Publications

Abstract not provided.

In this paper, we present an optimal method for calculating turning maneuvers for an unmanned aerial vehicle (UAV) developed for ecological research. The algorithm calculates several possible solutions using vectors represented in complex notation, and selects the shortest turning path given constraints determined by the aircraft. This algorithm considers the UAV's turning capabilities, generating a two-dimensional path that is feasible for the UAV to fly. We generate a test flight path and show that the UAV is capable of following the turn maneuvers.

In the past decade, a great deal of effort has been focused in research and development of versatile robotic ground vehicles without understanding their performance in a particular operating environment. As the usage of robotic ground vehicles for intelligence applications increases, understanding mobility of the vehicles becomes critical to increase the probability of their successful operations. This paper describes a framework based on conservation of energy to predict the maximum mobility of robotic ground vehicles over general terrain. The basis of the prediction is the difference between traction capability and energy loss at the vehicle-terrain interface. The mission success of a robotic ground vehicle is primarily a function of mobility. Mobility of a vehicle is defined as the overall capability of a vehicle to move from place to place while retaining its ability to perform its primary mission. A mobility analysis tool based on the fundamental principle of conservation of energy is described in this document. The tool is a graphical user interface application. The mobility analysis tool has been developed at Sandia National Laboratories, Albuquerque, NM. The tool is at an initial stage of development. In the future, the tool will be expanded to include all vehicles and terrain types.

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.

Abstract not provided.

Sandia National Laboratories has developed a mesoscale hopping mobility platform (Hopper) to overcome the longstanding problems of mobility and power in small scale unmanned vehicles. The system provides mobility in situations such as negotiating tall obstacles and rough terrain that are prohibitive for other small ground base vehicles. The Defense Advanced Research Projects Administration (DARPA) provided the funding for the hopper project.

Historically, high resolution, high slew rate optics have been heavy, bulky, and expensive. Recent advances in MEMS (Micro Electro Mechanical Systems) technology and micro-machining may change this. Specifically, the advent of steerable sub-millimeter sized mirror arrays could provide the breakthrough technology for producing very small-scale high-performance optical systems. For example, an array of steerable MEMS mirrors could be the building blocks for a Fresnel mirror of controllable focal length and direction of view. When coupled with a convex parabolic mirror the steerable array could realize a micro-scale pan, tilt and zoom system that provides full CCD sensor resolution over the desired field of view with no moving parts (other than MEMS elements). This LDRD provided the first steps towards the goal of a new class of small-scale high-performance optics based on MEMS technology. A large-scale, proof of concept system was built to demonstrate the effectiveness of an optical configuration applicable to producing a small-scale (< 1cm) pan and tilt imaging system. This configuration consists of a color CCD imager with a narrow field of view lens, a steerable flat mirror, and a convex parabolic mirror. The steerable flat mirror directs the camera's narrow field of view to small areas of the convex mirror providing much higher pixel density in the region of interest than is possible with a full 360 deg. imaging system. Improved image correction (dewarping) software based on texture mapping images to geometric solids was developed. This approach takes advantage of modern graphics hardware and provides a great deal of flexibility for correcting images from various mirror shapes. An analytical evaluation of blur spot size and axi-symmetric reflector optimization were performed to address depth of focus issues that occurred in the proof of concept system. The resulting equations will provide the tools for developing future system designs.

The set of laws developed and presented here is by no means exhaustive. Techniques have been present to aid in the development of additional scaling laws and to combine these and other laws to produce additional useful relationships. Some of the relationships produced here have yielded perhaps surprising results. Examples include the fifth order scaling law for electromagnetic motor torque and the zero order scaling law for capacitive motor power. These laws demonstrate important facts about actuators in small-scale systems. The primary intent of this introduction into scaling law analysis is to provide needed tools to examine possible areas of the research in small-scale systems and direct research toward more fruitful areas. Numerous examples have been included to show the validity of developing scaling laws based on first principles and how real world systems tend to obey these laws even when many other variables may potentially come into play. Development of further laws may well serve to provide important high-level direction to the continued development of small-scale systems.

The overpressurization of a 1:6-scale reinforced concrete containment building demonstrated that liner tearing is a plausible failure mode in such structures under severe accident conditions. A combined experimental and analytical program was developed to determine the important parameters which affect liner tearing and to develop reasonably simple analytical methods for predicting when tearing will occur. Three sets of test specimens were designed to allow individual control over and investigation of the mechanisms believed to be important in causing failure of the liner plate. The series of tests investigated the effect on liner tearing produced by the anchorage system, the loading conditions, and the transition in thickness from the liner to the insert plate. Before testing, the specimens were analyzed using two- and three-dimensional finite element models. Based on the analysis, the failure mode and corresponding load conditions were predicted for each specimen. Test data and post-test examination of test specimens show mixed agreement with the analytical predictions with regard to failure mode and specimen response for most tests. Many similarities were also observed between the response of the liner in the 1:6-scale reinforced concrete containment model and the response of the test specimens. This work illustrates the fact that the failure mechanism of a reinforced concrete containment building can be greatly influenced by details of liner and anchorage system design. Further, it significantly increases the understanding of containment building response under severe conditions.

Sandia National Laboratories (SNL) is conducting several research programs to help develop validated methods for the prediction of the ultimate pressure capacity, at elevated temperatures, of light water reactor (LWR) containment structures. To help understand the ultimate pressure of the entire containment pressure boundary, each component must be evaluated. The containment pressure boundary consists of the containment shell and many access, piping, and electrical penetrations. The focus of the current research program is to study the ultimate behavior of flexible metal bellows that are used at piping penetrations. Bellows are commonly used at piping penetrations in steel containments; however, they have very few applications in concrete (reinforced or prestressed) containments. The purpose of piping bellows is to provide a soft connection between the containment shell and the pipe are attached while maintaining the containment pressure boundary. In this way, piping loads caused by differential movement between the piping and the containment shell are minimized. SNL is conducting a test program to determine the leaktight capacity of containment bellows when subjected to postulated severe accident conditions. If the test results indicate that containment bellows could be a possible failure mode of the containment pressure boundary, then methods will be developed to predict the deformation, pressure, and temperature conditions that would likely cause a bellows failure. Results from the test program would be used to validate the prediction methods. This paper provides a description of the use and design of bellows in containment piping penetrations, the types of possible bellows loadings during a severe accident, and an overview of the test program, including available test results at the time of writing.

The US Nuclear Regulatory Commission (NRC) is investigating the performance of containments subject to severe accidents. This work is being performed by Sandia National Laboratories (SNL). In 1987, a 1:6-scale Reinforced Concrete Containment (RCC) model was tested to failure. The failure mode was a liner tear. As a result, a separate effects test program has been conducted to investigate liner tearing. This paper discusses the design of test specimens and the results of the testing. The post-test examination of the 1:6-scale RCC model revealed that the large tear was not an isolated event. Other small tears in similar locations were also discovered. All tears occurred near the insert-to-liner transition which is also the region of closest stud spacing. Also, all tears propagated vertically, in response to the hoop strain. Finally, all tears were adjacent to a row of studs. The tears point to a mechanism which could involve the liner/insert transition, the liner anchorage, and the material properties. The separate effects tests investigated these effects. The program included the design of three types of specimens with each simulating some features of the 1:6-scale RCC model. The specimens were instrumented using strain gages and photoelastic materials.

Piping penetrations in nuclear power plant steel containments are surrounded by flexible metal bellows. The purpose of the bellows is to maintain the containment pressure boundary integrity while permitting relative movement between the piping and the containment wall. In a severe accident, bellows may be subjected to high temperatures, pressure, and combinations of lateral and axial deflections. Sandia National Laboratories (SNL), under sponsorship of the Nuclear Regulatory Commission (NRC), is performing a series of tests to investigate the performance of containment bellows under severe accident conditions.

The overpressurization of a 1:6 scale reinforced concrete containment building demonstrated that liner tearing is a plausible failure mode in such structures under severe accident conditions. A combined experimental and analytical program was developed to determine the important parameters that affect liner tearing and to develop reasonably simple analytical methods for predicting when tearing will occur. Three sets of test specimens were designed to allow individual control over and investigation of the mechanisms believed to be important in causing failure of the liner plate. The series of tests investigated the effect on liner tearing produced by the anchorage system, the loading conditions, and the transition in thickness of the liner. Before testing, the specimens were analyzed using two- and three-dimensional finite element models. Based on the analysis, the failure mode and corresponding load conditions were predicted for each specimen. Test data and posttest examination of test specimens shows mixed agreement with the analytical predictions with regard to failure mode and specimen response for most tests. Many similarities were also observed between the response of the liner in the 1:6 scale reinforced concrete containment model and the response of the test specimens. This work illustrates the fact that the failure mechanism of a reinforced concrete containment building can be greatly influenced by details of liner and anchorage system design. Furthermore, it significantly increases the understanding of containment building response under severe accident conditions.