The intent and purpose of this work was to investigate and demonstrate cooperative behavior among a group of mobile robot machines. The specific goal of this work was to build a small swarm of identical machines and control them in such a way as to show a coordinated movement of the group in a flocking manner, similar to that observed in nature. Control of the swarm`s individual members and its overall configuration is available to the human user via a graphic man-machine interface running on a base station control computer. Any robot may be designated as the nominal leader through the interface tool, which then may be commanded to proceed to a particular geographic destination. The remainder of the flock follows the leader by maintaining their relative positions in formation, as specified by the human controller through the interface. The formation`s configuration can be altered manually through an interactive graphic-based tool. An alternative mode of control allows for teleoperation of one robot, with the flock following along as described above.
An autonomous mobile robotic capability is critical to developing remote work applications for hazardous environments. A few potential applications include humanitarian demining and ordnance neutralization, extraterrestrial science exploration, and hazardous waste cleanup. The ability of the remote platform to sense and maneuver within its environment is a basic technology requirement which is currently lacking. This enabling technology will open the door for force multiplication and cost effective solutions to remote operations. The ultimate goal of this work is to develop a mobile robotic platform that can identify and avoid local obstacles as it traverses from its current location to a specified destination. This goal directed autonomous navigation scheme uses the Global Positioning System (GPS) to identify the robot`s current coordinates in space and neural network processing of LADAR range images for local obstacle detection and avoidance. The initial year funding provided by this LDRD project has developed a small exterior mobile robotic development platform and a fieldable version of Sandia`s Scannerless Range Imager (SRI) system. The robotic testbed platform is based on the Surveillance And Reconnaissance ground Equipment (SARGE) robotic vehicle design recently developed for the US DoD. Contingent upon follow-on funding, future enhancements will develop neural network processing of the range map data to traverse unstructured exterior terrain while avoiding obstacles. The SRI will provide real-time range images to a neural network for autonomous guidance. Neural network processing of the range map data will allow real-time operation on a Pentium based embedded processor board.
The report is intended to address the need for data analysis in environmental sampling programs. Routine environmental sampling has been conducted at Sandia National Laboratories/New Mexico (SNL/NM) to ensure that site operations have not resulted in undue risk to the public and the environment. Over the years, large amounts of data have been accumulated. The richness of the data should be fully utilized to improve sampling design and prioritize sampling needs for a technically-sound, yet cost-effective sampling design. The report presents a methodology for analyzing environmental monitoring data and demonstrates the application by using SNL`s historical monitoring data. Recommendations for sampling design modification were derived based on the results of the analyses.
LUG and Sway brace ANalysis (LUGSAN) II is an analysis and database computer program that is designed to calculate store lug and sway brace loads for aircraft captive carriage. LUGSAN II combines the rigid body dynamics code, SWAY85, with a Macintosh Hypercard database to function both as an analysis and archival system. This report describes the LUGSAN II application program, which operates on the Macintosh System (Hypercard 2.2 or later) and includes function descriptions, layout examples, and sample sessions. Although this report is primarily a user`s manual, a brief overview of the LUGSAN II computer code is included with suggested resources for programmers.
Lost circulation, which is the loss of well drilling fluids to the formation while drilling, is a common problem encountered while drilling geothermal wells. The rapid detection of the loss of well drilling fluids is critical to the successful and cost-effective treatment of the wellbore to stop or minimize lost circulation. Sandia National Laboratories has developed an instrument to accurately measure the outflow rate of drilling fluids while drilling. This instrument, the Rolling Float Meter, has been under development at Sandia since 1991 and is now available for utilization by interested industry users. This report documents recent Rolling Float Meter design upgrades resulting from field testing and industry input, the effects of ongoing testing and evaluation both in the laboratory and in the field, and the final design package that is available to transfer this technology to industry users.
Two Monte Carlo programs, XITRAN and XMTRAN, were developed for calculating the emission of electrons from high-Z foils irradiated with x rays. XITRAN follows all individual elastic collisions of electrons with atoms, whereas XMTRAN uses the condensed-random-walk model. Both codes take into account photo-electrons, fluorescence radiation, and Auger electrons. Comparisons are made with an experiment by Dolan at Sandia Laboratories involving the backward and forward emission of electrons from a tantalum foil irradiated by 100-kV and 50-kV x-ray beams. There is good agreement between results from the XITRAN and XMTRAN codes. There emitted per incident x-ray photon, and in regard to the angular distribution of the emerging electrons. In regard to the electron energy spectra, there is fair agreement down to a spectral energy of 20 keV, whereas below 20 keV the calculated spectra lie considerably below the measurements.
This report is a user`s manual for GRAFLAB, which is a new database, analysis, and plotting package that has been written entirely in the MATLAB programming language. GRAFLAB is currently used for data reduction, analysis, and archival. GRAFLAB was written to replace GRAFAID, which is a FORTRAN database, analysis, and plotting package that runs on VAX/VMS.
In the present study we describe the development of an experimental fracture material property test method specific to dynamic fragmentation. Spherical test samples of the metals of interest are subjected to controlled impulsive stress loads by acceleration to high velocities with a light-gas launcher facility and subsequent normal impact on thin plates. Motion, deformation and fragmentation of the test samples are diagnosed with multiple flash radiography methods. The impact plate materials are selected to be transparent to the x-ray method so that only test metal material is imaged. Through a systematic series of such tests both strain-to-failure and fragmentation resistance properties are determined through this experimental method. Fragmentation property data for several steels, copper, aluminum, tantalum and titanium have been obtained to date. Aspects of the dynamic data have been analyzed with computational methods to achieve a better understanding of the processes leading to failure and fragmentation, and to test an existing computational fragmentation model.
Sandia has established a foundational technology in photonic integrated circuits (PICs) based on the (Al,Ga,In)As material system for optical communication, radar control and testing, and network switching applications at the important 1.3{mu}m/1.55{mu}m wavelengths. We investigated the optical, electrooptical, and microwave performance characteristics of the fundamental building-block PIC elements designed to be as simple and process-tolerant as possible, with particular emphasis placed on reducing optical insertion loss. Relatively conventional device array and circuit designs were built using these PIC elements: (1) to establish a baseline performance standard; (2) to assess the impact of epitaxial growth accuracy and uniformity, and of fabrication uniformity and yield; (3) to validate our theoretical and numerical models; and (4) to resolve the optical and microwave packaging issues associated with building fully packaged prototypes. Novel and more complex PIC designs and fabrication processes, viewed as higher payoff but higher risk, were explored in a parallel effort with the intention of meshing those advances into our baseline higher-yield capability as they mature. The application focus targeted the design and fabrication of packaged solitary modulators meeting the requirements of future wideband and high-speed analog and digital data links. Successfully prototyped devices are expected to feed into more complex PICs solving specific problems in high-performance communications, such as optical beamforming networks for phased array antennas.
The Waste Isolation Pilot Plant (WIPP) is being developed by the US Department of Energy for the geologic (deep underground) disposal of transuranic (TRU) waste. A Compliance Certification Application (CCA) of the WIPP (1) for such disposal was submitted to the US Environmental Protection Agency (EPA) in October, 1996, and is currently under review, with a decision anticipated in late 1997. An important component of the CCA is a performance assessment (PA) for the WIPP carried out by Sandia National Laboratories. The final outcome of the PA is a complementary cumulative distribution function (CCDF) for radionuclide releases from the WIPP to the accessible environment and an assessment of the confidence with which this CCDF can be estimated. This paper describes the computational process used to develop the CCDF. The results of uncertainty and sensitivity analysis are also presented.
The objective of the USNRC supported Lower Head Failure (LHF) Experiment Program at Sandia National Laboratories is to experimentally investigate and characterize the failure of the reactor pressure vessel (RPV) lower head due to the thermal and pressure loads of a severe accident. The experimental program is complemented by a modeling program focused on the development of a constitutive formulation for use in standard finite element structure mechanics codes. The problem is of importance because: lower head failure defines the initial conditions of all ex-vessel events; the inability of state-of-the-art models to simulate the result of the TMI-II accident (Stickler, et al. 1993); and TMI-II results suggest the possibility of in-vessel cooling, and creep deformation may be a precursor to water ingression leading to in-vessel cooling.
This paper presents an overview of several emerging nondestructive evaluation technologies that are being employed or considered for use to inspect commercial transport, commuter aircraft and military aircraft. An overview of the Federal Aviation Administration (FAA) Airworthiness Assurance NDI Validation Center (AANC) is described and how AANC teams with industry, universities, and other federal entities to assess these technologies.
Optimal response surface construction is being investigated as part of Sandia discretionary (LDRD) research into Analytic Nondeterministic Methods. The goal is to achieve an adequate representation of system behavior over the relevant parameter space of a problem with a minimum of computational and user effort. This is important in global optimization and in estimation of system probabilistic response, which are both made more viable by replacing large complex computer models with fast-running accurate and noiseless approximations. A Finite Element/Lattice Sampling (FE/LS) methodology for constructing progressively refined finite element response surfaces that reuse previous generations of samples is described here. Similar finite element implementations can be extended to N-dimensional problems and/or random fields and applied to other types of structured sampling paradigms, such as classical experimental design and Gauss, Lobatto, and Patterson sampling. Here the FE/LS model is applied in a ``decoupled`` Monte Carlo analysis of two sets of probability quantification test problems. The analytic test problems, spanning a large range of probabilities and very demanding failure region geometries, constitute a good testbed for comparing the performance of various nondeterministic analysis methods. In results here, FE/LS decoupled Monte Carlo analysis required orders of magnitude less computer time than direct Monte Carlo analysis, with no appreciable loss of accuracy. Thus, when arriving at probabilities or distributions by Monte Carlo, it appears to be more efficient to expend computer-model function evaluations on building a FE/LS response surface than to expend them in direct Monte Carlo sampling.
The single-event upset (SEU) responses of 16 Kbit to 1 Mbit SRAMs irradiated with low and high-energy heavy ions are reported. Standard low-energy heavy ion tests appear to be sufficiently conservative for technologies down to 0.5 {micro}m.
This paper presents preliminary analysis of a volcanic tuff repository containing a combination of low enrichment commercial spent nuclear fuels (SNF) and DOE-owned SNF packages. These SNFs were analyzed with respect to their criticality risks. Disposal of SNF packages containing significant fissile mass within a geologic repository must comply with current regulations relative to criticality safety during transportation and handling within operational facilities. However, once the repository is closed, the double contingency credits for criticality safety are subject to unremediable degradation, (e.g., water intrusion, continued presence of neutron absorbers in proximity to fissile material, and fissile material reconfiguration). The work presented in this paper focused on two attributes of criticality in a volcanic tuff repository for near-field and far-field scenarios: (1) scenario conditions necessary to have a criticality, and (2) consequences of a nuclear excursion that are components of risk. All criticality consequences are dependent upon eventual water intrusion into the repository and subsequent breach of the disposal package. Key criticality parameters necessary for a critical assembly are: (1) adequate thermal fissile mass, (2) adequate concentration of fissile material, (3) separation of neutron poison from fissile materials, and (4) sufficient neutron moderation (expressed in units of moderator to fissile atom ratios). Key results from this study indicated that the total energies released during a single excursion are minimal (comparable to those released in previous solution accidents), and the maximum frequency of occurrence is bounded by the saturation and temperature recycle times, thus resulting in small criticality risks.
This report represents the completion of a two years Laboratory Directed Research and Development (LDRD) program to investigate miniaturized systems for chemical detection and analysis. The future of advanced chemical detection and analysis is in miniature devices that are able to characterize increasingly complex samples, a laboratory on a chip. In this concept, chemical operations used to analyze complicated samples in a chemical laboratory sample handling, species separation, chemical derivitization and detection are incorporated into a miniature device. By using electrokinetic flow, this approach does not require pumps or valves, as fluids in microfabricated channels can be driven by externally applied voltages. This is ideal for sample handling in miniature devices. This project was to develop truly miniature on-chip optical systems based on Vertical Cavity Surface Emitting Lasers (VCSELs) and diffractive optics. These can be built into a complete system that also has on-chip electrokinetic fluid handling and chemical separation in a microfabricated column. The primary goal was the design and fabrication of an on-chip separation column with fluorescence sources and detectors that, using electrokinetic flow, can be used as the basis of an automated chemical analysis system. Secondary goals involved investigation of a dispersed fluorescence module that can be used to extend the versatility of the basic system and on chip, intracavity laser absorption as a high sensitivity detection technique.
Sandia National Laboratories is responsible for assuring that the US nuclear deterrent remains credible and that the one in a billion disaster of unintended nuclear detonation never occurs. Letting mistake-generated defects into the stockpile would undermine its mission. The current era of shrinking stockpiles is shrinking Sandia`s opportunities to discover and correct mistakes and fine tune processes over long production runs. In response, Sandia has chosen to develop and use a science-based, life cycle systems engineering practices that, in part, require understanding the design to manufacturing issues in enough detail to tune processes and eliminate mistakes before ever making a part. Defect prevention is a key area of concern that currently lacks sufficient theoretical understanding. This report is the result of a scoping study in the application of best-practice quality techniques that could address Sandia`s stockpile mission. The study provides detail on sources and control of mistakes, poka-yoke or mistake-proofing techniques, the Toyota Production system, and design theory in relation to manufacturing quality prediction. Scoping experiments are described and areas for future research are identified.
This report describes the numerical procedure used to implement the Green`s function method for solving the Poisson equation in two-dimensional Cartesian coordinates. The procedure can determine the solution to a problem with any or all of applied voltage boundary conditions, dielectric media, floating (insulated) conducting media, dielectric surface charging, periodic (reflective) boundary conditions, and volumetric space charge. The numerical solution is reasonably fast, and the dimension of the linear problem to be solved is that of the number of elements needed to represent the surfaces, not the whole computational volume. The method of solution is useful in the simulation of plasma particle motion in the vicinity of complex surface structures as found in microelectronics plasma processing applications. A FORTRAN implementation of this procedure is available from the author.
This paper presents a model for evaluating microcrack development and dilatant behavior of crystalline rocks. The model is developed within the concepts of continuum mechanics, with special emphasis on the development of internal boundaries in the continuum by utilizing fracture mechanics based cohesive zone models. The model is capable of describing the evolution from initial debonding through complete separation and subsequent void growth of an interface. An example problem of a rock salt specimen subjected to a high deviatoric load and low confinement is presented that predicts preferential opening of fractures oriented parallel with the maximum compressive stress axis.
Vapor phase transport in porous media is important in a number of environmental and industrial processes: soil moisture transport, vapor phase transport in the vadose zone, transport in the vicinity of buried nuclear waste, and industrial processes such as drying. The diffusion of water vapor in a packed bed containing residual liquid is examined experimentally. The objective is to quantify the effect of enhanced vapor diffusion resulting from evaporation/condensation in porous media subjected to a temperature gradient. Isothermal diffusion experiments in free-space were conducted to qualify the experimental apparatus and techniques. For these experiments measured diffusion coefficients are within 3.6% of those reported in the literature for the temperature range from 25 C to 40 C. Isothermal experiments in packed beds of glass beads were used to determine the tortuosity coefficient resulting in {tau} = 0.78 {+-} 0.028, which is also consistent with previously reported results. Nonisothermal experiments in packed beds in which condensation occurs were conducted to examine enhanced vapor diffusion. The interpretation of the results for these experiments is complicated by a gradual, but continuous, build-up of condensate in the packed beds during the course of the experiment. Results indicate diffusion coefficients which increase as a function of saturation resulting in enhancement of the vapor-phase transport by a factor of approximately four compared to a dry porous medium.
This project visualizes characterization data in a 3D setting, in real time. Real time in this sense means collecting the data and presenting it before it delays the user, and processing faster than the acquisition systems so no bottlenecks occur. The goals have been to build a volumetric viewer to display 3D data, demonstrate projecting other data, such as images, onto the 3D data, and display both the 3D and projected images as fast as the data became available. The authors have examined several ways to display 3D surface data. The most effective was generating polygonal surface meshes. They have created surface maps form a continuous stream of 3D range data, fused image data onto the geometry, and displayed the data with a standard 3D rendering package. In parallel with this, they have developed a method to project real-time images onto the surface created. A key component is mapping the data on the correct surfaces, which requires a-priori positional information along with accurate calibration of the camera and lens system.
SrBi{sub 2}Ta{sub 2}O{sub 9} (SBT) films have received considerable attention for use as non-volatile memory elements. The authors have developed a process to prepare SBT films with good ferroelectric properties at low temperatures. In this paper, they will present strategies used to optimize the properties of the films including film composition, the nature of the substrate (or bottom electrode) used, and the thermal processing cycle. Under appropriate conditions, {approximately} 1,700 {angstrom} films can be prepared which have a large switchable polarization (2P{sub r} > 10{micro}C/cm{sup 2}), and an operating voltage {le} 2.0 V.
This paper provides information on three (3) topics related to temperature measurements in an annealing procedure: (1) results of a series of experiments performed by CNIITMASH of the Russian consortium MOHT on their reactor pressure vessel (RPV) temperature measurement probe, (2) a discussion regarding uncertainties and errors in RPV temperature measurements, and (3) predictions from a thermal model of a spherical RPV temperature measurement probe. MOHT teamed with MPR Associates and was to perform the Annealing Demonstration Project (ADP) on behalf of the US Department of Energy, ESEERCo, EPRI, CRIEPI, Framatome, and Consumers Power Co. at the Midland plant. Experimental results show that the CNIITMASH probe errors are a maximum of about 27 C (49 F) during a 15 C/hr (27 F/hr) heat-up but only about 3 C (5.4 F) (0.6%) during the hold portion at 470 C (878 F). These errors are much smaller than those obtained from a similar series of experiments performed by Sandia National Laboratories (Sandia). The discussion about uncertainties and errors shows that results presented as a temperature difference provides a measure of the probe error. Qualitative agreement is shown between the model predictions, the experimental results of the CNIITMASH probe and the experimental results of a series of similar experiments performed by Sandia.
Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.
Rapid Prototyping and Near Net Shape manufacturing technologies are the subject of considerable attention and development efforts. At Sandia National Laboratories, one such effort is LENS (Laser Engineered Net Shaping). The LENS process utilizes a stream of powder and a focused Nd YAG laser to build near net shape fully dense metal parts. In this process, a 3-D solid model is sliced, then an X-Y table is rastered under the beam to build each slice. The laser 1 powder head is incremented upward with each slice and the deposition process is controlled via shuttering of the laser. At present, this process is capable of producing fully dense metal parts of iron, nickel and titanium alloys including tool steels and aluminides. Tungsten components have also been produced. A unique aspect of this process is the ability to produce components wherein the composition varies at differing locations in the part. Such compositional variations may be accomplished in either a stepped or graded fashion. In this paper, the details of the process will be described. The deposition mechanism will be characterized and microstructures and their associated properties will be discussed. Examples of parts which have been produced will be shown and issues regarding dimensional control and surface finish will be addressed.
