Publications

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Recently there has been a noted worldwide increase in violent actions including attempted sabotage at nuclear power plants. Several organizations, such as the International Atomic Energy Agency and the US Nuclear Regulatory Commission, have guidelines, recommendations, and formal threat- and risk-assessment processes for the protection of nuclear assets. Other examples are the former Defense Special Weapons Agency, which used a risk-assessment model to evaluate force-protection security requirements for terrorist incidents at DOD military bases. The US DOE uses a graded approach to protect its assets based on risk and vulnerability assessments. The Federal Aviation Administration and Federal Bureau of Investigation conduct joint threat and vulnerability assessments on high-risk US airports. Several private companies under contract to government agencies use formal risk-assessment models and methods to identify security requirements. The purpose of this paper is to survey these methods and present an overview of all potential types of sabotage at nuclear power plants. The paper discusses emerging threats and current methods of choice for sabotage--especially vehicle bombs and chemical attacks. Potential consequences of sabotage acts, including economic and political; not just those that may result in unacceptable radiological exposure to the public, are also discussed. Applicability of risk-assessment methods and mitigation techniques are also presented.

The vulnerability analysis methodology developed for fixed nuclear material sites has proven to be extremely effective in assessing associated transportation issues. The basic methods and techniques used are directly applicable to conducting a transportation vulnerability analysis. The purpose of this paper is to illustrate that the same physical protection elements (detection, delay, and response) are present, although the response force plays a dominant role in preventing the theft or sabotage of material. Transportation systems are continuously exposed to the general public whereas the fixed site location by its very nature restricts general public access.

A robotic rover vehicle designed for use in the exploration of the Lunar surface is described. The Robotic All-Terrain Lunar Exploration Rover (R-A.T.L.E.R-) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while climbing over step-like obstacles as large as {approximately}1.3 wheel diameters. Skid steering and modular construction are used to produce a simple, rugged, highly agile mobility chassis with fewer parts required compared to other designs being considered for planetary exploration missions. The design configuration, mobility parameters, and performance of several existing R.A.T.L.E.R prototypes are discussed, with emphasis on an analysis of the configuration parameters which directly affect the designs mobility performance.

A robotic precursor mission to the Lunar surface is proposed. The objective of the mission is to place six to ten 15kg micro-rovers on the planet to investigate equipment left behind during the Apollo missions and to perform other science and exploration duties. The micro-rovers are teleoperated from Earth. An equipment on the rovers is existing technology from NASA, DOE, SDIO, DoD, and industry. The mission is designed to involve several NASA centers, the National Laboratories, multiple universities and the private sector. A major long-term goal which is addressed is the educational outreach aspect of space exploration.

A robotic rover vehicle designed for use in the exploration of the Lunar surface is described. The Robotic All-Terrain Lunar Exploration Rover (R.A.T.L.E.R.) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while climbing over step-like obstacles as large as 1.3 wheel diameters. Skid steering and modular construction are used to produce a simple, rugged, highly agile mobility chassis with a reduction in the number of parts required when compared to current designs being considered for planetary exploration missions. The design configuration, mobility parameters, and performance of several existing R.A.T.L.E.R. prototypes are discussed.

Several closed form trajectory solutions have been developed for low-thrust interplanetary flight and used with patched conies for analysis of combined propulsion systems. The solutions provide insight into alternative types of Mars missions, and show considerable mass savings for fast crewed missions with outbound trip times on the order of 90-100 days.