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Cooperative Telerobotic Retrieval system Phase 1 technology evaluation report

Description: This document describes the results from the Cooperative Telerobotic Retrieval demonstration and testing conducted at the Idaho National Engineering Laboratory during December 1994 and January 1995. The purpose of the demonstration was to ascertain the feasibility of the system for deploying tools both independently and cooperatively for supporting remote characterization and removal of buried waste in a safe manner and in compliance with all regulatory requirements. The procedures and goals of the demonstration were previously defined in the Cooperative Telerobotic Retrieval System Test Plan for Fiscal Year 1994, which served as a guideline for evaluating the system.
Date: March 1, 1995
Creator: Hyde, R.A. & Croft, K.M.
Partner: UNT Libraries Government Documents Department

An integrated systems approach to remote retrieval of buried transuranic waste using a telerobotic transport vehicle, innovative end effector, and remote excavator

Description: Between 1952 and 1970, over two million cubic feet of transuranic mixed waste was buried in shallow pits and trenches in the Subsurface Disposal Area at the Idaho National Engineering Laboratory Radioactive Waste Management Complex. Commingled with this two million cubic feet of waste is up to 10 million cubic feet of fill soil. The pits and trenches were constructed similarly to municipal landfills with both stacked and random dump waste forms such as barrels and boxes. The main contaminants are micron-sized particles of plutonium and americium oxides, chlorides, and hydroxides. Retrieval, treatment, and disposal is one of the options being considered for the waste. This report describes the results of a field demonstration conducted to evaluate technologies for excavating, and transporting buried transuranic wastes at the INEL, and other hazardous or radioactive waste sites throughout the US Department of Energy complex. The full-scale demonstration, conduced at RAHCO Internationals facilities in Spokane, Washington, in the summer of 1994, evaluated equipment performance and techniques for digging, dumping, and transporting buried waste. Three technologies were evaluated in the demonstration: an Innovative End Effector for dust free dumping, a Telerobotic Transport Vehicle to convey retrieved waste from the digface, and a Remote Operated Excavator to deploy the Innovative End Effector and perform waste retrieval operations. Data were gathered and analyzed to evaluate retrieval performance parameters such as retrieval rates, transportation rates, human factors, and the equipment`s capability to control contamination spread.
Date: February 1, 1995
Creator: Smith, A.M.; Rice, P.; Hyde, R. & Peterson, R.
Partner: UNT Libraries Government Documents Department

Large aperture Fresnel telescopes/011

Description: At Livermore we`ve spent the last two years examining an alternative approach towards very large aperture (VLA) telescopes, one based upon transmissive Fresnel lenses rather than on mirrors. Fresnel lenses are attractive for VLA telescopes because they are launchable (lightweight, packagable, and deployable) and because they virtually eliminate the traditional, very tight, surface shape requirements faced by reflecting telescopes. Their (potentially severe) optical drawback, a very narrow spectral bandwidth, can be eliminated by use of a second (much smaller) chromatically-correcting Fresnel element. This enables Fresnel VLA telescopes to provide either single band ({Delta}{lambda}/{lambda} {approximately} 0.1), multiple band, or continuous spectral coverage. Building and fielding such large Fresnel lenses will present a significant challenge, but one which appears, with effort, to be solvable.
Date: July 16, 1998
Creator: Hyde, R.A., LLNL
Partner: UNT Libraries Government Documents Department

Operable Unit 7-13/14 in situ thermal desorption treatability study work plan

Description: This Work Plan provides technical details for conducting a treatability study that will evaluate the application of in situ thermal desorption (ISTD) to landfill waste at the Subsurface Disposal Area (SDA) at the Idaho National Engineering and Environmental Laboratory (INEEL). ISTD is a form of thermally enhanced vapor vacuum extraction that heats contaminated soil and waste underground to raise its temperature and thereby vaporize and destroy most organics. An aboveground vapor vacuum collection and treatment system then destroys or absorbs the remaining organics and vents carbon dioxide and water to the atmosphere. The technology is a byproduct of an advanced oil-well thermal extraction program. The purpose of the ISTD treatability study is to fill performance-based data gaps relative to off-gas system performance, administrative feasibility, effects of the treatment on radioactive contaminants, worker safety during mobilization and demobilization, and effects of landfill type waste on the process (time to remediate, subsidence potential, underground fires, etc.). By performing this treatability study, uncertainties associated with ISTD as a selected remedy will be reduced, providing a better foundation of remedial recommendations and ultimate selection of remedial actions for the SDA.
Date: May 1, 1999
Creator: Shaw, P.; Nickelson, D. & Hyde, R.
Partner: UNT Libraries Government Documents Department

Assessment of selected conservation measures for high-temperature process industries

Description: Energy conservation projects involving high-temperature processes in various stages of development are assessed to quantify their energy conservation potential; to determine their present status of development; to identify their research and development needs and estimate the associated costs; and to determine the most effective role for the Federal government in developing these technologies. The program analyzed 25 energy conserving processes in the iron and steel, aluminium, copper, magnesium, cement, and glassmaking industries. A preliminary list of other potential energy conservation projects in these industries is also presented in the appendix. (MCW)
Date: January 1, 1981
Creator: Kusik, C L; Parameswaran, K; Nadkarni, R; O'Neill, J K; Malhotra, S; Hyde, R et al.
Partner: UNT Libraries Government Documents Department

RYLLA. [X-ray transport code]

Description: This paper describes a computer code, RYLLA, which models the deposition of x-rays into thin metal slabs, and transports the resulting photoelectrons, finding the distribution of electrons leaving the slab from both the front and back surfaces. The slab must be homogeneous, but can contain a mixture of up to 5 different elements. Due to the short electron mean free path at low electron energies, RYLLA should be used only for studying thin slabs, roughly < 100 mg/cm/sup 2/ for low Z metals, and < 10 mg/cm/sup 2/ for high Z metals. X-ray energies should be in the range of 1 to 150 keV, as they are deposited only via photoionization and Compton scattering processes. Following photoionization, a hole exists in the electron cloud of the absorbing atom. This fills either by Auger or fluoresence, resulting in lower energy holes which are also filled. Fluoresence photons are transported and absorbed in the same manner as the primary photons, except that they are isotropically produced. Once all photons have been transported and absorbed, and all holes have been filled, a space- and energy-dependent electron source spectrum has been obtained. This is used in a discrete ordinate expansion solution of the 1-D transport equation, which gives the output electron spectra at the two slab surfaces. This paper discusses both the physics and coding of RYLLA. Examples of user input are given, as are some comparisons with other codes.
Date: June 8, 1983
Creator: Hyde, R.A.
Partner: UNT Libraries Government Documents Department

In situ technology evaluation and functional and operational guidelines for treatability studies at the radioactive waste management complex at the Idaho National Engineering Laboratory

Description: The purpose of this document is to provide EG G Idaho's Waste Technology Development Department with a basis for selection of in situ technologies for demonstration at the Radioactive Waste Management Complex (RWMC) of the Idaho National Engineering Laboratory (INEL) and to provide information for Feasibility Studies to be performed according to the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA). The demonstrations will aid in meeting Environmental Restoration/Waste Management (ER/WM) schedules for remediation of waste at Waste Area Group (WAG) 7. This report is organized in six sections. Section 1, summarizes background information on the sites to be remediated at WAG-7, specifically, the acid pit, soil vaults, and low-level pits and trenches. Section 2 discusses the identification and screening of in situ buried waste remediation technologies for these sites. Section 3 outlines the design requirements. Section 4 discusses the schedule (in accordance with Buried Waste Integrated Demonstration (BWID) scoping). Section 5 includes recommendations for the acid pit, soil vaults, and low-level pits and trenches. A listing of references used to compile the report is given in Section 6. Detailed technology information is included in the Appendix section of this report.
Date: July 1, 1991
Creator: Hyde, R.A.; Donehey, A.J.; Piper, R.B.; Roy, M.W.; Rubert, A.L. & Walker, S.
Partner: UNT Libraries Government Documents Department

Field test plan: Buried waste technologies, Fiscal Year 1995

Description: The US Department of Energy, Office of Technology Development, supports the applied research, development, demonstration, testing, and evaluation of a suite of advanced technologies that, when integrated with commercially available baseline technologies, form a comprehensive remediation system for the effective and efficient remediation of buried waste. The Fiscal Year 1995 effort is to deploy and test multiple technologies from four functional areas of buried waste remediation: site characterization, waste characterization, retrieval, and treatment. This document is the basic operational planning document for the deployment and testing of the technologies that support the field testing in Fiscal Year 1995. Discussed in this document are the scope of the tests; purpose and objective of the tests; organization and responsibilities; contingency plans; sequence of activities; sampling and data collection; document control; analytical methods; data reduction, validation, and verification; quality assurance; equipment and instruments; facilities and utilities; health and safety; residuals management; and regulatory management.
Date: June 1, 1995
Creator: Heard, R.E.; Hyde, R.A.; Engleman, V.S.; Evans, J.D. & Jackson, T.W.
Partner: UNT Libraries Government Documents Department

Buried waste integrated demonstration Fiscal Year 1993 close-out report

Description: The Buried Waste Integrated Demonstration (BWID) supports the applied research, development, demonstration, and evaluation of a multitude of advanced technologies. These technologies are being integrated to form a comprehensive remediation system for the effective and efficient remediation of buried waste. These efforts are identified and coordinated in support of the U.S. Department of Energy Environmental Restoration and Waste Management needs and objectives. BWID works with universities and private industry to develop these technologies, which are being transferred to the private sector for use nationally and internationally. A public participation policy has been established to provide stakeholders with timely and accurate information and meaningful opportunities for involvement in the technology development and demonstration process. To accomplish this mission of identifying technological solutions for remediation deficiencies, the Office of Technology Development initiated BWID at the Idaho National Engineering Laboratory. This report summarizes the activities of the BWID program during FY-93.
Date: April 1, 1994
Creator: Owens, K. J. & Hyde, R. A.
Partner: UNT Libraries Government Documents Department

Buried waste integrated demonstration FY 94 deployment plan

Description: The Buried Waste Integrated Demonstration (BWID) is a program funded by the U.S. Department of Energy Office of Technology Development. BWID supports the applied research, development, demonstration, testing, and evaluation of a suite of advanced technologies that together form a comprehensive remediation system for the effective and efficient remediation of buried waste. The fiscal year (FY) 1994 effort will fund thirty-eight technologies in five areas of buried waste site remediation: site characterization, waste characterization, retrieval, treatment, and containment/stabilization. This document is the basic operational planning document for deployment of all BWID projects. Discussed in this document are the BWID preparations for INEL field demonstrations, INEL laboratory demonstrations, non-INEL demonstrations, and paper studies. Each technology performing tests will prepare a test plan to detail the specific procedures, objectives, and tasks of each test. Therefore, information specific to testing each technology is intentionally omitted from this document.
Date: May 1, 1994
Creator: Hyde, R. A.; Walker, S. & Garcia, M. M.
Partner: UNT Libraries Government Documents Department

Digface characterization test plan (remote testing)

Description: The objective of the Digface Characterization (DFC) Remote Testing project is to remotely deploy a sensor head (Mini-Lab) across a digface to determine if it can characterize the contents below the surface. The purpose of this project is to provide a robotics technology that allows removal of workers from hazards, increases speed of operations, and reduces life cycle costs compared to alternate methods and technologies. The Buried Waste Integrated Demonstration (BWID) is funding the demonstration, testing, and evaluation of DFC. This document describes the test plan for the DFC remote deployment demonstration for the BWID. The purposes of the test plan are to establish test parameters so that the demonstration results are deemed useful and usable and perform the demonstration in a safe manner and within all regulatory requirements.
Date: August 1, 1993
Creator: Croft, K.; Hyde, R. & Allen, S.
Partner: UNT Libraries Government Documents Department

Buried Waste Integrated Demonstration Technology Preparedness and Status Report Guidance

Description: A Technology Preparedness and Status Report is required for each Technical Task Plan funded by the Buried Waste Integrated Demonstration. This document provides guidance for the preparation of that report. Major sections of the report will include a subset of the need for the technology, objectives of the demonstration, technology description and readiness evaluation, demonstration requirements, and preparedness checklist and action plan.
Date: April 1, 1994
Creator: Blacker, P. B.; Bonnenberg, R. W.; Cannon, P. G.; Hyde, R. A. & Watson, L. R.
Partner: UNT Libraries Government Documents Department

Remote Excavation System Test Plan

Description: The Office of Technology Development (OTD) established the Robotics Technology Development Program (RTDP) to integrate robotic development activities on a national basis; provide needs-oriented, timely, and economical robotics technology to support environmental and waste operations activities at Department of Energy (DOE) sites; and provide the focus and direction for the near term (less than five years) and guidance for the tong-term (five to twenty years) research and development efforts for site-specific problems. The RTDP consists of several programs including the Buried Waste Robotics Program (BWRP), which addresses remote buried waste applications. The Remote Excavation System (RES) was developed under the RTDP to provide a safer method of excavating hazardous materials for both the DOE and the Department of Defense (DOD). The excavator, initially developed by the DOD as a manually-operated small excavator, has been modified for teleoperation with joint funding from the BWRP and the DOD. The Buried Waste Integrated Demonstration (BWID) and the Uranium Soils Integrated Demonstration (USID) are funding the demonstration, testing, and evaluation of the RES covered in this test plan. This document covers testing both at Oak Ridge National Laboratory (ORNL) and the Idaho National Engineering Laboratory (INEL), as funded by BWID and USID. This document describes the tests planned for the RES demonstration for the BWRP. The purposes of the test plan are (1) to establish test parameters to ensure that the demonstration results are deemed useful and usable and (2) to demonstrate performance in a safe manner within all regulatory requirements.
Date: May 1, 1993
Creator: Walker, S. & Hyde, R. A.
Partner: UNT Libraries Government Documents Department

Development of Wet-Etching Tools for Precision Optical Figuring

Description: This FY03 final report on Wet Etch Figuring involves a 2D thermal tool. Its purpose is to flatten (0.3 to 1 mm thickness) sheets of glass faster thus cheaper than conventional sub aperture tools. An array of resistors on a circuit board was used to heat acid over the glass Optical Path Difference (OPD) thick spots and at times this heating extended over the most of the glass aperture. Where the acid is heated on the glass it dissolves faster. A self-referencing interferometer measured the glass thickness, its design taking advantage of the parallel nature and thinness of these glass sheets. This measurement is used in close loop control of the heating patterns of the circuit board thus glass and acid. Only the glass and acid were to be moved to make the tool logistically simple to use in mass production. A set of 4-circuit board, covering 80 x 80-cm aperture was ordered, but only one 40 x 40-cm board was put together and tested for this report. The interferometer measurement of glass OPD was slower than needed on some glass profiles. Sometimes the interference fringes were too fine to resolve which would alias the sign of the glass thickness profile. This also caused the phase unwrapping code (FLYNN) to struggle thus run slowly at times taking hours, for a 10 inch square area. We did extensive work to improve the speed of this code. We tried many different phase unwrapping codes. Eventually running (FLYNN) on a farm of networked computers. Most of the work reported here is therefore limited to a 10-inch square aperture. Researched into fabricating a better interferometer lens from Plexiglas so to have less of the scattered light issues of Fresnel lens groves near field scattering patterns, this set the Nyquest limit. There was also a ...
Date: January 27, 2004
Creator: Rushford, M C; Dixit, S N; Hyde, R; Britten, J A; Nissen, J; Aasen, M et al.
Partner: UNT Libraries Government Documents Department

Eyeglass Large Aperture, Lightweight Space Optics FY2000 - FY2002 LDRD Strategic Initiative

Description: A series of studies by the Air Force, the National Reconnaissance Office and NASA have identified the critical role played by large optics in fulfilling many of the space related missions of these agencies. Whether it is the Next Generation Space Telescope for NASA, high resolution imaging systems for NRO, or beam weaponry for the Air Force, the diameter of the primary optic is central to achieving high resolution (imaging) or a small spot size on target (lethality). While the detailed requirements differ for each application (high resolution imaging over the visible and near-infrared for earth observation, high damage threshold but single-wavelength operation for directed energy), the challenges of a large, lightweight primary optic which is space compatible and operates with high efficiency are the same. The advantage of such large optics to national surveillance applications is that it permits these observations to be carried-out with much greater effectiveness than with smaller optics. For laser weapons, the advantage is that it permits more tightly focused beams which can be leveraged into either greater effective range, reduced laser power, and/or smaller on-target spot-sizes; weapon systems can be made either much more effective or much less expensive. This application requires only single-wavelength capability, but places an emphasis upon robust, rapidly targetable optics. The advantages of large aperture optics to astronomy are that it increases the sensitivity and resolution with which we can view the universe. This can be utilized either for general purpose astronomy, allowing us to examine greater numbers of objects in more detail and at greater range, or it can enable the direct detection and detailed examination of extra-solar planets. This application requires large apertures (for both light-gathering and resolution reasons), with broad-band spectral capability, but does not emphasize either large fields-of-view or pointing agility. Despite differences in their requirements ...
Date: February 10, 2003
Creator: Hyde, R
Partner: UNT Libraries Government Documents Department

Large Diffractive Optics for GEo-Based Earth Surveillance

Description: The natural vantage point for performing Earth-centric operations from space is geosynchronous orbit (GEO); a platform there moves at the same rate as the Earth's surface, so appears to continually ''hover'' over a fixed site on the Earth. Unlike spacecraft in other orbits, which rapidly fly-over targets, a GEO-based platform remains in-position all the time. In order to insure continual access to sites using low earth orbit (LEO) platforms, one needs a large enough constellation ({approx} 50) of spacecraft so that one is always overhead; in contrast, a single GEO platform provides continuous coverage over sites throughout Euro-Asia. This permanent coverage comes, unfortunately, with a stiff price-tag; geosynchronous orbit is 36,000 km high, so space platforms there must operate at ranges roughly 100 times greater than ones located in LEO. For optical-based applications, this extreme range is difficult to deal with; for surveillance the price is a 100-fold loss of resolution, for laser weapons it is a 10,000-fold loss in flux-on-target. These huge performance penalties are almost always unacceptable, preventing us from successfully using GEO-based platforms. In practice, we are forced to either settle for brief, infrequent access to targets, or, if we demand continuous coverage, to invest in large, many-satellite, constellations. There is, fortunately, a way to use GEO-based optical platforms without incurring the huge, range-dependent, performance penalties; one must simply use bigger optics. As long as the aperture of a platform's optics increases as much as its operating range, then its performance (resolution and/or flux) does not suffer; the price for operating from GEO is simply 100-fold larger optics. This is, of course, a very stiff price; while meter-class optics may suffice for many low-earth-orbit applications, 100 meter apertures are needed in order to achieve similar performance from GEO. Since even the largest Earth-based telescope is only 10 ...
Date: September 11, 2003
Creator: Hyde, R A
Partner: UNT Libraries Government Documents Department

New Millennium Program - Space Technology 6 (ST6)

Description: In order to view exo-solar planets and to improve our knowledge of the early universe, it is important to field very large, 100-meter-class, space telescopes. To be able to practically and affordably field such instruments, it is essential to develop membrane optics that are both lighter and more compactly packagable than present space optics. The authors demonstrate a significant breakthrough in membrane optics utilizing thin diffractive lenses instead of reflective films. The uniqueness of this approach is that diffractive lenses utilize globally-flat, easily supported, membranes, and are many orders-of-magnitude less sensitive to out-of-plane surface errors than are reflective optics. Their flight-validation experiment will launch, deploy, and optically test a lightweight diffractive lens. This lens will be built from multiple thin glass sheets, each optically patterned as a diffractive lens panel and then joined together to form a multi-segment foldable lens. the folded-up lens is tightly packaged to survive launch loads and supported after deployment by an outer rim. Its optical PSF performance is then measured by using a three-component system consisting of the diffractive lens, linked by tethers to an optical-beacon on one side, and a sensor-pod on the other.
Date: November 21, 2000
Creator: Hyde, R; Satter, C; Hoyt, R; Early, J; Dixit, S; Weisberg, A et al.
Partner: UNT Libraries Government Documents Department