Publications

The Passive-legged, Multi-segmented, Robotic Vehicle concept is a simple legged vehicle that is modular and scaleable, and can be sized to fit through confined areas that are slightly larger than the size of the vehicle. A specific goal of this project was to be able to fit through the opening in the fabric of a chain link fence. This terrain agile robotic platform will be composed of multiple segments that are each equipped with appendages (legs) that resemble oars extending from a boat. Motion is achieved by pushing with these legs that can also flex to fold next to the body when passing through a constricted area. Each segment is attached to another segment using an actuated joint. This joint represents the only actuation required for mobility. The major feature of this type of mobility is that the terrain agility advantage of legs can be attained without the complexity of the multiple-actuation normally required for the many joints of an active leg. The minimum number of segments is two, but some concepts require three or more segments. This report discusses several concepts for achieving this type of mobility, their design, and the results obtained for each.

This report describes the technical work carried out under a 2003 Laboratory Directed Research and Development project to develop a covert air vehicle. A mesoscale air vehicle that mimics a bird offers exceptional mobility and the possibility of remaining undetected during flight. Although some such vehicles exist, they are lacking in key areas: unassisted landing and launching, true mimicry of bird flight to remain covert, and a flapping flight time of any real duration. Current mainstream technology does not have the energy or power density necessary to achieve bird like flight for any meaningful length of time; however, Sandia has unique combustion powered linear actuators with the unprecedented high energy and power density needed for bird like flight. The small-scale, high-pressure valves and small-scale ignition to make this work have been developed at Sandia. We will study the feasibility of using this to achieve vehicle takeoff and wing flapping for sustained flight. This type of vehicle has broad applications for reconnaissance and communications networks, and could prove invaluable for military and intelligence operations throughout the world. Initial tests were conducted on scaled versions of the combustion-powered linear actuator. The tests results showed that heat transfer and friction effects dominate the combustion process at 'bird-like' sizes. The problems associated with micro-combustion must be solved before a true bird-like ornithopter can be developed.

Polyoxometalates (POMs) are ionic (usually anionic) metal -oxo clusters that are both functional entities for a variety of applications, as well as structural units that can be used as building blocks if reacted under appropriate conditions. This is a powerful combination in that functionality can be built into materials, or doped into matrices. Additionally, by assembling functional POMs in ordered materials, new collective behaviors may be realized. Further, the vast variety of POM geometries, compositions and charges that are achievable gives this system a high degree of tunability. Processing conditions to link together POMs to build materials offer another vector of control, thus providing infinite possibilities of materials that can he nano-engineered through POM building blocks. POM applications that can be built into POM-based materials include catalysis, electro-optic and electro-chromic, anti-viral, metal binding, and protein binding. We have begun to explore three approaches in developing this field of functional, nano-engineered POM-based materials; and this report summarizes the work carried out for these approaches to date. The three strategies are: (1) doping POMs into silica matrices using sol-gel science, (2) forming POM-surfactant arrays and metal-POM-surfactant arrays, (3) using aerosol-spray pyrolysis of the POM-surfactant arrays to superimpose hierarchical architecture by self-assembly during aerosol-processing. Doping POMs into silica matrices was successful, but the POMs were partially degraded upon attempts to remove the structure-directing templates. The POM-surfactant and metal-POM-surfactant arrays approach was highly successful and holds much promise as a novel approach to nano-engineering new materials from structural and functional POM building blocks, as well as forming metastable or unusual POM geometries that may not be obtained by other synthetic methods. The aerosol-assisted self assembly approach is in very preliminary state of investigation, but also shows promise in that structured materials were formed; where the structure was altered by aerosol processing. We will be seeking alternative funding to continue investigating the second synthetic strategy that we have begun to develop during this 1-year project.

This research consisted of testing surface treatment processes for stainless steel and aluminum for the purpose of suppressing electron emission over large surface areas to improve the pulsed high voltage hold-off capabilities of these metals. Improvements to hold-off would be beneficial to the operation of the vacuum-insulator grading rings and final self-magnetically insulated transmission line on the ZR-upgrade machine and other pulsed power applications such as flash radiograph and pulsed-microwave machines. The treatments tested for stainless steel include the Z-protocol (chemical polish, HVFF, and gold coating), pulsed E-beam surface treatments by IHCE, Russia, and chromium oxide coatings. Treatments for aluminum were anodized and polymer coatings. Breakdown thresholds also were measured for a range of surface finishes and gap distances. The study found that: (1.) Electrical conditioning and solvent cleaning in a filtered air environment each improve HV hold-off 30%. (2.) Anodized coatings on aluminum give a factor of two improvement in high voltage hold-off. However, anodized aluminum loses this improvement when the damage is severe. Chromium oxide coatings on stainless steel give a 40% and 20% improvement in hold-off before and after damage from many arcs. (3.) Bare aluminum gives similar hold-off for surface roughness, R{sub a}, ranging from 0.08 to 3.2 {micro}m. (4.) The various EBEST surfaces tested give high voltage hold-off a factor of two better than typical machined and similar to R{sub a} = 0.05 {micro}m polished stainless steel surfaces. (5.) For gaps > 2 mm the hold-off voltage increases as the square root of the gap for bare metal surfaces. This is inconsistent with the accepted model for metals that involves E-field induced electron emission from dielectric inclusions. Micro-particles accelerated across the gap during the voltage pulse give the observed voltage dependence. However the similarity in observed breakdown times for large and small gaps places a requirement that the particles be of molecular size. This makes accelerated micro-particle induced breakdown seem improbable also.

This report summarizes work performed to determine the capability of the Pinpoint Locator system, a commercial system designed and manufactured by RF Technologies. It is intended for use in finding people with locator badges in multi-story buildings. The Pinpoint system evaluated is a cell-based system, meaning it can only locate badges within an area bordered by its antennas.

The purpose of this program was to investigate methods to characterize the colloidal stability of nanoparticles during the synthesis reaction, and to characterize their organization related to interparticle forces. Studies were attempted using Raman spectroscopy and ultrasonic attenuation to observe the nucleation and growth process with characterization of stability parameters such as the zeta potential. The application of the techniques available showed that the instrumentation requires high sensitivity to the concentration of the system. Optical routes can be complicated by the scattering effects of colloidal suspensions, but dilution can cause a lowering of signal that prevents collection of data. Acoustic methods require a significant particle concentration, preventing the observation of nucleation events. Studies on the dispersion of nanoparticles show that electrostatic routes are unsuccessful with molecular surfactants at high particle concentration due to electrostatic interaction collapse by counterions. The study of molecular surfactants show that steric lengths on the order of 2 nm are successful for dispersion of nanoparticle systems at high particle concentration, similar to dispersion with commercial polyelectrolyte surfactants.

In many applications, the ability to monitor the output of a capacitive discharge circuit is imperative to ensuring the reliability and accuracy of the unit. This monitoring is commonly accomplished with the use of a Current Viewing Transformer (CVT). In order to calibrate the CVT, the circuit is assembled with a Current Viewing Transformer (CVR) in addition to the CVT and the peak outputs compared. However, difficulties encountered with the use of CVRs make it desirable to eliminate the use of the CVR from the calibration process. This report describes a method for determining the calibration factor between the current throughput and the CVT voltage output in a capacitive discharge unit from the CVT ringdown data and values of initial voltage and capacitance of the circuit. Previous linear RLC fitting work for determining R, L, and C is adapted to return values of R, L, and the calibration factor, k. Separate solutions for underdamped and overdamped cases are presented and implemented on real circuit data using MathCad software with positive results. This technique may also offer a unique approach to self calibration of current measuring devices.

The Auxiliary Hot Cell Facility (AHCF) at Sandia National Laboratories, New Mexico (SNL/NM) is a Hazard Category 3 nuclear facility used to characterize, treat, and repackage radioactive and mixed material for reuse, recycling, or ultimate disposal. Mixed waste may also be handled at the AHCF. A significant upgrade to a previous facility, the Temporary Hot Cell, was required to perform this mission. A checklist procedure was used to perform a human-factors evaluation of the AHCF modifications. This evaluation resulted in two recommendations, both of which have been implemented.

The mouth of the Rio Grande has become silted up, obstructing its flow into the Gulf of Mexico. This is problematic in that it has created extensive flooding. The purpose of this study was to determine the erosion and transport potential of the sediments obstructing the flow of the Rio Grande by employing a unique Mobile High Shear Stress flume developed by Sandia's Carlsbad Programs Group for the US Army Corps of Engineers. The flume measures in-situ sediment erosion properties at shear stresses ranging from normal flow to flood conditions for a variable depth sediment core. The flume is in a self-contained trailer that can be placed on site in the field. Erosion rates and sediment grain size distributions were determined from sediment samples collected in and around the obstruction and were subsequently used to characterize the erosion potential of the sediments under investigation.

Diversionary devices such as flashbang grenades are used in a wide variety of military and law-enforcement operations. They function to distract and/or incapacitate adversaries in scenarios ranging from hostage rescue to covert strategic paralysis operations. There are a number of disadvantages associated with currently available diversionary devices. Serious injuries and fatalities have resulted from their use both operationally and in training. Because safety is of paramount importance, desired improvements to these devices include protection against inadvertent initiation, the elimination of the production of high-velocity fragments, less damaging decibel output and increased light output. Sandia National Laboratories has developed a next-generation diversionary flash-bang device that will provide the end user with these enhanced safety features.

It has been recognized that documentation for new customers of ASCI Red, aka janus or the Intel Teraflops at Sandia National Laboratories, has been sadly lacking. This document has been prepared by a team of subject matter experts to fill that void and to provide a starting point for providing a similar document for ASCI Red Storm in the future. This document is intended for SNL users who need to jumpstart their use of Janus and Janus-s.

We have investigated the possibility of constructing nanoscale metallic vehicles powered by biological motors or flagella that are activated and powered by visible light. The vehicle's body is to be composed of the surfactant bilayer of a liposome coated with metallic nanoparticles or nanosheets grown together into a porous single crystal. The diameter of the rigid metal vesicles is from about 50 nm to microns. Illumination with visible light activates a photosynthetic system in the bilayer that can generate a pH gradient across the liposomal membrane. The proton gradient can fuel a molecular motor that is incorporated into the membrane. Some molecular motors require ATP to fuel active transport. The protein ATP synthase, when embedded in the membrane, will use the pH gradient across the membrane to produce ATP from ADP and inorganic phosphate. The nanoscale vehicle is thus composed of both natural biological components (ATPase, flagellum; actin-myosin, kinesin-microtubules) and biomimetic components (metal vehicle casing, photosynthetic membrane) as functional units. Only light and storable ADP, phosphate, water, and weak electron donor are required fuel components. These nano-vehicles are being constructed by self-assembly and photocatalytic and autocatalytic reactions. The nano-vehicles can potentially respond to chemical gradients and other factors such as light intensity and field gradients, in a manner similar to the way that magnetic bacteria navigate. The delivery package might include decision-making and guidance components, drugs or other biological and chemical agents, explosives, catalytic reactors, and structural materials. We expected in one year to be able only to assess the problems and major issues at each stage of construction of the vehicle and the likely success of fabricating viable nanovehicles with our biomimetic photocatalytic approach. Surprisingly, we have been able to demonstrate that metallized photosynthetic liposomes can indeed be made. We have completed the synthesis of metallized liposomes with photosynthetic function included and studied these structures by electron microscopy. Both platinum and palladium nanosheeting have been used to coat the micelles. The stability of the vehicles to mechanical stress and the solution environment is enhanced by the single-crystalline platinum or palladium coating on the vesicle. With analogous platinized micelles, it is possible to dry the vehicles and re-suspend them with full functionality. However, with the liposomes drying on a TEM grid may cause the platinized liposomes to collapse, although probably stay viable in solution. It remains to be shown whether a proton motive force across the metallized bilayer membrane can be generated and whether we will also be able to incorporate various functional capabilities including ATP synthesis and functional molecular motors. Future tasks to complete the nanovehicles would be the incorporation of ATP synthase into metallized liposomes and the incorporation of a molecular motor into metallized liposomes.

ALEGRA is an arbitrary Lagrangian-Eulerian finite element code that emphasizes large distortion and shock propagation in inviscid fluids and solids. This document describes user options for modeling magnetohydrodynamic, thermal conduction, and radiation emission effects.

This report summarizes the work on breakdown modeling in nonuniform geometries by the ionization coefficient approach. Included are: (1) fits to primary and secondary ionization coefficients used in the modeling; (2) analytical test cases for sphere-to-sphere, wire-to-wire, corner, coaxial, and rod-to-plane geometries; a compilation of experimental data with source references; comparisons between code results, test case results, and experimental data. A simple criterion is proposed to differentiate between corona and spark. The effect of a dielectric surface on avalanche growth is examined by means of Monte Carlo simulations. The presence of a clean dry surface does not appear to enhance growth.

Wireless communication networks are highly resource-constrained; thus many security protocols which work in other settings may not be efficient enough for use in wireless environments. This report considers a variety of cryptographic techniques which enable secure, authenticated communication when resources such as processor speed, battery power, memory, and bandwidth are tightly limited.

The primary objective of the Safety and Survivability of Aircraft Initiative is to improve the safety and survivability of systems by using validated computational models to predict the hazard posed by a fire. To meet this need, computational model predictions and experimental data have been obtained to provide insight into the thermal environment inside an aircraft dry bay. The calculations were performed using the Vulcan fire code, and the experiments were completed using a specially designed full-scale fixture. The focus of this report is to present comparisons of the Vulcan results with experimental data for a selected test scenario and to assess the capability of the Vulcan fire field model to accurately predict dry bay fire scenarios. Also included is an assessment of the sensitivity of the fire model predictions to boundary condition distribution and grid resolution. To facilitate the comparison with experimental results, a brief description of the dry bay fire test fixture and a detailed specification of the geometry and boundary conditions are included. Overall, the Vulcan fire field model has shown the capability to predict the thermal hazard posed by a sustained pool fire within a dry bay compartment of an aircraft; although, more extensive experimental data and rigorous comparison are required for model validation.

We present here the details of the implementation of the parallel tempering Monte Carlo technique into a LAMMPS, a heavily used massively parallel molecular dynamics code at Sandia. This technique allows for many replicas of a system to be run at different simulation temperatures. At various points in the simulation, configurations can be swapped between different temperature environments and then continued. This allows for large regions of energy space to be sampled very quickly, and allows for minimum energy configurations to emerge in very complex systems, such as large biomolecular systems. By including this algorithm into an existing code, we immediately gain all of the previous work that had been put into LAMMPS, and allow this technique to quickly be available to the entire Sandia and international LAMMPS community. Finally, we present an example of this code applied to folding a small protein.

This report originates in a workshop held at Sandia National Laboratories, bringing together a variety of external experts with Sandia personnel to discuss 'The Implications of Global Climate Change for International Security.' Whatever the future of the current global warming trend, paleoclimatic history shows that climate change happens, sometimes abruptly. These changes can severely impact human water supplies, agriculture, migration patterns, infrastructure, financial flows, disease prevalence, and economic activity. Those impacts, in turn, can lead to national or international security problems stemming from aggravation of internal conflicts, increased poverty and inequality, exacerbation of existing international conflicts, diversion of national and international resources from international security programs (military or non-military), contribution to global economic decline or collapse, or international realignments based on climate change mitigation policies. After reviewing these potential problems, the report concludes with a brief listing of some research, technology, and policy measures that might mitigate them.

This report describes a passive, optical component called resonant subwavelength gratings (RSGs), which can be employed as one element in an RSG array. An RSG functions as an extremely narrow wavelength and angular band reflector, or mode selector. Theoretical studies predict that the infinite, laterally-extended RSG can reflect 100% of the resonant light while transmitting the balance of the other wavelengths. Experimental realization of these remarkable predictions has been impacted primarily by fabrication challenges. Even so, we will present large area (1.0mm) RSG reflectivity as high as 100.2%, normalized to deposited gold. Broad use of the RSG will only truly occur in an accessible micro-optical system. This program at Sandia is a normal incidence array configuration of RSGs where each array element resonates with a distinct wavelength to act as a dense array of wavelength- and mode-selective reflectors. Because of the array configuration, RSGs can be matched to an array of pixels, detectors, or chemical/biological cells for integrated optical sensing. Micro-optical system considerations impact the ideal, large area RSG performance by requiring finite extent devices and robust materials for the appropriate wavelength. Theoretical predictions and experimental measurements are presented that demonstrate the component response as a function of decreasing RSG aperture dimension and off-normal input angular incidence.

We conducted a study of the time and resources that would be required for Sandia National Laboratories to once again perform nuclear weapons effects experiments of the sort that it did in the past. The study is predicated on the assumptions that if underground nuclear weapons effects testing (UG/NWET) is ever resumed, (1) a brief series of tests (i.e., 2-3) would be done, and (2) all required resources other than those specific to SNL experiments would be provided by others. The questions that we sought to answer were: (1) What experiments would SNL want to do and why? (2) How much would they cost? (3) How long would they take to field? To answer these questions, we convened panels of subject matter experts first to identify five experiments representative of those that SNL has done in the past, and then to determine the costs and timelines to design, fabricate and field each of them. We found that it would cost $76M to $84M to do all five experiments, including 164 to 174 FTEs to conduct all five experiments in a single test. Planning and expenditures for some of the experiments needed to start as early as 5.5 years prior to zero-day, and some work would continue up to 2 years beyond the event. Using experienced personnel as mentors, SNL could probably field such experiments within the next five years. However, beyond that time frame, loss of personnel would place us in the position of essentially starting over.

This report summarizes the results of a five-month LDRD late start project which explored the potential of enabling technology to improve the performance of small groups. The purpose was to investigate and develop new methods to assist groups working in high consequence, high stress, ambiguous and time critical situations, especially those for which it is impractical to adequately train or prepare. A testbed was constructed for exploratory analysis of a small group engaged in tasks with high cognitive and communication performance requirements. The system consisted of five computer stations, four with special devices equipped to collect physiologic, somatic, audio and video data. Test subjects were recruited and engaged in a cooperative video game. Each team member was provided with a sensor array for physiologic and somatic data collection while playing the video game. We explored the potential for real-time signal analysis to provide information that enables emergent and desirable group behavior and improved task performance. The data collected in this study included audio, video, game scores, physiological, somatic, keystroke, and mouse movement data. The use of self-organizing maps (SOMs) was explored to search for emergent trends in the physiological data as it correlated with the video, audio and game scores. This exploration resulted in the development of two approaches for analysis, to be used concurrently, an individual SOM and a group SOM. The individual SOM was trained using the unique data of each person, and was used to monitor the effectiveness and stress level of each member of the group. The group SOM was trained using the data of the entire group, and was used to monitor the group effectiveness and dynamics. Results suggested that both types of SOMs were required to adequately track evolutions and shifts in group effectiveness. Four subjects were used in the data collection and development of these tools. This report documents a proof of concept study, and its observations are preliminary. Its main purpose is to demonstrate the potential for the tools developed here to improve the effectiveness of groups, and to suggest possible hypotheses for future exploration.

Public key cryptographic algorithms provide data authentication and non-repudiation for electronic transmissions. The mathematical nature of the algorithms, however, means they require a significant amount of computation, and encrypted messages and digital signatures possess high bandwidth. Accordingly, there are many environments (e.g. wireless, ad-hoc, remote sensing networks) where public-key requirements are prohibitive and cannot be used. The use of elliptic curves in public-key computations has provided a means by which computations and bandwidth can be somewhat reduced. We report here on the research conducted in an LDRD aimed to find even more efficient algorithms and to make public-key cryptography available to a wider range of computing environments. We improved upon several algorithms, including one for which a patent has been applied. Further we discovered some new problems and relations on which future cryptographic algorithms may be based.

A convergence theory is presented for a substructuring preconditioner based on constrained energy minimization concepts. The substructure spaces consist of local functions with zero values of the constraints, while the coarse space consists of minimal energy functions with the constraint values continuous across substructure interfaces. In applications, the constraints include values at comers and optionally averages on edges and faces. The preconditioner is reformulated as an additive Schwarz method and analysed by building on existing results for balancing domain decomposition. The main result is a bound on the condition number based on inequalities involving the matrices of the preconditioner. Estimates of the form C(1 + log 2(H/h)) are obtained under the standard assumptions of substructuring theory. Computational results demonstrating the performance of method are included. Published in 2003 by John Wiley & Sons, Ltd.

A great deal of money and effort has been spent on environmental restoration during the past several decades. Significant progress has been made on improving air quality, cleaning up and preventing leaching from dumps and landfills, and improving surface water quality. However, significant challenges still exist in all of these areas. Among the more difficult and expensive environmental problems, and often the primary factor limiting closure of contaminated sites following surface restoration, is contamination of ground water. The most common technology used for remediating ground water is surface treatment where the water is pumped to the surface, treated and pumped back into the ground or released at a nearby river or lake. Although still useful for certain remediation scenarios, the limitations of pump-and-treat technologies have recently been recognized, along with the need for innovative solutions to ground-water contamination. Even with the current challenges we face there is a strong need to create geological repository systems for dispose of radioactive wastes containing long-lived radionuclides. The potential contamination of groundwater is a major factor in selection of a radioactive waste disposal site, design of the facility, future scenarios such as human intrusion into the repository and possible need for retrieving the radioactive material, and the use of backfills designed to keep the radionuclides immobile. One of the most promising technologies for remediation of contaminated sites and design of radioactive waste repositories is the use of permeable reactive barriers (PRBs). PRBs are constructed of reactive material(s) to intercept and remove the radionuclides from the water and decontaminate the plumes in situ. The concept of PRBs is relatively simple. The reactive material(s) is placed in the subsurface between the waste or contaminated area and the groundwater. Reactive materials used thus far in practice and research include zero valent iron, hydroxyapatite, magnesium oxide, and others. As the contaminant moves through the reactive material, the contaminant is either sorbed by the reactive material or chemically reacts with the material to form a less harmful substance. Because of the high risk associated with failure of a geological repository for nuclear waste, most nations favor a near-field multibarrier engineered system using backfill materials to prevent release of radionuclides into the surrounding groundwater.

Genetic programming is a powerful methodology for automatically producing solutions to problems in a variety of domains. It has been used successfully to develop behaviors for RoboCup soccer players and simple combat agents. We will attempt to use genetic programming to solve a problem in the domain of strategic combat, keeping in mind the end goal of developing sophisticated behaviors for compound defense and infiltration. The simplified problem at hand is that of two armed agents in a small room, containing obstacles, fighting against each other for survival. The base case and three changes are considered: a memory of positions using stacks, context-dependent genetic programming, and strongly typed genetic programming. Our work demonstrates slight improvements from the first two techniques, and no significant improvement from the last.