. Mobile inspection and repackaging unit

    SciTech Connect (OSTI)

    Whitney, G.A.; Roberts, R.J. [Westinghouse Hanford Co., Richland, WA (United States). Solid Waste Disposal Div.

    1993-12-31T23:59:59.000Z

    Storage of large volumes of radioactive mixed waste (RMW) generated over the past 20 years at the Hanford Site has resulted in various waste management challenges. Presently, disposal capacity for RMW does not exist. Containers holding RMW will be stored until processing facilities can be completed to provide treatment and final disposal. Because of the complexity of these wastes, special projects have been initiated to properly manage them. This paper addresses one such project. The goal of this project is to develop a mobile inspection and repackaging unit (IRU) for solid RMW. The paper describes the structural design, equipment, ventilation system, instruments and electrical systems, video monitors and recorders, materials handling, and waste processing of containers.

  10. advanced maintenance inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Hemmers, Oliver 70 NRC INSPECTION MANUAL FSMEDWMEP INSPECTION PROCEDURE 84900 LOW-LEVEL RADIOACTIVE WASTE STORAGE CiteSeer Summary: To determine whether fuel cycle and materials...

  11. administration nep inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Gordon J. 235 NRC INSPECTION MANUAL FSMEDWMEP INSPECTION PROCEDURE 84900 LOW-LEVEL RADIOACTIVE WASTE STORAGE CiteSeer Summary: To determine whether fuel cycle and materials...

  12. automated crack inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    V (NDE). These now cover most aspects of advanced ultrasonic inspection (adding in TOFD), and are specifically aimed at boiler and piping inspections. The three new AUT...

  13. Independent Oversight Inspection, Nevada Test Site, Volume 2...

    Broader source: Energy.gov (indexed) [DOE]

    Volume 2 - September 2004 Independent Oversight Inspection, Nevada Test Site, Volume 2 - September 2004 September 2004 Inspection of Emergency Management at the Nevada Test Site...

  14. Independent Oversight Inspection, Nevada Test Site, Summary Report...

    Broader source: Energy.gov (indexed) [DOE]

    Summary Report - October 2002 Independent Oversight Inspection, Nevada Test Site, Summary Report - October 2002 October 2002 Inspection of Environment, Safety, and Health and...

  15. Promising Inspection Technique for Vehicle Welding Offers Efficient...

    Office of Environmental Management (EM)

    Promising Inspection Technique for Vehicle Welding Offers Efficient Alternative Promising Inspection Technique for Vehicle Welding Offers Efficient Alternative April 22, 2015 -...

  16. UF{sub 6} cylinder inspections at PGDP

    SciTech Connect (OSTI)

    Lamb, G.W.; Whinnery, W.N. [Martin Marietta Energy Systems, Inc., Paducah, KY (United States)

    1991-12-31T23:59:59.000Z

    Routine inspections of all UF{sub 6} cylinders at the Paducah Gaseous Diffusion Plant have been mandated by the Department of Energy. A specific UF{sub 6} cylinder inspection procedure for what items to inspect and training for the operators prior to inspection duty are described. The layout of the cylinder yards and the forms used in the inspections are shown. The large number of cylinders (>30,000) to inspect and the schedule for completion on the mandated time table are discussed. Results of the inspections and the actions to correct the deficiencies are explained. Future inspections and movement of cylinders for relocation of certain cylinder yards are defined.

  17. Guidelines for Engineering, Design, and Inspection Costs - DOE...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    5, Guidelines for Engineering, Design, and Inspection Costs by John Makepeace Functional areas: Construction and Engineering, Project Management Engineering, design, and inspection...

  18. Request for Investigation or Inspection of Safety or Classified...

    Energy Savers [EERE]

    Request for Investigation or Inspection of Safety or Classified Information Security Violations Request for Investigation or Inspection of Safety or Classified Information Security...

  19. Model Based Vehicle Tracking for Autonomous Driving in Urban Environments

    E-Print Network [OSTI]

    Model Based Vehicle Tracking for Autonomous Driving in Urban Environments Anna Petrovskaya environments. This paper describes moving vehicle tracking module that we developed for our autonomous driving in this area. DARPA has organized a series of competitions for autonomous vehicles. In 2005, autonomous

  20. Scheduling of Connected Autonomous Vehicles on Highway Lanes

    E-Print Network [OSTI]

    Scheduling of Connected Autonomous Vehicles on Highway Lanes Jiajun Hu, Linghe Kong, Wei Shu}@sjtu.edu.cn + University of New Mexico, USA, shu@ece.unm.edu Abstract--With recent progress in vehicle autonomous driving autonomous sys- tems. This paper studies lane assignment strategies for connected autonomous vehicles

  1. The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth

    E-Print Network [OSTI]

    Whitcomb, Louis L.

    The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth-- This paper reports an overview of the new Nereus hybrid underwater vehicle and summarizes the vehicle's per hybrid underwater vehicle and summarizes its performance during its first sea trials. Nereus is a novel

  2. Princeton -Weekly Bulletin 06/14/04 -Grants fund research on underwater vehicles, high-tech materials June 14, 2004

    E-Print Network [OSTI]

    Aksay, Ilhan A.

    Princeton - Weekly Bulletin 06/14/04 - Grants fund research on underwater vehicles, high research on underwater vehicles, high- tech materials By Steven Schultz Princeton NJ -- University mobile unmanned networks of underwater sensors and to develop new high-tech materials. The Department

  3. Underwater Unmanned Vehicle Boeing gave us the opportunity to compete against the Electrical Engineering Dept. The competition was

    E-Print Network [OSTI]

    Demirel, Melik C.

    Underwater Unmanned Vehicle Overview Boeing gave us the opportunity to compete against Underwater Unmanned Vehicles. Basically we had to build remote controlled submarines from the ground up. Objectives To design a Underwater Unmanned Vehicle that meets the following Specs: Has an internal Ballast

  4. Autonomous Demand Response for Primary Frequency Regulation

    SciTech Connect (OSTI)

    Donnelly, Matt; Trudnowski, Daniel J.; Mattix, S.; Dagle, Jeffery E.

    2012-02-28T23:59:59.000Z

    The research documented within this report examines the use of autonomous demand response to provide primary frequency response in an interconnected power grid. The work builds on previous studies in several key areas: it uses a large realistic model (i.e., the interconnection of the western United States and Canada); it establishes a set of metrics that can be used to assess the effectiveness of autonomous demand response; and it independently adjusts various parameters associated with using autonomous demand response to assess effectiveness and to examine possible threats or vulnerabilities associated with the technology.

  5. 1202 IEEE TRANSACTIONS ON SIGNAL PROCESSING, VOL. 46, NO. 5, MAY 1998 Classification of Underwater Mammals

    E-Print Network [OSTI]

    Intrator, Nathan

    1202 IEEE TRANSACTIONS ON SIGNAL PROCESSING, VOL. 46, NO. 5, MAY 1998 Classification of Underwater Cooper, Nathan Intrator, and Harel Shouval Abstract--Underwater mammal sound classification is demon and different wavelet representations are stud- ied. The system achieves outstanding classification performance

  6. TOWARDS SONAR BASED PERCEPTION AND MODELLING FOR UNMANNED UNTETHERED UNDERWATER VEHICLES

    E-Print Network [OSTI]

    Garner, Philip N.

    TOWARDS SONAR BASED PERCEPTION AND MODELLING FOR UNMANNED UNTETHERED UNDERWATER VEHICLES B. Steer will be of critical importance in the development of flexible, adaptive and useful unmanned underwater vehicles will be of critical importance in the de- velopment of flexible, adaptive and useful unmanned un- derwater vehicles

  7. A Resilient Routing Algorithm for Long-term Applications in Underwater Sensor Networks

    E-Print Network [OSTI]

    Pompili, Dario

    data collection, pollution moni- toring, offshore exploration, disaster prevention, assisted navigation, and tactical surveillance. Underwater acoustic networking is the enabling technology for these applica- tions of the underwater acoustic channel. A two-phase resilient routing solution for long-term monitoring missions

  8. Oce@Nyd: A new Tailorable Groupware for Digital Media collection for Underwater Virtual Environments

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Oce@Nyd: A new Tailorable Groupware for Digital Media collection for Underwater Virtual architecture devoted to the collection of Digital media for underwater virtual environ- ments. The proposed- ferent digital media (image, video, audio, 3D models, etc.), and on the other hand, certain services can

  9. Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles

    E-Print Network [OSTI]

    Whitcomb, Louis L.

    Architecture & Marine Engineering University of Michigan, Ann Arbor, MI 48109 email: eustice@umich.edu Department of Mechanical Engineering Johns Hopkins University, Baltimore, MD 21218 email: llw [1], [2], on the hull of a surface ship [3], or on sea-ice [4]. With a maximum acoustic range of 5

  10. The efficiency of reverse engineering in the design of the ORCA XI autonomous underwater vehicle by Rachel E. Sharples.

    E-Print Network [OSTI]

    Sharples, Rachel E

    2010-01-01T23:59:59.000Z

    Reverse engineering is the process of determining how a system works to aid duplication, maintenance, or redesign. Applications of reverse engineering include mechanical, electrical, software, and process systems. Although ...

  11. Measuring surface ocean wave height and directional spectra using an Acoustic Doppler Current Profiler from an autonomous underwater vehicle

    E-Print Network [OSTI]

    Haven, Scott

    2012-01-01T23:59:59.000Z

    The Acoustic Doppler Current Profiler (ADCP) is a proven technology which is capable of measuring surface wave height and directional information, however it is generally limited to rigid, bottom mounted applications which ...

  12. Autonomous underwater vehicle (AUV) mapping reveals coral mound distribution, morphology, and oceanography in deep water of the

    E-Print Network [OSTI]

    Alvarez, Pedro J.

    . The AUV technology reveals the oceanographic environ- ment, the morphology of the mounds and their spatial distribution in unprecedented detail. Most importantly, these new data question some of the existing paradigms (Figure 1) during the site survey for Ocean Drilling Program (ODP) Leg 166 [Anselmetti et al., 2000

  13. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM 2010

    SciTech Connect (OSTI)

    West, B.; Waltz, R.

    2011-06-23T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2010 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2010 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per SRR-LWE-2009-00138, HLW Tank Farm Inspection Plan for 2010, were completed. Ultrasonic measurements (UT) performed in 2010 met the requirements of C-ESG-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 3, and WSRC-TR-2002-00061, Rev.6. UT inspections were performed on Tanks 30, 31 and 32 and the findings are documented in SRNL-STI-2010-00533, Tank Inspection NDE Results for Fiscal Year 2010, Waste Tanks 30, 31 and 32. A total of 5824 photographs were made and 1087 visual and video inspections were performed during 2010. Ten new leaksites at Tank 5 were identified in 2010. The locations of these leaksites are documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.5. Ten leaksites at Tank 5 were documented during tank wall/annulus cleaning activities. None of these new leaksites resulted in a release to the environment. The leaksites were documented during wall cleaning activities and the waste nodules associated with the leaksites were washed away. Previously documented leaksites were reactivated at Tank 12 during waste removal activities.

  14. Developments advance subsea pipelaying, inspection, repair

    SciTech Connect (OSTI)

    NONE

    1997-09-15T23:59:59.000Z

    Recent advances in laying, inspecting, and repairing pipelines are helping to cut both costs and time. A new dredging system that employs jets to clear a subsea trench for pipelay received trials off Belgium last spring. Also, within the last year, projects in the Middle East and North Sea employed technologies that promise to make inspecting the surface of a subsea pipeline in difficult terrain easier, less time consuming, and therefore less costly. Plus, subsea repair of damaged pipelines may take less time with a new ``stabbable`` pipe connector. The paper describes jet dredging, inspection advance, support software, the North Sea site, and pipeline repair.

  15. Inspection Report: IG-0383 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection3 Inspection

  16. Inspection Report: IG-0384 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection3 Inspection4

  17. Inspection Report: IG-0401 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection3 Inspection4401

  18. Inspection Report: IG-0442 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection342 Inspection

  19. Inspection Report: IG-0472 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection342 Inspection2

  20. Inspection Report: IG-0477 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection342 Inspection27

  1. Inspection Report: IG-0482 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection342Inspection

  2. Inspection Report: IG-0544 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 InspectionInspection4

  3. Inspection Report: IG-0547 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 InspectionInspection47

  4. Inspection Report: IG-0557 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 InspectionInspection4757

  5. Inspection Report: IG-0636 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection36 Inspection

  6. Inspection Report: IG-0679 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection9 Inspection

  7. Autonomous aerobatic maneuvering of miniature helicopters

    E-Print Network [OSTI]

    Gavrilets, Vladislav, 1975-

    2003-01-01T23:59:59.000Z

    In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature ...

  8. Controlled manipulation using autonomous aerial systems

    E-Print Network [OSTI]

    Srikanth, Manohar B. (Manohar Balagatte)

    2013-01-01T23:59:59.000Z

    The main focus of the thesis is to design and control Autonomous Aerial Systems, also referred to as Unmanned Aerial Vehicles (UAVs). UAVs are able to hover and navigate in space using the thrust forces generated by the ...

  9. Autonomous Thruster Failure Recovery for Underactuated Spacecraft

    E-Print Network [OSTI]

    . Miller September 2010 SSL #13­10 #12;2 #12;Autonomous Thruster Failure Recovery for Underactuated Spacecraft Christopher Masaru Pong, David W. Miller September 2010 SSL #12­11 This work is based

  10. Human inspiration for autonomous vehicle tactics

    E-Print Network [OSTI]

    Beaton, Jonathan Scott

    2006-01-01T23:59:59.000Z

    Tactical control is needed in environments characterized by uncertainty and continuous, dynamic change. Given the likelihood of time constraints and high risks associated with poor tactical choices, current autonomous ...

  11. Autonomous thruster failure recovery for underactuated spacecraft

    E-Print Network [OSTI]

    Pong, Christopher Masaru

    2010-01-01T23:59:59.000Z

    Thruster failures historically account for a large percentage of failures that have occurred on orbit. Therefore, autonomous thruster failure detection, isolation, and recovery (FDIR) is an essential component to any robust ...

  12. Expressive Autonomous Cinematography for Interactive Virtual Environments

    E-Print Network [OSTI]

    Tomlinson, Bill

    Expressive Autonomous Cinematography for Interactive Virtual Environments Bill Tomlinson Synthetic an automatic cinematography system for interactive virtual environments. This system controls a virtual camera this cinematography system with an ethologically-inspired structure of sensors, emotions, motivations, and action

  13. Design of a minimalist autonomous robotic vehicle

    E-Print Network [OSTI]

    Spadafora, Mark (Mark A.)

    2008-01-01T23:59:59.000Z

    The purpose of this thesis is to investigate design alternatives for the creation of a minimalist autonomous robotic vehicle, based on the Ford Escape. The work builds on prior work performed by the MIT DARPA Urban Challenge ...

  14. Online Identification and Stochastic Control for Autonomous

    E-Print Network [OSTI]

    Papalambros, Panos

    Online Identification and Stochastic Control for Autonomous Internal Combustion Engines Andreas A Advanced internal combustion engine technologies have afforded an increase in the number of controllable economy, pollutant emissions, and engine acceleration. In engine use, table values are interpo- lated

  15. Autonomous vehicle control using AI techniques

    SciTech Connect (OSTI)

    Keirsey, D.; Mitchell, J.; Bullock, B.; Nussmeier, T.; Tseng, D.

    1983-11-01T23:59:59.000Z

    A review of early work on a project for developing autonomous vehicle control technology is presented. The primary goal of this effort is the development of a generic capability that can be specialized to a wide range of DOD applications. Project emphasis is on development of the fundamental AI-based technology required by autonomous systems and the implementation of a testbed environment to evaluate and demonstrate the system capabilities. 10 references.

  16. Multiple structure of a laser-induced underwater shock wave

    E-Print Network [OSTI]

    Tagawa, Yoshiyuki; Hayasaka, Keisuke; Kameda, Masaharu

    2015-01-01T23:59:59.000Z

    The structure of a laser-induced underwater shock wave is examined. Plasma formation, shock-wave expansion, and temporal evolution of shock pressure are observed simultaneously using a combined measurement system that obtains high-resolution nanosecond-order image sequences. In contrast to a well-known spherical-shock model, these detailed measurements reveal a non-spherically-symmteric distribution of pressure peak for a wide range of experimental parameters. The structure is determined to be a collection of multiple spherical shocks originated from elongated plasmas.

  17. Corrosion Resistant Cladding by YAG Laser Welding in Underwater Environment

    SciTech Connect (OSTI)

    Tsutomi Kochi; Toshio Kojima; Suemi Hirata; Ichiro Morita; Katsura Ohwaki [Ishikawajima-Harima Heavy Industries Company Ltd., 1 Shin-Nakaharacho, Isogoku, Yokohama 235-8501 (Japan)

    2002-07-01T23:59:59.000Z

    It is known that stress-corrosion cracking (SCC) will occur in nickel-base alloys used in Reactor Pressure Vessel (RPV) and Internals of nuclear power plants. A SCC sensitivity has been evaluated by IHI in each part of RPV and Internals. There are several water level instrumentation nozzles installed in domestic BWR RPV. In water level instrumentation nozzles, 182 type nickel-base alloys were used for the welding joint to RPV. It is estimated the SCC potential is high in this joint because of a higher residual stress than the yield strength (about 400 MPa). This report will describe a preventive maintenance method to these nozzles Heat Affected Zone (HAZ) and welds by a corrosion resistant cladding (CRC) by YAG Laser in underwater environment (without draining a reactor water). There are many kinds of countermeasures for SCC, for example, Induction Heating Stress Improvement (IHSI), Mechanical Stress Improvement Process (MSIP) and so on. A YAG laser CRC is one of them. In this technology a laser beam is used for heat source and irradiated through an optical fiber to a base metal and SCC resistant material is used for welding wires. After cladding the HAZ and welds are coated by the corrosion resistant materials so their surfaces are improved. A CRC by gas tungsten arc welding (GTAW) in an air environment had been developed and already applied to a couple of operating plants (16 Nozzles). This method was of course good but it spent much time to perform because of an installation of some water-proof working boxes to make a TIG-weldability environment. CRC by YAG laser welding in underwater environment has superior features comparing to this conventional TIG method as follows. At the viewpoint of underwater environment, (1) an outage term reduction (no drainage water). (2) a radioactive exposure dose reduction for personnel. At that of YAG laser welding, (1) A narrower HAZ. (2) A smaller distortion. (3) A few cladding layers. A YAG laser CRC test in underwater environment was carried out in the different welding position, horizontal, vertical upward and downward. The soundness of cladding layers (about 3 mm) is confirmed in visual and penetration test, and cross section observation. In the application to the actual plants, it is preferable to reduce the start and end point numbers of beads with which a defect is easy to cause. Therefore a special welding equipment for a YAG laser CRC that could weld continuously was developed. (authors)

  18. Reliability-based optimization of rail inspection

    E-Print Network [OSTI]

    Kashima, Takashi, 1971-

    2004-01-01T23:59:59.000Z

    This thesis proposes a quantitative method to optimize inspection/repair intervention in rail defect management. Rail defect management is important for track maintenance, since rails are the most significant and basic ...

  19. Rocket Slated for Removal Following Inspections

    Broader source: Energy.gov [DOE]

    LAS VEGAS – Nevada Field Office and U.S. Air Force staff conducted inspections of a partially-buried rocket located at a historic testing location on the Tonopah Test Range (TTR) earlier this year.

  20. Distributed PV Permitting and Inspection Processes

    Broader source: Energy.gov [DOE]

    This presentation summarizes case studies of the time and cost involved in the distributed PV permitting and inspection process in three Solar America Cities, Austin, Portland, and Salt Lake City.

  1. Emerging nondestructive inspection methods for aging aircraft

    SciTech Connect (OSTI)

    Beattie, A; Dahlke, L; Gieske, J [and others

    1994-01-01T23:59:59.000Z

    This report identifies and describes emerging nondestructive inspection (NDI) methods that can potentially be used to inspect commercial transport and commuter aircraft for structural damage. The nine categories of emerging NDI techniques are: acoustic emission, x-ray computed tomography, backscatter radiation, reverse geometry x-ray, advanced electromagnetics, including magnetooptic imaging and advanced eddy current techniques, coherent optics, advanced ultrasonics, advanced visual, and infrared thermography. The physical principles, generalized performance characteristics, and typical applications associated with each method are described. In addition, aircraft inspection applications are discussed along with the associated technical considerations. Finally, the status of each technique is presented, with a discussion on when it may be available for use in actual aircraft maintenance programs. It should be noted that this is a companion document to DOT/FAA/CT-91/5, Current Nondestructive Inspection Methods for Aging Aircraft.

  2. Component with inspection-facilitating features

    DOE Patents [OSTI]

    Marra, John J; Zombo, Paul J

    2014-02-11T23:59:59.000Z

    A turbine airfoil can be formed with features to facilitate measurement of its wall thickness. An outer wall of the airfoil can include an outer surface and an inner surface. The outer surface of the airfoil can have an outer inspection target surface, and the inner surface of the airfoil can have an inner inspection target surface. The inner and outer target surfaces can define substantially flat regions in surfaces that are otherwise highly contoured. The inner and outer inspection target surfaces can be substantially aligned with each other. The inner and outer target surfaces can be substantially parallel to each other. As a result of these arrangements, a highly accurate measurement of wall thickness can be obtained. In one embodiment, the outer inspection target surface can be defined by an innermost surface of a groove formed in the outer surface of the outer wall of the airfoil.

  3. Efficient Bayesian sampling inspection for industrial processes

    E-Print Network [OSTI]

    Little, John

    tanks provides a good example of the issues involved. There are many different non-intrusive methods. For more information on these different types of non-intrusive inspection see [Terpstra, ]???. Thousands

  4. Independent Oversight Inspection, Lawrence Livermore National Laboratory- February 2009

    Broader source: Energy.gov [DOE]

    Inspection of Emergency Management at the Livermore Site Office and Lawrence Livermore National Laboratory

  5. Independent Oversight Inspection, Lawrence Livermore National Laboratory- May 2007

    Broader source: Energy.gov [DOE]

    Inspection of Environment, Safety, and Health Programs at the Lawrence Livermore National Laboratory

  6. Independent Oversight Inspection, Lawrence Livermore National Laboratory- June 2005

    Broader source: Energy.gov [DOE]

    Inspection of Emergency Management at the Livermore Site Office and Lawrence Livermore National Laboratory

  7. Independent Oversight Inspection, Thomas Jefferson National Accelerator Facility- August 2008

    Broader source: Energy.gov [DOE]

    Inspection of Environment, Safety and Health Programs at the Thomas Jefferson National Accelerator Facility

  8. Independent Oversight Inspection, Idaho National Laboratory- August 2007

    Broader source: Energy.gov [DOE]

    Inspection of Environment, Safety, and Health Programs at the Idaho National Laboratory's Materials and Fuels Complex

  9. Independent Oversight Inspection, Savannah River Site, Summary Report- February 2004

    Broader source: Energy.gov [DOE]

    Inspection of Environment, Safety, and Health Management and Emergency Management at the Savannah River Site

  10. Inspection of lithographic mask blanks for defects

    DOE Patents [OSTI]

    Sommargren, Gary E. (Santa Cruz, CA)

    2001-01-01T23:59:59.000Z

    A visible light method for detecting sub-100 nm size defects on mask blanks used for lithography. By using optical heterodyne techniques, detection of the scattered light can be significantly enhanced as compared to standard intensity detection methods. The invention is useful in the inspection of super-polished surfaces for isolated surface defects or particulate contamination and in the inspection of lithographic mask or reticle blanks for surface defects or bulk defects or for surface particulate contamination.

  11. Neutron Interrogation System For Underwater Threat Detection And Identification

    SciTech Connect (OSTI)

    Barzilov, Alexander P.; Novikov, Ivan S.; Womble, Phil C. [Department of Physics and Astronomy, Western Kentucky University, 1906 College Heights Blvd, 11077 Bowling Green, KY 42101 (United States)

    2009-03-10T23:59:59.000Z

    Wartime and terrorist activities, training and munitions testing, dumping and accidents have generated significant munitions contamination in the coastal and inland waters in the United States and abroad. Although current methods provide information about the existence of the anomaly (for instance, metal objects) in the sea bottom, they fail to identify the nature of the found objects. Field experience indicates that often in excess of 90% of objects excavated during the course of munitions clean up are found to be non-hazardous items (false alarm). The technology to detect and identify waterborne or underwater threats is also vital for protection of critical infrastructures (ports, dams, locks, refineries, and LNG/LPG). We are proposing a compact neutron interrogation system, which will be used to confirm possible threats by determining the chemical composition of the suspicious underwater object. The system consists of an electronic d-T 14-MeV neutron generator, a gamma detector to detect the gamma signal from the irradiated object and a data acquisition system. The detected signal then is analyzed to quantify the chemical elements of interest and to identify explosives or chemical warfare agents.

  12. Underwater nuclear power plants: improved safety, environmental compatibility and efficiency

    SciTech Connect (OSTI)

    Galustov, K.Z.; Abadjyan, K.A.; Pavlov, A.B.

    1991-01-01T23:59:59.000Z

    The further development of nuclear power engineering depends on the creation of a new generation of nuclear power plant (NPP) projects that have a high degree of safety. Decisions ensuring secure NPP exploitation must be based on the possibility of eliminating or localizing accidents. Using environmental properties to achieve secure NPP exploitation and accident elimination leads to suggest the construction of NPPs in water. An efficient way to provide energy to remote coastal areas is through use of floatable construction of prefabricated units. Floatable construction raises the quality of works, reduces expenditures on industrial facilities, and facilities building conditions in districts with extreme climatic conditions. A type of NPP that is situated on a shelf with the reactor compartment placed at the sea bottom is proposed. The underwater location of the reactor compartment on the fixed depth allows the natural water environment conditions of natural hydrostatic pressure, heat transfer and circulation to provide NPP safety. An example of new concept for power units with under-water localization of the reactor compartment is provided by the double-block NPP in a VVER reactor.

  13. Artificial Fishes: Autonomous Locomotion, Perception, Behavior, and Learning

    E-Print Network [OSTI]

    Toronto, University of

    1 Artificial Fishes: Autonomous Locomotion, Perception, Behavior, and Learning in a Simulated inhabited by realistic artificial fishes. Our algorithms emulate not only the appearance, movement model each animal holistically. An artificial fish is an autonomous agent situated in a simulated

  14. Autonomous Docking of a Smart Wheelchair for the

    E-Print Network [OSTI]

    Spletzer, John R.

    utility vehicle. At the core of ATRS is a "smart" wheelchair sys- tem that autonomously navigates between tank, fuel system, and heating/ cooling systems of the vehicle (Wood, 2004). While enabling independent· · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · Autonomous Docking of a Smart

  15. Exchanging Action-related Information among Autonomous Robots

    E-Print Network [OSTI]

    Exchanging Action-related Information among Autonomous Robots Moritz Tenorth and Michael Beetz Intelligent Autonomous Systems Group Department of Informatics, Technische Universit¨at M¨unchen {tenorth,beetz

  16. Rex 2 : design, construction, and operation of an unmanned underwater vehicle

    E-Print Network [OSTI]

    Owens, Dylan

    2009-01-01T23:59:59.000Z

    The practical usage of unmanned underwater vehicles (UUVs) is limited by vehicle and operation cost, difficulty in accurate navigation, and communication between the vehicle and operator. The "Rex 2" UUV employs a system ...

  17. Aquatecture : underwater dwellings and sea born structures as paradigms of design

    E-Print Network [OSTI]

    Guillermo, Ricardo

    1982-01-01T23:59:59.000Z

    There are many reasons for undertaking a work such as this. Among them are the benefits offered to society when we acknowledge the potential of submersible structures, The provision of habitable underwater space remains ...

  18. 13.49 Maneuvering and Control of Surface and Underwater Vehicles, Fall 2004

    E-Print Network [OSTI]

    Triantafyllou, Michael S.

    Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and ...

  19. Development of a porous piezoresistive material and its applications to underwater pressure sensors and tactile sensors

    E-Print Network [OSTI]

    Woo, Mun Ee

    2013-01-01T23:59:59.000Z

    MEMS (Microelectromechanical System) pressure sensor arrays are gaining attention in the field of underwater navigation because they are seen as alternatives to current sonar and vision-based systems that fail to navigate ...

  20. Field Test Experience of an Underwater Wireless Network in the Atlantic Ocean

    E-Print Network [OSTI]

    Zhou, Shengli

    collecting, marine surveillance and pollution detection [1]-[4]. However, due to the unique characteristics.e. a Teledyne Benthos underwater acoustic modem [6]). Fig. l. Deployment area On the software side, we use Aqua

  1. For the Wiley Encyclopedia of Electrical and Electronics Engineering Underwater Acoustic Communication

    E-Print Network [OSTI]

    Stojanovic, Milica

    For the Wiley Encyclopedia of Electrical and Electronics Engineering Underwater Acoustic, MA 02115 Keywords: acoustic communications coherent equalization channel estimation multi- path communications exists in applications such as remote control in o -shore oil industry, pollution monitoring

  2. Development and validation of a conceptual design program for unmanned underwater vehicles

    E-Print Network [OSTI]

    Laun, Alexander Walter, Ensign

    2013-01-01T23:59:59.000Z

    With a renewed focus on the Asia-Pacific region, the United States Navy will increasingly rely on high-endurance unmanned underwater vehicles (UUVs) to support successful operations in a challenging threat environment. ...

  3. Mechanical design of a contra-rotating propeller assembly for a small underwater ROV

    E-Print Network [OSTI]

    Stefanov-Wagner, Thaddeus (Thaddeus J.)

    2006-01-01T23:59:59.000Z

    A project was undertaken to design and build a contra-rotating propeller assembly for a small underwater remotely operated vehicle (ROV), with the intent of commissioning a production run at a later time. The desired ...

  4. 13.49 Maneuvering and Control of Surface and Underwater Vehicles, Fall 2000

    E-Print Network [OSTI]

    Triantafyllou, Michael S.

    Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and ...

  5. Greedy Path Planning for Maximizing Value of Information in Underwater Sensor Networks

    E-Print Network [OSTI]

    Turgut, Damla

    heritage sites, environmental monitoring (for oil spills or carbon dioxide leaks) and studies of marine to the transmission properties in the underwater environment. Radio waves propagate only for short distances under

  6. Applications of Probabilistic Graphical Models to Diagnosis and Control of Autonomous Vehicles

    E-Print Network [OSTI]

    the performancesof unmanned underwater vehicles were identified in terms of safety for the system itself as well problems of di- agnosis and control of ground and underwater robotic vehicles. In particular, we describe how battery monitoring and control problems related to an underwater and a ground vehicle are solved

  7. Multi-level scanning method for defect inspection

    DOE Patents [OSTI]

    Bokor, Jeffrey (Oakland, CA); Jeong, Seongtae (Richmond, CA)

    2002-01-01T23:59:59.000Z

    A method for performing scanned defect inspection of a collection of contiguous areas using a specified false-alarm-rate and capture-rate within an inspection system that has characteristic seek times between inspection locations. The multi-stage method involves setting an increased false-alarm-rate for a first stage of scanning, wherein subsequent stages of scanning inspect only the detected areas of probable defects at lowered values for the false-alarm-rate. For scanning inspection operations wherein the seek time and area uncertainty is favorable, the method can substantially increase inspection throughput.

  8. Automated Spot Weld Inspection using Infrared Thermography

    SciTech Connect (OSTI)

    Chen, Jian [ORNL] [ORNL; Zhang, Wei [ORNL] [ORNL; Yu, Zhenzhen [ORNL] [ORNL; Feng, Zhili [ORNL] [ORNL

    2012-01-01T23:59:59.000Z

    An automated non-contact and non-destructive resistance spot weld inspection system based on infrared (IR) thermography was developed for post-weld applications. During inspection, a weld coupon was heated up by an auxiliary induction heating device from one side of the weld, while the resulting thermal waves on the other side were observed by an IR camera. The IR images were analyzed to extract a thermal signature based on normalized heating time, which was then quantitatively correlated to the spot weld nugget size. The use of normalized instead of absolute IR intensity was found to be useful in minimizing the sensitivity to the unknown surface conditions and environment interference. Application of the IR-based inspection system to different advanced high strength steels, thickness gauges and coatings were discussed.

  9. Resonant frequency method for bearing ball inspection

    DOE Patents [OSTI]

    Khuri-Yakub, B.T.; Chungkao Hsieh.

    1993-11-02T23:59:59.000Z

    The present invention provides for an inspection system and method for detecting defects in test objects which includes means for generating expansion inducing energy focused upon the test object at a first location, such expansion being allowed to contract, thereby causing pressure wave within and on the surface of the test object. Such expansion inducing energy may be provided by, for example, a laser beam or ultrasonic energy. At a second location, the amplitudes and phases of the acoustic waves are detected and the resonant frequencies' quality factors are calculated and compared to predetermined quality factor data, such comparison providing information of whether the test object contains a defect. The inspection system and method also includes means for mounting the bearing ball for inspection. 5 figures.

  10. Contoured Surface Eddy Current Inspection System

    DOE Patents [OSTI]

    Batzinger, Thomas James (Burnt Hills, NY); Fulton, James Paul (Clifton Park, NY); Rose, Curtis Wayne (Mechanicville, NY); Perocchi, Lee Cranford (Schenectady, NY)

    2003-04-08T23:59:59.000Z

    Eddy current inspection of a contoured surface of a workpiece is performed by forming a backing piece of flexible, resiliently yieldable material with a contoured exterior surface conforming in shape to the workpiece contoured surface. The backing piece is preferably cast in place so as to conform to the workpiece contoured surface. A flexible eddy current array probe is attached to the contoured exterior surface of the backing piece such that the probe faces the contoured surface of the workpiece to be inspected when the backing piece is disposed adjacent to the workpiece. The backing piece is then expanded volumetrically by inserting at least one shim into a slot in the backing piece to provide sufficient contact pressure between the probe and the workpiece contoured surface to enable the inspection of the workpiece contoured surface to be performed.

  11. X-ray radiography for container inspection

    DOE Patents [OSTI]

    Katz, Jonathan I. (Clayton, MO); Morris, Christopher L. (Los Alamos, NM)

    2011-06-07T23:59:59.000Z

    Arrangements of X-ray inspection systems are described for inspecting high-z materials in voluminous objects such as containers. Inspection methods may involve generating a radiographic image based on detected attenuation corresponding to a pulsed beams of radiation transmitted through a voluminous object. The pulsed beams of radiation are generated by a high-energy source and transmitted substantially downward along an incident angle, of approximately 1.degree. to 30.degree., to a vertical axis extending through the voluminous object. The generated radiographic image may be analyzed to detect on localized high attenuation representative of high-z materials and to discriminate high-z materials from lower and intermediate-z materials on the basis of the high density and greater attenuation of high-z material for higher energy (3-10 MeV) X-rays, and the compact nature of threatening masses of fissionable materials.

  12. BASELINE UT MEASUREMENTS FOR ARMOR INSPECTION

    SciTech Connect (OSTI)

    Margetan, Frank J.; Richter, Nate; Barnard, Dan; Hsu, David; Gray, Tim; Brasche, Lisa; Bruce Thompson, R. [Center for Nondestructive Evaluation, Iowa State University, Ames, IA 50011 (United States)

    2010-02-22T23:59:59.000Z

    Some prototype armor panels are fabricated from several layers of dissimilar material bonded together. These may include ceramics, graphite composites, fiberglass composites and rubber. The ultrasonic properties of these layers influence inspections for armor defects. In this paper we describe measurements of ultrasonic velocity, attenuation, sound beam distortion and signal fluctuations for the individual layers comprising one armor prototype. We then discuss how knowledge of these properties can be used when choosing an optimum frequency for an ultrasonic pitch/catch immersion inspection. In our case an effective inspection frequency near 1.5 MHz affords: (1) adequate strength of through-transmitted signals in unflawed armor; (2) adequate lateral resolution for detecting small disbonds at interfaces; and (3) low levels of UT signal fluctuations due to the natural inhomogeneity of certain armor layers. The utility of this approach is demonstrated using armor panels containing artificial disbonds at selected interfaces.

  13. MACS as a tool for international inspections

    SciTech Connect (OSTI)

    Curtiss, J.A.; Indusi, J.P.

    1995-08-01T23:59:59.000Z

    The MACS/ACRS (Managed Access by Controlled Sensing/Access by Controlled Remote Sensing) system is a collection of communication devices, video capability, and distance-measuring equipment which can effectively substitute for the physical presence of a challenge inspector within a facility. The MACS design allows growth of the prototype, developed in response to the Chemical Weapons Convention (CWC), into a versatile device for inspection of sensitive nuclear facilities under other international arrangements, for example the proposed Fissile Material Cutoff Convention. A MACS/ACRS-type system in a standard, international-recognized configuration could resolve sensitive information and safety concerns through providing a means of achieving the goals of an inspection while excluding the inspector. We believe the technology used to develop MACS for the Defense Nuclear Agency, followed by ACRS for the Department of Energy, is universally adaptable for minimally-intrusive managed-access international inspections of sensitive sites.

  14. Annual radioactive waste tank inspection program -- 1993

    SciTech Connect (OSTI)

    McNatt, F.G. Sr.

    1994-05-01T23:59:59.000Z

    Aqueous radioactive wastes from Savannah River Site (SRS) separations processes are contained in large underground carbon steel tanks. Inspections made during 1993 to evaluate these vessels, and evaluations based on data accrued by inspections made since the tanks were constructed, are the subject of this report. The 1993 inspection program revealed that the condition of the Savannah River Site waste tanks had not changed significantly from that reported in the previous annual report. No new leaksites were observed. No evidence of corrosion or materials degradation was observed in the waste tanks. However, degradation was observed on covers of the concrete encasements for the out-of-service transfer lines to Tanks 1 through 8.

  15. A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways

    E-Print Network [OSTI]

    Girault, Alain

    A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways Alain Girault a aInria Rh of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do not commu- nicate with each other nor with the infrastructure. Two problems have to be dealt with: a vehicle

  16. Visual Control of an Autonomous Indoor Robotic Blimp

    E-Print Network [OSTI]

    Fisher, Bob

    in this chapter. Autonomous aerial vehicles have been an attractive platform for a wide range of applications, especially since they don't have the terrain limitations the autonomous ground vehicles face. They have been kind of autonomous aerial vehicles; they are wingless and have the ability to hover. This makes them

  17. Applications of HUGIN to Diagnosis and Control of Autonomous Vehicles

    E-Print Network [OSTI]

    Applications of HUGIN to Diagnosis and Control of Autonomous Vehicles Anders L. Madsen1 and Uffe B of HUGIN to solve problems related to diag- nosis and control of autonomous vehicles. The application of diagnosis and con- trol of autonomous vehicles. Based on the HUGIN tool, limited memory influence diagrams

  18. Planar Spline Trajectory Following for an Autonomous Helicopter

    E-Print Network [OSTI]

    Sukhatme, Gaurav S.

    in Section 5. 2. Helicopter Platform 2.1. Hardware The AVATAR (Autonomous Vehicle Aerial Track- ing (Autonomous Vehicle Aerial Tracking And Reconnaissance) in flight. #12;Planar Spline Trajectory FollowingPlanar Spline Trajectory Following for an Autonomous Helicopter Kale Harbick, James F. Montgomery

  19. Oil/gas collector/separator for underwater oil leaks

    DOE Patents [OSTI]

    Henning, Carl D. (Livermore, CA)

    1993-01-01T23:59:59.000Z

    An oil/gas collector/separator for recovery of oil leaking, for example, from an offshore or underwater oil well. The separator is floated over the point of the leak and tethered in place so as to receive oil/gas floating, or forced under pressure, toward the water surface from either a broken or leaking oil well casing, line, or sunken ship. The separator is provided with a downwardly extending skirt to contain the oil/gas which floats or is forced upward into a dome wherein the gas is separated from the oil/water, with the gas being flared (burned) at the top of the dome, and the oil is separated from water and pumped to a point of use. Since the density of oil is less than that of water it can be easily separated from any water entering the dome.

  20. Inspection Report: IG-0455 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection55 Inspection

  1. Inspection Report: IG-0477 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection55 Inspection77

  2. Inspection Report: IG-0488 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection55488 Inspection

  3. Inspection Report: IG-0531 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection554881 Inspection

  4. Inspection Report: IG-0533 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection554881 Inspection3

  5. Inspection Report: IG-0578 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric8 Inspection5548818 Inspection

  6. Inspection Report: IG-0742 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric803 Inspection742 Inspection

  7. Inspection Report: IG-0746 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric803 Inspection742 Inspection46

  8. Inspection Report: IG-0778 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric803 Inspection7428 Inspection

  9. Inspection Report: IG-0796 | Department of Energy

    Energy Savers [EERE]

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page onYou are now leaving Energy.gov You are now leaving Energy.gov You are being directed off Energy.gov.Energy02.pdf7 OPAMEnergy Innovation in Electric803 Inspection74286 Inspection

  10. Inspection Summary Report | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels Data Center Home Page onYouTube YouTube Note: Since the.pdfBreaking of BlytheDepartment ofEnergy1 Inspection12-01Summary Report Inspection

  11. Inspection Report: IG-0533 | Department of Energy

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEthe RankingReformManagerInspection Report:Inspection Report:

  12. Inspection Report: IG-0536 | Department of Energy

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEthe RankingReformManagerInspection Report:Inspection

  13. Inspection Summary Report | Department of Energy

    Office of Environmental Management (EM)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742 33Frequently Asked Questions for DOEtheInspection Report: INS-O-15-01 InspectionSummary Report

  14. Inspection Report: IG-0367 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection Report: IG-0367

  15. Inspection Report: IG-0369 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection Report:

  16. Inspection Report: IG-0378 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection

  17. Inspection Report: IG-0438 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection3

  18. Inspection Report: IG-0480 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7 Inspection342

  19. Inspection Report: IG-0492 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 Inspection Report:

  20. Inspection Report: IG-0497 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 Inspection Report:7

  1. Inspection Report: IG-0506 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 Inspection Report:706

  2. Inspection Report: IG-0517 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 Inspection Report:70617

  3. Inspection Report: IG-0531 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72 Inspection

  4. Inspection Report: IG-0585 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:

  5. Inspection Report: IG-0591 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:1

  6. Inspection Report: IG-0592 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:12

  7. Inspection Report: IG-0593 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:123

  8. Inspection Report: IG-0594 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:1234

  9. Inspection Report: IG-0597 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection Report:12347

  10. Inspection Report: IG-0615 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection

  11. Inspection Report: IG-0645 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection36

  12. Inspection Report: IG-0650 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection360

  13. Inspection Report: IG-0654 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection3604

  14. Inspection Report: IG-0656 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection36046

  15. Inspection Report: IG-0658 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection7285 Inspection360468

  16. Inspection Report: IG-0663 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection Report:

  17. Inspection Report: IG-0668 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection Report:8

  18. Inspection Report: IG-0671 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection Report:871

  19. Inspection Report: IG-0674 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection Report:8714

  20. Inspection Report: IG-0677 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection

  1. Inspection Report: IG-0681 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection9

  2. Inspection Report: IG-0682 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection92

  3. Inspection Report: IG-0687 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection927

  4. Inspection Report: IG-0691 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection9271

  5. Inspection Report: IG-0693 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection92713

  6. Inspection Report: IG-0694 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection927134

  7. Inspection Report: IG-0695 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection9271345

  8. Inspection Report: IG-0715 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection92713455

  9. Inspection Report: IG-0716 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection927134556

  10. Inspection Report: IG-0717 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection9271345567

  11. Inspection Report: IG-0719 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection92713455679

  12. Inspection Report: IG-0722 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853 Inspection927134556792

  13. Inspection Report: IG-0724 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection728534 Inspection Report:

  14. Inspection Report: IG-0731 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection728534 Inspection Report:1

  15. Inspection Report: IG-0732 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection728534 Inspection Report:12

  16. Inspection Report: IG-0734 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection728534 Inspection Report:124

  17. Inspection Report: IG-0735 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection728534 Inspection

  18. Inspection Report: IG-0785 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection Report:

  19. Inspection Report: IG-0790 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection

  20. Inspection Report: IG-0794 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection4

  1. Inspection Report: IG-0809 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection409

  2. Inspection Report: IG-0833 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection40933

  3. Inspection Report: IG-0852 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection4093352

  4. Inspection Report: IG-0859 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485 Inspection40933529

  5. Inspection Report: INS-9502 | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative Fuels Data Center Home Page on Google Bookmark EERE: Alternative Fuels DataDepartment of Energy Your Density Isn't YourTransport(FactDepartment of Energy Investing for3 Inspection72853485Inspection Report:

  6. Robotany : autonomous vehicles that care for houseplants

    E-Print Network [OSTI]

    Cinnamon, Sara Elizabeth, 1979-

    2004-01-01T23:59:59.000Z

    Robotany is a system of autonomous robots that act on behalf of houseplants that rest on top of their chassis. Their duty is to do what plants would if they had the gift of mobility - namely to seek out sunlight or water ...

  7. Steering Behaviors for Autonomous Cameras Quentin Galvane

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    . The system relies on Reynolds' model of steering behaviors to control and locally coordinate a col- lection and Realism--Animation; Keywords: camera control, boids, steering behavior 1 Introduction Crowd simulationsSteering Behaviors for Autonomous Cameras Quentin Galvane INRIA / LJK, Grenoble, France Marc

  8. HEADLAND TURNING CONTROL METHOD SIMULATION OF AUTONOMOUS

    E-Print Network [OSTI]

    Nagasaka et al., 2004). This method could minimize the headland space but makes steering controlHEADLAND TURNING CONTROL METHOD SIMULATION OF AUTONOMOUS AGRICULTRUAL MACHINE BASED ON IMPROVED PURE PURSUIT MODEL Peichen Huang1 , Xiwen Luo 2,* , Zhigang Zhang 3 Key Laboratory of Key Technology

  9. Autonomous biomorphic robots as platforms for sensors

    SciTech Connect (OSTI)

    Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

    1996-10-01T23:59:59.000Z

    The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

  10. Achieving Autonomous Power Management Using Reinforcement Learning

    E-Print Network [OSTI]

    Qiu, Qinru

    24 Achieving Autonomous Power Management Using Reinforcement Learning HAO SHEN, Syracuse University University System level power management must consider the uncertainty and variability that come from the environ- ment, the application and the hardware. A robust power management technique must be able to learn

  11. The Utility of Pollination for Autonomic Computing

    E-Print Network [OSTI]

    Bauer, Bernhard

    transporting fresh meals and drinks, service cars taking cabin crews to their aircrafts, or fueling vehiclesThe Utility of Pollination for Autonomic Computing Holger Kasinger and Bernhard Bauer University disturbances, e. g. absent ground vehicles, accidents on the apron, delayed or different typed aircrafts

  12. SNL Researchers Assess Wind Turbine Blade Inspection and Repair...

    Office of Environmental Management (EM)

    Researchers Assess Wind Turbine Blade Inspection and Repair Methods SNL Researchers Assess Wind Turbine Blade Inspection and Repair Methods May 18, 2015 - 5:32pm Addthis A picture...

  13. authorization declaration inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    2014-02-10 479 NRC INSPECTION MANUAL FSMEDWMEP INSPECTION PROCEDURE 84900 LOW-LEVEL RADIOACTIVE WASTE STORAGE CiteSeer Summary: To determine whether fuel cycle and materials...

  14. Methods and apparatus for multi-parameter acoustic signature inspection

    DOE Patents [OSTI]

    Diaz, Aaron A. (Richland, WA); Samuel, Todd J. (Pasco, WA); Valencia, Juan D. (Kennewick, WA); Gervais, Kevin L. (Richland, WA); Tucker, Brian J. (Pasco, WA); Kirihara, Leslie J. (Richland, WA); Skorpik, James R. (Kennewick, WA); Reid, Larry D. (Benton City, WA); Munley, John T. (Benton City, WA); Pappas, Richard A. (Richland, WA); Wright, Bob W. (West Richland, WA); Panetta, Paul D. (Richland, WA); Thompson, Jason S. (Richland, WA)

    2007-07-24T23:59:59.000Z

    A multiparameter acoustic signature inspection device and method are described for non-invasive inspection of containers. Dual acoustic signatures discriminate between various fluids and materials for identification of the same.

  15. Serpentine Robots for Industrial Inspection and Surveillance

    E-Print Network [OSTI]

    Borenstein, Johann

    the successful traverse of the shown obstacle. Fig. 1. The OmniTread Model OT-4 serpen- tine robot enteringSerpentine Robots for Industrial Inspection and Surveillance Grzegorz Granosik1, Johann Borenstein2 in common: small- sized mobile robots that can travel across the rubble of a collapsed building, squeeze

  16. Western University Nuclear Radiation Safety Inspection Checklist

    E-Print Network [OSTI]

    Sinnamon, Gordon J.

    May 2012 Western University Nuclear Radiation Safety Inspection Checklist Permit Holder to nuclear substances or radiation devices is restricted to authorized radiation users listed on the permit radiation labs whenever unsealed nuclear substances are used in these designated locations. 1.7(d

  17. Analysis of inservice inspection relief requests

    SciTech Connect (OSTI)

    Aldrich, D.A.; Cook, J.F.

    1989-08-01T23:59:59.000Z

    Nuclear Regulatory Commission (NRC) regulations require inspection (ISI) of boiling or pressurized water-cooled nuclear power plants be performed in accordance with a referenced edition and addenda of Section XI, ``Rules for Inservice Inspection of Nuclear Power Plant components,`` of the American Society of Mechanical Engineers (ASME) Boiler and Pressure Vessel Code. The regulations permit licensees to request relief from the NRC from specific ASME Code requirements that are determined to be impractical for the specific licensee. The NRC evaluates these requests and may grant such relief, but the NRC may also impose alternative or augmented inspections to assure structural reliability. The purpose,of this task was to evaluate the basis for ISI nondestructive examination (NDE) relief requests and to evaluate the effect of proposed ASME Code changes that would reduce the need for such requests or provide for more complete information in relief requests. This report contains the results of an analysis of an ISI relief request data base that has been expanded to include 1195 ISI relief requests versus the 296 relief requests covered in the first report in April 1987, EGG-SD-7430. Also relief requests were added to the data base which came from both first and second 10-year inspection intervals for several facilities. This provided the means to analyze the effect of recently approved ASME Code cases and updated Code requirements, some of which have been published as a result of earlier work on this task.

  18. Explosion proof vehicle for tank inspection

    DOE Patents [OSTI]

    Zollinger, William T. (Idaho Falls, ID); Klingler, Kerry M. (Idaho Falls, ID); Bauer, Scott G. (Idaho Falls, ID)

    2012-02-28T23:59:59.000Z

    An Explosion Proof Vehicle (EPV) having an interior substantially filled with an inert fluid creating an interior pressure greater than the exterior pressure. One or more flexible tubes provide the inert fluid and one or more electrical conductors from a control system to the vehicle. The vehicle is preferably used in subsurface tank inspection, whereby the vehicle is submerged in a volatile fluid.

  19. Field Inspection Guidelines for PV Systems

    Broader source: Energy.gov [DOE]

    This 2010 update to the 2006 edition consolidates the most import aspects of a field inspection into a simple process that can be performed in as little as 15 minutes. Explanations and illustrative pictures are included to instruct the inspector on the specific details of each step.

  20. Guidance for performing site inspections under CERCLA

    SciTech Connect (OSTI)

    Not Available

    1992-09-01T23:59:59.000Z

    This guidance presents EPA`s site inspection (SI) strategy. The strategy discusses procedural guidelines to investigate potential Superfund (CERCLA) sites for evaluation pursuant to the Hazard Ranking System (HRS), revised in accordance with the Superfund Amendments and Reauthorization Act of 1986. The HRS is the primary means by which EPA evaluates sites for superfund`s National Priorities List (NPL).

  1. Electronic Out-fall Inspection Application - 12007

    SciTech Connect (OSTI)

    Weymouth, A Kent III; Pham, Minh; Messick, Chuck [Savannah River Nuclear Solutions, Aiken, South Carolina 29808 (United States)

    2012-07-01T23:59:59.000Z

    In early 2009 an exciting opportunity was presented to the Geographic Information Systems (GIS) team at the Savannah River Site (SRS). The SRS maintenance group was directed to maintain all Out-falls on Site, increasing their workload from 75 to 183 out-falls with no additional resources. The existing out-fall inspection system consisted of inspections performed manually and documented via paper trail. The inspections were closed out upon completion of activities and placed in file cabinets with no central location for tracking/trending maintenance activities. A platform for meeting new improvements required for documentation by the Department of Health and Environmental Control (DHEC) out-fall permits was needed to replace this current system that had been in place since the 1980's. This was accomplished by building a geographically aware electronic application that improved reliability of site out-fall maintenance and ensured consistent standards were maintained for environmental excellence and worker efficiency. Inspections are now performed via tablet and uploaded to a central point. Work orders are completed and closed either in the field using tablets (mobile application) or in their offices (via web portal) using PCs. And finally completed work orders are now stored in a central database allowing trending of maintenance activities. (authors)

  2. Electrical Inspection in the PHYSICS Division

    E-Print Network [OSTI]

    Kemner, Ken

    recognized Nationally Recognized Testing Laboratory (NRTL) do not need to be inspected. Examples Technologies). #12;4 Examples of NRTL Markings #12;5 Equipment Considered Non-hazardous For 60 Hz AC, has no identified markings from any of the NRTL labs appearing on the OSHA list, the equipment

  3. 241-AY-102 Leak Detection Pit Drain Line Inspection Report

    SciTech Connect (OSTI)

    Boomer, Kayle D. [Washington River Protection Solutions, LLC (United States); Engeman, Jason K. [Washington River Protection Solutions, LLC (United States); Gunter, Jason R. [Washington River Protection Solutions, LLC (United States); Joslyn, Cameron C. [Washington River Protection Solutions, LLC (United States); Vazquez, Brandon J. [Washington River Protection Solutions, LLC (United States); Venetz, Theodore J. [Washington River Protection Solutions, LLC (United States); Garfield, John S. [AEM Consulting (United States)

    2014-01-20T23:59:59.000Z

    This document provides a description of the design components, operational approach, and results from the Tank AY-102 leak detection pit drain piping visual inspection. To perform this inspection a custom robotic crawler with a deployment device was designed, built, and operated by IHI Southwest Technologies, Inc. for WRPS to inspect the 6-inch leak detection pit drain line.

  4. Optimal allocation of International Atomic Energy Agency inspection resources

    SciTech Connect (OSTI)

    Markin, J.T.

    1987-12-01T23:59:59.000Z

    The Safeguards Department of the International Atomic Energy Agency (IAEA) conducts inspections to assure the peaceful use of a state's nuclear materials and facilities. Because of limited resources for conducting inspections, the careful disposition of inspection effort among these facilities is essential if the IAEA is to attain its safeguards goals. This report describes an optimization procedure for assigning an inspection effort to maximize attainment of IAEA goals. The procedure does not require quantitative estimates of safeguards effectiveness, material value, or facility importance. Instead, the optimization is based on qualitative, relative prioritizations of inspection activities and materials to be safeguarded. This allocation framework is applicable to an arbitrary group of facilities such as a state's fuel cycle, the facilities inspected by an operations division, or all of the facilities inspected by the IAEA.

  5. International Journal of Systems Science, 1999, volume 30, number 9, pages 939 946 Global attitude/position regulation for underwater vehicles

    E-Print Network [OSTI]

    Krstic, Miroslav

    controller is designed for a 6 DOF model of an unmanned underwater vehicle (UUV) which includes both/position regulation for underwater vehicles DEJAN M. BOSÆKOVICÂ ² and MIROSLAV KRSTICí² In this paper a nonlinear underwater vehicles (UUVs) is an area of growing interest due to their ability to operate at depths

  6. An Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

    SciTech Connect (OSTI)

    Ren, Huiying; Halvorsen, Michele B.; Deng, Zhiqun; Carlson, Thomas J.

    2012-05-31T23:59:59.000Z

    Fishes and other marine mammals suffer a range of potential effects from intense sound sources generated by anthropogenic underwater processes such as pile driving, shipping, sonars, and underwater blasting. Several underwater sound recording devices (USR) were built to monitor the acoustic sound pressure waves generated by those anthropogenic underwater activities, so the relevant processing software becomes indispensable for analyzing the audio files recorded by these USRs. However, existing software packages did not meet performance and flexibility requirements. In this paper, we provide a detailed description of a new software package, named Aquatic Acoustic Metrics Interface (AAMI), which is a Graphical User Interface (GUI) designed for underwater sound monitoring and analysis. In addition to the general functions, such as loading and editing audio files recorded by USRs, the software can compute a series of acoustic metrics in physical units, monitor the sound's influence on fish hearing according to audiograms from different species of fishes and marine mammals, and batch process the sound files. The detailed applications of the software AAMI will be discussed along with several test case scenarios to illustrate its functionality.

  7. The 345 kV underground/underwater Long Island Sound cable project

    SciTech Connect (OSTI)

    Grzan, J.; Hahn, E.I. (New York Power Authority, White Plains, NY (United States)); Casalaina, R.V.; Kansog, J.O.C. (Ebasco Services Inc., Lyndhurst, NJ (United States))

    1993-07-01T23:59:59.000Z

    A high voltage underground/underwater cable system was installed to increase the transmission capacity from the mainland of New York to Long Island. In terms of weight and diameter, the self-contained, fluid-filled (SCFF) cable used for the underwater portion of the project is the largest underwater cable in the world. The use of high-pressure, fluid-filled (HPFF) pipe-type cable on the land portion represents the largest application of paper-polypropylene-paper (PPP) insulated cable in the United States. State-of-the-art technologies were implemented in the use of fiber optic cables for relay protection and SCADA/RTU, temperature monitoring and leak detection systems, SF[sub 6] gas-insulated substations, and underwater cable laying and embedment techniques. This paper discusses the design and installation of a 750 MVA, 43 km (26.6 mi), 345 kV underground/underwater electric transmission system installed by the New York Power Authority (NYPA).

  8. System for inspecting large size structural components

    DOE Patents [OSTI]

    Birks, Albert S. (Columbus, OH); Skorpik, James R. (Kennewick, WA)

    1990-01-01T23:59:59.000Z

    The present invention relates to a system for inspecting large scale structural components such as concrete walls or the like. The system includes a mobile gamma radiation source and a mobile gamma radiation detector. The source and detector are constructed and arranged for simultaneous movement along parallel paths in alignment with one another on opposite sides of a structural component being inspected. A control system provides signals which coordinate the movements of the source and detector and receives and records the radiation level data developed by the detector as a function of source and detector positions. The radiation level data is then analyzed to identify areas containing defects corresponding to unexpected variations in the radiation levels detected.

  9. Assessing underwater noise levels during pile-driving at an offshore windfarm and its potential effects on marine mammals

    E-Print Network [OSTI]

    Aberdeen, University of

    Assessing underwater noise levels during pile-driving at an offshore windfarm and its potential of underwater noise on marine spe- cies, particularly from pile-driving for wind turbines. Environmental population of bottlenose dol- phins. We measured pile-driving noise at distances of 0.1 (maximum broadband

  10. Inspection of Nuclear Power Plant Containment Structures

    SciTech Connect (OSTI)

    Graves, H.L.; Naus, D.J.; Norris, W.E.

    1998-12-01T23:59:59.000Z

    Safety-related nuclear power plant (NPP) structures are designed to withstand loadings from a number of low-probability external and interval events, such as earthquakes, tornadoes, and loss-of-coolant accidents. Loadings incurred during normal plant operation therefore generally are not significant enough to cause appreciable degradation. However, these structures are susceptible to aging by various processes depending on the operating environment and service conditions. The effects of these processes may accumulate within these structures over time to cause failure under design conditions, or lead to costly repair. In the late 1980s and early 1990s several occurrences of degradation of NPP structures were discovered at various facilities (e.g., corrosion of pressure boundary components, freeze- thaw damage of concrete, and larger than anticipated loss of prestressing force). Despite these degradation occurrences and a trend for an increasing rate of occurrence, in-service inspection of the safety-related structures continued to be performed in a somewhat cursory manner. Starting in 1991, the U.S. Nuclear Regulatory Commission (USNRC) published the first of several new requirements to help ensure that adequate in-service inspection of these structures is performed. Current regulatory in-service inspection requirements are reviewed and a summary of degradation experience presented. Nondestructive examination techniques commonly used to inspect the NPP steel and concrete structures to identify and quantify the amount of damage present are reviewed. Finally, areas where nondestructive evaluation techniques require development (i.e., inaccessible portions of the containment pressure boundary, and thick heavily reinforced concrete sections are discussed.

  11. Experience gained from equipment qualification inspections

    SciTech Connect (OSTI)

    Jacobus, M.J.

    1986-01-01T23:59:59.000Z

    This paper describes issues which have been identified during equipment qualification inspections. Generic qualification information is discussed first, such as qualification bases, utility/supplier interfaces, file auditability, and generic environmental qualification. Next, technical strategies with specific examples are discussed. Issues covered include functional performance requirements, post accident qualification, similarity, installation and interfaces, maintenance, aging, and testing. Finally, additions and deletions to equipment qualification master lists and environmental enveloping are discussed.

  12. Robotic Wind Turbine Inspection | GE Global Research

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level:Energy: Grid Integration Redefining What's PossibleRadiation Protection TechnicalResonantNovember 15 toAdvances Wind Turbine Inspection

  13. Autonomous navigation for structured exterior environments

    SciTech Connect (OSTI)

    Pletta, J B

    1993-12-01T23:59:59.000Z

    The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major feature of the system is its capability to perform autonomous patrols of the security site`s network of roads. Perimeter security sites are well known, structured environments; the locations of the roads, buildings, and fences are relatively static. A security robot has the advantage of being able to learn its new environment prior to autonomous travel. The TMSS robot combines information from a microwave beacon system and on-board dead reckoning sensors to determine its location within the site. The operator is required to teleoperate the robot in a teach mode over all desired paths before autonomous operations can commence. During this teach phase, TMSS stores points from its position location system at two meter intervals. This map data base is used for planning paths and for reference during path following. Details of the position location and path following systems will be described along with system performance and recommendations for future enhancements.

  14. Process improvement to the inspection readiness plan in chemical weapons convention challenge inspections. Master`s thesis

    SciTech Connect (OSTI)

    Triplett, W.M.

    1997-09-01T23:59:59.000Z

    This thesis identified current Information Technology initiatives to help improve the Navy`s Inspection Readiness Plan for Chemical Warfare Convention (CWC) Challenge Inspection. The CWC is an intensive inspection. The Challenge Inspection allows for a team of international inspectors to inspect a naval facility suspected of violating the CWC on very short notice. This thesis begins with a review of the CWC Challenge Inspection timeline. It then describes the Navy`s Inspection Readiness Plan for CWC Challenge Inspections as well as the Navy Tiger Team that is sent to naval facilities to assist the Commanding Officer and base personnel during inspections. One of the initiatives evaluated by this analysis is the use of videoconferencing. To ascertain the feasibility of using videoconferencing in the CWC Challenge Inspection process, this thesis reviews the current videoconferencing systems and standards, and the results of a questionnaire that was sent to various naval commands. This thesis concludes with recommendations for inclusion of videoconferencing and various other Information Technology initiatives in the CWC Challenge Inspection process.

  15. autonomous control system: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Control Systems Engineering Websites Summary: way to achieve it. The field of Artificial Intelligence and Operations Research offer someKEYNOTEADDRESS Towards Autonomous...

  16. autonomous pathogen detection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    autonomous agents CiteSeer Summary: AAFID is a distributed intrusion detection architecture and system, developed in CERIAS at Purdue University. AAFID was the first...

  17. autonomic agents: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    CiteSeer Summary: This paper describes the New Millennium Remote Agent NMRA architecture for autonomous spacecraft control systems. This architecture integrates traditional...

  18. autonomic blocking agents: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    CiteSeer Summary: This paper describes the New Millennium Remote Agent NMRA architecture for autonomous spacecraft control systems. This architecture integrates traditional...

  19. autonomous vehicle guidance: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Websites Summary: in Transportation Research Part A (July 2013)21 22 23 Key Words: Vehicle automation, autonomous vehicles, cost Annual Meeting of the19 Transportation...

  20. autonomous land vehicles: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Websites Summary: in Transportation Research Part A (July 2013)21 22 23 Key Words: Vehicle automation, autonomous vehicles, cost Annual Meeting of the19 Transportation...