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An Object-Oriented Environment for Robot System Architectures

IEEE Control Systems

Miller, David R.

An object-oriented Robot Independent Programming Environment (RIPE) developed at Sandia National Laboratories is being used for rapid design and implementation of a variety of applications. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, and robust communication. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classes and device-specific subclasses which inherit the same interface, a Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment. © 1991 IEEE

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Development of a GPS-aided motion measurement, pointing, and stabilization system for a Synthetic Aperture Radar. [Global Positioning System (GPS)]

Fellerhoff, J.R.; Kohler, S.M.

An advanced Synthetic Aperture Radar Motion Compensation System has been developed by Sandia National Laboratories (SNL). The system includes a miniaturized high accuracy ring laser gyro inertial measurement unit, a three axis gimbal pointing and stabilization assembly, a differential Global Positioning System (GPS) navigation aiding system, and a pilot guidance system. The system provides several improvements over previous SNL motion compensation systems and is capable of antenna stabilization to less than 0.01 degrees RMS and absolute position measurement to less than 5.0 meters RMS. These accuracies have been demonstrated in recent flight testing aboard a DHC-6-300 Twin Otter'' aircraft.

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Research program to develop and validate conceptual models for flow and transport through unsaturated, fractured rock

High Level Radioactive Waste Management

Glass, R.J.; Tidwell, V.C.

As part of the Yucca Mountain Project, our research program to develop and validate conceptual models for flow and transport through unsaturated fractured rock integrates fundamental physical experimentation with conceptual model formulation and mathematical modeling. Our research is directed toward developing and validating macroscopic, continuum-based models and supporting effective property models because of their widespread utility within the context of this project. Success relative to the development and validation of effective property models is predicted on a firm understanding of the basic physics governing flow through fractured media, specifically in the areas of unsaturated flow and transport in a single fracture and fracture-matrix interaction.

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Scenario evolution. Interaction between event tree construction and numerical analyses

High Level Radioactive Waste Management

Barr, George E.

Construction of well-posed scenarios for the range of conditions possible at any proposed repository site is a critical first step to assessing total system performance. Event tree construction is the method that is being used to develop potential failure scenarios for the proposed nuclear waste repository at Yucca Mountain. An event tree begins with an initial event or condition. Subsequent events are listed in a sequence, leading eventually to release of radionuclides to the accessible environment. Ensuring the validity of the scenarios requires iteration between problems constructed using scenarios contained in the event tree sequence, experimental results, and numerical analyses. Details not adequately captured within the tree initially may become more apparent as a result of analyses. To illustrate this process, we discuss the iterations used to develop numerical analyses for PACE-90 using basaltic igneous activity and human-intrusion event trees.

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Effect of material heterogeneities on flow through porous media

Eaton, R.R.

Yucca Mountain, located in southwestern Nevada, is the site for a proposed high-level nuclear waste repository. The hydrologic units at Yucca Mountain appear to have quite different material characteristics. Additionally, measurements show that the material properties within each hydrologic unit vary significantly. Rock core samples taken from this site indicate that the volcanic tuff is highly fractured and nonhomogeneous. Modeling studies were conducted to determine the effects of material heterogeneities on the flow of water through rock. Multiple numerical calculations were made using random variations in spatial distributions of material properties. The results of these material variations on flow resistance, mechanical dispersion, and channeling were determined. Computed results were compared with a linear analytical model. Good agreement was obtained in the majority of the flow cases investigated.

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Conceptualization of a hypothetical high-level nuclear waste repository site in unsaturated, fractured tuff

Gallegos, David P.

Under the sponsorship of the US Nuclear Regulatory Commission (NRC), Sandia National Laboratories (SNL) is developing a performance assessment methodology for the analysis of long-term disposal and isolation of high-level nuclear wastes (HLW) in alternative geologic media. As part of this exercise, SNL created a conceptualization of ground-water flow and radionuclide transport in the far field of a hypothetical HLW repository site located in unsaturated, fractured tuff formations. This study provides a foundation for the development of conceptual mathematical, and numerical models to be used in this performance assessment methodology. This conceptualization is site specific in terms of geometry, the regional ground-water flow system, stratigraphy, and structure in that these are based on information from Yucca Mountain located on the Nevada Test Site. However, in terms of processes in unsaturated, fractured, porous media, the model is generic. This report also provides a review and evaluation of previously proposed conceptual models of unsaturated and saturated flow and solute transport. This report provides a qualitative description of a hypothetical HLW repository site in fractured tuff. However, evaluation of the current knowledge of flow and transport at Yucca Mountain does not yield a single conceptual model. Instead, multiple conceptual models are possible given the existing information.

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Mechanical anisotropy of the Yucca Mountain tuffs

High Level Radioactive Waste Management

Price, Ronald H.

Three series of measurements were performed on oriented cores of several Yucca Mountain tuffs to determine the importance of mechanical anisotropy in the intact rock. Outcrop and drillhole samples were tested for acoustic velocities, linear compressibilities, and strengths in different orientations. The present data sets are preliminary, but suggest the tuffs are transversely anisotropic for these mechanical properties. The planar fabric that produces the anisotropy is believed to be predominantly the result of the preferred orientation of shards and pumice fragments. The potential of significant anisotropy has direct relevance to the formulation of constitutive formulation and the analyses of an underground opening within Yucca Mountain.

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Experiment and analysis comparison in support of the Yucca Mountain Project

Costin, Laurence S.

Sandia National Laboratories, as a participant in the Yucca Mountain Project, administered by the Nevada Operations Office of the US Department of Energy, is in the process of evaluating a proposed site for geologic disposal of high-level nuclear wastes in the volcanic tuffs at Yucca Mountain, Nevada. In a repository, loads will be imposed on the rock mass as a result of excavation of the openings and heating of the rock by the nuclear waste. In an attempt to gain a better understanding of the thermal, mechanical, and thermomechanical response of fractured tuff, a series of experiments have been performed, and measurements have been taken in the welded and nonwelded tuffs at the G-Tunnel underground test facility at Rainier Mesa, Nevada. Comparisons between measured and calculated data of the G-Tunnel High-Pressure Flatjack Development Experiment are presented in this investigation. Calculated results were obtained from two dimensional finite element analysis using a recently developed compliant-joint rock-mass model. The purpose of this work was to assess the predictive capability of the model based on limited material property data for the G-Tunnel welded tuff. The results of this evaluation are discussed.

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4-MV injector beam generation and IFT transport

Mazarakis, Michael G.

We report the first experiments evaluating the beam generation by the new 4-MV RLA injector. Beams of 15 to 27 kA current were produced and successfully transported up to the first post-accelerating cavity (ET-2), 1.3 m downstream. The beam radius was measured with an x-ray pin-hole camera and found to be equal to 5 mm. We selected an apertured ion-focused foilless diode among the various available diode options. It is the simplest and easiest to operate and can be adjusted to provide variable beam impedance loads. Experimental results will be presented and compared with numerical simulations.

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Attitude control of a spinning rocket via thrust vectoring

White, J.E.

Two controllers are developed to provide attitude control of a spinning rocket that has a thrust vectoring capability. The first controller has a single-input/single-output design that ignores the gyroscopic coupling between the control channels. The second controller has a multi-input/multi-output structure that is specifically intended to account for the gyroscopic coupling effects. A performance comparison between the two approached is conducted for a range of roll rates. Each controller is tested for the ability to track step commands, and for the amount of coupling impurity. Both controllers are developed via a linear-quadratic-regulator synthesis procedure, which is motivated by the multi-input/multi-output nature of second controller. Time responses and a singular value analysis are used to evaluate controller performance. This paper describes the development and comparison of two controllers that are designed to provide attitude control of a spinning rocket that is equipped with thrust vector control. 12 refs., 13 figs., 2 tabs.

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Rapid Moisture Measurements in Thin Sand Slabs

Bell, J.; Selker, J.S.; Steenhuis, T.S.; Glass, R.J.

The theoretical basis for the relationship between moisture content and light transmission (FFM) is developed, and shown to correspond well to the observed behavior. A calibration procedure for FFM based on the relationship between moisture content and matric potential is presented and tested. Means of expanding the range of sensitivity of the FFM are discussed.

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Comparison of the thermal stability of the codeposited carbon/hydrogen layer to that of the saturated implant layer

Journal of Nuclear Materials

Wampler, William R.

This paper presents the results of an experimental study of the thermal stability in air and vacuum of the codeposited carbon/hydrogen layer formed in a carbon-lined fusion reactor. Results are also presented for the stability of the saturated layer formed by the implantation of energetic hydrogen ions into a graphite surface. For both films, the hydrogen isotope release occurs at a much lower temperature in air than it does in vacuum. At temperatures above 600 K, the hydrogen isotope release in air is very rapid and is emitted in a condensible form. It is speculated that isotopic exchange with water present in the air is responsible for this release. In vacuum, temperatures in excess of 1000 K are required to produce a rapid release from either film. The implications of these results to the safety of tritium in carbon-lined fusion reactors are discussed. © 1990.

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Low threshold current implanted-planar buried-heterostructure graded-index separate confinement heterostructure laser in GaAs/AlGaAs

Applied Physics Letters

Vawter, G.A.; Myers, D.R.; Brennan, T.M.; Hammons, B.E.

We report dramatic improvements to the implanted-planar buried-heterostructure graded-index separate confinement heterostructure (IPBH-GRINSCH) laser in (AlGa)As/GaAs which produces low threshold current, continuous-wave operation. Our process features significantly reduced fabrication complexity of high quality, index-guided laser diodes compared to regrowth techniques and, in contrast to diffusion-induced disordering, allows creation of self-aligned, buried, blocking junctions by ion implantation. The improved single-stripe IPBH-GRINSCH lasers exhibit 39 mA threshold current, cw operation.

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Irreversible phase transitions and wave propagation in silicate geologic materials

Journal of Applied Physics

Swegle, J.W.

Shock and unloading experiments on quartz and silicate rocks indicate that the release adiabats lie below the Hugoniot. The hysteresis and energy dissipation inherent in this situation have important wave propagation implications. On loading, there is a pressure-induced transition to the stishovite phase which does not occur under conditions of thermodynamic equilibrium, in that the Hugoniot passes through a metastable mixed-phase region for several tens of GPa. One interpretation of the unloading data is that the transition is not reversible, and the phase mixture remains frozen on unloading. However, material strength may also play a role. A complete thermodynamically consistent equation of state which includes phase transitions and strength effects has been developed and used to examine shock and release data on quartz and silicate rocks in order to quantify the kinetics of the reverse transition and to separate the hysteretic effects due to reverse phase transition kinetics from those due to material strength. The model allows quantitative determination of the effect of reverse transition kinetics on ground shock propagation in silicate materials.

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On-Line Monitoring of Volatile Organic Species

Frye, Gregory C.; Martin, Stephen J.

On-line chemical monitoring systems can help ensure safe, environmentally sound operation of industrial processes using hazardous chemicals. Using polymer-coated surface acoustic wave (SAW) sensors, we have demonstrated monitors that are capable of detecting dilute concentrations of volatile organic species. Using changes in both wave velocity and wave attenuation, the identity and concentration of an isolated chemical species can be determined. A polysiloxane coating has been found to provide unique properties for monitoring chlorinated hydrocarbons (CHCs) such as trichloroethylene: good discrimination of CHCs from most other organic species, rapid and reversible sensor response, and low detection limits. Using this technology, a portable acoustic wave sensor (PAWS) system has been constructed.

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Quantitative analysis procedures for Task 8

Chambers, William B.

Quantitative analysis routines based on the Bence-Albee, the ZAF, and the {Phi}({rho}Z) techniques are available for the TASK8 microprobe operating system. All of the routines are able to be run from within TASK8 or as stand alone programs. For quick analyses, energy dispersive x-ray data can be collected and processed by running the Tracor standardless quantitative (SQ) routine from within TASK8. For normal analyses, data are collected via the wavelength spectrometers. The procedures and routines described in this document permit the interactive collection and processing of data via joystick control or the automatic collection and processing of data from up to seven line traces or an essentially unlimited number of preselected points. 7 refs., 5 figs., 1 tab.

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Primary Standards Laboratory report

Sandia National Laboratories operates the Primary Standards Laboratory (PSL) for the Department of Energy, Albuquerque Operations Office (DOE/AL). This report summarizes metrology activities that received emphasis in the first half of 1990 and provides information pertinent to the operation of the DOE/AL system-wide Standards and Calibration Program.

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Exploratory battery technology development and testing report for 1989

Magnani, N.J.; Diegle, R.B.; Braithwaite, J.W.; Bush, D.M.; Freese, J.M.; Akhil, A.A.; Lott, S.E.

Sandia National Laboratories, Albuquerque, has been designated as Lead Center for the Exploratory Battery Technology Development and Testing Project, which is sponsored by the US Department of Energy's Office of Energy Storage and Distribution. In this capacity, Sandia is responsible for the engineering development of advanced rechargeable batteries for both mobile and stationary energy storage applications. This report details the technical achievements realized in pursuit of the Lead Center's goals during calendar year 1989. 4 refs., 84 figs., 18 tabs.

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Effect of atmospheric variations on electromagnetic distance measurements

Solomon Jr., O.M.

This report describes some field tests of the CUBIC CR-100 distance measuring equipment. The distance measurements depend on the refractivity of the atmospheric. The CR-100 uses 320 for the refractivity. For the Albuquerque area on a clear spring day, 220 is a more realistic value for refractivity. This difference of 100 between the actual and assumed refractivities causes the range error to accumulate at the rate of 1 meter per 10,000 meters of range. For example, a difference of 100 in refractivity forces the measured range to contain an error of 5 meters for a 50,000 meter baseline. 12 figs.

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Designing for explosive safety'': The Explosive Components Facility at Sandia National Laboratories

Couch, W.A.

The Explosive Components Facility (ECF) is to be a new major facility in the Sandia National Laboratories (SNL) Weapons Program. The ECF is a self-contained, secure site on SNL property and is surrounded by Kirtland Air Force Base which is located 6-1/2 miles east of downtown Albuquerque, New Mexico. The ECF will be dedicated to research, development, and testing of detonators, neutron generators, batteries, explosives, and other weapon components. It will have capabilities for conducting explosive test fires, gas gun testing, physical analyses, chemical analyses, electrical testing and ancillary explosive storage in magazines. The ECF complex is composed of a building covering an area of approximately 91,000 square feet, six exterior explosive service magazines and a remote test cell. Approximately 50% of the building space will be devoted to highly specialized laboratory and test areas, the other 50% of the building is considered nonhazardous. Critical to the laboratory and test areas are the blast-structural design consideration and operational considerations, particularly those concerning personnel access control, safety and environmental protection. This area will be decoupled from the rest of the building to the extent that routine tests will not be heard or felt in the administrative area of the building. While the ECF is designed in accordance with the DOE Explosives Safety Manual to mitigate any off-site blast effects, potential injuries or death to the ECF staff may result from an accidental detonation of explosive material within the facility. Therefore, reducing the risk of exposing operation personnel to hazardous and energetic material is paramount in the design of the ECF.

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Phase 1 drilling operations at the Magma Energy Exploratory Well (LVF 51-20)

Finger, John T.

This report describes the Phase 1 drilling operations for the Magma Energy Exploratory Well near Mammoth Lakes, California. An important part of the Department of Energy's Magma Energy Program, this well is designed to reach an ultimate depth of 20,000 feet or a bottomhole temperature of 500{degree}C, whichever comes first. There will be four drilling phases, at least a year apart, with scientific investigations in the borehole between the drilling intervals. Phase 1 of this project resulted in a 20 inch cased hole to 2558 feet, with 185 feet of coring beyond that. This document comprises a narrative of the daily activities, copies of the daily mud and lithologic reports, time breakdowns of rig activities, inventories of lost circulation materials, temperature logs of the cored hole, and a strip chart mud log. 2 figs.

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Justification for using scale models for impact response evaluation of the SST Transportation System

Berry, R.E.

The validity of scale model impact evaluation of the SST Transportation System is acceptable based on Dimensional Analysis (Buckingham Pi Theorem) and the work of numerous programs that have evaluated the agreement among dimensional analysis, several different reduced-size models and full-scale impact test data. Excellent accuracy has been demonstrated between scale models and full-scale impact data when collected in conformance with the Buckingham Pi Theorem. 20 refs., 4 figs.

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Constructing probability distributions of uncertain variables in models of the performance of the Waste Isolation Pilot Plant: The 1990 performance simulations

Tierney, M.S.

A five-step procedure was used in the 1990 performance simulations to construct probability distributions of the uncertain variables appearing in the mathematical models used to simulate the Waste Isolation Pilot Plant's (WIPP's) performance. This procedure provides a consistent approach to the construction of probability distributions in cases where empirical data concerning a variable are sparse or absent and minimizes the amount of spurious information that is often introduced into a distribution by assumptions of nonspecialist. The procedure gives first priority to the professional judgment of subject-matter experts and emphasizes the use of site-specific empirical data for the construction of the probability distributions when such data are available. In the absence of sufficient empirical data, the procedure employs the Maximum Entropy Formalism and the subject-matter experts' subjective estimates of the parameters of the distribution to construct a distribution that can be used in a performance simulation. 23 refs., 4 figs., 1 tab.

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Data used in preliminary performance assessment of the Waste Isolation Pilot Plant (1990)

Rechard, Robert P.

This report documents the data available as of August 1990 and used by the Performance Assessment Division of Sandia National Laboratories in its December 1990 preliminary performance assessment of the Waste Isolation Pilot Plant (WIPP). Parameter values are presented in table form for the geologic subsystem, engineered barriers, borehole flow properties, climate variability, and intrusion characteristics. Sources for the data and a brief discussion of each parameter are provided. 101 refs., 72 figs., 21 tabs.

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Theoretical solution of the minimum charge problem for gaseous detonations

Ostensen, R.W.

A theoretical model was developed for the minimum charge to trigger a gaseous detonation in spherical geometry as a generalization of the Zeldovich model. Careful comparisons were made between the theoretical predictions and experimental data on the minimum charge to trigger detonations in propane-air mixtures. The predictions are an order of magnitude too high, and there is no apparent resolution to the discrepancy. A dynamic model, which takes into account the experimentally observed oscillations in the detonation zone, may be necessary for reliable predictions. 27 refs., 9 figs.

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Results 95776–95800 of 96,771
Results 95776–95800 of 96,771