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

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

    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 modified TALON robot. A technician at Idaho National Laboratory demonstrates the modified TALON robot. John Schueler John Schueler Former New Media Specialist, Office of Public Affairs How does it work? Sensors on the TALON robots provide visual, radiological survey, and/or mapping data about areas that are not

  3. 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...

  4. 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. (Albuquerque, NM); Parker, Eric P. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM); Rigdon, J. Brian (Edgewood, NM); Oppel, III, Fred J. (Albuquerque, NM)

    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.

  5. 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.

  6. Secretary Chu Visits Japanese Embassy | Department of Energy

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

    U.S. Response to the Earthquakes and Tsunami in Japan A technician at Idaho National Laboratory demonstrates the modified TALON robot. Robot Reworked to Analyze Radiation in Japan

  7. Robotic intelligence kernel

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    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.

  8. Hopping robot

    DOE Patents [OSTI]

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

    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.

  9. 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.

  10. 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 Southwest will wrangle their bomb squad robots at the sixth annual Robot Rodeo beginning Tuesday, June 19 at Los Alamos National Laboratory (LANL). The rodeo gets under way at 8 a.m. in Technical Area 49, a remote section of Laboratory property near the entrance to Bandelier National Monument. Eight teams are scheduled to

  11. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    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.

  12. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    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.

  13. 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.

  14. Robotic arm

    DOE Patents [OSTI]

    Kwech, Horst (Lake Bluff, IL)

    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.

  15. 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.

  16. robot2

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

    9, 1999 MEMORANDUM FOR THE SECRETARY FROM: Gregory H. Friedman (Signed) Inspector General SUBJECT: INFORMATION : Report on "The Office of Defense Programs Robotics and Intelligent Machines Projects" BACKGROUND Robotics and Intelligent Machines (RIM) are systems composed of machines, sensors, computers, and software capable of executing various tasks with minimal human intervention. They have wide range application for solving many operational challenges including nuclear waste cleanup

  17. Generic robot architecture

    DOE Patents [OSTI]

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

  18. 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.

  19. Tandem mobile robot system

    DOE Patents [OSTI]

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    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.

  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. 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...

  2. EERE Robotics Internship Program

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

    The application period is open. Apply Now! Intern Spotlight Robotics Interns Robotics 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 Robotics Internship Program offers hands-on, short-term practical internships at various corporate partners throughout the United States. Participants will perform research or other technical activities under the guidance of a mentor who

  3. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (115 Newhaven Rd., Oak Ridge, TN 37830)

    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.

  4. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    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.

  5. 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.

  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, Todd A. (Idaho Falls, ID)

    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.

  10. 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.

  11. 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.

  12. 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.

  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. (Idaho Falls, ID); Walton, Miles C. (Idaho Falls, ID)

    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. 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.

  18. 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.).

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. FAQs | Robotics Internship Program

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

    FAQs About the Program | Eligibility | Application | Selection Process | Internship Information | General About the EERE ROBOTICS INTERNSHIP PROGRAM 1. What is the Office of Energy Efficiency and Renewable Energy (EERE) Internship Program? The Office of Energy Efficiency and Renewable Energy (EERE) Robotics Internship Program is supported through EERE's Advanced Manufacturing Office (AMO). AMO partners with industry, small business, universities, and other stakeholders to identify and invest in

  5. Wheeled hopping robot

    DOE Patents [OSTI]

    Fischer, Gary J. (Albuquerque, NM)

    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.

  6. 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.

  7. Robots with AI: A retrospective on the AAAI robot competitions...

    Office of Scientific and Technical Information (OSTI)

    Language: English Subject: 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; ROBOTS; ARTIFICIAL ...

  8. 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

  9. 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

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

    DOE Patents [OSTI]

    Killian, Mark A. (102 Foxhunt Dr., North Augusta, SC 29841); Zollinger, W. Thor (3927 Almon Dr., Martinez, GA 30907)

    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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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, NM 87544, USA CONTACT: Jessica Privette 505 667-0375 CATEGORY: Bradbury INTERNAL: 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 Science Museum for a special demonstration given by the Los Alamos

  16. 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.

  17. 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...

  18. Mesofluidic controlled robotic or prosthetic finger (Patent)...

    Office of Scientific and Technical Information (OSTI)

    controlled robotic or prosthetic finger Citation Details In-Document Search Title: Mesofluidic controlled robotic or prosthetic finger You are accessing a document from the...

  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. (Ballston Lake, NY)

    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. 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...

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Robots with AI: A retrospective on the AAAI robot competitions and

    Office of Scientific and Technical Information (OSTI)

    exhibitions (Conference) | SciTech Connect Robots with AI: A retrospective on the AAAI robot competitions and exhibitions Citation Details In-Document Search Title: Robots with AI: A retrospective on the AAAI robot competitions and exhibitions There have been five years of robot competitions and exhibitions since the inception of this annual event in 1992. Since that first show we have seen 30 different teams compete and almost that many more exhibit their robots. These teams ranged from

  8. 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.

  9. Teleoperated robotic sorting system

    DOE Patents [OSTI]

    Roos, Charles E. (Nashville, TN); Sommer, Jr., Edward J. (Nashville, TN); Parrish, Robert H. (Nashville, TN); Russell, James R. (Brentwood, TN)

    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.

  10. 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.

  11. Teleoperated robotic sorting system

    DOE Patents [OSTI]

    Roos, Charles E. (Nashville, TN); Sommer, Edward J. (Nashville, TN); Parrish, Robert H. (Nashville, TN); Russell, James R. (Brentwood, TN)

    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.

  12. Robotic end effector

    DOE Patents [OSTI]

    Minichan, Richard L. (23 Pineview Dr., Warrenville, SC 29851)

    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.

  13. 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

  14. 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.

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

    DOE Patents [OSTI]

    Hayward, David R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM)

    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.

  16. 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

  17. 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.

  18. @ 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.

  19. 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.

  20. 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.

  1. 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.

  2. Portable control device for networked mobile robots

    DOE Patents [OSTI]

    Feddema, John T. (Albuquerque, NM); Byrne, Raymond H. (Albuquerque, NM); Bryan, Jon R. (Edgewood, NM); Harrington, John J. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM)

    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.

  3. 2014 FIRST Robotics Smoky Mountain Regionals | Department of Energy

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

    2014 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:

  4. 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

  5. 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.

  6. 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

  7. 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:...

  8. Robotic Intelligent System | GE Global Research

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

    Robotic Intelligent System Could Save Hospitals Millions Click to email this to a friend ... accuracy, all of the medical devices doctors need to perform life-saving procedures. ...

  9. 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.

  10. 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.

  11. 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 traditional linear scaling techniques used by other systems. Key Words: Teleoperation, Robotic Hand, Robotic Force Scaling

  12. Robotic CCD microscope for enhanced crystal recognition

    DOE Patents [OSTI]

    Segelke, Brent W. (San Ramon, CA); Toppani, Dominique (Livermore, CA)

    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. 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.

  14. 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.

  15. 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.

  16. Robotic guarded motion system and method

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    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.

  17. 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.

  18. Multiple forearm robotic elbow configuration

    DOE Patents [OSTI]

    Fisher, John J. (Wilmington, DE)

    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.

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

    DOE Patents [OSTI]

    Burry, David B. (Westminster, CO); Williams, Paul M. (Lafayette, CO)

    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.

  20. 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.

  1. 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

  2. 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.

  3. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, Kar-Keung David (Mountain View, CA)

    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.

  4. 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.

  5. 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.

  6. 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...

  7. 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.

  8. 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.

  9. 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...

  10. Hazardous devices teams showcase skills at Robot Rodeo June 24...

    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...

  11. 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.

  12. 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,

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

    Energy Savers [EERE]

    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

  14. Method and apparatus for planning motions of robot manipulators

    DOE Patents [OSTI]

    Chen, Pang C. (4000 Camino De La Sierra, N.E., Albuquerque, NM 87111); Hwang, Yong K. (9036 Walter Bambrook, N.E., Albuquerque, NM 87122)

    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.

  15. Robotics virtual rail system and method

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID); Few, Douglas A. (Idaho Falls, ID); Walton, Miles C. (Idaho Falls, ID)

    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.

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

    Office of Environmental Management (EM)

    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

  17. 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.

  18. 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.

  19. 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.

  20. Mobile autonomous robotic apparatus for radiologic characterization

    DOE Patents [OSTI]

    Dudar, Aed M. (Dearborn, MI); Ward, Clyde R. (Aiken, SC); Jones, Joel D. (Aiken, SC); Mallet, William R. (Cowichan Bay, CA); Harpring, Larry J. (North Augusta, SC); Collins, Montenius X. (Blackville, SC); Anderson, Erin K. (Pleasanton, CA)

    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.

  1. 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.

  2. Modified Faraday cup

    DOE Patents [OSTI]

    Elmer, John W. (Pleasanton, CA); Teruya, Alan T. (Livermore, CA); O'Brien, Dennis W. (Livermore, CA)

    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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Mesofluidic controlled robotic or prosthetic finger (Patent) | SciTech

    Office of Scientific and Technical Information (OSTI)

    Connect controlled robotic or prosthetic finger Citation Details In-Document Search Title: Mesofluidic controlled robotic or prosthetic finger 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

  8. 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,

  9. ORISE: EERE Robotics Internship Program now accepting applications

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

    EERE Robotics Internship Program Program provides students, recent graduates opportunity to explore careers in robotics and engineering FOR IMMEDIATE RELEASE Jan. 8, 2016 FY16-13 OAK RIDGE, Tenn.-The U.S. Department of Energy's (DOE) Oak Ridge Institute for Science and Education (ORISE) is seeking students and recent graduates for paid internships through the DOE's Office of Energy Efficiency & Renewable Energy (EERE) Advanced Manufacturing Office. The Robotics Internship Program is

  10. 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......

  11. 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.

  12. 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.

  13. 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.

  14. 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...

  15. "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...

  16. 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,...

  17. 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

  18. "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"...

  19. Invention Factory: How Will Robots Evolve | GE Global Research

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

    Robots Evolve? 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) Invention Factory: How Will Robots Evolve? In this episode of Invention Factory - a partnership between General Electric and Vice - we explore the evolution of robotics. From robots that can be our friends, exoskeletal suits that can make us faster and

  20. December 4, 2007: NETL's Robotic Pipeline Inspection Tool

    Broader source: Energy.gov [DOE]

    December 4, 2007The Department's National Energy Technology Laboratory announces the development of a new robotic pipeline inspection tool that could revolutionize the pipeline inspection process....

  1. EM to Employ New Robotic Arms in Cleanup

    Broader source: Energy.gov [DOE]

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

  2. 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.

  3. Process for anodizing a robotic device

    DOE Patents [OSTI]

    Townsend, William T. (Weston, MA)

    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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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

  9. Modified acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B. (Shoreham, NY); Shanklin, John (Shoreham, NY); Lindgvist, Ylva (Jarfalla, SE); Schneider, Gunter (Jarfalla, SE)

    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.

  10. Modified Acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B. (Shoreham, NY); Shanklin, John (Shoreham, NY); Lindqvist, Ylva (Jarfalla, SE); Schneider, Gunter (Jarfalla, SE)

    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.

  11. 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...

  12. SCIENCE ON SATURDAY- "From Robot Soccer to Automotive Safety...

    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- "From Robot Soccer to Automotive Safety: An Optical Tour" Professor R. Andrew Hicks Department of...

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

    Energy Savers [EERE]

    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

  14. 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.

  15. NREL: Energy Systems Integration - ESIF Fueling Robot Automates Hydrogen

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

    Hose Reliability Testing ESIF Fueling Robot Automates Hydrogen Hose Reliability Testing Watch how an automated robot in the Energy Systems Integration Facility (ESIF) mimics fueling action to test hydrogen hoses for durability in real-world conditions. Text version Learn more about this work in this fact sheet. Printable Version Energy Systems Integration Home Capabilities Research & Development Facilities Working with Us Publications News Newsletter Energy Systems Integration News

  16. 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

  17. 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

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

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

    Energy Slideshow: Building a Better Future One Robot at a Time Slideshow: Building a Better Future One Robot at a Time April 3, 2014 - 2:30pm 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

  19. 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.

  20. 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.

  1. 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

  2. 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 (UGVs) as well as Unmanned Air Vehicles (UAVs). 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 UGVs and UAVs. 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.

  3. 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).

  4. Robotics Key to Subsea Exploration | GE Global Research

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

    Robotics Key to Subsea Exploration 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) Robotics Key to Subsea Exploration Bruno Betoni Parodi 2015.06.08 In my previous Edison's Desk blog entry I spoke about the challenges of going into deep sea exploration and the implications of working at 4,000 meters depth for

  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 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) 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) systems in the world. More than 1,000 CT

  6. 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.

  7. 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.

  8. 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.

  9. 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.'

  10. 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.

  11. 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...

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. Sandia helping to improve endurance of legged robots | National Nuclear

    National Nuclear Security Administration (NNSA)

    Security Administration helping to improve endurance of legged robots | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the Nuclear Navy Emergency Response Recapitalizing Our Infrastructure Countering Nuclear Terrorism About Our Programs Our History Who We Are Our Leadership Our Locations Budget Our Operations Library Bios Congressional Testimony Fact Sheets Newsletters Press Releases Photo

  17. Electrochemical apparatus comprising modified disposable rectangular

    Office of Scientific and Technical Information (OSTI)

    cuvette (Patent) | SciTech Connect Electrochemical apparatus comprising modified disposable rectangular cuvette Citation Details In-Document Search Title: Electrochemical apparatus comprising modified disposable rectangular cuvette 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

  18. 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...

  19. Method of modifying a surface

    DOE Patents [OSTI]

    Renk, Timothy J. (Albuquerque, NM); Sorensen, Neil R. (Albuquerque, NM); Senft, Donna Cowell (Albuquerque, NM); Buchheit, Jr., Rudolph G. (Columbus, OH); Thompson, Michael O. (Ithaca, NY); Grabowski, Kenneth S. (Alexandria, VA)

    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.

  20. 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 testing each rheology modifier, hence based on the changes in rheology for a given rheology modifier, rheology modifiers were either dropped or added between simulants. Three rheology modifiers were used on all simulants. The results from this testing indicate that citric acid or polycarboxylate based rheology modifiers are the most effective in reducing the yield stress, by as much as 70% at the higher rheology modifier additions and were effective on most of the tested simulants. These rheology modifiers are organic, hence the can also be used as reductants in melter operations. The most effective non-organic rheology modifiers, sodium metasilicate reduced the yield stress by 10%. It is recommended that both citric acid and commercially available polycarboxylate rheology modifiers be further investigated. Different molecular weight polycarboxylates and different types of polycarboxylates used in other industries must be considered. These polycarboxylates are extensively utilized in the cement, ceramic, and water treatment processes, hence readily available. Future work on DWPF melter feeds involving rheology modifiers should include, assuming the present method of processing sludge through DPWF does not change, is: (1) Investigate the use of polycarboxylate in various processes and procure polycarboxylates for testing. Limit rheology modifier selection and future testing between four and eight different types. (2) Test rheology modifiers on at least two different chemical types or bounding DWPF SME product simulants. Test to include the impact of boiling and the effectiveness in reducing water content via rheology versus weight percent curves. (3) Based on selected modifiers, perform testing on actual radioactive melter feed based on results from simulant testing.

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

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

    Gearing up for annual ... Gearing up for annual robotics competition Posted: April 6, 2015 - 1:22pm Mark Cook, CNS Mission Engineering, presents a check to Mike Wehrenberg, VP and General Manager of Kendall Electric, Inc., to help sponsor the Smoky Mountains Regional FIRST Robotics competition. Thanks to CNS employee and corporate donations, 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.

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

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

    Office of Scientific and Technical Information Science Showcase - 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

  3. 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)

    Complex Who's on FIRST? Inspiring ... Who's on FIRST? Inspiring STEM through robotics Posted: February 25, 2016 - 3:57pm Students from Farragut High School work on their entry for the FIRST (For Inspiration & Recognition of Science & Technology) robotics competition. Consolidated Nuclear Security, LLC plays an active role in strengthening the quality of FIRST (For Inspiration & Recognition of Science & Technology) robotics competitions for individual high school-aged teams in

  4. D&D Toolbox Robotic Deployment of High Resolution Laser Imaging for

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

    Characterization | Department of Energy Robotic Deployment of High Resolution Laser Imaging for Characterization D&D Toolbox Robotic Deployment of High Resolution Laser Imaging for Characterization The characterization of complex and/or hazardous facilities for the purposes of planning D&D projects can be excessively time consuming and present unacceptable hazards for personnel who enter or access the facility. PDF icon D&D Toolbox Robotic Deployment of High Resolution Laser

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

    DOE Patents [OSTI]

    Byrne, Raymond H. (Albuquerque, NM); Harrington, John J. (Albuquerque, NM); Eskridge, Steven E. (Albuquerque, NM); Hurtado, John E. (College Station, TX)

    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.

  6. DOE Selects Carnegie Mellon to Run Traineeship in Robotics | Department of

    Energy Savers [EERE]

    Energy Carnegie Mellon to Run Traineeship in Robotics DOE Selects Carnegie Mellon to Run Traineeship in Robotics March 16, 2016 - 1:00pm Addthis Media Contact: Darlene Prather, (202) 586- 8581 darlene.prather@hq.doe.gov 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. The 5-year cooperative

  7. 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,

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

    Broader source: Energy.gov [DOE]

    Science fiction is now science fact as remote-controlled robots work on tank waste removal and inspection at Savannah River Site (SRS).

  9. 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...

  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. USER INTERFACE FOR A TELE-OPERATED ROBOTIC HAND SYSTEM

    Energy Innovation Portal (Marketing Summaries) [EERE]

    2015-04-27

    A user interface for the teleoperation of a robotic hand. The user interface conducts a calibration procedure to determine a user’s applicable physiological dimensions and applies the physiological dimensions and a specific fingertip location to treat the user’s finger as a two link three degree-of-freedom serial linkage, in order to determine angles of interest through reverse kinematics. The user interface communicates the angles of interest to a gripping-type end effector...

  12. LANL hosts annual robot rodeo | National Nuclear Security Administration

    National Nuclear Security Administration (NNSA)

    robot rodeo | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the Nuclear Navy Emergency Response Recapitalizing Our Infrastructure Countering Nuclear Terrorism About Our Programs Our History Who We Are Our Leadership Our Locations Budget Our Operations Library Bios Congressional Testimony Fact Sheets Newsletters Press Releases Photo Gallery Jobs Apply for Our Jobs Our Jobs Working at NNSA Blog

  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. Modified Accelerated Cost-Recovery System (MACRS)

    Broader source: Energy.gov [DOE]

    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...

  15. 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...

  16. Nanoparticles modified with multiple organic acids

    DOE Patents [OSTI]

    Cook, Ronald Lee (Lakewood, CO); Luebben, Silvia DeVito (Golden, CO); Myers, Andrew William (Arvada, CO); Smith, Bryan Matthew (Boulder, CO); Elliott, Brian John (Superior, CO); Kreutzer, Cory (Brighton, CO); Wilson, Carolina (Arvada, CO); Meiser, Manfred (Aurora, CO)

    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.

  17. 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.

  18. 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.

  19. 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 appreciably change the pH of the waste; Organics are typically reductants and could impact glass REDOX if not accounted for in the reductant addition calculations; Stability of the modifiers in a caustic, radioactive environment is not known, but some of the modifiers tested were specifically designed to withstand caustic conditions; These acids will add to the total organic carbon content of the wastes. Radiolytic decomposition of the acids could result in organic and hydrogen gas generation. These potential impacts must be addressed in future studies with simulants representative of real waste and finally with tests using actual waste based on the rheology differences seen between SRS simulants and actual waste. The only non-organic modifier evaluated was sodium metasilicate. Further evaluation of this modifier is recommended if a reducing modifier is a concern.

  20. 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.

  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 untestedand currently costlycomponent of hydrogen fueling stations. The automated machine mimics the repetitive stress of a human bending and twisting the hose to refuel a vehicleall under the high pressure and low temperature required to deliver hydrogen to a fuel cell vehicle's onboard storage tank.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

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

    Office of Scientific and Technical Information (OSTI)

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

  7. 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...

  8. 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...

  9. 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 concentrations, ergonomics, and computer software. Industrial hygiene sampling indicated that worker exposures may be kept low enough during normal operation of BOA to eliminate the need for respiratory or heating protection while working around the cutting head and bagging operation. Airborne particulate measurements showed a slight rise over background levels during the operation of BOA, but the average of all the readings during operation was 1.6% of the OSHA respirable dust standard. Air sampling and noise monitoring showed dust to be negligible. Noise was shown to be a potential exposure hazard depending on worker location.

  10. 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.

  11. 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.

  12. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, Elliott M. (Pasadena, CA); Chang, Caren (Pasadena, CA); Bleecker, Anthony B. (Madison, WI)

    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.

  13. Plants having modified response to ethylene

    DOE Patents [OSTI]

    Meyerowitz, Elliot M. (Pasadena, CA); Chang, Caren (Pasadena, CA); Bleecker, Anthony B. (Madison, WI)

    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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. Steerable vertical to horizontal energy transducer for mobile robots

    DOE Patents [OSTI]

    Spletzer, Barry L. (Albuquerque, NM); Fischer, Gary J. (Albuquerque, NM); Feddema, John T. (Albuquerque, NM)

    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.

  20. 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.

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

    DOE Patents [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.

  2. D&D Toolbox Robotic Deployment of High Resolution Laser Imaging for Characterization

    Office of Environmental Management (EM)

    Tech Stage: Demonstration D&D Toolbox: Project OR-071203, OR-071303; Deployed at SRS P Reactor Area Closure Project PBS SR-0040 The robotically deployed laser surveying system was demonstrated in the Purification room of SRS P-Reactor on September 24, 2008. Page 1 of 2 Savannah River Site South Carolina Michigan D&D Toolbox Robotic Deployment of High Resolution Laser Imaging for Characterization Challenge The characterization of complex and/or hazardous facilities for the purposes of

  3. 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

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

    DOE Patents [OSTI]

    Feddema, John T. (Albuquerque, NM); Driessen, Brian J. (Albuquerque, NM); Kwok, Kwan S. (Albuquerque, NM)

    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.

  5. 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

  6. 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.

  7. 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.

  8. 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.

  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. 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...

  13. 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.

  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. 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, Jos 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.

  16. 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.

  17. Boron modified molybdenum silicide and products

    DOE Patents [OSTI]

    Meyer, Mitchell K. (Idaho Falls, ID); Akinc, Mufit (Ames, IA)

    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.

  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. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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)

  4. 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.

  5. Method of modifying a volume mesh using sheet extraction

    DOE Patents [OSTI]

    Borden, Michael J. (Albuquerque, NM); Shepherd, Jason F. (Albuquerque, NM)

    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.

  6. 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.

  7. 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.

  8. Webinar: Genetically Modified Algae: A Risk-Benefit Assessment | Department

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

    of Energy Webinar: Genetically Modified Algae: A Risk-Benefit Assessment Webinar: Genetically Modified Algae: A Risk-Benefit Assessment Genetically Modified (GM) Algae: A Risk-Benefit Assessment PDF icon gm_algae_webinar_october_2014 More Documents & Publications National Alliance for Advanced Biofuels and Bioproducts Synopsis (NAABB) Final Report National Alliance for Advanced Biofuels and Bioproducts Synopsis (NAABB) Hydrogen, Fuel Cells and Infrastructure Technologies Program: 2002

  9. 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.

  10. 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.

  11. Method of modifying a volume mesh using sheet insertion

    DOE Patents [OSTI]

    Borden, Michael J. (Albuquerque, NM); Shepherd, Jason F. (Albuquerque, NM)

    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.

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

    Office of Scientific and Technical Information (OSTI)

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

  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. Comment on ''Modifying the variational principle in theaction...

    Office of Scientific and Technical Information (OSTI)

    Comment on ''Modifying the variational principle in the action-integral-functional derivation of time-dependent density-functional theory'' Citation Details In-Document Search ...

  15. 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

  16. 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 trajectories over 15 min, with a maximal RMSE of 0.04 mm translationally and 0.04 rotationally, and a prostate trajectory over 2 min, with a maximal RMSE of 0.06 mm translationally and 0.04 rotationally. Conclusions: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Such functionality makes the robotic phantom usable for either quality assurance or research purposes.

  17. 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 develop in powers of m and get the well-known approximation {delta}{approx_equal}(6{pi}m/r)

  18. 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.

  19. 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.

  20. 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.

  1. 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)

    Plasma Physics Lab 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 Coastal Physical Oceanography, Rutgers University Presentation: PDF icon SOS16MAR2013_JKohut.pdf Science on Saturday is a series of lectures given by scientists, mathematicians, and other professionals involved in cutting-edge research. Held on Saturday mornings throughout winter, the

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

    National Nuclear Security Administration (NNSA)

    Security Administration Robotics program gets boost from $10,000 donation | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the Nuclear Navy Emergency Response Recapitalizing Our Infrastructure Countering Nuclear Terrorism About Our Programs Our History Who We Are Our Leadership Our Locations Budget Our Operations Library Bios Congressional Testimony Fact Sheets Newsletters Press Releases

  3. 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.

  4. 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...

  5. Guidance Regarding Refinancing, Restructuring, or Modifying Loan Agreements

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

    Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract | Department of Energy Regarding Refinancing, Restructuring, or Modifying Loan Agreements Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract Guidance Regarding Refinancing, Restructuring, or Modifying Loan Agreements Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract Document addresses potential refinancing,

  6. Modified Theoretical Minimum Emittance Lattice for an Electron Storage Ring

    Office of Scientific and Technical Information (OSTI)

    with Extreme-Low Emittance (Journal Article) | SciTech Connect Modified Theoretical Minimum Emittance Lattice for an Electron Storage Ring with Extreme-Low Emittance Citation Details In-Document Search Title: Modified Theoretical Minimum Emittance Lattice for an Electron Storage Ring with Extreme-Low Emittance Authors: Jiao, Yi ; Cai, Yunhai ; Chao, Alexander Wu ; /SLAC Publication Date: 2013-06-04 OSTI Identifier: 1082826 Report Number(s): SLAC-REPRINT-2013-081 DOE Contract Number:

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

    Energy Savers [EERE]

    Energy Hanford 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

  8. Degradative and Morphological Characterization of POSS Modified Nanohybrid

    Office of Scientific and Technical Information (OSTI)

    Polyurethane Elastomers (Journal Article) | SciTech Connect Degradative and Morphological Characterization of POSS Modified Nanohybrid Polyurethane Elastomers Citation Details In-Document Search Title: Degradative and Morphological Characterization of POSS Modified Nanohybrid Polyurethane Elastomers Authors: Lewicki, J P ; Pielichowski, K ; Jancia, M ; Hebda, E ; Albo, R F ; Maxwell, R S Publication Date: 2014-02-06 OSTI Identifier: 1144750 Report Number(s): LLNL-JRNL-649713 DOE Contract

  9. First-principles studies on vacancy-modified interstitial diffusion

    Office of Scientific and Technical Information (OSTI)

    mechanism of oxygen in nickel, associated with large-scale atomic simulation techniques (Journal Article) | SciTech Connect First-principles studies on vacancy-modified interstitial diffusion mechanism of oxygen in nickel, associated with large-scale atomic simulation techniques Citation Details In-Document Search Title: First-principles studies on vacancy-modified interstitial diffusion mechanism of oxygen in nickel, associated with large-scale atomic simulation techniques Authors: Fang, H

  10. Is the proton electromagnetic form factor modified in nuclei? (Conference)

    Office of Scientific and Technical Information (OSTI)

    | SciTech Connect SciTech Connect Search Results Conference: Is the proton electromagnetic form factor modified in nuclei? Citation Details In-Document Search Title: Is the proton electromagnetic form factor modified in nuclei? Guided by the recent experimental confirmation of the validity of the Effective Momentum Approximation (EMA) in quasi-elastic scattering off nuclei, we have re-examined the extraction of the Longitudinal and Transverse Response Functions in medium-weight and heavy

  11. Is the proton electromagnetic form factor modified in nuclei? (Conference)

    Office of Scientific and Technical Information (OSTI)

    | SciTech Connect 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 accessing a document from the Department of Energy's (DOE) SciTech Connect. This site is a product of DOE's Office of Scientific and Technical Information (OSTI) and is provided as a public service. Visit OSTI to utilize additional information resources in energy science and technology. A paper copy

  12. Guidance Regarding Refinancing, Restructuring, or Modifying Loan Agreements

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

    Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract | Department of Energy Guidance Regarding Refinancing, Restructuring, or Modifying Loan Agreements Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract Guidance Regarding Refinancing, Restructuring, or Modifying Loan Agreements Entered into by an Energy Services Company Under a Federal Energy Savings Performance Contract Document addresses potential

  13. 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.

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

    Office of Environmental Management (EM)

    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. 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 mimic the real operating procedure as closely as possible. Additional recommendations on robotic brachytherapy systems include display of the operational state; capability of manual override; documented policies for independent check and data verification; intuitive interface displaying the implantation plan and visualization of needle positions and seed locations relative to the target anatomy; needle insertion in a sequential order; robotclinician and robotpatient interactions robustness, reliability, and safety while delivering the correct dose at the correct site for the correct patient; avoidance of excessive force on radioactive sources; delivery confirmation of the required number or position of seeds; incorporation of a collision avoidance system; system cleaning, decontamination, and sterilization procedures. These recommendations are applicable to end users and manufacturers of robotic brachytherapy systems.

  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. 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.

  18. 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.

  19. 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.

  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. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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 ? as ?=?(l)

  6. 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.

  7. Miniature modified Faraday cup for micro electron beams

    DOE Patents [OSTI]

    Teruya, Alan T. (Livermore, CA); Elmer, John W. (Danville, CA); Palmer, Todd A. (Livermore, CA); Walton, Chris C. (Berkeley, CA)

    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.

  8. 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.

  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 recovery of the system using custom fittings and a (to be developed) launch-chamber/-tube. The battery modules are used to power the system, by providing power to the robot's bus. The support modules perform the functions of centration for the rest of the train as well as odometry pickups using incremental encoding schemes. The electronics architecture is based on a distributed (8-bit) microprocessor architecture (at least 1 in ea. module) communicating to a (one of two) 32-bit SBC, which manages all video-processing, posture and motion control as well as CAN and wireless communications. The operator controls the entire system from an off-board (laptop) controller, which is in constant wireless communication with the robot train in the pipe. The sensor modules collect data and forward it to the robot operator computer (via the CAN-wireless communications chain), who then transfers it to a dedicated NDE data-storage and post-processing computer for further (real-time or off-line) analysis. CMU has fully designed every module in terms of the mechanical, electrical and software elements (architecture only). Substantial effort has gone into pre-prototyping to uncover mechanical, electrical and software issues for critical elements of the design. Design requirements for sensor-providers were also detailed and finalized and provided to them for inclusion in their designs. CMU is expecting to start 2006 with a detailed design effort for both mechanical and electrical components, followed by procurement and fabrication efforts in late winter/spring 2006. The assembly and integration efforts will occupy all of the spring and summer of 2006. Software development will also be a major effort in 2006, and will result in porting and debugging of code on the module- and train-levels in late summer and Fall of 2006. Final pipe mock-up testing is expected in late fall and early winter 2006 with an acceptance demonstration of the robot train (with a sensor-module mock-up) planned to DoE/NGA towards the end of 2006.

  10. Method of storing radioactive wastes using modified tobermorite

    DOE Patents [OSTI]

    Komarneni, Sridhar (State College, PA); Roy, Della M. (State College, PA)

    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.

  11. 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.

  12. 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/decomposition. In the process, criteria guide function allocation of components/operators and help ensure compatibility and feasibility. Through multiple function assignment options and varied function structures, multiple design concepts are created. All of the generated designs are then evaluated based on a number of relevant evaluation criteria: cost, dose, ergonomics, hazards, efficiency, etc. These criteria are computed using physical properties/parameters of each system based on the qualities an engineer would use to make evaluations. Nuclear processes such as oxide conversion and electrorefining are utilized to aid algorithm development and provide test cases for the completed program. Through our approach, we capture design knowledge related to manufacturing and other operations in hazardous environments to enable a computational program to automatically generate and evaluate system design concepts.

  13. 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.

  14. 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.

  15. 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.

  16. 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

  17. Furanic Modified Amine-based Curatives - Energy Innovation Portal

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

    Industrial Technologies Industrial Technologies Biomass and Biofuels Biomass and Biofuels Advanced Materials Advanced Materials Find More Like This Return to Search Furanic Modified Amine-based Curatives Battelle Memorial Institute Contact BMI About This Technology Publications: PDF Document Publication View Patent Application Here (137 KB) Technology Marketing SummaryAromatic diamines are currently used as curatives in an array of applications such as polyurea and epoxies. When used as

  18. 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.

  19. Modified Microbes Tolerate 50-Fold More Organic Acid - Energy Innovation

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

    Portal Modified Microbes Tolerate 50-Fold More Organic Acid Great Lakes Bioenergy Research Center Contact GLBRC About This Technology Technology Marketing Summary Production of industrial chemicals has long relied on petroleum-based starting material. As reserves of fossil carbon dwindle, a new approach is looking to microorganisms and their ability to convert renewable sources into valuable chemicals. The U.S. Department of Energy (DOE) recently targeted several 'building block' chemicals

  20. 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

  1. 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

  2. Modified polynomial function model for reversed-field pinches

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

    Modified polynomial function model for reversed-field pinches W. Shen and J. C. Sprott Department of Physics, University of Wisconsin, Madison, Wisconsin 53 706 (Received 26 November 1990; accepted 29 January 199 1) A generalized analytic representation for the magnetic field and current density profiles in a reversed-field pinch (RFP) is proposed. These profiles have zero current density at the wall and finite plasma pressure. The profiles are characterized by two free parameters here taken to

  3. 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.

  4. 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 rotational dimensions. Research was partially funded by NIH Grant T32 EB002103-21 from NIBIB. Contents are solely the responsibility of the authors and do not necessarily represent the official views of the NIBIB or NIH.

  5. 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 Learning Controller has little impact due to the variable nature of the wave period. We then introduce a new approach to HAT control, Ship Motion Compensation for Force Control Systems (SMCFCS). This basic approach uses inclinometer and acceleration information from the base of the robot to compensate for ship motion disturbances. Results of the simulation study show over an order of magnitude decrease in the disturbance force reflected back to the operator and an order of magnitude increase in positioning accuracy and resolution.

  6. 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...

  7. Structure and Electrochemistry of Vanadium-Modified LiFePO4 ...

    Office of Scientific and Technical Information (OSTI)

    Journal Article: Structure and Electrochemistry of Vanadium-Modified LiFePO4 Citation Details In-Document Search Title: Structure and Electrochemistry of Vanadium-Modified LiFePO4...

  8. Hydrogen peroxide modified sodium titanates with improved sorption capabilities

    DOE Patents [OSTI]

    Nyman, May D. (Albuquerque, NM); Hobbs, David T. (North Augusta, SC)

    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.

  9. 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.

  10. 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.

  11. 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.

  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 behaviors. Each module must have at a minimum an initialization routine, a parameter adjustment routine, and an update routine. The SMART runtime kernel runs continuously within a real-time embedded system. Each module is first set-up by the kernel, initialized, and then updated at a fixed rate whenever it is in context. The kernel responds to operator directed commands by changing the state of the system, changing parameters on individual modules, and switching behavioral modes. The SMART Editor is a tool used to define, verify, configure and generate source code for a SMART control system. It uses icon representations of the modules, code patches from valid configurations of the modules, and configuration files describing how a module can be connected into a system to lead the end-user in through the steps needed to create a final system. The SMART Supervisor serves as an interface to a SMART run-time system. It provides an interface on a host computer that connects to the embedded system via TCPIIP ASCII commands. It utilizes a scripting language (Tel) and a graphics windowing environment (Tk). This system can either be customized to fit an end-user's needs or completely replaced as needed.« less

  13. 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.

  14. 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.

  15. 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

  16. Morphological studies on block copolymer modified PA 6 blends

    SciTech Connect (OSTI)

    Poindl, M., E-mail: marcus.poindl@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de; Bonten, C., E-mail: marcus.poindl@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de [Institut fr Kunststofftechnik, University of Stuttgart (Germany)

    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.

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

    DOE Patents [OSTI]

    Gaffney, Thomas Richard (Allentown, PA); Golden, Timothy Christopher (Allentown, PA); Mayorga, Steven Gerard (Allentown, PA); Brzozowski, Jeffrey Richard (Bethlehem, PA); Taylor, Fred William (Allentown, PA)

    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.

  18. 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)

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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 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 recovery of the system using custom fittings and a (to be developed) launch-chamber/-tube. The battery modules are used to power the system, by providing power to the robot's bus. The support modules perform the functions of centration for the rest of the train as well as odometry pickups using incremental encoding schemes. The electronics architecture is based on a distributed (8-bit) microprocessor architecture (at least 1 in ea. module) communicating to a (one of two) 32-bit SBC, which manages all video-processing, posture and motion control as well as CAN and wireless communications. The operator controls the entire system from an off-board (laptop) controller, which is in constant wireless communication with the robot train in the pipe. The sensor modules collect data and forward it to the robot operator computer (via the CAN-wireless communications chain), who then transfers it to a dedicated NDE data-storage and post-processing computer for further (real-time or off-line) analysis. The prototype robot system was built and tested indoors and outdoors, outfitted with a Remote-Field Eddy Current (RFEC) sensor integrated as its main NDE sensor modality. An angled launcher, allowing for live launching and retrieval, was also built to suit custom angled launch-fittings from TDW. The prototype vehicle and launcher systems are shown. The complete system, including the in-pipe robot train, launcher, integrated NDE-sensor and real-time video and control console and NDE-data collection and -processing and real-time display, were demonstrated to all sponsors prior to proceeding into final field-trials--the individual components and setting for said acceptance demonstration are shown. The launcher-tube was also used to verify that the vehicle system is capable of operating in high-pressure environments, and is safely deployable using proper evacuating/purging techniques for operation in the po

  5. 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 through the use of auxiliaries, to be developed in a follow-on phase, that will allow insertion of additional antennas and battery recharge plugs into the pipe under live conditions through inexpensive keyhole sized excavations. The proposed system significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. This development program is a joint effort among the New York Gas Group (NYGAS; a trade association of the publicly owned gas utilities in New York State), the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), Carnegie Mellon University's (CMU) National Robotics Engineering Consortium (NREC), and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL). The DOE's contribution to this project is $499,023 out of a total of $780,735 (not including NASA's contribution). The present report summarizes the accomplishments of the project during the first six months since funding from DOE commenced. The project has achieved its goals for this period as outlined in the report. Currently the fabrication of the prototype is in progress and it should be completed by late-summer 2002. Testing of the prototype in the lab is expected to be completed by November 2002, to be followed by two field demonstrations in early 2003.

  6. 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; Elekta Sponsored Research.

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

    DOE Patents [OSTI]

    Wong, Kwong-Kwok (Richland, WA)

    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.

  8. 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.

  9. 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.

  10. EIS-0283-S2: Amended Notice of Intent to Modify the Scope of the

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

    Supplemental Environmental Impact Statement and Conduct Additional Public Scoping | Department of Energy 283-S2: Amended Notice of Intent to Modify the Scope of the Supplemental Environmental Impact Statement and Conduct Additional Public Scoping EIS-0283-S2: Amended Notice of Intent to Modify the Scope of the Supplemental Environmental Impact Statement and Conduct Additional Public Scoping Surplus Plutonium Disposition The U.S. Department of Energy (DOE) announces its intent to modify the

  11. 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 PDF icon 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 More Documents & Publications EIS-0407:

  12. 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.

  13. 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

  14. 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.

  15. Modified T4 Lysozyme Fusion Proteins Facilitate G Protein-Coupled...

    Office of Scientific and Technical Information (OSTI)

    Facilitate G Protein-Coupled Receptor Crystallogenesis Citation Details In-Document Search Title: Modified T4 Lysozyme Fusion Proteins Facilitate G Protein-Coupled Receptor ...

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

    DOE Patents [OSTI]

    Srienc, Friedrich (Lake Elmo, MN); Jackson, John K. (Plymouth, MN); Somers, David A. (Roseville, MN)

    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.

  17. 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)

  18. 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,...

  19. Method of producing titanium-modified austenitic steel having improved swelling resistance

    DOE Patents [OSTI]

    Megusar, Janez (Belmont, MA); Grant, Nicholas J. (Winchester, MA)

    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.

  20. 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.

  1. 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.

  2. 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.

  3. 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 differences were found in favor of the robotic platform in terms of rectum V50Gy and bladder V65Gy at a cost of 25% longer treatment time.

  4. 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.

  5. 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 efficiency of the bentonite membrane for each of the dilutions. We found that membrane efficiency decreased with increasing solute concentration and with increasing TDS. The rejection of SO{sub 4}{sup 2-} was greater than Cl{sup -}. This may be because the SO{sub 4}{sup 2-} concentration was much lower than the Cl{sup -} concentration in the waters tested. The cation rejection sequence varied with solute concentration and TDS. The solute rejection sequence for multi-component solutions is difficult to predict for synthetic membranes; it may not be simple for clay membranes either. The permeate flows in our experiments were 4.1 to 5.4% of the total flow. This suggests that very thin clay membranes may be useful for some separations. Work on development of a spiral-wound clay membrane module found that it is difficult to maintain compaction of the membrane if the membrane is rolled and then inserted in the outer tube. A different design was tried using a cylindrical clay membrane and this also proved difficult to assemble with adequate membrane compaction. The next step is to form the membrane in place using hydraulic pressure on a thin slurry of clay in either water or a nonpolar organic solvent such as ethanol. Technology transfer efforts included four manuscripts submitted to peer-reviewed journals, two abstracts, and chairing a session on clays as membranes at the Clay Minerals Society annual meeting.

  6. 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 stable rejection rates over time for chloride for a range of concentrations between 0.01 and 2.5 M. One membrane ran in excess of three months with no apparent loss of usability. This suggests that clay membranes may have a long useable life. Twenty different hyperfiltration-induced solute precipitation experiments were either attempted or completed and are reported here. The results of these experiments suggest that hyperfiltration-induced solute precipitation is possible, even for very soluble substances such as NaCl. However, the precipitation rates obtained in the laboratory do not appear to be adequate for commercial application at this time. Future experiments will focus on making the clay membranes more compact and thinner in order to obtain higher flux rates. Two alternative methods of removing solutes from solution, for which the New Mexico Tech Research Foundation is preparing patent applications, are also being investigated. These methods will be described in the next annual report after the patent applications are filed. Technology transfer efforts included two meetings (one in Farmington NM, and one in Hobbs, NM) where the results of this research were presented to independent oil producers and other interested parties. In addition, members of the research team gave seven presentations concerning this research and because of this research project T. M. (Mike) Whitworth was asked to sit on the advisory board for development of a new water treatment facility for the City of El Paso, Texas. Several papers are in preparation for submission to peer-reviewed journals based on the data presented in this report.

  7. Modifying the response of Ehrlich ascites tumor cells to nitrogen mustard

    Office of Scientific and Technical Information (OSTI)

    (HN/sub 2/) by vincristine, Ca and liposomes (Conference) | SciTech Connect Conference: Modifying the response of Ehrlich ascites tumor cells to nitrogen mustard (HN/sub 2/) by vincristine, Ca and liposomes Citation Details In-Document Search Title: Modifying the response of Ehrlich ascites tumor cells to nitrogen mustard (HN/sub 2/) by vincristine, Ca and liposomes Though vincristine (0.5mg/kg) has no significant carcinostatic effect on Ehrlich ascites tumor cells, it does modify the

  8. Mechanistic study of methanol synthesis from CO₂ and H₂ on a modified

    Office of Scientific and Technical Information (OSTI)

    model Mo₆S₈ cluster (Journal Article) | SciTech Connect Mechanistic study of methanol synthesis from CO₂ and H₂ on a modified model Mo₆S₈ cluster Citation Details In-Document Search Title: Mechanistic study of methanol synthesis from CO₂ and H₂ on a modified model Mo₆S₈ cluster We report the methanol synthesis from CO₂ and H₂ on metal (M = K, Ti, Co, Rh, Ni, and Cu)-modified model Mo₆S₈ catalyst using density functional theory (DFT). The results show that the

  9. Testing the Time-Reversal Modified Universality of the Sivers Function

    Office of Scientific and Technical Information (OSTI)

    (Journal Article) | SciTech Connect Testing the Time-Reversal Modified Universality of the Sivers Function Citation Details In-Document Search Title: Testing the Time-Reversal Modified Universality of the Sivers Function We derive the time-reversal modified universality for both quark and gluon Sivers functions from the parity and time-reversal invariance of QCD. We calculate the single transverse-spin asymmetry of inclusive lepton from the decay of W bosons in polarized proton-proton

  10. 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...

  11. 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.

  12. 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...

  13. 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.

  14. 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.;...

  15. EIS-0463: Amended Notice of Intent To Modify the Scope of the...

    Office of Environmental Management (EM)

    of the EIS and Conduct Additional Public Scoping Meetings, Notice of Floodplains and Wetlands Involvement EIS-0463: Amended Notice of Intent To Modify the Scope of the EIS and...

  16. Improving Costs and Efficiency of PEM Fuel Cell Vehicles by Modifying...

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

    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...

  17. 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.

  18. EIS-0283-S2: Amended Notice of Intent to Modify the Scope of the

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

    Supplemental Environmental Impact Statement and Conduct Additional Public Scoping | Department of Energy The U.S. Department of Energy (DOE) announces its intent to modify the scope of the Surplus Plutonium Disposition Supplemental Environmental Impact Statement and to conduct additional public scoping. For more information on this project, see the project webpage: http://energy.gov/node/299815. Download Document PDF icon EIS-0283-S2: Amended Notice of Intent to Modify the Scope of the

  19. Modified T4 Lysozyme Fusion Proteins Facilitate G Protein-Coupled Receptor

    Office of Scientific and Technical Information (OSTI)

    Crystallogenesis (Journal Article) | SciTech Connect Modified T4 Lysozyme Fusion Proteins Facilitate G Protein-Coupled Receptor Crystallogenesis Citation Details In-Document Search Title: Modified T4 Lysozyme Fusion Proteins Facilitate G Protein-Coupled Receptor Crystallogenesis Authors: Thorsen, Thor Seneca ; Matt, Rachel ; Weis, William I. ; Kobilka, Brian K. [1] + Show Author Affiliations (Stanford-MED) Publication Date: 2014-11-01 OSTI Identifier: 1182298 Resource Type: Journal Article

  20. Reduced-Order Model Based Feedback Control For Modified Hasegawa-Wakatani

    Office of Scientific and Technical Information (OSTI)

    Model (Technical Report) | SciTech Connect 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 Hasegawa-Wakatani Model In this work, the development of model-based feedback control that stabilizes an unstable equilibrium is obtained for the Modi ed Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation (a model reduction

  1. In-situ characterization of plasma modified surfaces by vibrational sum

    Office of Scientific and Technical Information (OSTI)

    frequency generation spectroscopy. (Conference) | SciTech Connect In-situ characterization of plasma modified surfaces by vibrational sum frequency generation spectroscopy. Citation Details In-Document Search Title: In-situ characterization of plasma modified surfaces by vibrational sum frequency generation spectroscopy. No abstract prepared. Authors: Hebner, Gregory Albert ; Barnat, Edward V. ; Farrow, Darcie Publication Date: 2010-10-01 OSTI Identifier: 1027046 Report Number(s):

  2. CHARACTERIZATION OF NEAR NET-SHAPE CASTABLE RARE EARTH MODIFIED ALUMINUM

    Office of Scientific and Technical Information (OSTI)

    ALLOYS FOR HIGH TEMPERATURE APPLICATION (Conference) | SciTech Connect Conference: CHARACTERIZATION OF NEAR NET-SHAPE CASTABLE RARE EARTH MODIFIED ALUMINUM ALLOYS FOR HIGH TEMPERATURE APPLICATION Citation Details In-Document Search Title: CHARACTERIZATION OF NEAR NET-SHAPE CASTABLE RARE EARTH MODIFIED ALUMINUM ALLOYS FOR HIGH TEMPERATURE APPLICATION Authors: Sims, Zachary C [1] ; Rios, Orlando [1] ; McCall, S. K. [2] ; Ott, Dr. Ryan T. [3] ; Van Buuren, Tony [2] + Show Author Affiliations

  3. 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

  4. 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.

  5. 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.

  6. EIS-0463: Amended Notice of Intent To Modify the Scope of the EIS and

    Office of Environmental Management (EM)

    Conduct Additional Public Scoping Meetings, Notice of Floodplains and Wetlands Involvement | Department of Energy Amended Notice of Intent To Modify the Scope of the EIS and Conduct Additional Public Scoping Meetings, Notice of Floodplains and Wetlands Involvement EIS-0463: Amended Notice of Intent To Modify the Scope of the EIS and Conduct Additional Public Scoping Meetings, Notice of Floodplains and Wetlands Involvement Department of Energy - Presidential Permit Application for Northern

  7. 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.

  8. 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.

  9. 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)

    None

    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.

  10. 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

  11. 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.

  12. 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.

  13. 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)

  14. 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)

  15. Plants having modified response to ethylene by transformation with an ETR nucleic acid

    DOE Patents [OSTI]

    Meyerowitz, Elliott M. (Pasadena, CA); Chang, Caren (Pasadena, CA); Bleecker, Anthony B. (Madison, WI)

    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.

  16. 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 ?CDM in the case of primordial non-Gaussian models is in large scales, while the growth rate deviates from ?CDM 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.

  17. 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.

  18. WORKING DRAFT Last Modified 7/13/2014 9:34 PM Pacific Standard Time

    Gasoline and Diesel Fuel Update (EIA)

    DRAFT Last Modified 7/13/2014 9:34 PM Pacific Standard Time Printed 7/13/2014 9:36 PM Pacific Standard Time China Energy Demand Perspective EIA presentation July 2014 CONFIDENTIAL AND PROPRIETARY Any use of this material without specific permission of McKinsey & Company is strictly prohibited Last Modified 7/13/2014 9:34 PM Pacific Standard Time Printed 7/13/2014 9:36 PM Pacific Standard Time McKinsey & Company | 1 Key Points On Asian Energy Demand We have developed a granular view of

  19. 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.

  20. Modified magnetism within the coherence volume of superconducting Fe1+delta

    Office of Scientific and Technical Information (OSTI)

    SexTe1-x (Journal Article) | SciTech Connect Modified magnetism within the coherence volume of superconducting Fe1+delta SexTe1-x Citation Details In-Document Search Title: Modified magnetism within the coherence volume of superconducting Fe1+delta SexTe1-x Authors: Leiner J. ; Thampy V. ; Christianson, A. D. ; Abernathy, D. L. ; Stone, M. B. ; Lumsden, M. D. ; Sefat, A. S. ; Sales, B. C. ; Hu, Jin ; Mao, Zhiqiang ; Bao, Wei ; Broholm, C. Publication Date: 2014-09-01 OSTI Identifier: 1174093

  1. A new design for a disposable and modifiable electrochemical cell (Journal

    Office of Scientific and Technical Information (OSTI)

    Article) | SciTech Connect Journal Article: 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 Authors: Dattelbaum, Andrew M [1] ; Gupta, Gautam [1] + Show Author Affiliations Los Alamos National Laboratory Publication Date: 2011-09-09 OSTI Identifier: 1095867 Report Number(s): LA-UR-11-05239; LA-UR-11-5239 DOE Contract Number: AC52-06NA25396 Resource Type: Journal

  2. Biofouling-resistant ceragenin-modified materials and structures for water treatment

    DOE Patents [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.

  3. Process for preparing chemically modified micas for removal of cesium salts from aqueous solution

    DOE Patents [OSTI]

    Yates, Stephen Frederic (1539 S. Kennicott Dr., Arlington Heights, IL 60005); DeFilippi, Irene (208 E. Edgewood La., Palatine, IL 60067); Gaita, Romulus (6646 Davis Rd., Morton Grove, IL 60053); Clearfield, Abraham (Department of Chemistry, Texas A& M University, College Station, TX 77843); Bortun, Lyudmila (Department of Chemistry, Texas A& M University, College Station, TX 77843); Bortun, Anatoly (Department of Chemistry, Texas A& M University, College Station, TX 77843)

    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.

  4. 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

  5. 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.

  6. 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.

  7. Process for producing modified microorganisms for oil treatment at high temperatures, pressures and salinity

    DOE Patents [OSTI]

    Premuzic, Eugene T. (East Moriches, NY); Lin, Mow (Rocky Point, NY)

    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%.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. Bacteria Modified to Secrete Biologically Active Protein for Large-Scale

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

    Production - Energy Innovation Portal Bacteria Modified to Secrete Biologically Active Protein for Large-Scale Production Inventors: Sydnor Withers III, Miguel Dominguez, Matthew DeLisa, Charles Haitjema Great Lakes Bioenergy Research Center Contact GLBRC About This Technology Technology Marketing Summary E. coli is the most common prokaryote used to produce protein. The expressed protein generally accumulates in the cytoplasm. While this approach is useful for some proteins, not all

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

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

    Temperature Conversion of Methanol and Dimethyl Ether to Gasoline-range Branched Hydrocarbons - Energy Innovation Portal Biomass and Biofuels Biomass and Biofuels Find More Like This Return to Search Highly Active and Selective Metal-modified Zeolite Catalysts for Low Temperature Conversion of Methanol and Dimethyl Ether to Gasoline-range Branched Hydrocarbons National Renewable Energy Laboratory Contact NREL About This Technology Technology Marketing Summary Recent investigations by a

  16. 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

  17. Excerpts from the FAPAC Constitution and Bylaws Modified and Adopted by

    National Nuclear Security Administration (NNSA)

    FAPAC-NM | National Nuclear Security Administration Excerpts from the FAPAC Constitution and Bylaws Modified and Adopted by FAPAC-NM | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the Nuclear Navy Emergency Response Recapitalizing Our Infrastructure Countering Nuclear Terrorism About Our Programs Our History Who We Are Our Leadership Our Locations Budget Our Operations Library Bios

  18. 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.

  19. 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)

  20. 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.

  1. 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.

  2. 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.

  3. Method of precisely modifying predetermined surface layers of a workpiece by cluster ion impact therewith

    DOE Patents [OSTI]

    Friedman, Lewis (Patchogue, NY); Buehler, Robert J. (Patchogue, NY); Matthew, Michael W. (East Patchogue, NY); Ledbetter, Myron (Belle Terre, NY)

    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.

  4. 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.

  5. 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.

  6. 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.

  7. Surface Modified Particles By Multi-Step Addition And Process For The Preparation Thereof

    DOE Patents [OSTI]

    Cook, Ronald Lee (Lakewood, CO); Elliott, Brian John (Superior, CO); Luebben, Silvia DeVito (Golden, CO); Myers, Andrew William (Arvada, CO); Smith, Bryan Matthew (Boulder, CO)

    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.

  8. 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.

  9. 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.

  10. 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. (Lexington, KY)

    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.

  11. Analysis of higher harmonic contamination with a modified approach using a grating analyser

    SciTech Connect (OSTI)

    Gupta, Rajkumar Modi, Mohammed H.; Lodha, G. S.; Kumar, M.; Chakera, J. A.

    2014-04-15

    Soft x-ray spectra of the toroidal grating monochromator (TGM) at the reflectivity beamline of Indus-1 synchrotron source are analyzed for higher harmonic contribution. A diffraction grating of central line spacing 1200 l/mm is used to disperse the monochromatic beam received from TGM to quantify the harmonic contents in the 50–360 Å wavelength range. In order to calculate the harmonic contamination, conventionally the intensity of higher order peak is divided by first order peak intensity of the desired wavelength. This approach is found to give wrong estimate as first order peak itself is overlapped by higher order peaks. In the present study, a modified approach has been proposed to calculate harmonic contamination where the intensity contributions of overlapping orders have been removed from the first order diffraction peak of the desired wavelength. It is found that the order contamination in the TGM spectra is less than 15% in the wavelength range of 90–180 Å. The total harmonic contribution increases from 6%–60% in the wavelength range of 150–260 Å. The critical wavelength of Indus-1 is 61 Å hence the harmonic contamination below 90 Å is significantly low. The results obtained with modified approach match well with those obtained by quantitative analysis of multilayer reflectivity data. The obtained higher harmonics data are used to fit the transmission of aluminum edge filter in the 120–360 Å wavelength range.

  12. Modified biokinetic model for uranium from analysis of acute exposure to UF6

    SciTech Connect (OSTI)

    Fisher, D.R.; Kathren, R.L.; Swint, M.J. )

    1991-03-01

    Urinalysis measurements from 31 workers acutely exposed to uranium hexafluoride (UF6) and its hydrolysis product UO2F2 (during the 1986 Gore, Oklahoma UF6-release accident) were used to develop a modified recycling biokinetic model for soluble U compounds. The model is expressed as a five-compartment exponential equation: yu(t) = 0.086e-2.77t + 0.0048e-0.116t + 0.00069e-0.0267t + 0.00017 e-0.00231t + 2.5 x 10(-6) e-0.000187t, where yu(t) is the fractional daily urinary excretion and t is the time after intake, in days. The excretion constants of the five exponential compartments correspond to residence half-times of 0.25, 6, 26, 300, and 3,700 d in the lungs, kidneys, other soft tissues, and in two bone volume compartments, respectively. The modified recycling model was used to estimate intake amounts, the resulting committed effective dose equivalent, maximum kidney concentrations, and dose equivalent to bone surfaces, kidneys, and lungs.

  13. THERMAL ENHANCEMENT CARTRIDGE HEATER MODIFIED TECH MOD TRITIUM HYDRIDE BED DEVELOPMENT PART I DESIGN AND FABRICATION

    SciTech Connect (OSTI)

    Klein, J.; Estochen, E.

    2014-03-06

    The Savannah River Site (SRS) tritium facilities have used 1{sup st} generation (Gen1) LaNi{sub 4.25}Al{sub 0.75} (LANA0.75) metal hydride storage beds for tritium absorption, storage, and desorption. The Gen1 design utilizes hot and cold nitrogen supplies to thermally cycle these beds. Second and 3{sup rd} generation (Gen2 and Gen3) storage bed designs include heat conducting foam and divider plates to spatially fix the hydride within the bed. For thermal cycling, the Gen2 and Gen 3 beds utilize internal electric heaters and glovebox atmosphere flow over the bed inside the bed external jacket for cooling. The currently installed Gen1 beds require replacement due to tritium aging effects on the LANA0.75 material, and cannot be replaced with Gen2 or Gen3 beds due to different designs of these beds. At the end of service life, Gen1 bed desorption efficiencies are limited by the upper temperature of hot nitrogen supply. To increase end-of-life desorption efficiency, the Gen1 bed design was modified, and a Thermal Enhancement Cartridge Heater Modified (TECH Mod) bed was developed. Internal electric cartridge heaters in the new design to improve end-of-life desorption, and also permit in-bed tritium accountability (IBA) calibration measurements to be made without the use of process tritium. Additional enhancements implemented into the TECH Mod design are also discussed.

  14. 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.

  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. 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

  18. 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

  19. 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.

  20. Enhanced modified faraday cup for determination of power density distribution of electron beams

    DOE Patents [OSTI]

    Elmer, John W. (Danville, CA); Teruya, Alan T. (Livermore, CA)

    2001-01-01

    An improved tomographic technique for determining the power distribution of an electron or ion beam using electron beam profile data acquired by an enhanced modified Faraday cup to create an image of the current density in high and low power ion or electron beams. A refractory metal disk with a number of radially extending slits, one slit being about twice the width of the other slits, is placed above a Faraday cup. The electron or ion beam is swept in a circular pattern so that its path crosses each slit in a perpendicular manner, thus acquiring all the data needed for a reconstruction in one circular sweep. The enlarged slit enables orientation of the beam profile with respect to the coordinates of the welding chamber. A second disk having slits therein is positioned below the first slit disk and inside of the Faraday cup and provides a shield to eliminate the majority of secondary electrons and ions from leaving the Faraday cup. Also, a ring is located below the second slit disk to help minimize the amount of secondary electrons and ions from being produced. In addition, a beam trap is located in the Faraday cup to provide even more containment of the electron or ion beam when full beam current is being examined through the center hole of the modified Faraday cup.

  1. Magnetorheological finishing of chemical-vapor deposited zinc sulfide via chemically and mechanically modified fluids

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

    Salzman, Sivan; Romanofsky, Henry J.; Giannechini, Lucca J.; Jacobs, Stephen D.; Lambropoulos, John C.

    2016-02-19

    In this study, we describe the anisotropy in the material removal rate (MRR) of the polycrystalline, chemical-vapor deposited zinc sulfide (ZnS).We define the polycrystalline anisotropy via microhardness and chemical erosion tests for four crystallographic orientations of ZnS: (100), (110), (111), and (311). Anisotropy in the MRR was studied under magnetorheological finishing (MRF) conditions. Three chemically and mechanically modified magnetorheological (MR) fluids at pH values of 4, 5, and 6 were used to test the MRR variations among the four single-crystal planes. When polishing the single-crystal planes and the polycrystalline with pH 5 and pH 6MR fluids, variations were found inmore » the MRR among the four single-crystal planes and surface artifacts were observed on the polycrystalline material. When polishing the single-crystal planes and the polycrystalline with the modified MR fluid at pH 4, however, minimal variation was observed in the MRR among the four orientations and a reduction in surface artifacts was achieved on the polycrystalline material.« less

  2. 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? 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? and a maximum power density of 44 800 W kg? can be realized at the ultrafast rate of 30 C (24 A g?), which is over one order of magnitude higher than that of the state-of-the-art primary lithium-ion batteries.

  3. 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.

  4. 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{sub 2}. Conclusions: The authors proposed a method to measure and validate peri-operative shifts of the heart during RA-CABG. In vitro and clinical validation studies were conducted and yielded a TRE in the order of 5 mm for all cases. As the desired clinical accuracy imposed by this procedure is on the order of one intercostal space (10-15 mm), our technique suits the clinical requirements. The authors therefore believe this technique has the potential to improve the pre-operative planning by updating peri-operative migration patterns of the heart and, consequently, will lead to reduced conversion to conventional open thoracic procedures.

  5. Sponsors | Robotics Internship Program

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

    manufacturing technologies to reduce life-cycle energy and greenhouse gas emissions, lower production cost, and create new products and opportunities for high paying jobs. An...

  6. 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...

  7. 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.

  8. Mechanistic study of methanol synthesis from CO₂ and H₂ on a modified model Mo₆S₈ cluster

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

    Liu, Cheng; Liu, Ping

    2015-01-12

    We report the methanol synthesis from CO₂ and H₂ on metal (M = K, Ti, Co, Rh, Ni, and Cu)-modified model Mo₆S₈ catalyst using density functional theory (DFT). The results show that the catalytic behavior of a Mo₆S₈ cluster is changed significantly due to the modifiers, via the electron transfer from M to Mo₆S₈ and therefore the reduction of the Mo cation (ligand effect) and the direct participation of M in the reaction (ensemble effect) to promote some elementary steps. With the most positively charged modifier, the ligand effect in the case of K-Mo₆S₈ is the most obvious among themore » systems studied; however it cannot compete with the ensemble effect, which plays a dominate role in determining activity via the electrostatic attraction in particular to stabilize the CHxOy species adsorbed at the Mo sites of Mo₆S₈. In comparison, the ligand effect is weaker and the ensemble effect is more important when the other modifiers are used. In addition, the modifiers also vary the optimal reaction pathway for methanol synthesis on Mo₆S₈, ranging from the reverse water-gas shift (RWGS) + CO hydrogenation as that of Mo₆S₈ to the formate pathway. Finally, K is able to accelerate the methanol synthesis on Mo₆S₈ the most; while the promotion by Rh is relatively small. Using the modifiers like Ti, Co, Ni, and Cu, the activity of Mo₆S₈ is decreased instead. The relative stability between *HCOO and *HOCO is identified as a descriptor to capture the variation in mechanism and scales well with the estimated activity. Our study not only provides better understanding of the reaction mechanism and actives on the modified Mo₆S₈, but also predicts some possible candidates, which can be used a promoter to facilitate the CH₃OH synthesis on Mo sulfides.« less

  9. Ductile fracture toughness of modified A 302 Grade B Plate materials, data analysis. Volume 1

    SciTech Connect (OSTI)

    McCabe, D.E.; Manneschmidt, E.T.; Swain, R.L.

    1997-01-01

    The goal of this work was to develop ductile fracture toughness data in the form of J-R curves for modified A302 grade B plate materials typical of those used in reactor pressure vessels. A previous experimental study on one heat of A302 grade B plate showed decreasing J-R curves with increased specimen thickness. This characteristic has not been observed in tests made on recent production materials of A533 grade B and A508 class 2 pressure vessel steels. It was unknown if the departure from norm for the material was a generic characteristic for all heats of A302 grade B steels or unique to that particular plate. Seven heats of modified A302 grade B steel and one heat of vintage A533 grade B steel were tested for chemical content, tensile properties, Charpy transition temperature curves, drop-weight nil-ductility transition (NDT) temperature, and J-R curves. Tensile tests were made in the three principal orientations and at four temperatures, ranging from room temperature to 550F. Charpy V-notch transition temperature curves were obtained in longitudinal, transverse, and short transverse orientations. J-R curves were made using four specimen sizes (1/2T, 1T, 2T, and 4T). The fracture mechanics-based evaluation method covered three test orientations and three test temperatures (80, 400, and 550F). However, the coverage of these variables was contingent upon the amount of material provided. Drop-weight NDT temperature was determined for the T-L orientation only. None of the heats of modified A302 grade B showed size effects of any consequence on the J-R curve behavior. Crack orientation effects were present, but none were severe enough to be reported as atypical. A test temperature increase from 180 to 550F produced the usual loss in J-R curve fracture toughness. Generic J-R curves and curve fits were generated to represent each heat of material. This volume deals with the evaluation of data and the discussion of technical findings. 8 refs., 18 figs., 8 tabs.

  10. Visible light activated photocatalytic behaviour of rare earth modified commercial TiO{sub 2}

    SciTech Connect (OSTI)

    Tobaldi, D.M.; Seabra, M.P.; Labrincha, J.A.

    2014-02-01

    Highlights: RE gave more surface hydroxyl groups attached to the photocatalyst's surface. RE gave the modified and fired samples a high specific surface area. Photocatalytic activity was assessed in gassolid phase under visible-light exposure. Thermal treated RE-TiO{sub 2}s showed a superior visible-light photocatalytic activity. La-TiO{sub 2} was the best performing photocatalyst. - Abstract: A commercial TiO{sub 2} nanopowder, Degussa P25, was modified with several rare earth (RE) elements in order to extend its photocatalytic activity into the visible range. The mixtures were prepared via solid-state reaction of the precursor oxides, and thermally treated at high temperature (900 and 1000 C), with the aim of investigating the photocatalytic activity of the thermally treated samples. This thermal treatment was chosen for a prospective application as a surface layer in materials that need to be processed at high temperatures. The photocatalytic activity (PCA) of the samples was assessed in gassolid phase monitoring the degradation of isopropanol (IPA) under visible-light irradiation. Results showed that the addition of the REs lanthanum, europium and yttrium to TiO{sub 2} greatly improved its photocatalytic activity, despite the thermal treatment, because of the presence of more surface hydroxyl groups attached to the photocatalyst's surface, together with a higher specific surface area (SSA) of the modified and thermally treated samples, with regard to the unmodified and thermally treated Degussa P25. The samples doped with La, Eu and Y all had excellent PCA under visible-light irradiation, even higher than the untreated Degussa P25 reference sample, despite their thermal treatment at 900 C, with lanthanum producing the best results (i.e. the La-, Eu- and Y-TiO{sub 2} samples, thermally treated at 900 C, had, respectively, a PCA equal to 26, 27 and 18 ppm h{sup ?1} in terms of acetone formation versus 15 ppm h{sup ?1} for the 900 C thermally treated Degussa P25). On the other hand, CeTiO{sub 2}s had no significant photocatalytic activity.

  11. A Mechanistic Study of Chemically Modified Inorganic Membranes for Gas and Liquid Separations

    SciTech Connect (OSTI)

    Way, J Douglas

    2011-01-21

    This final report will summarize the progress made during the period August 1, 1993 - October 31, 2010 with support from DOE grant number DE-FG03-93ER14363. The objectives of the research have been to investigate the transport mechanisms in micro- and mesoporous, metal oxide membranes and to examine the relationship between the microstructure of the membrane, the membrane surface chemistry, and the separation performance of the membrane. Examples of the membrane materials under investigation are the microporous silica hollow fiber membrane manufactured by PPG Industries, chemically modified mesoporous oxide membranes, and polymer membranes containing microporous oxides (mixed matrix membranes). Analytical techniques such as NMR, FTIR and Raman spectroscopy, thermal analysis, and gas adsorption were used to investigate membrane microstructure and to probe the chemical interactions occurring at the gas-membrane interface.

  12. Ultrahigh-energy cosmic-ray bounds on nonbirefringent modified Maxwell theory

    SciTech Connect (OSTI)

    Klinkhamer, F. R.; Risse, M.

    2008-01-01

    A particularly simple Lorentz-violating modification of the Maxwell theory of photons maintains gauge invariance, CPT, and renormalization. This modified Maxwell theory, coupled to standard Dirac particles, involves 19 dimensionless 'deformation parameters'. Ten of these parameters lead to birefringence and are already tightly constrained by astrophysics. New bounds on the remaining nine nonbirefringent parameters can be obtained from the absence of vacuum Cherenkov radiation for ultrahigh-energy cosmic rays (UHECRs). Using selected UHECR events recorded at the Pierre Auger Observatory and assigning pseudorandom directions (i.e., assuming large-scale isotropy), Cherenkov bounds are found at the 10{sup -18} level, which improve considerably upon current laboratory bounds. Future UHECR observations may reduce these Cherenkov bounds to the 10{sup -23} level.

  13. Photoresponsive Release from Azobenzene-Modified Single Cubic Crystal NaCl/Silica Particles

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

    Jiang, Xingmao; Liu, Nanguo; Assink, Roger A.; Jiang, Yingbing; Brinker, C. Jeffrey

    2011-01-01

    Azobenzene ligands were uniformly anchored to the pore surfaces of nanoporous silica particles with single crystal NaCl using 4-(3-triethoxysilylpropylureido)azobenzene (TSUA). The functionalization delayed the release of NaCl significantly. The modified particles demonstrated a photocontrolled release by trans/cis isomerization of azobenzene moieties. The addition of amphiphilic solvents, propylene glycol (PG), propylene glycol propyl ether (PGPE), and dipropylene glycol propyl ether (DPGPE) delayed the release in water, although the wetting behavior was improved and the delay is the most for the block molecules with the longest carbon chain. The speedup by UV irradiation suggests a strong dependence of diffusion on the switchablemore » pore size. TGA, XRD, FTIR, and NMR techniques were used to characterize the structures.« less

  14. Porous Vycor membranes modified by chemical vapor deposition of boron nitride for gas separation

    SciTech Connect (OSTI)

    Levy, R.A.; Ravindranath, C.; Krasnoperov, L.N.; Opyrchal, J.; Ramos, E.S.

    1997-01-01

    This study focuses on the characterization of porous Vycor membranes modified by chemical vapor deposition of boron nitride (B-N-C-H) for gas separation. The B-N-C-H films were deposited on mesoporous Vycor tubes using triethylamine borane complex and ammonia as precursors. The effects of deposition temperature and reactant flow geometry on permselectivity of membranes with respect to various permeant gases were investigated. High selectivities (up to 50,000) were achieved between small molecules (He, H{sub 2}) and large molecules (N{sub 2}, Ar, C{sub 6}H{sub 5}CH{sub 3}). The measured activation energies for the He and H{sub 2} permeability are 9.5 kcal/mol and 12 kcal/mol, respectively. The membranes synthesized at lower temperatures and lower ammonia flow rates showed good mechanical and chemical stability.

  15. A generalized force-modified potential energy surface (G-FMPES) for mechanochemical simulations

    SciTech Connect (OSTI)

    Subramanian, Gopinath; Mathew, Nithin; Leiding, Jeffery A.

    2015-10-05

    We describe the modifications that a spatially varying external load produces on a Born-Oppenheimer potential energy surface (PES) by calculating static quantities of interest. The effects of the external loads are exemplified using electronic structure calculations (at the HF/6-31G** level) of two different molecules: ethane and hexahydro-1,3,5-trinitro-s-triazine (RDX). The calculated transition states and The Hessian matrices of stationary points show that spatially varying external loads shift the stationary points and modify the curvature of the PES, thereby affecting the harmonic transition rates by altering both the energy barrier as well as the prefactor. The harmonic spectra of both molecules are blue-shifted with increasing compressive pressure. Some stationary points on the RDX-PES disappear under application of the external load, indicating the merging of an energy minimum with a saddle point.

  16. Preparation of transition metal nanoparticles and surfaces modified with (co)polymers synthesized by RAFT

    DOE Patents [OSTI]

    McCormick, III, Charles L. (Hattiesburg, MS); Lowe, Andrew B. (Hattiesburg, MS); Sumerlin, Brent S. (Pittsburgh, PA)

    2011-12-27

    A new, facile, general one-phase method of generating thiol-functionalized transition metal nanoparticles and surfaces modified by (co)polymers synthesized by the RAFT method is described. The method includes the steps of forming a (co)polymer in aqueous solution using the RAFT methodology, forming a colloidal transition metal precursor solution from an appropriate transition metal; adding the metal precursor solution or surface to the (co)polymer solution, adding a reducing agent into the solution to reduce the metal colloid in situ to produce the stabilized nanoparticles or surface, and isolating the stabilized nanoparticles or surface in a manner such that aggregation is minimized. The functionalized surfaces generated using these methods can further undergo planar surface modifications, such as functionalization with a variety of different chemical groups, expanding their utility and application.

  17. Preparation of transition metal nanoparticles and surfaces modified with (CO)polymers synthesized by RAFT

    DOE Patents [OSTI]

    McCormick, III., Charles L.; Lowe, Andrew B.; Sumerlin, Brent S.

    2006-11-21

    A new, facile, general one-phase method of generating thio-functionalized transition metal nanoparticles and surfaces modified by (co)polymers synthesized by the RAFT method is described. The method includes the stops of forming a (co)polymer in aqueous solution using the RAFT methodology, forming a colloidal transition metal precursor solution from an appropriate transition metal; adding the metal precursor solution or surface to the (co)polymer solution, adding a reducing agent into the solution to reduce the metal colloid in situ to produce the stabilized nanoparticles or surface, and isolating the stabilized nanoparticles or surface in a manner such that aggregation is minimized. The functionalized surfaces generated using these methods can further undergo planar surface modifications, such as functionalization with a variety of different chemical groups, expanding their utility and application.

  18. Preparation of transition metal nanoparticles and surfaces modified with (CO) polymers synthesized by RAFT

    DOE Patents [OSTI]

    McCormick, III, Charles L. (Hattiesburg, MS); Lowe, Andrew B. (Hattiesburg, MS); Sumerlin, Brent S. (Pittsburgh, PA)

    2006-10-25

    A new, facile, general one-phase method of generating thiol-functionalized transition metal nanoparticles and surface modified by (co)polymers synthesized by the RAFT method is described. The method includes the steps of forming a (co)polymer in aqueous solution using the RAFT methodology, forming a collidal transition metal precursor solution from an appropriate transition metal; adding the metal precursor solution or surface to the (co)polymer solution, adding a reducing agent into the solution to reduce the metal colloid in situ to produce the stabilized nanoparticles or surface, and isolating the stabilized nanoparticles or surface in a manner such that aggregation is minimized. The functionalized surfaces generated using these methods can further undergo planar surface modifications, such as fuctionalization with a variety of different chemical groups, expanding their utility and application.

  19. High sensitive formaldehyde graphene gas sensor modified by atomic layer deposition zinc oxide films

    SciTech Connect (OSTI)

    Mu, Haichuan; Zhang, Zhiqiang; Wang, Keke; Xie, Haifen, E-mail: hfxie@ecust.edu.cn [Department of Physics, School of Science, East China University of Science and Technology, 130 Meilong Road, Shanghai 200237 (China); Zhao, Xiaojing; Liu, Feng [Department of Physics, Shanghai Normal University, 100 Guilin Road, Shanghai 200234 (China)

    2014-07-21

    Zinc oxide (ZnO) thin films with various thicknesses were fabricated by Atomic Layer Deposition on Chemical Vapor Deposition grown graphene films and their response to formaldehyde has been investigated. It was found that 0.5?nm ZnO films modified graphene sensors showed high response to formaldehyde with the resistance change up to 52% at the concentration of 9 parts-per-million (ppm) at room temperature. Meanwhile, the detection limit could reach 180 parts-per-billion (ppb) and fast response of 36?s was also obtained. The high sensitivity could be attributed to the combining effect from the highly reactive, top mounted ZnO thin films, and high conductive graphene base network. The dependence of ZnO films surface morphology and its sensitivity on the ZnO films thickness was also investigated.

  20. A generalized force-modified potential energy surface (G-FMPES) for mechanochemical simulations

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

    Subramanian, Gopinath; Mathew, Nithin; Leiding, Jeffery A.

    2015-10-05

    We describe the modifications that a spatially varying external load produces on a Born-Oppenheimer potential energy surface (PES) by calculating static quantities of interest. The effects of the external loads are exemplified using electronic structure calculations (at the HF/6-31G** level) of two different molecules: ethane and hexahydro-1,3,5-trinitro-s-triazine (RDX). The calculated transition states and The Hessian matrices of stationary points show that spatially varying external loads shift the stationary points and modify the curvature of the PES, thereby affecting the harmonic transition rates by altering both the energy barrier as well as the prefactor. The harmonic spectra of both molecules aremore » blue-shifted with increasing compressive “pressure.” Some stationary points on the RDX-PES disappear under application of the external load, indicating the merging of an energy minimum with a saddle point.« less

  1. Centrifugal contactor modified for end stage operation in a multistage system

    DOE Patents [OSTI]

    Jubin, Robert T. (Powell, TN)

    1990-01-01

    A cascade formed of a plurality of centrifugal contactors useful for countercurrent solvent extraction processes such as utilizable for the reprocessing of nuclear reactor fuels is modified to permit operation in the event one or both end stages of the cascade become inoperative. Weir assemblies are connected to each of the two end stages by suitable conduits for separating liquids discharged from an inoperative end stage based upon the weight of the liquid phases uses in the solvent extraction process. The weir assembly at one end stage is constructed to separate and discharge the heaviest liquid phase while the weir assembly at the other end stage is constructed to separate and discharge the lightest liquid phase. These weir assemblies function to keep the liquid discharge from an inoperative end stages on the same weight phase a would occur from an operating end stage.

  2. Low-Potential Stable NADH Detection at Carbon-Nanotube-Modified Glassy Carbon Electrodes

    SciTech Connect (OSTI)

    Musameh, Mustafa; Wang, Joseph; Merkoci, Arben; Lin, Yuehe )

    2002-11-22

    Carbon-nanotube (CNT) modified glassy-carbon electrodes exhibiting strong and stable electrocatalytic response toward NADH are described. A substantial (490 mV) decrease in the overvoltage of the NADH oxidation reaction (compared to ordinary carbon electrodes) is observed using single-wall and multi-wall carbon-nanotube coatings, with oxidation starting at ca.?0.05V (vs. Ag/AgCl; pH 7.4). Furthermore, the NADH amperometric response of the coated electrodes is extremely stable, with 96 and 90% of the initial activity remaining after 60min stirring of 2x10-4M and 5x10-3M NADH solutions, respectively (compared to 20 and 14% at the bare surface). The CNT-coated electrodes thus allow highly-sensitive, low-potential, stable amperometric sensing. Such ability of carbon-nanotubes to promote the NADH electron-transfer reaction suggests great promise for dehydrogenase-based amperometric biosensors.

  3. Graphene Modified LiFePO4 Cathode Materials for High Power Lithium ion Batteries

    SciTech Connect (OSTI)

    Zhou, X.; Wang, F.; Zhu, Y.; Liu, Z.

    2011-01-24

    Graphene-modified LiFePO{sub 4} composite has been developed as a Li-ion battery cathode material with excellent high-rate capability and cycling stability. The composite was prepared with LiFePO{sub 4} nanoparticles and graphene oxide nanosheets by spray-drying and annealing processes. The LiFePO{sub 4} primary nanoparticles embedded in micro-sized spherical secondary particles were wrapped homogeneously and loosely with a graphene 3D network. Such a special nanostructure facilitated electron migration throughout the secondary particles, while the presence of abundant voids between the LiFePO{sub 4} nanoparticles and graphene sheets was beneficial for Li{sup +} diffusion. The composite cathode material could deliver a capacity of 70 mAh g{sup -1} at 60C discharge rate and showed a capacity decay rate of <15% when cycled under 10C charging and 20C discharging for 1000 times.

  4. Detection of Hydrogen Spillover in Palladium-Modified Activated Carbon Fibers During Hydrogen Adsorption

    SciTech Connect (OSTI)

    Contescu, Cristian I; Brown, Craig; Liu, Yun; Bhat, Vinay V; Gallego, Nidia C

    2009-01-01

    Palladium-modified activated carbon fibers (Pd-ACF) are being evaluated for adsorptive hydrogen storage at near-ambient conditions because of their enhanced hydrogen uptake in comparison to Pd-free activated carbon fibers (ACF). The net uptake enhancement (at room temperature and 20 bar) is in excess of the amount corresponding to formation of Pd hydride, and is usually attributed to hydrogen spillover. In this paper, inelastic neutron scattering was used to demonstrate the formation of new C-H bonds in Pd-containing activated carbon fibers after exposure to hydrogen at 20 oC and 1.6 MPa, at the expense of physisorbed H2. This finding is a post-factum proof of the atomic nature of H species formed in presence of a Pd catalyst, and of their subsequent spillover and binding to the carbon support. Chemisorption of hydrogen may explain the reduction in hydrogen uptake from first to second adsorption cycle.

  5. A source of PCB contamination in modified high-volume air samplers

    SciTech Connect (OSTI)

    Basu, I.; O'Dell, J.M.; Arnold, K.; Hites, R.A.

    2000-02-01

    Modified Anderson High Volume (Hi-Vol) air samplers are widely used for the collection of semi-volatile organic compounds (such as PCBs) from air. The foam gasket near the main air flow path in these samplers can become contaminated with PCBs if the sampler or the gasket is stored at a location with high indoor air PCB levels. Once the gasket is contaminated, it releases PCBs back into the air stream during sampling, and as a result, incorrectly high air PCB concentrations are measured. This paper presents data demonstrating this contamination problem using measurements from two Integrated Atmospheric Deposition Network sites: one at Sleeping Bear Dunes on Lake Michigan and the other at Point Petre on Lake Ontario. The authors recommend that these gaskets be replaced by Teflon tape and that the storage history of each sampler be carefully tracked.

  6. TREATMENT OF PRODUCED OIL AND GAS WATERS WITH SURFACTANT-MODIFIED ZEOLITE

    SciTech Connect (OSTI)

    Lynn E. Katz; R.S. Bowman; E.J. Sullivan

    2003-11-01

    Co-produced water from the oil and gas industry accounts for a significant waste stream in the United States. It is by some estimates the largest single waste stream in the country, aside from nonhazardous industrial wastes. Characteristics of produced water include high total dissolved solids content, dissolved organic constituents such as benzene and toluene, an oil and grease component, and chemicals added during the oil-production process. While most of the produced water is disposed via reinjection, some must be treated to remove organic constituents before the water is discharged. Current treatment options are successful in reducing the organic content; however, they cannot always meet the levels of current or proposed regulations for discharged water. Therefore, an efficient, cost-effective treatment technology is needed. Surfactant-modified zeolite (SMZ) has been used successfully to treat contaminated ground water for organic and inorganic constituents. In addition, the low cost of natural zeolites makes their use attractive in water-treatment applications. This report summarizes the work and results of this four-year project. We tested the effectiveness of surfactant-modified zeolite (SMZ) for removal of BTEX with batch and column experiments using waters with BTEX concentrations that are comparable to those of produced waters. The data from our experimental investigations showed that BTEX sorption to SMZ can be described by a linear isotherm model, and competitive effects between compounds were not significant. The SMZ can be readily regenerated using air stripping. We field-tested a prototype SMZ-based water treatment system at produced water treatment facilities and found that the SMZ successfully removes BTEX from produced waters as predicted by laboratory studies. When compared to other existing treatment technologies, the cost of the SMZ system is very competitive. Furthermore, the SMZ system is relatively compact, does not require the storage of potentially hazardous chemicals, and could be readily adapted to an automated system.

  7. Structural resistance of chemically modified 1-D nanostructured titanates in inorganic acid environment

    SciTech Connect (OSTI)

    Marinkovic, Bojan A.; Fredholm, Yann C.; Morgado, Edisson

    2010-10-15

    Sodium containing one-dimensional nanostructured layered titanates (1-D NSLT) were produced both from commercial anatase powder and Brazilian natural rutile mineral sands by alkali hydrothermal process. The 1-D NSLT were chemically modified with proton, cobalt or iron via ionic exchange and all products were additionally submitted to intensive inorganic acid aging (pH = 0.5) for 28 days. The morphology and crystal structure transformations of chemically modified 1-D NSLT were followed by transmission electron microscopy, powder X-ray diffraction, selected area electron diffraction and energy dispersive spectroscopy. It was found that the original sodium rich 1-D NSLT and cobalt substituted 1-D NSLT were completely converted to rutile nanoparticles, while the protonated form was transformed in a 70%-30% (by weight) anatase-rutile nanoparticles mixture, very similar to that of the well-known TiO{sub 2}-photocatalyst P25 (Degussa). The iron substituted 1-D NSLT presented better acid resistance as 13% of the original structure and morphology remained, the rest being converted in rutile. A significant amount of remaining 1-D NSLT was also observed after the acid treatment of the product obtained from rutile sand. The results showed that phase transformation of NSLT into titanium dioxide polymorph in inorganic acid conditions were controllable by varying the exchanged cations. Finally, the possibility to transform, through acid aging, 1-D NSLT obtained from Brazilian natural rutile sand into TiO{sub 2}-polymorphs was demonstrated for the first time to the best of authors' knowledge, opening path for producing TiO{sub 2}-nanoproducts with different morphologies through a simple process and from a low cost precursor.

  8. Characterization and thermal stability of cobalt-modified 1-D nanostructured trititanates

    SciTech Connect (OSTI)

    Morgado, Edisson; Abreu, Marco A.S. de

    2009-01-15

    One-dimensional (1-D) nanostructured sodium trititanates were obtained via alkali hydrothermal method and modified with cobalt via ion exchange at different Co concentrations. The resulting cobalt-modified trititanate nanostructures (Co-TTNS) were characterized by TGA, XRD, TEM/SAED, DRS-UV-Vis and N{sub 2} adsorption techniques. Their general chemical formula was estimated as Na{sub x}Co{sub y/2}H{sub 2-x-y}Ti{sub 3}O{sub 7}.nH{sub 2}O and they maintained the same nanostructured and multilayered nature of the sodium precursor, with the growth direction of nanowires and nanotubes along [010]. As a consequence of the Co{sup 2+} incorporation replacing sodium between trititanate layers, two new diffraction lines became prominent and the interlayer distance was reduced with respect to that of the precursor sodium trititanate. Surface area was slightly increased with cobalt intake whereas pore size distribution was hardly affected. Besides, Co{sup 2+} incorporation in trititanate crystal structure also resulted in enhanced visible light photon absorption as indicated by a strong band-gap narrowing. Morphological and structural thermal transformations of Co-TTNS started nearly 400 deg. C in air and the final products after calcination at 800 deg. C were found to be composed of TiO{sub 2}-rutile, CoTiO{sub 3} and a bronze-like phase with general formula Na{sub 2x}Ti{sub 1-x}Co{sub x}O{sub 2}. - Graphical abstract: Co{sup 2+} incorporation in 1D-trititanate crystal nanostructure (Co-TTNS) causes reduction in interlayer distance by comparison with its sodium precursor (Na-TTNS) and leads to enhanced visible light photon absorption efficiency due to a strong band-gap narrowing.

  9. Hydrocracking and hydroisomerization of long-chain alkanes and polyolefins over metal-promoted anion-modified transition metal oxides

    DOE Patents [OSTI]

    Venkatesh, Koppampatti R. (Pittsburgh, PA); Hu, Jianli (Cranbury, NJ); Tierney, John W. (Pittsburgh, PA); Wender, Irving (Pittsburgh, PA)

    2001-01-01

    A method of cracking a feedstock by contacting the feedstock with a metal-promoted anion-modified metal oxide catalyst in the presence of hydrogen gas. The metal oxide of the catalyst is one or more of ZrO.sub.2, HfO.sub.2, TiO.sub.2 and SnO.sub.2, and the feedstock is principally chains of at least 20 carbon atoms. The metal-promoted anion-modified metal oxide catalyst contains one or more of Pt, Ni, Pd, Rh, Ir, Ru, (Mn & Fe) or mixtures of them present between about 0.2% to about 15% by weight of the catalyst. The metal-promoted anion-modified metal oxide catalyst contains one or more of SO.sub.4, WO.sub.3, or mixtures of them present between about 0.5% to about 20% by weight of the catalyst.

  10. Development of Effective Solvent Modifiers for the Solvent Extraction of Cesium from Alkaline High-Level Tank Waste.

    SciTech Connect (OSTI)

    Bonnesen, Peter V.; Delmau, Laetitia H.; Moyer, Bruce A.; Lumetta, Gregg J. )

    2003-01-01

    A series of novel alkylphenoxy fluorinated alcohols were prepared and investigated for their effectiveness as modifiers in solvents containing calix[4]arene-bis-(tert-octylbenzo)-crown-6 for extracting cesium from alkaline nitrate media. A modifier that contained a terminal 1,1,2,2-tetrafluoroethoxy group was found to decompose following long-term exposure to warm alkaline solutions. However, replacement of the tetrafluoroethoxy group with a 2,2,3,3-tetrafluoropropoxy group led to a series of modifiers that possessed the alkaline stability required for a solvent extraction process. Within this series of modifiers, the structure of the alkyl substituent (tert-octyl, tert-butyl, tert-amyl, and sec-butyl) of the alkylphenoxy moiety was found to have a profound impact on the phase behavior of the solvent in liquid-liquid contacting experiments, and hence on the overall suitability of the modifier for a solvent extraction process. The sec-butyl derivative[1-(2,2,3,3-tetrafluoropropoxy)-3-(4-sec-butylphenoxy)-2-propanol] (Cs-7SB) was found to possess the best overall balance of properties with respect to third phase and coalescence behavior, cleanup following degradation, resistance to solids formation, and cesium distribution behavior. Accordingly, this modifier was selected for use as a component of the solvent employed in the Caustic-Side Solvent Extraction (CSSX) process for removing cesium from high level nuclear waste (HLW) at the U.S. Department of Energy?s (DOE) Savannah River Site. In batch equilibrium experiments, this solvent has also been successfully shown to extract cesium from both simulated and actual solutions generated from caustic leaching of HLW tank sludge stored in tank B-110 at the DOE?s Hanford Site.

  11. Chemically and compositionally modified solid solution disordered multiphase nickel hydroxide positive electrode for alkaline rechargeable electrochemical cells

    DOE Patents [OSTI]

    Ovshinsky, Stanford R. (Bloomfield Hills, MI); Corrigan, Dennis (Troy, MI); Venkatesan, Srini (Southfield, MI); Young, Rosa (Troy, MI); Fierro, Christian (Troy, MI); Fetcenko, Michael A. (Rochester Hills, MI)

    1994-01-01

    A high capacity, long cycle life positive electrode for use in an alkaline rechargeable electrochemical cell comprising: a solid solution nickel hydroxide material having a multiphase structure that comprises at least one polycrystalline .gamma.-phase including a polycrystalline .gamma.-phase unit cell comprising spacedly disposed plates with at least one chemical modifier incorporated around the plates, the plates having a range of stable intersheet distances corresponding to a 2.sup.+ oxidation state and a 3.5.sup.+, or greater, oxidation state; and at least one compositional modifier incorporated into the solid solution nickel hydroxide material to promote the multiphase structure.

  12. From: Sells_List_Server%DOELNC@DOE.GOV Subject: YELLOW/Caution: Hazards from Modifying Finished Products

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

    07 Jan 2003 15:55:12 -0500 From: Sells_List_Server%DOELNC@DOE.GOV Subject: YELLOW/Caution: Hazards from Modifying Finished Products Sender: ListServer@HQLNC.DOE.GOV Title: Yellow Alert- Hazards from Modifying Finished Products Date: 1/2/2003 Identifier: LL-2002-LLNL-31 Lessons Learned Summary: It is important to identify any hazards involved with the modification of a "finished" commercial product. Discussion of Activities: Finished products do not require a label for material hazards

  13. Commissioning of a proton gantry equipped with dual x-ray imagers and a robotic patient positioner, and evaluation of the accuracy of single-beam image registration for this system

    SciTech Connect (OSTI)

    Wang, Ning; Ghebremedhin, Abiel; Patyal, Baldev

    2015-06-15

    Purpose: To check the accuracy of a gantry equipped with dual x-ray imagers and a robotic patient positioner for proton radiotherapy, and to evaluate the accuracy and feasibility of single-beam registration using the robotic positioner. Methods: One of the proton treatment rooms at their institution was upgraded to include a robotic patient positioner (couch) with 6 degrees of freedom and dual orthogonal kilovoltage x-ray imaging panels. The wander of the proton beam central axis, the wander of the beamline, and the orthogonal image panel crosswires from the gantry isocenter were measured for different gantry angles. The couch movement accuracy and couch wander from the gantry isocenter were measured for couch loadings of 50300 lb with couch rotations from 0 to 90. The combined accuracy of the gantry, couch, and imagers was checked using a custom-made 30 30 30 cm{sup 3} Styrofoam phantom with beekleys embedded in it. A treatment in this room can be set up and registered at a setup field location, then moved precisely to any other treatment location without requiring additional image registration. The accuracy of the single-beam registration strategy was checked for treatments containing multiple beams with different combinations of gantry angles, couch yaws, and beam locations. Results: The proton beam central axis wander from the gantry isocenter was within 0.5 mm with gantry rotations in both clockwise (CW) and counterclockwise (CCW) directions. The maximum wander of the beamline and orthogonal imager crosswire centers from the gantry isocenter were within 0.5 and 0.8 mm, respectively, with the gantry rotations in CW and CCW directions. Vertical and horizontal couch wanders from the gantry isocenter were within 0.4 and 1.3 mm, respectively, for couch yaw from 0 to 90. For a treatment with multiple beams with different gantry angles, couch yaws, and beam locations, the measured displacements of treatment beam locations from the one based on the initial setup beam registered at the gantry at 0/180 and couch yaw at 0 were within 1.5 mm in three translations and 0.5 in three rotations for a 200 lb couch loading. Conclusions: Results demonstrate that the gantry equipped with a robotic patient positioner and dual imaging panels satisfies treatment requirements for proton radiotherapy. The combined accuracy of the gantry, couch, and imagers allows a patient to be registered at one setup position and then moved precisely to another treatment position by commanding the robotic patient positioner and delivering treatment without requiring additional image registration.

  14. Experimental study of a fiber absorber-suppressor modified Trombe wall

    SciTech Connect (OSTI)

    Choudhury, D; Birkebak, R C

    1982-12-01

    An experimental study has been conducted to ascertain the effects of introducing fiber bed absorbers on Trombe wall passive solar collectors. Two identical, Trombe wall passive solar units were constructed that incorporate the basic components of masonry collector-storage walls: glazings, masonry and thermal insulation. Both units were extensively instrumented with thermocouples and heat flux transducers. Ambient temperature, relative humidity, wind speed and insolation are also measured. In the first part of the study the two Trombe wall units were tested with a single glass cover. The thermal performance of both units was found to be virtually identical. In the second part of the study a single cover Trombe wall unit was compared with a double cover unit and the latter was found to have higher air gap and masonry wall temperatures and heat fluxes. In the final phase of the experiment, an absorbing, scattering and emitting fiberglass-like material was placed in the air gap of the single gazed wall. Tests were conducted to compare the solar-thermal performance, heat loss and gain characteristics between the units with and without the fiber absorber-suppressor. This experiment showed that the fiber bed served to decouple the wall at night from its exterior environment and to reduce the heat losses. The modified Trombe wall with the fiber absorber-suppressor out-performed the double glazed Trombe wall system by approximately ten percent gain in useable thermal energy. Also, the fiber bed eliminates one glazing thereby reducing system cost as well.

  15. Fabrication and long-wavelength characterization of neat and chemically modified graphene

    SciTech Connect (OSTI)

    Kalugin, Nikolai G.

    2014-03-31

    Graphene, a single- or several layer-thick carbon, attracts significant research activity because of its exceptional material properties. Graphene is a promising material for optoelectronic applications. Neat graphene demonstrates potential as a material for long wavelength photodetectors working at elevated temperatures. Chemical modification of graphene opens up many new applications of this material in electronics, in new composite materials, and in new catalysts for different chemical processes. Chemical vapor deposition-grown large-area graphene can be successfully modified with the creation of benzyne attachments. The investigation of microwave properties is an important part of graphene research. Two variants of near-field long wavelength microscopy were found efficient with graphene. Measurements with a probe formed by an electrically open end of a 4 GHz half-lambda parallel-strip transmission line resonator allow the implementation of an electrodynamic model of graphene microwave impedance. The results of near-field scanning superconducting quantum interference device (SQUID) RF microscopy of graphite and graphene at 200 MHz shed light on mechanisms of AC graphene response: screening currents induced in graphene by an external RF magnetic field tend to localize near structural defects.

  16. Astrophysical tests of modified gravity: the morphology and kinematics of dwarf galaxies

    SciTech Connect (OSTI)

    Vikram, Vinu; Cabr, Anna; Jain, Bhuvnesh; VanderPlas, J.T. E-mail: annanusca@gmail.com E-mail: jakevdp@cs.washington.edu

    2013-08-01

    This paper is the third in a series on tests of gravity using observations of stars and nearby dwarf galaxies. We carry out four distinct tests using published data on the kinematics and morphology of dwarf galaxies, motivated by the theoretical work of Hui et al. (2009) and Jain and Vanderplas (2011). In a wide class of gravity theories a scalar field couples to matter and provides an attractive fifth force. Due to their different self-gravity, stars and gas may respond differently to the scalar force leading to several observable deviations from standard gravity. HI gas, red giant stars and main sequence stars can be displaced relative to each other, and the stellar disk can display warps or asymmetric rotation curves aligned with external potential gradients. To distinguish the effects of modified gravity from standard astrophysical phenomena, we use a control sample of galaxies that are expected to be screened from the fifth force. In all cases we find no significant deviation from the null hypothesis of general relativity. The limits obtained from dwarf galaxies are not yet competitive with the limits from cepheids obtained in our first paper, but can be improved to probe regions of parameter space that are inaccessible using other tests. We discuss how our methodology can be applied to new radio and optical observations of nearby galaxies.

  17. Operational forecasting based on a modified Weather Research and Forecasting model

    SciTech Connect (OSTI)

    Lundquist, J; Glascoe, L; Obrecht, J

    2010-03-18

    Accurate short-term forecasts of wind resources are required for efficient wind farm operation and ultimately for the integration of large amounts of wind-generated power into electrical grids. Siemens Energy Inc. and Lawrence Livermore National Laboratory, with the University of Colorado at Boulder, are collaborating on the design of an operational forecasting system for large wind farms. The basis of the system is the numerical weather prediction tool, the Weather Research and Forecasting (WRF) model; large-eddy simulations and data assimilation approaches are used to refine and tailor the forecasting system. Representation of the atmospheric boundary layer is modified, based on high-resolution large-eddy simulations of the atmospheric boundary. These large-eddy simulations incorporate wake effects from upwind turbines on downwind turbines as well as represent complex atmospheric variability due to complex terrain and surface features as well as atmospheric stability. Real-time hub-height wind speed and other meteorological data streams from existing wind farms are incorporated into the modeling system to enable uncertainty quantification through probabilistic forecasts. A companion investigation has identified optimal boundary-layer physics options for low-level forecasts in complex terrain, toward employing decadal WRF simulations to anticipate large-scale changes in wind resource availability due to global climate change.

  18. Modified Eddington-inspired-Born-Infeld gravity with a trace term

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

    Chen, Che -Yu; Bouhmadi-López, Mariam; Chen, Pisin

    2016-01-22

    In this study, a modified Eddington-inspired-Born-Infeld (EiBI) theory with a pure trace term gμνR being added to the determinantal action is analysed from a cosmological point of view. It corresponds to the most general action constructed from a rank two tensor that contains up to first order terms in curvature. This term can equally be seen as a conformal factor multiplying the metric gμν . This very interesting type of amendment has not been considered within the Palatini formalism despite the large amount of works on the Born-Infeld-inspired theory of gravity. This model can provide smooth bouncing solutions which weremore » not allowed in the EiBI model for the same EiBI coupling. Most interestingly, for a radiation filled universe there are some regions of the parameter space that can naturally lead to a de Sitter inflationary stage without the need of any exotic matter field. Finally, in this model we discover a new type of cosmic “quasi-sudden” singularity, where the cosmic time derivative of the Hubble rate becomes very large but finite at a finite cosmic time.« less

  19. Study on removal of organic sulfur compound by modified activated carbon

    SciTech Connect (OSTI)

    Fan Huiling; Li Chunhu; Guo Hanxian [Taiyuan Univ. of Technology (China). Research Inst. for Chemical Engineering of Coal

    1997-12-31

    With the price of coal increasing in China, more and more small and medium scale chemical plants are turning to high sulfur coal as the raw material in order to cut cost. However, the major drawback is that the lifetime of the ammonia synthesis catalyst is then reduced greatly because of the high concentration of the sulfur compounds in the synthesis gas, especially organic sulfur, usually CS{sub 2} and COS. The effects of water vapor and experimental temperature on removal of organic sulfur compounds by using a modified activated carbon were studied in this paper. It was found that water vapor had a negative effect on removal of carbon disulfide by activated carbon impregnated with organic amine. The use of activated carbon impregnated with K{sub 2}CO{sub 3} for removal of carbonyl sulfide was also investigated over the temperature range 30--60, the results show a favorable temperature (40) existing for carbonyl sulfide removal. Fixed-bed breakthrough curves for the adsorbent bed were also offered in this paper.

  20. Modified biochemical methane potential (BMP) assays to assess biodegradation potential of landfilled refuse

    SciTech Connect (OSTI)

    Bogner, J.E.; Rose, C.; Piorkowski, R.

    1989-01-01

    Modified Biochemical Methane Potential (BMP) assays were used to assess biogas production potential of solid landfill samples. In landfill samples with visible soil content, moisture addition alone was generally as effective at stimulating biogas production as the addition of a comprehensive nutrient media. In a variety of samples from humid and semiarid landfills, addition of an aqueous nutrient media was the most effective stimulant for biogas production; however, moisture addition was almost as effective for most samples, suggesting that water addition would be the most cost-effective field approach. Onset of methanogenesis was slower in fresh refuse samples (even when inoculated with anaerobic digester sludge) than in landfill samples, indicating that the soil into which materials are landfilled is a major source of microorganisms. High volatile solids loading in fresh refuse and landfill assays retarded methanogenesis. A comparison of anaerobic and aerobic sample handling techniques showed no significant differences with regard to onset of methanogenesis and total gas production. The technique shows initial promise with regard to replication and reproducibility of results and could be a meaningful addition to landfill site evaluations where commercial gas recovery is anticipated. The BMP technique could also be adapted to assess anaerobic biodegradability of other solid waste materials for conventional anaerobic digestion applications. 9 refs., 6 figs., 2 tabs.

  1. Generalized Gibbs state with modified Redfield solution: Exact agreement up to second order

    SciTech Connect (OSTI)

    Thingna, Juzar; Wang, Jian-Sheng; Haenggi, Peter

    2012-05-21

    A novel scheme for the steady state solution of the standard Redfield quantum master equation is developed which yields agreement with the exact result for the corresponding reduced density matrix up to second order in the system-bath coupling strength. We achieve this objective by use of an analytic continuation of the off-diagonal matrix elements of the Redfield solution towards its diagonal limit. Notably, our scheme does not require the provision of yet higher order relaxation tensors. Testing this modified method for a heat bath consisting of a collection of harmonic oscillators we assess that the system relaxes towards its correct coupling-dependent, generalized quantum Gibbs state in second order. We numerically compare our formulation for a damped quantum harmonic system with the nonequilibrium Green's function formalism: we find good agreement at low temperatures for coupling strengths that are even larger than expected from the very regime of validity of the second-order Redfield quantum master equation. Yet another advantage of our method is that it markedly reduces the numerical complexity of the problem; thus, allowing to study efficiently large-sized system Hilbert spaces.

  2. Biodegradation of paint stripper solvents in a modified gas lift loop bioreactor

    SciTech Connect (OSTI)

    Vanderberg-Twary, L.; Steenhoudt, K.; Travis, B.J.; Hanners, J.L.; Foreman, T.M.; Brainard, J.R.

    1997-07-05

    Paint stripping wastes generated during the decontamination and decommissioning of former nuclear facilities contain paint stripping organics (dichloromethane, 2-propanol, and methanol) and bulk materials containing paint pigments. It is desirable to degrade the organic residues as part of an integrated chemical-biological treatment system. The authors have developed a modified gas lift loop bioreactor employing a defined consortium of Thodococcus rhodochrous strain OFS and Hyphomicrobium sp. DM-2 that degrades paint stripper organics. Mass transfer coefficients and kinetic constants for biodegradation in the system were determined. It was found that transfer of organic substrates from surrogate waste into the air and further into the liquid medium in the bioreactor were rapid processes, occurring within minutes. Monod kinetics was employed to model the biodegradation of paint stripping organics. Analysis of the bioreactor process was accomplished with BIOLAB, a mathematical code that simulates coupled mass transfer and biodegradation processes. This code was used to fit experimental data to monod kinetics and to determine kinetic parameters. The BIOLAB code was also employed to compare activities in the bioreactor of individual microbial cultures to the activities of combined cultures in the bioreactor. This code is of benefit for further optimization and scale-up of the bioreactor for treatment of paint stripping and other volatile organic wastes in bulk materials.

  3. Hydrogen Storage Properties of Lithium Aluminohydride Modified by Dopants and Mechanochemistry

    SciTech Connect (OSTI)

    Ketia Hosokawa

    2002-06-27

    Alkali metal aluminohydrides have high potential as solid hydrogen storage materials. They have been known for their irreversible dehydrogenation process below 100 atm until Bogdanovic et al succeeded in the re-hydrogenation of NaAlH{sub 4} below 70 atm. They achieved 4 wt.% H{sub 2} reversible capacity by doping NaAlH{sub 4} with Ti and/or Fe organo-metallic compounds as catalysts. This suggests that other alkali and, possibly alkaline earth metal aluminohydrides can be used for reversible hydrogen storage when modified by proper dopants. In this research, Zr{sub 27}Ti{sub 9}Ni{sub 38}V{sub 5}Mn{sub 16}Cr{sub 5}, LaNi{sub 4.85}Sn{sub 0.15}, Al{sub 3}Ti, and PdCl{sub 2} were combined with LiAlH{sub 4} by ball-milling to study whether or not LiAlH{sub 4} is capable to both absorb and desorb hydrogen near ambient conditions. X-ray powder diffraction, differential thermal analysis, and scanning electron microscopy were employed for sample characterizations. All four compounds worked as catalysts in the dehydrogenation reactions of both LiAlH{sub 4} and Li{sub 3}AlH{sub 6} by inducing the decomposition at lower temperature. However, none of them was applicable as catalyst in the reverse hydrogenation reaction at low to moderate hydrogen pressure.

  4. Improving Geologic and Engineering Models of Midcontinent Fracture and Karst-Modified Reservoirs Using New 3-D Seismic Attributes

    SciTech Connect (OSTI)

    Susan Nissen; Saibal Bhattacharya; W. Lynn Watney; John Doveton

    2009-03-31

    Our project goal was to develop innovative seismic-based workflows for the incremental recovery of oil from karst-modified reservoirs within the onshore continental United States. Specific project objectives were: (1) to calibrate new multi-trace seismic attributes (volumetric curvature, in particular) for improved imaging of karst-modified reservoirs, (2) to develop attribute-based, cost-effective workflows to better characterize karst-modified carbonate reservoirs and fracture systems, and (3) to improve accuracy and predictiveness of resulting geomodels and reservoir simulations. In order to develop our workflows and validate our techniques, we conducted integrated studies of five karst-modified reservoirs in west Texas, Colorado, and Kansas. Our studies show that 3-D seismic volumetric curvature attributes have the ability to re-veal previously unknown features or provide enhanced visibility of karst and fracture features compared with other seismic analysis methods. Using these attributes, we recognize collapse features, solution-enlarged fractures, and geomorphologies that appear to be related to mature, cockpit landscapes. In four of our reservoir studies, volumetric curvature attributes appear to delineate reservoir compartment boundaries that impact production. The presence of these compartment boundaries was corroborated by reservoir simulations in two of the study areas. Based on our study results, we conclude that volumetric curvature attributes are valuable tools for mapping compartment boundaries in fracture- and karst-modified reservoirs, and we propose a best practices workflow for incorporating these attributes into reservoir characterization. When properly calibrated with geological and production data, these attributes can be used to predict the locations and sizes of undrained reservoir compartments. Technology transfer of our project work has been accomplished through presentations at professional society meetings, peer-reviewed publications, Kansas Geological Survey Open-file reports, Master's theses, and postings on the project website: http://www.kgs.ku.edu/SEISKARST.

  5. UNIVERSITY RESEARCH PROGRAMS IN ROBOTICS, TECHNOLOGIES FOR MICROELECTROMECHANICAL SYSTEMS IN DIRECTED STOCKPILE WORK RADIATION AND ENGINEERING CAMPAIGNS - 2005-06 FINAL ANNUAL REPORT

    SciTech Connect (OSTI)

    James S. Tulenko; Dean Schoenfeld; David Hintenlang; Carl Crane; Shannon Ridgeway; Jose Santiago; Charles Scheer

    2006-11-30

    The research performed by the University of Florida (UF) is directed to the development of technologies that can be utilized at a micro-scale in varied environments. Work is focused on micro-scale energy systems, visualization, and mechanical devices. This work will impact the NNSA need related to micro-assembly operations. The URPR activities are executed in a University environment, yet many applications of the resulting technologies may be classified or highly restrictive in nature. The NNSA robotics technologists apply an NNSA needs focus to the URPR research, and actively work to transition relevant research into the deployment projects in which they are involved. This provides a Research to Development to Application structure within which innovative research has maximum opportunity for impact without requiring URPR researchers to be involved in specific NNSA projects. URPR researchers need to be aware of the NNSA applications in order to ensure the research being conducted has relevance, the URPR shall rely upon the NNSA sites for direction.

  6. Laser welding and post weld treatment of modified 9Cr-1MoVNb steel.

    SciTech Connect (OSTI)

    Xu, Z.

    2012-04-03

    Laser welding and post weld laser treatment of modified 9Cr-1MoVNb steels (Grade P91) were performed in this preliminary study to investigate the feasibility of using laser welding process as a potential alternative to arc welding methods for solving the Type IV cracking problem in P91 steel welds. The mechanical and metallurgical testing of the pulsed Nd:YAG laser-welded samples shows the following conclusions: (1) both bead-on-plate and circumferential butt welds made by a pulsed Nd:YAG laser show good welds that are free of microcracks and porosity. The narrow heat affected zone has a homogeneous grain structure without conventional soft hardness zone where the Type IV cracking occurs in conventional arc welds. (2) The laser weld tests also show that the same laser welder has the potential to be used as a multi-function tool for weld surface remelting, glazing or post weld tempering to reduce the weld surface defects and to increase the cracking resistance and toughness of the welds. (3) The Vicker hardness of laser welds in the weld and heat affected zone was 420-500 HV with peak hardness in the HAZ compared to 240 HV of base metal. Post weld laser treatment was able to slightly reduce the peak hardness and smooth the hardness profile, but failed to bring the hardness down to below 300 HV due to insufficient time at temperature and too fast cooling rate after the time. Though optimal hardness of weld made by laser is to be determined for best weld strength, methods to achieve the post weld laser treatment temperature, time at the temperature and slow cooling rate need to be developed. (4) Mechanical testing of the laser weld and post weld laser treated samples need to be performed to evaluate the effects of laser post treatments such as surface remelting, glazing, re-hardening, or tempering on the strength of the welds.

  7. Assessment of transition fuel cycle performance with and without a modified-open fuel cycle

    SciTech Connect (OSTI)

    Feng, B.; Kim, T. K.; Taiwo, T. A.

    2012-07-01

    The impacts of a modified-open fuel cycle (MOC) option as a transition step from the current once-through cycle (OTC) to a full-recycle fuel cycle (FRC) were assessed using the nuclear systems analysis code DANESS. The MOC of interest for this study was mono-recycling of plutonium in light water reactors (LWR-MOX). Two fuel cycle scenarios were evaluated with and without the MOC option: a 2-stage scenario with a direct path from the current fleet to the final FRC, and a 3-stage scenario with the MOC option as a transition step. The FRC reactor (fast reactor) was assumed to deploy in 2050 for both scenarios, and the MOC reactor in the 3-stage scenario was assumed to deploy in 2025. The last LWRs (using either UOX or MOX fuels) come online in 2050 and are decommissioned by 2110. Thus, the FRC is achieved after 2110. The reprocessing facilities were assumed to be available 2 years prior to the deployment of the MOC and FRC reactors with maximum reprocessing capacities of 2000 tHM/yr and 500 tHM/t for LWR-UOX and LWR-MOX used nuclear fuels (UNFs), respectively. Under a 1% nuclear energy demand growth assumption, both scenarios were able to sustain a full transition to the FRC without delay. For the 3-stage scenario, the share of LWR-MOX reactors reaches a peak of 15% of installed capacity, which resulted in 10% lower cumulative uranium consumption and SWU requirements compared to the 2-stage scenario during the transition period. The peak UNF storage requirement decreases by 50% in the 3-stage scenario, largely due to the earlier deployment of the reprocessing plants to support the MOC fuel cycle. (authors)

  8. Clinical Utility of the Modified Segmental Boost Technique for Treatment of the Pelvis and Inguinal Nodes

    SciTech Connect (OSTI)

    Moran, M.S.; Castrucci, W.A.; Ahmad, M.; Song, H.; Lund, M.W.; Mani, S.; Chamberlain, Daniel; Higgins, S.A.

    2010-03-15

    Purpose: Low-lying pelvic malignancies often require simultaneous radiation to pelvis and inguinal nodes. We previously reported improved homogeneity with the modified segmental boost technique (MSBT) compared to that with traditional methods, using phantom models. Here we report our institutional clinical experience with MSBT. Methods and Materials: MSBT patients from May 2001 to March 2007 were evaluated. Parameters analyzed included isocenter/multileaf collimation shifts, time per fraction (four fields), monitor units (MU)/fraction, femoral doses, maximal dose relative to body mass index, and inguinal node depth. In addition, a dosimetric comparison of the MSBT versus intensity modulated radiation therapy (IMRT) was conducted. Results: Of the 37 MSBT patients identified, 32 were evaluable. Port film adjustments were required in 6% of films. Median values for each analyzed parameter were as follows: MU/fraction, 298 (range, 226-348); delivery time, 4 minutes; inguinal depth, 4.5 cm; volume receiving 45 Gy (V45), 7%; V27.5, 87%; body mass index, 25 (range, 16.0-33.8). Inguinal dose was 100% in all cases; in-field inhomogeneity ranged from 111% to 118%. IMRT resulted in significantly decreased dose to normal tissue but required more time for treatment planning and a higher number of MUs (1,184 vs. 313 MU). Conclusions: In our clinical experience, the mono-isocentric MSBT provides a high degree of accuracy, improved homogeneity compared with traditional techniques, ease of simulation, treatment planning, treatment delivery, and acceptable femoral doses for pelvic/inguinal radiation fields requiring 45 to 50.4 Gy. In addition, the MSBT delivers a relatively uniform dose distribution throughout the treatment volume, despite varying body habitus. Clinical scenarios for the use of MSBT vs. intensity-modulated radiation therapy are discussed. To our knowledge, this is the first study reporting the utility of MSBT in the clinical setting.

  9. Lignin-modifying enzymes of the white rot basidiomycete Ganoderma lucidum

    SciTech Connect (OSTI)

    D Merritt, C.S.; Reddy, C.A.

    1999-12-01

    Ganoderma lucidum, a white rot basidiomycete widely distributed worldwide, was studied for the production of the lignin-modifying enzymes laccase, manganese-dependent peroxidase (MnP), and lignin peroxidase (LiP). Laccase levels observed in high-nitrogen shaken cultures were much greater than those seen in low-nitrogen, malt extract, or wool-grown cultures and those reported for most other white rot fungi to date. Laccase production was readily seen in cultures grown with pine or poplar as the sole carbon and energy source. Cultures containing both pine and poplar showed 5- to 10-fold-higher levels of laccase than cultures containing pine or poplar alone. Since syringyl units are structural components important in poplar lignin and other hardwoods but much less so in pine lignin and other softwoods, pine cultures were supplemented with syringic acid, and this resulted in laccase levels comparable to those seen in pine-plus-poplar cultures. Sodium dodecyl sulfate-polyacrylamide gel electrophoresis of concentrated extracellular culture fluid from HM cultures showed two laccase activity bands, where as isoelectric focusing revealed five major laccase activity bands with estimated pIs of 3.0, 4.25, 4.5, and 5.1. Low levels of MnP activity were detected in poplar-grown cultures but not in cultures grown with pine, with pine plus syringic acid, or in HN medium. No LiP activity was seen in any of the media tested; however, probing the genomic DNA with the LiP cDNA (CLG4) from the white rot fungus Phanerochaete chrysosporium showed distinct hybridization bands suggesting the presence of lip-like sequences in G. lucidum.

  10. Modified theory of secondary electron emission from spherical particles and its effect on dust charging in complex plasma

    SciTech Connect (OSTI)

    Misra, Shikha [Centre for Energy Studies, Indian Institute of Technology Delhi, New Delhi-110016 (India); Mishra, S. K. [Institute for Plasma Research, Gandhinagar-382428 (India); Sodha, M. S. [Department of Education Building, University of Lucknow, Lucknow-226007 (India)

    2013-01-15

    The authors have modified Chow's theory of secondary electron emission (SEE) to take account of the fact that the path length of a primary electron in a spherical particle varies between zero to the diameter or x{sub m} the penetration depth depending on the distance of the path from the centre of the particle. Further by including this modified expression for SEE efficiency, the charging kinetics of spherical grains in a Maxwellian plasma has been developed; it is based on charge balance over dust particles and number balance of electrons and ionic species. It is seen that this effect is more pronounced for smaller particles and higher plasma temperatures. Desirable experimental work has also been discussed.

  11. Development of nanostructured and surface modified semiconductors for hybrid organic-inorganic solar cells.

    SciTech Connect (OSTI)

    Hsu, Julia, W. P.

    2008-09-01

    Solar energy conversion is increasingly being recognized as one of the principal ways to meet future energy needs without causing detrimental environmental impact. Hybrid organic-inorganic solar cells (SCs) are attracting particular interest due to the potential for low cost manufacturing and for use in new applications, such as consumer electronics, architectural integration and light-weight sensors. Key materials advantages of these next generation SCs over conventional semiconductor SCs are in design opportunities--since the different functions of the SCs are carried out by different materials, there are greater materials choices for producing optimized structures. In this project, we explore the hybrid organic-inorganic solar cell system that consists of oxide, primarily ZnO, nanostructures as the electron transporter and poly-(3-hexylthiophene) (P3HT) as the light-absorber and hole transporter. It builds on our capabilities in the solution synthesis of nanostructured semiconducting oxide arrays to this photovoltaic (PV) technology. The three challenges in this hybrid material system for solar applications are (1) achieving inorganic nanostructures with critical spacing that matches the exciton diffusion in the polymer, {approx} 10 nm, (2) infiltrating the polymer completely into the dense nanostructure arrays, and (3) optimizing the interfacial properties to facilitate efficient charge transfer. We have gained an understanding and control over growing oriented ZnO nanorods with sub-50 nm diameters and the required rod-to-rod spacing on various substrates. We have developed novel approaches to infiltrate commercially available P3HT in the narrow spacing between ZnO nanorods. Also, we have begun to explore ways to modify the interfacial properties. In addition, we have established device fabrication and testing capabilities at Sandia for prototype devices. Moreover, the control synthesis of ZnO nanorod arrays lead to the development of an efficient anti-reflection coating for multicrystalline Si solar cells. An important component of this project is the collaboration with Dr. Dave Ginley's group at NREL. The NREL efforts, which are funded by NREL's LDRD program, focus on measuring device performance, external quantum efficiency, photoconductance through highly specialized non-contact time-resolved microwave conductivity (TRMC) measurements, and vapor phase deposition of oxide materials. The close collaboration with NREL enables us to enter this competitive field in such short time. Joint publications and presentations have resulted from this fruitful collaboration. To this date, 5 referred journal papers have resulted from this project, with 2 more in preparation. Several invited talks and numerous contributed presentations in international conferences are also noted. Sandia has gained the reputation of being one of forefront research groups on nanostructured hybrid solar cells.

  12. TREATMENT OF PRODUCED WATERS USING A SURFACTANT MODIFIED ZEOLITE/VAPOR PHASE BIOREATOR SYSTEM

    SciTech Connect (OSTI)

    LYNN E. KATZ; KERRY A. KINNEY; R.S. BOWMAN; E.J. SULLIVAN

    2003-10-01

    Co-produced water from the oil and gas industry is by some estimates the largest single waste stream in the country, aside from nonhazardous industrial wastes. Characteristics of produced water include high total dissolved solids content, dissolved organic constituents such as benzene and toluene, an oil and grease component, and chemicals added during the oil-production process. While most of the produced water is disposed via reinjection, some of them must be treated to remove organic constituents before the water is discharged. An efficient, cost-effective treatment technology is needed to remove these constituents. Surfactant-modified zeolite (SMZ) has been used successfully to treat contaminated ground water for organic and inorganic constituents. In addition, the low cost of natural zeolites makes their use attractive in water-treatment applications. Our previous DOE research work (DE-AC26-99BC15221) demonstrated that SMZ could successfully remove BTEX compounds from the produced water. In addition, SMZ could be regenerated through a simple air sparging process. The primary goal of this project is to develop a robust SMZ/VPB treatment system to efficiently remove the organic constituents from produced water in a cost-effective manner. This report summarizes work of this project from March 2003 through September 2003. We have continued our investigation of SMZ regeneration from our previous DOE project. Ten saturation/stripping cycles have been completed for SMZ columns saturated with BTEX compounds. The results suggest that BTEX sorption capacity is not lost after ten saturation/regeneration cycles. The composition of produced water from a site operated by Crystal Solutions Ltd. in Wyoming has been characterized and was used to identify key semi-volatile components. Isotherms with selected semi-volatile components have been initiated and preliminary results have been obtained. The experimental vapor phase bioreactors for this project have been designed and assembled to treat the off-gas from the SMZ regeneration process. These columns will be used both in the laboratory and in the proposed field testing to be conducted next year. Innocula for the columns that degrade all of the BTEX columns have been developed.

  13. Treatment of Produced Water Using a Surfactant Modified Zeolite/Vapor Phase Bioreactor System

    SciTech Connect (OSTI)

    Lynn E. Katz; Kerry A. Kinney; Robert S. Bowman; Enid J. Sullivan; Soondong Kwon; Elaine B. Darby; Li-Jung Chen; Craig R. Altare

    2006-01-31

    Co-produced water from the oil and gas industry accounts for a significant waste stream in the United States. Produced waters typically contain a high total dissolved solids content, dissolved organic constituents such as benzene and toluene, an oil and grease component as well as chemicals added during the oil-production process. It has been estimated that a total of 14 billion barrels of produced water were generated in 2002 from onshore operations (Veil, 2004). Although much of this produced water is disposed via reinjection, environmental and cost considerations can make surface discharge of this water a more practical means of disposal. In addition, reinjection is not always a feasible option because of geographic, economic, or regulatory considerations. In these situations, it may be desirable, and often necessary from a regulatory viewpoint, to treat produced water before discharge. It may also be feasible to treat waters that slightly exceed regulatory limits for re-use in arid or drought-prone areas, rather than losing them to reinjection. A previous project conducted under DOE Contract DE-AC26-99BC15221 demonstrated that surfactant modified zeolite (SMZ) represents a potential treatment technology for produced water containing BTEX. Laboratory and field experiments suggest that: (1) sorption of benzene, toluene, ethylbenzene and xylenes (BTEX) to SMZ follows linear isotherms in which sorption increases with increasing solute hydrophobicity; (2) the presence of high salt concentrations substantially increases the capacity of the SMZ for BTEX; (3) competitive sorption among the BTEX compounds is negligible; and, (4) complete recovery of the SMZ sorption capacity for BTEX can be achieved by air sparging the SMZ. This report summarizes research for a follow on project to optimize the regeneration process for multiple sorption/regeneration cycles, and to develop and incorporate a vapor phase bioreactor (VPB) system for treatment of the off-gas generated during air sparging. To this end, we conducted batch and column laboratory SMZ and VPB experiments with synthetic and actual produced waters. Based on the results of the laboratory testing, a pilot scale study was designed and conducted to evaluate the combined SMZ/VPB process. An economic and regulatory feasibility analysis was also completed as part of the current study to assess the viability of the process for various water re-use options.

  14. A conformational transition in the structure of a 2'-thiomethyl-modified DNA visualized at high resolution

    SciTech Connect (OSTI)

    Pallan, Pradeep S.; Prakash, Thazha P.; Li, Feng; Eoff, Robert L.; Manoharan, Muthiah; Egli, Martin

    2009-06-17

    Crystal structures of A-form and B-form DNA duplexes containing 2'-S-methyl-uridines reveal that the modified residues adopt a RNA-like C3'-endo pucker, illustrating that the replacement of electronegative oxygen at the 2'-carbon of RNA by sulfur does not appear to fundamentally alter the conformational preference of the sugar in the oligonucleotide context and sterics trump stereoelectronics.

  15. Cerium-modified doped strontium titanate compositions for solid oxide fuel cell anodes and electrodes for other electrochemical devices

    DOE Patents [OSTI]

    Marina, Olga A [Richland, WA; Stevenson, Jeffry W [Richland, WA

    2010-03-02

    The present invention provides novel compositions that find advantageous use in making electrodes for electrochemical cells and electrochemical devices such as solid oxide fuel cells, electrolyzers, sensors, pumps and the like, the compositions comprising cerium-modified doped strontium titanate. The invention also provides novel methods for making and using anode material compositions and solid oxide fuel cells and solid oxide fuel cell assemblies having anodes comprising the compositions.

  16. Cerium-modified doped strontium titanate compositions for solid oxide fuel cell anodes and electrodes for other electrochemical devices

    DOE Patents [OSTI]

    Marina, Olga A [Richland, WA; Stevenson, Jeffry W [Richland, WA

    2010-11-23

    The present invention provides novel compositions that find advantageous use in making electrodes for electrochemical cells and electrochemical devices such as solid oxide fuel cells, electrolyzers, sensors, pumps and the like, the compositions comprising cerium-modified doped strontium titanate. The invention also provides novel methods for making and using anode material compositions and solid oxide fuel cells and solid oxide fuel cell assemblies having anodes comprising the compositions.

  17. Cylindrical and spherical dust-ion-acoustic modified Gardner solitons in dusty plasmas with two-temperature superthermal electrons

    SciTech Connect (OSTI)

    Alam, M. S.; Masud, M. M.; Mamun, A. A.

    2013-12-15

    A rigorous theoretical investigation has been performed on the propagation of cylindrical and spherical Gardner solitons (GSs) associated with dust-ion-acoustic (DIA) waves in a dusty plasma consisting of inertial ions, negatively charged immobile dust, and two populations of kappa distributed electrons having two distinct temperatures. The well-known reductive perturbation method has been used to derive the modified Gardner (mG) equation. The basic features (amplitude, width, polarity, etc.) of nonplanar DIA modified Gardner solitons (mGSs) have been thoroughly examined by the numerical analysis of the mG equation. It has been found that the characteristics of the nonplanar DIA mGSs significantly differ from those of planar ones. It has been also observed that kappa distributed electrons with two distinct temperatures significantly modify the basic properties of the DIA solitary waves and that the plasma system under consideration supports both compressive and rarefactive DIA mGSs. The present investigation should play an important role for understanding localized electrostatic disturbances in space and laboratory dusty plasmas where stationary negatively charged dust, inertial ions, and superthermal electrons with two distinct temperatures are omnipresent ingredients.

  18. Thermogravimetric Analysis of Modified Hematite by Methane (CH{sub 4}) for Chemical-Looping Combustion: A Global Kinetics Mechanism

    SciTech Connect (OSTI)

    Monazam, Esmail R.; Breault, Ronald W.; Siriwardane, Ranjani; Miller, Duane D.

    2013-10-01

    Iron oxide (Fe{sub 2}O{sub 3}) or in its natural form (hematite) is a potential material to capture CO{sub 2} through the chemical-looping combustion (CLC) process. It is known that magnesium (Mg) is an effective methyl cleaving catalyst and as such it has been combined with hematite to assess any possible enhancement to the kinetic rate for the reduction of Fe{sub 2}O{sub 3} with methane. Therefore, in order to evaluate its effectiveness as a hematite additive, the behaviors of Mg-modified hematite samples (hematite 5% Mg(OH){sub 2}) have been analyzed with regard to assessing any enhancement to the kinetic rate process. The Mg-modified hematite was prepared by hydrothermal synthesis. The reactivity experiments were conducted in a thermogravimetric analyzer (TGA) using continuous stream of CH{sub 4} (5, 10, and 20%) at temperatures ranging from 700 to 825 {degrees}C over ten reduction cycles. The mass spectroscopy analysis of product gas indicated the presence of CO{sub 2}, H{sub 2}O, H{sub 2} and CO in the gaseous product. The kinetic data at reduction step obtained by isothermal experiments could be well fitted by two parallel rate equations. The modified hematite samples showed higher reactivity as compared to unmodified hematite samples during reduction at all investigated temperatures.

  19. THE EFFECTS OF HALIDE MODIFIERS ON THE SORPTION KINETICS OF THE LI-MG-N-H SYSTEM

    SciTech Connect (OSTI)

    Anton, D.; Gray, J.; Price, C.; Lascola, R.

    2011-07-20

    The effects of different transition metal halides (TiCl{sub 3}, VCl{sub 3}, ScCl{sub 3} and NiCl{sub 2}) on the sorption properties of the 1:1 molar ratio of LiNH{sub 2} to MgH{sub 2} are investigated. The modified mixtures were found to contain LiNH{sub 2}, MgH{sub 2} and LiCl. TGA results showed that the hydrogen desorption temperature was reduced with the modifier addition in this order: TiCl{sub 3} > ScCl{sub 3} > VCl{sub 3} > NiCL{sub 2}. Ammonia release was not significantly reduced resulting in a weight loss greater than the theoretical hydrogen storage capacity of the material. The isothermal sorption kinetics of the modified systems showed little improvement after the first dehydrogenation cycle over the unmodified system but showed drastic improvement in rehydrogenation cycles. X-ray diffraction and Raman spectroscopy identified the cycled material to be composed of LiH, MgH{sub 2}, Mg(NH{sub 2}){sub 2} and Mg{sub 3}N{sub 2}.

  20. Development of Modified Pag (Polyalkylene Glycol) High VI High Fuel Efficient Lubricant for LDV Applications

    SciTech Connect (OSTI)

    Gangopadhyay, Arup; McWatt, D. G.; Zdrodowski, R. J.; Liu, Zak; Elie, Larry; Simko, S. J.; Erdemir, Ali; Ramirez, Giovanni; Cuthbert, J.; Hock, E. D.

    2015-09-30

    Engine oils play a critical role in friction reduction. Improvements in engine oil technology steadily improved fuel economy as the industry moved through ILSAC GF-1 to GF-5 specifications. These improvements were influenced by changes in base oil chemistry, development of new friction modifiers and their treat levels, and the total additive package consisting of various other components. However, the improvements are incremental and further fuel consumption reduction opportunities are becoming more challenging. Polyalkylene glycol (PAG) based engine oils are being explored as a step forward for significant fuel consumption reduction. Although PAG fluids are used in many industrial applications, its application as an engine oil has been explored in a limited way. The objective of this project is to deep dive in exploring the applicability of PAG technology in engine oil, understanding the benefits, and limitations, elucidating the mechanism(s) for friction benefits, if any, and finally recommending how to address any limitations. The project was designed in four steps, starting with selection of lubricant technology, followed by friction and wear evaluations in laboratory bench tests which are relatively simple and inexpensive and also served as a screener for further evaluation. Selected formulations were chosen for more complex engine component level tests i.e., motored valvetrain friction and wear, piston ring friction using a motored single cylinder, and motored engine tests. A couple of formulations were further selected based on component level tests for engine dyno tests i.e., Sequence VID (ASTM D6709) for fuel economy, Sequence IVA (ASTM D6891) for valvetrain wear, and Sequence VG (ASTM D6593) for sludge and varnish protection. These are some of the industry standard tests required for qualifying engine oils. Out of these tests, a single PAG oil was selected for chassis roll dynamometer tests for fuel economy and emission measurements using FTP (Federal Test Procedure) metro/highway cycles. Five different PAG chemistries were selected by varying the starting alcohol, the oxide monomers (ethylene oxide, propylene oxide, or butylene oxide), capped or uncapped, homopolymer or random copolymer. All formulations contained a proprietary additive package and one which contained additional antiwear and friction modifier additives. Laboratory bench tests (Pin-on-Disk, High Frequency Reciprocating Rig (HFRR), Block-on-Ring, Mini-Traction Machine (MTM) identified formulations having friction, wear, and load carrying characteristics similar to or better than baseline GF-5 SAE 5W-20 oil. Motored valvetrain and motored piston ring friction tests showed nearly 50% friction reduction for some of the PAG formulations compared to GF-5 SAE 5W-20 oil. Motored engine tests showed up to 15% friction benefit over GF-5 SAE 5W-20 oil. It was observed that friction benefits are more related to PAG base oil chemistry than their lower viscosity compared to GF-5 SAE 5W-20 oil. Analysis of wear surfaces from laboratory bench tests and bucket tappets from motored valvetrain tests confirmed the presence of PAG molecules. The adsorption of these polar molecules is believed to be reason for friction reduction. However, the wear surfaces also had thin tribo-film derived from additive components. The tribo-film consisting of phosphates, sulfides, and molybdenum disulfide (when molybdenum additive was present) were observed for both GF-5 SAE 5W-20 and PAG fluids. However, when using PAG fluids, motored valvetrain tests showed high initial wear, which is believed to be due to delay in protective tribo-film formation. After the initial wear, the wear rate of PAG fluids was comparable to GF-5 SAE 5W-20 oil. The PAG oil containing additional antiwear and friction reducing additives showed low initial wear as expected. However, when this oil was evaluated in Sequence IVA test, it showed initially low wear comparable to GF-5 oil but wear accelerated with oil aging indicating rapid deterioration of additive components. ASTM Sequence VG test showed good sludge protection capability but failed to meet varnish rating for GF-5 requirement. Chassis roll dynamometer tests with PAG oil 15-1 showed about 1% fuel economy benefit over GF-5 SAE 5W-20 oil in EPA city cycles only and when the oil was slightly aged (500 miles). No fuel economy benefits could be observed in combined EPA metro/highway cycles. Also, no fuel economy benefit could be observed with continued (500- 10000 miles) oil aging. However, the emission level was comparable to the reference oil and was within EPA limits. Analysis of the PAG oil following tests showed low iron content although additive components were significantly degraded. The results indicate that PAG fluids have significant friction reduction potential but there are challenges with wear and varnish protection capabilities. These limitations are primarily because the selected additive components were chosen to provide a fluid with no metal content that forms little or no sulphated ash. Significant development work is needed to identify additive components compatible with PAG chemistry including their solubility in PAG oil. Miscibility of PAG fluids with mineral base oil is another challenge for oil change service. There is PAG chemistry (oil soluble PAG, OSP) which is soluble in mineral oils but the formulation explored in this investigation did not show significant friction reduction in motored engine tests. Again, highlighting the need for additive development for specific PAG chemistry. The thermal oxidation behavior of these oils has not been explored in this investigation and needs attention.

  1. BioSAXS Sample Changer: a robotic sample changer for rapid and reliable high-throughput X-ray solution scattering experiments

    SciTech Connect (OSTI)

    Round, Adam, E-mail: around@embl.fr; Felisaz, Franck [European Molecular Biology Laboratory, Grenoble Outstation, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Universit Grenoble AlpesEMBLCNRS, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Fodinger, Lukas; Gobbo, Alexandre [European Molecular Biology Laboratory, Grenoble Outstation, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Huet, Julien [European Molecular Biology Laboratory, Grenoble Outstation, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Universit Grenoble AlpesEMBLCNRS, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Villard, Cyril [European Molecular Biology Laboratory, Grenoble Outstation, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Blanchet, Clement E., E-mail: around@embl.fr [EMBL c/o DESY, Notkestrasse 85, 22603 Hamburg (Germany); Pernot, Petra; McSweeney, Sean [ESRF, 6 Rue Jules Horowitz, 38000 Grenoble (France); Roessle, Manfred; Svergun, Dmitri I. [EMBL c/o DESY, Notkestrasse 85, 22603 Hamburg (Germany); Cipriani, Florent, E-mail: around@embl.fr [European Molecular Biology Laboratory, Grenoble Outstation, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France); Universit Grenoble AlpesEMBLCNRS, 71 Avenue des Martyrs, CS 90181, 38042 Grenoble (France)

    2015-01-01

    A robotic sample changer for solution X-ray scattering experiments optimized for speed and to use the minimum amount of material has been developed. This system is now in routine use at three high-brilliance European synchrotron sites, each capable of several hundred measurements per day. Small-angle X-ray scattering (SAXS) of macromolecules in solution is in increasing demand by an ever more diverse research community, both academic and industrial. To better serve user needs, and to allow automated and high-throughput operation, a sample changer (BioSAXS Sample Changer) that is able to perform unattended measurements of up to several hundred samples per day has been developed. The Sample Changer is able to handle and expose sample volumes of down to 5 l with a measurement/cleaning cycle of under 1 min. The samples are stored in standard 96-well plates and the data are collected in a vacuum-mounted capillary with automated positioning of the solution in the X-ray beam. Fast and efficient capillary cleaning avoids cross-contamination and ensures reproducibility of the measurements. Independent temperature control for the well storage and for the measurement capillary allows the samples to be kept cool while still collecting data at physiological temperatures. The Sample Changer has been installed at three major third-generation synchrotrons: on the BM29 beamline at the European Synchrotron Radiation Facility (ESRF), the P12 beamline at the PETRA-III synchrotron (EMBL@PETRA-III) and the I22/B21 beamlines at Diamond Light Source, with the latter being the first commercial unit supplied by Bruker ASC.

  2. Treatment of Produced Waters Using a Surfactant Modified Zeolite/Vapor Phase Bioreactor System

    SciTech Connect (OSTI)

    Soondong Kwon; Elaine B. Darby; Li-Jung Chen; Lynn E. Katz; Kerry A. Kinney; R. S. Bowman; E. J. Sullivan

    2005-03-11

    This report summarizes work performed on this project from October 2004 through March 2005. In previous work, a surfactant modified zeolite (SMZ) was shown to be an effective system for removing BTEX contaminants from produced water. Additional work on this project demonstrated that a compost-based biofilter could biodegrade the BTEX contaminants found in the SMZ regeneration waste gas stream. However, it was also determined that the BTEX concentrations in the waste gas stream varied significantly during the regeneration period and the initial BTEX concentrations were too high for the biofilter to handle effectively. A series of experiments were conducted to determine the feasibility of using a passive adsorption column placed upstream of the biofilter to attenuate the peak gas-phase VOC concentrations delivered to the biofilter during the SMZ regeneration process. In preparation for the field test of the SMZ/VPB treatment system in New Mexico, a pilot-scale SMZ system was also designed and constructed during this reporting period. Finally, a cost and feasibility analysis was also completed. To investigate the merits of the passive buffering system during SMZ regeneration, two adsorbents, SMZ and granular activated carbon (GAC) were investigated in flow-through laboratory-scale columns to determine their capacity to handle steady and unsteady VOC feed conditions. When subjected to a toluene-contaminated air stream, the column containing SMZ reduced the peak inlet 1000 ppmv toluene concentration to 630 ppmv at a 10 second contact time. This level of buffering was insufficient to ensure complete removal in the downstream biofilter and the contact time was longer than desired. For this reason, using SMZ as a passive buffering system for the gas phase contaminants was not pursued further. In contrast to the SMZ results, GAC was found to be an effective adsorbent to handle the peak contaminant concentrations that occur early during the SMZ regeneration process. At a one second residence time, the GAC bed reduced peak contaminant concentrations by 97%. After the initial peak, the inlet VOC concentration in the SMZ regeneration gas stream drops exponentially with time. During this period, the contaminants on the GAC subsequently desorbed at a nearly steady rate over the next 45 hours resulting in a relatively steady effluent concentration of approximately 25 ppm{sub v}. This lower concentration is readily degradable by a downstream vapor phase biofilter (VPB) and the steady nature of the feed stream will prevent the biomass in the VPB from enduring starvation conditions between SMZ regeneration cycles. Repetitive sorption and desorption cycles that would be expected in the field were also investigated. It was determined that although the GAC initially lost some VOC sorption capacity, the adsorption and desorption profiles stabilized after approximately 6 cycles indicating that a GAC bed should be suitable for continuous operation. In preparation for the pilot field testing of the SMZ/VPB system, design, ''in-house'' construction and testing of the field system were completed during this project period. The design of the SMZ system for the pilot test was based on previous investigations by the PI's in Wyoming, 2002 and on analyses of the produced water at the field site in New Mexico. The field tests are scheduled for summer, 2005. A cost survey, feasibility of application and cost analyses were completed to investigate the long term effectiveness of the SMZ/VPB system as a method of treating produced water for re-use. Several factors were investigated, including: current costs to treat and dispose of produced water, end-use water quality requirements, and state and federal permitting requirements.

  3. Rare alleles of the HRAS polymorphism do not modify the risk of breast or ovarian cancer in BRCA1 carriers

    SciTech Connect (OSTI)

    Phelan, C.; Tonin, P.; Lynch, H.T.

    1994-09-01

    The presence of one of the rare alleles of a minisatellite polymorphism at the HRAS locus on chromosome 11p15 has been associated with a roughly two-fold increase in the risk of breast cancer. The BRCA1 gene on chromosome 17q12-21 is responsible for the majority of the families with the breast-ovarian cancer syndrome. It is estimated that 87% of BRCA1 carriers will be affected with breast cancer by age 70. The relative risk for premenopausal breast cancer in carriers, compared to non-carriers, is roughly 100. Because of the wide range in ages of onset of cancer among BRCA1 carriers, it is likely that additional factors modify the risk of cancer. The role of other modifying genetic loci has not been studied. Through haplotype analysis we have identified 199 female BRCA1 carriers above the age of 20 years in 25 linked families. 127 of these women have been diagnosed with cancer and 72 are currently healthy. DNA was available on 59 carriers. Each sample was typed for the HRAS polymorphism by PCR, using primers flanking the minisatellite. Rare alleles were identified in 18 carriers. The penetrance of the BRCA1 gene was not higher among those women who carried a rare HRAS allele (mean age of onset 49 years) than among those who carried two common alleles (mean age of onset 43 years) (p= 0.59; log rank test). Similar results were obtained for ovarian cancer. These data do not support the hypothesis that the HRAS locus modified the risk of cancer among carriers of mutations in BRCA1.

  4. Vehicle Technologies Office Merit Review 2014: Development of Modified PAG (polyalkylene glycol) High VI High Fuel Efficient Lubricant for LDV Applications

    Broader source: Energy.gov [DOE]

    Presentation given by Ford Motor Company at 2014 DOE Hydrogen and Fuel Cells Program and Vehicle Technologies Office Annual Merit Review and Peer Evaluation Meeting about development of modified...

  5. V-076: Cisco Wireless LAN Controller Bugs Let Remote Users Deny Service and Remote Authenticated Users Modify the Configuration and Execute Arbitrary Code

    Broader source: Energy.gov [DOE]

    A remote authenticated user can execute arbitrary code on the target system. A remote authenticated user can modify the configuration on the target system. A remote user can cause denial of service conditions.

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

    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 This FEMP guidance addresses potential refinancing, restructuring, or modifying of loan agreements (collectively called a "debt modification") entered into by an Energy Services Company (ESCO) under federal Energy Savings Performance Contracts (ESPCs). In considering the impact of debt modifications on ESPCs, it is important

  7. Interfacing relativistic and nonrelativistic methods. I. Normalized elimination of the small component in the modified Dirac equation

    SciTech Connect (OSTI)

    Dyall, K.G.

    1997-06-01

    The introduction of relativistic terms into the nonrelativistic all-electron Schr{umlt o}dinger equation is achieved by the method of normalized elimination of the small component (ESC) within the matrix representation of the modified Dirac equation. In contrast to the usual method of ESC, the method presented retains the correct relativistic normalization, and permits the construction of a single matrix relating the large and small component coefficient matrices for an entire set of positive energy one-particle states, thus enabling the whole set to be obtained with a single diagonalization. This matrix is used to define a modified set of one- and two-electron integrals which have the same appearance as the nonrelativistic integrals, and to which they reduce in the limit {alpha}{r_arrow}0. The normalized method corresponds to a projection of the Dirac{endash}Fock matrix onto the positive energy states. Inclusion of the normalization reduces the discrepancy between the eigenvalues of the ESC approach and the Dirac eigenvalues for a model problem from order {alpha}{sup 2} to order {alpha}{sup 4}, providing a closer approximation to the original, uneliminated solutions. The transition between the nonrelativistic and relativistic limits is achieved by simply scaling the fine structure constant {alpha}. {copyright} {ital 1997 American Institute of Physics.}

  8. Health and environmental outcomes of traditional and modified practices for abatement of residential lead-based paint

    SciTech Connect (OSTI)

    Farfel, M.R.; Chisolm, J.J. Jr. )

    1990-10-01

    We evaluated traditional and modified practices for abating lead-based paint in homes of children with blood-lead concentrations (PbB) greater than 1.4 mumol/L (greater than 29 micrograms/dl). Traditional abatement resulted in acute increases in: (1) lead contaminated house dust (generally 3 to 6-fold over pre-abatement levels, but at abated sites typically 10 to 100-fold); and (2) the PbBs of nearly half of the occupant children. Modified practices represented modest short-term improvement compared to traditional practices but were also inadequate. By six months, it was clear that neither form of abatement resulted in long-term reductions of PbB or house dust lead levels, leaving children at continued risk of excessive exposure to lead and permanent adverse neurobehavioral effects. Windows were found to be high sources of lead contaminated house dust. Recommendations are made for improved abatement practices including more complete abatement of window units and more effective clean-up to remove lead-bearing dust. Thirteen million US children live in lead-painted dwellings. Research is needed to identify abatement strategies that will be practical and well suited to the current understanding of low-level lead toxicity.

  9. The operation results with the modified charging equipment and ignition furnace at Kwangyang No. 2 sinter plant

    SciTech Connect (OSTI)

    Lee, K.J.; Pi, Y.J.; Kim, J.R.; Lee, J.N.

    1996-12-31

    There will be another blast furnace, the production capacity of which is 3.0 million tonnes per year in 1999 and mini mill plant, the production capacity of which is 1.8 million tonnes per year in 1996 at Kwangyang Works. Therefore, the coke oven gas and burnt lime will be deficient and more sinter will be needed. To meet with these situations, the authors modified the charging equipment and ignition furnace at Kwangyang No. 2 sinter plant in April 1995. After the modification of the charging equipment and ignition furnace, the consumption of burnt lime and coke oven gas could be decreased and the sinter productivity increased in spite of the reduction of burnt lime consumption. This report describes the operation results with the modification of the charging equipment and ignition furnace in No. 2 sinter plant Kwangyang works.

  10. Preliminary safety analysis of Pb-Bi cooled 800 MWt modified CANDLE burn-up scheme based fast reactors

    SciTech Connect (OSTI)

    Su'ud, Zaki; Sekimoto, H.

    2014-09-30

    Pb-Bi Cooled fast reactors with modified CANDLE burn-up scheme with 10 regions and 10 years cycle length has been investigated from neutronic aspects. In this study the safety aspect of such reactors have been investigated and discussed. Several condition of unprotected loss of flow (ULOF) and unprotected rod run-out transient over power (UTOP) have been simulated and the results show that the reactors excellent safety performance. At 80 seconds after unprotected loss of flow condition, the core flow rate drop to about 25% of its initial flow and slowly move toward its natural circulation level. The maximum fuel temperature can be managed below 1000C and the maximum cladding temperature can be managed below 700C. The dominant reactivity feedback is radial core expansion and Doppler effect, followed by coolant density effect and fuel axial expansion effect.

  11. AMENDMENT OF SOLIr ATI ON/MODIFI CATION OF CONTRACT 1. CONTRACT ID CODE PAGE OF PAGES

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

    SOLIr ATI ON/MODIFI CATION OF CONTRACT 1. CONTRACT ID CODE PAGE OF PAGES 2 AMENDMENT/lIVDDIFICATiON NC 3. EFFECTIVE DATE [4 REDUISITION/PURCHASE REC NO IE PR3JECT NC (if applicable) 09 ISoe Bloo , 16- - ISee Soheoule S ISSUED D> CODE 7 ~ ADMINISTERED BY (if otnertrian ItemS CO DE Of fice of Ri-.er PoDLecOLODn office of Riv'er P-oCQ-ec-.iQ .S. Cet:F O<men of E-nerov,, I.S. Deparo:merio c-' Enrgv P.O. Box 4'5C 0 ... Box 45C .io ao 1 31 W YS: (-876 B. NAME AND ADDRESS CF CONTRACTOR (No seve

  12. Immobilization of cellulase on a silica gel substrate modified using a 3-APTES self-assembled monolayer

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

    Zhang, Dezhi; Hegab, Hisham E.; Lvov, Yuri; Snow, L. Dale; Palmer, James

    2016-01-20

    Cellulase was immobilized onto silica gel surfaces pretreated with (3-aminopropyl) triethoxy-silane (3-APTES), and glutaraldehyde (GA) was used as a cross-linker. A carboxymethyl cellulose sodium salt (CMC) solution was used for activity experiments. Protein assay was performed to determine the mass immobilized and compare with free enzyme. Cellulase was successfully demonstrated to be immobilized on the modified silica gel surface, and no detectable amount of enzyme was stripped off during the hydrolysis of the CMC solution. The specific activity of the immobilized cellulase is 7 ± 2 % compared to the similar amount of free cellulase. Significant activity over multiple reusesmore » was observed. The seventh batch achieved 82 % activity of the initial batch, and the fifteenth batch retained 31 %. Lastly, it was observed that the immobilized cellulase retained 48 % of its initial activity after 4 days, and 22 % even after 14 days.« less

  13. Chemically modified polymeric resins for solid-phase extraction and group separation prior to analysis by liquid or gas chromatography

    SciTech Connect (OSTI)

    Schmidt, L.W.

    1993-07-01

    Polystyrene divinylbenzene was modified by acetyl, sulfonic acid, and quaternary ammonium groups. A resin functionalized with an acetyl group was impregnated in a PTFE membrane and used to extract and concentrate phenolic compounds from aqueous samples. The acetyl group created a surface easily wetted, making it an efficient adsorbent for polar compounds in water. The membrane stabilized the resin bed. Partially sulfonated high surface area resins are used to extract and group separate an aqueous mixture of neutral and basic organics; the bases are adsorbed electrostatically to the sulfonic acid groups, while the neutraons are adsorbed hydrophobically. A two-step elution is then used to separate the two fractions. A partially functionalized anion exchange resin is used to separate organic acids and phenols from neutrals in a similar way. Carboxylic acids are analyzed by HPLC and phenols by GC.

  14. Surface Modified Particles By Multi-Step Michael-Type Addition And Process For The Preparation Thereof

    DOE Patents [OSTI]

    Cook, Ronald Lee (Lakewood, CO); Elliott, Brian John (Superior, CO); Luebben, Silvia DeVito (Golden, CO); Myers, Andrew William (Arvada, CO); Smith, Bryan Matthew (Boulder, CO)

    2005-05-03

    A new class of surface modified particles and a multi-step Michael-type addition surface modification process for the preparation of the same is provided. The multi-step Michael-type addition surface modification process involves two or more reactions to compatibilize particles 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 reactive organic linking groups. Specifically, these reactive groups are activated carbon—carbon pi bonds and carbon and non-carbon nucleophiles that react via Michael or Michael-type additions.

  15. TOXICITY CHARACTERISTIC LEACHING PROCEDURE APPLIED TO RADIOACTIVE SALTSTONE CONTAINING TETRAPHENYLBORATE: DEVELOPMENT OF A MODIFIED ZERO-HEADSPACE EXTRACTOR

    SciTech Connect (OSTI)

    Crapse, K.; Cozzi, A.; Crawford, C.; Jurgensen, A.

    2006-09-30

    In order to assess the effect of extended curing times at elevated temperatures on saltstone containing Tank 48H waste, saltstone samples prepared as a part of a separate study were analyzed for benzene using a modification of the United States Environmental Protection Agency (USEPA) method 1311 Toxicity Characteristic Leaching Procedure (TCLP). To carry out TCLP for volatile organic analytes (VOA), such as benzene, in the Savannah River National Laboratory (SRNL) shielded cells (SC), a modified TCLP Zero-Headspace Extractor (ZHE) was developed. The modified method was demonstrated to be acceptable in a side by side comparison with an EPA recommended ZHE using nonradioactive saltstone containing tetraphenylborate (TPB). TCLP results for all saltstone samples tested containing TPB (both simulant and actual Tank 48H waste) were below the regulatory limit for benzene (0.5 mg/L). In general, higher curing temperatures corresponded to higher concentrations of benzene in TCLP extract. The TCLP performed on the simulant samples cured under the most extreme conditions (3000 mg/L TPB in salt and cured at 95 C for at least 144 days) resulted in benzene values that were greater than half the regulatory limit. Taking into account that benzene in TCLP extract was measured on the same order of magnitude as the regulatory limit, that these experimental conditions may not be representative of actual curing profiles found in the saltstone vault and that there is significant uncertainty associated with the precision of the method, it is recommended that to increase confidence in TCLP results for benzene, the maximum curing temperature of saltstone be less than 95 C. At this time, no further benzene TCLP testing is warranted. Additional verification would be recommended, however, should future processing strategies result in significant changes to salt waste composition in saltstone as factors beyond the scope of this limited study may influence the decomposition of TPB in saltstone.

  16. Sandia National Laboratories: Research: High Consequence, Automation, &

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

    Robotics: Robotics Image Gallery Robotics Image Gallery

  17. Aerial robotic data acquisition system

    SciTech Connect (OSTI)

    Hofstetter, K.J.; Hayes, D.W.; Pendergast, M.M.; Corban, J.E.

    1993-12-31

    A small, unmanned aerial vehicle (UAV), equipped with sensors for physical and chemical measurements of remote environments, is described. A miniature helicopter airframe is used as a platform for sensor testing and development. The sensor output is integrated with the flight control system for real-time, interactive, data acquisition and analysis. Pre-programmed flight missions will be flown with several sensors to demonstrate the cost-effective surveillance capabilities of this new technology.

  18. AERONET: The Aerosol Robotic Network

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

    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

  19. Program Description | Robotics Internship Program

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

    the Internship Internship details: 10 week appointments to private industries or DOE national laboratories across the United States Minimum stipend of $600 per week for undergraduates and $750 per week for graduate students Travel to and from appointment host location up to a combined maximum of $1,000 Housing allowance of $150 per week for interns whose home location is more than 50 miles from the appointment host location Eligibility Eligible applicants: Must be 18 years old by the start of

  20. About ORAU | Robotics Internship Program

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

    and advanced manufacturing educational and training programs designed to provide students and recent graduates with opportunities to participate in project-specific...