National Library of Energy BETA

Sample records for modified talon robot

  1. Demoing the Modified TALON Robot

    Broader source: Energy.gov [DOE]

    A technician at Idaho National Laboratory demonstrates the modified TALON robot; which is being sent to assist emergency workers at Japan's Fukishima nuclear reactor.

  2. robots

    National Nuclear Security Administration (NNSA)

    2%2A en LANL hosts annual robot rodeo http:nnsa.energy.govbloglanl-hosts-annual-robot-rodeo

    Hazardous devices teams from around the Southwest recently wrangled their bomb...

  3. Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

    DOE Patents [OSTI]

    Garretson, Justin R.; Parker, Eric P.; Gladwell, T. Scott; Rigdon, J. Brian; Oppel, III, Fred J.

    2012-05-29

    Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated to the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.

  4. Robotics

    ScienceCinema (OSTI)

    Buckner, Mark

    2014-06-23

    Mark Buckner wants to help machines see objects the way humans do, and he's also mentoring the next generation of scientists and engineers through FIRST Robotics.

  5. Robotic intelligence kernel

    DOE Patents [OSTI]

    Bruemmer, David J.

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  6. Hopping robot

    DOE Patents [OSTI]

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  7. Robotic Surveying

    SciTech Connect (OSTI)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  8. System and method for seamless task-directed autonomy for robots

    DOE Patents [OSTI]

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  9. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  10. robot2

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

    ... Such systems have wide range application from the development of smart cars that drive themselves to robotic devices that make surgery safer and quicker. RIM technology can be used ...

  11. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  12. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  13. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  14. Robot Rodeo

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

    Robot Rodeo June 18, 2012 Events test skills of hazardous devices teams from around the Southwest LOS ALAMOS, New Mexico, June 18, 2012-Hazardous devices teams from around the...

  15. Robotic arm

    DOE Patents [OSTI]

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  16. Generic robot architecture

    DOE Patents [OSTI]

    Bruemmer, David J. [Idaho Falls, ID; Few, Douglas A. [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  17. Cooperating mobile robots

    DOE Patents [OSTI]

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  18. Tandem mobile robot system

    DOE Patents [OSTI]

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  19. Robot Intelligence Kernel

    SciTech Connect (OSTI)

    2011-01-01

    Check out this robotics breakthrough which allows robots to behave autonomously. For more information about INL research projects, visit http://www.facebook.com/idahonationallaboratory.

  20. Robot Intelligence Kernel

    ScienceCinema (OSTI)

    None

    2013-05-28

    Check out this robotics breakthrough which allows robots to behave autonomously. For more information about INL research projects, visit http://www.facebook.com/idahonationallaboratory.

  1. EERE Robotics Internship Program

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

    Interns Derek Vaughan and Sierra Palmer helped local high school students construct a robot to launch t-shirts at school sporting events. Robotics Internship Program The EERE...

  2. Contact Us | Robotics Internship Program

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

    Contact Us General QuestionsInformation Robotics.Internships@orau.org Current Robotics Interns Kerri Fomby, Program Specialist Robotics.Internships@orau.org Phone: 865-574-4651...

  3. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1994-03-15

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 11 figures.

  4. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald

    1994-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  5. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald

    1996-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  6. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1996-03-12

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 14 figs.

  7. Robotic Intelligence Kernel: Communications

    Energy Science and Technology Software Center (OSTI)

    2009-09-16

    The INL Robotic Intelligence Kernel-Comms is the communication server that transmits information between one or more robots using the RIK and one or more user interfaces. It supports event handling and multiple hardware communication protocols.

  8. RHOBOT: Radiation hardened robotics

    SciTech Connect (OSTI)

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  9. Modular robot

    DOE Patents [OSTI]

    Ferrante, T.A.

    1997-11-11

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs.

  10. Modular robot

    DOE Patents [OSTI]

    Ferrante, Todd A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold.

  11. Robotic Follow Algorithm

    Energy Science and Technology Software Center (OSTI)

    2005-03-30

    The Robotic Follow Algorithm enables allows any robotic vehicle to follow a moving target while reactively choosing a route around nearby obstacles. The robotic follow behavior can be used with different camera systems and can be used with thermal or visual tracking as well as other tracking methods such as radio frequency tags.

  12. Robotic Intelligence Kernel: Visualization

    Energy Science and Technology Software Center (OSTI)

    2009-09-16

    The INL Robotic Intelligence Kernel-Visualization is the software that supports the user interface. It uses the RIK-C software to communicate information to and from the robot. The RIK-V illustrates the data in a 3D display and provides an operating picture wherein the user can task the robot.

  13. Robotics Night at the Bradbury

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

    Material robots. Don't miss it Los Alamos National Laboratory HazMat Team Los Alamos Police Department Bomb Squad UNM-LA Robotics Club Sumo Bot Battles FIRST Robotics Teams...

  14. INL Multi-Robot Control Interface

    Energy Science and Technology Software Center (OSTI)

    2005-03-30

    The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

  15. Advanced robot locomotion.

    SciTech Connect (OSTI)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  16. Multi-robot control interface

    DOE Patents [OSTI]

    Bruemmer, David J.; Walton, Miles C.

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  17. INL Generic Robot Architecture

    Energy Science and Technology Software Center (OSTI)

    2005-03-30

    The INL Generic Robot Architecture is a generic, extensible software framework that can be applied across a variety of different robot geometries, sensor suites and low-level proprietary control application programming interfaces (e.g. mobility, aria, aware, player, etc.).

  18. Robotic Intelligence Kernel: Architecture

    Energy Science and Technology Software Center (OSTI)

    2009-09-16

    The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.

  19. Robot Rodeo 2013

    SciTech Connect (OSTI)

    Deuel, Jake

    2013-08-27

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  20. Robot Rodeo 2013

    ScienceCinema (OSTI)

    Deuel, Jake

    2014-02-26

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  1. Guarded Motion for Mobile Robots

    Energy Science and Technology Software Center (OSTI)

    2005-03-30

    The Idaho National Laboratory (INL) has created codes that ensure that a robot will come to a stop at a precise, specified distance from any obstacle regardless of the robot's initial speed, its physical characteristics, and the responsiveness of the low-level motor control schema. This Guarded Motion for Mobile Robots system iteratively adjusts the robot's action in response to information about the robot's environment.

  2. Science on Tap - Robotics

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

    Science on Tap - Robotics At the Bradbury Latest Issue:September 2016 all issues All Issues » submit Science on Tap - Robotics September 15 at 5:30 p.m. at UnQuarked in Los Alamos These events are open to everyone regardless of age! Through a robot's eyes...and arms Imagine it's a dark night and a delivery truck wants to go through the Lab's access portal in our main technical area. The driver's obvious nervousness raises a red flag for the guard on duty. She asks the driver to pull off to the

  3. Science on Tap - Robotics

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

    Science on Tap - Robotics Science on Tap - Robotics WHEN: Sep 15, 2016 5:30 PM - 7:00 PM WHERE: Bradbury Science Museum 1350 Central Ave, Los Alamos, NM 87544, USA CONTACT: Linda Anderman (505) 665-9196 CATEGORY: Bradbury INTERNAL: Calendar Login Event Description Join us on the third Thursday of each month at 5:30 at the UnQuarked Wine Room in Los Alamos. The event is open to those of all ages. A short presentation is followed by lively discussion. Join in the fun! Through a robot's eyes...and

  4. Robotic follow system and method

    DOE Patents [OSTI]

    Bruemmer, David J [Idaho Falls, ID; Anderson, Matthew O [Idaho Falls, ID

    2007-05-01

    Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.

  5. Robotics and remote systems applications

    SciTech Connect (OSTI)

    Rabold, D.E.

    1996-05-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling.

  6. DOE Robotics Project

    SciTech Connect (OSTI)

    Not Available

    1991-01-01

    This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)

  7. Wheeled hopping robot

    DOE Patents [OSTI]

    Fischer, Gary J.

    2010-08-17

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  8. Robotic hand with modular extensions

    DOE Patents [OSTI]

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

    A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

  9. Modified cyanobacteria

    SciTech Connect (OSTI)

    Vermaas, Willem F J.

    2014-06-17

    Disclosed is a modified photoautotrophic bacterium comprising genes of interest that are modified in terms of their expression and/or coding region sequence, wherein modification of the genes of interest increases production of a desired product in the bacterium relative to the amount of the desired product production in a photoautotrophic bacterium that is not modified with respect to the genes of interest.

  10. FIRST LEGO League Robotics Demonstration

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

    FIRST LEGO League Robotics Demonstration FIRST LEGO League Robotics Demonstration WHEN: Mar 14, 2015 11:00 AM - 1:00 PM WHERE: Bradbury Science Museum 1350 Central Ave, Los Alamos, ...

  11. DOE Science Showcase - DOE Advanced Robotics | OSTI, US Dept...

    Office of Scientific and Technical Information (OSTI)

    10 Questions for a Robotics Engineer: Lonnie Love Robot Reworked to Analyze Radiation in Japan Robotics at Los Alamos National Laboratory NREL's New Robots Scrutinize Solar Cells

  12. Robotic Bees: Overview,

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

    Robotic Bees: Overview, Actuation, and Power Dr. Noah Jafferis Harvard University Wednesday, Nov 6, 2013 - 4:15PM MBG AUDITORIUM Refreshments at 4:00PM The PrinceTon Plasma Physics laboraTory is a U.s. DeParTmenT of energy faciliTy This talk will present an overview of the technologies involved in the develop- ment of insect-size flying robots, from manufacturing and assembly to sensing and characterization. All of these areas present opportunities for interesting re- search, as there are few

  13. Robotics Night at the Bradbury

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

    Robotics Night at the Bradbury Robotics Night at the Bradbury WHEN: Aug 28, 2015 5:00 PM - 7:00 PM WHERE: Bradbury Science Museum 1350 Central Ave, Los Alamos, New Mexico, 87544 USA CONTACT: Jessica Privette 505 667-0375 CATEGORY: Bradbury INTERNAL: Calendar Login Robotics Night at the Bradbury Event Description An evening at the museum celebrating all things robotic. This evening features the return of one of our most popular events. The fun includes robots of all different sizes, shapes and

  14. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, M.A.; Zollinger, W.T.

    1992-09-22

    An apparatus is described for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the Kelly Vacuum System but can be modified for use with any standard mobile robot and cleaning tool. 14 figs.

  15. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, M.A.; Zollinger, W.T.

    1991-01-01

    This invention is comprised of an apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.

  16. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, Mark A.; Zollinger, W. Thor

    1992-01-01

    An apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.

  17. Savannah River Site Robotics

    SciTech Connect (OSTI)

    2010-01-01

    Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.

  18. Savannah River Site Robotics

    ScienceCinema (OSTI)

    None

    2012-06-14

    Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.

  19. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D.

    1992-12-01

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  20. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D.

    1992-01-01

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  1. Program Description | Robotics Internship Program

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

    March 4, 2016. Apply Now for the Robotics Internship About the Internship Program Description Start of Appointment Renewal of Appointment End of Appointment Stipend Information...

  2. FIRST LEGO League Robotics Demonstration

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

    Calendar Login FIRST LEGO League Event Description Live demonstration from the Girl Scouts of the FIRST LEGO League robotics teams of Los Alamos. Join us at the Bradbury...

  3. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema (OSTI)

    INL

    2009-09-01

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

  4. Meet an Intern | Robotics Internship Program

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

    might think Hardin Valley Academy's newest robotic addition is a nightmare out of a Transformers movie. However, the robot designed and 3-D printed by university undergraduates...

  5. Robotic Intelligence Kernel: Driver

    Energy Science and Technology Software Center (OSTI)

    2009-09-16

    The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

  6. The Virtual Robotics Laboratory

    SciTech Connect (OSTI)

    Kress, R.L.; Love, L.J.

    1999-09-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory secondary education programs. In the past, the ORNL Robotics and Process Systems Division has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics. but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his/her students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  7. The Virtual Robotics Laboratory

    SciTech Connect (OSTI)

    Kress, R.L.; Love, L.J.

    1997-03-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory equipment to outside universities, industrial researchers, and elementary and secondary education programs. In the past, the ORNL Robotics and Process Systems Division (RPSD) has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics, but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  8. Robot to the Mine Rescue

    Broader source: Energy.gov [DOE]

    To increase the speed of rescue efforts, scientists and engineers at the Energy Department’s Sandia National Laboratories recently developed a new robot, called the Gemini-Scout Mine Rescue Robot, that quickly finds dangers and provides relief to trapped miners.

  9. 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

    2008-06-01

    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.

  10. Sandia National Laboratories: Research: Intelligent Systems, Robotics, &

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

    Cybernetics: Contacts High Consequence, Automation, & Robotics Robotics Homepage About Robotics Research & Development Advanced Controls Advanced Manipulation Cybernetics High-Consequence Automation Perception and Decision Tools Unique Mobility Facilities Publications and Factsheets Robotics Image Gallery Robotics Videos Contact Robotics Research Contact Robotics For more information, please contact us. * Items are Required First Name * Last Name * Email Address * Phone Company Name

  11. Precision Robotic Assembly Machine

    ScienceCinema (OSTI)

    None

    2010-09-01

    The world's largest laser system is the National Ignition Facility (NIF), located at Lawrence Livermore National Laboratory. NIF's 192 laser beams are amplified to extremely high energy, and then focused onto a tiny target about the size of a BB, containing frozen hydrogen gas. The target must be perfectly machined to incredibly demanding specifications. The Laboratory's scientists and engineers have developed a device called the "Precision Robotic Assembly Machine" for this purpose. Its unique design won a prestigious R&D-100 award from R&D Magazine.

  12. Modular Countermine Payload for Small Robots (Conference) | SciTech...

    Office of Scientific and Technical Information (OSTI)

    Modular Countermine Payload for Small Robots Citation Details In-Document Search Title: Modular Countermine Payload for Small Robots Payloads for small robotic platforms have ...

  13. LANL Robotic Vessel Scanning

    SciTech Connect (OSTI)

    Webber, Nels W.

    2015-11-25

    Los Alamos National Laboratory in J-1 DARHT Operations Group uses 6ft spherical vessels to contain hazardous materials produced in a hydrodynamic experiment. These contaminated vessels must be analyzed by means of a worker entering the vessel to locate, measure, and document every penetration mark on the vessel. If the worker can be replaced by a highly automated robotic system with a high precision scanner, it will eliminate the risks to the worker and provide management with an accurate 3D model of the vessel presenting the existing damage with the flexibility to manipulate the model for better and more in-depth assessment.The project was successful in meeting the primary goal of installing an automated system which scanned a 6ft vessel with an elapsed time of 45 minutes. This robotic system reduces the total time for the original scope of work by 75 minutes and results in excellent data accumulation and transmission to the 3D model imaging program.

  14. DOE Science Showcase - DOE Advanced Robotics | OSTI, US Dept...

    Office of Scientific and Technical Information (OSTI)

    Robotics at DOE Labs Sandia Labs' Gemini-Scout robot likely to reach trapped miners ahead ... for a Robotics Engineer: Lonnie Love Robot Reworked to Analyze Radiation in Japan ...

  15. Drum inspection robots: Application development

    SciTech Connect (OSTI)

    Hazen, F.B.; Warner, R.D.

    1996-02-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation.

  16. ORNL researcher developing robotic hand

    ScienceCinema (OSTI)

    Dr.Lonnie Love

    2010-01-08

    Oak Ridge National Lab is literally giving the robotics industry a hand. One scientist there is currently working on a fluid powered hand that will help everyone from amputees to the military.

  17. Teleoperated robotic sorting system

    DOE Patents [OSTI]

    Roos, Charles E.; Sommer, Jr., Edward J.; Parrish, Robert H.; Russell, James R.

    2008-06-24

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  18. Teleoperated robotic sorting system

    DOE Patents [OSTI]

    Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; Russell, James R.

    2000-01-01

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  19. Robotic end effector

    DOE Patents [OSTI]

    Minichan, R.L.

    1993-10-05

    An end effector is described for use in probing a surface with a robotic arm. The end effector has a first portion that carries a gimbal with a probe, the gimbal holding the probe normal to the surface, and a second portion with a set of three shafts within a housing for urging the gimbal and probe against the surface. The second portion contains a potentiometer connected by another shaft to the first portion to measure the position of the first portion with respect to the second so that the second portion can be moved to place and maintain the shafts at the midpoint of their travel. Then, as irregularities in the surface are encountered, the first portion can respond by moving closer to or farther from the second portion. 7 figures.

  20. Robotic end effector

    DOE Patents [OSTI]

    Minichan, Richard L.

    1993-01-01

    An end effector for use in probing a surface with a robotic arm. The end effector has a first portion that carries a gimbal with a probe, the gimbal holding the probe normal to the surface, and a second portion with a set of three shafts within a housing for urging the gimbal and probe against the surface. The second portion contains a potentiometer connected by another shaft to the first portion to measure the position of the first portion with respect to the second so that the second portion can be moved to place and maintain the shafts at the midpoint of their travel. Then, as irregularities in the surface are encountered, the first portion can respond by moving closer to or farther from the second portion.

  1. Robot Independent Programming Environment and Language

    Energy Science and Technology Software Center (OSTI)

    1995-04-05

    RIPE is an object-oriented approach to robot system architectures; it is a software environment which facilitates rapid design and implementation of complex robot systems for diverse applications. The robot work cell is modeled using software objects and supports model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, robust communications and graphical interfaces for robot system control. The objects include robots, sensors, end effectors, workpieces, NC machines and various other devices. Amore » set of generic classes is defined to represent these objects, and the interfaces to them become RIPL.« less

  2. Sandia National Laboratories: Research: Intelligent Systems, Robotics, &

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

    Cybernetics: Factsheets Publications and Factsheets Robotics Homepage About Robotics Research & Development Advanced Controls Advanced Manipulation Cybernetics High-Consequence Automation Perception and Decision Tools Unique Mobility Facilities Publications and Factsheets Robotics Image Gallery Robotics Videos Contact Robotics Research Publications and Factsheets Factsheets Intelligent Systems, Robotics, and Cybernetics (PDF, 991 KB) Gemini Scout - Mine Rescue Vehicle (PDF, 922 KB) One

  3. An iterative learning controller for nonholonomic mobile robots

    SciTech Connect (OSTI)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-09-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method.

  4. Tandem robot control system and method for controlling mobile robots in tandem

    DOE Patents [OSTI]

    Hayward, David R.; Buttz, James H.; Shirey, David L.

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  5. Autonomous Realtime Threat-Hunting Robot (ARTHR)

    ScienceCinema (OSTI)

    Idaho National Laboratory - David Bruemmer, Curtis Nielsen

    2010-01-08

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats. To learn more, visit

  6. @ work' video segment features Robotic Software Engineer

    ScienceCinema (OSTI)

    Idaho National Laboratory

    2010-01-08

    @ work highlights Idaho National Laboratory employees and the jobs they perform.This segment features Robotic Software Engineer Miles Walton.

  7. @ work' video segment features Robotic Software Engineer

    SciTech Connect (OSTI)

    Idaho National Laboratory

    2008-03-27

    @ work highlights Idaho National Laboratory employees and the jobs they perform.This segment features Robotic Software Engineer Miles Walton.

  8. Advanced robotics for decontamination and dismantlement

    SciTech Connect (OSTI)

    Hamel, W.R.; Haley, D.C.

    1994-06-01

    The decontamination and dismantlement (D&D) robotics technology application area of the US Department of Energy`s Robotics Technology Development Program is explained and described. D&D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given.

  9. Mechanisms for employment with robotic extensions

    DOE Patents [OSTI]

    Salisbury, Curt Michael; Dullea, Kevin J.

    2015-09-22

    Technologies pertaining to a robotic hand are described herein. A protection apparatus is positioned in a joint of the robotic hand, where movement of a link about the joint is driven by a motor. The protection apparatus absorbs torque about the joint caused by an external force. At least a portion of the robotic hand can be covered by an anthropomorphic skin. An apparatus suitable for controlling operation of the robotic hand is also described herein.

  10. Energy Efficient Legged Robotics at Sandia Labs

    SciTech Connect (OSTI)

    Buerger, Steve

    2014-12-16

    Sandia is developing energy efficient actuation and drive train technologies to dramatically improve the charge life of legged robots. The work is supported by DARPA, and Sandia will demonstrate an energy efficient bipedal robot at the technology exposition section of the DARPA Robotics Challenge Finals in June, 2015. This video, the first in a series, describes early development and initial integration of the Sandia Transmission Efficient Prototype Promoting Research (STEPPR) robot.

  11. DSA torque test robot

    SciTech Connect (OSTI)

    McMillan, D.E.

    1990-11-01

    A rotary solenoid used in the Dual Strong-Link Assembly (DSA) has a housing diameter of 0.67 inches, and overall length of approximately 1.37 inches. The rotor and housing each have four poles. When the coil is energized and the shaft is rotated, magnetic torque is produced which completes four nominally identical cycles during each revolution of the shaft. At zero and 90 degrees of shaft rotation, the poles are aligned and the rotor is stable. The mid-point between poles is unstable; any displacement produces a torque toward one of the stable points. A torque measurement is performed on each solenoid produced. The measurement technique used previously was labor intensive and required that analog torque plots be manually interpreted to determine compliance with the torque specification. This paper describes a robotically assisted torque measurement system that was developed and placed into production. This system reduces cycle time from approximately 6 minutes per part to a little more than 1 minute per part.

  12. Portable control device for networked mobile robots

    DOE Patents [OSTI]

    Feddema, John T.; Byrne, Raymond H.; Bryan, Jon R.; Harrington, John J.; Gladwell, T. Scott

    2002-01-01

    A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

  13. 2014 FIRST Robotics Smoky Mountain Regionals | Department of Energy

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

    FIRST Robotics Smoky Mountain Regionals 2014 FIRST Robotics Smoky Mountain Regionals Addthis 1 of 8 Students from Hardin Valley Academy in Tennessee prepare their robot for the FIRST Robotics Smoky Mountain regionals. The FIRST robotics competition challenges high school students to design, build and program a complex robot that can compete in that year's game. The team, called the RoHAWKtics, used 3D printing and carbon fiber reinforced plastic to build their robot this year. Image: Michael

  14. Robotic Crawler | GE Global Research

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

    Crawler Inspects Wind Turbines Click to email this to a friend (Opens in new window) Share on Facebook (Opens in new window) Click to share (Opens in new window) Click to share on LinkedIn (Opens in new window) Click to share on Tumblr (Opens in new window) Robotic Crawler Inspects Wind Turbines See the robotic crawler that can inspect wind turbines and climb vertical turbine poles as high as 300 feet. You Might Also Like Vin_Smentlowski_AVS_Registration AVS 61st International Symposium and

  15. Robotics crosscutting program: Technology summary

    SciTech Connect (OSTI)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology.

  16. Robotic thermal battery pellet fabrication

    SciTech Connect (OSTI)

    Kimbler, D.L.; Townsend, A.S.; Walton, R.D.; Jones, C.W.

    1985-03-01

    Thermal battery manufacturing at the General Electric Neutron Devices Department (GEND) is a sequence of operations involving materials processing, component manufacture, and assembly. These operations, for the most part, have been manually performed although some operations have been computer- or fixture-assisted. The high labor intensity and the need for process consistency in these operations made the conversion to a robotic work cell appealing in that it could increase productivity while allowing the reassignment of highly-trained workers to other duties. An Alpha robot (Microbot, Inc.) was coupled with a Hewlett-Packard HP-9816 microcomputer, and custom software was developed to control the thermal battery manufacturing process. The software provided a menu-driven main program with feedback at virtually every step to allow technicians with little or no computer experience to operate the system. Previously, one or two workers were assigned to each of several industrial presses used in the manufacture of thermal batteries. With the introduction of a robotic operator and a microcomputer process control, one worker alone could support two to three presses, thus freeing as many as five workers to be assigned to other labor intensive duties. The production rate of the robotic work cell was approximately the same as the manual method, but the consistency of production and yield showed significant improvement.

  17. Sandia National Laboratories: Research: Intelligent Systems, Robotics, &

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

    Cybernetics: Perception Perception and Decision Tools Robotics Homepage About Robotics Research & Development Advanced Controls Advanced Manipulation Cybernetics High-Consequence Automation Perception and Decision Tools 3-D World Model Building Visual Targeting Explosive Ordnance Disposal (EOD) Decision Support Tools Unique Mobility Facilities Publications and Factsheets Robotics Image Gallery Robotics Videos Contact Robotics Research Perception & Decision Tools XTK Intelligent

  18. Los Alamos National Laboratory to host Robot Rodeo

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

    LANL to host Robot Rodeo Los Alamos National Laboratory to host Robot Rodeo Hazardous devices teams from around the Southwest will wrangle their bomb squad robots at the sixth annual Robot Rodeo. June 18, 2012 Sixth annual Robot Rodeo at LANL Sixth annual Robot Rodeo at LANL Contact Steve Sandoval Communications Office (505) 665-9206 Email Events test skills of hazardous devices teams from around the Southwest LOS ALAMOS, New Mexico, June 18, 2012-Hazardous devices teams from around the

  19. War without men. Robots on the future battlefield

    SciTech Connect (OSTI)

    Shaker, S.M.; Wise, A.R.

    1987-01-01

    The first book on unmanned military vehicles, the weapons of the next war: remotely piloted airborne vehicles, unmanned naval vessels and submersibles, unmanned spacecraft, and robotic ground vehicles. Contents (partial): Foreword; Introduction to the robot warrior; The evolution of military robotic systems; Current operational use and development of unmanned robotic ground vehicles; Current operational use and development of RPVs; Current operational use and development of unmanned naval vessels; Space-based robotics; Impact, applications, and the future of military robots; Index.

  20. The Intelligent Systems, Robotics, and Cybernetics group

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

    Intelligent Systems, Robotics, and Cybernetics group (ISRC) at Sandia National Laboratories has the capabilities, expertise, and experience to develop advanced automation solutions for high consequence tasks and missions for a variety of customers. Our expertise in advanced controls, enhanced perception, robust manipulation, advanced mechanical design, unique mobility, and fail-safe design and integration enable us to design, develop, and implement robotic and non-robotic automation solutions

  1. Become a Corporate Host | Robotics Internship Program

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

    of potential interns. ORISE, managed by ORAU on behalf of DOE, will administer the umbrella structure of this program. The basic components of the EERE Robotics Program include:...

  2. Apparatus for attaching a cleaning tool to a robotic manipulator...

    Office of Scientific and Technical Information (OSTI)

    Apparatus for attaching a cleaning tool to a robotic manipulator Title: Apparatus for attaching a cleaning tool to a robotic manipulator This invention is comprised of an apparatus ...

  3. Apparatus for attaching a cleaning tool to a robotic manipulator...

    Office of Scientific and Technical Information (OSTI)

    Apparatus for attaching a cleaning tool to a robotic manipulator Title: Apparatus for attaching a cleaning tool to a robotic manipulator You are accessing a document from the ...

  4. Modular Countermine Payload for Small Robots (Conference) | SciTech...

    Office of Scientific and Technical Information (OSTI)

    Modular Countermine Payload for Small Robots Citation Details In-Document Search Title: Modular Countermine Payload for Small Robots You are accessing a document from the ...

  5. Students Designed A Robot to Handle Nuclear Fuel | Department...

    Office of Environmental Management (EM)

    The goal of their project? To design a robotic system as a demonstration project for INL ... With a successful robotic demonstration to start, projects continuing this line of ...

  6. ORISE: EERE Robotics Internship Program now accepting applications

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

    Office. The Robotics Internship Program is soliciting current students and recent high school and college graduates who have experience in robotics competitions in high...

  7. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect (OSTI)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  8. Robot-assisted torque measurement

    SciTech Connect (OSTI)

    Lembke, J.R.

    1986-03-01

    An Intelledex 605T robot was used to evaluate the feasibility of automating the measurement of rotary solenoid torque, with the goal of improving productivity. The solenoid chosen for the evaluation is expected to be produced in relatively large quantities for several programs. A new measurement concept was devised, in which the robot connects the solenoid shaft to a torque sensor, rotates the solenoid housing, and correlates rotational data with digitized torque measurements. Prototype tooling was designed and fabricated, and the measurement concept was evaluated in comparison with the manual method which is presently used. The automatic robot-based measurement system was shown to yield results that are in good agreement with manual measurements. The technique automatically performs all necessary operations once the solenoids have been placed into a part loading fixture, with a cycle time significantly reduced from the manual method. Manual interpretation of chart data is not required, because the results are digitized. The system can compare the measured torque to specification limits and can provide a printed report of acceptance or rejection. 12 figs.

  9. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

    Dudar, Aed M.; Wagner, David G.; Teese, Gregory D.

    1994-01-01

    An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm.

  10. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1994-06-28

    An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures.

  11. Control algorithms for autonomous robot navigation

    SciTech Connect (OSTI)

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  12. Robotic CCD microscope for enhanced crystal recognition

    DOE Patents [OSTI]

    Segelke, Brent W.; Toppani, Dominique

    2007-11-06

    A robotic CCD microscope and procedures to automate crystal recognition. The robotic CCD microscope and procedures enables more accurate crystal recognition, leading to fewer false negative and fewer false positives, and enable detection of smaller crystals compared to other methods available today.

  13. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    SciTech Connect (OSTI)

    Anthony L. Crawford

    2012-07-01

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

  14. Robotic guarded motion system and method

    DOE Patents [OSTI]

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  15. Fueling Robot Automates Hydrogen Hose Reliability Testing (Fact Sheet)

    SciTech Connect (OSTI)

    Harrison, K.

    2014-01-01

    Automated robot mimics fueling action to test hydrogen hoses for durability in real-world conditions.

  16. Multiple forearm robotic elbow configuration

    DOE Patents [OSTI]

    Fisher, John J.

    1990-01-01

    A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

  17. System for exchanging tools and end effectors on a robot

    DOE Patents [OSTI]

    Burry, David B.; Williams, Paul M.

    1991-02-19

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot.

  18. System for exchanging tools and end effectors on a robot

    DOE Patents [OSTI]

    Burry, D.B.; Williams, P.M.

    1991-02-19

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures.

  19. October 4, 2010: Robot on Security Patrol | Department of Energy

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

    4, 2010: Robot on Security Patrol October 4, 2010: Robot on Security Patrol October 4, 2010: Robot on Security Patrol October 4, 2010 The Department's National Nuclear Security Administration (NNSA) announces that the Nevada National Security Site (NNSS) has brought the first of three Mobile Detection Assessment Response System robots online to improve security patrols at remote portions of NNSS. The robots operate at speeds of up to 20 miles per hour and can go for more than half a day of

  20. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, Kar-Keung David

    1998-01-01

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.

  1. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, K.K.D.

    1998-09-22

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs.

  2. Robotic vehicle with multiple tracked mobility platforms

    DOE Patents [OSTI]

    Salton, Jonathan R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Garretson, Justin (Albuquerque, NM); Hayward, David R. (Wetmore, CO); Hobart, Clinton G. (Albuquerque, NM); Deuel, Jr., Jamieson K. (Albuquerque, NM)

    2012-07-24

    A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

  3. Robots, systems, and methods for hazard evaluation and visualization

    DOE Patents [OSTI]

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  4. Security robots for nuclear materials management

    SciTech Connect (OSTI)

    Deming, R.

    1986-01-01

    Robots have successfully invaded industry where they have replaced costly personnel performing their tasks cheaper and better in most cases. There may be a place for a unique class of robots, security robots, in nuclear materials management. Robots could be employed in the functions of general response, patrol and neutralizing dangerous situations. The last is perhaps most important. Ion Track Instruments of Burlington, Massachusetts has designed an excellent unit to protect life in hazardous situations. The unit can detect, disrupt or remove explosives. It can enter dangerous areas to reconnoiter the extent of danger. It can communicate with those in a dangerous area. It can fight fires or clean an area using a 2 1/2 inch, two man hose. If necessary, it can engage an adversary in a fire fight using a twelve gauge shot gun.

  5. Robotic Wind Turbine Inspection | GE Global Research

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

    Advances Wind Turbine Inspection Through Robotic Trials Click to email this to a friend (Opens in new window) Share on Facebook (Opens in new window) Click to share (Opens in new window) Click to share on LinkedIn (Opens in new window) Click to share on Tumblr (Opens in new window) GE Advances Wind Turbine Inspection Through Robotic Trials GE Global Research is advancing technology that will make the inspection of wind turbines faster and more reliable for customers. Currently, an inspector

  6. Safety assessment of high consequence robotics system

    SciTech Connect (OSTI)

    Robinson, D.G.; Atcitty, C.B.

    1996-08-01

    This paper outlines the use of a failure modes and effects analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, the weigh and leak check system, is to replace a manual process for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper.

  7. Robopedia: Leveraging Sensorpedia for Web-Enabled Robot Control

    SciTech Connect (OSTI)

    Resseguie, David R

    2010-01-01

    There is a growing interest in building Internetscale sensor networks that integrate sensors from around the world into a single unified system. In contrast, robotics application development has primarily focused on building specialized systems. These specialized systems take scalability and reliability into consideration, but generally neglect exploring the key components required to build a large scale system. Integrating robotic applications with Internet-scale sensor networks will unify specialized robotics applications and provide answers to large scale implementation concerns. We focus on utilizing Internet-scale sensor network technology to construct a framework for unifying robotic systems. Our framework web-enables a surveillance robot s sensor observations and provides a webinterface to the robot s actuators. This lets robots seamlessly integrate into web applications. In addition, the framework eliminates most prerequisite robotics knowledge, allowing for the creation of general web-based robotics applications. The framework also provides mechanisms to create applications that can interface with any robot. Frameworks such as this one are key to solving large scale mobile robotics implementation problems. We provide an overview of previous Internetscale sensor networks, Sensorpedia (an ad-hoc Internet-scale sensor network), our framework for integrating robots with Sensorpedia, two applications which illustrate our frameworks ability to support general web-based robotic control, and offer experimental results that illustrate our framework s scalability, feasibility, and resource requirements.

  8. Autonomous global sky monitoring with real-time robotic follow...

    Office of Scientific and Technical Information (OSTI)

    Conference: Autonomous global sky monitoring with real-time robotic follow-up Citation Details In-Document Search Title: Autonomous global sky monitoring with real-time robotic...

  9. Robot Reworked to Analyze Radiation in Japan | Department of...

    Office of Environmental Management (EM)

    Robot Reworked to Analyze Radiation in Japan Robot Reworked to Analyze Radiation in Japan April 14, 2011 - 2:30pm Addthis A technician at Idaho National Laboratory demonstrates the ...

  10. Robotic platform for traveling on vertical piping network

    DOE Patents [OSTI]

    Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel; Marzolf, Athneal D

    2015-02-03

    This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

  11. Photo of the Week: I, Robot Rodeo | Department of Energy

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

    Rodeo Photo of the Week: I, Robot Rodeo November 7, 2013 - 4:28pm Addthis This past summer, Sandia National Laboratories hosted the 2013 Robot Rodeo – a 10-event technical challenge that determines the best robot designs for diffusing dangerous situations. The rodeo is a free event that usually includes entries from police departments and military bases in nearby states. By developing these technologies, robots could potentially remove the danger to humans from the first response to unknown

  12. Energy Efficient Legged Robotics at Sandia Labs, Part 2

    SciTech Connect (OSTI)

    Buerger, Steve; Mazumdar, Ani; Spencer, Steve

    2015-06-02

    Sandia is developing energy efficient actuation and drive train technologies to dramatically improve the charge life of legged robots. The work is supported by DARPA, and Sandia will demonstrate an energy efficient bipedal robot at the technology exposition section of the DARPA Robotics Challenge Finals in June, 2015. This video, the second in a series, describes the continued development and integration of the Sandia Transmission Efficient Prototype Promoting Research (STEPPR) robot.

  13. CNS employees volunteer at robotics competition | Y-12 National Security

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

    Complex volunteer at ... CNS employees volunteer at robotics competition Posted: April 16, 2015 - 1:52pm John Gertsen, Uranium Mission Transformation, at the FIRST Robotics competition Hundreds of students, and more than 50 robots, faced off in "the varsity Sport for the Mind(tm)" at the fifth annual Smoky Mountains Regional FIRST Robotics competition. As in previous years, CNS employees volunteered as competition judges and as team coaches and mentors to help students design,

  14. December 4, 2007: NETL's Robotic Pipeline Inspection Tool | Department of

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

    Energy 4, 2007: NETL's Robotic Pipeline Inspection Tool December 4, 2007: NETL's Robotic Pipeline Inspection Tool December 4, 2007: NETL's Robotic Pipeline Inspection Tool December 4, 2007 The Department's National Energy Technology Laboratory announces the development of a new robotic pipeline inspection tool that could revolutionize the pipeline inspection process. The wireless, self-propelled Explorer II proved its worth when it was tested in a live 8-inch distribution main pressurized at

  15. Biological response modifiers

    SciTech Connect (OSTI)

    Weller, R.E.

    1991-10-01

    Much of what used to be called immunotherapy is now included in the term biological response modifiers. Biological response modifiers (BRMs) are defined as those agents or approaches that modify the relationship between the tumor and host by modifying the host's biological response to tumor cells with resultant therapeutic effects.'' Most of the early work with BRMs centered around observations of spontaneous tumor regression and the association of tumor regression with concurrent bacterial infections. The BRM can modify the host response in the following ways: Increase the host's antitumor responses through augmentation and/or restoration of effector mechanisms or mediators of the host's defense or decrease the deleterious component by the host's reaction; Increase the host's defenses by the administration of natural biologics (or the synthetic derivatives thereof) as effectors or mediators of an antitumor response; Augment the host's response to modified tumor cells or vaccines, which might stimulate a greater response by the host or increase tumor-cell sensitivity to an existing response; Decrease the transformation and/or increase differentiation (maturation) of tumor cells; or Increase the ability of the host to tolerate damage by cytotoxic modalities of cancer treatment.

  16. AERONET: The Aerosol Robotic Network

    DOE Data Explorer [Office of Scientific and Technical Information (OSTI)]

    The AERONET (AErosol RObotic NETwork) program is a federation of ground-based remote sensing aerosol networks established by NASA and LOA-PHOTONS (CNRS) and is greatly expanded by collaborators from national agencies, institutes, universities, individual scientists, and partners. The program provides a long-term, continuous and readily accessible public domain database of aerosol optical, mircrophysical and radiative properties for aerosol research and characterization, validation of satellite retrievals, and synergism with other databases. The network imposes standardization of instruments, calibration, processing and distribution. AERONET collaboration provides globally distributed observations of spectral aerosol optical Depth (AOD), inversion products, and precipitable water in diverse aerosol regimes. Aerosol optical depth data are computed for three data quality levels: Level 1.0 (unscreened), Level 1.5 (cloud-screened), and Level 2.0 (cloud screened and quality-assured). Inversions, precipitable water, and other AOD-dependent products are derived from these levels and may implement additional quality checks.[Copied from http://aeronet.gsfc.nasa.gov/new_web/system_descriptions.html

  17. Method and apparatus for planning motions of robot manipulators

    DOE Patents [OSTI]

    Chen, Pang C.; Hwang, Yong K.

    1996-01-01

    Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.

  18. Robotics virtual rail system and method

    DOE Patents [OSTI]

    Bruemmer, David J.; Few, Douglas A.; Walton, Miles C.

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  19. Developing stereo image based robot control system

    SciTech Connect (OSTI)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W.

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  20. EM Invites Proposals for Robotics Research | Department of Energy

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

    Invites Proposals for Robotics Research EM Invites Proposals for Robotics Research January 27, 2016 - 1:00pm Addthis Rimando shakes hand with a Robonaut 2 at Johnson Space Center. It was the first human-like robot NASA launched to space. Rimando shakes hand with a Robonaut 2 at Johnson Space Center. It was the first human-like robot NASA launched to space. WASHINGTON, D.C. - EM and other federal government entities working to spur advances in robotics have issued a new call for research

  1. Modified Embedded Atom Method

    Energy Science and Technology Software Center (OSTI)

    2012-08-01

    Interatomic force and energy calculation subroutine to be used with the molecular dynamics simulation code LAMMPS (Ref a.). The code evaluated the total energy and atomic forces (energy gradient) according to a cubic spline-based variant (Ref b.) of the Modified Embedded Atom Method (MEAM) with a additional Stillinger-Weber (SW) contribution.

  2. Mobile autonomous robotic apparatus for radiologic characterization

    DOE Patents [OSTI]

    Dudar, A.M.; Ward, C.R.; Jones, J.D.; Mallet, W.R.; Harpring, L.J.; Collins, M.X.; Anderson, E.K.

    1999-08-10

    A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console. 4 figs.

  3. Whole arm obstacle avoidance for teleoperated robots

    SciTech Connect (OSTI)

    Feddema, J.T.; Novak, J.L.

    1993-10-01

    This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on a PUMA 560 robot arm. The capacitance-based sensors generate electric fields which can completely encompass the robot arm and detect obstacles as they approach from any direction. The directional obstacle information gathered by the WHAP sensors together with the sensor geometry and robot configuration is used to scale the commanded joint velocities of the robot. A linearized relationship between the WHAP sensor reading and the distance from the obstacle allows direct transformation of perturbations in VHAP readings to perturbations in joint velocities. The VHAP reading is used to directly reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful reductions in speed as the arm approaches the obstacle. By scaling only the component of the velocity vector in the,direction of the nearest obstacles, the control system restricts motion in the direction of obstacles while permitting unconstrained motion in other directions.

  4. Experiments in evolutionary synthesis of robotic neurocontrollers

    SciTech Connect (OSTI)

    Balakrishnan, K.; Honavar, V.

    1996-12-31

    Artificial neural networks offer an attractive paradigm for the design of behavior and control systems in robots and autonomous agents for a variety of reasons, including: ability to adapt and learn, potential for resistance to noise, faults and component failures, potential for real-time performance in dynamic environments (through massive parallelism and suitable hardware realization) etc.

  5. Robotics Technology Development Program. Technology summary

    SciTech Connect (OSTI)

    Not Available

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ``needs-driven`` effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination & Dismantlement (D&D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT&E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D&D and CC&AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  6. A remotely operated robot for decontamination tasks

    SciTech Connect (OSTI)

    Dudar, A.M.; Vandewalle, R.C.

    1994-02-01

    Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ``Remote Decon`` robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms.

  7. Mobile autonomous robotic apparatus for radiologic characterization

    DOE Patents [OSTI]

    Dudar, Aed M.; Ward, Clyde R.; Jones, Joel D.; Mallet, William R.; Harpring, Larry J.; Collins, Montenius X.; Anderson, Erin K.

    1999-01-01

    A mobile robotic system that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console.

  8. Robotics Technology Crosscutting Program. Technology summary

    SciTech Connect (OSTI)

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  9. BOA: Asbestos pipe-insulation removal robot system. Phase I. Topical report, November 1993--December 1994

    SciTech Connect (OSTI)

    Schempf, H.; Bares, J.E.

    1995-01-01

    Based on several key design criteria and site visits, we developed a Robot design and built a system which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure. Experimental results indicated that the current robotic abatement process is sound yet needs to be further expanded and modified. One of the main discoveries was that a longitudinal cut to fully allow the paddles to dig in and compress the insulation off the pipe is essential. Furthermore, a different cutting method might be explored to alleviate the need for a deeper cut and to enable a combination of certain functions such as compression and cutting. Unfortunately due to a damaged mechanism caused by extensive testing, we were unable to perform vertical piping abatement experiments, but foresee no trouble in implementing them in the next proposed Phase. Other encouraging results have BOA removing asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. However, we feel confident that we can double the asbestos removal rate by improving cutting speed, and increasing the length of the BOA robot. The containment and vacuum system on BOA is able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/8-hr. shift. Currently, BOA weighs about 117 pounds which is more than a human is permitted to lift overhead under OSHA requirements (i.e., 25 pounds). We are considering designing the robot into two components (i.e., locomotor section and cutter/removal section) to aid human installation as well as incorporating composite materials. A more detailed list of all the technical modifications is given in this topical report.

  10. Modified Faraday cup

    DOE Patents [OSTI]

    Elmer, John W.; Teruya, Alan T.; O'Brien, Dennis W.

    1996-01-01

    A tomographic technique for measuring the current density distribution in electron beams using electron beam profile data acquired from a modified Faraday cup to create an image of the current density in high and low power beams. The modified Faraday cup includes a narrow slit and is rotated by a stepper motor and can be moved in the x, y and z directions. The beam is swept across the slit perpendicular thereto and controlled by deflection coils, and the slit rotated such that waveforms are taken every few degrees form 0.degree. to 360.degree. and the waveforms are recorded by a digitizing storage oscilloscope. Two-din-tensional and three-dimensional images of the current density distribution in the beam can be reconstructed by computer tomography from this information, providing quantitative information about the beam focus and alignment.

  11. Modified Faraday cup

    DOE Patents [OSTI]

    Elmer, J.W.; Teruya, A.T.; O`Brien, D.W.

    1996-09-10

    A tomographic technique for measuring the current density distribution in electron beams using electron beam profile data acquired from a modified Faraday cup to create an image of the current density in high and low power beams is disclosed. The modified Faraday cup includes a narrow slit and is rotated by a stepper motor and can be moved in the x, y and z directions. The beam is swept across the slit perpendicular thereto and controlled by deflection coils, and the slit rotated such that waveforms are taken every few degrees from 0{degree} to 360{degree} and the waveforms are recorded by a digitizing storage oscilloscope. Two-dimensional and three-dimensional images of the current density distribution in the beam can be reconstructed by computer tomography from this information, providing quantitative information about the beam focus and alignment. 12 figs.

  12. Tiny Terminators: New Micro-Robots Assemble, Repair Themselves and Are Surprisingly Strong

    Broader source: Energy.gov [DOE]

    Tiny robots that can assemble and repair themselves? Watch a video of Argonne National Laboratory's micro-robots that easily perform tasks that can challenge other robots, including moving objects that are larger than themselves.

  13. Robotic assembly and testing of rotary solenoids: Final report

    SciTech Connect (OSTI)

    Lembke, J.R.

    1987-02-01

    Robotic automation of rotary solenoid assembly and testing operations was investigated. A robot was used to evaluate the automation of solenoid torque measurements. A measurement arrangement was devised in which the robot connects the solenoid shaft to a torque sensor, rotates the solenoid housing, and correlates rotational data with digitized torque readings. Results are typically in good agreement with those from the manually operated universal tension tester. Stack assembly of the rotary solenoid was attempted using another robot. Starting with parts in a component tray, the robot assembles the solenoid vertically in a precision cavity and installs retaining rings on the shaft. Special tooling and a remote center compliance device in the robot wrist have enabled the prototype assembly process to be largely successful, in spite of extremely small clearances between mating parts.

  14. Los Alamos National Laboratory to host robot rodeo

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

    LANL to host robot rodeo Los Alamos National Laboratory to host robot rodeo Teams compete in events and simulations that may include having their robots remove bombs from the inside of aircraft, rescuing injured first responders and navigating obstacle courses. May 21, 2010 Los Alamos National Laboratory sits on top of a once-remote mesa in northern New Mexico with the Jemez mountains as a backdrop to research and innovation covering multi-disciplines from bioscience, sustainable energy sources,

  15. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1988-03-15

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

  16. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1989-04-18

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are doweled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

  17. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, John R.

    1989-04-18

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector.

  18. An intelligent inspection and survey robot

    SciTech Connect (OSTI)

    Byrd, J.S.

    1995-10-01

    Large quantities of mixed and low-level radioactive waste contained in 55-, 85-, and 110-gallon steel drums are stored at Department of Energy (DOE) warehouses located throughout the United States. The steel drums are placed on pallets and stacked on top of one another, forming a column of drums ranging in heights of one to four drums and up to 16 feet high. The columns of drums are aligned in rows forming an aisle approximately three feet wide between the rows of drums. Tens of thousands of drums are stored in these warehouses throughout the DOE complex. ARIES (Autonomous Robotic Inspection Experimental System) is under development for the DOE to survey and inspect these drums. 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 data of pertinent information about each drum.

  19. RoboRAVE brings robot fever to Northern New Mexico

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

    RoboRAVE brings robot fever to Northern New Mexico Community Connections: Your link to news and opportunities from Los Alamos National Laboratory Latest Issue: September 1, 2016 all issues All Issues » submit RoboRAVE brings robot fever to Northern New Mexico Local rally captures the a-MAZE-ing excitement April 1, 2014 Ignacio Garcia-Gon readies his robot at the RoboRAVE Rally. Ignacio Garcia-Gon readies his robot at the RoboRAVE Rally. Contact Community Programs Office Director Kurt Steinhaus

  20. "Thinking" Telescopes: An Autonomous Robotic Ecosystem for Persistent...

    Office of Scientific and Technical Information (OSTI)

    Conference: "Thinking" Telescopes: An Autonomous Robotic Ecosystem for Persistent Monitoring and Real-Time Response Citation Details In-Document Search Title: "Thinking"...

  1. "Thinking" Telescopes: An Autonomous Robotic Ecosystem for Persistent...

    Office of Scientific and Technical Information (OSTI)

    Telescopes: An Autonomous Robotic Ecosystem for Persistent Monitoring and Real-Time Response Citation Details In-Document Search Title: "Thinking" Telescopes: An...

  2. Robotic Arm Back to Work at Hanford | Department of Energy

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

    Robotic Arm Back to Work at Hanford Robotic Arm Back to Work at Hanford June 1, 2012 - 12:00pm Addthis The Mobile Arm Retrieval System (MARS), the largest robotic arm ever inserted into a Department of Energy waste storage tank, is back at work in one of Hanford’s underground storage tanks where it has removed nearly 133,000 gallons of waste The Mobile Arm Retrieval System (MARS), the largest robotic arm ever inserted into a Department of Energy waste storage tank, is back at work in one of

  3. SRNS revives student robotics team | National Nuclear Security...

    National Nuclear Security Administration (NNSA)

    the donation, in addition to supporting local students, is an investment in the next generation of engineers, technicians and scientists. SRNS revives student robotics team Jun 14,...

  4. EM to Employ New Robotic Arms in Cleanup

    Office of Energy Efficiency and Renewable Energy (EERE)

    IDAHO FALLS, Idaho – EM is working to obtain new robotic arms to help in the treatment of legacy waste at an Idaho Site facility.

  5. Predix and Robots in CT Systems | GE Global Research

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

    Robots and Predix make Beijing's CT factory brilliant Guoshuang Cai 2015.04.16 GE Healthcare's Beijing plant is one of the largest factories producing computed tomography (CT) ...

  6. Sandia hosts annual robot rodeo | National Nuclear Security Administra...

    National Nuclear Security Administration (NNSA)

    hosts annual robot rodeo | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the...

  7. Hazardous-devices teams showcase skills at Robot Rodeo June 14-17

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

    Hazardous-devices teams showcase skills at Robot Rodeo Hazardous-devices teams showcase skills at Robot Rodeo June 14-17 Hazardous-devices teams from around the Southwest will wrangle their bomb-squad robots at the tenth annual Robot Rodeo. June 9, 2016 A hazardous materials robot at the 2014 Robot Rodeo at Los Alamos National Laboratory. A hazardous materials robot at the 2014 Robot Rodeo at Los Alamos National Laboratory. Contact Steve Sandoval Communications Office (505) 665-9206 Email

  8. Reis Robotics GmbH Co KG Maschinenfabrik | Open Energy Information

    Open Energy Info (EERE)

    63785 Product: German manufacturer of industrial robots, robot controls, and turnkey automation systems. Coordinates: 41.839718, -75.016041 Show Map Loading map......

  9. Modular architecture for robotics and teleoperation

    DOE Patents [OSTI]

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  10. Process for anodizing a robotic device

    DOE Patents [OSTI]

    Townsend, William T.

    2011-11-08

    A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

  11. Intelligent, self-contained robotic hand

    DOE Patents [OSTI]

    Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

    2007-01-30

    A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

  12. Modified clay sorbents

    DOE Patents [OSTI]

    Fogler, H. Scott; Srinivasan, Keeran R.

    1990-01-01

    A novel modified clay sorbent and method of treating industrial effluents to remove trace pollutants, such as dioxins, biphenyls, and polyaromatics such as benzo(a)pyrene and pentachlorophenol. The novel clay sorbent has a composite structure in which the interlayer space of an expandable clay, such as smectite, is filled with polyvalent or multivalent inorganic cations which forces weaker surfactant cations to locate on the surface of the clay in such an orientation that the resulting composite is hydrophilic in nature. A specific example is cetylpyridinium-hydroxy aluminum-montmorillonite. In certain embodiments, a non-expanding clay, such as kaolinite, is used and surfactant cations are necessarily located on an external surface of the clay. A specific example is cetylpyridinium-kaolinite.

  13. Robot-Assisted Antegrade In-Situ Fenestrated Stent Grafting

    SciTech Connect (OSTI)

    Riga, Celia V. Bicknell, Colin D.; Wallace, Daniel; Hamady, Mohamad; Cheshire, Nicholas

    2009-05-15

    To determine the technical feasibility of a novel approach of in-situ fenestration of aortic stent grafts by using a remotely controlled robotic steerable catheter system in the porcine model. A 65-kg pig underwent robot-assisted bilateral antegrade in-situ renal fenestration of an abdominal aortic stent graft with subsequent successful deployment of a bare metal stent into the right renal artery. A 16-mm iliac extension covered stent served as the porcine aortic endograft. Under fluoroscopic guidance, the graft was punctured with a 20-G customized diathermy needle that was introduced and kept in place by the robotic arm. The needle was exchanged for a 4 x 20 mm cutting balloon before successful deployment of the renal stent. Robot-assisted antegrade in-situ fenestration is technically feasible in a large mammalian model. The robotic system enables precise manipulation, stable positioning, and minimum instrumentation of the aorta and its branches while minimizing radiation exposure.

  14. Control of Multiple Robotic Sentry Vehicles

    SciTech Connect (OSTI)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  15. Mesofluidic controlled robotic or prosthetic finger

    DOE Patents [OSTI]

    Lind, Randall F; Jansen, John F; Love, Lonnie J

    2013-11-19

    A mesofluidic powered robotic and/or prosthetic finger joint includes a first finger section having at least one mesofluidic actuator in fluid communication with a first actuator, a second mesofluidic actuator in fluid communication with a second actuator and a second prosthetic finger section pivotally connected to the first finger section by a joint pivot, wherein the first actuator pivotally cooperates with the second finger to provide a first mechanical advantage relative to the joint point and wherein the second actuator pivotally cooperates with the second finger section to provide a second mechanical advantage relative to the joint point.

  16. www.sandia.gov/research/robotics

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

    sandia.gov/research/robotics Sandia National Laboratories has designed a self-guided .50 caliber projectile that utilizes a laser designated target and is configured to be fired from a small caliber, smooth bore gun barrel. Self-guided projectiles increase the probability of hit on targets at long range. System Design The self-guided projectile utilizes a laser designator and is fired from a small caliber smooth bore gun barrel. The nose of the bullet is equipped with an optical sensor along

  17. Robotics Students to Test Their Systems on Real EM Cleanup Challenges |

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

    Department of Energy Robotics Students to Test Their Systems on Real EM Cleanup Challenges Robotics Students to Test Their Systems on Real EM Cleanup Challenges July 28, 2016 - 12:35pm Addthis SRNL developed this robot to inspect the H-Canyon air tunnel at SRS. SRNL developed this robot to inspect the H-Canyon air tunnel at SRS. This robot developed by SRNL operates in the H-Canyon air tunnel. This robot developed by SRNL operates in the H-Canyon air tunnel. A robot developed by SRNL

  18. Houdini: Reconfigurable in-tank robot

    SciTech Connect (OSTI)

    White, D.W.; Slifko, A.D.; Thompson, B.R.

    1995-10-01

    RedZone Robotics, Inc. and Carnegie Mellon University (CMU) are developing a tethered mobile robot, Houdini, to work inside waste storage tanks in support of the Department of Energy`s Environmental Restoration and Waste Management (EM) Program. This project is funded by the DOE`s Environmental Management Office of Technology Development through the Morgantown Energy Technology Center (METC). Our goal is to develop technology that is useful for in-tank operations throughout the DOE`s EM program. The first application of the Houdini system is to support the waste retrieval action planned for the final remediation of the Fernald site`s waste silos. RedZone and CMU have discussed potential applications for the system with personnel from several other DOE sites, and have found that the system would be widely useful in the DOE complex for tasks both inside and outside of waste storage tanks. We are tailoring the first implementation of the Houdini system to the specific needs of the Fernald silo remediation. The Fernald application-specific design constraints are primarily interface issues and should not interfere with the utility of the system at other sites.

  19. Bomb squads saddle-up for Robot Rodeo

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

    Bomb squads saddle-up for Robot Rodeo Bomb squads saddle-up for Robot Rodeo Rodeo events include a fun obstacle course and tests of skill, finesse, and endurance for both robot and operator. May 15, 2008 Los Alamos National Laboratory sits on top of a once-remote mesa in northern New Mexico with the Jemez mountains as a backdrop to research and innovation covering multi-disciplines from bioscience, sustainable energy sources, to plasma physics and new materials. Los Alamos National Laboratory

  20. Gearing up for annual robotics competition | Y-12 National Security...

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

    area high schools are getting a little help in an event that's been called "the varsity Sport for the Mind(tm)" - the FIRST Robotics competition. FIRST (For Inspiration and...

  1. DOE Selects Carnegie Mellon to Run Traineeship in Robotics

    Broader source: Energy.gov [DOE]

    Washington D.C.-The Department of Energy (DOE) Office of Environmental Management (EM) has selected Carnegie Mellon University (CMU) in Pittsburgh, PA for award consideration of a cooperative agreement to run a university traineeship in Robotics.

  2. New research contract links LANL and robotics firm

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

    Inc. July 11, 2012 rom left, David Pesiri and David Seigel of the LANL Technology Transfer office, and Andrew Borene, Andrew Drenner, and Patrick McKinney of ReconRobotics. Los...

  3. The Intelligence Behind the Robotic-Enabled System | GE Global...

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

    Intelligence Behind the Robotic-Enabled System Click to email this to a friend (Opens in new window) Share on Facebook (Opens in new window) Click to share (Opens in new window) ...

  4. Robotics Key to Subsea Exploration | GE Global Research

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

    Other EM Events Set for September Focus on Safety, Technology Development | Department of Energy Robotics Challenge Aims to Enhance Worker Safety, Improve EM Cleanup - Other EM Events Set for September Focus on Safety, Technology Development Robotics Challenge Aims to Enhance Worker Safety, Improve EM Cleanup - Other EM Events Set for September Focus on Safety, Technology Development August 31, 2016 - 12:55pm Addthis Fluor-BWXT Site Project Director Dennis Carr, left, learns how to operate a

  5. Who's on FIRST? Inspiring STEM through robotics | National Nuclear

    National Nuclear Security Administration (NNSA)

    Security Administration | (NNSA) Who's on FIRST? Inspiring STEM through robotics Wednesday, April 27, 2016 - 9:14am Students from Farragut High School work on their entry for the FIRST (For Inspiration & Recognition of Science & Technology) robotics competition. Consolidated Nuclear Security, LLC, which runs the Y-12 National Security Complex and the Pantex Plant, plays an active role in strengthening the quality of FIRST (For Inspiration & Recognition of Science &

  6. Sandia National Laboratories: High Consequence, Automation, & Robotics

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

    Research High Consequence, Automation, & Robotics High-Consequence Automation Developing cost-effective, reliable systems to handle materials used in conventional and nuclear weapons Unique Mobility Specializing in advanced mobility technologies to support a broad range of challenging missions Advanced Manipulation Automating robots for difficult manipulation tasks for more than 25 years Cybernetics Specializing in the development of advanced man-machine interface technology Neural Control

  7. EM and National Science Foundation Partner for Nuclearized Robotics |

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

    Department of Energy and National Science Foundation Partner for Nuclearized Robotics EM and National Science Foundation Partner for Nuclearized Robotics November 16, 2015 - 12:35pm Addthis Officials with EM and NSF are pictured. Standing, left to right: Jeff Trinkle, NSF Program Director, NRI, and Robust Intelligence Information and Intelligent Systems Division; Lynne Parker, NSF Program Manager, NRI; Fay Cook, NSF Assistant Director, Social, Behavioral, and Economic Sciences; EM Principal

  8. Photo of the Week: I, Robot Olympics | Department of Energy

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

    Olympics Photo of the Week: I, Robot Olympics January 11, 2013 - 2:46pm Addthis Last week, students from dozens of local Tennessee high schools gathered at Oak Ridge National Laboratory's Manufacturing Demonstration Facility to check out the game field that they'll be working with in the next six weeks. This year, the young engineers' challenges include building robots that can throw discs and climb pyramids. <a

  9. An approach to software quality assurance for robotic inspection systems

    SciTech Connect (OSTI)

    Kiebel, G.R.

    1993-10-01

    Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site.

  10. Autonomous Combustion-Powered Hopping Robot - Energy Innovation Portal

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

    Vehicles and Fuels Vehicles and Fuels Industrial Technologies Industrial Technologies Building Energy Efficiency Building Energy Efficiency Find More Like This Return to Search Autonomous Combustion-Powered Hopping Robot Sandia National Laboratories Contact SNL About This Technology Publications: PDF Document Publication Market Sheet (963 KB) Technology Marketing SummarySandia's hopping robotic platform provides a groundbreaking, energy efficient capability. Hopping mobility has been shown to be

  11. Modified Acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B.; Shanklin, John; Lindqvist, Ylva; Schneider, Gunter

    1999-03-30

    Disclosed is a method for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity.

  12. Modified acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B.; Shanklin, John; Lindgvist, Ylva; Schneider, Gunter

    1998-01-06

    Disclosed is a methods for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity.

  13. Hazardous devices teams showcase skills at Robot Rodeo June 24-27

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

    Hazardous devices teams showcase skills at Robot Rodeo June 24-27 Hazardous devices teams showcase skills at Robot Rodeo June 24-27 Bomb squads compete in timed scenarios at Los Alamos National Laboratory. June 18, 2014 A hazardous devices team robot pulls a fire hose from a reel during a Robot Rodeo competition and exercise. A hazardous devices team robot pulls a fire hose from a reel during a Robot Rodeo competition and exercise. Contact Steve Sandoval Communications Office (505) 665-9206

  14. Modified clock inequalities and modified black hole lifetime

    SciTech Connect (OSTI)

    Yang Rongjia; Zhang Shuangnan

    2009-06-15

    Based on a generalized uncertainty principle, Salecker-Wigner inequalities are modified. When applied to black holes, they give a modified black hole lifetime: T{sub MB}{approx}(M{sup 3}/m{sub p}{sup 3})(1-m{sub p}{sup 2}/M{sup 2})t{sub p}, and the number of bits required to specify the information content of the black hole as the event horizon area in Planck units N{approx}(M{sup 2}/m{sub p}{sup 2})(1-m{sub p}{sup 2}/M{sup 2})

  15. Slideshow: Building a Better Future One Robot at a Time | Department...

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

    In the first round of play, robots operate independently for 10 seconds, trying to score goals. For the rest of the match, drivers remotely control robots from behind a protective ...

  16. Modified acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, E.B.; Shanklin, J.; Lindgvist, Y.; Schneider, G.

    1998-01-06

    Disclosed is a method for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity. 1 fig.

  17. Modified Acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, E.B.; Shanklin, J.; Lindqvist, Y.; Schneider, G.

    1999-03-30

    Disclosed is a method for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity. 2 figs.

  18. CNS-sponsored RoHAWKtics competes at world's largest robotics competition

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

    | Y-12 National Security Complex RoHAWKtics ... CNS-sponsored RoHAWKtics competes at world's largest robotics competition Posted: July 7, 2016 - 9:10am The RoHAWKtics robotics team at Hardin Valley Academy, sponsored by Consolidated Nuclear Security, LLC, achieved a top 50 ranking at the FIRST® Robotics Championship in St. Louis. Despite a broken bolt, a flat tire and countless other issues, the robotics team at Hardin Valley Academy, sponsored by Consolidated Nuclear Security, LLC,

  19. Sandia Modular Architecture for Robotics and Teleoperation

    Energy Science and Technology Software Center (OSTI)

    1999-06-16

    SMART provides a system developer with software tools to create a telerobotic control system, i.e., a system whereby an end-user can interact with mechatronic equipment. It consists of three main components: the SMART Editor (tsmed), the SMART Real-time kernel (rtos), and the SMART Supervisor (gui). The SMART Editor is a graphical icon-based code generation tool for creating end-user systems, given descriptions of SMART modules. The SMART real-time kernel implements behaviors that combine modules representing inputmore » devices, sensors, constraints, filters, and robotic devices. Included with this software release is a number of core modules, which can be combined with additional project and device specific modules to create a telerobotic controller. The SMART Supervisor is a graphical front-end for running a SMART system. It is an optional component of the SMART Environment and utilizes the Tcl/Tk windowing and scripting environment. Although, the code contained within this release is complete, and can be utilized for defining, running, and interfacing to a sample end-user SMART system, most systems will include additional project and hardware specific modules developed either by the system developer or obtained independently from a SMART module developer.« less

  20. Mobile Robotics Activities in DOE Laboratories

    SciTech Connect (OSTI)

    Ron Lujan; Jerry Harbour; John T. Feddema; Sharon Bailey; Jacob Barhen; David Reister

    2005-03-01

    This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV’s) as well as Unmanned Air Vehicles (UAV’s). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV’s and UAV’s. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

  1. Tribological sinks in emerging industries: electronics and robotics

    SciTech Connect (OSTI)

    Russell, J.A.; Hane, G.J.

    1986-08-01

    This report describes a preliminary review of the impact of tribological effects - losses due to friction and wear - in two emerging industries: robotics and electronics. Major sources of tribological wear in the robotics industry include the chains used to drive the robots and the joints in the elbow and wrist. In the electronics industry, the largest source of tribological wear is the particulate wear of vacuum pumps used in corrosive environments. Other significant sources of wear are the conveyor belts, blowers, and fans used for clean rooms, and the slicing, lapping and polishing operations for silicon wafers. The major loss mechanisms are friction and abrasion (abrasion includes 2-body wear, 3-body wear, gouging, grinding, erosion, and cutting wear).

  2. Joining teleoperation with robotics for advanced manipulation in hostile environments

    SciTech Connect (OSTI)

    Martin, H.L.; Hamel, W.R.

    1984-01-01

    Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities.

  3. FIRST Robotics at NY Tech Valley | GE Global Research

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

    Pit Boss Reflects on Bot Challenge Click to email this to a friend (Opens in new window) Share on Facebook (Opens in new window) Click to share (Opens in new window) Click to share on LinkedIn (Opens in new window) Click to share on Tumblr (Opens in new window) Pit Boss Reflects on Bot Challenge Lynn DeRose 2015.03.27 Hi everyone, from BBQ to robots all in the same week! This past weekend I had the privilege to volunteer at the FIRST(tm) Robotics Competition (FRC) NY Tech Valley Regional at RPI.

  4. Microfluidic-Based Robotic Sampling System for Radioactive Solutions

    SciTech Connect (OSTI)

    Jack D. Law; Julia L. Tripp; Tara E. Smith; Veronica J. Rutledge; Troy G. Garn; John Svoboda; Larry Macaluso

    2014-02-01

    A novel microfluidic based robotic sampling system has been developed for sampling and analysis of liquid solutions in nuclear processes. This system couples the use of a microfluidic sample chip with a robotic system designed to allow remote, automated sampling of process solutions in-cell and facilitates direct coupling of the microfluidic sample chip with analytical instrumentation. This system provides the capability for near real time analysis, reduces analytical waste, and minimizes the potential for personnel exposure associated with traditional sampling methods. A prototype sampling system was designed, built and tested. System testing demonstrated operability of the microfluidic based sample system and identified system modifications to optimize performance.

  5. An intelligent inspection and survey robot. Volume 2

    SciTech Connect (OSTI)

    1995-12-15

    Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified.

  6. La Vida Robot - High School Engineering Program Combats Engineering Brain Drain

    ScienceCinema (OSTI)

    Cameron, Allan; Fredi, Lajvardi

    2009-09-01

    Carl Hayden High School has built an impressive reputation with its robotics club. At a time when interest in science, math and engineering is declining, the Falcon Robotics club has young people fired up about engineering. Their program in underwater robots (MATE) and FIRST robotics is becoming a national model, not for building robots, but for building engineers. Teachers Fredi Lajvardi and Allan Cameron will present their story (How kids 'from the mean streets of Phoenix took on the best from M.I.T. in the national underwater bot championship' - Wired Magazine, April 2005) and how every student needs the opportunity to 'do real engineering.'

  7. Multi-Robot, Multi-Target Particle Swarm Optimization Search in Noisy Wireless Environments

    SciTech Connect (OSTI)

    Kurt Derr; Milos Manic

    2009-05-01

    Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhanced by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.

  8. Small Body Exploration Technologies as Precursors for Interstellar Robotics

    SciTech Connect (OSTI)

    Noble, Robert; Sykes, Mark V.; /PSI, Tucson

    2012-02-15

    The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

  9. Idaho Site Cleanup Employees Look Forward to Handling Robotic Arms

    Broader source: Energy.gov [DOE]

    IDAHO FALLS, Idaho – Shirley Perez may be the most excited person ready to get her hands on new robotic arms when they are installed in the EM Idaho Site’s Advanced Mixed Waste Treatment Project (AMWTP) boxlines this fall.

  10. Multi-robot motion control for cooperative observation

    SciTech Connect (OSTI)

    Parker, L.E.

    1997-06-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems.

  11. Modular robotics overview of the `state of the art`

    SciTech Connect (OSTI)

    Kress, R.L.; Jansen, J.F.; Hamel, W.R.

    1996-08-01

    The design of a robotic arm processing modular components and reconfigurable links is the general goal of a modular robotics development program. The impetus behind the pursuit of modular design is the remote engineering paradigm of improved reliability and availability provided by the ability to remotely maintain and repair a manipulator operating in a hazardous environment by removing and replacing worn or failed modules. Failed components can service off- line and away from hazardous conditions. The desire to reconfigure an arm to perform different tasks is also an important driver for the development of a modular robotic manipulator. In order to bring to fruition a truly modular manipulator, an array of technical challenges must be overcome. These range from basic mechanical and electrical design considerations such as desired kinematics, actuator types, and signal and transmission types and routings, through controls issues such as the need for control algorithms capable of stable free space and contact control, to computer and sensor design issues like consideration of the use of embedded processors and redundant sensors. This report presents a brief overview of the state of the art of technical issues relevant of modular robotic arm design. The focus is on breadth of coverage, rather than depth, in order to provide a reference frame for future development.

  12. ARM - Campaign Instrument - psp-eppley-modified

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

    us a note below or call us at 1-888-ARM-DATA. Send Campaign Instrument : Modified Eppley PSP (PSP-EPPLEY-MODIFIED) Instrument Categories Radiometric Campaigns Diffuse Shortwave IOP...

  13. Degradative and Morphological Characterization of POSS Modified...

    Office of Scientific and Technical Information (OSTI)

    Degradative and Morphological Characterization of POSS Modified Nanohybrid Polyurethane Elastomers Citation Details In-Document Search Title: Degradative and Morphological ...

  14. Electrochemical Apparatus with Disposable and Modifiable Parts

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

    research Benefits: Incorporates disposable, commercially available cuvettes Modifiable design Allows multiple experiments using a single solution Designed for interface with...

  15. Adhesives from modified soy protein

    DOE Patents [OSTI]

    Sun, Susan; Wang, Donghai; Zhong, Zhikai; Yang, Guang

    2008-08-26

    The, present invention provides useful adhesive compositions having similar adhesive properties to conventional UF and PPF resins. The compositions generally include a protein portion and modifying ingredient portion selected from the group consisting of carboxyl-containing compounds, aldehyde-containing compounds, epoxy group-containing compounds, and mixtures thereof. The composition is preferably prepared at a pH level at or near the isoelectric point of the protein. In other preferred forms, the adhesive composition includes a protein portion and a carboxyl-containing group portion.

  16. Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

    SciTech Connect (OSTI)

    Dudenhoeffer, Donald Dean; Bruemmer, David Jonathon; Davis, Midge Lee

    2001-12-01

    Small-sized and micro-robots will soon be available for deployment in large-scale forces. Consequently, the ability of a human operator to coordinate and interact with largescale robotic forces is of great interest. This paper describes the ways in which modeling and simulation have been used to explore new possibilities for human-robot interaction. The paper also discusses how these explorations have fed implementation of a unified set of command and control concepts for robotic force deployment. Modeling and simulation can play a major role in fielding robot teams in actual missions. While live testing is preferred, limitations in terms of technology, cost, and time often prohibit extensive experimentation with physical multi-robot systems. Simulation provides insight, focuses efforts, eliminates large areas of the possible solution space, and increases the quality of actual testing.

  17. Method of modifying a surface

    DOE Patents [OSTI]

    Renk, Timothy J.; Sorensen, Neil R.; Senft, Donna Cowell; Buchheit, Jr., Rudolph G.; Thompson, Michael O.; Grabowski, Kenneth S.

    2000-01-01

    The present invention provides a surface modification method that provides beneficial changes in surface properties, can modify a surface to a greater depth than previous methods, and that is suitable for industrial application. The present method comprises applying a thin-film coating to a surface of a substrate, then subjecting the coated surface to an ion beam. The ion beam power pulse heats the coated surface, leading to alloying between the material in the coating and the material of the substrate. Rapid cooling of the alloyed layer after an ion beam pulse can lead to formation of metastable alloys and microstructures not accessible by conventional alloying methods or intense ion beam treatment of the substrate alone.

  18. The Modified Embedded Atom Method

    SciTech Connect (OSTI)

    Baskes, M.I.

    1994-08-01

    Recent modifications have been made to generalize the Embedded Atom Method (EAM) to describe bonding in diverse materials. By including angular dependence of the electron density in an empirical way, the Modified Embedded Atom Method (MEAM) has been able to reproduce the basic energetic and structural properties of 45 elements. This method is ideally suited for examining the interfacial behavior of dissimilar materials. This paper explains in detail the derivation of the method, shows how the parameters of the MEAM are determined directly from experiment or first principles calculations, and examines the quality of the reproduction of the database. Materials with fcc, bcc, hcp, and diamond cubic crystal structure are discussed. A few simple examples of the application of the MEAM to surfaces and interfaces are presented. Calculations of pullout of a SiC fiber in a diamond matrix as a function of applied stress show non-uniform deformation of the fiber.

  19. Cooperative system and method using mobile robots for testing a cooperative search controller

    DOE Patents [OSTI]

    Byrne, Raymond H.; Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.

    2002-01-01

    A test system for testing a controller provides a way to use large numbers of miniature mobile robots to test a cooperative search controller in a test area, where each mobile robot has a sensor, a communication device, a processor, and a memory. A method of using a test system provides a way for testing a cooperative search controller using multiple robots sharing information and communicating over a communication network.

  20. 10 Questions for a Robotics Engineer: Lonnie Love | Department of Energy

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

    Robotics Engineer: Lonnie Love 10 Questions for a Robotics Engineer: Lonnie Love July 28, 2011 - 12:02pm Addthis Dr. Lonnie Love | Photo Courtesy of ORNL Dr. Lonnie Love | Photo Courtesy of ORNL Niketa Kumar Niketa Kumar Public Affairs Specialist, Office of Public Affairs In the latest 10 Questions, meet Oak Ridge National Laboratory engineer Lonnie Love. From mesofluidics and hydraulics to solar photovoltaics and biogeneration, Dr. Love discusses his innovative approaches to advancing robotics,

  1. Semi-Autonomous Multi-Use Robot System and Method of Operation - Energy

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

    Innovation Portal Vehicles and Fuels Vehicles and Fuels Industrial Technologies Industrial Technologies Find More Like This Return to Search Semi-Autonomous Multi-Use Robot System and Method of Operation Battelle Memorial Institute Contact BMI About This Technology Publications: PDF Document Publication WO2011056633A1.pdf (1,190 KB) Technology Marketing SummaryThis invention relates in general to robotic systems and in particular to a semi- autonomous multi-use robot system and a method for

  2. DOE Science Showcase - DOE Advanced Robotics | OSTI, US Dept of Energy

    Office of Scientific and Technical Information (OSTI)

    Office of Scientific and Technical Information DOE Advanced Robotics Where creative vision and technical expertise meet From mine rescue operations to radiological survey for environmental hazards to mapping data for defense situations, read about the Department of Energy (DOE) innovative approaches to advanced robotics. Robotics Research Results from the DOE Databases DOepatents Energy Science and Technology Software Center (ESTSC) Information Bridge Energy Citations Database Science.gov

  3. SUMMARY OF 2009 RHEOLOGY MODIFIER PROGRAM

    SciTech Connect (OSTI)

    Hansen, E.

    2009-12-08

    The overall objective of the EM-31 Rheological Modifiers and Wetting Agents program is to utilize commercially available rheology modifiers to increase the solids fraction of radioactive sludge based waste streams, resulting in an increase in throughput and decreasing the overall processing time. The program first investigates the impact of rheology modifiers on slurry simulants and then utilizes the most effective rheology modifiers on radioactive slurries. The work presented in this document covers the initial investigation of rheology modifier testing with simulants. This task is supported by both the Savannah River National Laboratory (SRNL) and Pacific Northwest National Laboratory (PNNL). The SRNL EM-31 task, for this year, was to investigate the use of rheology modifiers on simulant Defense Waste Processing Facility (DWPF) melter feeds. The task is to determine, based on the impact of the rheology modifier, if there are rheology modifiers that could reduce the water content of the slurry going to the DWPF melter, hence increasing the melt rate by decreasing the water loading. The rheology modifier in essence would allow a higher solids content slurry to have the same type of rheology or pumpability of a lower solids slurry. The modifiers selected in this report were determined based on previous modifiers used in high level waste melter feed simulants, on-going testing performed by counterparts at PNNL, and experiences gain through use of modifiers in other Department of Energy (DOE) processes such as grout processing. There were 12 rheology modifiers selected for testing, covering both organic and inorganic types and they were tested at four different concentrations for a given melter feed. Five different DWPF melter feeds were available and there was adequate material in one of the melter feeds to increase the solids concentration, resulting in a total of six simulants for testing. The mass of melter feed available in each simulant was not adequate for

  4. CoMRoS: Cooperative mobile robots Stuttgart

    SciTech Connect (OSTI)

    Braeunl, T.; Kalbacher, M.; Levi, P.; Mamier, G.

    1996-12-31

    Project CoMRoS has the goal to develop intelligent cooperating mobile robots. Several different vehicles are to solve a single task autonomously by exchanging plans without a central control. We use {open_quotes}Robuter II{close_quotes} vehicles from Robosoft France, adapted to our needs. The standard vehicle has very little local intelligence (VME bus system) and is controlled remotely by wireless Ethernet for sending steering commands and receiving sonar sensor data. A wireless video link is used to transmit camera images. Data exchange between vehicles is then performed among the corresponding workstations. The remote control is basically used to simplify testing and debugging of robot programs. However, each vehicle can also be driven completely autonomous by using a laptop PC.

  5. Robotic soil sampler for hazardous waste clean up

    SciTech Connect (OSTI)

    Jaselskis, E.J.

    1992-06-01

    An innovative field sampling system using LA-ICP-AES (laser ablation-inductively coupled plasma -- atomic emission spectrometry) technology is currently being developed through an integrated team approach at Ames Laboratory to provide in-situ, real time analysis of inorganic hazardous waste. This sampling approach is conducted through a mobile testing facility which consists of an instrumentation vehicle called the Mobile Demonstration Laboratory for Environmental Screening Technologies (MDLEST), and an attached trailer called the Robotic Sampling Accessory (RSA). The RSA provides automated sampling capabilities through an attached three-degree-of-freedom robot that will be equipped with surface and subsurface sampling probes. The probes are currently being designed by a multidisciplinary team consisting of engineers and scientists at Ames Laboratory, Iowa State University, and Lockheed. This system is expected to improve sample quality assurance, reduce sampling time and cost, and improve worker safety. Limitations and future areas of research for the MDLEST-RSA are also discussed.

  6. Robotic soil sampler for hazardous waste clean up

    SciTech Connect (OSTI)

    Jaselskis, E.J.

    1992-01-01

    An innovative field sampling system using LA-ICP-AES (laser ablation-inductively coupled plasma -- atomic emission spectrometry) technology is currently being developed through an integrated team approach at Ames Laboratory to provide in-situ, real time analysis of inorganic hazardous waste. This sampling approach is conducted through a mobile testing facility which consists of an instrumentation vehicle called the Mobile Demonstration Laboratory for Environmental Screening Technologies (MDLEST), and an attached trailer called the Robotic Sampling Accessory (RSA). The RSA provides automated sampling capabilities through an attached three-degree-of-freedom robot that will be equipped with surface and subsurface sampling probes. The probes are currently being designed by a multidisciplinary team consisting of engineers and scientists at Ames Laboratory, Iowa State University, and Lockheed. This system is expected to improve sample quality assurance, reduce sampling time and cost, and improve worker safety. Limitations and future areas of research for the MDLEST-RSA are also discussed.

  7. USER INTERFACE FOR A TELE-OPERATED ROBOTIC HAND SYSTEM - Energy...

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

    This Technology Technology Marketing Summary A user interface for the teleoperation of a robotic hand. The user interface conducts a calibration procedure to determine a user's...

  8. D&D Toolbox Robotic Deployment of High Resolution Laser Imaging...

    Office of Environmental Management (EM)

    Tech Stage: Demonstration D&D Toolbox: Project OR-071203, OR-071303; Deployed at SRS P ... For this demonstration, a simple robotic platform was integrated with a commercially ...

  9. Wall-E Is So Jealous Right Now: SRR Robots Help Clean Up SRS | Department

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

    of Energy Wall-E Is So Jealous Right Now: SRR Robots Help Clean Up SRS Wall-E Is So Jealous Right Now: SRR Robots Help Clean Up SRS June 13, 2012 - 3:09pm Addthis What Is A PackBot? The PackBot, which is the size of a foot stool, is a versatile ground robot that efficiently navigates various terrain including rubble, narrow passages and steep grades. Multiple cameras on the robot will relay real-time images to the operator control unit. These images, coupled with a 3-D image of the PackBot

  10. An intelligent inspection and survey robot. Volume 1

    SciTech Connect (OSTI)

    1995-12-15

    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.

  11. Guidance Regarding Refinancing, Restructuring, or Modifying Loan...

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

    Regarding Refinancing, Restructuring, or Modifying Loan Agreements Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract Guidance Regarding...

  12. Modified Accelerated Cost-Recovery System (MACRS)

    Office of Energy Efficiency and Renewable Energy (EERE)

    Under the federal Modified Accelerated Cost-Recovery System (MACRS), businesses may recover investments in certain property through depreciation deductions. The MACRS establishes a set of class...

  13. Nonderivative modified gravity: a classification

    SciTech Connect (OSTI)

    Comelli, D.; Nesti, F.; Pilo, L. E-mail: fabrizio.nesti@irb.hr

    2014-11-01

    We analyze the theories of gravity modified by a generic nonderivative potential built from the metric, under the minimal requirement of unbroken spatial rotations. Using the canonical analysis, we classify the potentials V according to the number of degrees of freedom (DoF) that propagate at the nonperturbative level. We then compare the nonperturbative results with the perturbative DoF propagating around Minkowski and FRW backgrounds. A generic V implies 6 propagating DoF at the non-perturbative level, with a ghost on Minkowski background. There exist potentials which propagate 5 DoF, as already studied in previous works. Here, no V with unbroken rotational invariance admitting 4 DoF is found. Theories with 3 DoF turn out to be strongly coupled on Minkowski background. Finally, potentials with only the 2 DoF of a massive graviton exist. Their effect on cosmology is simply equivalent to a cosmological constant. Potentials with 2 or 5 DoF and explicit time dependence appear to be a further viable possibility.

  14. Operator-centered control of a semi-autonomous industrial robot

    SciTech Connect (OSTI)

    Spelt, P.F.; Jones, S.L.

    1994-12-31

    This paper presents work done by Oak Ridge National Laboratory and Remotec, Inc., to develop a new operator-centered control system for Remotec`s Andros telerobot. Andros robots are presently used by numerous electric utilities, the armed forces, and numerous law enforcement agencies to perform tasks which are hazardous for human operators. This project has automated task components and enhanced the video graphics display of the robot`s position in the environment to significantly reduce operator workload. The procedure of automating a telerobot requires the addition of computer power to the robot, along with a variety of sensors and encoders to provide information about the robots performance in and relationship to its environment The resulting vehicle serves as a platform for research on strategies to integrate automated tasks with those performed by a human operator. The addition of these capabilities will greatly enhance the safety and efficiency of performance in hazardous environments.

  15. Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

    SciTech Connect (OSTI)

    Wolfe, W.J.; Chun, W.H.

    1990-01-01

    The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment, behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.

  16. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS

    SciTech Connect (OSTI)

    George Danko

    2005-04-01

    This report contains a detailed description of the work conducted in the first year of the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of ''software machine kinematics'' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. The human operator retains the master control of the main motion parameters, while the computer coordinates the repetitive movement patterns of the machine links. These repetitive movements may be selected from a pre-defined family of trajectories with different transformations. The operator can make adjustments to this pattern in real time, as needed, to accommodate rapidly-changing environmental conditions. A Bobcat{reg_sign} 435 excavator was retrofitted with electro-hydraulic control valve elements. The modular electronic control was tested and the basic valve characteristics were measured for each valve at the Robotics Laboratory at UNR. Position sensors were added to the individual joint control actuators, and the sensors were calibrated. An electronic central control system consisting of a portable computer, converters and electronic driver components was interfaced to the electro-hydraulic valves and position sensors. The machine is operational with or without the computer control system depending on whether the computer interface is on or off. In preparation for emulated mining tasks tests, typical, repetitive tool trajectories during surface mining operations were recorded at the Newmont Mining Corporation's ''Lone Tree'' mine in Nevada.

  17. BOA: Pipe-asbestos insulation removal robot system

    SciTech Connect (OSTI)

    Schempf, H.; Bares, J.; Schnorr, W.

    1995-10-01

    The BOA system is a mobile pipe-external robotic crawler used to remotely strip and bag asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations. Steam and process lines within the DOE weapons complex warrant the use of a remote device due to the high labor costs and high level of radioactive contamination, making manual removal extremely costly and highly inefficient. Currently targeted facilities for demonstration and remediation are Fernald in Ohio and Oak Ridge in Tennessee.

  18. Robot-Powered Reliability Testing at NREL's ESIF

    ScienceCinema (OSTI)

    Harrison; Kevin

    2014-06-10

    With auto manufacturers expected to roll out fuel cell electric vehicles in the 2015 to 2017 timeframe, the need for a reliable hydrogen fueling infrastructure is greater than ever. That's why the National Renewable Energy Laboratory (NREL) is using a robot in its Energy Systems Integration Facility (ESIF) to assess the durability of hydrogen fueling hoses, a largely untested-and currently costly-component of hydrogen fueling stations. The automated machine mimics the repetitive stress of a human bending and twisting the hose to refuel a vehicle-all under the high pressure and low temperature required to deliver hydrogen to a fuel cell vehicle's onboard storage tank.

  19. Robot-Powered Reliability Testing at NREL's ESIF

    SciTech Connect (OSTI)

    Harrison; Kevin

    2013-12-05

    With auto manufacturers expected to roll out fuel cell electric vehicles in the 2015 to 2017 timeframe, the need for a reliable hydrogen fueling infrastructure is greater than ever. That's why the National Renewable Energy Laboratory (NREL) is using a robot in its Energy Systems Integration Facility (ESIF) to assess the durability of hydrogen fueling hoses, a largely untested-and currently costly-component of hydrogen fueling stations. The automated machine mimics the repetitive stress of a human bending and twisting the hose to refuel a vehicle-all under the high pressure and low temperature required to deliver hydrogen to a fuel cell vehicle's onboard storage tank.

  20. BOA: Asbestos Pipe-Insulation Abatement Robot System

    SciTech Connect (OSTI)

    Schempf, H.

    1996-06-01

    The BOA system is a mobile pipe-external robotic crawler used to remotely strip and bag asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations. Steam and process lines within the DOE weapons complex warrant the use of a remote device due to the high labor costs and high level of radioactive contamination, making manual removal extremely costly and highly inefficient. Currently targeted facilities for demonstration and remediation are Fernald in Ohio and Oak Ridge in Tennessee.

  1. Robot-Powered Reliability Testing at NREL's ESIF

    SciTech Connect (OSTI)

    Harrison, Kevin

    2013-12-05

    With auto manufacturers expected to roll out fuel cell electric vehicles in the 2015 to 2017 timeframe, the need for a reliable hydrogen fueling infrastructure is greater than ever. That's why the National Renewable Energy Laboratory (NREL) is using a robot in its Energy Systems Integration Facility (ESIF) to assess the durability of hydrogen fueling hoses, a largely untested—and currently costly—component of hydrogen fueling stations. The automated machine mimics the repetitive stress of a human bending and twisting the hose to refuel a vehicle—all under the high pressure and low temperature required to deliver hydrogen to a fuel cell vehicle's onboard storage tank.

  2. Nanoparticles modified with multiple organic acids

    DOE Patents [OSTI]

    Cook, Ronald Lee; Luebben, Silvia DeVito; Myers, Andrew William; Smith, Bryan Matthew; Elliott, Brian John; Kreutzer, Cory; Wilson, Carolina; Meiser, Manfred

    2007-07-17

    Surface-modified nanoparticles of boehmite, and methods for preparing the same. Aluminum oxyhydroxide nanoparticles are surface modified by reaction with selected amounts of organic acids. In particular, the nanoparticle surface is modified by reactions with two or more different carboxylic acids, at least one of which is an organic carboxylic acid. The product is a surface modified boehmite nanoparticle that has an inorganic aluminum oxyhydroxide core, or part aluminum oxyhydroxide core and a surface-bonded organic shell. Organic carboxylic acids of this invention contain at least one carboxylic acid group and one carbon-hydrogen bond. One embodiment of this invention provides boehmite nanoparticles that have been surface modified with two or more acids one of which additional carries at least one reactive functional group. Another embodiment of this invention provides boehmite nanoparticles that have been surface modified with multiple acids one of which has molecular weight or average molecular weight greater than or equal to 500 Daltons. Yet, another embodiment of this invention provides boehmite nanoparticles that are surface modified with two or more acids one of which is hydrophobic in nature and has solubility in water of less than 15 by weight. The products of the methods of this invention have specific useful properties when used in mixture with liquids, as filler in solids, or as stand-alone entities.

  3. Review Of Rheology Modifiers For Hanford Waste

    SciTech Connect (OSTI)

    Pareizs, J. M.

    2013-09-30

    As part of Savannah River National Laboratory (SRNL)'s strategic development scope for the Department of Energy - Office of River Protection (DOE-ORP) Hanford Tank Waste Treatment and Immobilization Plant (WTP) waste feed acceptance and product qualification scope, the SRNL has been requested to recommend candidate rheology modifiers to be evaluated to adjust slurry properties in the Hanford Tank Farm. SRNL has performed extensive testing of rheology modifiers for use with Defense Waste Processing Facility (DWPF) simulated melter feed - a high undissolved solids (UDS) mixture of simulated Savannah River Site (SRS) Tank Farm sludge, nitric and formic acids, and glass frit. A much smaller set of evaluations with Hanford simulated waste have also been completed. This report summarizes past work and recommends modifiers for further evaluation with Hanford simulated wastes followed by verification with actual waste samples. Based on the review of available data, a few compounds/systems appear to hold the most promise. For all types of evaluated simulated wastes (caustic Handford tank waste and DWPF processing samples with pH ranging from slightly acidic to slightly caustic), polyacrylic acid had positive impacts on rheology. Citric acid also showed improvement in yield stress on a wide variety of samples. It is recommended that both polyacrylic acid and citric acid be further evaluated as rheology modifiers for Hanford waste. These materials are weak organic acids with the following potential issues: The acidic nature of the modifiers may impact waste pH, if added in very large doses. If pH is significantly reduced by the modifier addition, dissolution of UDS and increased corrosion of tanks, piping, pumps, and other process equipment could occur. Smaller shifts in pH could reduce aluminum solubility, which would be expected to increase the yield stress of the sludge. Therefore, it is expected that use of an acidic modifier would be limited to concentrations that do not

  4. Chemically modified graphite for electrochemical cells

    DOE Patents [OSTI]

    Greinke, Ronald Alfred (Medina, OH); Lewis, Irwin Charles (Strongsville, OH)

    1998-01-01

    This invention relates to chemically modified graphite particles: (a) that are useful in alkali metal-containing electrode of a electrochemical cell comprising: (i) the electrode, (ii) a non-aqueous electrolytic solution comprising an organic aprotic solvent which solvent tends to decompose when the electrochemical cell is in use, and an electrically conductive salt of an alkali metal, and (iii) a counterelectrode; and (b) that are chemically modified with fluorine, chlorine, iodine or phosphorus to reduce such decomposition. This invention also relates to electrodes comprising such chemically modified graphite and a binder and to electrochemical cells containing such electrodes.

  5. Chemically modified graphite for electrochemical cells

    DOE Patents [OSTI]

    Greinke, R.A.; Lewis, I.C.

    1998-05-26

    This invention relates to chemically modified graphite particles: (a) that are useful in alkali metal-containing electrode of a electrochemical cell comprising: (1) the electrode, (2) a non-aqueous electrolytic solution comprising an organic aprotic solvent which solvent tends to decompose when the electrochemical cell is in use, and an electrically conductive salt of an alkali metal, and (3) a counter electrode; and (b) that are chemically modified with fluorine, chlorine, iodine or phosphorus to reduce such decomposition. This invention also relates to electrodes comprising such chemically modified graphite and a binder and to electrochemical cells containing such electrodes. 3 figs.

  6. Active containment systems incorporating modified pillared clays

    SciTech Connect (OSTI)

    Lundie, P. |; McLeod, N.

    1997-12-31

    The application of treatment technologies in active containment systems provides a more advanced and effective method for the remediation of contaminated sites. These treatment technologies can be applied in permeable reactive walls and/or funnel and gate systems. The application of modified pillared clays in active containment systems provides a mechanism for producing permeable reactive walls with versatile properties. These pillared clays are suitably modified to incorporate reactive intercalatants capable of reacting with both a broad range of organic pollutants of varying molecular size, polarity and reactivity. Heavy metals can be removed from contaminated water by conventional ion-exchange and other reactive processes within the clay structure. Complex contamination problems can be addressed by the application of more than one modified clay on a site specific basis. This paper briefly describes the active containment system and the structure/chemistry of the modified pillared clay technology, illustrating potential applications of the in-situ treatment process for contaminated site remediation.

  7. Demonstration of the Robotic Gamma Locating and Isotopic Identification Device

    SciTech Connect (OSTI)

    Anderson, Matthew Oley; Conner, Craig C; Daniel, Vincent Elvernard; Mckay, Mark D; Yancey, Neal Adam

    2002-08-01

    The United States Department of Energy (DOE) continually seeks safer and more cost- effective technologies for use in decontaminating and decommissioning nuclear facilities. To this end, the Deactivation and Decommissioning Focus Area of DOE's Office of Science and Technology sponsors Large-Scale Demonstration and Deployment Projects (LSDDP) to test new technologies. As part of these projects, developers and vendors showcase new products designed to decrease health and safety risks to personnel and the environment, increase productivity, and lower costs. As part of the FY 2000 and 2001 LSDDP, the Idaho National Engineering and Environmental Laboratory (INEEL) collaborated with the Russian Research and Development Institute of Construction Technology (NIKIMT). This collaboration resulted in the development of the Robotic Gamma Locating and Isotopic Identification Device (RGL&IID) which integrated DOE Robotics Crosscutting (Rbx) technology with NIKIMT Russian gamma locating and isotopic identification technology. This paper will discuss the technologies involved in this integration and results from the demonstration including reduction of personnel exposure, increase in productivity, and reduced risk.

  8. Demonstration of the Robotic Gamma Locating and Isotopic Identification Device

    SciTech Connect (OSTI)

    Anderson, M.O.; Conner, C.C.; Daniel, V.E.; McKay, M.D.; Yancey, N.A.

    2002-05-08

    The United States Department of Energy (DOE) continually seeks safer and more cost-effective technologies for use in decontaminating and decommissioning nuclear facilities. To this end, the Deactivation and Decommissioning Focus Area of DOE's Office of Science and Technology sponsors Large-Scale Demonstration and Deployment Projects (LSDDP) to test new technologies. As part of these projects, developers and vendors showcase new products designed to decrease health and safety risks to personnel and the environment, increase productivity, and lower costs. As part of the FY 2000 and 2001 LSDDP, the Idaho National Engineering and Environmental Laboratory (INEEL) collaborated with the Russian Research and Development Institute of Construction Technology (NIKIMT). This collaboration resulted in the development of the Robotic Gamma Locating and Isotopic Identification Device (RGL and IID) which integrated DOE Robotics Crosscutting (Rbx) technology with NIKIMT Russian gamma locating and isotopic identification technology. This paper will discuss the technologies involved in this integration and results from the demonstration including reduction of personnel exposure, increase in productivity, and reduced risk.

  9. Robotic Enrichment Processing of Roche 454 Titanium Emlusion PCR at the DOE Joint Genome Institute

    SciTech Connect (OSTI)

    Hamilton, Matthew; Wilson, Steven; Bauer, Diane; Miller, Don; Duffy-Wei, Kecia; Hammon, Nancy; Lucas, Susan; Pollard, Martin; Cheng, Jan-Fang

    2010-05-28

    Enrichment of emulsion PCR product is the most laborious and pipette-intensive step in the 454 Titanium process, posing the biggest obstacle for production-oriented scale up. The Joint Genome Institute has developed a pair of custom-made robots based on the Microlab Star liquid handling deck manufactured by Hamilton to mediate the complexity and ergonomic demands of the 454 enrichment process. The robot includes a custom built centrifuge, magnetic deck positions, as well as heating and cooling elements. At present processing eight emulsion cup samples in a single 2.5 hour run, these robots are capable of processing up to 24 emulsion cup samples. Sample emulsions are broken using the standard 454 breaking process and transferred from a pair of 50ml conical tubes to a single 2ml tube and loaded on the robot. The robot performs the enrichment protocol and produces beads in 2ml tubes ready for counting. The robot follows the Roche 454 enrichment protocol with slight exceptions to the manner in which it resuspends beads via pipette mixing rather than vortexing and a set number of null bead removal washes. The robotic process is broken down in similar discrete steps: First Melt and Neutralization, Enrichment Primer Annealing, Enrichment Bead Incubation, Null Bead Removal, Second Melt and Neutralization and Sequencing Primer Annealing. Data indicating our improvements in enrichment efficiency and total number of bases per run will also be shown.

  10. Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

    SciTech Connect (OSTI)

    Spelt, P.F.; Harvey, H.W.

    1998-08-01

    This Cooperative Research and Development Agreement (CRADA) between Lockheed Martin Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mk VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.

  11. Enhanced control & sensing for the REMOTEC ANDROS Mk VI robot. Final report

    SciTech Connect (OSTI)

    Spelt, P.F.; Harvey, H.W.

    1997-08-01

    This Cooperative Research and Development Agreement (CRADA) between Lockheed Marietta Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mk VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.

  12. Crops, Bots and Bytes: Check Out the Robots Behind ARPA-E's Agro-Energy

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

    Program | Department of Energy Crops, Bots and Bytes: Check Out the Robots Behind ARPA-E's Agro-Energy Program Crops, Bots and Bytes: Check Out the Robots Behind ARPA-E's Agro-Energy Program June 9, 2016 - 5:02pm Addthis Crops, Bots and Bytes: Check Out the Robots Behind ARPA-E’s Agro-Energy Program Biofuels have huge potential as a low-carbon alternative to fossil fuels for transportation. But farming crops for biofuel takes land, fresh water and other resources that are increasingly

  13. DNA polymerase having modified nucleotide binding site for DNA sequencing

    DOE Patents [OSTI]

    Tabor, Stanley; Richardson, Charles

    1997-01-01

    Modified gene encoding a modified DNA polymerase wherein the modified polymerase incorporates dideoxynucleotides at least 20-fold better compared to the corresponding deoxynucleotides as compared with the corresponding naturally-occurring DNA polymerase.

  14. DNA polymerase having modified nucleotide binding site for DNA sequencing

    DOE Patents [OSTI]

    Tabor, S.; Richardson, C.

    1997-03-25

    A modified gene encoding a modified DNA polymerase is disclosed. The modified polymerase incorporates dideoxynucleotides at least 20-fold better compared to the corresponding deoxynucleotides as compared with the corresponding naturally-occurring DNA polymerase. 6 figs.

  15. A robotic inspection experimental system (ARIES) and BOA

    SciTech Connect (OSTI)

    1998-02-01

    ARIES consists of a 6-wheeled K3A mobile platform, a compact subturret, a sonar imaging system, a laser-based light detection and ranging (lidar) navigation beacon system, and a camera positioning system. It has a sonar imaging system used in navigation and collision avoidance and an automatic docking/charging system. Drum-referencing algorithms and camera-positioning algorithms have been included in the primitive instruction set for the robot. The robot`s navigation is based on Synchro-Drive, a patented design that utilizes concentric shafts to distribute drive and steering power to the six wheels simultaneously. ARIES uses a virtual path concept in which only a limited amount of information needs to be provided to the control computer in order to get the vehicle moving. The safety and health evaluation, during the human factors assessment, found several areas of concern including ergonomics, laser hazards, tripping hazards, fall-from-above and struck-by hazards, electrical hazards, and decontamination of the system. BOA is a self-propelled automated mini-enclosure, able to remove insulation from installed pipes, primarily of 4 inch nominal outside diameter. The system is designed for two operators: one oversees the abatement head operation from a distance of 10 or 15 feet using a pendant control and the other bags the debris at a cyclonic bagging station that is attached by a vacuum hose to the cutting head. Since the abatement head is its own enclosure, there may be no need for further enclosures to be built. The system wets and removes asbestos insulation automatically, cutting the debris into consistent chunks and moving the wave under a strong vacuum to a bagging machine. Prior to reaching the bagging operation, the material passes through a water separator which greatly reduces the weight of the debris and allows recirculation of water, after sufficient filtration. The safety and health evaluation, during the human factors assessment, focused on: noise, dust

  16. Modified Microgrid Concept for Rural Electrification in Africa...

    Open Energy Info (EERE)

    Modified Microgrid Concept for Rural Electrification in Africa Jump to: navigation, search Tool Summary LAUNCH TOOL Name: Modified Microgrid Concept for Rural Electrification in...

  17. Webinar: Genetically Modified Algae: A Risk-Benefit Assessment...

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

    Algae: A Risk-Benefit Assessment Webinar: Genetically Modified Algae: A Risk-Benefit Assessment Genetically Modified (GM) Algae: A Risk-Benefit Assessment PDF icon...

  18. Is the proton electromagnetic form factor modified in nuclei...

    Office of Scientific and Technical Information (OSTI)

    Is the proton electromagnetic form factor modified in nuclei? Citation Details In-Document Search Title: Is the proton electromagnetic form factor modified in nuclei? You are ...

  19. A new design for a disposable and modifiable electrochemical...

    Office of Scientific and Technical Information (OSTI)

    and modifiable electrochemical cell Citation Details In-Document Search Title: A new design for a disposable and modifiable electrochemical cell Authors: Dattelbaum, Andrew M ...

  20. A new design for a disposable and modifiable electrochemical...

    Office of Scientific and Technical Information (OSTI)

    A new design for a disposable and modifiable electrochemical cell Citation Details In-Document Search Title: A new design for a disposable and modifiable electrochemical cell ...

  1. Surface modified CFx cathode material for ultrafast discharge...

    Office of Scientific and Technical Information (OSTI)

    Surface modified CFx cathode material for ultrafast discharge and high energy density Prev Next Title: Surface modified CFx cathode material for ultrafast discharge and high...

  2. In-situ characterization of plasma modified surfaces by vibrational...

    Office of Scientific and Technical Information (OSTI)

    of plasma modified surfaces by vibrational sum frequency generation spectroscopy. Citation Details In-Document Search Title: In-situ characterization of plasma modified surfaces ...

  3. Modified Microbes Tolerate 50-Fold More Organic Acid - Energy...

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

    UW-Madison researchers have genetically modified microorganisms to better tolerate organic acids like 3HP, acrylic acid and propionic acid. The modified microorganisms are ...

  4. Using mixed-initiative human-robot interaction to bound performance in a search task

    SciTech Connect (OSTI)

    Curtis W. Nielsen; Douglas A. Few; Devin S. Athey

    2008-12-01

    Mobile robots are increasingly used in dangerous domains, because they can keep humans out of harm’s way. Despite their advantages in hazardous environments, their general acceptance in other less dangerous domains has not been apparent and, even in dangerous environments, robots are often viewed as a “last-possible choice.” In order to increase the utility and acceptance of robots in hazardous domains researchers at the Idaho National Laboratory have both developed and tested novel mixed-initiative solutions that support the human-robot interactions. In a recent “dirty-bomb” experiment, participants exhibited different search strategies making it difficult to determine any performance benefits. This paper presents a method for categorizing the search patterns and shows that the mixed-initiative solution decreased the time to complete the task and decreased the performance spread between participants independent of prior training and of individual strategies used to accomplish the task.

  5. A wall-crawling robot for reactor vessel inspection in advanced reactors

    SciTech Connect (OSTI)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-06-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected.

  6. SCIENCE ON SATURDAY- "A Robot's View of Our Ocean Planet" | Princeton...

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

    16, 2013, 9:30am Science On Saturday MBG Auditorium SCIENCE ON SATURDAY- "A Robot's View of Our Ocean Planet" Professor Josh Kohut, Assistant Professor of Oceanography Center for...

  7. Steerable vertical to horizontal energy transducer for mobile robots

    DOE Patents [OSTI]

    Spletzer, Barry L.; Fischer, Gary J.; Feddema, John T.

    2001-01-01

    The present invention provides a steerable vertical to horizontal energy transducer for mobile robots that less complex and requires less power than two degree of freedom tilt mechanisms. The present invention comprises an end effector that, when mounted with a hopping actuator, translates along axis (typically vertical) actuation into combined vertical and horizontal motion. The end effector, or foot, mounts with an end of the actuator that moves toward the support surface (typically a floor or the earth). The foot is shaped so that the first contact with the support surface is off the axis of the actuator. Off-axis contact with the support surface generates an on-axis force (typically resulting in vertical motion) and a moment orthogonal to the axis. The moment initiates a horizontal tumbling motion, and tilts the actuator so that its axis is oriented with a horizontal component and continued actuation generates both vertical and horizontal force.

  8. Automated robotic equipment for ultrasonic inspection of pressurizer heater wells

    DOE Patents [OSTI]

    Nachbar, Henry D.; DeRossi, Raymond S.; Mullins, Lawrence E.

    1993-01-01

    A robotic device for remotely inspecting pressurizer heater wells is provided which has the advantages of quickly, precisely, and reliably acquiring data at reasonable cost while also reducing radiation exposure of an operator. The device comprises a prober assembly including a probe which enters a heater well, gathers data regarding the condition of the heater well and transmits a signal carrying that data; a mounting device for mounting the probe assembly at the opening of the heater well so that the probe can enter the heater well; a first motor mounted on the mounting device for providing movement of the probe assembly in an axial direction; and a second motor mounted on the mounting device for providing rotation of the probe assembly. This arrangement enables full inspection of the heater well to be carried out.

  9. Robotic end gripper with a band member to engage object

    DOE Patents [OSTI]

    Pollard, R.E.; Robinson, S.C.; Thompson, W.F.; Couture, S.A.; Sutton, B.J.

    1994-05-10

    An end effector for use with robotic arms and like devices is described that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator. 8 figures.

  10. User interface for a tele-operated robotic hand system

    SciTech Connect (OSTI)

    Crawford, Anthony L

    2015-03-24

    Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

  11. Preliminary Analysis of Remote Monitoring & Robotic Concepts for Performance Confirmation

    SciTech Connect (OSTI)

    D.A. McAffee

    1997-02-18

    As defined in 10 CFR Part 60.2, Performance Confirmation is the ''program of tests, experiments and analyses which is conducted to evaluate the accuracy and adequacy of the information used to determine with reasonable assurance that the performance objectives for the period after permanent closure will be met''. The overall Performance Confirmation program begins during site characterization and continues up to repository closure. The main purpose of this document is to develop, explore and analyze initial concepts for using remotely operated and robotic systems in gathering repository performance information during Performance Confirmation. This analysis focuses primarily on possible Performance Confirmation related applications within the emplacement drifts after waste packages have been emplaced (post-emplacement) and before permanent closure of the repository (preclosure). This will be a period of time lasting approximately 100 years and basically coincides with the Caretaker phase of the project. This analysis also examines, to a lesser extent, some applications related to Caretaker operations. A previous report examined remote handling and robotic technologies that could be employed during the waste package emplacement phase of the project (Reference 5.1). This analysis is being prepared to provide an early investigation of possible design concepts and technical challenges associated with developing remote systems for monitoring and inspecting activities during Performance Confirmation. The writing of this analysis preceded formal development of Performance Confirmation functional requirements and program plans and therefore examines, in part, the fundamental Performance Confirmation monitoring needs and operating conditions. The scope and primary objectives of this analysis are to: (1) Describe the operating environment and conditions expected in the emplacement drifts during the preclosure period. (Presented in Section 7.2). (2) Identify and discuss the

  12. Design and development of a walking robotic vehicle

    SciTech Connect (OSTI)

    Shkolnik, N.

    1990-01-01

    Quest Systems, Inc., sponsored by DARPA, is developing a low-cost, high-efficiency walking robotic vehicle (WRV). This vehicle will be targeted for a variety of applications in waste management, hazardous materials transport and handling, nuclear plant operations, maintenance and decontamination, security, mining, and other areas in industrial and military sectors. The purpose of the development is twofold. The first goal is to demonstrate that, in spite of common beliefs, legged locomotion can be as efficient as wheeled (at low velocities), which could make a walking vehicle a prime candidate for an autonomously operated platform. The second goal is to show that this type of vehicle can be built rather inexpensively (below $100,000), which would allow it to compete on a cost/functionality basis with wheeled and tracked ones.

  13. Robotic end gripper with a band member to engage object

    DOE Patents [OSTI]

    Pollard, Roy E.; Robinson, Samuel C.; Thompson, William F.; Couture, Scott A.; Sutton, Bill J.

    1994-01-01

    An end effector for use with robotic arms and like devices that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator.

  14. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, Elliot M.; Chang, Caren; Bleecker, Anthony B.

    1998-01-01

    The invention includes transformed plants having at least one cell transformed with a modified ETR nucleic acid. Such plants have a phenotype characterized by a decrease in the response of at least one transformed plant cell to ethylene as compared to a plant not containing the transformed plant cell. Tissue and/or temporal specificity for expression of the modified ETR nucleic acid is controlled by selecting appropriate expression regulation sequences to target the location and/or time of expression of the transformed nucleic acid. The plants are made by transforming at least one plant cell with an appropriate modified ETR nucleic acid, regenerating plants from one or more of the transformed plant cells and selecting at least one plant having the desired phenotype.

  15. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, E.M.; Chang, C.; Bleecker, A.B.

    1997-11-18

    The invention includes transformed plants having at least one cell transformed with a modified ETR nucleic acid. Such plants have a phenotype characterized by a decrease in the response of at least one transformed plant cell to ethylene as compared to a plant not containing the transformed plant cell. Tissue and/or temporal specificity for expression of the modified ETR nucleic acid is controlled by selecting appropriate expression regulation sequences to target the location and/or time of expression of the transformed nucleic acid. The plants are made by transforming at least one plant cell with an appropriate modified ETR nucleic acid, regenerating plants from one or more of the transformed plant cells and selecting at least one plant having the desired phenotype. 31 figs.

  16. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, Elliott M.; Chang, Caren; Bleecker, Anthony B.

    1997-01-01

    The invention includes transformed plants having at least one cell transformed with a modified ETR nucleic acid. Such plants have a phenotype characterized by a decrease in the response of at least one transformed plant cell to ethylene as compared to a plant not containing the transformed plant cell. Tissue and/or temporal specificity for expression of the modified ETR nucleic acid is controlled by selecting appropriate expression regulation sequences to target the location and/or time of expression of the transformed nucleic acid. The plants are made by transforming at least one plant cell with an appropriate modified ETR nucleic acid, regenerating plants from one or more of the transformed plant cells and selecting at least one plant having the desired phenotype.

  17. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, E.M.; Chang, C.; Bleecker, A.B.

    1998-10-20

    The invention includes transformed plants having at least one cell transformed with a modified ETR nucleic acid. Such plants have a phenotype characterized by a decrease in the response of at least one transformed plant cell to ethylene as compared to a plant not containing the transformed plant cell. Tissue and/or temporal specificity for expression of the modified ETR nucleic acid is controlled by selecting appropriate expression regulation sequences to target the location and/or time of expression of the transformed nucleic acid. The plants are made by transforming at least one plant cell with an appropriate modified ETR nucleic acid, regenerating plants from one or more of the transformed plant cells and selecting at least one plant having the desired phenotype. 67 figs.

  18. BOA: Asbestos pipe insulation removal robot system. Phase 1

    SciTech Connect (OSTI)

    Schempf, H.; Bares, J.E.

    1995-02-01

    The project described in this report targets the development of a mechanized system for safe, cost-efficient and automated abatement of asbestos containing materials used as pipe insulation. Based on several key design criteria and site visits, a proof-of-concept prototype robot system, dubbed BOA, was designed and built, which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure -- restrictions to be alleviated through continued development. BOA removed asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. The containment and vacuum system on BOA was able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/ 8-hr. shift. This program consists of two phases. The first phase was completed and a demonstration was given to a review panel, consisting of DOE headquarters and site representatives as well as commercial abatement industry representatives. Based on the technical and programmatic recommendations drafted, presented and discussed during the review meeting, a new plan for the Phase II effort of this project was developed. Phase 11 will consist of a 26-month effort, with an up-front 4-month site-, market-, cost/benefit and regulatory study before the next BOA robot (14 months) is built, and then deployed and demonstrated (3 months) at a DOE site (such as Fernald or Oak Ridge) by the beginning of FY`97.

  19. Why 3D Printers Might Create the Next Robotic Champion | Department of

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

    Energy Why 3D Printers Might Create the Next Robotic Champion Why 3D Printers Might Create the Next Robotic Champion December 11, 2013 - 4:18pm Addthis As the nation's premier research laboratory, Oak Ridge National Laboratory is one of the world's most capable resources for transforming the next generation of scientific discovery into solutions for rebuilding and revitalizing America's manufacturing industries, with tools like 3D printers. Dot Harris Dot Harris Director, Office of Economic

  20. Robotics program gets boost from $10,000 donation | National Nuclear

    National Nuclear Security Administration (NNSA)

    Security Administration | (NNSA) Robotics program gets boost from $10,000 donation Friday, March 27, 2015 - 3:43pm Consolidated Nuclear Security (CNS), managing and operating contractor of NNSA's Pantex Plant and the Y-12 National Security Complex, this week donated $10,000 to Bushland Independent School District (ISD) in Texas. The donation will help create a multi-level robotics program for the school district. The donation also serves as an investment in science, technology, engineering

  1. Who's on FIRST? Inspiring STEM through robotics | Y-12 National Security

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

    Security Administration | (NNSA) Who's on FIRST? Inspiring STEM through robotics Wednesday, April 27, 2016 - 9:14am Students from Farragut High School work on their entry for the FIRST (For Inspiration & Recognition of Science & Technology) robotics competition. Consolidated Nuclear Security, LLC, which runs the Y-12 National Security Complex and the Pantex Plant, plays an active role in strengthening the quality of FIRST (For Inspiration & Recognition of Science &

  2. EM Brings Unique Nuclear Niche to Robotics Expo | Department of Energy

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

    Brings Unique Nuclear Niche to Robotics Expo EM Brings Unique Nuclear Niche to Robotics Expo June 6, 2016 - 4:30pm Addthis EM Senior Technical Advisor Rodrigo Rimando, center, red shirt, is shown in Japan in July, when he led a diverse team of expert roboticists to explore opportunities for collaboration with Japanese universities, technologist, and government laboratories. EM Senior Technical Advisor Rodrigo Rimando, center, red shirt, is shown in Japan in July, when he led a diverse team of

  3. Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

    DOE Patents [OSTI]

    Feddema, John T.; Driessen, Brian J.; Kwok, Kwan S.

    2002-01-01

    A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.

  4. Electrochemical apparatus comprising modified disposable rectangular cuvette

    DOE Patents [OSTI]

    Dattelbaum, Andrew M; Gupta, Gautam; Morris, David E

    2013-09-10

    Electrochemical apparatus includes a disposable rectangular cuvette modified with at least one hole through a side and/or the bottom. Apparatus may include more than one cuvette, which in practice is a disposable rectangular glass or plastic cuvette modified by drilling the hole(s) through. The apparatus include two plates and some means of fastening one plate to the other. The apparatus may be interfaced with a fiber optic or microscope objective, and a spectrometer for spectroscopic studies. The apparatus are suitable for a variety of electrochemical experiments, including surface electrochemistry, bulk electrolysis, and flow cell experiments.

  5. Distributed control of multi-robot teams: Cooperative baton passing task

    SciTech Connect (OSTI)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  6. Automated tracking and grasping of a moving object with a robotic hand-eye system

    SciTech Connect (OSTI)

    Allen, P.K.; Timcenko, A.; Yoshimi, B.; Michelman, P. . Dept. of Computer Science)

    1993-04-01

    Most robotic grasping tasks assume a stationary or fixed object. In this paper, the authors explore the requirements for tracking and grasping a moving object. The focus of the work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand--eye coordination for dynamic grasping takes such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organisms sensing modalities and motor control system is a hallmark of intelligent behavior, and they are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system they have built addresses three distinct problems in robotic hand--eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms they have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

  7. UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

    SciTech Connect (OSTI)

    James S. Tulenko; Carl D. Crane III

    2006-02-15

    The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  8. Sandia Modifies Delft3D Turbine Model

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

    Modifies Delft3D Turbine Model - Sandia Energy Energy Search Icon Sandia Home Locations Contact Us Employee Locator Energy & Climate Secure & Sustainable Energy Future Stationary Power Energy Conversion Efficiency Solar Energy Wind Energy Water Power Supercritical CO2 Geothermal Natural Gas Safety, Security & Resilience of the Energy Infrastructure Energy Storage Nuclear Power & Engineering Grid Modernization Battery Testing Nuclear Energy Defense Waste Management Programs

  9. Theoretical priors on modified growth parametrisations

    SciTech Connect (OSTI)

    Song, Yong-Seon; Hollenstein, Lukas; Caldera-Cabral, Gabriela; Koyama, Kazuya E-mail: Lukas.Hollenstein@unige.ch E-mail: Kazuya.Koyama@port.ac.uk

    2010-04-01

    Next generation surveys will observe the large-scale structure of the Universe with unprecedented accuracy. This will enable us to test the relationships between matter over-densities, the curvature perturbation and the Newtonian potential. Any large-distance modification of gravity or exotic nature of dark energy modifies these relationships as compared to those predicted in the standard smooth dark energy model based on General Relativity. In linear theory of structure growth such modifications are often parameterised by virtue of two functions of space and time that enter the relation of the curvature perturbation to, first, the matter over- density, and second, the Newtonian potential. We investigate the predictions for these functions in Brans-Dicke theory, clustering dark energy models and interacting dark energy models. We find that each theory has a distinct path in the parameter space of modified growth. Understanding these theoretical priors on the parameterisations of modified growth is essential to reveal the nature of cosmic acceleration with the help of upcoming observations of structure formation.

  10. Y-12 Plant decontamination and decommissioning Technology Logic Diagram for Building 9201-4: Volume 3, Technology evaluation data sheets: Part B, Decontamination; robotics/automation; waste management

    SciTech Connect (OSTI)

    1994-09-01

    This volume consists of the Technology Logic Diagrams (TLDs) for the decontamination, robotics/automation, and waste management areas.

  11. 3-dimensional telepresence system for a robotic environment

    DOE Patents [OSTI]

    Anderson, Matthew O.; McKay, Mark D.

    2000-01-01

    A telepresence system includes a camera pair remotely controlled by a control module affixed to an operator. The camera pair provides for three dimensional viewing and the control module, affixed to the operator, affords hands-free operation of the camera pair. In one embodiment, the control module is affixed to the head of the operator and an initial position is established. A triangulating device is provided to track the head movement of the operator relative to the initial position. A processor module receives input from the triangulating device to determine where the operator has moved relative to the initial position and moves the camera pair in response thereto. The movement of the camera pair is predetermined by a software map having a plurality of operation zones. Each zone therein corresponds to unique camera movement parameters such as speed of movement. Speed parameters include constant speed, or increasing or decreasing. Other parameters include pan, tilt, slide, raise or lowering of the cameras. Other user interface devices are provided to improve the three dimensional control capabilities of an operator in a local operating environment. Such other devices include a pair of visual display glasses, a microphone and a remote actuator. The pair of visual display glasses are provided to facilitate three dimensional viewing, hence depth perception. The microphone affords hands-free camera movement by utilizing voice commands. The actuator allows the operator to remotely control various robotic mechanisms in the remote operating environment.

  12. BOA: Asbestos pipe-insulation removal robot system, Phase 2. Topical report, January--June 1995

    SciTech Connect (OSTI)

    Schempf, H.; Bares, J.E.

    1995-06-01

    This report explored the regulatory impact and cost-benefit of a robotic thermal asbestos pipe-insulation removal system over the current manual abatement work practice. The authors are currently in the second phase of a two-phase program to develop a robotic asbestos abatement system, comprised of a ground-based support system (including vacuum, fluid delivery, computing/electronics/power, and other subsystems) and several on-pipe removal units, each sized to handle pipes within a given diameter range. The intent of this study was to (i) aid in developing design and operational criteria for the overall system to maximize cost-efficiency, and (ii) to determine the commercial potential of a robotic pipe-insulation abatement system.

  13. SDRE control strategy applied to a nonlinear robotic including drive motor

    SciTech Connect (OSTI)

    Lima, Jeferson J. de E-mail: tusset@utfpr.edu.br E-mail: piccirillo@utfpr.edu.br Tusset, Angelo M. E-mail: tusset@utfpr.edu.br E-mail: piccirillo@utfpr.edu.br Janzen, Frederic C. E-mail: tusset@utfpr.edu.br E-mail: piccirillo@utfpr.edu.br Piccirillo, Vinicius E-mail: tusset@utfpr.edu.br E-mail: piccirillo@utfpr.edu.br Nascimento, Claudinor B. E-mail: tusset@utfpr.edu.br E-mail: piccirillo@utfpr.edu.br; Balthazar, José M.; Brasil, Reyolando M. L. R. da Fonseca

    2014-12-10

    A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

  14. Human Factors Principles in Design of Computer-Mediated Visualization for Robot Missions

    SciTech Connect (OSTI)

    David I Gertman; David J Bruemmer

    2008-12-01

    With increased use of robots as a resource in missions supporting countermine, improvised explosive devices (IEDs), and chemical, biological, radiological nuclear and conventional explosives (CBRNE), fully understanding the best means by which to complement the human operators underlying perceptual and cognitive processes could not be more important. Consistent with control and display integration practices in many other high technology computer-supported applications, current robotic design practices rely highly upon static guidelines and design heuristics that reflect the expertise and experience of the individual designer. In order to use what we know about human factors (HF) to drive human robot interaction (HRI) design, this paper reviews underlying human perception and cognition principles and shows how they were applied to a threat detection domain.

  15. V-127: Samba Bug Lets Remote Authenticated Users Modify Files...

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

    7: Samba Bug Lets Remote Authenticated Users Modify Files V-127: Samba Bug Lets Remote Authenticated Users Modify Files April 5, 2013 - 6:00am Addthis PROBLEM: A vulnerability was...

  16. Reduced-Order Model Based Feedback Control For Modified Hasegawa...

    Office of Scientific and Technical Information (OSTI)

    Reduced-Order Model Based Feedback Control For Modified Hasegawa-Wakatani Model Citation Details In-Document Search Title: Reduced-Order Model Based Feedback Control For Modified ...

  17. ROBOTICS IN HAZARDOUS ENVIRONMENTS - REAL DEPLOYMENTS BY THE SAVANNAH RIVER NATIONAL LABORATORY

    SciTech Connect (OSTI)

    Kriikku, E.; Tibrea, S.; Nance, T.

    2010-09-27

    The Research & Development Engineering (R&DE) section in the Savannah River National Laboratory (SRNL) engineers, integrates, tests, and supports deployment of custom robotics, systems, and tools for use in radioactive, hazardous, or inaccessible environments. Mechanical and electrical engineers, computer control professionals, specialists, machinists, welders, electricians, and mechanics adapt and integrate commercially available technology with in-house designs, to meet the needs of Savannah River Site (SRS), Department of Energy (DOE), and other governmental agency customers. This paper discusses five R&DE robotic and remote system projects.

  18. Experts Explore Opportunities to Advance Use of Robotics in EM Cleanup |

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

    Department of Energy Experts Explore Opportunities to Advance Use of Robotics in EM Cleanup Experts Explore Opportunities to Advance Use of Robotics in EM Cleanup December 17, 2015 - 5:00pm Addthis Mitch Pryor with the University of Texas-Austin is coached by Babb Attaway of Savannah River National Laboratory as he tries his hand using a manipulator. Mitch Pryor with the University of Texas-Austin is coached by Babb Attaway of Savannah River National Laboratory as he tries his hand using a

  19. Café Scientifique Española wins robotics competition

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

    Café Scientifique Española wins robotics competition Community Connections: Your link to news and opportunities from Los Alamos National Laboratory Latest Issue: September 1, 2016 all issues All Issues » submit Café Scientifique Española wins robotics competition High schoolers qualify for RoboRave International in Japan. June 2, 2016 Arasely Rodriguez of Taos High School, Katherine Wang of Los Alamos High School, and Solomon Sindelar of New Mexico Military Institute are the recipients of

  20. SU-E-T-409: Intensity Modulated Robotic Radiotherapy

    SciTech Connect (OSTI)

    Wang, B; Jin, L; Li, J; Chen, L; Ma, C; Fan, J; Zhang, C

    2014-06-01

    Purpose: As compared with the IRIS-based models, the MLC-based CyberKnife system allows more efficient treatment delivery due to its improved coverage of large lesions and intensity modulation. The treatment delivery efficiency is mainly determined by the number of selected nodes. This study aimed to demonstrate that relatively small sets of optimally selected nodes could produce high-quality plans. Methods: The full body path of the CyberKnife system consists of 110 nodes, from which we selected various sets for 4 prostate cancer cases using our in-house beamselection software. With the selected nodes we generated IMRT plans using our in-house beamlet-based inverse-planning optimization program. We also produced IMRT plans using the MultiPlan treatment planning system (version 5.0) for the same cases. Furthermore, the nodes selected by MultiPlan were used to produce plans with our own optimization software so that we could compare the quality of the selected sets of nodes. Results: Our beam-selection program selected one node-set for each case, with the number of nodes ranging from 23 to 34. The IMRT plans based on the selected nodes and our in-house optimization program showed adequate target coverage, with favorable critical structure sparing for the cases investigated. Compared with the plans using the nodes selected by MultiPlan, the plans generated with our selected beams provided superior rectum/bladder sparing for 75% of the cases. The plans produced by MultiPlan with various numbers of nodes also suggested that the plan quality was not compromised significantly when the number of nodes was reduced. Conclusion: Our preliminary results showed that with beamletbased planning optimization, one could produce high-quality plans with an optimal set of nodes for MLC-based robotic radiotherapy. Furthermore, our beam-selection strategy could help further improve critical structure sparing.

  1. Robots for hazardous duties: Military, space, and nuclear facility applications. January 1987-September 1991 (Citations from the NTIS Data Base). Rept. for Jan 87-Sep 91

    SciTech Connect (OSTI)

    Not Available

    1991-08-01

    The bibliography contains citations concerning the design and application of robots used in place of humans where the environment could be hazardous. Military applications include autonomous land vehicles, robotic howitzers, and battlefield support operations. Space operations include docking, maintenance, and mission support, both intra-vehicular and extra-vehicular activities. Nuclear applications include operations within the containment vessel, radioactive waste operations, fueling operations, and plant security. Many of the articles reference control techniques and the use of expert systems in robotic operations. Applications involving industrial manufacturing, walking robots, and robot welding are cited in other published searches in the series. (Contains 172 citations with title list and subject index.)

  2. Boron modified molybdenum silicide and products

    DOE Patents [OSTI]

    Meyer, Mitchell K.; Akinc, Mufit

    1999-02-02

    A boron-modified molybdenum silicide material having the composition comprising about 80 to about 90 weight % Mo, about 10 to about 20 weight % Si, and about 0.1 to about 2 weight % B and a multiphase microstructure including Mo.sub.5 Si.sub.3 phase as at least one microstructural component effective to impart good high temperature creep resistance. The boron-modified molybdenum silicide material is fabricated into such products as electrical components, such as resistors and interconnects, that exhibit oxidation resistance to withstand high temperatures in service in air as a result of electrical power dissipation, electrical resistance heating elements that can withstand high temperatures in service in air and other oxygen-bearing atmospheres and can span greater distances than MoSi.sub.2 heating elements due to improved creep resistance, and high temperature structural members and other fabricated components that can withstand high temperatures in service in air or other oxygen-bearing atmospheres while retaining creep resistance associated with Mo.sub.5 Si.sub.3 for structural integrity.

  3. Boron modified molybdenum silicide and products

    DOE Patents [OSTI]

    Meyer, M.K.; Akinc, M.

    1999-02-02

    A boron-modified molybdenum silicide material is disclosed having the composition comprising about 80 to about 90 weight % Mo, about 10 to about 20 weight % Si, and about 0.1 to about 2 weight % B and a multiphase microstructure including Mo{sub 5}Si{sub 3} phase as at least one microstructural component effective to impart good high temperature creep resistance. The boron-modified molybdenum silicide material is fabricated into such products as electrical components, such as resistors and interconnects, that exhibit oxidation resistance to withstand high temperatures in service in air as a result of electrical power dissipation, electrical resistance heating elements that can withstand high temperatures in service in air and other oxygen-bearing atmospheres and can span greater distances than MoSi{sub 2} heating elements due to improved creep resistance, and high temperature structural members and other fabricated components that can withstand high temperatures in service in air or other oxygen-bearing atmospheres while retaining creep resistance associated with Mo{sub 5}Si{sub 3} for structural integrity. 7 figs.

  4. Chemically modified carbonic anhydrases useful in carbon capture systems

    DOE Patents [OSTI]

    Novick, Scott J; Alvizo, Oscar

    2013-10-29

    The present disclosure relates to chemically modified carbonic anhydrase polypeptides and soluble compositions, homogenous liquid formulations comprising them. The chemically modified carbonic anhydrase polypeptides have improved properties relative to the same carbonic anhydrase polypeptide that is not chemically modified including the improved properties of increased activity and/or stability in the presence of amine compounds, ammonia, or carbonate ion. The present disclosure also provides methods of preparing the chemically modified polypeptides and methods of using the chemically modified polypeptides for accelerating the absorption of carbon dioxide from a gas stream into a solution as well as for the release of the absorbed carbon dioxide for further treatment and/or sequestering.

  5. Chemically modified carbonic anhydrases useful in carbon capture systems

    DOE Patents [OSTI]

    Novick, Scott; Alvizo, Oscar

    2013-01-15

    The present disclosure relates to chemically modified carbonic anhydrase polypeptides and soluble compositions, homogenous liquid formulations comprising them. The chemically modified carbonic anhydrase polypeptides have improved properties relative to the same carbonic anhydrase polypeptide that is not chemically modified including the improved properties of increased activity and/or stability in the presence of amine compounds, ammonia, or carbonate ion. The present disclosure also provides methods of preparing the chemically modified polypeptides and methods of using the chemically modified polypeptides for accelerating the absorption of carbon dioxide from a gas stream into a solution as well as for the release of the absorbed carbon dioxide for further treatment and/or sequestering.

  6. Radionuclide partitioning in the modified Unex process

    SciTech Connect (OSTI)

    Babain, V.; Smirnov, I.; Alyapyshev, M.; Todd, T.A.; Law, J.D.; Herbst, R.S.; Paulenova, A.

    2008-07-01

    The Universal Extraction (UNEX) process has been developed for simultaneous extraction of long-lived radionuclides (cesium, strontium, actinides, and lanthanides) from acidic solutions in one extraction cycle. Modification of this organic solvent through the use of diamides of dipicolinic acid instead of CMPO increases the extraction capacity of UNEX solvent toward lanthanides and actinide metals, allowing for the processing of spent nuclear fuel. The possibility of radionuclide group separation using the modified UNEX solvent [HCCD (chlorinated cobalt dicarbollide), TBDPA (tetrabutyl-diamide of dipicolinic acid), PEG in FS-1 3 (phenyl-trifluoromethyl-sulfone)] is being investigated. Individual strip products, including a) actinides and lanthanides, b) strontium, and c) cesium, can be obtained by selective stripping from UNEX solvent. Such partitioning will make it possible to transform the Cs/Sr product into the most stable matrices for long-term storage and to further process the actinide/lanthanide product for recycling to a nuclear reactor. (authors)

  7. Astrophysical black holes in screened modified gravity

    SciTech Connect (OSTI)

    Davis, Anne-Christine; Jha, Rahul; Muir, Jessica; Gregory, Ruth E-mail: r.a.w.gregory@durham.ac.uk E-mail: jlmuir@umich.edu

    2014-08-01

    Chameleon, environmentally dependent dilaton, and symmetron gravity are three models of modified gravity in which the effects of the additional scalar degree of freedom are screened in dense environments. They have been extensively studied in laboratory, cosmological, and astrophysical contexts. In this paper, we present a preliminary investigation into whether additional constraints can be provided by studying these scalar fields around black holes. By looking at the properties of a static, spherically symmetric black hole, we find that the presence of a non-uniform matter distribution induces a non-constant scalar profile in chameleon and dilaton, but not necessarily symmetron gravity. An order of magnitude estimate shows that the effects of these profiles on in-falling test particles will be sub-leading compared to gravitational waves and hence observationally challenging to detect.

  8. Proof-of-Concept Demonstration Results for Robotic Visual Servo Controllers

    SciTech Connect (OSTI)

    Chawda, P.V.

    2004-09-22

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, fundamental research is focused on the challenges of developing visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This technical manual describes 3 proof-of-concept demonstrations of visual servo controllers developed from fundamental research aimed at these challenges. Specifically, one section describes the implementation of a cooperative visual servo control scheme with a camera-in-hand and a fixed camera to track a moving target despite uncertainty in the camera calibration and the unknown constant distance from the camera to a target where the camera is mounted on the end-effector of a 6 degrees-of-freedom hydraulic robot manipulator. The next section describes the implementation of 2 homography-based visual servo tracking and regulation controllers for a mobile robot with a calibrated camera despite an unknown time-varying distance from the camera to a target.

  9. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    SciTech Connect (OSTI)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  10. Method of modifying a volume mesh using sheet extraction

    DOE Patents [OSTI]

    Borden, Michael J.; Shepherd, Jason F.

    2007-02-20

    A method and machine-readable medium provide a technique to modify a hexahedral finite element volume mesh using dual generation and sheet extraction. After generating a dual of a volume stack (mesh), a predetermined algorithm may be followed to modify the volume mesh of hexahedral elements. The predetermined algorithm may include the steps of determining a sheet of hexahedral mesh elements, generating nodes for merging, and merging the nodes to delete the sheet of hexahedral mesh elements and modify the volume mesh.

  11. System configured for applying multiple modifying agents to a substrate

    DOE Patents [OSTI]

    Propp, W. Alan; Argyle, Mark D.; Janikowski, Stuart K.; Fox, Robert V.; Toth, William J.; Ginosar, Daniel M.; Allen, Charles A.; Miller, David L.

    2003-11-25

    The present invention is related to the modifying of substrates with multiple modifying agents in a single continuous system. At least two processing chambers are configured for modifying the substrate in a continuous feed system. The processing chambers can be substantially isolated from one another by interstitial seals. Additionally, the two processing chambers can be substantially isolated from the surrounding atmosphere by end seals. Optionally, expansion chambers can be used to separate the seals from the processing chambers.

  12. System Configured For Applying Multiple Modifying Agents To A Substrate.

    DOE Patents [OSTI]

    Propp, W. Alan; Argyle, Mark D.; Janikowski, Stuart K.; Fox, Robert V.; Toth, William J.; Ginosar, Daniel M.; Allen, Charles A.; Miller, David L.

    2005-11-08

    The present invention is related to the modifying of substrates with multiple modifying agents in a single continuous system. At least two processing chambers are configured for modifying the substrate in a continuous feed system. The processing chambers can be substantially isolated from one another by interstitial seals. Additionally, the two processing chambers can be substantially isolated from the surrounding atmosphere by end seals. Optionally, expansion chambers can be used to separate the seals from the processing chambers.

  13. Surface modified CFx cathode material for ultrafast discharge...

    Office of Scientific and Technical Information (OSTI)

    CFx. The modified CFx, consisting of an in situ generated shell component of F-graphene layers, possesses good electronic conductivity and removes the transporting barrier...

  14. Method of modifying a volume mesh using sheet insertion

    DOE Patents [OSTI]

    Borden, Michael J.; Shepherd, Jason F.

    2006-08-29

    A method and machine-readable medium provide a technique to modify a hexahedral finite element volume mesh using dual generation and sheet insertion. After generating a dual of a volume stack (mesh), a predetermined algorithm may be followed to modify (refine) the volume mesh of hexahedral elements. The predetermined algorithm may include the steps of locating a sheet of hexahedral mesh elements, determining a plurality of hexahedral elements within the sheet to refine, shrinking the plurality of elements, and inserting a new sheet of hexahedral elements adjacently to modify the volume mesh. Additionally, another predetermined algorithm using mesh cutting may be followed to modify a volume mesh.

  15. Highly Active and Selective Metal-modified Zeolite Catalysts...

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

    Active and Selective Metal-modified Zeolite Catalysts for Low Temperature Conversion of Methanol and Dimethyl Ether to Gasoline-range Branched Hydrocarbons National Renewable...

  16. Hyperthermal Energy Collisions of CF3+ Ions With Modified Surfaces...

    Office of Scientific and Technical Information (OSTI)

    Hyperthermal Energy Collisions of CF3+ Ions With Modified Surfaces: Surface-Induced Dissociation Citation Details In-Document Search Title: Hyperthermal Energy Collisions of CF3+ ...

  17. CHARACTERIZATION OF NEAR NET-SHAPE CASTABLE RARE EARTH MODIFIED...

    Office of Scientific and Technical Information (OSTI)

    CHARACTERIZATION OF NEAR NET-SHAPE CASTABLE RARE EARTH MODIFIED ALUMINUM ALLOYS FOR HIGH TEMPERATURE APPLICATION Citation Details In-Document Search Title: CHARACTERIZATION OF NEAR ...

  18. Highly Charged Ion (HCI) Modified Tunnel Junctions

    SciTech Connect (OSTI)

    Pomeroy, J. M.; Grube, H. [Atomic Physics Division, National Institute of Standards and Technology (NIST) 100 Bureau Dr., MS 8423, Gaithersburg, MD 20899-8423 (United States)

    2009-03-10

    The neutralization energy carried by highly charged ions (HCIs) provides an alternative method for localizing energy on a target's surface, producing features and modifying surfaces with fluences and kinetic energy damage that are negligible compared to singly ionized atoms. Since each HCI can deposit an enormous amount of energy into a small volume of the surface (e.g., Xe{sup 44+} delivers 51 keV of neutralization energy per HCI), each individual HCI's interaction with the target can produce a nanoscale feature. Many studies of HCI-surface features have characterized some basic principles of this unique ion-surface interaction, but the activity reported here has been focused on studying ensembles of HCI features in ultra-thin insulating films by fabricating multi-layer tunnel junction devices. The ultra-thin insulating barriers allow current to flow by tunneling, providing a very sensitive means of detecting changes in the barrier due to highly charged ion irradiation and, conversely, HCI modification provides a method of finely tuning the transparency of the tunnel junctions that spans several orders of magnitude for devices produced from a single process recipe. Systematic variation of junction bias, temperature, magnetic field and other parameters provides determination of the transport mechanism, defect densities, and magnetic properties of these nano-features and this novel approach to device fabrication.

  19. Calibration of a Modified Californium Shuffler

    SciTech Connect (OSTI)

    Sadowski, E.T.; Armstrong, F.; Oldham, R.; Ceo, R.; Williams, N.

    1995-06-01

    A californium shuffler originally designed to assay hollow cylindrical pieces of UA1 has been modified to assay solid cylinders. Calibration standards were characterized via chemical analysis of the molten UA1 taken during casting of the standards. The melt samples yielded much more reliable characterization data than drill samples taken from standards after the standards had solidified. By normalizing one well-characterized calibration curve to several standards at different enrichments, a relatively small number of standards was required to develop an enrichment-dependent calibration. The precision of this shuffler is 0.65%, and the typical random and systematic uncertainties are 0.53% and 0.73%, respectively, for a six minute assay of an ingot containing approximately 700 grams of {sup 235}U. This paper will discuss (1) the discrepancies encountered when UA1 standards were characterized via melt samples versus drill samples, (2) a calibration methodology employing a small number of standards, and (3) a comparison of results from a previously unused shuffler with an existing shuffler. A small number of UA1 standards have been characterized using samples from the homogeneous molten state and have yielded enrichment-dependent and enrichment-independent calibration curves on two different shufflers.

  20. Validation of a novel robot-assisted 3DUS system for real-time planning and guidance of breast interstitial HDR brachytherapy

    SciTech Connect (OSTI)

    Poulin, Eric; Beaulieu, Luc; Gardi, Lori; Barker, Kevin; Montreuil, Jacques; Fenster, Aaron

    2015-12-15

    Purpose: In current clinical practice, there is no integrated 3D ultrasound (3DUS) guidance system clinically available for breast brachytherapy. In this study, the authors present a novel robot-assisted 3DUS system for real-time planning and guidance of breast interstitial high dose rate (HDR) brachytherapy treatment. Methods: For this work, a new computer controlled robotic 3DUS system was built to perform a hybrid motion scan, which is a combination of a 6 cm linear translation with a 30° rotation at both ends. The new 3DUS scanner was designed to fit on a modified Kuske assembly, keeping the current template grid configuration but modifying the frame to allow the mounting of the 3DUS system at several positions. A finer grid was also tested. A user interface was developed to perform image reconstruction, semiautomatic segmentation of the surgical bed as well as catheter reconstruction and tracking. A 3D string phantom was used to validate the geometric accuracy of the reconstruction. The volumetric accuracy of the system was validated with phantoms using magnetic resonance imaging (MRI) and computed tomography (CT) images. In order to accurately determine whether 3DUS can effectively replace CT for treatment planning, the authors have compared the 3DUS catheter reconstruction to the one obtained from CT images. In addition, in agarose-based phantoms, an end-to-end procedure was performed by executing six independent complete procedures with both 14 and 16 catheters, and for both standard and finer Kuske grids. Finally, in phantoms, five end-to-end procedures were performed with the final CT planning for the validation of 3DUS preplanning. Results: The 3DUS acquisition time is approximately 10 s. A paired Student t-test showed that there was no statistical significant difference between known and measured values of string separations in each direction. Both MRI and CT volume measurements were not statistically different from 3DUS volume (Student t-test: p > 0

  1. Fueling Robot Automates Hydrogen Hose Reliability Testing (Fact Sheet), Highlights in Research & Development, NREL (National Renewable Energy Laboratory)

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

    Automated robot mimics fueling action to test hydrogen hoses for durability in real-world conditions. With at least three major auto manufacturers expected to release fuel cell electric vehicles in the 2015 to 2017 timeframe, the need for a reliable U.S. hydrogen fueling infrastructure is greater than ever. That's why the National Renewable Energy Laboratory (NREL), with fund- ing from the U.S. Department of Energy Fuel Cell Technologies Office, is using a robot in the Energy Systems Integration

  2. Development of a 6DOF robotic motion phantom for radiation therapy

    SciTech Connect (OSTI)

    Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary; Pearson, Erik; Wiersma, Rodney D.

    2014-12-15

    Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (leftright), Y (superiorinferior), Z (anteriorposterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronized motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the StewartGough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16, 0.06, and 0.08 over 10 of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial

  3. The parallel approach to force/position control of robotic manipulators

    SciTech Connect (OSTI)

    Chiaverini, S.; Sciavicco, L.

    1993-08-01

    Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. In this paper the parallel approach to force/position control of robotic manipulators is presented. It allows a complete use of the available sensor measurements by operating the control action in a full-dimensional space without using selection matrices. Conflicting situations between the position and force tasks are managed using a priority strategy: the force control loop is designed to prevail over the position control loop. This choice ensures limited deviations from the prescribed force trajectory in every situation, guaranteeing automatic recovery from unplanned collisions. A dynamic force/position parallel control law is presented and its performance in presence of an elastic environment is analyzed; simplification of the dynamic control law is also discussed leading to a PID-type parallel controller. Two case studies are worked out that show the effectiveness of the approach in application to an industrial robot.

  4. Robotic tooling for DOE environmental management. Annual report, September 29, 1995--September 28, 1996

    SciTech Connect (OSTI)

    Wang, S.L.

    1996-12-18

    The Department of Energy (DOE) has created nuclear weapons for defense for over forty years. During this time, hazardous and nuclear wastes have accumulated, and contamination of soils and groundwater have occurred throughout the US, as environmental stewardship was not fully appreciated until recent times. Thousands of sites require clean up, and hundreds of facilities require decontamination and decommissioning. The Office of Technology Development (OTD) assists this mission by developing new technology that is safer, more efficient, and less expensive than current processes. The OTD has focused upon five primary areas where robotics technology can help. These five areas are: Tank Waste Retrieval, Contaminant analysis Automation, Decontamination and Dismantlement, Mixed Waste Operations, and the Plutonium Focus Area. This report details work on the robotic opening of waste drums and end-effector design for non-destructive drum opening.

  5. Ultrasonic detection technology based on joint robot on composite component with complex surface

    SciTech Connect (OSTI)

    Hao, Juan; Xu, Chunguang; Zhang, Lan

    2014-02-18

    Some components have complex surface, such as the airplane wing and the shell of a pressure vessel etc. The quality of these components determines the reliability and safety of related equipment. Ultrasonic nondestructive detection is one of the main methods used for testing material defects at present. In order to improve the testing precision, the acoustic axis of the ultrasonic transducer should be consistent with the normal direction of the measured points. When we use joint robots, automatic ultrasonic scan along the component surface normal direction can be realized by motion trajectory planning and coordinate transformation etc. In order to express the defects accurately and truly, the robot position and the signal of the ultrasonic transducer should be synchronized.

  6. SCIENCE ON SATURDAY- "From Robot Soccer to Automotive Safety: An Optical

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

    Tour" | Princeton Plasma Physics Lab February 16, 2013, 9:30am Science On Saturday MBG Auditorium SCIENCE ON SATURDAY- "From Robot Soccer to Automotive Safety: An Optical Tour" Professor R. Andrew Hicks Department of Mathematics, Drexel University Presentation: Office presentation icon SOS16FEB2013_RAHicks.ppt Science on Saturday is a series of lectures given by scientists, mathematicians, and other professionals involved in cutting-edge research. Held on Saturday mornings

  7. Design of the reactor vessel inspection robot for the advanced liquid metal reactor

    SciTech Connect (OSTI)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-06-01

    A consortium of four universities and Oak Ridge National Laboratory designed a prototype wall-crawling robot to perform weld inspection in an advanced nuclear reactor. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a mock non-hostile environment and shown to perform as expected, as detailed in this report.

  8. Perihelion precession for modified Newtonian gravity

    SciTech Connect (OSTI)

    Schmidt, Hans-Juergen

    2008-07-15

    We calculate the perihelion precession {delta} for nearly circular orbits in a central potential V(r). Differently from other approaches to this problem, we do not assume that the potential is close to the Newtonian one. The main idea in the deduction is to apply the underlying symmetries of the system to show that {delta} must be a function of r{center_dot}V{sup ''}(r)/V{sup '}(r) and to use the transformation behavior of {delta} in a rotating system of reference. This is equivalent to say that the effective potential can be written in a one-parameter set of possibilities as the sum of centrifugal potential and potential of the central force. We get the following universal formula valid for V{sup '}(r)>0 reading {delta}(r)=2{pi}{center_dot}[(1/{radical}(3+r{center_dot}V{sup ''}(r)/V{sup '}(r)))-1]. It has to be read as follows: a circular orbit at this value r exists and is stable if and only if this {delta} is well-defined as real; and if this is the case, then the angular difference from one perihelion to the next one for nearly circular orbits at this r is exactly 2{pi}+{delta}(r). Then we apply this result to examples of recent interest like modified Newtonian gravity and linearized fourth-order gravity. In the second part of the paper, we generalize this universal formula to static spherically symmetric space-times ds{sup 2}=-e{sup 2{lambda}}{sup (r)}dt{sup 2}+e{sup 2{mu}}{sup (r)}dr{sup 2}+r{sup 2}d{omega}{sup 2}; for orbits near r it reads {delta}=2{pi}{center_dot}[(e{sup {mu}}{sup (r)}/{radical}(3-2r{center_dot}{lambda}{sup '}(r)+r{center_dot}{lambda}{sup ''}(r)/{lambda}{sup '}(r)))-1] and can be applied to a large class of theories. For the Schwarzschild black hole with mass parameter m>0 it leads to {delta}=2{pi}{center_dot}[(1/{radical}(1-(6m/r)))-1], a surprisingly unknown formula. It represents a strict result and is applicable for all values r>6m and is in good agreement with the fact that stable circular orbits exist for r>6m only. For r>>m, one can

  9. Final report for LDRD project 11-0783 : directed robots for increased military manpower effectiveness.

    SciTech Connect (OSTI)

    Rohrer, Brandon Robinson; Rothganger, Fredrick H.; Wagner, John S.; Xavier, Patrick Gordon; Morrow, James Dan

    2011-09-01

    The purpose of this LDRD is to develop technology allowing warfighters to provide high-level commands to their unmanned assets, freeing them to command a group of them or commit the bulk of their attention elsewhere. To this end, a brain-emulating cognition and control architecture (BECCA) was developed, incorporating novel and uniquely capable feature creation and reinforcement learning algorithms. BECCA was demonstrated on both a mobile manipulator platform and on a seven degree of freedom serial link robot arm. Existing military ground robots are almost universally teleoperated and occupy the complete attention of an operator. They may remove a soldier from harm's way, but they do not necessarily reduce manpower requirements. Current research efforts to solve the problem of autonomous operation in an unstructured, dynamic environment fall short of the desired performance. In order to increase the effectiveness of unmanned vehicle (UV) operators, we proposed to develop robots that can be 'directed' rather than remote-controlled. They are instructed and trained by human operators, rather than driven. The technical approach is modeled closely on psychological and neuroscientific models of human learning. Two Sandia-developed models are utilized in this effort: the Sandia Cognitive Framework (SCF), a cognitive psychology-based model of human processes, and BECCA, a psychophysical-based model of learning, motor control, and conceptualization. Together, these models span the functional space from perceptuo-motor abilities, to high-level motivational and attentional processes.

  10. AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: Report of Task Group 192

    SciTech Connect (OSTI)

    Podder, Tarun K.; Beaulieu, Luc; Caldwell, Barrett; Cormack, Robert A.; Crass, Jostin B.; Dicker, Adam P.; Yu, Yan; Fenster, Aaron; Fichtinger, Gabor; Meltsner, Michael A.; Moerland, Marinus A.; Nath, Ravinder; Rivard, Mark J.; Salcudean, Tim; Song, Danny Y.; Thomadsen, Bruce R.

    2014-10-15

    In the last decade, there have been significant developments into integration of robots and automation tools with brachytherapy delivery systems. These systems aim to improve the current paradigm by executing higher precision and accuracy in seed placement, improving calculation of optimal seed locations, minimizing surgical trauma, and reducing radiation exposure to medical staff. Most of the applications of this technology have been in the implantation of seeds in patients with early-stage prostate cancer. Nevertheless, the techniques apply to any clinical site where interstitial brachytherapy is appropriate. In consideration of the rapid developments in this area, the American Association of Physicists in Medicine (AAPM) commissioned Task Group 192 to review the state-of-the-art in the field of robotic interstitial brachytherapy. This is a joint Task Group with the Groupe Europen de Curiethrapie-European Society for Radiotherapy and Oncology (GEC-ESTRO). All developed and reported robotic brachytherapy systems were reviewed. Commissioning and quality assurance procedures for the safe and consistent use of these systems are also provided. Manual seed placement techniques with a rigid template have an estimated in vivo accuracy of 36 mm. In addition to the placement accuracy, factors such as tissue deformation, needle deviation, and edema may result in a delivered dose distribution that differs from the preimplant or intraoperative plan. However, real-time needle tracking and seed identification for dynamic updating of dosimetry may improve the quality of seed implantation. The AAPM and GEC-ESTRO recommend that robotic systems should demonstrate a spatial accuracy of seed placement ?1.0 mm in a phantom. This recommendation is based on the current performance of existing robotic brachytherapy systems and propagation of uncertainties. During clinical commissioning, tests should be conducted to ensure that this level of accuracy is achieved. These tests should

  11. Drug delivery from hydrophobic-modified mesoporous silicas: Control...

    Office of Scientific and Technical Information (OSTI)

    on the pore openings and external pore surfaces in the post-grafting modified samples. ... groups on the pore surfaces of the mesostructures strongly affects the drug release rate. ...

  12. Idaho Application for Permit to Construct Modify or Maintain...

    Open Energy Info (EERE)

    Construct Modify or Maintain an Injection Well - Form 42-39-1 Jump to: navigation, search OpenEI Reference LibraryAdd to library Legal Document- RegulationRegulation: Idaho...

  13. Hanford Waste Treatment Plant Support Task Order Modified | Department of

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

    Energy Waste Treatment Plant Support Task Order Modified Hanford Waste Treatment Plant Support Task Order Modified March 11, 2013 - 12:00pm Addthis Media Contact Lynette Chafin, 513-246-0461 Lynette.Chafin@emcbc.doe.gov Cincinnati - The Department of Energy (DOE) today awarded a modification to a task order to Aspen Resources Limited, Inc. of Boulder, Colorado for support of the Waste Treatment and Immobilization Plant (WTP) at the Hanford Site. The modification increased the value of the

  14. DOE Announces Webinars on Genetically Modified Algae, NREL's Fuel Cell

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

    Contaminant Database, and More | Department of Energy Genetically Modified Algae, NREL's Fuel Cell Contaminant Database, and More DOE Announces Webinars on Genetically Modified Algae, NREL's Fuel Cell Contaminant Database, and More May 22, 2014 - 12:57pm Addthis EERE offers webinars to the public on a range of subjects, from adopting the latest energy efficiency and renewable energy technologies to training for the clean energy workforce. Webinars are free; however, advanced registration is

  15. Method for modifying trigger level for adsorber regeneration

    DOE Patents [OSTI]

    Ruth, Michael J.; Cunningham, Michael J.

    2010-05-25

    A method for modifying a NO.sub.x adsorber regeneration triggering variable. Engine operating conditions are monitored until the regeneration triggering variable is met. The adsorber is regenerated and the adsorbtion efficiency of the adsorber is subsequently determined. The regeneration triggering variable is modified to correspond with the decline in adsorber efficiency. The adsorber efficiency may be determined using an empirically predetermined set of values or by using a pair of oxygen sensors to determine the oxygen response delay across the sensors.

  16. University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

    SciTech Connect (OSTI)

    James S. Tulenko; Carl D. Crane

    2007-12-13

    The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  17. Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

    SciTech Connect (OSTI)

    Liu, Xinmin; Belcher, Andrew H.; Grelewicz, Zachary; Wiersma, Rodney D.

    2015-06-15

    Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared head position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.

  18. Long-Range Untethered Real-Time Live Gas Main Robotic Inspection System

    SciTech Connect (OSTI)

    Hagen Schempf; Daphne D'Zurko

    2004-10-31

    Under funding from the Department of Energy (DOE) and the Northeast Gas Association (NGA), Carnegie Mellon University (CMU) developed an untethered, wireless remote controlled inspection robot dubbed Explorer. The project entailed the design and prototyping of a wireless self-powered video-inspection robot capable of accessing live 6- and 8-inch diameter cast-iron and steel mains, while traversing turns and Ts and elbows under real-time control with live video feedback to an operator. The design is that of a segmented actively articulated and wheel-leg powered robot design, with fisheye imaging capability and self-powered battery storage and wireless real-time communication link. The prototype was functionally tested in an above ground pipe-network, in order to debug all mechanical, electrical and software subsystems, and develop the necessary deployment and retrieval, as well as obstacle-handling scripts. A pressurized natural gas test-section was used to certify it for operation in natural gas at up to 60 psig. Two subsequent live-main field-trials in both cast-iron and steel pipe, demonstrated its ability to be safely launched, operated and retrieved under real-world conditions. The system's ability to safely and repeatably exidrecover from angled and vertical launchers, traverse multi-thousand foot long pipe-sections, make T and varied-angle elbow-turns while wirelessly sending live video and handling command and control messages, was clearly demonstrated. Video-inspection was clearly shown to be a viable tool to understand the state of this critical buried infrastructure, irrespective of low- (cast-iron) or high-pressure (steel) conditions. This report covers the different aspects of specifications, requirements, design, prototyping, integration and testing and field-trialing of the Explorer platform.

  19. Technique for Targeting Arteriovenous Malformations Using Frameless Image-Guided Robotic Radiosurgery

    SciTech Connect (OSTI)

    Hristov, Dimitre; Liu, Lina; Adler, John R.; Gibbs, Iris C.; Moore, Teri; Sarmiento, Marily; Chang, Steve D.; Dodd, Robert; Marks, Michael; Do, Huy M.

    2011-03-15

    Purpose: To integrate three-dimensional (3D) digital rotation angiography (DRA) and two-dimensional (2D) digital subtraction angiography (DSA) imaging into a targeting methodology enabling comprehensive image-guided robotic radiosurgery of arteriovenous malformations (AVMs). Methods and Materials: DRA geometric integrity was evaluated by imaging a phantom with embedded markers. Dedicated DSA acquisition modes with preset C-arm positions were configured. The geometric reproducibility of the presets was determined, and its impact on localization accuracy was evaluated. An imaging protocol composed of anterior-posterior and lateral DSA series in combination with a DRA run without couch displacement between acquisitions was introduced. Software was developed for registration of DSA and DRA (2D-3D) images to correct for: (a) small misalignments of the C-arm with respect to the estimated geometry of the set positions and (b) potential patient motion between image series. Within the software, correlated navigation of registered DRA and DSA images was incorporated to localize AVMs within a 3D image coordinate space. Subsequent treatment planning and delivery followed a standard image-guided robotic radiosurgery process. Results: DRA spatial distortions were typically smaller than 0.3 mm throughout a 145-mm x 145-mm x 145-mm volume. With 2D-3D image registration, localization uncertainties resulting from the achievable reproducibility of the C-arm set positions could be reduced to about 0.2 mm. Overall system-related localization uncertainty within the DRA coordinate space was 0.4 mm. Image-guided frameless robotic radiosurgical treatments with this technique were initiated. Conclusions: The integration of DRA and DSA into the process of nidus localization increases the confidence with which radiosurgical ablation of AVMs can be performed when using only an image-guided technique. Such an approach can increase patient comfort, decrease time pressure on clinical and

  20. Robotics and remote systems developments and applications, FY96. Revision 1

    SciTech Connect (OSTI)

    Lewis, W.I. III; Teese, G.D.

    1996-10-01

    The purpose of this report is to document the contributions that the Savannah River Technology Center (SRTC) has made during Fiscal Year 1996 in the Robotics and Remote Systems Technology arena. The contributions originated from the Applied Science and Engineering Technology (ASET) Department`s Equipment Engineering Section (EES). Activities and deliverables for the Savannah River Site`s (SRS) main operating divisions as well as contributions to new mission activities, other Department of Energy (DOE) sites and programs, intellectual property development and professional societies are described.

  1. Yucca Mountain Waste Package Closure System Robotic Welding and Inspection System

    SciTech Connect (OSTI)

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

    2011-10-01

    The Waste Package Closure System (WPCS), for the closure of radioactive waste in canisters for permanent storage of spent nuclear fuel (SNF) and high-level waste in the Yucca Mountain Repository was designed, fabricated, and successfully demonstrated at the Idaho National Laboratory (INL). This article focuses on the robotic hardware and tools necessary to remotely weld and inspect the closure lid welds. The system was operated remotely and designed for use in a radiation field, due to the SNF contained in the waste packages being closed.

  2. Development of effective modified cellulase for cellulose hydrolysis process

    SciTech Connect (OSTI)

    Park, J.W.; Kajiuchi, Toshio . Dept. of Chemical Engineering)

    1995-02-20

    Cellulase was modified with amphilic copolymers made of [alpha]-allyl-[omega]-methoxy polyoxyalkylene (POA) and maleic acid anhydride (MAA) to improve the cellulose hydrolytic reactivity and cellulase separation. Amino groups of the cellulase molecule are covalently coupled with the MAA functional groups of the copolymer. At the maximum degree of modification (DM) of 55%, the modified cellulase activity retained more than 80% of the unmodified native cellulase activity. The modified cellulase shows greater stability against temperature, pH, and organic solvents, and demonstrated greater conversion of substrate than native cellulase does. Cellulase modification is also useful for controlling strong adsorption of cellulase onto substrate. Moreover, cellulase modified with the amphiphilic copolymer displays different separation characteristics which are new. One is a reactive two-phase partition and another is solubility in organic solvents. It appears that these characteristics of modified cellulase work very effectively in the hydrolysis of cellulose as a total system, which constitutes the purification of cellulase from culture broth, hydrolysis of cellulose, and recovery of cellulase from the reaction mixture.

  3. Method of detecting luminescent target ions with modified magnetic microspheres

    DOE Patents [OSTI]

    Shkrob, Ilya A; Kaminski, Michael D

    2014-05-13

    This invention provides methods of using modified magnetic microspheres to extract target ions from a sample in order to detect their presence in a microfluidic environment. In one or more embodiments, the microspheres are modified with molecules on the surface that allow the target ions in the sample to form complexes with specific ligand molecules on the microsphere surface. In one or more embodiments, the microspheres are modified with molecules that sequester the target ions from the sample, but specific ligand molecules in solution subsequently re-extract the target ions from the microspheres into the solution, where the complexes form independent of the microsphere surface. Once the complexes form, they are exposed to an excitation wavelength light source suitable for exciting the target ion to emit a luminescent signal pattern. Detection of the luminescent signal pattern allows for determination of the presence of the target ions in the sample.

  4. Acidity characterization of a titanium and sulfate modified vermiculite

    SciTech Connect (OSTI)

    Hernandez, W.Y.; Centeno, M.A.; Odriozola, J.A.; Moreno, S.; Molina, R.

    2008-07-01

    A natural vermiculite has been modified with titanium and sulfated by the intercalation and impregnation method in order to optimize the acidity of the clay mineral, and characterization of samples were analyzed by X-ray fluorescence (XRF), X-ray diffraction (XRD), nitrogen adsorption isotherms, diffuse reflectance infrared Fourier transform spectroscopy (DRIFTS) and temperature programmed desorption with ammonia (TPD-NH{sub 3}). All the modified solids have a significantly higher number of acidic sites with respect to the parent material and in all of these, Broensted as well as Lewis acidity are identified. The presence of sulfate appears not to increase the number of acidic centers in the modified clay. For the materials sulfated with the intercalation method, it is observed that the strength of the acidic sites found in the material increases with the nominal sulfate/metal ratio. Nevertheless, when elevated quantities of sulfur are deposited, diffusion problems in the heptane reaction appear.

  5. Impedimetric investigation of gold nanoparticles - guanine modified electrode

    SciTech Connect (OSTI)

    Vulcu, A.; Pruneanu, S.; Berghian-Grosan, C.; Olenic, L.; Muresan, L. M.; Barbu-Tudoran, L.

    2013-11-13

    In this paper we report the preparation of a modified electrode with gold nanoparticles and guanine. The colloidal suspension of gold nanoparticles was obtained by Turkevich method and was next analyzed by UV-Vis spectroscopy and Transmission Electron Microscopy (TEM). The gold electrode was modified by self-assembling the gold nanoparticles with guanine, the organic molecule playing also the role of linker. The electrochemical characteristics of the bare and modified electrode were investigated by Electrochemical Impedance Spectroscopy (EIS). A theoretical model was developed based on an electrical equivalent circuit which contain solution resistance (R{sub s}), charge transfer resistance (R{sub ct}), Warburg impedance (Z{sub W}) and double layer capacitance (C{sub dl})

  6. The modified equation for spinless particles and superalgebra

    SciTech Connect (OSTI)

    Sadeghi, J.; Rostami, M.; Sadeghi, Z.

    2013-09-15

    In this paper we consider modified wave equations for spinless particles in an external magnetic field. We consider 4-potentials which guarantee Lorentz' and Coulomb's conditions. The new variable for modified wave equation leads us to consider the associated Laguerre differential equation. We take advantage of the factorization method in Laguerre differential equation and solve the modified equation. In order to obtain the wave function, energy spectrum and its quantization, we will establish conditions for the orbital quantum number. We account such orbital quantum number and obtain the raising and lowering operators. If we want to have supersymmetry partners, we need to apply the shape invariance condition. This condition for the partner potential will help us find the limit of ρ as ρ=±√(l)

  7. Massive gravitational waves in Chern-Simons modified gravity

    SciTech Connect (OSTI)

    Myung, Yun Soo; Moon, Taeyoon E-mail: tymoon@inje.ac.kr

    2014-10-01

    We consider the nondynamical Chern-Simons (nCS) modified gravity, which is regarded as a parity-odd theory of massive gravity in four dimensions. We first find polarization modes of gravitational waves for θ=x/μ in nCS modified gravity by using the Newman-Penrose formalism where the null complex tetrad is necessary to specify gravitational waves. We show that in the Newman–Penrose formalism, the number of polarization modes is one in addition to an unspecified Ψ{sub 4}, implying three degrees of freedom for θ=x/μ. This compares with two for a canonical embedding of θ=t/μ. Also, if one introduces the Ricci tensor formalism to describe a massive graviton arising from the nCS modified gravity, one finds one massive mode after making second-order wave equations, which is compared to five found from the parity-even Einstein–Weyl gravity.

  8. ANALYSIS OF OUT OF DATE MCU MODIFIER LOCATED IN SRNL

    SciTech Connect (OSTI)

    Crawford, C.

    2014-10-22

    SRNL recently completed density measurements and chemical analyses on modifier samples stored in drums within SRNL. The modifier samples date back to 2008 and are in various quantities up to 40 gallons. Vendor information on the original samples indicates a shelf life of 5 years. There is interest in determining if samples that have been stored for more than the 5 year shelf life are still acceptable for use. The Modular Caustic Side Solvent Extraction Unit (MCU) Solvent component Cs-7SB [(2,2,3,3- tetraflouropropoxy)-3-(4-sec-butylphenoxy)-2-propanol, CAS #308362-88-1] is used as a diluent modifier to increase extractant solubility and provide physical characteristics necessary for diluent trimming.

  9. Wireless Self-powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    SciTech Connect (OSTI)

    Susan Burkett; Hagen Schempf

    2006-01-31

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design of the next-generation Explorer-II (X-II) live gas main NDE and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and

  10. Robotic calibration of the motional Stark effect diagnostic on Alcator C-Mod

    SciTech Connect (OSTI)

    Mumgaard, Robert T.; Scott, Steven D.; Ko, Jinseok

    2014-05-15

    The capability to calibrate diagnostics, such as the Motional Stark Effect (MSE) diagnostic, without using plasma or beam-into-gas discharges will become increasingly important on next step fusion facilities due to machine availability and operational constraints. A robotic calibration system consisting of a motorized three-axis positioning system and a polarization light source capable of generating arbitrary polarization states with a linear polarization angle accuracy of <0.05° has been constructed and has been used to calibrate the MSE diagnostic deployed on Alcator C-Mod. The polarization response of the complex diagnostic is shown to be fully captured using a Fourier expansion of the detector signals in terms of even harmonics of the input polarization angle. The system's high precision robotic control of position and orientation allow it to be used also to calibrate the geometry of the instrument's view. Combined with careful measurements of the narrow bandpass spectral filters, this system fully calibrates the diagnostic without any plasma discharges. The system's high repeatability, flexibility, and speed has been exploited to quantify several systematics in the MSE diagnostic response, providing a more complete understanding of the diagnostic performance.

  11. Minimum length, extra dimensions, modified gravity and black hole remnants

    SciTech Connect (OSTI)

    Maziashvili, Michael

    2013-03-01

    We construct a Hilbert space representation of minimum-length deformed uncertainty relation in presence of extra dimensions. Following this construction, we study corrections to the gravitational potential (back reaction on gravity) with the use of correspondingly modified propagator in presence of two (spatial) extra dimensions. Interestingly enough, for r?0 the gravitational force approaches zero and the horizon for modified Schwarzschild-Tangherlini space-time disappears when the mass approaches quantum-gravity energy scale. This result points out to the existence of zero-temperature black hole remnants in ADD brane-world model.

  12. Miniature modified Faraday cup for micro electron beams

    DOE Patents [OSTI]

    Teruya, Alan T.; Elmer, John W.; Palmer, Todd A.; Walton, Chris C.

    2008-05-27

    A micro beam Faraday cup assembly includes a refractory metal layer with an odd number of thin, radially positioned traces in this refractory metal layer. Some of the radially positioned traces are located at the edge of the micro modified Faraday cup body and some of the radially positioned traces are located in the central portion of the micro modified Faraday cup body. Each set of traces is connected to a separate data acquisition channel to form multiple independent diagnostic networks. The data obtained from the two diagnostic networks are combined and inputted into a computed tomography algorithm to reconstruct the beam shape, size, and power density distribution.

  13. Underwater robotic work systems for Russian arctic offshore oil/gas industry: Final report. Export trade information

    SciTech Connect (OSTI)

    1997-12-15

    The study was performed in association with Rosshelf, a shelf developing company located in Moscow. This volume involves developing an underwater robotic work system for oil exploration in Russia`s Arctic waters, Sea of Okhotsk and the Caspian Sea. The contents include: (1) Executive Summary; (2) Study Background; (3) Study Outline and Results; (4) Conclusions; (5) Separately Published Elements; (6) List of Subcontractors.

  14. Method of storing radioactive wastes using modified tobermorite

    DOE Patents [OSTI]

    Komarneni, Sridhar; Roy, Della M.

    1985-01-01

    A new cation exchanger is a modified tobermorite containing aluminum isomorphously substituted for silicon and containing sodium or potassium. The exchanger is selective for lead, rubidium, cobalt and cadmium and is selective for cesium over calcium or sodium. The tobermorites are compatable with cement and are useful for the long-term fixation and storage of radioactive nuclear wastes.

  15. Automated design synthesis of robotic/human workcells for improved manufacturing system design in hazardous environments

    SciTech Connect (OSTI)

    Williams, Joshua M.

    2012-06-12

    Manufacturing tasks that are deemed too hazardous for workers require the use of automation, robotics, and/or other remote handling tools. The associated hazards may be radiological or nonradiological, and based on the characteristics of the environment and processing, a design may necessitate robotic labor, human labor, or both. There are also other factors such as cost, ergonomics, maintenance, and efficiency that also effect task allocation and other design choices. Handling the tradeoffs of these factors can be complex, and lack of experience can be an issue when trying to determine if and what feasible automation/robotics options exist. To address this problem, we utilize common engineering design approaches adapted more for manufacturing system design in hazardous environments. We limit our scope to the conceptual and embodiment design stages, specifically a computational algorithm for concept generation and early design evaluation. In regard to concept generation, we first develop the functional model or function structure for the process, using the common 'verb-noun' format for describing function. A common language or functional basis for manufacturing was developed and utilized to formalize function descriptions and guide rules for function decomposition. Potential components for embodiment are also grouped in terms of this functional language and are stored in a database. The properties of each component are given as quantitative and qualitative criteria. Operators are also rated for task-relevant criteria which are used to address task compatibility. Through the gathering of process requirements/constraints, construction of the component database, and development of the manufacturing basis and rule set, design knowledge is stored and available for computer use. Thus, once the higher level process functions are defined, the computer can automate the synthesis of new design concepts through alternating steps of embodiment and function structure updates

  16. Structural characteristics and hydration kinetics of modified steel slag

    SciTech Connect (OSTI)

    Li Jianxin; Yu Qijun; Wei Jiangxiong Zhang Tongsheng

    2011-03-15

    This study investigates the structural characteristics and hydration kinetics of modified basic oxygen furnace steel slag. The basic oxygen furnace steel slag (BOFS) was mixed with electric arc furnace steel slag (EAFS) in appropriate ratios and heated again at high temperature in the laboratory. The mineralogical and structural characteristics of both BOFS and modified steel slag (MSS) were characterized by X-ray diffraction, optical microscopy, scanning electron microscopy, Raman and Fourier transform infrared spectroscopies. The results show that modification increases alite content in MSS and decreases alite crystal size with the formation of C{sub 6}AF{sub 2}. One more obvious heat evolution peak appears in MSS's heat-flow rate curves in comparison to BOFS, becoming similar to that of typical Portland cement paste. As a result, its cementitious activity is much improved.

  17. Modified Newmark model for seismic displacements of compliant slopes

    SciTech Connect (OSTI)

    Kramer, S.L.; Smith, M.W.

    1997-07-01

    Newmark sliding block analyses are widely used for estimation of permanent displacements of slopes in earthquakes. The conventional Newmark model, however, neglects the dynamic response of the material above a potential failure surface. Decoupled procedures have been developed to account for that response, but they neglect the effects of permanent displacements on the response. A modified Newmark analysis that considers the dynamic response, including the effects of permanent displacements, of the material above the failure surface is presented. The modified Newmark analysis shows that the decoupled approach produces somewhat conservative estimates of permanent displacements for stiff and/or shallow failure masses, but that it may produce unconservative estimates for failure masses that are soft and/or deep. Many slopes of large, lined landfills may fall into this latter category. The notion of a slope spectrum, which illustrates the effect of the natural period of a potential failure mass on permanent slope displacement, is also introduced.

  18. Resonant wave-particle interactions modified by intrinsic Alfvenic turbulence

    SciTech Connect (OSTI)

    Wu, C. S.; Lee, K. H.; Wang, C. B.; Wu, D. J.

    2012-08-15

    The concept of wave-particle interactions via resonance is well discussed in plasma physics. This paper shows that intrinsic Alfven waves can qualitatively modify the physics discussed in conventional linear plasma kinetic theories. It turns out that preexisting Alfven waves can affect particle motion along the ambient magnetic field and, moreover, the ensuing force field is periodic in time. As a result, the meaning of the usual Landau and cyclotron resonance conditions becomes questionable. It turns out that this effect leads us to find a new electromagnetic instability. In such a process intrinsic Alfven waves not only modify the unperturbed distribution function but also result in a different type of cyclotron resonance which is affected by the level of turbulence. This instability might enable us to better our understanding of the observed radio emission processes in the solar atmosphere.

  19. SU-F-BRE-05: Development and Evaluation of a Real-Time Robotic 6D Quality Assurance Phantom

    SciTech Connect (OSTI)

    Belcher, AH; Liu, X; Grelewicz, Z; Wiersma, RD

    2014-06-15

    Purpose: A 6 degree-of-freedom robotic phantom capable of reproducing dynamic tumor motion in 6D was designed to more effectively match solid tumor movements throughout pre-treatment scanning and radiation therapy. With the abundance of optical and x-ray 6D real-time tumor tracking methodologies clinically available, and the substantial dosimetric consequences of failing to consider tumor rotation as well as translation, this work presents the development and evaluation of a 6D instrument with the facility to improve quality assurance. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the so-called Stewart-Gough parallel kinematics platform archetype. The device was then controlled using an inverse kinematics formulation, and precise movements in all six degrees of freedom (X, Y, Z, pitch, roll, and yaw) as well as previously obtained cranial motion, were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system (Polaris, NDI), and quantitatively compared to the input trajectory. Thus, the accuracy and repeatability of 6D motion was investigated and the phantom performance was characterized. Results: Evaluation of the 6D platform demonstrated translational RMSE values of 0.196 mm, 0.260 mm, and 0.101 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.068 degrees, 0.0611 degrees, and 0.095 degrees over 10 degrees of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 minutes, with a maximal RMSE of 0.044 mm translationally and 0.036 degrees rotationally. Conclusion: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Consequently, such a robotics device has the potential to serve as a more effective system for IGRT QA that involves both translational and

  20. Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

    SciTech Connect (OSTI)

    Love, LJL

    2003-09-24

    The decrease in manpower and increase in material handling needs on many Naval vessels provides the motivation to explore the modeling and control of Naval robotic and robotic assistive devices. This report addresses the design, modeling, control and analysis of position and force controlled robotic systems operating on the deck of a moving ship. First we provide background information that quantifies the motion of the ship, both in terms of frequency and amplitude. We then formulate the motion of the ship in terms of homogeneous transforms. This transformation provides a link between the motion of the ship and the base of a manipulator. We model the kinematics of a manipulator as a serial extension of the ship motion. We then show how to use these transforms to formulate the kinetic and potential energy of a general, multi-degree of freedom manipulator moving on a ship. As a demonstration, we consider two examples: a one degree-of-freedom system experiencing three sea states operating in a plane to verify the methodology and a 3 degree of freedom system experiencing all six degrees of ship motion to illustrate the ease of computation and complexity of the solution. The first series of simulations explore the impact wave motion has on tracking performance of a position controlled robot. We provide a preliminary comparison between conventional linear control and Repetitive Learning Control (RLC) and show how fixed time delay RLC breaks down due to the varying nature wave disturbance frequency. Next, we explore the impact wave motion disturbances have on Human Amplification Technology (HAT). We begin with a description of the traditional HAT control methodology. Simulations show that the motion of the base of the robot, due to ship motion, generates disturbances forces reflected to the operator that significantly degrade the positioning accuracy and resolution at higher sea states. As with position-controlled manipulators, augmenting the control with a Repetitive

  1. Grass Modified for Easier Bioprocessing - Energy Innovation Portal

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

    Grass Modified for Easier Bioprocessing Great Lakes Bioenergy Research Center Contact GLBRC About This Technology Technology Marketing Summary Manufacturing paper and producing biofuels is difficult because the lignin in plant cell walls is tough to degrade. Current techniques are energy intensive and use harsh chemicals. In the case of biofuels, costly pretreatments are required to alter the lignin and help enzymes produce sugars for fermentation. Grass lignins contain large amounts of

  2. A modified method for barium titanate nanoparticles synthesis

    SciTech Connect (OSTI)

    Ashiri, R.; Nemati, Ali; Sasani Ghamsari, M.; Sanjabi, S.; Aalipour, M.

    2011-12-15

    Graphical abstract: TEM micrograph of BaTiO{sub 3} powders synthesized at 800 Degree-Sign C for 1 h and SAED pattern (inset) of BaTiO{sub 3} powders. In this research, a modified, cost efficient and quick sol-gel procedure was used for preparation of BaTiO{sub 3} nanoparticles. Highlights: Black-Right-Pointing-Pointer A modified process was used for preparation. Black-Right-Pointing-Pointer The modified process led to preparation of finer BaTiO{sub 3} nanoparticles in shorter period of time and lower temperature contrary to previous researches. Black-Right-Pointing-Pointer The proposed procedure seems to be more preferable for mass production. -- Abstract: In this research, a modified, cost effective sol-gel procedure applied to synthesize BaTiO{sub 3} nanoparticles. XRD and electron microscopy (SEM and TEM) applied for microstructural characterization of powders. The obtained results showed that the type of precursors, their ratio and the hydrolysis conditions had a great effect on time, temperature and therefore the costs of the synthesis process. By selection, utilization of optimized precursor's type, hydrolysis conditions, fine cubic BaTiO{sub 3} nanoparticles were synthesized at low temperature and in short time span (1 h calcination at 800 Degree-Sign C). The proposed procedure seems to be more preferable for mass production. The result indicated that the polymorphic transformation to tetragonal (ferroelectric characteristic) occurred at 900 Degree-Sign C, which might be an indication of being nanosized.

  3. Structure formation in a nonlocally modified gravity model

    SciTech Connect (OSTI)

    Park, Sohyun; Dodelson, Scott

    2013-01-01

    We study a nonlocally modified gravity model proposed by Deser and Woodard which gives an explanation for current cosmic acceleration. By deriving and solving the equations governing the evolution of the structure in the Universe, we show that this model predicts a pattern of growth that differs from standard general relativity (+dark energy) at the 10-30% level. These differences will be easily probed by the next generation of galaxy surveys, so the model should be tested shortly.

  4. Modified Electrochemical Properties of Organic Quinoxaline via Electrolyte

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

    Interactions in Propylene Carbonate - Joint Center for Energy Storage Research 4, 2015, Research Highlights Modified Electrochemical Properties of Organic Quinoxaline via Electrolyte Interactions in Propylene Carbonate Theoretical gravimetric capacity of quinoxaline : 410 mAh/g Solubility > 5M in carbonate solvents Scientific Achievement Quinoxalines are highly sensitive to solvent and electrolyte interactions. For example, bare quinoxaline is active in acetonitrile at DFT-predicted

  5. Modified Yeast to Boost Biofuel Yields - Energy Innovation Portal

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

    Modified Yeast to Boost Biofuel Yields Great Lakes Bioenergy Research Center Contact GLBRC About This Technology Technology Marketing Summary Producing biofuel on an industrial scale requires efficient fermentation of cellulosic plant material. Glucose and xylose are two of the most abundant sugars found in biomass. The yeast most commonly used for fermentation - Saccharomyces cerevisiae - can ferment glucose but not xylose. Researchers hope to improve fermentation by identifying/mutating

  6. Modified Yeast with Enhanced Tolerance for GVL Biomass Solvent - Energy

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

    Innovation Portal Modified Yeast with Enhanced Tolerance for GVL Biomass Solvent Great Lakes Bioenergy Research Center Contact GLBRC About This Technology Technology Marketing Summary Gamma-valerolactone (GVL) is an inexpensive solvent derived from biomass that can be used to break apart tough lignocellulose into fermentable sugars including xylose and glucose. GVL-based techniques are a potentially transformative breakthrough in biofuel production (for more information see WARF reference

  7. Resorption Rate Tunable Bioceramic: Si, Zn-Modified Tricalcium Phosphate

    SciTech Connect (OSTI)

    Xiang Wei

    2006-08-09

    This dissertation is organized in an alternate format. Several manuscripts which have already been published or are to be submitted for publication have been included as separate chapters. Chapter 1 is a general introduction which describes the dissertation organization and introduces the human bone and ceramic materials as bone substitute. Chapter 2 is the background and literature review on dissolution behavior of calcium phosphate, and discussion of motivation for this research. Chapter 3 is a manuscript entitled ''Si,Zn-modified tricalcium phosphate: a phase composition and crystal structure study'', which was published in ''Key Engineering Materials'' [1]. Chapter 4 gives more crystal structure details by neutron powder diffraction, which identifies the position for Si and Zn substitution and explains the stabilization mechanism of the structure. A manuscript entitled ''Crystal structure analysis of Si, Zn-modified Tricalcium phosphate by Neutron Powder Diffraction'' will be submitted to Biomaterials [2]. Chapter 5 is a manuscript, entitled ''Dissolution behavior and cytotoxicity test of Si, Zn-modified tricalcium phosphate'', which is to be submitted to Biomaterials [3]. This paper discusses the additives effect on the dissolution behavior of TCP, and cytotoxicity test result is also included. Chapter 6 is the study of hydrolysis process of {alpha}-tricalcium phosphate in the simulated body fluid, and the phase development during drying process is discussed. A manuscript entitled ''Hydrolysis of {alpha}-tricalcium phosphate in simulated body fluid and phase transformation during drying process'' is to be submitted to Biomaterials [4]. Ozan Ugurlu is included as co-authors in these two papers due to his TEM contributions. Appendix A is the general introduction of the materials synthesis, crystal structure and preliminary dissolution result. A manuscript entitled ''Resorption rate tunable bioceramic: Si and Zn-modified tricalcium phosphate'' was published in

  8. The role of vector fields in modified gravity scenarios

    SciTech Connect (OSTI)

    Tasinato, Gianmassimo; Koyama, Kazuya; Khosravi, Nima E-mail: kazuya.koyama@port.ac.uk

    2013-11-01

    Gravitational vector degrees of freedom typically arise in many examples of modified gravity models. We start to systematically explore their role in these scenarios, studying the effects of coupling gravitational vector and scalar degrees of freedom. We focus on set-ups that enjoy a Galilean symmetry in the scalar sector and an Abelian gauge symmetry in the vector sector. These symmetries, together with the requirement that the equations of motion contain at most two space-time derivatives, only allow for a small number of operators in the Lagrangian for the gravitational fields. We investigate the role of gravitational vector fields for two broad classes of phenomena that characterize modified gravity scenarios. The first is self-acceleration: we analyze in general terms the behavior of vector fluctuations around self-accelerating solutions, and show that vanishing kinetic terms of vector fluctuations lead to instabilities on cosmological backgrounds. The second phenomenon is the screening of long range fifth forces by means of Vainshtein mechanism. We show that if gravitational vector fields are appropriately coupled to a spherically symmetric source, they can play an important role for defining the features of the background solution and the scale of the Vainshtein radius. Our general results can be applied to any concrete model of modified gravity, whose low-energy vector and scalar degrees of freedom satisfy the symmetry requirements that we impose.

  9. Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    SciTech Connect (OSTI)

    Carnegie Mellon University

    2008-09-30

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design, field-trial and Magnetic Flux Leakage (MFL) sensor evaluation program for the next-generation Explorer-II (X-II) live gas main Non-destructive Evaluation (NDE) and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The resulting robot-train system with CAD renderings of the individual modules. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules

  10. Modified Anti-de-Sitter Metric, Light-Front Quantized QCD, and...

    Office of Scientific and Technical Information (OSTI)

    Modified Anti-de-Sitter Metric, Light-Front Quantized QCD, and Conformal Quantum Mechanics Citation Details In-Document Search Title: Modified Anti-de-Sitter Metric, Light-Front...

  11. Methods for modifying monofilaments, bundles of monofilaments, and fibrous structural material

    DOE Patents [OSTI]

    Allen, Charles A.; Argyle, Mark D.; Fox, Robert V.; Ginosar, Daniel M.; Janikowski, Stuart K.; Miller, David L.; Propp, W. Alan; Toth, William J.

    2002-12-17

    The present invention is related to the modifying of substrates such as monofilaments, bundles of monofilaments, and fibrous structural material with a modifying agent. The modifying agent is suspended or dissolved in a supercritical fluid, near-critical fluid, superheated fluid, superheated liquid, or a liquified gas and is deposited by rapidly altering the pressure in a chamber to deposit the modifying material onto the substrate.

  12. SMART (Sandia's Modular Architecture for Robotics and Teleoperation) Ver. 1.0

    Energy Science and Technology Software Center (OSTI)

    2009-12-15

    "SMART Ver. 0.8 Beta" provides a system developer with software tools to create a telerobotic control system, i.e., a system whereby an end-user can interact with mechatronic equipment. It consists of three main components: the SMART Editor (tsmed), the SMART Real-time kernel (rtos), and the SMART Supervisor (gui). The SMART Editor is a graphical icon-based code generation tool for creating end-user systems, given descriptions of SMART modules. The SMART real-time kernel implements behaviors that combinemore » modules representing input devices, sensors, constraints, filters, and robotic devices. Included with this software release is a number of core modules, which can be combined with additional project and device specific modules to create a telerobotic controller. The SMART Supervisor is a graphical front-end for running a SMART system. It is an optional component of the SMART Environment and utilizes the TeVTk windowing and scripting environment. Although the code contained within this release is complete, and can be utilized for defining, running, and interfacing to a sample end-user SMART system, most systems will include additional project and hardware specific modules developed either by the system developer or obtained independently from a SMART module developer. SMART is a software system designed to integrate the different robots, input devices, sensors and dynamic elements required for advanced modes of telerobotic control. "SMART Ver. 0.8 Beta" defines and implements a telerobotic controller. A telerobotic system consists of combinations of modules that implement behaviors. Each real-time module represents an input device, robot device, sensor, constraint, connection or filter. The underlying theory utilizes non-linear discretized multidimensional network elements to model each individual module, and guarantees that upon a valid connection, the resulting system will perform in a stable fashion. Different combinations of modules implement different

  13. Characterization of modified 9 Cr-1 Mo steel extruded pipe

    SciTech Connect (OSTI)

    Sikka, V.K.; Hart, M.D.

    1985-04-01

    The fabrication of hot-extruded pipe of modified 9 Cr-1 Mo steel at Cameron Iron Works is described. The report also deals with the tempering response; tensile, Charpy impact, and creep properties; and microstructure of the hot-extruded pipe. The tensile properties of the pipe are compared with the average and average -1.65 standard error of estimate curves for various product forms of several commercial heats of this alloy. The creep-rupture properties are compared with the average curve for various product forms of the commercial heats.

  14. Hydrogen peroxide modified sodium titanates with improved sorption capabilities

    DOE Patents [OSTI]

    Nyman, May D.; Hobbs, David T.

    2009-02-24

    The sorption capabilities (e.g., kinetics, selectivity, capacity) of the baseline monosodium titanate (MST) sorbent material currently being used to sequester Sr-90 and alpha-emitting radioisotopes at the Savannah River Site are significantly improved when treated with hydrogen peroxide; either during the original synthesis of MST, or, as a post-treatment step after the MST has been synthesized. It is expected that these peroxide-modified MST sorbent materials will have significantly improved sorption capabilities for non-radioactive cations found in industrial processes and waste streams.

  15. Dielectric behavior of barium modified strontium bismuth titanate ceramic

    SciTech Connect (OSTI)

    Nayak, P.; Badapanda, T.; Anwar, S.; Panigrahi, S.

    2014-04-24

    Barium Modified Strontium Bismuth Titanate(SBT) ceramic with general formula Sr1?xBaxBi4Ti4O15 is prepared by solid state reaction route. The structural analysis of the ceramics was done by X-ray diffraction technique. The X-ray patterns show that all the compositions are of single phase with orthorhombic structure. The temperature dependent dielectric behavior shows that the transition temperature decreases with Ba content but the maximum dielectric constant increases. The decreases of the transition with increase in Ba{sup 2+} ion, may be due to the decrease of orthorhombicity by the incorporation of Ba{sup 2+} ion in SBT lattice.

  16. Nanocomposite fibers and film containing polyolefin and surface-modified carbon nanotubes

    DOE Patents [OSTI]

    Chu,Benjamin (Setauket, NY); Hsiao, Benjamin S. (Setauket, NY)

    2010-01-26

    Methods for modifying carbon nanotubes with organic compounds are disclosed. The modified carbon nanotubes have enhanced compatibility with polyolefins. Nanocomposites of the organo-modified carbon nanotubes and polyolefins can be used to produce both fibers and films having enhanced mechanical and electrical properties, especially the elongation-to-break ratio and the toughness of the fibers and/or films.

  17. Galaxy cluster lensing masses in modified lensing potentials

    SciTech Connect (OSTI)

    Barreira, Alexandre; Li, Baojiu; Jennings, Elise; Merten, Julian; King, Lindsay; Baugh, Carlton M.; Pascoli, Silvia

    2015-10-28

    In this study, we determine the concentration–mass relation of 19 X-ray selected galaxy clusters from the Cluster Lensing and Supernova Survey with Hubble survey in theories of gravity that directly modify the lensing potential. We model the clusters as Navarro–Frenk–White haloes and fit their lensing signal, in the Cubic Galileon and Nonlocal gravity models, to the lensing convergence profiles of the clusters. We discuss a number of important issues that need to be taken into account, associated with the use of non-parametric and parametric lensing methods, as well as assumptions about the background cosmology. Our results show that the concentration and mass estimates in the modified gravity models are, within the error bars, the same as in Λ cold dark matter. This result demonstrates that, for the Nonlocal model, the modifications to gravity are too weak at the cluster redshifts, and for the Galileon model, the screening mechanism is very efficient inside the cluster radius. However, at distances ~ [2–20] Mpc/h from the cluster centre, we find that the surrounding force profiles are enhanced by ~ 20–40% in the Cubic Galileon model. This has an impact on dynamical mass estimates, which means that tests of gravity based on comparisons between lensing and dynamical masses can also be applied to the Cubic Galileon model.

  18. Carbon dioxide pressure swing adsorption process using modified alumina adsorbents

    DOE Patents [OSTI]

    Gaffney, Thomas Richard; Golden, Timothy Christopher; Mayorga, Steven Gerard; Brzozowski, Jeffrey Richard; Taylor, Fred William

    1999-01-01

    A pressure swing adsorption process for absorbing CO.sub.2 from a gaseous mixture containing CO.sub.2 comprising introducing the gaseous mixture at a first pressure into a reactor containing a modified alumina adsorbent maintained at a temperature ranging from 100.degree. C. and 500.degree. C. to adsorb CO.sub.2 to provide a CO.sub.2 laden alumina adsorbent and a CO.sub.2 depleted gaseous mixture and contacting the CO.sub.2 laden adsorbent with a weakly adsorbing purge fluid at a second pressure which is lower than the first pressure to desorb CO.sub.2 from the CO.sub.2 laden alumina adsorbent. The modified alumina adsorbent which is formed by depositing a solution having a pH of 3.0 or more onto alumina and heating the alumina to a temperature ranging from 100.degree. C. and 600.degree. C., is not degraded by high concentrations of water under process operating conditions.

  19. Carbon dioxide pressure swing adsorption process using modified alumina adsorbents

    DOE Patents [OSTI]

    Gaffney, T.R.; Golden, T.C.; Mayorga, S.G.; Brzozowski, J.R.; Taylor, F.W.

    1999-06-29

    A pressure swing adsorption process for absorbing CO[sub 2] from a gaseous mixture containing CO[sub 2] comprises introducing the gaseous mixture at a first pressure into a reactor containing a modified alumina adsorbent maintained at a temperature ranging from 100 C and 500 C to adsorb CO[sub 2] to provide a CO[sub 2] laden alumina adsorbent and a CO[sub 2] depleted gaseous mixture and contacting the CO[sub 2] laden adsorbent with a weakly adsorbing purge fluid at a second pressure which is lower than the first pressure to desorb CO[sub 2] from the CO[sub 2] laden alumina adsorbent. The modified alumina adsorbent which is formed by depositing a solution having a pH of 3.0 or more onto alumina and heating the alumina to a temperature ranging from 100 C and 600 C, is not degraded by high concentrations of water under process operating conditions. 1 fig.

  20. Galaxy cluster lensing masses in modified lensing potentials

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Barreira, Alexandre; Li, Baojiu; Jennings, Elise; Merten, Julian; King, Lindsay; Baugh, Carlton M.; Pascoli, Silvia

    2015-10-28

    In this study, we determine the concentration–mass relation of 19 X-ray selected galaxy clusters from the Cluster Lensing and Supernova Survey with Hubble survey in theories of gravity that directly modify the lensing potential. We model the clusters as Navarro–Frenk–White haloes and fit their lensing signal, in the Cubic Galileon and Nonlocal gravity models, to the lensing convergence profiles of the clusters. We discuss a number of important issues that need to be taken into account, associated with the use of non-parametric and parametric lensing methods, as well as assumptions about the background cosmology. Our results show that the concentrationmore » and mass estimates in the modified gravity models are, within the error bars, the same as in Λ cold dark matter. This result demonstrates that, for the Nonlocal model, the modifications to gravity are too weak at the cluster redshifts, and for the Galileon model, the screening mechanism is very efficient inside the cluster radius. However, at distances ~ [2–20] Mpc/h from the cluster centre, we find that the surrounding force profiles are enhanced by ~ 20–40% in the Cubic Galileon model. This has an impact on dynamical mass estimates, which means that tests of gravity based on comparisons between lensing and dynamical masses can also be applied to the Cubic Galileon model.« less

  1. Morphological studies on block copolymer modified PA 6 blends

    SciTech Connect (OSTI)

    Poindl, M. E-mail: christian.bonten@ikt.uni-stuttgart.de; Bonten, C. E-mail: christian.bonten@ikt.uni-stuttgart.de

    2014-05-15

    Recent studies show that compounding polyamide 6 (PA 6) with a PA 6 polyether block copolymers made by reaction injection molding (RIM) or continuous anionic polymerization in a reactive extrusion process (REX) result in blends with high impact strength and high stiffness compared to conventional rubber blends. In this paper, different high impact PA 6 blends were prepared using a twin screw extruder. The different impact modifiers were an ethylene propylene copolymer, a PA PA 6 polyether block copolymer made by reaction injection molding and one made by reactive extrusion. To ensure good particle matrix bonding, the ethylene propylene copolymer was grafted with maleic anhydride (EPR-g-MA). Due to the molecular structure of the two block copolymers, a coupling agent was not necessary. The block copolymers are semi-crystalline and partially cross-linked in contrast to commonly used amorphous rubbers which are usually uncured. The combination of different analysis methods like atomic force microscopy (AFM), transmission electron microscopy (TEM) and scanning electron microscopy (SEM) gave a detailed view in the structure of the blends. Due to the partial cross-linking, the particles of the block copolymers in the blends are not spherical like the ones of ethylene propylene copolymer. The differences in molecular structure, miscibility and grafting of the impact modifiers result in different mechanical properties and different blend morphologies.

  2. Advanced techniques for characterization of ion beam modified materials

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Zhang, Yanwen; Debelle, Aurélien; Boulle, Alexandre; Kluth, Patrick; Tuomisto, Filip

    2014-10-30

    Understanding the mechanisms of damage formation in materials irradiated with energetic ions is essential for the field of ion-beam materials modification and engineering. Utilizing incident ions, electrons, photons, and positrons, various analysis techniques, including Rutherford backscattering spectrometry (RBS), electron RBS, Raman spectroscopy, high-resolution X-ray diffraction, small-angle X-ray scattering, and positron annihilation spectroscopy, are routinely used or gaining increasing attention in characterizing ion beam modified materials. The distinctive information, recent developments, and some perspectives in these techniques are reviewed in this paper. Applications of these techniques are discussed to demonstrate their unique ability for studying ion-solid interactions and the corresponding radiationmore » effects in modified depths ranging from a few nm to a few tens of μm, and to provide information on electronic and atomic structure of the materials, defect configuration and concentration, as well as phase stability, amorphization and recrystallization processes. Finally, such knowledge contributes to our fundamental understanding over a wide range of extreme conditions essential for enhancing material performance and also for design and synthesis of new materials to address a broad variety of future energy applications.« less

  3. Applying a Modified Triad Approach to Investigate Wastewater lines

    SciTech Connect (OSTI)

    Pawlowicz, R.; Urizar, L.; Blanchard, S.; Jacobsen, K.; Scholfield, J.

    2006-07-01

    Approximately 20 miles of wastewater lines are below grade at an active military Base. This piping network feeds or fed domestic or industrial wastewater treatment plants on the Base. Past wastewater line investigations indicated potential contaminant releases to soil and groundwater. Further environmental assessment was recommended to characterize the lines because of possible releases. A Remedial Investigation (RI) using random sampling or use of sampling points spaced at predetermined distances along the entire length of the wastewater lines, however, would be inefficient and cost prohibitive. To accomplish RI goals efficiently and within budget, a modified Triad approach was used to design a defensible sampling and analysis plan and perform the investigation. The RI task was successfully executed and resulted in a reduced fieldwork schedule, and sampling and analytical costs. Results indicated that no major releases occurred at the biased sampling points. It was reasonably extrapolated that since releases did not occur at the most likely locations, then the entire length of a particular wastewater line segment was unlikely to have contaminated soil or groundwater and was recommended for no further action. A determination of no further action was recommended for the majority of the waste lines after completing the investigation. The modified Triad approach was successful and a similar approach could be applied to investigate wastewater lines on other United States Department of Defense or Department of Energy facilities. (authors)

  4. Modified carbohydrate-chitosan compounds, methods of making the same and methods of using the same

    DOE Patents [OSTI]

    Venditti, Richard A; Pawlak, Joel J; Salam, Abdus; El-Tahlawy, Khaled Fathy

    2015-03-10

    Compositions of matter are provided that include chitosan and a modified carbohydrate. The modified carbohydrate includes a carbohydrate component and a cross linking agent. The modified carbohydrate has increased carboxyl content as compared to an unmodified counterpart carbohydrate. A carboxyl group of the modified carbohydrate is covalently bonded with an amino group of chitosan. The compositions of matter provided herein may include cross linked starch citrate-chitosan and cross linked hemicellulose citrate-chitosan, including foams thereof. These compositions yield excellent absorbency and metal chelation properties. Methods of making cross linked modified carbohydrate-chitosan compounds are also provided.

  5. Multiple-robot drug delivery strategy through coordinated teams of microswimmers

    SciTech Connect (OSTI)

    Kei Cheang, U; Kim, Min Jun; Lee, Kyoungwoo; Julius, Anak Agung

    2014-08-25

    Untethered robotic microswimmers are very promising to significantly improve various types of minimally invasive surgeries by offering high accuracy at extremely small scales. A prime example is drug delivery, for which a large number of microswimmers is required to deliver sufficient dosages to target sites. For this reason, the controllability of groups of microswimmers is essential. In this paper, we demonstrate simultaneous control of multiple geometrically similar but magnetically different microswimmers using a single global rotating magnetic field. By exploiting the differences in their magnetic properties, we triggered different swimming behaviors from the microswimmers by controlling the frequency and the strength of the global field, for example, one swim and the other does not while exposed to the same control input. Our results show that the balance between the applied magnetic torque and the hydrodynamic torque can be exploited for simultaneous control of two microswimmers to swim in opposite directions, with different velocities, and with similar velocities. This work will serve to establish important concepts for future developments of control systems to manipulate multiple magnetically actuated microswimmers and a step towards using swarms of microswimmers as viable workforces for complex operations.

  6. Vector field models of modified gravity and the dark sector

    SciTech Connect (OSTI)

    Zuntz, J.; Ferreira, P. G.; Zlosnik, T. G; Bourliot, F.; Starkman, G. D.

    2010-05-15

    We present a comprehensive investigation of cosmological constraints on the class of vector field formulations of modified gravity called generalized Einstein-aether models. Using linear perturbation theory we generate cosmic microwave background and large-scale structure spectra for general parameters of the theory, and then constrain them in various ways. We investigate two parameter regimes: a dark matter candidate where the vector field sources structure formation, and a dark energy candidate where it causes late-time acceleration. We find that the dark matter candidate does not fit the data, and identify five physical problems that can restrict this and other theories of dark matter. The dark energy candidate does fit the data, and we constrain its fundamental parameters; most notably we find that the theory's kinetic index parameter n{sub ae} can differ significantly from its {Lambda}CDM value.

  7. Modifying gravity with the aether: An alternative to dark matter

    SciTech Connect (OSTI)

    Zlosnik, T. G; Ferreira, P. G; Starkman, G. D.

    2007-02-15

    There is evidence that Newton and Einstein's theories of gravity cannot explain the dynamics of a universe made up solely of baryons and radiation. To be able to understand the properties of galaxies, clusters of galaxies and the universe on the whole it has become commonplace to invoke the presence of dark matter. An alternative approach is to modify the gravitational field equations to accommodate observations. We propose a new class of gravitational theories in which we add a new degree of freedom, the Aether, in the form of a vector field that is coupled covariantly, but nonminimally, with the space-time metric. We explore the Newtonian and non-Newtonian limits, discuss the conditions for these theories to be consistent and explore their effect on cosmology.

  8. Lithium intercalation behavior of surface modified carbonaceous materials

    SciTech Connect (OSTI)

    Tran, T.D.; Murguia, L.X.; Song, X.; Kinoshita, K.

    1997-07-17

    The surface properties of several well-characterized commercial carbon materials were modified by thermal and chemical treatments. The reversible capacities for lithium intercalation of a sponge green coke and a fuel green coke for lithium intercalation increased by as much as 25% after heat treatment in both reducing (5% H{sub 2}/Ar) and oxidizing (CO{sub 2}) environments. The irreversible capacity loss increased significantly with CO{sub 2} treatment at 800{degrees}C. The trend of larger capacity losses with CO{sub 2} treatment is also observed with a synthetic graphite (SFG6) which was produced by heat treatment at about 3000{degrees}C. Carbon fibers that were first impregnated with LiOH solution followed by reaction with CO{sub 2} to form Li{sub 2}CO{sub 3} tended to show lower irreversible capacity losses.

  9. Surface modified stainless steels for PEM fuel cell bipolar plates

    DOE Patents [OSTI]

    Brady, Michael P [Oak Ridge, TN; Wang, Heli [Littleton, CO; Turner, John A [Littleton, CO

    2007-07-24

    A nitridation treated stainless steel article (such as a bipolar plate for a proton exchange membrane fuel cell) having lower interfacial contact electrical resistance and better corrosion resistance than an untreated stainless steel article is disclosed. The treated stainless steel article has a surface layer including nitrogen-modified chromium-base oxide and precipitates of chromium nitride formed during nitridation wherein oxygen is present in the surface layer at a greater concentration than nitrogen. The surface layer may further include precipitates of titanium nitride and/or aluminum oxide. The surface layer in the treated article is chemically heterogeneous surface rather than a uniform or semi-uniform surface layer exclusively rich in chromium, titanium or aluminum. The precipitates of titanium nitride and/or aluminum oxide are formed by the nitriding treatment wherein titanium and/or aluminum in the stainless steel are segregated to the surface layer in forms that exhibit a low contact resistance and good corrosion resistance.

  10. Modified Magnicon for High-Gradient Accelerator R&D

    SciTech Connect (OSTI)

    Jay L. Hirshfield

    2011-12-19

    Analysis, and low-power cold tests are described on a modified design intended for the Ka-band pulsed magnicon now in use for high-gradient accelerator R and D and rare elementary particle searches at the Yale University Beam Physics Laboratory. The modification is mainly to the output cavity of the magnicon, which presently operates in the TM310 mode. It is proposed to substitute for this a dual-chamber TE311 cavity structure. The first chamber is to extract about 40% of the beam power (about 25 MW) at 34.272 GHz, while the second chamber is to convey the power to four WR-28 output waveguides. Minor design changes are also proposed for the penultimate 11.424 GHz cavity and the beam collector. The intention of these design changes is to allow the magnicon to operate reliably 24/7, with minor sensitivity to operating parameters.

  11. Numerical analysis of modified Central Solenoid insert design

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Khodak, Andrei; Martovetsky, Nicolai; Smirnov, Aleksandre; Titus, Peter

    2015-06-21

    The United States ITER Project Office (USIPO) is responsible for fabrication of the Central Solenoid (CS) for ITER project. The ITER machine is currently under construction by seven parties in Cadarache, France. The CS Insert (CSI) project should provide a verification of the conductor performance in relevant conditions of temperature, field, currents and mechanical strain. The US IPO designed the CSI that will be tested at the Central Solenoid Model Coil (CSMC) Test Facility at JAEA, Naka. To validate the modified design we performed three-dimensional numerical simulations using coupled solver for simultaneous structural, thermal and electromagnetic analysis. Thermal and electromagneticmore » simulations supported structural calculations providing necessary loads and strains. According to current analysis design of the modified coil satisfies ITER magnet structural design criteria for the following conditions: (1) room temperature, no current, (2) temperature 4K, no current, (3) temperature 4K, current 60 kA direct charge, and (4) temperature 4K, current 60 kA reverse charge. Fatigue life assessment analysis is performed for the alternating conditions of: temperature 4K, no current, and temperature 4K, current 45 kA direct charge. Results of fatigue analysis show that parts of the coil assembly can be qualified for up to 1 million cycles. Distributions of the Current Sharing Temperature (TCS) in the superconductor were obtained from numerical results using parameterization of the critical surface in the form similar to that proposed for ITER. Lastly, special ADPL scripts were developed for ANSYS allowing one-dimensional representation of TCS along the cable, as well as three-dimensional fields of TCS in superconductor material. Published by Elsevier B.V.« less

  12. Numerical analysis of modified Central Solenoid insert design

    SciTech Connect (OSTI)

    Khodak, Andrei; Martovetsky, Nicolai; Smirnov, Aleksandre; Titus, Peter

    2015-06-21

    The United States ITER Project Office (USIPO) is responsible for fabrication of the Central Solenoid (CS) for ITER project. The ITER machine is currently under construction by seven parties in Cadarache, France. The CS Insert (CSI) project should provide a verification of the conductor performance in relevant conditions of temperature, field, currents and mechanical strain. The US IPO designed the CSI that will be tested at the Central Solenoid Model Coil (CSMC) Test Facility at JAEA, Naka. To validate the modified design we performed three-dimensional numerical simulations using coupled solver for simultaneous structural, thermal and electromagnetic analysis. Thermal and electromagnetic simulations supported structural calculations providing necessary loads and strains. According to current analysis design of the modified coil satisfies ITER magnet structural design criteria for the following conditions: (1) room temperature, no current, (2) temperature 4K, no current, (3) temperature 4K, current 60 kA direct charge, and (4) temperature 4K, current 60 kA reverse charge. Fatigue life assessment analysis is performed for the alternating conditions of: temperature 4K, no current, and temperature 4K, current 45 kA direct charge. Results of fatigue analysis show that parts of the coil assembly can be qualified for up to 1 million cycles. Distributions of the Current Sharing Temperature (TCS) in the superconductor were obtained from numerical results using parameterization of the critical surface in the form similar to that proposed for ITER. Lastly, special ADPL scripts were developed for ANSYS allowing one-dimensional representation of TCS along the cable, as well as three-dimensional fields of TCS in superconductor material. Published by Elsevier B.V.

  13. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    SciTech Connect (OSTI)

    Dr. George C. Vradis; Dr. Hagen Schempf

    2002-05-01

    The goal of this program is to construct and demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The system, which was designed in an earlier effort, is built in a modular fashion in order to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system to be built under this project will include all the basic modules needed by the system, i.e. the locomotion, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. This module, which incorporates technology developed by NASA, has been designed, constructed and tested in the earlier effort. In the current effort, the full prototype system will be tested in the laboratory followed by two field demonstrations in real applications in NYGAS member utilities' pipes. The purpose for EXPLORER is to be able to access live gas mains, insert the system in the piping network, and remotely ''drive'' it within the gas main and its laterals through distances of five to ten thousand feet. Its adaptable locomotion system allows the robot to function through varying diameter pipes (150 - 200 mm or 6- to 8-inches) and is powered via on-board battery-banks. The presence of fish-eye cameras in both ends of the robot allows the operator to view the forward and circumferential views of the internals live using an above-ground TV. Communication takes place via wireless link between the robot and the launch-chamber used to insert/retrieve the system. This link is based on commercial technology presently employed in wireless telecommunication networks. Communication over long distances as well as battery re-charging will be accomplished without retrieving the robot but

  14. SU-E-J-114: Towards Integrated CT and Ultrasound Guided Radiation Therapy Using A Robotic Arm with Virtual Springs

    SciTech Connect (OSTI)

    Ding, K; Zhang, Y; Sen, H; Lediju Bell, M; Goldstein, S; Kazanzides, P; Iordachita, I; Wong, J

    2014-06-01

    Purpose: Currently there is an urgent need in Radiation Therapy for noninvasive and nonionizing soft tissue target guidance such as localization before treatment and continuous monitoring during treatment. Ultrasound is a portable, low cost option that can be easily integrated with the LINAC room. We are developing a cooperatively controlled robot arm that has high intrafraction reproducibility with repositioning of the ultrasound probe. In this study, we introduce virtual springs (VS) to assist with interfraction probe repositioning and we compare the soft tissue deformation introduced by VS to the deformation that would exist without them. Methods: Three metal markers were surgically implanted in the kidney of one dog. The dog was anesthetized and immobilized supine in an alpha cradle. The reference ultrasound probe position and force to ideally visualize the kidney was defined by an experienced ultrasonographer using the Clarity ultrasound system and robot sensor. For each interfraction study, the dog was removed from the cradle and re-setup based on CBCT with bony anatomy alignment to mimic regular patient setup. The ultrasound probe was automatically returned to the reference position using the robot. To accommodate the soft tissue anatomy changes between each setup the operator used the VS feature to adjust the probe and obtain an ultrasound image that matched the reference image. CBCT images were acquired and each interfraction marker location was compared with the first interfraction Result. Results: Analysis of the marker positions revealed that the kidney was displaced by 18.8 6.4 mm without VS and 19.9 10.5 mm with VS. No statistically significant differences were found between two procedures. Conclusion: The VS feature is necessary to obtain matching ultrasound images, and they do not introduce further changes to the tissue deformation. Future work will focus on automatic VS based on ultrasound feedback. Supported in part by: NCI R01 CA161613

  15. Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997

    SciTech Connect (OSTI)

    Thompson, B.; Slifko, A.

    1998-12-31

    This report details the development of a reconfigurable in-tank robotic cleanup system called Houdini{trademark}. Driven by the general need to develop equipment for the removal of radioactive waste from hundreds of DOE waste storage tanks and the specific needs of DOE sites such as Oak Ridge National Laboratory and Fernald, Houdini{trademark} represents one of the possible tools that can be used to mobilize and retrieve this waste material for complete remediation. Houdini{trademark} is a hydraulically powered, track driven, mobile work vehicle with a collapsible frame designed to enter underground or above ground waste tanks through existing 24 inch riser openings. After the vehicle has entered the waste tank, it unfolds and lands on the waste surface or tank floor to become a remotely operated mini-bulldozer. Houdini{trademark} utilizes a vehicle mounted plow blade and 6-DOF manipulator to mobilize waste and carry other tooling such as sluicing pumps, excavation buckets, and hydraulic shears. The complete Houdini{trademark} system consists of the tracked vehicle and other support equipment (e.g., control console, deployment system, hydraulic power supply, and controller) necessary to deploy and remotely operate this system at any DOE site. Inside the storage tanks, the system is capable of performing heel removal, waste mobilization, waste size reduction, and other tank waste retrieval and decommissioning tasks. The first Houdini{trademark} system was delivered on September 24, 1996 to Oak Ridge National Laboratory (ORNL). The system acceptance test was successfully performed at a cold test facility at ORNL. After completion of the cold test program and the training of site personnel, ORNL will deploy the system for clean-up and remediation of the Gunite storage tanks.

  16. Plasma sputtering robotic device for in-situ thick coatings of long, small diameter vacuum tubes

    SciTech Connect (OSTI)

    Hershcovitch, A. Blaskiewicz, M.; Brennan, J. M.; Fischer, W.; Liaw, C.-J.; Meng, W.; Todd, R.; Custer, A.; Dingus, A.; Erickson, M.; Jamshidi, N.; Laping, R.; Poole, H. J.

    2015-05-15

    A novel robotic plasma magnetron mole with a 50?cm long cathode was designed, fabricated, and operated. The reason for this endeavor is to alleviate the problems of unacceptable resistive heating of stainless steel vacuum tubes in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase the cathode lifetime, a movable magnet package was developed, and the thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5?cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3?cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced secondary electron yield to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that a 10??m copper coated stainless steel RHIC tube has a conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. The device details and experimental results are described.

  17. Trends in robotics: A summary of the Department of Energy`s critical technology roadmap

    SciTech Connect (OSTI)

    Eicker, P.J.

    1998-08-10

    Technology roadmaps serve as pathways to the future. They call attention to future needs for research and development; provide a structure for organizing technology forecasts and programs; and help communicate technological needs and expectations among end users and the research and development (R and D) community. Critical Technology roadmaps, of which the Robotics and Intelligent Machines (RIM) Roadmap is one example, focus on enabling or cross-cutting technologies that address the needs of multiple US Department of Energy (DOE) offices. Critical Technology roadmaps must be responsive to mission needs of the offices; must clearly indicate how the science and technology can improve DOE capabilities; and must describe an aggressive vision for the future of the technology itself. The RIM Roadmap defines a DOE research and development path for the period beginning today, and continuing through the year 2020. Its purpose is to identify, select and develop objectives that will satisfy near- and long-term challenges posed by DOE`s mission objectives. If implemented, this roadmap will support DOE`s mission needs while simultaneously advancing the state-of-the-art of RIM. For the purposes of this document, RIM refers to systems composed of machines, sensors, computers and software that deliver processes to DOE operations. The RIM Roadmap describes how such systems will revolutionize DOE processes, most notably manufacturing, hazardous and remote operations, and monitoring and surveillance. The advances in DOE operations and RIM discussed in this document will be possible due to the developments in many other areas of science and technology, including computing, communication, electronics and micro-engineering. Modern software engineering techniques will permit the implementation of inherently safe RIM systems that will depend heavily on software.

  18. Methods for producing partially digested restriction DNA fragments and for producing a partially modified PCR product

    DOE Patents [OSTI]

    Wong, Kwong-Kwok

    2000-01-01

    The present invention is an improved method of making a partially modified PCR product from a DNA fragment with a polymerase chain reaction (PCR). In a standard PCR process, the DNA fragment is combined with starting deoxynucleoside triphosphates, a primer, a buffer and a DNA polymerase in a PCR mixture. The PCR mixture is then reacted in the PCR producing copies of the DNA fragment. The improvement of the present invention is adding an amount of a modifier at any step prior to completion of the PCR process thereby randomly and partially modifying the copies of the DNA fragment as a partially modified PCR product. The partially modified PCR product may then be digested with an enzyme that cuts the partially modified PCR product at unmodified sites thereby producing an array of DNA restriction fragments.

  19. EIS-0407: Amended Notice of Intent to Modify the Scope of the Environmental

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

    Impact Statement | Department of Energy Amended Notice of Intent to Modify the Scope of the Environmental Impact Statement EIS-0407: Amended Notice of Intent to Modify the Scope of the Environmental Impact Statement Abengoa Refinery Project near Hugoton, Kansas Amended Notice of Intent to Modify the Scope of the Environmental Impact Statement for the Abengoa Refinery Project near Hugoton, Kanasas, DOE/EIS-0407 (April 2009) 74 FR 19543 (2.34 MB) More Documents & Publications EIS-0407:

  20. Modified pseudomonas oleovorans phaC1 nucleic acids encoding bispecific polyhydroxyalkanoate polymerase

    DOE Patents [OSTI]

    Srienc, Friedrich; Jackson, John K.; Somers, David A.

    2000-01-01

    A genetically engineered Pseudomonas oleovorans phaC1 polyhydroxyalkanoate (PHA) polymerase having tailored substrate specificity is provided. The modified PHA polymerase is preferably a "bispecific" PHA polymerase capable of copolymerizing a short chain length monomer and a medium chain length monomer is provided. Methods for making the modified PHA polymerase and for making nucleic acids encoding the modified PHA polymerase are also disclosed, as are methods of producing PHA using the modified PHA polymerase. The invention further includes methods to assay for altered substrate specificity.

  1. 01-02-2003 - Hazards from Modifying Finished Products | The Ames Laboratory

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

    Hazards from Modifying Finished Products Document Number: NA Effective Date: 01/2003 File (public): PDF icon 01-02-2003(2)

  2. EIS-0407: Amended Notice of Intent to Modify the Scope of the...

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

    Refinery Project near Hugoton, Kansas Amended Notice of Intent to Modify the Scope of the Environmental Impact Statement for the Abengoa Refinery Project near Hugoton, Kanasas,...

  3. Method of producing titanium-modified austenitic steel having improved swelling resistance

    DOE Patents [OSTI]

    Megusar, Janez; Grant, Nicholas J.

    1989-01-01

    A process for improving the swelling resistance of a titanium-modified austenitic stainless steel that involves a combination of rapid solidification and dynamic compaction techniques.

  4. EIS-0463: Amended Notice of Intent To Modify the Scope of the...

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

    Department of Energy - Presidential Permit Application for Northern Pass Transmission, New Hampshire DOE announces its intent to modify the scope of the Northern Pass Transmission ...

  5. AVLIS modified direct denitration: UO{sub 3} powder evaluation

    SciTech Connect (OSTI)

    Slagle, O.D.; Davis, N.C.; Parchen, L.J.

    1994-02-01

    The evaluation study demonstrated that AVLIS-enriched uranium converted to UO{sub 3} can be used to prepare UO{sub 3} pellets having densities in the range required for commercial power reactor fuel. Specifically, the program has demonstrated that MDD (Modified Direct Denitration)-derived UO{sub 2} powders can be reduced to sinterable UO{sub 2} powder using reduction techniques that allow control of the final powder characteristics; the resulting UO{sub 2} powders can be processed/sintered using standard powder preparation and pellet fabrication techniques to yield pellets with densities greater than 96% TD; pellet microstructures appear similar to those of power reactor fuel, and because of the high final pellet densities, it is expected that they would remain stable during in-reactor operation; the results of the present study confirm the results of a similar study carried out in 1982 (Davis and Griffin 1992). The laboratory processes were selected on the basis that they could be scaled up to standard commercial fuel processing. However, larger scale testing may be required to establish techniques compatible with commercial fuel fabrication techniques.

  6. Radical-cured block copolymer-modified thermosets

    SciTech Connect (OSTI)

    Redline, Erica M.; Francis, Lorraine F.; Bates, Frank S.

    2013-01-10

    Poly(ethylene-alt-propylene)-b-poly(ethylene oxide) (PEP-PEO) diblock copolymers were synthesized and added at 4 wt % to 2,2-bis[4-(2-hydroxy-3-methacryloxypropoxy)phenyl]propane (BisGMA), a monomer that cures using free radical chemistry. In separate experiments, poly(ethylene glycol) dimethacrylate (PEGDMA) was combined as a secondary monomer with BisGMA and the monomers were loaded with 4 wt % PEP-PEO. The diblock copolymers self-assembled into well-dispersed spherical micelles with PEP cores and PEO coronas. No appreciable change in the final extent of cure of the thermosets was caused by the addition of diblock copolymer, except in the case of BisGMA, where the addition of the block copolymer increased extent of cure by 12%. Furthermore, the extent of cure was increased by 29% and 37% with the addition of 25 and 50 wt % PEGDMA, respectively. Elastic modulus and fracture resistance were also determined, and the values indicate that the addition of block copolymers does not significantly toughen the thermoset materials. This finding is surprising when compared with the large increase in fracture resistance seen in block copolymer-modified epoxies, and an explanation is proposed.

  7. Gold Binding by Native and Chemically Modified Hops Biomasses

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    López, M. Laura; Gardea-Torresdey, J. L.; Peralta-Videa, J. R.; de la Rosa, G.; Armendáriz, V.; Herrera, I.; Troiani, H.; Henning, J.

    2005-01-01

    Heavy metals from mining, smelting operations and other industrial processing facilities pollute wastewaters worldwide. Extraction of metals from industrial effluents has been widely studied due to the economic advantages and the relative ease of technical implementation. Consequently, the search for new and improved methodologies for the recovery of gold has increased. In this particular research, the use of cone hops biomass ( Humulus lupulus ) was investigated as a new option for gold recovery. The results showed that the gold binding to native hops biomass was pH dependent from pH 2 to pH 6, with a maximum percentage bindingmore » at pH 3. Time dependency studies demonstrated that Au(III) binding to native and modified cone hops biomasses was found to be time independent at pH 2 while at pH 5, it was time dependent. Capacity experiments demonstrated that at pH 2, esterified hops biomass bound 33.4 mg Au/g of biomass, while native and hydrolyzed hops biomasses bound 28.2 and 12.0 mg Au/g of biomass, respectively. However, at pH 5 the binding capacities were 38.9, 37.8 and 11.4 mg of Au per gram of native, esterified and hydrolyzed hops biomasses, respectively.« less

  8. Photothermal excitation setup for a modified commercial atomic force microscope

    SciTech Connect (OSTI)

    Adam, Holger; Rode, Sebastian; Schreiber, Martin; Kühnle, Angelika; Kobayashi, Kei; Yamada, Hirofumi

    2014-02-15

    High-resolution imaging in liquids using frequency modulation atomic force microscopy is known to suffer from additional peaks in the resonance spectrum that are unrelated to the cantilever resonance. These unwanted peaks are caused by acoustic modes of the liquid and the setup arising from the indirect oscillation excitation by a piezoelectric transducer. Photothermal excitation has been identified as a suitable method for exciting the cantilever in a direct manner. Here, we present a simple design for implementing photothermal excitation in a modified Multimode scan head from Bruker. Our approach is based on adding a few components only to keep the modifications as simple as possible and to maintain the low noise level of the original setup with a typical deflection noise density of about 15 fm/√(Hz) measured in aqueous solution. The success of the modification is illustrated by a comparison of the resonance spectra obtained with piezoelectric and photothermal excitation. The performance of the systems is demonstrated by presenting high-resolution images on bare calcite in liquid as well as organic adsorbates (Alizarin Red S) on calcite with simultaneous atomic resolution of the underlying calcite substrate.

  9. Characterization of secondary phases in modified vertical bridgman growth czt

    SciTech Connect (OSTI)

    Duff, Martine

    2009-07-10

    CdZnTe or 'CZT' crystals are highly suitable for use as a room temperature based spectrometer for the detection and characterization of gamma radiation. Over the last decade, the methods for growing high quality CZT have improved the quality of the produced crystals however there are material features that can influence the performance of these materials as radiation detectors. For example, various structural heterogeneities within the CZT crystals, such as twinning, pipes, grain boundaries (polycrystallinity), and secondary phases (SP) can have a negative impact on the detector performance. In this study, a CZT material was grown by the modified vertical Bridgman growth (MVB) method with zone leveled growth without excess Te in the melt. Visual observations of material from the growth of this material revealed significant voids and SP. Three samples from this material was analyzed using various analytical techniques to evaluate its electrical properties, purity and detector performance as radiation spectrometers and to determine the morphology, dimension and elemental/structural composition of one of the SP in this material. This material was found to have a high resistivity but poor radiation spectrometer performance. It had SP that were rich in polycrystalline aluminum oxide (Al{sub 2}O{sub 3}), metallic Te and polycrystalline CdZnTe and 15 to 50 {micro}m in diameter. Bulk elemental analyses of sister material from elsewhere in the boule did not contain high levels of Al so there is considerable elemental impurity heterogeneity within the boule from this growth.

  10. LEACHING OF TITANIUM FROM MONOSODIUM TITANATE AND MODIFIED MST

    SciTech Connect (OSTI)

    Taylor-Pashow, K.; Fondeur, F.; Fink, S.

    2012-08-01

    Analysis of a fouled coalescer and pre-filters from Actinide Removal Process/Modular Caustic Side Solvent Extraction Unit (ARP/MCU) operations showed evidence of Ti containing solids. Based on these results a series of tests were planned to examine the extent of Ti leaching from monosodium titanate (MST) and modified monosodium titanate (mMST) in various solutions. The solutions tested included a series of salt solutions with varying free hydroxide concentrations, two sodium hydroxide concentrations, 9 wt % and 15 wt %, nitric and oxalic acid solutions. Overall, the amount of Ti leached from the MST and mMST was much greater in the acid solutions compared to the sodium hydroxide or salt solutions, which is consistent with the expected trend. The leaching data also showed that increasing hydroxide concentration, whether pure NaOH solution used for filter cleaning in ARP or the waste salt solution, increased the amount of Ti leached from both the MST and mMST. For the respective nominal contact times with the MST solids - for filter cleaning or the normal filter operation, the dissolved Ti concentrations are comparable suggesting either cause may contribute to the increased Ti fouling on the MCU coalescers. Tests showed that Ti containing solids could be precipitated from solution after the addition of scrub acid and a decrease in temperature similar to expected in MCU operations. FTIR analysis of these solids showed some similarity to the solids observed on the fouled coalescer and pre-filters. Although only a cursory study, this information suggests that the practice of increasing free hydroxide in feed solutions to MCU as a mitigation to aluminosilicate formation may be offset by the impact of formation of Ti solids in the overall process. Additional consideration of this finding from MCU and SWPF operation is warranted.

  11. 2009 Cellulosomes, Cellulases & Other Carbohydrate Modifying Enzymes GRC

    SciTech Connect (OSTI)

    Harry Gilbert

    2009-07-26

    The 2009 Gordon Conference on Cellulosomes, Cellulases & Other Carbohydrate Modifying Enzymes will present cutting-edge research on the enzymatic degradation of cellulose and other plant cell wall polysaccharides. The Conference will feature a wide range of topics that includes the enzymology of plant structural degradation, regulation of the degradative apparatus, the mechanism of protein complex assembly, the genomics of cell wall degrading organisms, the structure of the substrate and the industrial application of the process particularly within the biofuel arena. Indeed the deployment of plant cell wall degrading enzymes in biofuel processes will be an important feature of the meeting. It should be emphasized that the 2009 Conference will be expanded to include, in addition to cellulase research, recent advances in other plant cell wall degrading enzymes, and contributions from people working on hemicellulases and pectinases will be particularly welcome. Invited speakers represent a variety of scientific disciplines, including biochemistry, structural biology, genetics and cell biology. The interplay between fundamental research and its industrial exploitation is a particularly important aspect of the meeting, reflecting the appointment of the chair and vice-chair from academia and industry, respectively. The meeting will provide opportunities for junior scientists and graduate students to present their work in poster format and exchange ideas with more established figures in the field. Indeed, some poster presenters will be selected for short talks. The collegial atmosphere of this Conference, with programmed discussion sessions as well as opportunities for informal gatherings in the afternoons and evenings, provides an avenue for scientists from different disciplines to brainstorm and promotes cross-disciplinary collaborations in the various research areas represented. The Conference is likely to be heavily subscribed so we would recommend that you submit

  12. SU-E-T-125: Dosimetric Comparison of Intensity Modulated Radiation Therapy Using Robotic Versus Traditional Linac Platform in Prostate Cancer

    SciTech Connect (OSTI)

    Hayes, T; Rella, J; Yang, J; Sims, C; Fung, C

    2014-06-01

    Purpose: Recent development of an MLC for robotic external beam radiotherapy has the potential of new clinical application in conventionally fractionated radiation therapy. This study offers a dosimetric comparison of IMRT plans using Cyberknife with MLC versus conventional linac plans. Methods: Ten prostate cancer patients treated on a traditional linac with IMRT to 7920cGy at 180cGy/fraction were randomly selected. GTVs were defined as prostate plus proximal seminal vesicles. PTVs were defined as GTV+8mm in all directions except 5mm posteriorly. Conventional IMRT planning was performed on Philips Pinnacle and delivered on a standard linac with CBCT and 10mm collimator leaf width. For each case a Cyberknife plan was created using Accuray Multiplan with same CT data set, contours, and dose constraints. All dosimetric data was transferred to third party software for independent computation of contour volumes and DVH. Delivery efficiency was evaluated using total MU, treatment time, number of beams, and number of segments. Results: Evaluation criteria including percent target coverage, homogeneity index, and conformity index were found to be comparable. All dose constraints from QUANTEC were found to be statistically similar except rectum V50Gy and bladder V65Gy. Average rectum V50Gy was lower for robotic IMRT (30.07%±6.57) versus traditional (34.73%±3.62, p=0.0130). Average bladder V65Gy was lower for robotic (17.87%±12.74) versus traditional (21.03%±11.93, p=0.0405). Linac plans utilized 9 coplanar beams, 48.9±3.8 segments, and 19381±2399MU. Robotic plans utilized 38.4±9.0 non-coplanar beams, 85.5±21.0 segments and 42554.71±16381.54 MU. The average treatment was 15.02±0.60 minutes for traditional versus 20.90±2.51 for robotic. Conclusion: The robotic IMRT plans were comparable to the traditional IMRT plans in meeting the target volume dose objectives. Critical structure dose constraints were largely comparable although statistically significant

  13. Comparative evaluations of the weldability of modified 800H and other advanced austenitic stainless steels

    SciTech Connect (OSTI)

    Lundin, C.D.; Qiao, C.Y.P.

    1993-07-01

    The weldability of modified 800H was evaluated in terms of HAZ hot cracking susceptibility and HAZ softening tendency. Four other types of austenitic alloys, modified 316, 310Ta, HR3C and NF709, were employed to carry out a comparative study. It was found that modified 800H exhibits good weldability in terms of operability as contrasted to NF709. However, a higher HAZ hot cracking susceptibility for the modified 800H tubing heats was revealed as compared to the commercial tubing heats of HR3C and NF709. The hot cracking test results for the small laboratory prepared modified 800H heats showed an equivalent or better HAZ hot cracking resistance as compared to HR3C and NF709. Thus, it is anticipated that modified 800H tubing can show a hot cracking resistance equivalent to NF709 and HR3C if the base metal grain size is properly controlled and an optimum thermal mechanical treatment has been performed. The preliminary assessment on HAZ softening behavior for modified 800H, modified 316, 310Ta, HR3C and NF709 alloys is discussed.

  14. Small cell foams containing a modified dense star polymer or dendrimer as a nucleating agent

    DOE Patents [OSTI]

    Hedstrand, David M.; Tomalia, Donald A.

    1995-01-01

    A small cell foam having a modified dense star polymer or dendrimer is described. This modified dense star polymer or dendrimer has a highly branched interior of one monomeric composition and an exterior structure of a different monomeric composition capable of providing a hydrophobic outer shell and a particle diameter of from about 5 to about 1,000 nm with a matrix polymer.

  15. Synthesis of 3'-, or 5'-, or internal methacrylamido-modified oligonucleotides

    DOE Patents [OSTI]

    Golova, Julia B.; Chernov, Boris K.

    2010-04-27

    New modifiers were synthesized for incorporation of a methacrylic function in 3'-, 5'- and internal positions of oligonucleotides during solid phase synthesis. A modifier was used for synthesis of 5'-methacrylated oligonucleotides for preparation of microarrays by a co-polymerization method.

  16. Small cell foams containing a modified dense star polymer or dendrimer as a nucleating agent

    DOE Patents [OSTI]

    Hedstrand, D.M.; Tomalia, D.A.

    1995-02-28

    A small cell foam having a modified dense star polymer or dendrimer is described. This modified dense star polymer or dendrimer has a highly branched interior of one monomeric composition and an exterior structure of a different monomeric composition capable of providing a hydrophobic outer shell and a particle diameter of from about 5 to about 1,000 nm with a matrix polymer.

  17. SU-E-T-453: A Novel Daily QA System for Robotic Image Guided Radiosurgery with Variable Aperture Collimator

    SciTech Connect (OSTI)

    Wang, L; Nelson, B

    2014-06-01

    Purpose: A novel end-to-end system using a CCD camera and a scintillator based phantom that is capable of measuring the beam-by-beam delivery accuracy of Robotic Radiosurgery has been developed and reported in our previous work. This work investigates its application to end-to-end type daily QA for Robotic Radiosurgery (Cyberknife) with Variable Aperture Collimator (Iris). Methods: The phantom was first scanned with a CT scanner at 0.625 slice thickness and exported to the Cyberknife Muliplan (v4.6) treatment planning system. An isocentric treatment plan was created consisting of ten beams of 25 Monitor Units each using Iris apertures of 7.5, 10, 15, 20, and 25 mm. The plan was delivered six times in two days on the Cyberknife G4 system with fiducial tracking on the four metal fiducials embedded in phantom with re-positioning between the measurements. The beam vectors (X, Y, Z) are measured and compared with the plan from the machine delivery file (XML file). The Iris apertures (FWHM) were measured from the beam flux map and compared with the commissioning data. Results: The average beam positioning accuracies of the six deliveries are 0.71 0.40 mm, 0.72 0.44 mm, 0.74 0.42 mm, 0.70 0.40 mm, 0.79 0.44 mm and 0.69 0.41 mm respectively. Radiation beam width (FWHM) variations are within 0.05 mm, and they agree with the commissioning data within 0.22 mm. The delivery time for the plan is about 7 minutes and the results are given instantly. Conclusion: The experimental results agree with stated sub-millimeter delivery accuracy of Cyberknife system. Beam FWHM variations comply with the 0.2 mm accuracy of the Iris collimator at SAD. The XRV-100 system has proven to be a powerful tool in performing end-to-end type tests for Robotic Image Guided Radiosurgery Daily QA.

  18. MODIFIED REVERSE OSMOSIS SYSTEM FOR TREATMENT OF PRODUCED WATERS

    SciTech Connect (OSTI)

    T.M. Whitworth; Liangxiong Li

    2002-09-15

    This report describes work performed during the second year of the project ''Modified reverse osmosis system for treatment of produced waters.'' We performed two series of reverse osmosis experiments using very thin bentonite clay membranes compacted to differing degrees. The first series of 10 experiments used NaCl solutions with membranes that ranged between 0.041 and 0.064mm in thickness. Our results showed compaction of such ultra-thin clay membranes to be problematic. The thickness of the membranes was exceeded by the dimensional variation in the machined experimental cell and this is believed to have resulted in local bypassing of the membrane with a resultant decrease in solute rejection efficiency. In two of the experiments, permeate flow was varied as a percentage of the total flow to investigate results of changing permeate flow on solute rejection. In one experiment, the permeate flow was varied between 2.4 and 10.3% of the total flow with no change in solute rejection. In another experiment, the permeate flow was varied between 24.6 and 52.5% of the total flow. In this experiment, the solute rejection rate decreased as the permeate occupied greater fractions of the total flow. This suggests a maximum solute rejection efficiency for these clay membranes for a permeate flow of between 10.3 and 24.6% of the total; flow. Solute rejection was found to decrease with increasing salt concentration and ranged between 62.9% and 19.7% for chloride and between 61.5 and 16.8% for sodium. Due to problems with the compaction procedure and potential membrane bypassing, these rejection rates are probably not the upper limit for NaCl rejection by bentonite membranes. The second series of four reverse osmosis experiments was conducted with a 0.057mm-thick bentonite membrane and dilutions of a produced water sample with an original TDS of 196,250 mg/l obtained from a facility near Loco Hill, New Mexico, operated by an independent. These experiments tested the separation

  19. MODIFIED REVERSE OSMOSIS SYSTEM FOR TREATMENT OF PRODUCED WATERS

    SciTech Connect (OSTI)

    T.M. Whitworth; Liangxiong Li

    2002-09-15

    This report describes work performed during the first year of the project ''Modified Reverse Osmosis System for Treatment of Produced Waters.'' This research project has two objectives. The first objective is to test the use of clay membranes in the treatment of produced waters by reverse osmosis. The second objective is to test the ability of a system patented by the New Mexico Tech Research Foundation to remove salts from reverse osmosis waste streams as a solid. We performed 12 experiments using clay membranes in cross-flow experimental cells. We found that, due to dispersion in the porous frit used adjacent to the membrane, the concentration polarization layer seems to be completely (or nearly completely) destroyed at low flow rates. This observation suggests that clay membranes used with porous frit material many reach optimum rejection rates at lower pumping rates than required for use with synthetic membranes. The solute rejection efficiency decreases with increasing solution concentration. For the membranes and experiments reported here, the rejection efficiency ranged from 71% with 0.01 M NaCl solution down to 12% with 2.3 M NaCl solution. More compacted clay membranes will have higher rejection capabilities. The clay membranes used in our experiments were relatively thick (approximately 0.5 mm). The active layer of most synthetic membranes is only 0.04 {micro}m (0.00004 mm), approximately 1250 times thinner than the clay membranes used in these experiments. Yet clay membranes as thin as 12 {micro}m have been constructed (Fritz and Eady, 1985). Since Darcy's law states that the flow through a material of constant permeability is inversely proportional to it's the material's thickness, then, based on these experimental observations, a very thin clay membrane would be expected to have much higher flow rates than the ones used in these experiments. Future experiments will focus on testing very thin clay membranes. The membranes generally exhibited reasonable

  20. T-606: Sun Java System Access Manager Lets Remote Users Partially Modify Data and Remote Authenticated Users Partially Access Data

    Broader source: Energy.gov [DOE]

    Sun Java System Access Manager Lets Remote Users Partially Modify Data and Remote Authenticated Users Partially Access Data.

  1. Structure and Electrochemistry of Vanadium-Modified LiFePO4 ...

    Office of Scientific and Technical Information (OSTI)

    Citation Details In-Document Search Title: Structure and Electrochemistry of Vanadium-Modified LiFePO4 Authors: Hong, Jian ; Wang, Xiao-Liang ; Wang, Qi ; Omenya, Fredrick O. ; ...

  2. Efficient inverted polymer solar cells based on conjugated polyelectrolyte and zinc oxide modified ITO electrode

    SciTech Connect (OSTI)

    Yuan, Tao; Zhu, Xiaoguang; Tu, Guoli; Zhou, Lingyu; Zhang, Jian

    2015-02-23

    Efficient inverted polymer solar cells (PSCs) were constructed by utilizing a conjugated polyelectrolyte PF{sub EO}SO{sub 3}Na and zinc oxide to modify the indium tin oxide (ITO) electrode. The ITO electrode modified by PF{sub EO}SO{sub 3}Na and zinc oxide possesses high transparency, increased electron mobility, smoothened surface, and lower work function. PTB7:PC{sub 71}BM inverted PSCs containing the modified ITO electrode achieved a high power conversion efficiency (PCE) of 8.49%, exceeding that of the control device containing a ZnO modified ITO electrode (7.48%). Especially, PCE-10:PC{sub 71}BM inverted polymer solar cells achieved a high PCE up to 9.4%. These results demonstrate a useful approach to improve the performance of inverted polymer solar cells.

  3. File:Construction SW NOI modified 7-18-2011.pdf | Open Energy...

    Open Energy Info (EERE)

    7-18-2011.pdf Jump to: navigation, search File File history File usage File:Construction SW NOI modified 7-18-2011.pdf Size of this preview: 463 599 pixels. Other...

  4. EIS-0283-S2: Amended Notice of Intent to Modify the Scope of...

    Energy Savers [EERE]

    For more information on this project, see the project webpage: http:energy.govnode299815. Download Document PDF icon EIS-0283-S2: Amended Notice of Intent to Modify the...

  5. EIS-0283-S2: Amended Notice of Intent to Modify the Scope of...

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

    For more information on this project, see the project webpage: http:energy.govnode299815. Download Document EIS-0283-S2: Amended Notice of Intent to Modify the Scope of...

  6. Polymer blend containing a modified dense star polymer or dendrimer and a matrix polymer

    DOE Patents [OSTI]

    Hedstrand, D.M.; Tomalia, D.A.

    1995-02-28

    Dense star polymers or dendrimers, modified by capping with a hydrophobic group capable of providing a hydrophobic outer shell, act as molecular nucleating agents in forming a polymer blend.

  7. Polymer blend containing a modified dense star polymer or dendrimer and a matrix polymer

    DOE Patents [OSTI]

    Hedstrand, David M.; Tomalia, Donald A.

    1995-01-01

    Dense star polymers or dendrimers, modified by capping with a hydrophobic group capable of providing a hydrophobic outer shell, act as molecular nucleating agents in forming a polymer blend.

  8. System configured for applying a modifying agent to a non-equidimensional substrate

    DOE Patents [OSTI]

    Janikowski; Stuart K. , Argyle; Mark D. , Fox; Robert V. , Propp; W. Alan , Toth; William J. , Ginosar; Daniel M. , Allen; Charles A. , Miller; David L.

    2007-07-10

    The present invention is related to systems and methods for modifying various non-equidimensional substrates with modifying agents. The system comprises a processing chamber configured for passing the non-equidimensional substrate therethrough, wherein the processing chamber is further configured to accept a treatment mixture into the chamber during movement of the non-equidimensional substrate through the processing chamber. The treatment mixture can comprise of the modifying agent in a carrier medium, wherein the carrier medium is selected from the group consisting of a supercritical fluid, a near-critical fluid, a superheated fluid, a superheated liquid, and a liquefied gas. Thus, the modifying agent can be applied to the non-equidimensional substrate upon contact between the treatment mixture and the non-equidimensional substrate.

  9. HF-modified piping in hydroprocessing industry: A user`s perspective

    SciTech Connect (OSTI)

    Bagdasarian, A.J.; Singh, A.K.; Gaugler, R.J.

    1995-12-01

    HF-modified austenitic stainless steel cast piping has been in use in hydroprocessing reactor effluent high pressure loop for 35 years. Recent process modifications resulted in replacement of piping in a hydrocracking unit which was in service for 25 years. This paper reports on mechanical and metallurgical investigations of the replaced piping as well as samples removed from newer vintage HF-modified piping. The investigations show susceptibility to sensitization of HF-modified materials when exposed to the hydroprocessing operating temperature range. Loss of room temperature impact properties was also observed. Realistic flow tolerance of the HF-modified material was established by CTOD tests and a relationship is proposed between the CTOD values and Charpy V-notch values. The paper also describes three case histories where the failures resulted from the polythionic acid attack.

  10. System configured for applying a modifying agent to a non-equidimensional substrate

    DOE Patents [OSTI]

    Janikowski, Stuart K.; Toth, William J.; Ginosar, Daniel M.; Allen, Charles A.; Argyle, Mark D.; Fox, Robert V.; Propp, W. Alan; Miller, David L.

    2003-09-23

    The present invention is related to systems and methods for modifying various non-equidimensional substrates with modifying agents. The system comprises a processing chamber configured for passing the non-equidimensional substrate therethrough, wherein the processing chamber is further configured to accept a treatment mixture into the chamber during movement of the non-equidimensional substrate through the processing chamber. The treatment mixture can comprise of the modifying agent in a carrier medium, wherein the carrier medium is selected from the group consisting of a supercritical fluid, a near-critical fluid, a superheated fluid, a superheated liquid, and a liquefied gas. Thus, the modifying agent can be applied to the non-equidimensional substrate upon contact between the treatment mixture and the non-equidimensional substrate.

  11. Modified Anti-de-Sitter Metric, Light-Front Quantized QCD, and...

    Office of Scientific and Technical Information (OSTI)

    Modified Anti-de-Sitter Metric, Light-Front Quantized QCD, and Conformal Quantum Mechanics Dosch, Hans Gunter; U. Heidelberg, ITP; Brodsky, Stanley J.; SLAC; de Teramond, Guy F.;...

  12. A modified post damping ring bunch compressor beamline for the TESLA linear collider

    SciTech Connect (OSTI)

    Philippe R.-G. Piot; Winfried Decking

    2004-03-23

    We propose a modified bunch compressor beamline, downstream of the damping ring, for the TESLA linear collider. This modified beamline uses a third harmonic radio-frequency section based on the 3.9 GHz superconducting cavity under development at Fermilab. In our design the beam deceleration is about {approx}50 MeV instead of {approx}450 MeV in the original design proposed.

  13. Considerations for the use of the modified line reversal technique for gas temperature measurement

    SciTech Connect (OSTI)

    Winkleman, B.C.

    1993-06-01

    Several areas related to the successful and accurate application of modified line reversal are discussed. Initially, generalized modified line reversal equations are developed. A review of basic line reversal theory is presented followed by development of correction factors for optical system effects. Image size and their effect on accurate determinations of spectral radiances is discussed. Temperature biases introduced by image vignetting is calculated. Measured image irradiances are given.

  14. Amended Notice of Intent To Modify the Scope of the EIS and Conduct

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

    Additional Public Scoping Meetings, and Notice of Floodplains and Wetlands Involvement for the Northern Pass Project: Federal Register Notice VOlume 78, No. 173 - September 6, 2013 | Department of Energy Amended Notice of Intent To Modify the Scope of the EIS and Conduct Additional Public Scoping Meetings, and Notice of Floodplains and Wetlands Involvement for the Northern Pass Project: Federal Register Notice VOlume 78, No. 173 - September 6, 2013 Amended Notice of Intent To Modify the

  15. Lithium modified zeolite synthesis for conversion of biodiesel-derived glycerol to polyglycerol

    SciTech Connect (OSTI)

    Ayoub, Muhammad; Abdullah, Ahmad Zuhairi; Inayat, Abrar

    2014-10-24

    Basic zeolite has received significant attention in the catalysis community. These zeolites modified with alkaline are the potential replacement for existing zeolite catalysts due to its unique features with added advantages. The present paper covers the preparation of lithium modified zeolite Y (Li-ZeY) and its activity for solvent free conversion of biodiesel-derived glycerol to polyglycerol via etherification process. The modified zeolite was well characterized by X-ray diffraction (XRD), Scanning Electron Microscope (SEM) and Nitrogen Adsorption. The SEM images showed that there was no change in morphology of modified zeolite structure after lithium modification. XRD patterns showed that the structure of zeolite was sustained after lithium modification. The surface properties of parent and modified zeolite was also observed N{sub 2} adsortion-desorption technique and found some changes in surface area and pore size. In addition, the basic strength of prepared materials was measured by Hammet indicators and found that basic strength of Li-ZeY was highly improved. This modified zeolite was found highly thermal stable and active heterogamous basic catalyst for conversion of solvent free glycerol to polyglycerol. This reaction was conducted at different temperatures and 260 C was found most active temperature for this process for reaction time from 6 to 12 h over this basic catalyst in the absence of solvent.

  16. Cuprous-chloride-modified nanoporous alumina membranes for ethylene-ethane separation

    SciTech Connect (OSTI)

    Lin, Y.S.; Wang, Y.; Ji, W.; Higgins, R.J.

    1999-06-01

    This paper reports an attempt to synthesize a CuCl-modified {gamma}-alumina membrane for separation of ethylene from ethane. CuCl was effectively coated in the 4 nm pore {gamma}-alumina top layers of disk-shaped and tubular alumina membranes by the reservoir method. Permeation of a single gas and binary mixture of ethylene and ethane was measured to characterize separation properties of the modified membranes. Pure ethylene permeance of the CuCl-modified membrane is 10--40% lower than that predicted from the pure ethane permeance by the Knudsen theory. This result is explained by a model based on the adsorbed layer of ethylene via {pi}-complexation. Such an adsorbed layer hinders the diffusion of ethylene in the nanopores of CuCl-modified {gamma}-alumina. Multiple gas permeation measurements on the CuCl-modified membranes show a separation factor for ethylene over ethane larger than the Knudsen value. This confirms a positive contribution of the surface flow of ethylene to the permeance of ethylene in the multiple gas permeation system. A maximum separation factor for ethylene over ethane of 1.4 is obtained for the CuCl-modified membrane at 60 C.

  17. Preliminary analysis of the state of the art of robotics and precision engineering and evaluation of potential for improved energy utilization in the pulp, paper, and related energy-consuming processes. Final report

    SciTech Connect (OSTI)

    1982-01-01

    This study was undertaken to conduct a preliminary analysis of the state of the art of two technologies, robotics and precision engineering, and to evaluate their potential for improved energy utilization in the pulp, paper, and related energy consuming processes. Activity in the robotics field is growing rapidly, most activity being related to the development of smart robots rather than to systems. There is a broad base of support, both in industry and the universities, for upgrading robot machine capabilities. A large part of that support is associated with visualization and tactile sensors which facilitate assembly, placement, inspection, and tracking. Progress in this area is relatively rapid and development times are short for specifically engineered applications. The critical path in the development of robotic systems lies in the generation of reliable sensor signals. Robotic systems require a broad spectrum of sensors from which hierarchical logic systems can draw decision making information. This requirement resulted in the establishment of a program at the National Bureau of Standards which is attempting to develop a spectrum of sensor capabilities. Such sensors are applicable to robotic system automatic process control in a variety of energy-intensive industries. Precision engineering is defined as the generation or manufacture of components wherein geometry, dimension, and surface finish are controlled to within several hundred Angstroms in single point turning operations. Investigation into the state of the art of precision engineering in the United States finds that this capability exists in several national laboratories and is intended to be used exclusively for the development of weapons. There is an attempt at the present time by Lawrence Livermore Laboratory to expand its capability into industry. Several corporations are now beginning to develop equipment to support the precision engineering field.

  18. Decomposition pathways of C2 oxygenates on Rh-modified tungsten carbide surfaces

    SciTech Connect (OSTI)

    Kelly, Thomas G.; Ren, Hui; Chen, Jingguang G.

    2015-03-27

    Ethanol decomposition on tungsten monocarbide (WC) and Rh-modified WC was investigated using ultrahigh vacuum (UHV) surface science experiments and density functional theory (DFT) calculations. DFT calculations indicated that the binding energies of ethanol and its decomposition intermediates on WC(0001) were modified by Rh, with Rh/WC(0001) showing similar values to those on Rh(111). Through temperature-programmed desorption (TPD) experiments on polycrystalline WC and Rh-modified WC, it was shown that the selectivity for ethanol decomposition was different on these surfaces. On WC, the C-O bond of ethanol was preferentially broken to produce ethylene; on Rh-modified WC, the C-C bond was broken to produce carbon monoxide and methane. In addition, high-resolution electron energy loss spectroscopy (HREELS) was used to determine likely surface intermediates. On Rh-modified WC, ethanol first formed ethoxy through O-H scission, then reacted through an aldehyde intermediate to form the C1 products.

  19. Enhanced photocatalytic degradation of methylene blue by metal-modified silicon nanowires

    SciTech Connect (OSTI)

    Brahiti, N.; Hadjersi, T.; Menari, H.; Amirouche, S.; El Kechai, O.

    2015-02-15

    Highlights: • SiNWs modified with Pd, Au and Pt were used as photocatalysts to degrade MB. • Yield of photodegardation increases with UV irradiation time. • SiNWs modified with Pd nanoparticles show the best photocatalytic activity. • A degradation of 97% was obtained after 200 min of UV irradiation. - Abstract: Silicon nanowires (SiNWs) modified with Au, Pt and Pd nanoparticles were used as heterogeneous photocatalysts for the photodegradation of methylene blue in water under UV light irradiation. The modification of SiNWs was carried out by deposition of metal nanoparticles using the electroless metal deposition (EMD) technique. The effect of metal nanoparticles deposition time on the photocatalytic activity was studied. It was found that the photocatalytic activity of modified SiNWs was enhanced when the deposition time of metal nanoparticles was increased. In addition of modified SiNWs with Pt, Au and Pd nanoparticles, oxidized silicon substrate (Ox-Si), oxidized silicon nanowires (Ox-SiNWs) and hydrogen-terminated silicon nanowires (H-SiNWs) were also evaluated for the photodegradation of methylene blue.

  20. Decomposition pathways of C2 oxygenates on Rh-modified tungsten carbide surfaces

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Kelly, Thomas G.; Ren, Hui; Chen, Jingguang G.

    2015-03-27

    Ethanol decomposition on tungsten monocarbide (WC) and Rh-modified WC was investigated using ultrahigh vacuum (UHV) surface science experiments and density functional theory (DFT) calculations. DFT calculations indicated that the binding energies of ethanol and its decomposition intermediates on WC(0001) were modified by Rh, with Rh/WC(0001) showing similar values to those on Rh(111). Through temperature-programmed desorption (TPD) experiments on polycrystalline WC and Rh-modified WC, it was shown that the selectivity for ethanol decomposition was different on these surfaces. On WC, the C-O bond of ethanol was preferentially broken to produce ethylene; on Rh-modified WC, the C-C bond was broken to producemore » carbon monoxide and methane. In addition, high-resolution electron energy loss spectroscopy (HREELS) was used to determine likely surface intermediates. On Rh-modified WC, ethanol first formed ethoxy through O-H scission, then reacted through an aldehyde intermediate to form the C1 products.« less

  1. Plants having modified response to ethylene by transformation with an ETR nucleic acid

    DOE Patents [OSTI]

    Meyerowitz, Elliott M.; Chang, Caren; Bleecker, Anthony B.

    2001-01-01

    The invention includes transformed plants having at least one cell transformed with a modified ETR nucleic acid. Such plants have a phenotype characterized by a decrease in the response of at least one transformed plant cell to ethylene as compared to a plant not containing the transformed plant cell. Tissue and/or temporal specificity for expression of the modified ETR nucleic acid is controlled by selecting appropriate expression regulation sequences to target the location and/or time of expression of the transformed nucleic acid. The plants are made by transforming at least one plant cell with an appropriate modified ETR nucleic acid, regenerating plants from one or more of the transformed plant cells and selecting at least one plant having the desired phenotype.

  2. Simultaneous effect of modified gravity and primordial non-Gaussianity in large scale structure observations

    SciTech Connect (OSTI)

    Mirzatuny, Nareg; Khosravi, Shahram; Baghram, Shant; Moshafi, Hossein E-mail: khosravi@mail.ipm.ir E-mail: hosseinmoshafi@iasbs.ac.ir

    2014-01-01

    In this work we study the simultaneous effect of primordial non-Gaussianity and the modification of the gravity in f(R) framework on large scale structure observations. We show that non-Gaussianity and modified gravity introduce a scale dependent bias and growth rate functions. The deviation from ΛCDM in the case of primordial non-Gaussian models is in large scales, while the growth rate deviates from ΛCDM in small scales for modified gravity theories. We show that the redshift space distortion can be used to distinguish positive and negative f{sub NL} in standard background, while in f(R) theories they are not easily distinguishable. The galaxy power spectrum is generally enhanced in presence of non-Gaussianity and modified gravity. We also obtain the scale dependence of this enhancement. Finally we define galaxy growth rate and galaxy growth rate bias as new observational parameters to constrain cosmology.

  3. Simulation of a photovoltaic/thermal heat pump system having a modified collector/evaporator

    SciTech Connect (OSTI)

    Xu, Guoying; Deng, Shiming; Zhang, Xiaosong; Yang, Lei; Zhang, Yuehong

    2009-11-15

    A new photovoltaic/thermal heat pump (PV/T-HP) system having a modified collector/evaporator (C/E) has been developed and numerically studied. Multi-port flat extruded aluminum tubes were used in the modified C/E, as compared to round copper tubes used in a conventional C/E. Simulation results suggested that a better operating performance can be achieved for a PV/T-HP system having such a modified C/E. In addition, using the meteorological data in both Nanjing and Hong Kong, China, the simulation results showed that this new PV/T-HP system could efficiently generate electricity and thermal energy simultaneously in both cities all-year-round. Furthermore, improved operation by using variable speed compressor has been designed and discussed. (author)

  4. Neutronic Study of Slightly Modified Water Reactors and Application to Transition Scenarios

    SciTech Connect (OSTI)

    Chambon, Richard; Guillemin, Perrine; Nuttin, Alexis; Bidaud, A.

    2007-07-01

    In this paper we have studied slightly modified water reactors and their applications to transition scenarios. The PWR and CANDU reactors have been considered. New fuels based on Thorium have been tested: Thorium/Plutonium and Thorium/Uranium- 233, with different fissile isotope contents. Changes in the geometry of the assemblies were also explored to modify the moderation ratio, and consequently the neutron flux spectrum. A core equivalent assembly methodology was introduced as an exploratory approach and to reduce the computation time. Several basic safety analyses were also performed. We have finally developed a new scenario code, named OSCAR (Optimized Scenario Code for Advanced Reactors), to study the efficiency of these modified reactors in transition to Gen IV reactors or in symbiotic fleet. (authors)

  5. Evaluation of products recovered from scrap tires for use as asphalt modifiers

    SciTech Connect (OSTI)

    McKay, J.

    1992-05-01

    Western Research Institute performed rheological tests and water sensitivity tests on asphalt cements that had been modified with carbonous residues obtained from the pyrolysis of scrap tires and waste motor oil. These tests are part of an ongoing program at the University of Wyoming Chemical Engineering Department to evaluate, as asphalt additives, solid carbonous products recovered from the scrap tire and waste motor oil pyrolysis experiments conducted at the University. The tests showed that carbonous residues increased the viscosity and decreased the elasticity of AC-10 and AC-20 asphalts. The tests also indicatedthat asphalt cements modified with carbonous residues were less sensitive to water damage and age embrittlement than unmodified asphalt cements.

  6. Biofouling-resistant ceragenin-modified materials and structures for water treatment

    SciTech Connect (OSTI)

    Hibbs, Michael; Altman, Susan J.; Jones, Howland D. T.; Savage, Paul B.

    2013-09-10

    This invention relates to methods for chemically grafting and attaching ceragenin molecules to polymer substrates; methods for synthesizing ceragenin-containing copolymers; methods for making ceragenin-modified water treatment membranes and spacers; and methods of treating contaminated water using ceragenin-modified treatment membranes and spacers. Ceragenins are synthetically produced antimicrobial peptide mimics that display broad-spectrum bactericidal activity. Alkene-functionalized ceragenins (e.g., acrylamide-functionalized ceragenins) can be attached to polyamide reverse osmosis membranes using amine-linking, amide-linking, UV-grafting, or silane-coating methods. In addition, silane-functionalized ceragenins can be directly attached to polymer surfaces that have free hydroxyls.

  7. Use of modified smooth exterior scaling method as an absorbing potential and its application

    SciTech Connect (OSTI)

    Kalita, Dhruba J.; Gupta, Ashish K.

    2011-03-07

    Here, we propose a new complex path to achieve better absorption during the propagation of a wavepacket. In the proposed modified smooth exterior scaling (SES) method, scaling function, {theta}(x), has been chosen as a real function rather than complex (as used in a conventional smooth exterior scaling method). It greatly reduces the artificial reflections from the boundary edges. This modified SES method is applied to study the multiphoton dissociation of H{sub 2}{sup +} in intense laser field. The resonance states are calculated accurately.

  8. CASL-U-2015-0177-000 A Modified Moving Least

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

    7-000 A Modified Moving Least Square Algorithm for Solution Transfer on a Spacer Grid Surface Stuart R. Slattery, Steven P. Hamilton, and Thomas M. Evans Oak Ridge National Laboratory April 19, 2015 CASL-U-2015-0177-000 ANS MC2015 - Joint International Conference on Mathematics and Computation (M&C), Supercomputing in Nuclear Applications (SNA) and the Monte Carlo (MC) Method * Nashville, Tennessee * April 19-23, 2015, on CD-ROM, American Nuclear Society, LaGrange Park, IL (2015) A MODIFIED

  9. Process for preparing chemically modified micas for removal of cesium salts from aqueous solution

    DOE Patents [OSTI]

    Yates, Stephen Frederic; DeFilippi, Irene; Gaita, Romulus; Clearfield, Abraham; Bortun, Lyudmila; Bortun, Anatoly

    2000-09-05

    A chemically modified mica composite formed by heating a trioctahedral mica in an aqueous solution of sodium chloride having a concentration of at least 1 mole/liter at a temperature greater than 180 degrees Centigrade for at least 20 hours, thereby replacing exchangeable ions in the mica with sodium. Formation is accomplished at temperatures and pressures which are easily accessed by industrial equipment. The reagent employed is inexpensive and non-hazardous, and generates a precipitate which is readily separated from the modified mica.

  10. Modified Baryonic Dynamics: two-component cosmological simulations with light sterile neutrinos

    SciTech Connect (OSTI)

    Angus, G.W.; Gentile, G.; Diaferio, A.; Famaey, B.; Heyden, K.J. van der E-mail: diaferio@ph.unito.it E-mail: gianfranco.gentile@ugent.be

    2014-10-01

    In this article we continue to test cosmological models centred on Modified Newtonian Dynamics (MOND) with light sterile neutrinos, which could in principle be a way to solve the fine-tuning problems of the standard model on galaxy scales while preserving successful predictions on larger scales. Due to previous failures of the simple MOND cosmological model, here we test a speculative model where the modified gravitational field is produced only by the baryons and the sterile neutrinos produce a purely Newtonian field (hence Modified Baryonic Dynamics). We use two-component cosmological simulations to separate the baryonic N-body particles from the sterile neutrino ones. The premise is to attenuate the over-production of massive galaxy cluster halos which were prevalent in the original MOND plus light sterile neutrinos scenario. Theoretical issues with such a formulation notwithstanding, the Modified Baryonic Dynamics model fails to produce the correct amplitude for the galaxy cluster mass function for any reasonable value of the primordial power spectrum normalisation.

  11. Modified ion-acoustic solitary waves in plasmas with field-aligned shear flows

    SciTech Connect (OSTI)

    Saleem, H.; Haque, Q.

    2015-08-15

    The nonlinear dynamics of ion-acoustic waves is investigated in a plasma having field-aligned shear flow. A Korteweg-deVries-type nonlinear equation for a modified ion-acoustic wave is obtained which admits a single pulse soliton solution. The theoretical result has been applied to solar wind plasma at 1 AU for illustration.

  12. Modified two-fluid model of conductivity for superconducting surface resistance calculation. Master's thesis

    SciTech Connect (OSTI)

    Linden, D.S.

    1993-05-01

    The traditional two-fluid model of superconducting conductivity was modified to make it accurate, while remaining fast, for designing and simulating microwave devices. The modification reflects the BCS coherence effects in the conductivity of a superconductor, and is incorporated through the ratio of normal to superconducting electrons. This modified ratio is a simple analytical expression which depends on frequency, temperature and material parameters. This modified two-fluid model allows accurate and rapid calculation of the microwave surface impedance of a superconductor in the clean and dirty limits and in the weak- and strong-coupled regimes. The model compares well with surface resistance data for Nb and provides insight into Nb3Sn and Y1Ba2Cu3O(7-delta). Numerical calculations with the modified two-fluid model are an order of magnitude faster than the quasi-classical program by Zimmermann (1), and two to five orders of magnitude faster than Halbritter's BCS program (2) for surface resistance.

  13. Assessment Study on Sensors and Automation in the Industries of the Future. Reports on Industrial Controls, Information Processing, Automation, and Robotics

    SciTech Connect (OSTI)

    Bennett, Bonnie; Boddy, Mark; Doyle, Frank; Jamshidi, Mo; Ogunnaike, Tunde

    2004-11-01

    This report presents the results of an expert study to identify research opportunities for Sensors & Automation, a sub-program of the U.S. Department of Energy (DOE) Industrial Technologies Program (ITP). The research opportunities are prioritized by realizable energy savings. The study encompasses the technology areas of industrial controls, information processing, automation, and robotics. These areas have been central areas of focus of many Industries of the Future (IOF) technology roadmaps. This report identifies opportunities for energy savings as a direct result of advances in these areas and also recognizes indirect means of achieving energy savings, such as product quality improvement, productivity improvement, and reduction of recycle.

  14. Process for producing modified microorganisms for oil treatment at high temperatures, pressures and salinity

    DOE Patents [OSTI]

    Premuzic, Eugene T.; Lin, Mow

    1996-02-20

    This invention relates to the preparation of new, modified organisms, through challenge growth processes, that are viable in the extreme temperature, pressure and pH conditions and salt concentrations of an oil reservoir and that are suitable for use in microbial enhanced oil recovery. The modified microorganisms of the present invention are used to enhance oil recovery and remove sulfur compounds and metals from the crude oil. The processes are comprised of steps which successively limit the carbon sources and increase the temperature, pressure and salinity of the media. This is done until microbial strains are obtained that are capable of growing in essentially crude oil as a carbon source and at a temperature range from about 70.degree. C. to 90.degree. C., at a pressure range from about 2,000 to 2,500 psi and at a salinity range from about 1.3 to 35%.

  15. Process for producing modified microorganisms for oil treatment at high temperatures, pressures and salinity

    DOE Patents [OSTI]

    Premuzic, E.T.; Lin, M.

    1996-02-20

    This invention relates to the preparation of new, modified organisms, through challenge growth processes, that are viable in the extreme temperature, pressure and pH conditions and salt concentrations of an oil reservoir and that are suitable for use in microbial enhanced oil recovery. The modified microorganisms of the present invention are used to enhance oil recovery and remove sulfur compounds and metals from the crude oil. The processes are comprised of steps which successively limit the carbon sources and increase the temperature, pressure and salinity of the media. This is done until microbial strains are obtained that are capable of growing in essentially crude oil as a carbon source and at a temperature range from about 70 C to 90 C, at a pressure range from about 2,000 to 2,500 psi and at a salinity range from about 1.3 to 35%. 68 figs.

  16. Research on the chemical mechanism in the polyacrylate latex modified cement system

    SciTech Connect (OSTI)

    Wang, Min; Wang, Rumin; Zheng, Shuirong; Farhan, Shameel; Yao, Hao; Jiang, Hao

    2015-10-15

    In this paper, the chemical mechanism in the polyacrylate latex modified cement system was investigated by Fourier transform infrared spectra (FT-IR), X-ray photoelectron spectroscopy (XPS), gel permeation chromatography (GPC) and compact pH meter. All results have shown that the chemical reactions in the polyacrylate modified system can be divided into three stages. The hydration reactions of cement can produce large amounts of Ca(OH){sub 2} (calcium hydroxide) and lead the whole system to be alkali-rich and exothermic at the first stage. Subsequently, this environment can do great contributions to the hydrolysis of ester groups in the polyacrylate chains, resulting in the formation of carboxyl groups at the second stage. At the third stage, the final crosslinked network structure of the product was obtained by the reaction between the carboxyl groups in the polyacrylate latex chains and Ca(OH){sub 2}.

  17. Fluoro-alcohol phase modifiers and process for cesium solvent extraction

    DOE Patents [OSTI]

    Bonnesen, Peter V.; Moyer, Bruce A.; Sachleben, Richard A.

    2003-05-20

    The invention relates to a class of phenoxy fluoro-alcohols, their preparation, and their use as phase modifiers and solvating agents in a solvent composition for the extraction of cesium from alkaline solutions. These phenoxy fluoro-alcohols comply with the formula: ##STR1## in which n=2 to 4; X represents a hydrogen or a fluorine atom, and R.sup.2 -R.sup.6 are hydrogen or alkyl substituents. These phenoxy fluoro-alcohol phase modifiers are a necessary component to a robust solvent composition and process useful for the removal of radioactive cesium from alkaline nuclear waste streams. The fluoro-alcohols can also be used in solvents designed to extract other cesium from acidic or neutral solutions.

  18. A modified version of the geomechanics classification for entry design in underground coal mines

    SciTech Connect (OSTI)

    Newman, D.A.; Bieniawski, Z.T.

    1985-01-01

    The Geomechanics Classification was modified for entry and roof support design in underground room-and-pillar coal mines. Adjustment multipliers were introduced to incorporate the influence of strata weatherability, high horizontal stresses, and the roof support reinforcement factor into the existing classification system. Sixty-two case histories of both standing and fallen mine roof were collected from two mines in the northern Appalachian coalfield. Twenty-seven engineering and geologic parameters were recorded for each case. A partial correlation analysis was carried out on the cases to establish which parameters have a significant impact upon the supported stand-up time of coal mine roof. Survival analysis, a statistical technique used in medical research to assess the effect of a drug or treatment on a patient's life expectancy, was conducted together with stepwise multiple regression to derive values for the adjustment multipliers. A practical example is included to illustrate the application of the modified Geomechanics Classification to underground coal mine design.

  19. Surfactant-modified zeolites as permeable barriers to organic and inorganic groundwater contaminants

    SciTech Connect (OSTI)

    Bowman, R.S.; Sullivan, E.J.

    1995-10-01

    We have shown in laboratory experiments that natural zeolites treated with hexadecyltrimethylammonium (HDTMA) are effective sorbents for nonpolar organics, inorganic cations, and inorganic anions. Due to their low cost ({approximately}$0.75/kg) and granular nature, HDTMA-zeolites appear ideal candidates for reactive, permeable subsurface barriers. The HDTMA-zeolites are stable over a wide range of pH (3-13), ionic strength (1 M Cs{sup +} or Ca{sup 2+}), and in organic solvents. Surfactant-modified zeolites sorb nonpolar organics (benzene, toluene, xylene, chlorinated aliphatics) via a partitioning mechanism, inorganic cations (Pb{sup 2+}) via ion exchange and surface complexation, and inorganic anions (CrO{sub 4}{sup 2-}, SeO{sub 4}{sup 2-}, SO{sub 4}{sup 2-}) via surface precipitation.The goal of this work is to demonstrate the use of surfactant-modified zeolite as a permeable barrier to ground water contaminants.

  20. Amperometric sensing of hydrogen peroxide using glassy carbon electrode modified with copper nanoparticles

    SciTech Connect (OSTI)

    Sophia, J.; Muralidharan, G.

    2015-10-15

    In this paper, fabrication of glassy carbon electrode (GCE) modified with nano copper particles is discussed. The modified electrode has been tested for the non-enzymatic electrochemical detection of hydrogen peroxide (H{sub 2}O{sub 2}). The copper nanoparticles (Cu NPs) were prepared employing a simple chemical reduction method. The presence of Cu NPs was confirmed through UV–visible (UV–vis) absorption spectroscopy and X-ray diffraction (XRD) analysis. The size and morphology of the particles were investigated using transmission electron microscopy (TEM). The electrochemical properties of the fabricated sensor were studied via cyclic voltammetry (CV), chronoamperometry and electrochemical impedance spectroscopy (EIS). The electrochemical sensor displayed excellent performance features towards H{sub 2}O{sub 2} detection exhibiting wide linear range, low detection limit, swift response time, good reproducibility and stability.

  1. Power flattening on modified CANDLE small long life gas-cooled fast reactor

    SciTech Connect (OSTI)

    Monado, Fiber; Su'ud, Zaki; Waris, Abdul; Basar, Khairul; Ariani, Menik; Sekimoto, Hiroshi

    2014-09-30

    Gas-cooled Fast Reactor (GFR) is one of the candidates of next generation Nuclear Power Plants (NPPs) that expected to be operated commercially after 2030. In this research conceptual design study of long life 350 MWt GFR with natural uranium metallic fuel as fuel cycle input has been performed. Modified CANDLE burn-up strategy with first and second regions located near the last region (type B) has been applied. This reactor can be operated for 10 years without refuelling and fuel shuffling. Power peaking reduction is conducted by arranging the core radial direction into three regions with respectively uses fuel volume fraction 62.5%, 64% and 67.5%. The average power density in the modified core is about 82 Watt/cc and the power peaking factor decreased from 4.03 to 3.43.

  2. Improving the efficiency and availability analysis of a modified reheat regenerative Rankine cycle

    SciTech Connect (OSTI)

    Bassily, A.M.

    1999-07-01

    Reheating in a reheat regenerative steam power cycle increases efficiency by increasing the average temperature of heat reception, but also increases the irreversibility of feed water heaters by raising the temperature of the superheated steam used for the regenerative process. This paper introduces some modifications to the regular reheat regenerative steam power cycle that reduce the irreversibility of the regenerative process. An availability analysis of the modified cycle and the regular reheat regenerative cycle as well as a comparison study between both cycles is done. The results indicate that a gain in energy efficiency of up to 2.5% as the steam generator pressure varies is obtained when applying such modifications at the same conditions of pressure, temperature's number of reheating stages, and feed water heaters. The availability analysis showed that such increase in efficiency is due to the reduction of the irreversibility of the regeneration process of the modified cycle.

  3. Modification to the luminosity distance redshift relation in modified gravity theories

    SciTech Connect (OSTI)

    Flanagan, Eanna E.; Rosenthal, Eran; Wasserman, Ira M.

    2009-02-15

    We derive an expression for the luminosity distance as a function of redshift for a flat Robertson-Walker spacetime perturbed by arbitrary scalar perturbations possibly produced by a modified gravity theory with two different scalar perturbation potentials. Measurements of the luminosity distance as function of redshift provide a constraint on a combination of the scalar potentials and so they can complement weak lensing and other measurements in trying to distinguish among the various alternative theories of gravity.

  4. Process for modifying the metal ion sorption capacity of a medium

    DOE Patents [OSTI]

    Lundquist, Susan H. (White Bear Township, MN)

    2002-01-01

    A process for modifying a medium is disclosed that includes treating a medium having a metal ion sorption capacity with a solution that includes: A) an agent capable of forming a complex with metal ions; and B) ions selected from the group consisting of sodium ions, potassium ions, magnesium ions, and combinations thereof, to create a medium having an increased capacity to sorb metal ions relative to the untreated medium.

  5. Improving Costs and Efficiency of PEM Fuel Cell Vehicles by Modifying the

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

    Surface of Stainless Steel Bipolar Plates - Energy Innovation Portal Hydrogen and Fuel Cell Hydrogen and Fuel Cell Find More Like This Return to Search Improving Costs and Efficiency of PEM Fuel Cell Vehicles by Modifying the Surface of Stainless Steel Bipolar Plates National Renewable Energy Laboratory Contact NREL About This Technology Technology Marketing SummaryFuel cell vehicles have the potential to reduce our dependence on foreign oil and lower emissions. Running the vehicle's motor

  6. Preparation, characterization, and application of modified chitosan sorbents for elemental mercury removal

    SciTech Connect (OSTI)

    Zhang, A.C.; Xiang, J.; Sun, L.S.; Hu, S.; Li, P.S.; Shi, J.M.; Fu, P.; Su, S.

    2009-05-15

    A series of raw, iodine (bromide) or/and sulfuric acid-modified chitosan sorbents were synthesized and comprehensively characterized by N{sub 2} isotherm adsorption/desorption method, TGA, FTIR, XRD, and XPS et al. Adsorption experiments of vapor-phase elemental mercury (Hg{sup 0}) were studied using the sorbents in a laboratory-scale fixed-bed reactor. The results revealed that porosities and specific surface areas of the sorbents decreased after modification. The sorbents operated stably at flue-gas temperature below 140{sup o}C. The chemical reactions of iodine and sulfate ion with the amide of chitosan occurred, and the I{sub 2} was found in the sorbents due to the presence of H{sub 2}SO{sub 4}. Fixed-bed adsorber tests showed that compared to raw chitosan, the bromide or iodine-modified chitosan could promote the efficiency of Hg{sub 0} capture more or less. Mercury removal efficiency could be significantly promoted when an appropriate content of H{sub 2}SO{sub 4} was added, and the iodine and H{sub 2}SO{sub 4} modified sorbents almost had a mercury removal efficiency of 100% for 3 h. The presence of moisture can increase the sorbent's capacity for mercury uptake due to the existence of active sites, such as sulfonate and amino group. The mercury breakthrough of modified chitosan sorbents decreased with increasing temperature. A reaction scheme that could explain the experimental results was presumed based on the characterizations and adsorption study.

  7. Clostridium Thermocellum CbhA- Amino acid sequence modified for enhanced

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

    catalytic activity in the saccharification of cellulose - Energy Innovation Portal Biomass and Biofuels Biomass and Biofuels Find More Like This Return to Search Clostridium Thermocellum CbhA- Amino acid sequence modified for enhanced catalytic activity in the saccharification of cellulose National Renewable Energy Laboratory Contact NREL About This Technology Technology Marketing Summary The efficient action of cellulases to release fermentable sugars from biomass cellulose is an important

  8. The radiation chemistry of Cs-7SB, a solvent modifier used in Cs and Sr extraction

    SciTech Connect (OSTI)

    Mincher, B.J.; Martin, L.R.; Elias, G.; Mezyk, S.P.

    2008-07-01

    The solvent modifier 1-(2,2,3,3-tetrafluoro-propoxy)-3-(4-sec-butylphenoxy)-2-propanol, (Cs- 7SB) is used in conjunction with calixarenes and crown ethers dissolved in alkane diluents for the extraction of Cs and Sr from highly radioactive solutions. Its purpose is to solvate the ligands and the resulting ligand-metal complexes in the organic phase. Given this role, and its relatively high concentration in the formulations used for solvent extraction, radiolytic degradation of Cs-7SB might decrease the extraction efficiency of these elements as the solvent accumulates absorbed radiation dose. This work presents the results of studies of Cs-7SB using post-radiolysis gas chromatography with electron-capture detection and solvent-extraction distribution-ratio measurements. Also presented is the kinetic analysis of the bimolecular rate constant for the modifier's reaction with nitrogen trioxide and nitrogen dioxide radicals, major radiolytically-produced radical species in irradiated aqueous nitric acid. Although Cs-7SB was found to undergo reactions with nitrogen-centered radicals, little decrease in extraction efficiency was found. It is concluded the modifier, always present at concentrations much higher than the ligands, acts as a radical scavenger, protecting ligands from radiolytic attack. (authors)

  9. Geometric and Electronic Properties of Graphene Modified by External N-Containing Groups

    SciTech Connect (OSTI)

    Wang, Xinde; Cai, Qiuxia; Zhuang, Guilin; Zhong, Xing; Mei, Donghai; Li, Xiaonian; Wang, Jianguo

    2014-10-14

    By means of the first-principles spin polarized density functional theory (DFT) calculations, we investigated structures and electronic properties of external nitrogen-containing groups (pyridine derivatives) modified graphene via single or double bonding mode. This study of single-bond pyridine derivatives modified graphene (SBPG) shows that the ortho-carbon is the most favorable adsorption site for pyridine derivatives on graphene, as confirmed by bader charge analysis. The external stability of pyridine derivatives on graphene by [2+2] cycloaddition is caused by the match between frontier orbitals of pyridine derivatives and those of graphene, which leading to the formation of stronger chemical bonds. Interestingly, electronic structure analysis reveals that the spin-up and spin-down parts DOS of SBPG clearly split, while it is not found for double-bonds pyridine derivatives modified graphene (DBPG). This work was supported by the 973 project (2013CB733501) and the National Natural Science Foundation of China ( 21101137, 21136001, 21176221, 21306169 and 91334013). D. Mei is supported by the US Department of Energy, Office of Basic Energy Sciences, Division of Chemical Sciences, Geosciences & Biosciences. Pacific Northwest National Laboratory (PNNL) is a multiprogram national laboratory operated for DOE by Battelle.

  10. Trivalent Lanthanide/Actinide Separation Using Aqueous-Modified TALSPEAK Chemistry

    SciTech Connect (OSTI)

    Travis S. Grimes; Richard D. Tillotson; Leigh R. Martin

    2014-05-01

    TALSPEAK is a liquid/liquid extraction process designed to separate trivalent lanthanides (Ln3+) from minor actinides (MAs) Am3+ and Cm3+. Traditional TALSPEAK organic phase is comprised of a monoacidic dialkyl bis(2-ethylhexyl)phosphoric acid extractant (HDEHP) in diisopropyl benzene (DIPB). The aqueous phase contains a soluble aminopolycarboxylate diethylenetriamine-N,N,N,N,N-pentaacetic acid (DTPA) in a concentrated (1.0-2.0 M) lactic acid (HL) buffer with the aqueous acidity typically adjusted to pH 3.0. TALSPEAK balances the selective complexation of the actinides by DTPA against the electrostatic attraction of the lanthanides by the HDEHP extractant to achieve the desired trivalent lanthanide/actinide group separation. Although TALSPEAK is considered a successful separations scheme, recent fundamental studies have highlighted complex chemical interactions occurring in the aqueous and organic phases during the extraction process. Previous attempts to model the system have shown thermodynamic models do not accurately predict the observed extraction trends in the p[H+] range 2.5-4.8. In this study, the aqueous phase is modified by replacing the lactic acid buffer with a variety of simple and longer-chain amino acid buffers. The results show successful trivalent lanthanide/actinide group separation with the aqueous-modified TALSPEAK process at pH 2. The amino acid buffer concentrations were reduced to 0.5 M (at pH 2) and separations were performed without any effect on phase transfer kinetics. Successful modeling of the aqueous-modified TALSPEAK process (p[H+] 1.6-3.1) using a simplified thermodynamic model and an internally consistent set of thermodynamic data is presented.

  11. Enantioselective hydrogenation. III. Methyl pyruvate hydrogenation catalyzed by alkaloid-modified iridium

    SciTech Connect (OSTI)

    Simons, K.E.; Johnston, P.; Plum, H.; Wells, P.B.; Ibbotson, A.

    1994-12-01

    Enantioselective hydrogenation of methyl pyruvate, MeCOCOOMe to methyl lactate, MeCH(OH)COOMe, is catalyzed in solution at room temperature by supported iridium catalysts modified with cinchona alkaloids. Modification with cinchonidine or quinine yields R-lactate in excess, whereas modification with cinchonine or quinidine favors S-lactate formation. Ir/SiO{sub 2} catalysts (20%) calcined at 393 to 573 K and reduced at 523 to 593 K were highly active for racemic hydrogenation in the absence of a modifier (rates typically 1.8 mol h{sup -1} g{sub cat}{sup -1}) and were comparably active when modified with cinchonidine but gave an enantiomeric excess of about 30%. Use of higher calcination or reduction temperatures led to substantially inferior activity and selectivity. The high rates recorded for both racemic and enantioselective reactions are dependent on the catalysts being activated before use by a procedure involving exposure of the catalyst to air after the initial reduction. Use of a Cl-free precursor gave an Ir/SiO{sub 2} catalyst (20%) of superior activity but inferior enantioselectivity. Ir/CaCO{sub 3} (5%) was more active for racemic hydrogenation than for enantioselective hydrogenation, but provided the highest value of the enantiomeric excess 39%. Kinematics of reaction are reported. Exchange of H for D in 10,11-dihydrocinchonidine at room temperature over Ir/CaCO{sub 3} occurred in the quinoline moiety but not in the quinuclidine ring system, indicating that the alkaloid was adsorbed to the Ir surface via the interaction of its {pi}-electron system. For both silica-supported and calcium carbonate-supported Ir, the presence of chloride ion in the catalyst was advantageous for the achievement of enantioselectivity. 25 refs., 2 figs., 3 tabs.

  12. Improving biofuel feedstocks by modifying xylan biosynthesis (2013 DOE JGI Genomics of Energy and Environment 8th Annual User Meeting)

    SciTech Connect (OSTI)

    Lau, Jane

    2013-03-01

    Jane Lau of the Joint BioEnergy Institute on "Improving biofuel feedstocks by modifying xylan biosynthesis" at the 8th Annual Genomics of Energy & Environment Meeting on March 28, 2013 in Walnut Creek, Calif.

  13. Nickel nano-particle modified nitrogen-doped amorphous hydrogenated diamond-like carbon film for glucose sensing

    SciTech Connect (OSTI)

    Zeng, Aiping; Jin, Chunyan; Cho, Sang-Jin; Seo, Hyun Ook; Kim, Young Dok; Lim, Dong Chan; Kim, Doo Hwan; Hong, Byungyou; Boo, Jin-Hyo

    2012-10-15

    Electrochemical method has been employed in this work to modify nitrogen-doped hydrogen amorphous diamond-like carbon (N-DLC) film to fabricate nickel nano-particle-modified N-DLC electrodes. The electrochemical behavior of the nickel nano-particle-modified N-DLC electrodes has been characterized at the presence of glucose in electrolyte. Meanwhile, the N-DLC film structure and the morphology of metal nano-particles on the N-DLC surface have been investigated using micro-Raman spectroscopy and atomic force microscopy. The nickel nano-particle-modified N-DLC electrode exhibits a high catalytic activity and low background current. This result shows that the nickel nano-particle deposition on N-DLC surface could be a promising method to fabricate novel electrode materials for glucose sensing.

  14. Production And Artile Of Iron/Surfactant-Modified Zeolite Pellets To Retain And Destroy Water Pollutants

    DOE Patents [OSTI]

    BOWMAN, ROBERT S.; [et al

    2001-07-17

    A method of producing a pollutant adsorption and degradation article, and such article, are provided. At least one adsorbent is mixed with at least one pollutant transforming agent to form a mixture. This mixture is compacted to form a porous, highly permeable article. If necessary, the article can be modified with surfactant either after the compacting step or by adding the surfactant to the mixture prior to the compacting step. In addition, if necessary, a binding agent can be added to the mixture prior to the compacting step.

  15. Long range ordered alloys modified by group IV-B metals

    DOE Patents [OSTI]

    Liu, Chain T.; Inouye, Henry; Schaffhauser, Anthony C.

    1983-01-01

    Ductile long range ordered alloys having high critical ordering temperatures exist in the (V,M)(Fe,Ni,Co).sub.3 system having the composition comprising by weight 20.6%-22.6% V, 14-50% Fe, 0-64% Co, and 0-40% Ni, and 0.4-1.4% M, where M is a metal selected from the group consisting of Ti, Zr, Hf, and their mixtures. These modified alloys have an electron density no greater than 8.00 and exhibit marked increases at elevated temperature in ductility and other mechanical properties over previously known ordered alloys.

  16. Low amplitude impact of PBX 9501: Modified Steven spigot gun tests

    SciTech Connect (OSTI)

    Idar, D.J.; Lucht, R.A.; Straight, J.W.

    1998-12-01

    Low-velocity mechanical impact and subsequent high explosive (HE) reaction are of concern in credible accident scenarios involving the handling, transport, and storage of nuclear weapons. Using modified Steven spigot gun tests, the authors have investigated the high-explosive violent-reaction (HEVR) potential of PBX 9501 to low-amplitude insult. Reliable modeling predictions require that one identify the relevant parameters and behavioral responses that are key to the reaction mechanism(s) in PBX 9501. Additional efforts have been targeted at identifying relevant differences in the response between baseline and stockpile-aged PBX 9501 to low-velocity impacts.

  17. Highly efficient inverted organic solar cells using amino acid modified indium tin oxide as cathode

    SciTech Connect (OSTI)

    Li, Aiyuan; Nie, Riming; Deng, Xianyu; Wei, Huaixin; Li, Yanqing; Tang, Jianxin; Zheng, Shizhao; Wong, King-Young

    2014-03-24

    In this paper, we report that highly efficient inverted organic solar cells were achieved by modifying the surface of indium tin oxide (ITO) using an amino acid, Serine (Ser). With the modification of the ITO surface, device efficiency was significantly enhanced from 0.63% to 4.17%, accompanied with an open circuit voltage (Voc) that was enhanced from 0.30?V to 0.55?V. Ultraviolet and X-ray photoelectron spectroscopy studies indicate that the work function reduction induced by the amino acid modification resulting in the decreased barrier height at the ITO/organic interface played a crucial role in the enhanced performances.

  18. Method of precisely modifying predetermined surface layers of a workpiece by cluster ion impact therewith

    DOE Patents [OSTI]

    Friedman, L.; Beuhler, R.J.; Matthew, M.W.; Ledbetter, M.

    1984-06-25

    A method of precisely modifying a selected area of a workpiece by producing a beam of charged cluster ions that is narrowly mass selected to a predetermined mean size of cluster ions within a range of 25 to 10/sup 6/ atoms per cluster ion, and accelerated in a beam to a critical velocity. The accelerated beam is used to impact a selected area of an outer surface of the workpiece at a preselected rate of impacts of cluster ions/cm/sup 2//sec in order to effect a precise modification in that selected area of the workpiece.

  19. Method of precisely modifying predetermined surface layers of a workpiece by cluster ion impact therewith

    DOE Patents [OSTI]

    Friedman, Lewis; Buehler, Robert J.; Matthew, Michael W.; Ledbetter, Myron

    1985-01-01

    A method of precisely modifying a selected area of a workpiece by producing a beam of charged cluster ions that is narrowly mass selected to a predetermined mean size of cluster ions within a range of 25 to 10.sup.6 atoms per cluster ion, and accelerated in a beam to a critical velocity. The accelerated beam is used to impact a selected area of an outer surface of the workpiece at a preselected rate of impacts of cluster ions/cm.sup.2 /sec. in order to effect a precise modification in that selected area of the workpiece.

  20. Surface Modified Particles By Multi-Step Addition And Process For The Preparation Thereof

    DOE Patents [OSTI]

    Cook, Ronald Lee; Elliott, Brian John; Luebben, Silvia DeVito; Myers, Andrew William; Smith, Bryan Matthew

    2006-01-17

    The present invention relates to a new class of surface modified particles and to a multi-step surface modification process for the preparation of the same. The multi-step surface functionalization process involves two or more reactions to produce particles that are compatible with various host systems and/or to provide the particles with particular chemical reactivities. The initial step comprises the attachment of a small organic compound to the surface of the inorganic particle. The subsequent steps attach additional compounds to the previously attached organic compounds through organic linking groups.

  1. Adsorption characteristics of metal ions on chitosan chemically modified by D-galactose

    SciTech Connect (OSTI)

    Kondo, Kazuo; Sumi, Hisaharu; Matsumoto, Michiaki

    1996-07-01

    The adsorption characteristics of metal ions on chitosan chemically modified by D-galactose were examined. The pH dependency on the distribution ratio was found to be affected by the valency of the metal ion, and the apparent adsorption equilibrium constants of the metal ions were determined. The order of adsorption of the metal ions is Ga > In > Nd > Eu for the trivalent metal ions and Cu > Ni > Co for the divalent metal ions. It is believed that amino and hydroxyl groups in the chitosan act as a chelating ligand.

  2. Task QA plan for Modified Prototypic Hydragard{trademark} Sampler Overflow System Demonstration at TNX

    SciTech Connect (OSTI)

    Snyder, T.K.

    1993-10-04

    The primary objective of this task is to evaluate the proposed design modifications to the sample system, including the adequacy of the recommended eductor and the quality of samples obtained from the modified system. Presently, the sample streams are circulated from the originating tank, through a Hydragard{trademark} sampler system, and back to the originating tank. The overflow from the Hydragard{trademark} sampler flows to the Recycle Collection Tank (RCT). This report outlines the planned quality assurance controls for the design modification task, including organization and personnel, surveillances, and records package.

  3. Modified rubisco large subunit n-methyltransferase useful for targeting molecules to the active-site vicinity of ribulose-1,5-bisphosphate

    DOE Patents [OSTI]

    Houtz, Robert L.

    2012-03-20

    The present invention generally relates to a modified Rubisco large subunit .sup..epsilon.N-Methyltransferase (Rubisco LSMT, or RLSMT). The present invention also relates to a modified RLSMT-carbonic anhydrase (RLSMT-CA). This modified RLSMT-CA improves the efficiency of the reduction of CO.sub.2 during photosynthesis, which may increase plant growth rates. The present invention also relates to nucleic acids encoding the modified RLSMT-CA or modified RLSMT. Also, the present invention relates to cells including the modified RLSMT-CA or modified RLSMT, plants containing the modified RLSMT-CA or modified RLSMT, and methods using compositions of the present invention. In addition, the present invention relates to antibodies conjugated to CA which may bind to Rubisco, and antibodies which bind a modified RLSMT-CA. The invention also relates to modified forms of the LS and SS of Rubisco where the modified forms are fusions with CA or biologically active fragments thereof. The present invention provides methods of altering Rubisco carboxylase activity and altering plant growth.

  4. RoboCon: Operator interface for robotic applications. Final report: RoboCon electrical interfacing -- system architecture, and Interfacing NDDS and LabView

    SciTech Connect (OSTI)

    Schempf, H.

    1998-04-30

    The first appendix contains detailed specifications of the electrical interfacing employed in Robocon. This includes all electrical signals and power requirement descriptions up to and including the interface entry points for external robots and systems. The reader is first presented with an overview of the overall Robocon electrical system, followed by sub-sections describing each module in detail. The appendices contain listings of power requirements and the electrical connectors and cables used, followed by an overall electrical system diagram. Custom electronics employed are also described. The Network Data Delivery Service (NDDS) is a real-time dissemination communications architecture which allows nodes on a network to publish data and subscribe to data published by other nodes while remaining anonymous. The second appendix explains how to facilitate a seamless interface between NDDS and LabView and provides sample source code used to implement an NDDS consumer which writes a string to a socket.

  5. Predicting target vessel location on robot-assisted coronary artery bypass graft using CT to ultrasound registration

    SciTech Connect (OSTI)

    Cho, Daniel S.; Linte, Cristian; Chen, Elvis C. S.; Bainbridge, Daniel; Wedlake, Chris; Moore, John; Barron, John; Patel, Rajni; Peters, Terry

    2012-03-15

    Purpose: Although robot-assisted coronary artery bypass grafting (RA-CABG) has gained more acceptance worldwide, its success still depends on the surgeon's experience and expertise, and the conversion rate to full sternotomy is in the order of 15%-25%. One of the reasons for conversion is poor pre-operative planning, which is based solely on pre-operative computed tomography (CT) images. In this paper, the authors propose a technique to estimate the global peri-operative displacement of the heart and to predict the intra-operative target vessel location, validated via both an in vitro and a clinical study. Methods: As the peri-operative heart migration during RA-CABG has never been reported in the literatures, a simple in vitro validation study was conducted using a heart phantom. To mimic the clinical workflow, a pre-operative CT as well as peri-operative ultrasound images at three different stages in the procedure (Stage{sub 0}--following intubation; Stage{sub 1}--following lung deflation; and Stage{sub 2}--following thoracic insufflation) were acquired during the experiment. Following image acquisition, a rigid-body registration using iterative closest point algorithm with the robust estimator was employed to map the pre-operative stage to each of the peri-operative ones, to estimate the heart migration and predict the peri-operative target vessel location. Moreover, a clinical validation of this technique was conducted using offline patient data, where a Monte Carlo simulation was used to overcome the limitations arising due to the invisibility of the target vessel in the peri-operative ultrasound images. Results: For the in vitro study, the computed target registration error (TRE) at Stage{sub 0}, Stage{sub 1}, and Stage{sub 2} was 2.1, 3.3, and 2.6 mm, respectively. According to the offline clinical validation study, the maximum TRE at the left anterior descending (LAD) coronary artery was 4.1 mm at Stage{sub 0}, 5.1 mm at Stage{sub 1}, and 3.4 mm at Stage

  6. MANIPULATOR FOR SLAVE ROBOT

    DOE Patents [OSTI]

    Goertz, R.C.; Grimson, J.H.; Kohut, F.A.

    1961-04-01

    A remote-control manipulator comprising two stationary master units, two slave units on a movable vehicle, and electrical connections between the master and slave units is reported. The slave units are side by side with a minimum over-all width, which is made feasible by an arrangement of transducers producing most movements of each slave unit to one side of the support of said slave unit.

  7. VEHICLE FOR SLAVE ROBOT

    DOE Patents [OSTI]

    Goertz, R.C.; Lindberg, J.F.

    1962-01-30

    A reeling device is designed for an electrical cable supplying power to the slave slde of a remote control manipulator mounted on a movable vehicle. As the vehicle carries the slave side about in a closed room, the device reels the cable in and out to maintain a variable length of the cable between the vehicle and a cable inlet in the wall of the room. The device also handles a fixed length of cable between the slave side and the vehicle, in spite of angular movement of the slave side with respect to the vehicle. (AEC)

  8. Interface colloidal robotic manipulator

    DOE Patents [OSTI]

    Aronson, Igor; Snezhko, Oleksiy

    2015-08-04

    A magnetic colloidal system confined at the interface between two immiscible liquids and energized by an alternating magnetic field dynamically self-assembles into localized asters and arrays of asters. The colloidal system exhibits locomotion and shape change. By controlling a small external magnetic field applied parallel to the interface, structures can capture, transport, and position target particles.

  9. Sponsors | Robotics Internship Program

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

    (IACMI) is committed to delivering a public-private partnership to increase domestic production capacity, grow manufacturing and create jobs across the US composite industry. ...

  10. Applicants | Robotics Internship Program

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

    program open to all qualified individuals without regard to race, color, age, sex, religion, national origin, mental or physical ability, genetic information, sexual orientation...

  11. FAQs | Robotics Internship Program

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

    with industry, small business, universities, and other stakeholders to identify and invest in emerging technologies with the potential to create high-quality domestic...

  12. A modified Stillinger-Weber potential for TlBr and its polymorphic extension

    SciTech Connect (OSTI)

    Zhou, Xiaowang; Foster, Michael E.; Jones, Reese E.; Doty, F. Patrick; Yang, Pin; Fan, Hongyou

    2015-04-30

    TlBr is promising for g- and x- radiation detection, but suffers from rapid performance degradation under the operating external electric fields. To enable molecular dynamics (MD) studies of this degradation, we have developed a Stillinger-Weber type of TlBr interatomic potential. During this process, we have also addressed two problems of wider interests. First, the conventional Stillinger-Weber potential format is only applicable for tetrahedral structures (e.g., diamond-cubic, zinc-blende, or wurtzite). Here we have modified the analytical functions of the Stillinger-Weber potential so that it can now be used for other crystal structures. Second, past modifications of interatomic potentials cannot always be applied by a broad community because any new analytical functions of the potential would require corresponding changes in the molecular dynamics codes. Here we have developed a polymorphic potential model that simultaneously incorporates Stillinger-Weber, Tersoff, embedded-atom method, and any variations (i.e., modified functions) of these potentials. As a result, we have implemented this polymorphic model in MD code LAMMPS, and demonstrated that our TlBr potential enables stable MD simulations under external electric fields.

  13. STABILITY OF COSMIC-RAY MODIFIED SHOCKS: TWO-FLUID APPROACH

    SciTech Connect (OSTI)

    Saito, Tatsuhiko; Hoshino, Masahiro; Amano, Takanobu

    2013-10-01

    The stability of cosmic-ray modified shocks (CRMSs) is studied by means of numerical simulations. Owing to the nonlinear feedback of cosmic-ray (CR) acceleration, a downstream state of the modified shock can no longer be uniquely determined for given upstream parameters. It is known that up to three distinct solutions exist, which are characterized by CR production efficiency as the 'efficient', 'intermediate', and 'inefficient' branches. The stability of these solutions is investigated by performing direct time-dependent simulations of a two-fluid model. It is found that both the efficient and inefficient branches are stable even against a large-amplitude perturbation, while the intermediate one is always unstable and evolves into the inefficient state as a result of nonlinear time development. This bistable feature is robust in a wide range of parameters and does not depend on the injection model. Fully nonlinear time evolution of a hydrodynamic shock with injection results in the least efficient state in terms of CR production, consistent with the bistable feature. This suggests that the CR production efficiency in supernova remnant shocks may be lower than previously discussed in the framework of the nonlinear shock acceleration theory considering the efficient solution of the CRMS.

  14. Surface modified CFx cathode material for ultrafast discharge and high energy density

    SciTech Connect (OSTI)

    Dai, Yang; Zhu, Yimei; Cai, Sendan; Wu, Lijun; Yang, Weijing; Xie, Jingying; Wen, Wen; Zheng, Jin-Cheng; Zheng, Yi

    2014-11-10

    Li/CFx primary possesses the highest energy density of 2180 W h kg⁻¹ among all primary lithium batteries. However, a key limitation for the utility of this type of battery is in its poor rate capability because the cathode material, CFx, is an intrinsically poor electronic conductor. Here, we report on our development of a controlled process of surface de-fluorination under mild hydrothermal conditions to modify the highly fluorinated CFx. The modified CFx, consisting of an in situ generated shell component of F-graphene layers, possesses good electronic conductivity and removes the transporting barrier for lithium ions, yielding a high-capacity performance and an excellent rate-capability. Indeed, a capacity of 500 mA h g⁻¹ and a maximum power density of 44 800 W kg⁻¹ can be realized at the ultrafast rate of 30 C (24 A g⁻¹), which is over one order of magnitude higher than that of the state-of-the-art primary lithium-ion batteries.

  15. Dynamic impact and pressure analysis of the insensitive munitions container PA103 with modified design features

    SciTech Connect (OSTI)

    Handy, K.D.

    1993-06-01

    This report presents analytical analyses of the insensitive munitions container PA103, with modified design features for a static internal pressure of 500 psi and for a dynamic impact resulting from a 7-ft free fall onto a rigid surface. The modified design features addressed by the analyses were the inclusion of a score pattern on the container cylindrical body and a plastic plate (fuse) sandwiched between metal flanges on the container end. The objectives of both the pressure and impact analyses were to determine if the induced stresses at the score patterns in the cylindrical body of the container were sufficient to induce failure. Analytical responses of the container to the imposed loads were obtained with finite element analysis methodology. The computer codes ABAQUS and VEC/DYNA3D were used to obtain the results. Results of the pressure analysis indicate that failure of the container body would be expected to occur at the score pattern for a static internal pressure of 500 psi. Also, results from three impact orientations for a 7-ft drop indicate that membrane stresses in the vicinity of the score pattern are above critical crack growth stress magnitudes, especially at low ([minus]60[degrees]F) temperatures.

  16. Dynamic impact and pressure analysis of the insensitive munitions container PA103 with modified design features

    SciTech Connect (OSTI)

    Handy, K.D.

    1993-06-01

    This report presents analytical analyses of the insensitive munitions container PA103, with modified design features for a static internal pressure of 500 psi and for a dynamic impact resulting from a 7-ft free fall onto a rigid surface. The modified design features addressed by the analyses were the inclusion of a score pattern on the container cylindrical body and a plastic plate (fuse) sandwiched between metal flanges on the container end. The objectives of both the pressure and impact analyses were to determine if the induced stresses at the score patterns in the cylindrical body of the container were sufficient to induce failure. Analytical responses of the container to the imposed loads were obtained with finite element analysis methodology. The computer codes ABAQUS and VEC/DYNA3D were used to obtain the results. Results of the pressure analysis indicate that failure of the container body would be expected to occur at the score pattern for a static internal pressure of 500 psi. Also, results from three impact orientations for a 7-ft drop indicate that membrane stresses in the vicinity of the score pattern are above critical crack growth stress magnitudes, especially at low ({minus}60{degrees}F) temperatures.

  17. Surface modified CFx cathode material for ultrafast discharge and high energy density

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Dai, Yang; Zhu, Yimei; Cai, Sendan; Wu, Lijun; Yang, Weijing; Xie, Jingying; Wen, Wen; Zheng, Jin-Cheng; Zheng, Yi

    2014-11-10

    Li/CFx primary possesses the highest energy density of 2180 W h kg⁻¹ among all primary lithium batteries. However, a key limitation for the utility of this type of battery is in its poor rate capability because the cathode material, CFx, is an intrinsically poor electronic conductor. Here, we report on our development of a controlled process of surface de-fluorination under mild hydrothermal conditions to modify the highly fluorinated CFx. The modified CFx, consisting of an in situ generated shell component of F-graphene layers, possesses good electronic conductivity and removes the transporting barrier for lithium ions, yielding a high-capacity performance andmore » an excellent rate-capability. Indeed, a capacity of 500 mA h g⁻¹ and a maximum power density of 44 800 W kg⁻¹ can be realized at the ultrafast rate of 30 C (24 A g⁻¹), which is over one order of magnitude higher than that of the state-of-the-art primary lithium-ion batteries.« less

  18. A modified Stillinger-Weber potential for TlBr and its polymorphic extension

    DOE Public Access Gateway for Energy & Science Beta (PAGES Beta)

    Zhou, Xiaowang; Foster, Michael E.; Jones, Reese E.; Doty, F. Patrick; Yang, Pin; Fan, Hongyou

    2015-04-30

    TlBr is promising for g- and x- radiation detection, but suffers from rapid performance degradation under the operating external electric fields. To enable molecular dynamics (MD) studies of this degradation, we have developed a Stillinger-Weber type of TlBr interatomic potential. During this process, we have also addressed two problems of wider interests. First, the conventional Stillinger-Weber potential format is only applicable for tetrahedral structures (e.g., diamond-cubic, zinc-blende, or wurtzite). Here we have modified the analytical functions of the Stillinger-Weber potential so that it can now be used for other crystal structures. Second, past modifications of interatomic potentials cannot always bemore » applied by a broad community because any new analytical functions of the potential would require corresponding changes in the molecular dynamics codes. Here we have developed a polymorphic potential model that simultaneously incorporates Stillinger-Weber, Tersoff, embedded-atom method, and any variations (i.e., modified functions) of these potentials. As a result, we have implemented this polymorphic model in MD code LAMMPS, and demonstrated that our TlBr potential enables stable MD simulations under external electric fields.« less

  19. ZnTeO{sub 3} crystal growth by a modified Bridgman technique

    SciTech Connect (OSTI)

    Nawash, Jalal M. Lynn, Kelvin G.

    2014-12-15

    Highlights: • ZnTeO{sub 3} single crystals were grown for the first time by a modified Bridgman method. • The growth is still possible in a system that lacks congruent melting. • A growth is best when melt is exposed to a steeper axial thermal gradient. • Optical and electrical properties were investigated for the grown crystals. - Abstract: Zinc Tellurite (ZnTeO{sub 3}) crystals were grown for the first time using a modified Bridgman method with a 2.5 kHz radio frequency (RF) furnace. Single crystal growth of ZnTeO{sub 3} was hindered by many complicating factors, such as the evaporation of TeO{sub 2} above 700 °C and the formation of more than one phase during crystal growth. While there were several successful runs that produced ZnTeO{sub 3} single crystals, it was found that large (≥10 cm{sup 3}) single ZnTeO{sub 3} crystals resulted when the crucible was exposed to a steeper vertical thermal gradient and when the temperature of the melt was raised to at least 860 °C. The results of powder X-ray diffraction (XRD) patterns were in accordance with the X-ray powder diffraction file (PDF) for ZnTeO{sub 3}. Some optical, electrical and structural properties of ZnTeO{sub 3} single crystals were reported in this paper.

  20. Compaction comparison testing using a modified impact soil tester and nuclear density gauge

    SciTech Connect (OSTI)

    Erchul, R.A.

    1999-07-01

    The purpose of this paper is to compare test results of a modified Impact Soil Tester (IST) on compacted soil with data obtained from the same soil using a nuclear density gauge at the US Army Corp of Engineer's Buena Vista Flood Wall project in Buena Vista, Virginia. The tests were run during construction of the earth flood wall during the summer of 1996. This comparison testing demonstrated the credibility of the procedure developed for the IST as a compacting testing device. The comparison data was obtained on a variety of soils ranging from silty sands to clays. The Flood Wall comparison compaction data for 90% Standard Proctor shows that the results of the IST as modified are consistent with the nuclear density gauge 89% of the time for all types of soil tested. However, if the soils are more cohesive than the results are consistent with the nuclear density gauge 97% of the time. In addition these comparison tests are in general agreement with comparison compaction testing using the same testing techniques and methods of compacted backfill in utility trenches conducted earlier for the Public Works Department, Chesterfield County, Virginia.