The Joint Program Office for Unmanned Ground Vehicles and Sandia National Laboratories are developing the Surveillance And Reconnaissance Ground Equipment (SARGE) robot. The SARGE system is a second generation refinement of Sandia`s Dixie robot. A comparison of Dixie`s actual performance and the expected SARGE performance characteristics will be given. The SARGE design philosophy embraces proven technology, low power consumption, and modular sensor packages designed to meet specific mission needs. A major aspect of the SARGE program is obtaining user acceptance through ownership of the prototype hardware. A total of ten systems are being fabricated with at least eight being given to infantry battalions for their use in day to day operations. The SARGE robot is a prototype system that is not intended to meet all the needs of the infantry soldier but will provide a reliable platform which will enable the soldier to determine first hand the required capabilities for future unmanned ground vehicles on the battlefield.
The High-Altitude Balloon Experiment (HABE) telescope was designed to operate at an ambient temperature of {minus}55 C and an altitude of 26 km, using a precooled primary mirror. Although at this altitude the air density is only 1.4 percent of the value at sea level, the temperature gradients within the telescope are high enough to deform the optical wavefront. This problem is considerably lessened by precooling the primary mirror to {minus}35 C. This paper describes the application of several codes to determine the range of wavefront deformation during a mission.
A mobile robotic vehicle with potential for use in military field applications is described. Based on a Sandia design intended for use in exploration of the Lunar surface, the Highly Agile Ground Assessment Robot (HAGAR) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while operating in very rough terrain and climbing over obstacles as large as a wheel diameter. Skid steering and modular construction are used to produce a simple, rugged, lightweight, highly agile mobility chassis with a reduction in the number of parts required when compared to conventional vehicle designs for military battlefield and support missions. The design configuration, mobility parameters, potential mission configurations, and performance of existing and proposed HAGAR prototypes are discussed.
Sandia is a multiprogram R & D laboratory. It has responsibilities in the following areas: (1) defense programs; (2) energy and environment; and (3) work for others (DOD, NSA, etc.). In 1989, the National Competitiveness Technology Transfer Act added another responsibility -- contributions to industrial competitiveness. Sandia has two major laboratory locations, New Mexico and California, and two flight testing locations, Tonopah Test Range, Nevada and Kauai Test Facility, Hawaii. The last part of this talk was dedicated to antenna research at Sandia.
Continuum fluorescence across interfaces separating regions of differing composition is difficult to calculate. This paper illustrates a case of continuum fluorescence in analysis of superconducting NbTi/Cu composite wire which could lead to erroneous compositions due to Cu fluorescence by continuum x rays generated in an NbTi alloy. An approximate treatment of the continuum fluorescence is presented. 3 figs, 4 refs.
Need-based cross cutting technology is being developed which is broadly applicable to the clean up of hazardous and radioactive waste within the US Department of Energy`s complex. Highly modular, reusable technologies which plug into integrated system architectures to meet specific robotic needs result from this research. In addition, advanced technologies which significantly extend current capabilities such as automated planning and sensor-based control in unstructured environments for remote system operation are also being developed and rapidly integrated into operating systems.
This paper provides an introduction and overview on the topical area of aerospace nuclear safety. Emphasis is on the history of the use of nuclear power sources in space, operational experience with these nuclear sources, a review of previous accidents associated with both U.S. and Russian launches, and the safety issues associated with the entire life cycle of space reactors. There are several potential missions to include near earth orbit, orbit-raising, lunar bases, and propulsion to such solar system locations as Mars, which are suitable for the use of space reactors. The process by which approval is obtained to launch these nuclear materials to space is also presented as well as the role of nuclear safety policy and requirements in a space program using nuclear power sources. Important differences in safety concerns for the Radioisotope Thermoelectric Generators (RTGs) now used, and space reactors are presented. The role and purpose of independent safety evaluation and assessment in ensuring safe launch and operation is also discussed. In summary, this paper provides the requisite framework in this topical area for the remaining papers of this session.
Several leading line- and point-focus photovoltaic concentrator system development programs are reviewed, including those by ENTECH, SEA Corporation, AMONIX, and Alpha Solarco. Concentrating collectors and trackers are gaining maturity and reaching product status as designs are made more manufacturable and reliable. Utilities are starting to take notice of this emerging technology, and several privately-funded utility installations are underway. Several advantages are offered by concentrators, including low system and capital cost and rapid production ramp-up. These are discussed along with issues generally raised concerning concentrator technology.
A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.
This paper describes Virtual Collaborative Environments (VCEs), an information architecture that enables remote sharing of mechatronic (intelligent electrochemical devices) resources. This architecture will leverage the proposed National Information Infrastructure (NII) or Information Highway to share valuable resources and reduce product-to-market cycles. Benefits of sharing mechatronic resources with VCEs are explored. An existing prototype VCE is described and experimental and illustrative results from using the prototype VCE system are discussed.
Virtual Reality (VR) is a rapidly emerging technology which allows participants to experience a virtual environment through stimulation of the participant`s senses. Intuitive and natural interactions with the virtual world help to create a realistic experience. Typically, a participant is immersed in a virtual environment through the use of a 3-D viewer. Realistic, computer-generated environment models and accurate tracking of a participant`s view are important factors for adding realism to a virtual experience. Stimulating a participant`s sense of sound and providing a natural form of communication for interacting with the virtual world are equally important. This paper discusses the advantages and importance of incorporating voice recognition and audio feedback capabilities into a virtual world experience. Various approaches and levels of complexity are discussed. Examples of the use of voice and sound are presented through the description of a research application developed in the VR laboratory at Sandia National Laboratories.
Thin films of amorphous carbon/hydrogen, also known as diamond-like carbon or DLC, are of interest as an economical alternative to diamond in a variety of coatings applications. We have investigated the thermal stability of DLC films deposited onto tungsten and aluminum substrates via plasma CVD of methane. These films contain approximately 40 atom % hydrogen, and based on Auger spectra the carbon in the films is estimated to be 60% sp{sup 3} hybridized and 40% sp{sup 2} hybridized. Thermal desorption, Auger, and Raman measurements all indicate that the DLC films are stable to 250--300C. Between 300 and 500C, thermal evolution of hydrogen from the films is accompanied by the conversion of carbon from sp{sup 3} to sp{sup 2} hybridization, and Raman spectra indicate the conversion of the overall film structure from DLC to micro-crystalline graphite or so called ``glassy`` carbon. These results suggest that DLC of this type is potentially useful for applications in which the temperature does not exceed 250C.
We are attempting to develop and demonstrate a new type of linear synchronous induction motor capable of propelling a vehicle at high speed. The technology, based on a passive guideway containing sequential aluminum plates, was developed in Sandia`s electromagnetic launch program. As such, it was called a ``re-connection gun`` and launched an aluminum plate from between pairs of pancake coils. In the proposed propulsion scheme, the plates are fixed and the coils move. Pairs of closely spaced pancake coils on the vehicle straddle vertically mounted aluminum plates in the roadbed. The current in the coils is turned on when the plate is fully covered, peaks at some optimal time, and decreases to zero before separation. This induces currents in the plate which interact with the coil current to produce repulsive forces. In essence, the pulsed coils push off the edge of the plate because at the high frequency of operation, the current has insufficient time to fully penetrate. Since no embedded flux is required, the efficiency actually increases with speed. This concept has been named SERAPHIM, for SEgmented RAil PHased Induction Motor.
A high peak power impulse pulser that is controlled with high gain, optically triggered GaAs Photoconductive Semiconductor Switches (PCSS) has been constructed and tested. The system has a short 50 {Omega} line that is charged to 100 kV and discharged through the switch when the switch is triggered with as little as 90 nJ of laser energy. The laser that is used is a small laser diode array whose output is delivered through a fiber to the switch. The current in the system ranges from 1 kA (with one laser) to 1.3 kA (with two) and the pulse widths are 1.9 and 1.4 ns, respectively. The peak power and the energy delivered to the load are 50 MW to 84 MW and 95 NJ to 120 mJ for one or two lasers. The small trigger energy and switch jitter are due to a high gain switching mechanism in GaAs. This experiment also shows a relationship between the rise time of the voltage across the switch and the required trigger energy and switch jitter.
A new class of inorganic ion exchangers, called crystalline silicotitanates (CSTs), has been prepared at Sandia National Laboratories and Texas A&M University. CSTs have been determined to have high selectivity for the adsorption of Cs and Sr, and several other radionuclides from highly alkaline, high-sodium supernate solutions such as those found at Westinghouse Hanford (WHC). An extensive program has been conducted to assess the applicability of CSTs for treating Hanford wastes. Continuous flow, ion-exchange columns are expected to be used to remove Cs and other radionuclides from the Hanford tank supernate. The proposed application for the CST would be Cs removal from highly alkaline salt solutions in a single pass process with interim storage of the Cs loaded CST until the glass vitrification plant is operational. This paper presents test results which address the important chemical, physical, and radiological properties which are expected to be relevant for Hanford radwaste processing. Results indicate that CSTs have a large distribution coefficient (K{sub d}>2000 mL/g in NCAW simulants) for adsorbing ppm concentrations of Cs. These wastes are highly alkaline (>O.6M OH{sup {minus}}) with high sodium (>5M Na{sup +}) concentrations. CSTs exhibit very high K, values (>20,000 mL/g) for Cs in neutral solutions and K, values of >2,000 mL/g in solutions containing 2M HNO{sub 3}. Presented are results from initial experimental efforts that describe the potential performance of the CSTs in laboratory-scale ion-exchange columns. Included are results showing the stability of the CST material in basic solutions and in radiation doses up to 10{sup 9} rads (Si). The status on the commercialization of the CST powder and engineered-form is discussed. Sufficient material for expanded testing and evaluation is expected to become available during 1994.
The development of high current (I > 10 MA) drivers provides us with a new tool for the study of neutron-producing plasmas in the thermal regime. The imploded deuterium mass (or collisionality) increases as I{sup 2} and the ability of the driver to heat the plasma to relevant fusion temperatures improves as the power of the driver increases. Additionally, fast (< 100 ns) implosions are more stable to the usual MHD instabilities that plagued the traditional slower implosions. We describe experiments in which deuterium gas puffs or CD{sub 2} fiber arrays were imploded in a fast z-pinch configuration on Sandia`s Saturn facility generating up to 3 {times} 10{sup 12} D-D neutrons. These experiments were designed to explore the physics of neutron-generating plasmas in a z-pinch geometry. Specifically, we intended to produce neutrons from a nearly thermal plasma where the electrons and ions have a nearly Maxwellian distribution. This is to be clearly differentiated from the more usual D-D beam-target neutrons generated in many dense plasma focus (DPF) devices.
The paper describes a highly integrated 30 W power amplifier for a Synthetic Aperture Radar, operating in the 14--16 GHz band. The use of a waveguide radial combiner, a microstrip power divider and direct microstrip to waveguide miniaturized ceramic technology, leads to an unusually compact and accessible structure, well suited for commercial production.
Past memory logging tools have provided excellent pressure/temperature data when used in a geothermal environment, and they are easier to maintain and deploy than tools requiring an electric wireline connection to the surface. However, they are deficient since the tool operator is unaware of downhole conditions that could require changes in the logging program. Tools that make ``decisions`` based on preprogrammed scenarios can partially overcome this difficulty, and a suite of such memory tools is under development at Sandia. The first tool, which forms the basis for future instruments, measures pressure and temperature. Design considerations include a minimization of cost while insuring quality data, size compatibility with diamond-cored holes, use in holes to 425{degree}C (800{degree}F), transportability by ordinary passenger air service, and ease of operation. Prototype tools are available for evaluation by the geothermal industry.
This report describes a new technique for evaluating capillary flow solderability on printed circuit boards. The test involves the flow of molten solder from a pad onto different-sized conductor lines. It simulates the spreading dynamics of either plated-through-hole (PTH) or surface mount technology (SMT) soldering. A standard procedure has been developed for the test. Preliminary experiments were conducted and the results demonstrate test feasibility. Test procedures and results are presented in this report.
Operating environments, such as road type, road location, and time of day, play an important role in the observed accident rates of heavy trucks used in general commerce. These same factors influence the accident rate of the Armored Tractor/Safe Secure Trailer (AT/SST) used by the Department of Energy to transport hazardous cargos within the continental United States. This report discusses the development of accident rate influence factors. These factors, based on heavy trucks used in general commerce, are used to modify the observed overall AT/SST accident rate to account for the different operating environments.
Drilling at hazardous waste sites for environmental remediation or monitoring requires containment of all drilling fluids and cuttings to protect personnel and the environment. At many sites, air drilling techniques have advantages over other drilling methods, requiring effective filtering and containment of the return air/cuttings stream. A study of. current containment methods indicated improvements could be made in the filtering of radionuclides and volatile organic compounds, and in equipment like alarms, instrumentation or pressure safety features. Sandia National Laboratories, Dept. 61 11 Environmental Drilling Projects Group, initiated this work to address these concerns. A look at the industry showed that asbestos abatement equipment could be adapted for containment and filtration of air drilling returns. An industry manufacturer was selected to build a prototype machine. The machine was leased and put through a six-month testing and evaluation period at Sandia National Laboratories. Various materials were vacuumed and filtered with the machine during this time. In addition, it was used in an actual air drive drilling operation. Results of these tests indicate that the vacuum/filter unit will meet or exceed our drilling requirements. This vacuum/filter unit could be employed at a hazardous waste site or any site where drilling operations require cuttings and air containment.
The integrated Fuel-Coolant interaction (IFCI) computer code is being developed at Sandia National Laboratories to investigate the fuel-coolant interaction (FCI) problem at large scale using a two-dimensional, four-field hydrodynamic framework and physically based models. IFCI will be capable of treating all major FCI processes in an integrated manner. This document is a product of the effort to generate a stand-alone version of IFCI, IFCI 6.0. The User`s Manual describes in detail the hydrodynamic method and physical models used in IFCI 6.0. Appendix A is an input manual, provided for the creation of working decks.
Funded as a laboratory-directed research and development (LDRD) project, the work reported here focuses on the development of a computational methodology to determine the dynamic response of heterogeneous solids on the basis of their composition and microstructural morphology. Using the solid dynamics wavecode CTH, material response is simulated on a scale sufficiently fine to explicitly represent the material`s microstructure. Conducting {open_quotes}numerical experiments{close_quotes} on this scale, the authors explore the influence that the microstructure exerts on the material`s overall response. These results are used in the development of constitutive models that take into account the effects of microstructure without explicit representation of its features. Applying this methodology to a glass-reinforced plastic (GRP) composite, the authors examined the influence of various aspects of the composite`s microstructure on its response in a loading regime typical of impact and penetration. As a prerequisite to the microscale modeling effort, they conducted extensive materials testing on the constituents, S-2 glass and epoxy resin (UF-3283), obtaining the first Hugoniot and spall data for these materials. The results of this work are used in the development of constitutive models for GRP materials in transient-dynamics computer wavecodes.
This document is intended to be a resource for preparers of safety documentation for Sandia National Laboratories, New Mexico facilities. It provides standardized discussions of some topics that are generic to most, if not all, Sandia/NM facilities safety documents. The material provides a ``core`` upon which to develop facility-specific safety documentation. The use of the information in this document will reduce the cost of safety document preparation and improve consistency of information.
The Time Projection Compton Spectrometer (TPCS) is a radiation diagnostic designed to determine the time-integrated energy spectrum between 100 keV -- 2 MeV of flash x-ray sources. This guide is intended as a reference for the routine operator of the TPCS. Contents include a brief overview of the principle of operation, detailed component descriptions, detailed assembly and disassembly procedures, guide to routine operations, and troubleshooting flowcharts. Detailed principle of operation, signal analysis and spectrum unfold algorithms are beyond the scope of this guide; however, the guide makes reference to sources containing this information.
