The U.S. Department of Energy`s Office of Technology Development has been developing robotics and automation technologies for the clean-up and handling of hazardous and radioactive waste through one of its major elements, Cross Cutting and Advanced Technology development. CC&AT university research and development programs recognize the strong technology, base resident in the university community and sponsor a focused technology research and development program which stresses close interaction between the university sector and the DOE community. This report contains a compilation of research articles by each of 14 principle investigators supported by CC&AT to develop robotics and automation technologies for the clean-up and handling of hazardous and radioactive waste. This research has led to innovative solutions for waste clean-up problems, and it has moved technology out of university laboratories into functioning systems which has allowed early evaluation by site technologists.
We present a motion planner for the classical mover`s problem in three dimensions that is both resolution-complete and efficient in that it has performance commensurate with task difficulty. It is based on the SANDROS search strategy, which uses a hierarchical, multi-resolution representation of the configuration space along with a generate-and-test paradigm for solution paths. This planner can control the trade-offs between the computation resource and algorithmic completeness/solution path quality, and thus can fully utilize the available computing power. It is useful for navigation of mobile robots, submarines and spacecraft, or part motion feasibility in assembly planning.
A percolation model is developed which accounts for most known features of the process of porous glass membrane preparation by selective dissolution of multi-component glasses. The model is founded within tile framework of the classical percolation theory, wherein the components of a glass are represented by random sites on a suitable lattice. Computer simulation is used to mirror the generation of a porous structure during the dissolution process, reproducing many of the features associated with the phenomenon. Simulation results evaluate the effect of the initial composition of the glass on the kinetics of the leaching process as well as the morphology of the generated porous structure. The percolation model establishes the porous structure as a percolating cluster of unreachable constituents in the glass. The simulation algorithm incorporates removal of both, the accessible leachable components in the glass as well as the independent clusters of unreachable components not attached to the percolating cluster. The dissolution process thus becomes limited by the conventional site percolation thresholds of the unreachable components (which restricts the formation of the porous network), as well as the leachable components (which restricts the accessibility of the solvating medium into the glass). The simulation results delineate the range of compositional variations for successful porous glass preparation and predict the variation of porosity, surface area, dissolution rates and effluent composition with initial composition and time. Results compared well with experimental studies and improved upon similar models attempted in die past.
Emissive flat panel display systems operating in full color demand higher performance at low voltages (ca. 501000 V) from cathodoluminescent (CL) phosphors than cathode ray tubes require. Hydrothermal synthesis has been suggested as a route to phosphors with improved efficiencies, lower voltage thresholds, and increased saturation power. This hypothesis was tested in europium-doped yttrium orthovanadate (YVO{sub 4}:Eu), an efficient, red emitting CL phosphor. The CL efficiency of YVO{sub 4}:Eu crystallized from aqueous solution at 200{degrees}C is relatively low until it is annealed. The distribution of particle sizes in the low-temperature phosphor is similar to that in material made via a solid-state route, but crystallites remain much smaller (ca. 400 {Angstrom}) until they are annealed. These observations, along with the anomalously strong dependence of CL intensity on europium concentration, support a model in which efficiency principally depends on crystallite size. CL efficiency of both solid state and hydrothermal YVO{sub 4}:Eu increases with voltage at constant power. Surface-bound electrons are likely the dominant influence on efficiency at voltages near threshold. Saturation power is independent of synthetic route. It is apparent that the CL properties of hydrothermally synthesized YVO{sub 4}:Eu are essentially the same as those of YVO{sub 4}:Eu produced via conventional, high-temperature routes.
To address the need for a fast path planner, we present a learning algorithm that improves path planning by using past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions difficult tasks. From these solutions, an evolving sparse work of useful robot configurations is learned to support faster planning. More generally, the algorithm provides a framework in which a slow but effective planner may be improved both cost-wise and capability-wise by a faster but less effective planner coupled with experience. We analyze algorithm by formalizing the concept of improvability and deriving conditions under which a planner can be improved within the framework. The analysis is based on two stochastic models, one pessimistic (on task complexity), the other randomized (on experience utility). Using these models, we derive quantitative bounds to predict the learning behavior. We use these estimation tools to characterize the situations in which the algorithm is useful and to provide bounds on the training time. In particular, we show how to predict the maximum achievable speedup. Additionally, our analysis techniques are elementary and should be useful for studying other types of probabilistic learning as well.
The contact between an obsidian flow and a steep-walled tuff canyon was examined as an analogue for a high-level waste repository. The analogue site is located in the Valles Caldera in New Mexico, where a massive obsidian flow filled a paleocanyon in the Battleship Rock Tuff. The obsidian flow provided a heat source, analogous to waste panels or an igneous intrusion in a repository, and caused evaporation and migration of water. The tuff and obsidian samples were analyzed for major and trace elements and mineralogy by INAA, XRF, x-ray diffraction, and scanning electron microscopy and electron microprobe. Samples were also analyzed for D/H and {sup 39}Ar/{sup 40}Ar isotopic composition. Overall, the effects of the heating event seem to have been slight and limited to the tuff nearest the contact. There is some evidence of devitrification and migration of volatiles in the tuff within 10 m of the contact, but variations in major and trace element chemistry are small and difficult to distinguish from the natural (pre-heating) variability of the rocks.
The sorption of Cs and Cd on model soil minerals was examined by complementary analytical and experimental procedures. X-ray photoelectron spectroscopy (XPS) and nuclear magnetic resonance (NMR) spectroscopy were used to characterize the chemical and physical nature of Cs-reacted soil minerals. Cd and Cs adsorption isotherms for kaolinite were also measured at variable pH and temperature to establish likely reaction stoichiometries, while atomic force microscopy (AFM) was used to characterize the microtopography of the clay surface. XPS analyses of Cs-exchanged samples show that Cs is sorbed at mineral surfaces and at the interlayer site of smectite clays, although the spectral resolution of XPS analyses is insufficient to differentiate between basal, edge or interlayer sites. {sup 133}Cs MAS-NMR results also show that Cs is adsorbed primarily in an interlayer site of montmorillonite and on edge and basal sites for kaolinite. Cd adsorption isotherms on kaolinite were found to be additive using Al{sub 2}0{sub 3} + Si0{sub 2} Cd binding constants. AFM quantification of kaolinite crystallites suggest that edges comprise up to 50% of the BET surface area, and are consistent with NMR and surface charge results that Cs an Cd adsorption occur primarily at edge sites.
Sandia National Laboratories has worked with Synthetica Technologies and Manufacturing and Technology Conversion International (MTCl) to demonstrate the applicability of their commercial steam reforming technologies for treating DOE low-level mixed wastes. Previously, Synthetica successfully demonstrated destruction of a Sandia formulated lab trash simulant. During November 1994 Synthetica did not adequately process the aqueous halogenated organic liquid mixed waste simulant (MWTP-2110) formulated by the DOE Mixed Waste Integrated Program (MWIP). Testing at MTCl is ongoing and initial results appear to be favorable. Approximately 200 lbs each of the MWIP aqueous halogenated organic liquids (MWTP-2110), and absorbed aqueous and organic liquids (MWTP-3113/3114) simulants have been processed. At 1650{degree}F, destruction efficiencies of greater than 99% were obtained for tetrachloroethylene, toluene, and 1,2 dichlorobenzene. Product cases consisted primarily of H{sub 2}, C0{sub 2}, CO, and CH{sub 4} and had higher heating values of up to 355 BTU/SCF. Conclusions concerning the suitability of the MTCI process for treating DOE mixed wastes will be drawn upon the completion of testing.
Public concerns about surface water quality and its impact on health issues have put a premium on the ability to predict surface and groundwater quality in urban areas. The movement of toxins and nutrients in urban areas is largely controlled by interactions with soil and aquifer minerals along hydrologic pathways. Despite progress in theoretical modeling of the effects of these interactions on water chemistry, it is presently impossible to predict overall trends in urban water quality. Determining the controls on stream water chemistry is problematic due to the interplay between different hydrologic reservoirs which cannot be easily observed or measured. Natural tracers, such as dissolved ions and isotopes, provide an indirect method for observing subsurface interactions and are useful for time series analysis of stream water composition. Ionic species are generally nonconservative components because of chemical reactions and are thus useful for discerning the overall discharge chemistry affected by the relationship.
The primary purpose of this paper is to provide a careful evaluation of the diffusion velocity concept with regard to its ability to predict the diffusion of vorticity near a moving wall. A computer code BDIF has been written which simulates the evolution of the vorticity field near a wall of infinite length which is moving in an arbitrary fashion. The simulations generated by this code are found to give excellent results when compared to several exact solutions. We also outline a two-dimensional unsteady viscous boundary layer model which utilizes the diffusion velocity concept and is compatible with vortex methods. A primary goal of this boundary layer model is to minimize the number of vortices generated on the surface at each time step while achieving good resolution of the vorticity field near the wall. Preliminary results have been obtained for simulating a simple two-dimensional laminar boundary layer.
Sol-gel processing has been widely used in the preparation of lead zirconate titanate (PZT) thin films. The authors have applied this methodology to the formation of lead magnesium niobate (PMN) spin-cast deposited thin films. Since there is a limited number of soluble, commercially available compounds, the authors have recently synthesized a series of novel metal alkoxides for use as precursors for generation of PMN thin films and powders. The process for generation of the perovskite phase of these PMN powders and films are reported.
The numerical code TOUGH2 was used to assess alternative conceptual models of fracture flow. The models that were considered included the equivalent continuum model (ECM) and the dual permeability (DK) model. A one-dimensional, layered, unsaturated domain was studied with a saturated bottom boundary and a constant infiltration at the top boundary. Two different infiltration rates were used in the studies. In addition, the connection areas between the fracture and matrix elements in the dual permeability model were varied. Results showed that the two conceptual models of fracture flow produced different saturation and velocity profiles-even under steady-state conditions. The magnitudes of the discrepancies were sensitive to two parameters that affected the flux between the fractures and matrix in the dual permeability model: (1) the fracture-matrix connection areas and (2) the capillary pressure gradients between the fracture and matrix elements.
This paper discusses, in a general way, the influence of technology on the economy. The target audience is engineers who are involved in technology development but who are not especially familiar with economics. The measure used for describing the health of an economy is productivity. The impact of technological developments on productivity is discussed.
Hazardous materials management includes interactions among materials, personnel, facilities, hazards, and processes of various groups within a DOE site`s environmental, safety & health (ES&H) and line organizations. Although each group is charged with addressing a particular aspect of these properties and interactions, the information it requires must be gathered into a coherent set of common data for accurate and consistent hazardous material management and regulatory reporting. It is these common data requirements which the Cradle-to-Grave Tracking and Information System (CGTIS) is designed to satisfy. CGTIS collects information at the point at which a process begins or a material enters a facility, and maintains that information, for hazards management and regulatory reporting, throughout the entire life-cycle by providing direct on-line links to a site`s multitude of data bases to bring information together into one common data model.
The RADTRAN computer code for transportation risk analysis, which has been under continuous development at Sandia National Laboratories since 1977, has evolved from a purely research tool into a publicly available with a variety of applications. This expansion of the user community has substantially increased the need to make the system easier to use without decreasing its capabilities or the quality of output. A large set of modifiable RADTRAN input files has been available via TRANSNET for several years. One approach to assisting the user involves adding annotations/information to each of these files. A second approach is providing additional help in building new/modifying old input files. Keeping the proposed information/annotation files separate from but closely coupled to the modifiable input files within the TRANSNET shell system allows the modifiable input files to remain as regular input files while providing rapid, automatic access to, useful information about the analysis. In this way, the sample input files remain intact as regular RADTRAN input files and any files generated using associated on-line menus or editors may be readily converted into new input files. A single sample file is selected and used as an example to illustrate the prototype help features.
Scenario development for the system performance assessment of the Yucca Mountain Site Characterization Project defines a scenario as a well-posed problem connecting an initiating event with radionuclide release to the accessible environment by a logical and physically possible combination or sequence of features, events, and processes. Drawing on the advice and assistance of the Project`s principal investigators (PIs), a collection of release scenarios initiated by the nominal ground-water flow occurring in the vicinity of the potential Yucca Mountain high-level-waste repository is developed and described in pictorial form. This collection of scenarios is intended to provide a framework to assist PIs in recognizing essential field and calculational analyses, to assist performance assessment in providing guidance to site characterization, and to continue the effort to exhaustively identify all features, events, and processes important to releases. It represents a step in the iterative process of identifying what details of the potential site are important for safe disposal. 67 refs.
Correct operation of an information system requires a balance of ``surety`` domains -- access control (confidentiality), integrity, utility, availability, and safety. However, traditional approaches provide little help on how to systematically analyze and balance the combined impact of surety requirements on a system. The key to achieving information system surety is identifying, prioritizing, and mitigating the sources of risk that may lead to system failure. Consequently, the authors propose a risk assessment methodology that provides a framework to guide the analyst in identifying and prioritizing sources of risk and selecting mitigation techniques. The framework leads the analyst to develop a risk-based system model for balancing the surety requirements and quantifying the effectiveness and combined impact of the mitigation techniques. Such a model allows the information system designer to make informed trade-offs based on the most effective risk-reduction measures.
The agile manufacturing paradigm engenders many new concepts and work approaches for manufacturing operations. A technology often invoked in the concept of agility is modeling and simulation. Few would disagree that modeling and simulation holds the potential to substantially reduce the product development cycle and lead to improve product reliability and performance. Advanced engineering simulation can impact manufacturing in three areas: process design, product design, and process control. However, despite that promise, the routine utilization of modeling and simulation by industry within the design process is very limited. Advanced simulation is still used primarily in a troubleshooting mode examining design or process problems after the fact. Sandia National Laboratories has been engaged in the development of advanced engineering simulation tools for many years and more recently has begun to focus on the application of such models to manufacturing processes important for the defense industry. These efforts involve considerable interaction and cooperative research with US industry. Based upon this experience, this presentation examines the elements that are necessary for advanced engineering simulation to become an integral part of the design process.
This paper presents experimental data and computational modeling for a well-defined glass material. The experimental data cover a wide range of strains, strain rates, and pressures that are obtained from quasi-static compression and tension tests, split Hopkinson pressure bar compression tests, explosively driven flyer plate impact tests, and depth of penetration ballistic tests. The test data are used to obtain constitutive model constants for the improved Johnson-Holmquist (JH-2) brittle material model. The model and constants are then used to perform computations of the various tests.
At Sandia National Laboratories in Albuquerque, the author designed and fabricated a precision wire feeder to be used with high energy density (electron beam and laser beam) welding for weld joints where filler wire might be needed to fill a gap or to adjust the chemical composition so that a crack-free weld could be made. The wire feeder incorporates a 25,000 step-per-revolution motor to power a urethane-coated drive roll. A microprocessor-based controller provides precise control of the motor and allows both continuous and pulsed feeding of the wire. A unidirectional 0.75-in.-dia ball bearing is used to press the wire against the drive roll. A slight constant backward tension is maintained on the wire spool by a Bodine torque motor. A Teflon tube is used to guide the wire from the drive roll to the vicinity of the weld, where a hypodermic needle is used to aim the wire into the weld pool. The operation of the wire feeder was demonstrated by feeding a 10-mil-dia, Type 304 stainless steel wire into a variety of CO{sub 2} laser beam welds. The resulting welds are smooth and continuous, and the welds are considered to be completely satisfactory for a variety of applications.
Several government agencies and industrial sectors have recognized the need for, and payoff of, investing in the methodologies and associated technologies for improving the product realization process. Within the defense community as well as commercial industry, there are three major needs. First, they must reduce the cost of military products, of related manufacturing processes, and of the enterprises that have to be maintained. Second, they must reduce the time required to realize products while still applying the latest technologies. Finally, they must improve the predictability of process attributes, product performance, cost, schedule and quality. They must continue to advance technology, quickly incorporate their innovations in new products and in processes to produce them, and they need to capitalize on the raw computational power and communications bandwidth that continues to become available at decreasing cost. Sandia National Laboratories initiative is pursuing several interrelated, key concepts and technologies in order to enable such product realization process improvements: model-based design; intelligent manufacturing processes; rapid virtual and physical prototyping; and agile people/enterprises. While progress in each of these areas is necessary, this paper only addresses a portion of the overall initiative. First a vision of a desired future capability in model-based design and virtual prototyping is presented. This is followed by a discussion of two specific activities parametric design analysis of Synthetic Aperture Radars (SARs) and virtual prototyping of miniaturized high-density electronics -- that exemplify the vision as well as provide a status report on relevant work in progress.
One of the tasks of the Lethality Group within US Army Space and Strategic Defense Command (USASSDC) is the development of a capability to simulate various missile intercept scenarios using computer codes. Currently under development within USASSDC and its various contractor organizations is a group of codes collected under a master code called PEGEM for Post Event Ground Effects Model. Among the various components of the code are modules which are used to predict atmospheric dispersion and transport of particles or droplets following release at the altitude specified in the missile intercept scenario. The atmospheric transport code takes into account various source term data from the intercept such as: initial cloud size; droplet or particle size distribution; and, total mass of agent released. An ongoing USASSDC experimental program termed Crystal Mist involved release of precision glass beads under various altitude and meteorological conditions to assist in validation and refinement of various codes that are components of PEGEM used to predict particle atmospheric transport and diffusion following a missile intercept. Here, soda-lime glass beads used in the Crystal Mist series of atmospheric transport and diffusion tests were characterized by scanning electron microscopy and automated image processing routines in order to fully define their size distributions and morphology. Four bead size classifications ranging from a median count diameter of 45 to 200 micrometers were found to be approximately spherical and to fall within the supplier`s sizing specifications. Log-normal functions fit to the measured size distributions resulted in geometric standard deviations ranging from 1.08 to 1.12, thereby fulfilling the field trial requirements for a relatively narrow bead size distribution.
A novel, folded compact range configuration has been developed at the Sandia National Laboratories compact range antenna and radar cross section measurement facility, operated by the Radar/Antenna Department 2343, as a means of performing indoor, environmentally-controlled, far-field simulations of synthetic aperture radar (SAR) coherent change detection (CCD) measurements. This report describes the development of the folded compact range configuration, as well as the initial set of coherent change detection measurements made with the system. These measurements have been highly successful, and have demonstrated the viability of the folded compact range concept in simulating SAR CCD measurements. It is felt that follow-on measurements have the potential of contributing significantly to the body of knowledge available to the scientific community involved in CCD image generation and processing, and that this tool will be a significant aid in the research and development of change detection methodologies.
This report summarizes a number of research efforts completed over the past 20 years in the El Paso del Norte region to characterize pollution sources and air quality trends. The El Paso del Norte region encompasses the cities of El Paso, Texas and Ciudad Juarez, Chihuahua and is representative of many US-Mexico border communities that are facing important air quality issues as population growth and industrialization of Mexican border communities continue. Special attention is given to a group of studies carried out under special US Congressional funding and administered by the US Environmental Protection Agency. Many of these studies were fielded within the last several years to develop a better understanding of air pollution sources and trends in this typical border community. Summary findings from a wide range of studies dealing with such issues as the temporal and spatial distribution of pollutants and pollution potential from both stationary and mobile sources in both cities are presented. Particular emphasis is given to a recent study in El Paso-Ciudad Juarez that focussed on winter season PM{sub 10} pollution in El Paso-Ciudad Juarez. Preliminary estimates from this short-term study reveal that biomass combustion products and crustal material are significant components of winter season PM{sub 10} in this international border community.
This report summarizes the activities of a Lab Directed Research and Development (LDRD) Project to investigate the viability of asynchronous transfer mode (ATM) switching technology in the local area network (LAN) environment. A number of ATM based LANs were constructed and their performance capabilities were measured. The summary report notes the measurements and lessons learned from the two-year effort.