WorldWideScience

Sample records for underwater inspection program

  1. Underwater inspection and maintenance programs within nuclear and non-nuclear related operating systems

    International Nuclear Information System (INIS)

    Vallance, C.; Goulet, B.; Black, S.

    2008-01-01

    The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)

  2. Self-localization for underwater inspection robot in reactor systems

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

    An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)

  3. The system of underwater CCTV inspection for reactor internal components

    International Nuclear Information System (INIS)

    Zhu Rong

    1997-12-01

    During the operation of nuclear power plant, the reactor internal components are greatly scoured and vibrated by flowing water. So the structural integrity and surface sludge for reactor internal components are needed to be inspected during refuelling. Thus an inspection system is developed, in which the camera inspects underwater at different height and different direction by mechanical elevator and the image of closed-circuit television (CCTV) is mixed with digital coordinate of the camera position for re-inspection. It is the first system for inspection of reactor internal components in China. This system has been used 4 times in the inspection of Daya Bay Nuclear Power Plant successfully

  4. Underwater inspection robot - AIRIS 21''trademark''

    International Nuclear Information System (INIS)

    Koji, K.

    1999-01-01

    Highly reliable, cost-effective and extended examination coverage are three big demands for newly developed ISI equipment. AIRIS 21 (advanced inspection system for reactor pressure vessel and internals) which is a state-of-the-art next generation device, has been developed to reply to these demands. The device can reduce the inspection cost and increase the reliability and inspection coverage. The AIRIS 21 swims in the water toward an area to be inspected and sticks to the vessel wall using two propellers. After it sticks on the wall, the spinning speed of propellers is controlled to keep the device on the wall with constant vacuum force. Then it travels on the wall freely by two driving wheels and one trip measuring wheel. This manner of new examination system is quite different from the other conventional BWR-ID systems. This new inspection system is dramatically reduced its size [W550 x L600 x H55 (mm)] and weight [13.6 (kg)] compared with conventional system, and also saves ISI from being a critical path work because it needs no special tools, such as a large crane for handling. With AIRIS 21, it is possible to perform ID inspection of RPV welds in parallel with fuel shuffling and other core activities. (orig.)

  5. Improvements in or relating to the inspection of underwater structures

    International Nuclear Information System (INIS)

    Caldecourt, L.R.; Evans, G.V.; Parsons, T.V.

    1980-01-01

    A radiation detector is described, for use in the inspection of underwater structures, which is capable of withstanding high pressures and arduous marine conditions. The ingress of water into the body of the radiation detector tube is prevented by the use of a resilient waterproof compound. Marine structures incorporating such radiation detectors are described, whereby the presence or density of flowing cement grout in the legs of an offshore platform may be determined. (U.K.)

  6. Underwater inspection by immersion phased array UT technique

    International Nuclear Information System (INIS)

    Hirasawa, Taiji

    2017-01-01

    In the inspection during the service period of a nuclear power plant, ultrasonic flaw detection test (UT) is performed as a volume test to confirm the soundness of the equipment and structure. Phased array UT technology has been applied as a technique to measure with high accuracy the crack depth generated in stainless steel or Ni based alloy welds. This paper picked up main scanning methods based on ultrasonic beam control in phased array UT, as well as items to consider when carrying out underwater UT inspection of reactor internal structure, and described the concept of selection method of flaw detection method. As the example of underwater UT inspection, this paper introduced application examples for actual equipment and test body, in the defect depth measurement of water immersion phased array UT, by choosing reactor internal structures etc. of a BWR plant. The core shroud, core spray piping, jet pump, CRD housing, and shroud support of BWR plant that are introduced here are subject to individual inspection under maintenance standards and are extremely important equipment. (A.O.)

  7. The development of the underwater inspection vehicles for nuclear power plants

    International Nuclear Information System (INIS)

    Mabuchi, Yasuhiro; Takahashi, Yoshinori; Suzuki, Masanori

    2003-01-01

    There are many underwater structures in the Nuclear Power Plants (NPPs), and due to high radiation and underwater condition it's very difficult to carry out inspections in these areas. Remotely Operated Vehicles (ROVs) equipped with some thrusters and a CCD camera, have been in use for underwater remote inspections for the structure. Because these conventional ROVs for nuclear power plants can't acquire stable images and/or do not have any tools except for a camera, they have been applied to the restricted inspection tasks for nuclear power plants. HITACHI has been developing several ROVs, which are equipped with some additional functions and devices, in order to improve the performance of the conventional ROVs. These ROVs have been applied to the real NPPs and have proven to be useful and effective in the underwater inspection in the NPPs. (author)

  8. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  9. Remote-Controlled Inspection Robot for Nuclear Facilities in Underwater Environment

    International Nuclear Information System (INIS)

    Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose

    2002-01-01

    A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)

  10. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    Energy Technology Data Exchange (ETDEWEB)

    Park, Joon-Young [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)], E-mail: asura@kepco.co.kr; Cho, Byung-Hak; Lee, Jae-Kyung [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)

    2009-11-15

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  11. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  12. Development of underwater inspection and YAG laser repair welding robots for equipments

    International Nuclear Information System (INIS)

    Sato, Shuichi; Kojima, Toshio; Ohwaki, Katsura; Hirose, Naoya

    2000-01-01

    As equipments for power generation such as tank on bath storing wasted water, used resin and others in mainly radioactive wastes processing equipments in nuclear power plant and so forth are carried out periodical inspections and repairs to keep their soundness from long years ago, its importance seems to be increasing more and more hereafter at background of a trend of longer life in their plant. In response to such importance, development of technologies capable of remote control on inspection of inside of the equipments at underwater atmosphere and on repair welding due to YAG laser have been carried out. Here were described on necessity in remote inspection and repair technique, outlines on remote underwater inspection and repair technique, results on welding test, items on compatibility test, and their concrete examples. (G.K.)

  13. Underwater maintenance and inspection technology for reactor internals

    International Nuclear Information System (INIS)

    Kimura, M.; Sano, Y.; Sudou, A.; Konagai, C.; Okano, H.; Shima, S.

    1996-01-01

    It is becoming increasingly important to develop preventive maintenance technologies in addition to inspection, repair and maintenance technologies already developed. Those preventive maintenance technologies include fundamental technologies concerning residual stress improvement, surface metallurgical improvement, water chemistry improvement, welding and machining, and technology for execution concerning remote handling/automated machines. Toshiba is engaged in the development of fundamental and application technologies. This paper describes a shot peening and a laser peening as the residual stress improvement technology and a multipurpose maintenance robot and a visual inspection submersible as remote handling equipment for maintenance and inspection. (author)

  14. In-Water Ship Hull Inspection with Smart Underwater Robots

    Science.gov (United States)

    2011-03-01

    DVL beams DIDSON beams Side View View From Behind Long Vertical Survey • Feb. 2nd, 2006 • Operator in trailer + RHIB • FO tether + WiFi • 34 m X 8 m, 2...were planted on the hull of the Saratoga in rows of three (the bottom row was obscured by biofouling) AcousticView Why Ship Hull Inspection is not

  15. Development and application of underwater robot vehicle for close inspection of spent fuels

    International Nuclear Information System (INIS)

    Yun, J. S.; Park, B. S.; Song, T. G.; Kim, S. H.; Cho, M. W.; Ahn, S. H.; Lee, J. Y.; Oh, S. C.; Oh, W. J.; Shin, K. W.; Woo, D. H.; Kim, H. G.; Park, J. S.

    1999-12-01

    The research and development efforts of the underwater robotic vehicle for inspection of spent fuels are focused on the development of an robotic vehicle which inspects spent fuels in the storage pool through remotely controlled actuation. For this purpose, a self balanced vehicle actuated by propellers is designed and fabricated, which consists of a radiation resistance camera, two illuminators, a pressure transducer and a manipulator. the algorithm for autonomous navigation is developed and its performance is tested at the swimming pool. The results of the underwater vehicle shows that the vehicle can easily navigate into the arbitrary directions while maintaining its balanced position. The camera provides a clear view of working environment by using the macro and zoom functions. The camera tilt device provides a wide field of view which is enough for monitoring the operation of manipulator. Also, the manipulator can pick up the dropped objects up to 4 kgf of weight. (author)

  16. Underwater robot for the inspection of dams; Robot sous-marin pour l'inspection de barrages

    Energy Technology Data Exchange (ETDEWEB)

    Houde, R.; Croteau, A.; Beauregard, S.; Lemire, R.; Sarraillon, S.; Blain, M. [Hydro-Quebec, Montreal, PQ (Canada)

    2006-07-01

    The use of an underwater robot by Hydro-Quebec to inspect its 550 dams was discussed. In order to ensure the safety and durability of its installations, Hydro-Quebec must inspect, evaluate and intervene on a timely basis. A research and development team from Hydro-Quebec has developed a robot named Maski that can be adapted to the particularities of each site. Scuba divers have often been limited in their inspection due to safety reasons such as deep waters, unknown areas, and poor visibility. The pilot of the robot can make use of CAD 3D installation for inspection and determination of auto-distance and auto-depth along a programmable trajectory. The robot also uses software to facilitate the examination of submerged infrastructures, to inspect, treat and archive data (photos, video images, positions, measurements, written and verbal commentaries) which makes pinpointing more accurate. This unique robot can be submerged up to 300 metres and be underwater for several hours at a time. The system can be easily transported and used where needed. Since 2000, divers have used this robot as a complimentary tool to conventional diving. Thus far, more than 50 inspections have been conducted at an estimated savings of 5 million dollars for Hydro-Quebec. The use of remotely operated vehicles (ROV) have also improved the quality of acquired information. The system has the added advantage of using divers who can intervene when needed. The prototype has been used from 2002 to 2005 and the industrial version has been used since spring 2006. Certain aspects of the ROV still needs improvement because of the nature of risks near dams. Concerns regarding loss of control due to high current activity and the wedging of the ROV's umbilical cord are among the probable risks. 5 figs.

  17. Underwater inspection, repair and reconstitution of water reactor fuel

    International Nuclear Information System (INIS)

    1988-06-01

    On-site fuel examination plays an important role for evaluation of fuel irradiation performance under reactor operating conditions. Also fuel assembly repairs are economically very attractive for operating nuclear utilities. The status of the processes of examination and repair, equipment used and research plans in Member States are reviewed in these Proceedings. All presentations were divided into three sessions: inspection diagnostic: facilities, techniques, and programmes (8 papers); repair and reconstitution techniques (6 papers); power plant experience (6 papers). A separate abstract was prepared for each of these 20 papers. Refs, figs and tabs

  18. KeproVt : underwater robotic system for visual inspection of nuclear reactor internals

    International Nuclear Information System (INIS)

    Cho, Byung-Hak; Byun, Seung-Hyun; Shin, Chang-Hoon; Yang, Jang-Bum; Song, Sung-Il; Oh, Jung-Mook

    2004-01-01

    An underwater robotic system for visual inspection of reactor vessel internals has been developed. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor based measuring unit, a master control station and a servo control station. The vision processor based measuring unit employs a first-of-a-kind engineering technology in nuclear robotics. The vision processor makes use of a camera located at the top of the water level referenced to the reactor center line to get an image of the robot, and computes the location and orientation of the robot. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with ±1 cm positioning and ±2 deg. heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The installation process consists of hooking a vision camera on the guide rail of the refueling machine and putting a small robot (14.5 kg in weight) in the reactor cavity pool. The easy installation and automatic operation meet the demand of shortening the reactor outage and reducing the number of inspection personnel. The developed robotic system was successfully deployed at the Yonggwang Nuclear Unit 1 for the visual inspection of reactor internals

  19. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  20. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...

  1. 49 CFR 195.413 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

    Science.gov (United States)

    2010-10-01

    ... the Gulf of Mexico and its inlets. 195.413 Section 195.413 Transportation Other Regulations Relating... Maintenance § 195.413 Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets. (a... shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in...

  2. Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

    International Nuclear Information System (INIS)

    Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

    2002-01-01

    In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

  3. OSE inspection of protection program operations field perspective of inspections

    International Nuclear Information System (INIS)

    Brown, R.W.; Martin, H.R.

    1987-01-01

    Protection Program Operations includes three functional areas: Physical Protection Systems, Protective Forces, and System Performance Testing. The Office of Security Evaluations (OSE) inspects field offices in these areas by evaluating programs relative to Standards and Criteria and by performing a variety of exercises and other types of tests to assure protective systems are effective and maintained at a proper level to meet the defined threat. Their perception of the OSE inspections has been positive. The approach taken by ID, with key areas/activities emphasized, during each phase of the field inspection process is described in this report. The most important areas for field offices to concentrate are: inspection preparations through self-evaluation, improving communications, assigning knowledgeable trusted agents, increasing awareness of facility procedures and operations, and assuring daily validations of inspected areas. Emphasis is placed on striving for a balance in reporting both positive and negative findings, and for consistency between ratings and the importance of report findings. OSE efforts to develop improved rating methodologies are encouraged

  4. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM - 2011

    Energy Technology Data Exchange (ETDEWEB)

    West, B.; Waltz, R.

    2012-06-21

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2011 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2011 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per SRR-LWE-2011-00026, HLW Tank Farm Inspection Plan for 2011, were completed. Ultrasonic measurements (UT) performed in 2011 met the requirements of C-ESR-G-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 3, and WSRC-TR-2002-00061, Rev.6. UT inspections were performed on Tanks 25, 26 and 34 and the findings are documented in SRNL-STI-2011-00495, Tank Inspection NDE Results for Fiscal Year 2011, Waste Tanks 25, 26, 34 and 41. A total of 5813 photographs were made and 835 visual and video inspections were performed during 2011. A potential leaksite was discovered at Tank 4 during routine annual inspections performed in 2011. The new crack, which is above the allowable fill level, resulted in no release to the environment or tank annulus. The location of the crack is documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.6.

  5. Revised inspection program for nuclear power plants

    International Nuclear Information System (INIS)

    1978-01-01

    The United States Nuclear Regulatory Commission (NRC) regulates nuclear power plants to assure adequate protection of the public and the environment from the dangers associated with nuclear materials. NRC fulfills this responsibility through comprehensive safety reviews of nuclear facilities, licensing of organizations that use nuclear materials, and continuing inspection. The NRC inspection program is currently conducted from the five regional offices in or near Philadelphia, Atlanta, Chicago, Dallas and San Francisco. Inspectors travel from the regional offices to nuclear power plants in various phases of construction, test and operation in order to conduct inspections. However, in June 1977 the Commission approved a revision to the inspection program that will include stationing inspectors at selected plants under construction and at all plants in operation. In addition, the revised program provides for appraising the performance of licensees on a national basis and involves more direct measurement and observation by NRC inspectors of work and tests in progress. The program also includes enhanced career management consisting of improved training and career development for inspectors and other professionals. The report was requested in the Conference Report on the NRC Authorization for Appropriations for Fiscal Year 1978. The report provides a discussion of the basis for both the current and revised inspection programs, describes these programs, and shows how the NRC inspection force will be trained and utilized. In addition, the report includes a discussion of the actions that will be taken to assure the objectivity of inspectors

  6. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM 2009

    Energy Technology Data Exchange (ETDEWEB)

    West, B.; Waltz, R.

    2010-06-21

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2009 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2009 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per LWO-LWE-2008-00423, HLW Tank Farm Inspection Plan for 2009, were completed. All Ultrasonic measurements (UT) performed in 2009 met the requirements of C-ESG-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 1, and WSRC-TR-2002-00061, Rev.4. UT inspections were performed on Tank 29 and the findings are documented in SRNL-STI-2009-00559, Tank Inspection NDE Results for Fiscal Year 2009, Waste Tank 29. Post chemical cleaning UT measurements were made in Tank 6 and the results are documented in SRNL-STI-2009-00560, Tank Inspection NDE Results Tank 6, Including Summary of Waste Removal Support Activities in Tanks 5 and 6. A total of 6669 photographs were made and 1276 visual and video inspections were performed during 2009. Twenty-Two new leaksites were identified in 2009. The locations of these leaksites are documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.4. Fifteen leaksites at Tank 5 were documented during tank wall/annulus cleaning activities. Five leaksites at Tank 6 were documented during tank wall/annulus cleaning activities. Two new leaksites were identified at Tank 19 during waste removal activities. Previously documented leaksites were reactivated at Tanks 5 and 12 during waste removal activities. Also, a very small amount of additional leakage from a previously identified leaksite at Tank 14 was observed.

  7. Underwater gliders as virtual moorings; lessons from the RAPID program

    Science.gov (United States)

    Smeed, David; McCarthy, Gerard; White, David

    2013-04-01

    The RAPID program measures the Atlantic Meridional Overturning Circulation in the sub tropical Atlantic using an array of moored instruments. We have made trials using autonomous underwater gliders as a replacement for one of the RAPID moorings. The mooring is located on the continental slope at a water depth of 1000m. Six glider deployments have been made concurrent with mooring deployments. In this presentation data from the moorings and from the gliders are compared; different glider sampling strategies are considered; and the advantages and disadvantages of gliders are described. The capability of gliders to resolve tidal motion and to quantify geostrophic currents is examined.

  8. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM 2010

    Energy Technology Data Exchange (ETDEWEB)

    West, B.; Waltz, R.

    2011-06-23

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2010 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report. The 2010 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. All inspections scheduled per SRR-LWE-2009-00138, HLW Tank Farm Inspection Plan for 2010, were completed. Ultrasonic measurements (UT) performed in 2010 met the requirements of C-ESG-00006, In-Service Inspection Program for High Level Waste Tanks, Rev. 3, and WSRC-TR-2002-00061, Rev.6. UT inspections were performed on Tanks 30, 31 and 32 and the findings are documented in SRNL-STI-2010-00533, Tank Inspection NDE Results for Fiscal Year 2010, Waste Tanks 30, 31 and 32. A total of 5824 photographs were made and 1087 visual and video inspections were performed during 2010. Ten new leaksites at Tank 5 were identified in 2010. The locations of these leaksites are documented in C-ESR-G-00003, SRS High Level Waste Tank Leaksite Information, Rev.5. Ten leaksites at Tank 5 were documented during tank wall/annulus cleaning activities. None of these new leaksites resulted in a release to the environment. The leaksites were documented during wall cleaning activities and the waste nodules associated with the leaksites were washed away. Previously documented leaksites were reactivated at Tank 12 during waste removal activities.

  9. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM- 2007

    Energy Technology Data Exchange (ETDEWEB)

    West, B; Ruel Waltz, R

    2008-06-05

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. The 2007 inspection program revealed that the structural integrity and waste confinement capability of the Savannah River Site waste tanks were maintained. A very small amount of material had seeped from Tank 12 from a previously identified leaksite. The material observed had dried on the tank wall and did not reach the annulus floor. A total of 5945 photographs were made and 1221 visual and video inspections were performed during 2007. Additionally, ultrasonic testing was performed on four Waste Tanks (15, 36, 37 and 38) in accordance with approved inspection plans that met the requirements of WSRC-TR-2002- 00061, Revision 2 'In-Service Inspection Program for High Level Waste Tanks'. The Ultrasonic Testing (UT) In-Service Inspections (ISI) are documented in a separate report that is prepared by the ISI programmatic Level III UT Analyst. Tanks 15, 36, 37 and 38 are documented in 'Tank Inspection NDE Results for Fiscal Year 2007'; WSRC-TR-2007-00064.

  10. A Computer Program for a Canonical Problem in Underwater Shock

    Directory of Open Access Journals (Sweden)

    Thomas L. Geers

    1994-01-01

    Full Text Available Finite-element/boundary-element codes are widely used to analyze the response of marine structures to underwater explosions. An important step in verifying the correctness and accuracy of such codes is the comparison of code-generated results for canonical problems with corresponding analytical or semianalytical results. At the present time, such comparisons rely on hardcopy results presented in technical journals and reports. This article describes a computer program available from SAVIAC that produces user-selected numerical results for a step-wave-excited spherical shell submerged in and (optionally filled with an acoustic fluid. The method of solution employed in the program is based on classical expansion of the field quantities in generalized Fourier series in the meridional coordinate. Convergence of the series is enhanced by judicious application of modified Cesàro summation and partial closed-form solution.

  11. Visual examination program of the TRIGA Mark II reactor Vienna with the nuclear underwater telescope

    International Nuclear Information System (INIS)

    Boeck, H.; Hammer, J.; Varga, K.

    1985-12-01

    The visual inspection programm carried out during a three month shut-period at the TRIGA Mark II reactor Vienna is described. Optical inspection of all welds inside the reactor tank was carried out with an underwater telescope developed by the Central Research Institute of Physics, Budapest, Hungary. It is shown that even after 23 years of reactor operation all tank internals were found to be in good condition and minor defects can be easily repaired by remote handling tools. (Author)

  12. Annual radioactive waste tank inspection program -- 1993

    International Nuclear Information System (INIS)

    McNatt, F.G. Sr.

    1994-05-01

    Aqueous radioactive wastes from Savannah River Site (SRS) separations processes are contained in large underground carbon steel tanks. Inspections made during 1993 to evaluate these vessels, and evaluations based on data accrued by inspections made since the tanks were constructed, are the subject of this report. The 1993 inspection program revealed that the condition of the Savannah River Site waste tanks had not changed significantly from that reported in the previous annual report. No new leaksites were observed. No evidence of corrosion or materials degradation was observed in the waste tanks. However, degradation was observed on covers of the concrete encasements for the out-of-service transfer lines to Tanks 1 through 8

  13. A program to compute geographical positions of underwater artifact based on linear measurements

    Digital Repository Service at National Institute of Oceanography (India)

    Ganesan, P.

    While carrying out underwater positioning in shallow waters, the Diver Archaeologists measure lengths and bearings from a base line of the well-established control network to each and every corner of the artifact. A program in Basic language...

  14. The development of a under-water robot system for inspection of the contaminated inner wall of nuclear research reactor

    International Nuclear Information System (INIS)

    Kim, Kyung Hoon; Kim, Byung Man; Cho, Hyung Suk; Park, Ki Yong; Park, Young Soo; Yoon, Ji Sup; Lee, Byung Jik

    1997-01-01

    In this paper, an under-water robot system is developed in order to inspect the radiation level and decontaminate the contaminated inner wall of nuclear research reactor, TRIGA MARK III. This system is composed of the mobile robot which navigates autonomously under the water and the ground control unit which monitors and commands the motion of mobile robot. The mobile robot can move on the wall surface with five thruster systems and is composed of three parts, i.e., mechanical, control, and sensory parts. The five thruster system is configured such as one main thruster, two wall adhesion thruster, and two turning/buoyancy compensation thruster. The control part has 4 CPU boards and each board is configured such that one is in charge of supervisory control mode which controls the position of mobile robot and communicates with the ground control unit and the other board is designed to have motor control mode which drives two motors simultaneously. In secondary part, the laser scanner and fluorescent reflectors and the incilinometer are designed. The laser scanner with fluorescent reflectors provides the current position of the mobile robot on the wall surface and by incilinometer, the moving direction can be obtained. This paper describes the design and configuration procedures of under-water robot in detail and presents the experimental results for characteristic test of the thruster system. 11 refs., 4 tabs., 7 figs

  15. Inspection Methods in Programming: Cliches and Plans.

    Science.gov (United States)

    1987-12-01

    PROGRAM ELEMENT. PROJECT. TASK Artificial Inteligence Laboratory AREA & WORK UN IT NUMBERS J 545 Technology Square Cambridge, MA 02139 $L. CONTROLLING...U) MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB C RICH DEC 87 AI-M-±05 UNCLASSIFIED NW014-B5-K-0124 F/G 12/5 NL ’lllll l l l...S %P W. J % % %s MASSACHUSETTS INSTITUTE OF TECHNOLOGY N ARTIFICIAL INTELLIGENCE LABORATORY 00 A.I. Memo No. 1005 December 1987 N Inspection Methods

  16. INSPECT: a package of computer programs for planning and evaluating safeguards inspections

    International Nuclear Information System (INIS)

    Mullen, M.F.

    1980-01-01

    As part of the US Program of Technical Assistance to IAEA Safeguards, PNL has developed a package of computer programs, called INSPECT, that can be used in planning and evaluating safeguards inspections of various types of nuclear facilities. The programs are based on the statistical methods described in Part F of the IAEA Safeguards Technical Manual and can be used to calculate the variance components of the MUF (Material Unaccounted For) statistic, the variance components of the D (difference) statistic, attribute and variables sampling plans, and a measure of the effectiveness of the inspection plan. The paper describes the programs, reviews a number of applications, and indicates areas for future work

  17. Potential application of nuclear remote-handling technology to underwater inspection and maintenance

    International Nuclear Information System (INIS)

    Eccleston, M.J.

    1990-01-01

    Examples are given of remote handling equipment developed within the nuclear industry and employing telemanipulative or telerobotic principles. In telerobotics the nuclear industry has been following a trend towards increased levels of autonomy, delegating operator control to a computer, for example, in resolved rate manipulator tip control, teach-and-repeat control and collision avoidance. Illustrations are presented of remote-handling techniques from the nuclear industry which may be carried over into undersea remote inspection, maintenance and repair systems. (author)

  18. Strategic environmental safety inspection for the National disposal program. Description of the inspection volume. Documentation for the scoping team

    International Nuclear Information System (INIS)

    2015-01-01

    The Strategic environmental safety inspection for the National disposal program covers the following topics: Legal framework: determination of the requirement for an environmental inspection program, coordination of the scoping team into the overall context; environmental targets; approach for assessment and evaluation of environmental impact, description of the inspection targets for the strategic environmental inspection; consideration of alternatives.

  19. Annual radioactive waste tank inspection program - 1991

    International Nuclear Information System (INIS)

    McNatt, F.G.

    1992-01-01

    Aqueous radioactive wastes from Savannah River Site (SRS) separations processes are contained in large underground carbon steel tanks. Inspections made during 1991 to evaluate these vessels and evaluations based on data accrued by inspections made since the tanks were constructed are the subject of this report

  20. ANNUAL RADIOACTIVE WASTE TANK INSPECTION PROGRAM 2008

    Energy Technology Data Exchange (ETDEWEB)

    West, B.; Waltz, R.

    2009-06-11

    Aqueous radioactive wastes from Savannah River Site (SRS) separations and vitrification processes are contained in large underground carbon steel tanks. Inspections made during 2008 to evaluate these vessels and other waste handling facilities along with evaluations based on data from previous inspections are the subject of this report.

  1. Integrated inspection programs at Bruce Heavy Water Plant

    International Nuclear Information System (INIS)

    Brown, K.C.

    1992-01-01

    Quality pressure boundary maintenance and an excellent loss prevention record at Bruce Heavy Water Plant are the results of the Material and Inspection Unit's five inspection programs. Experienced inspectors are responsible for the integrity of the pressure boundary in their own operating area. Inspectors are part of the Technical Section, and along with unit engineering staff, they provide technical input before, during, and after the job. How these programs are completed, and the results achieved, are discussed. 5 figs., 1 appendix

  2. New initiatives in the U.S. Reactor Inspection Program

    International Nuclear Information System (INIS)

    Volgenau, Ernst.

    1977-01-01

    Recently, the United States Nuclear Regulatory Commission (NRC) has initiated a revised inspection approach that will involve placing inspectors full time onsite at all reactor sites. These resident inspectors will be supplemented by a performance appraisal inspection program that will incorporate thorough critical reviews of licensee facilities and an increased program of specific technical measurements to independently verify the accuracy and completeness of licensee work. To complement the inspection initiatives, the NRC is examining ways to expand its enforcement sanctions and to motivate safe licensee performance. (Auth.) [fr

  3. Electrical Distribution System Functional Inspection (EDSFI) data base program

    International Nuclear Information System (INIS)

    Gautam, A.

    1993-01-01

    This document describes the organization, installation procedures, and operating instructions for the database computer program containing inspection findings from the US Nuclear Regulatory Commission's (NRC's) Electrical Distribution System Functional Inspections (EDSFIs). The program enables the user to search and sort findings, ascertain trends, and obtain printed reports of the findings. The findings include observations, unresolved issues, or possible deficiencies in the design and implementation of electrical distribution systems in nuclear plants. This database will assist those preparing for electrical inspections, searching for deficiencies in a plant, and determining the corrective actions previously taken for similar deficiencies. This database will be updated as new EDSFIs are completed

  4. Thermographic Inspections And The Residential Conservation Service Program (RCS)

    Science.gov (United States)

    Ward, Ronald J.

    1983-03-01

    Rhode Islanders Saving Energy (RISE) is a non-profit corporation founded in 1977 to provide Rhode Island residents with a variety of energy conservation services. Since January of 1981, it has been performing energy audits in compliance with the Department of Energy's (DOE) Residential Conservation Service Program (RCS). One aspect of the RCS program is the performance of inspections on energy conservation activities completed according to RCS installation guidelines. This paper will describe both the use and results of thermographic inspections within the RISE program. The primary objective of these inspections has been to assure the quality of the building envelope after completion of retrofit measures. Thermal anamolies have been detected that vary in size, location and probable cause. Approximately 37% of all jobs performed through RISE in conjunction with the RCS program have required remedial work as a result of problems that were identi-fied during the thermographic inspection. This percentage was much higher when infra-red inspections were conducted on "Non-RCS" retrofits. Statistics will be presented that provide an interesting insight on the quality of retrofit work when performed in associa-tion with a constant inspection process.

  5. Utilization of aging program results in plant inspections

    International Nuclear Information System (INIS)

    Gunther, W.; Fullwood, R.

    1988-01-01

    Research conducted under the auspices of the US Nuclear Regulatory Commission Nuclear Plant Aging Research (NPAR) Program has resulted in a large data base of component and system operating experience. This data base has been used to determine equipment aging susceptibility and the potential for equipment aging to impact plant safety and reliability. Methods of detecting and mitigating component and system aging have also been identified. This paper discusses how the NPAR results could be used to focus inspection activities on age-sensitive components and systems and on the specific modes and mechanisms of age degradation. These activities range from the regular inspections conducted by resident inspectors to extensive special inspections such as the Safety System Functional Inspection typically conducted by a team of inspectors. 5 refs., 3 figs., 1 tab

  6. Utilization of aging program results in plant inspections

    International Nuclear Information System (INIS)

    Gunther, W.; Fullwood, R.

    1989-01-01

    Research conducted under the auspices of the US Nuclear Regulatory Commission Nuclear Plant Aging Research (NPAR) Program has resulted in a large data base of component and system operating experience. This data base has been used to determine equipment aging susceptibility and the potential for equipment aging to impact plant safety and reliability. Methods of detecting and mitigating component and system aging have also been identified. This paper discusses how the NPAR results could be used to focus inspection activities on age-sensitive components and systems and on the specific modes and mechanisms of age degradation. These activities range from the regular inspections conducted by resident inspectors to extensive special inspections such as the Safety System Functional Inspection typically conducted by a team of inspectors. 5 refs., 3 figs., 1 tab

  7. 78 FR 35056 - Effectiveness of the Reactor Oversight Process Baseline Inspection Program

    Science.gov (United States)

    2013-06-11

    ... inspection procedures. Inspection procedures are statements of requirements or guidance for inspection... and philosophy and contains a list of all inspection procedures. The agency's goal for the current... provide a validation of the basic philosophy and key principles of the baseline inspection program with...

  8. Evaluations of Structural Failure Probabilities and Candidate Inservice Inspection Programs

    Energy Technology Data Exchange (ETDEWEB)

    Khaleel, Mohammad A.; Simonen, Fredric A.

    2009-05-01

    The work described in this report applies probabilistic structural mechanics models to predict the reliability of nuclear pressure boundary components. These same models are then applied to evaluate the effectiveness of alternative programs for inservice inspection to reduce these failure probabilities. Results of the calculations support the development and implementation of risk-informed inservice inspection of piping and vessels. Studies have specifically addressed the potential benefits of ultrasonic inspections to reduce failure probabilities associated with fatigue crack growth and stress-corrosion cracking. Parametric calculations were performed with the computer code pc-PRAISE to generate an extensive set of plots to cover a wide range of pipe wall thicknesses, cyclic operating stresses, and inspection strategies. The studies have also addressed critical inputs to fracture mechanics calculations such as the parameters that characterize the number and sizes of fabrication flaws in piping welds. Other calculations quantify uncertainties associated with the inputs calculations, the uncertainties in the fracture mechanics models, and the uncertainties in the resulting calculated failure probabilities. A final set of calculations address the effects of flaw sizing errors on the effectiveness of inservice inspection programs.

  9. Conducting an inspection of protection program operations

    International Nuclear Information System (INIS)

    Brown, S.; Howell, J.

    1987-01-01

    Protection Program Operations (PPO) encompasses the entire physical security program at a facility, including security construction and equipment, procedures, forces, management and supervision, and the integration of these elements into a total system. PPO subtopics are Physical Security Systems (PSS), Protection Forces (PF), and System Performance Tests (SPT). PSS assesses those security elements designed to protect security interests, and include sensors, surveillance devices, systems for transmission and integration of alarm and assessment information, barriers, lighting, etc. PF assesses the management, training, equipment and facilities, and skills and knowledge of the protective force. SPT includes Force-on-Force, Emergency Management Performance Test, and Limited Scope Performance Tests

  10. The Nuclear Regulatory Commission's research reactor inspection program

    International Nuclear Information System (INIS)

    Constable, George L.

    1977-01-01

    The Division of Reactor Inspection Program's functional responsibilities are presented. The include (a) inspections and investigations necessary to determine whether licensees are complying with license provisions and rules, and to ascertain whether licensed operations are being conducted safely; (b) establishment of bases for the issuance or denial of a construction permit or license; (c) investigation of accidents, incidents, and theft or diversion of special nuclear materials; (d) enforcement actions; and (e) evaluation of licensed operations as a basis for recommending changes to standards and license conditions and for issuance of reports to the nuclear industry and the public

  11. Safety guidance and inspection program for particle accelerator

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Do Whey [Korea Institute of Nuclear Safety, Taejon (Korea, Republic of); Lee, Hee Seock; Yeo, In Whan [Pohang Accelerator Laboratory, Pohang (Korea, Republic of)] (and others)

    2001-03-15

    The inspection program and the safety guidance were developed to enhance the radiation protection for the use of particle accelerators. First the classification of particle accelerators was conducted to develop the safety inspection protocol efficiently. The status of particle accelerators which were operated at the inside and outside of the country, and their safety programs were surveyed. The characteristics of radiation production was researched for each type of particle accelerators. Two research teams were launched for industrial and research accelerators and for medical accelerators, respectively. In each stages of a design, a fabrication, an installation, a commissioning, and normal operation of accelerators, those safety inspection protocols were developed. Because all protocols resulted from employing safety experts, doing the questionnaire, and direct facility surveys, it can be applicable to present safety problem directly. The detail improvement concepts were proposed to revise the domestic safety rule. This results might also be useful as a practical guidance for the radiation safety officer of an accelerator facility, and as the detail standard for the governmental inspection authorities.

  12. Final Report Inspection of Aged/Degraded Containments Program.

    Energy Technology Data Exchange (ETDEWEB)

    Naus, Dan J [ORNL; Ellingwood, B R [Georgia Institute of Technology; Oland, C Barry [ORNL

    2005-09-01

    The Inspection of Aged/Degraded Containments Program had primary objectives of (1) understanding the significant factors relating corrosion occurrence, efficacy of inspection, and structural capacity reduction of steel containments and liners of reinforced concrete containments; (2) providing the United States Nuclear Regulatory Commission (USNRC) reviewers a means of establishing current structural capacity margins or estimating future residual structural capacity margins for steel containments, and concrete containments as limited by liner integrity; (3) providing recommendations, as appropriate, on information to be requested of licensees for guidance that could be utilized by USNRC reviewers in assessing the seriousness of reported incidences of containment degradation; and (4) providing technical assistance to the USNRC (as requested) related to concrete technology. Primary program accomplishments have included development of a degradation assessment methodology; reviews of techniques and methods for inspection and repair of containment metallic pressure boundaries; evaluation of high-frequency acoustic imaging, magnetostrictive sensor, electromagnetic acoustic transducer, and multimode guided plate wave technologies for inspection of inaccessible regions of containment metallic pressure boundaries; development of a continuum damage mechanics-based approach for structural deterioration; establishment of a methodology for reliability-based condition assessments of steel containments and liners; and fragility assessments of steel containments with localized corrosion. In addition, data and information assembled under this program has been transferred to the technical community through review meetings and briefings, national and international conference participation, technical committee involvement, and publications of reports and journal articles. Appendix A provides a listing of program reports, papers, and publications; and Appendix B contains a listing of

  13. Implementation of in-service inspection program for HANARO

    International Nuclear Information System (INIS)

    Wu, J.S.; Park, Y.C.; Cho, Y.G.; Jun, B.J.

    2001-01-01

    HANARO, a 30 MW multi-purpose research reactor in Korea has been successfully in operation for 6 years since its initial criticality in February 1995. It is mainly used for the research areas including nuclear fuel and material irradiation tests, radioisotope production, neutron beam application, neutron activation analysis and neutron transmutation doping. HANARO was designed to perform for at least 20 years under full power operating condition. It is expected that the actual reactor lifetime will be much more than the design lifetime, due to a safety reassessment based on realistic data, preventive maintenance and appropriate in-service inspections (ISI). Since ageing may affect the overall safety of the reactor facility, it is needed to detect and evaluate the effects on aged components and systems related to safety. During the lifetime of the reactor, structures, systems and components are subjected to environmental conditions of stress, temperature and irradiation that may lead to changes in the material properties and could result in unexpected failures. Evidence of ageing problems appears progressively. A rigorous inspection and visual examination based on a periodic ISI program should be established. It is desirable that the ageing surveillance activities is scheduled as early as possible and continued throughout the operating life of the reactor. An inspection plan for safety related structures, systems and components subjected to the ageing conditions is requested by the regulatory body to assess the safety status of reactor facility. A long-term ISI program for HANARO has been established for safety-related systems and components in the context of the overall reactor ageing management. The objective of this paper is to describe the ISI program and the result of the visual inspection as the first ISI. (orig.)

  14. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  15. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  16. Implementation of the Air Program Information Management System (APIMS) Inspection Module

    Science.gov (United States)

    2009-05-01

    7 5 T H A I R B A S E W I N G Implementation of the Air Program Information Management System (APIMS) Inspection Module 2009 Environment...Implementation of the Air Program Information Management System (APIMS) Inspection Module 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER

  17. Summary of inspection findings of licensee inservice testing programs at United States commercial nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Dunlop, A.; Colaccino, J.

    1996-12-01

    Periodic inspections of pump and valve inservice testing (IST) programs in United States commercial nuclear power plants are performed by Nuclear Regulatory Commission (NRC) Regional Inspectors to verify licensee regulatory compliance and licensee commitments. IST inspections are conducted using NRC Inspection Procedure 73756, {open_quotes}Inservice Testing of Pumps and Valves{close_quotes} (IP 73756), which was updated on July 27, 1995. A large number of IST inspections have also been conducted using Temporary Instruction 2515/114, {open_quotes}Inspection Requirements for Generic Letter 89-04, Acceptable Inservice Testing Programs{close_quotes} (TI-2515/114), which was issued January 15, 1992. A majority of U.S. commercial nuclear power plants have had an IST inspection to either IP 73756 or TI 2515/114. This paper is intended to summarize the significant and recurring findings from a number of these inspections since January of 1990.

  18. Overview of the U.S. inspection capability demonstration program for CRDM penetrations

    International Nuclear Information System (INIS)

    Melton, M.; Whitaker, D.; Ammirato, F.; Pathania, R.

    1994-01-01

    The US PWR Owners have developed a coordinated program to demonstrate the effectiveness of procedures for inspection of the Control Rod Drive Mechanism (CRDM) nozzle penetrations. The purpose of the inspections is to detect inside surface Primary Water Stress Corrosion Cracking (PWSCC). Reactor vessel manufacturers, PWR Owners Groups, and EPRI are participating in this cooperative program. Flaw detection, sizing, and location capability will be assessed in the program using realistic full-scale mockups containing intentional defects. The program is expected to be completed by January 1, 1994 and be available for qualification work at that time. The demonstration program is scheduled to become operational in 1993 to support 1994 and future inspections

  19. Model based image restoration for underwater images

    Science.gov (United States)

    Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael

    2013-04-01

    The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.

  20. Results of calendar year 1995 Well Inspection and Maintenance Program Y-12 Plant, Oak Ridge, Tennessee

    International Nuclear Information System (INIS)

    McMaster, B.W.

    1996-07-01

    This document is a compendium of results of the 1995 Monitor Well Inspection and Maintenance Program at the US Department of Energy's Oak Ridge Y-12 Plant. This report documents the work relating to well inspections and maintenance requests. Inspections are implemented in order to better assess the condition and maintenance needs of wells that are actively being monitored. Currently this approach calls for inspecting all wells on a routine (annual or triennial) basis which are: (1) in an active sampling program; (2) included in a hydrologic study; or (3) not in service, but not scheduled for plugging and abandonment. Routine inspections help to ensure that representative groundwater samples and hydrologic data are being collected, and contribute to the effective longevity of each well. This report formally presents well inspection and maintenance activities that were conducted at the Y-12 Plant from August through December 1995

  1. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  2. Review of Section XI inservice inspection program effectiveness

    International Nuclear Information System (INIS)

    Cook, J.F. Sr.

    1993-08-01

    To evaluate the effectiveness of Section XI, Division 1, open-quotes Rules for Inservice Inspection of Nuclear Power Plant Components,close quotes of the American Society of Mechanical Engineers Boiler and Pressure Vessel Code, searches were performed of the Licensing Event Report and Nuclear Plant Reliability Data System computerized data bases, and a review was made of inservice inspection summary reports. It was found that the Section XI examinations and tests detect flaws in welds and plant components and result in subsequent corrective action. This study also shows that the format and topics of information provided in Section XI-prescribed inservice inspection summary reports vary widely

  3. Review of Section XI inservice inspection program effectiveness

    Energy Technology Data Exchange (ETDEWEB)

    Cook, J.F. Sr.

    1993-08-01

    To evaluate the effectiveness of Section XI, Division 1, {open_quotes}Rules for Inservice Inspection of Nuclear Power Plant Components,{close_quotes} of the American Society of Mechanical Engineers Boiler and Pressure Vessel Code, searches were performed of the Licensing Event Report and Nuclear Plant Reliability Data System computerized data bases, and a review was made of inservice inspection summary reports. It was found that the Section XI examinations and tests detect flaws in welds and plant components and result in subsequent corrective action. This study also shows that the format and topics of information provided in Section XI-prescribed inservice inspection summary reports vary widely.

  4. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

    This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

  5. Results from the Nuclear Plant Aging Research Program: Their use in inspection activities

    International Nuclear Information System (INIS)

    Gunther, W.; Taylor, J.

    1990-09-01

    The US NCR's Nuclear Plant Aging Research (NPAR) Program has determined the susceptibility to aging of components and systems, and the potential for aging to impact plant safety and availability. The NPAR Program also identified methods for detecting and mitigating aging in components. This report describes the NPAR results which can enhance NRC inspection activities. Recommendations are provided for communicating pertinent information to NRC inspectors. These recommendations are based on a detailed assessment of the NRC's Inspection Program, and feedback from resident and regional inspectors as described within. Examples of NPAR report summaries and aging inspection guides for components and systems are included. 13 refs., 3 figs., 4 tabs

  6. Increase plant safety and reduce cost by implementing risk-informed In-Service Inspection programs

    International Nuclear Information System (INIS)

    Billington, A.; Monette, P.; Doumont, C.

    2000-01-01

    The idea behind the program is that it is possible to 'inspect less, but inspect better'. In other words, the risk-informed In-Service Inspection (ISI) process is used to improve the effectiveness of examination of piping components, i.e. concentrate inspection resources and enhance inspection strategies on high safety significant locations, and reduce inspection requirements on others. The Westinghouse Owners Group (WOG) risk-informed ISI process has already been applied for full scope (Millstone 3, Surry 1) and limited scope (Beznau, Ringhals 4, Asco, Turkey Point 3). By examining the high safety significant piping segments for the different fluid piping systems, the total piping core damage frequency is reduced. In addition, more than 80% of the risk associated with potential pressure boundary failures is addressed with the WOG risk-informed ISI process, while typically less than 50% of this same risk is addressed by the current inspection programs. The risk-informed ISI processes are used: to improve the effectiveness of inspecting safety-significant piping components; to reduce inspection requirements on other piping components; to evaluate improvements to plant availability and enhanced safety measures, including reduction of personnel radiation exposure; and to reduce overall Operation and Maintenance (O and M) costs while maintaining regulatory compliance. A description of the process as well as benefits of past projects is presented, since the methodology is applicable for VVER plant design. (author)

  7. Increase plant safety and reduce cost by implementing risk-informed in-service inspection programs

    International Nuclear Information System (INIS)

    Billington, A.; Monette, P.

    2001-01-01

    The idea behind the program is that it is possible to 'inspect less, but inspect better'. In other words, the risk-informed In-Service Inspection (ISI) process is used to improve the effectiveness of examination of piping components, i.e. concentrate inspection resources and enhance inspection strategies on high safety significant locations, and reduce inspection requirements on others. The Westinghouse Owners Group (WOG) risk-informed ISI process has already been applied for full scope (Millstone 3, Surry 1) and limited scope (Beznau, Ringhals 4, Asco, Turkey Point 3). By examining the high safety significant piping segments for the different fluid piping systems, the total piping core damage frequency is reduced. In addition, more than 80% of the risk associated with potential pressure boundary failures is addressed with the WOG risk-informed ISI process, while typically less that 50% of this same risk is addressed by the current inspection programs. The risk-informed ISI processes are used to improve the effectiveness of inspecting safety-significant piping components, to reduce inspection requirements on other piping components, to evaluate improvements to plant availability and enhanced safety measures, including reduction of personnel radiation exposure, and to reduce overall Operation and Maintenance (O and M) costs while maintaining regulatory compliance. A description of the process as well as benefits from past projects is presented, since the methodology is applicable for WWER plant design. (author)

  8. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

    The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.

  9. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

    There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...

  10. Adaptive Equalizer Based on Second-Order Cone Programming in Underwater Acoustic Communication

    Directory of Open Access Journals (Sweden)

    Yang CHEN

    2014-01-01

    Full Text Available An improved adaptive equalizer based on the principle of minimum mean square error (MMSE is proposed. This optimization problem which is shown to be convex, is transformed to second-order cone (SOC and solved using the interior point method instead of conventional iterative methods such as least mean squares (LMS or recursive least squares (RLS. To validate its performance a single-carrier system for underwater acoustic communication with digital phase-locked loop and the adaptive fractional spaced equalizers was designed and a lake trial was carried out. According to the results, comparing with traditional equalizers based on LMS and RLS algorithms, the equalizer proposed needs no iterative process and gets rid of the contradiction between convergent rate and precision. Therefore it overcomes the difficulty of parameters setting. Furthermore, the algorithm needs much less training codes to achieve the same equalization performance and improves the communication efficiency.

  11. Results from the Nuclear Plant Aging Research Program: Their use in inspection activities

    Energy Technology Data Exchange (ETDEWEB)

    Gunther, W.; Taylor, J. (Brookhaven National Lab., Upton, NY (USA))

    1990-09-01

    The US NCR's Nuclear Plant Aging Research (NPAR) Program has determined the susceptibility to aging of components and systems, and the potential for aging to impact plant safety and availability. The NPAR Program also identified methods for detecting and mitigating aging in components. This report describes the NPAR results which can enhance NRC inspection activities. Recommendations are provided for communicating pertinent information to NRC inspectors. These recommendations are based on a detailed assessment of the NRC's Inspection Program, and feedback from resident and regional inspectors as described within. Examples of NPAR report summaries and aging inspection guides for components and systems are included. 13 refs., 3 figs., 4 tabs.

  12. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, W.D.

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  13. World-wide developments in motor vehicle inspection/maintenance (I/M) programs

    Energy Technology Data Exchange (ETDEWEB)

    Klausmeier, R. [Consulting Inc., Austin, TX (United States); Kishan, S. [Radian Corporation, Austin, TX (United States)

    1995-12-31

    Motor vehicles contribute much to urban air pollution. As a result, most governments have enacted emission standards that significantly lower pollutant emission levels from new motor vehicles. For example, vehicles built in the United States emit 95 % fewer pollutants than uncontrolled vehicles when they are new. However, studies indicate that proper maintenance is needed to obtain the full benefit of vehicle emission controls. Furthermore, there is evidence that a significant percentage of the vehicle fleet is not properly maintained. This has led to the creation of motor vehicle Inspection/Maintenance (I/M) Programs. I/M programs inspect vehicles for indications that they are emitting excessive quantities of pollutants. Vehicles that fail the inspection must be repaired in order to comply with program requirements. The first I/M programs were implemented in the United States in the early 1970s. With substantial urging from the federal government, most of the U.S. states with severe air pollution problems have implemented I/M programs. Recently, with the passage of the U.S. Clean Air Act Amendments of 1990, many states have been required to significantly upgrade the performance and coverage of their I/M programs. I/M programs also have been implemented in Europe and recently in Asia. This presentation reviews developments in I/M programs for light-duty gasoline powered vehicles. Developments in I/M programs for diesel powered vehicles are briefly described. (author)

  14. Reactor operations, inspection and maintenance. PNGS Calibration Program

    International Nuclear Information System (INIS)

    Lopez, E.

    1997-01-01

    The PNGS Calibration Program is being implemented as a response to various concerns identified in recent PEER evaluations and AECB audits. Identified areas of concern were the approach to instrument calibration of Special Safety Systems (SSS). The implementation of a calibration program is a significant improvement in operating practices. A systematic and comprehensive approach to calibration of instrumentation will improve the quality of operation of the plant with a positive contribution to PNGS safety of operation and economic objectives. This paper describes the strategy to implement the proposed calibration program and describes its calibration data requirements. (DM)

  15. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

  16. Results of calendar year 1994 monitor well inspection and maintenance program, Y-12 Plant, Oak Ridge, Tennessee

    International Nuclear Information System (INIS)

    McMaster, B.W.; Jones, S.B.; Sitzler, J.L.

    1995-06-01

    This document is a compendium of results of the calendar year 1994 Monitor Well Inspection and Maintenance Program at the Department of Energy Y-12 Plant in Oak Ridge, Tennessee. This report documents the work relating to well inspections and maintenance requests. Inspections are implemented in order to better assess the condition and maintenance needs of wells that are actively being monitored. Currently this approach calls for inspecting all wells on a routine (annual or triennial) basis which are: (1) in an active sampling program; (2) included in a hydrologic study; or (3) not in service, but not scheduled for plugging and abandonment. Routine inspections help to ensure that representative groundwater samples and hydrologic data are being collected, and contribute to the life expectancy of each well. This report formally presents well inspection and maintenance activities that were conducted at the Y-12 Plant during 1994. All inspections were conducted between April and December

  17. Results of calendar year 1994 monitor well inspection and maintenance program, Y-12 Plant, Oak Ridge, Tennessee

    Energy Technology Data Exchange (ETDEWEB)

    McMaster, B.W. [Univ. of Tennessee, Knoxville, TN (United States); Jones, S.B.; Sitzler, J.L. [Oak Ridge National Lab., TN (United States)

    1995-06-01

    This document is a compendium of results of the calendar year 1994 Monitor Well Inspection and Maintenance Program at the Department of Energy Y-12 Plant in Oak Ridge, Tennessee. This report documents the work relating to well inspections and maintenance requests. Inspections are implemented in order to better assess the condition and maintenance needs of wells that are actively being monitored. Currently this approach calls for inspecting all wells on a routine (annual or triennial) basis which are: (1) in an active sampling program; (2) included in a hydrologic study; or (3) not in service, but not scheduled for plugging and abandonment. Routine inspections help to ensure that representative groundwater samples and hydrologic data are being collected, and contribute to the life expectancy of each well. This report formally presents well inspection and maintenance activities that were conducted at the Y-12 Plant during 1994. All inspections were conducted between April and December.

  18. National Inspection Program of Conventional Industries: implement, results and evaluation- 1981 to 1984

    International Nuclear Information System (INIS)

    Gloria, M.B.; Silva, F.C.A. da; Leocadio, J.C.; Valenca, J.R.M.; Farias, C.

    1986-01-01

    The methodology adopted by the Instutute of Radiation Protection and Dosimetry to implement the National Inspection Program of Conventional Industries is present. This methodology is being efficient because of many technical and administrative problems about radiation protection could be identified, analysed and solved gradually. Many workplaces of gammagraphy are analysed in relation to radiation safety, geographyc localization and social-economics aspects. (Author) [pt

  19. 76 FR 81360 - Cooperative Inspection Programs: Interstate Shipment of Meat and Poultry Products; Correction

    Science.gov (United States)

    2011-12-28

    .... FSIS-2008-0039] RIN 0583-AD37 Cooperative Inspection Programs: Interstate Shipment of Meat and Poultry... to ship meat and poultry products in interstate commerce. The final rule was published in the Federal... and Poultry Products'' (76 FR 24714). The final rule amended the Federal meat and poultry products...

  20. An engineered inspection program to meet 1990 and beyond

    International Nuclear Information System (INIS)

    Shuster, G.D.

    1990-01-01

    The roots of ASME Section XI testing of components lie in the very first year of the commercial nuclear industry in the United States. With few exceptions, the content and overall goals of the testing program have not materially changed over the ensuing years. While the testing of equipment considered important to safety has been performed at plants consistent with the requirements of ASME Section XI, there are other methods not yet described in Section XI (or in the recently approved O ampersand M standards) that can provide more effective measures of equipment reliability. The paper defines an argument for the use of advanced techniques of testing applied in an integrated Reliability Centered Maintenance framework in lieu of simply testing safety-related components via ASME Section XI. The paper presents the basis for an integrated testing program that would utilize industry failure data, tempered with plant-specific information, to develop a program of testing specific pumps and valves that would provide a maximum of component data with a minimum of component degradation and at a minimum expenditure in equipment, time, and manpower. The outline of the testing program is provided, along with a sample of the methodology used to develop the scope and content of testing

  1. State registration and inspection programs for particle accelerators

    International Nuclear Information System (INIS)

    Bailey, E.D.

    1976-01-01

    The Suggested State Regulations for Control of Radiation(SSRCR) are recommended by the Council of State Governments and the National Conference of Radiation Control Program Directors as the model regulations which states should adopt in order to have adequate regulation and uniformity from state to state. These regulations are used as a basis for reviewing the current status of accelerator regulation in each state. The SSRCR does contain a separate part for registration (Part B--Registration of Radiation Machine Facilities and Services) and a separate part (Part I--Radiation Safety Requirements for Particle Accelerators) with specific requirements for the possession and use of accelerators. In addition, medical accelerators have additional requirements in Part F--X-Rays in The Heating Acts. These regulations specify requirements related to limitations of use, shielding and safety design requirements, control and interlock systems, warning devices, operating procedures, radiation monitoring, and calibration of medical accelerators

  2. NDE Technology Development Program for Non-Visual Volumetric Inspection Technology; Sensor Effectiveness Testing Report

    Energy Technology Data Exchange (ETDEWEB)

    Moran, Traci L. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Larche, Michael R. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Denslow, Kayte M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Glass, Samuel W. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2017-08-31

    The Pacific Northwest National Laboratory (PNNL) located in Richland, Washington, hosted and administered Sensor Effectiveness Testing that allowed four different participants to demonstrate the NDE volumetric inspection technologies that were previously demonstrated during the Technology Screening session. This document provides a Sensor Effectiveness Testing report for the final part of Phase I of a three-phase NDE Technology Development Program designed to identify and mature a system or set of non-visual volumetric NDE technologies for Hanford DST primary liner bottom inspection. Phase I of the program will baseline the performance of current or emerging non-visual volumetric NDE technologies for their ability to detect and characterize primary liner bottom flaws, and identify candidate technologies for adaptation and maturation for Phase II of the program.

  3. International cooperation program on non-destructive inspection. Overview of PINC and PARENT

    International Nuclear Information System (INIS)

    Komura, Ichiro

    2016-01-01

    PINC (The Program for the Inspection of Nickel Alloy Components) and its successor program PARENT (The Program to Assess the Reliability of Emerging Nondestructive Techniques) are the programs on the verification of nondestructive inspection technology for detecting / dimension-evaluating the stress corrosion cracking (SCC) generated in the weld zone of nickel-based alloy. The US Nuclear Regulatory Commission plays a leading role, and the institutions of the United States, Japan, Korea, Sweden, Finland, and Switzerland participate in them. PINC was run from 2003 to 2009, and PARENT is currently underway with a schedule from 2010 to July 2017, including the extension period after July 2015. This paper outlined the implementation items and test results / achievements of PINC and PARENT programs. The target parts of PINC were a safe-end reducer and a reactor bottom instrument tube rest, and the flaw detection test and its analytical evaluation were carried out with a focus on the detectability and the sizing accuracy of defects. As a feature of the verification test of the non-destructive inspection technology in PARENT, two kinds of flaw detection tests, namely blind test and open test, are distinctively carried out. (A.O.)

  4. Qualifying program on Non-Destructive Testing, Visual Inspection of the welding (level 2)

    International Nuclear Information System (INIS)

    Shafee, M. A.

    2011-01-01

    Nondestructive testing is a wide group of analysis technique used in science and industry to evaluate the properties of a material, component or system without causing damage. Common Non-Destructive Testing methods include ultrasonic, magnetic-particle, liquid penetrate, radiographic, visual inspection and eddy-current testing. AAEA put the new book of the Non-Destructive Testing publication series that focused on Q ualifying program on Non-Destructive Testing, visual inspection of welding-level 2 . This book was done in accordance with the Arab standard certification of Non-Destructive Testing (ARAB-NDT-CERT-002) which is agreeing with the ISO-9712 (2005) and IAEA- TEC-DOC-487. It includes twenty one chapters dealing with engineering materials used in industry, the mechanical behavior of metals, metal forming equipments, welding, metallurgy, testing of welds, introduction to Non-Destructive Testing, defects in metals, welding defects and discontinuities, introduction to visual inspection theory, properties and tools of visual testing, visual testing, quality control regulations, standards, codes and specifications, procedures of welding inspections, responsibility of welding test inspector, qualification of Non-Destructive Testing inspector and health safety during working.

  5. Y-12 Groundwater Protection Program CY 2009 Triennial Report Of The Monitoring Well Inspection And Maintenance Program, Y-12 National Security Complex, Oak Ridge, Tennessee

    Energy Technology Data Exchange (ETDEWEB)

    None

    2013-06-01

    This document is the triennial report for the Well Inspection and Maintenance Program of the Y- 12 Groundwater Protection Program (GWPP), at the U.S. Department of Energy (DOE) Y-12 National Security Complex (Y-12). This report formally documents well inspection events conducted on active and inactive wells at Y-12 during calendar years (CY) 2007 through 2009; it documents well maintenance and plugging and abandonment activities completed since the last triennial inspection event (CY 2006); and provides summary tables of well inspection events, well maintenance events, and well plugging and abandonment events during the reference time period.

  6. National Program for Inspection of Non-Federal Dams. Ellis Dam (CT 00478), Thames River Basin, Stafford, Connecticut. Phase I Inspection Report.

    Science.gov (United States)

    1980-12-01

    program is: Natilonal Program for Inspection of Non-Federal Dams; use cover date for date of report. I9. i(EY wORDS (Continue an’ reverse oido of noeoeery...00 UL 0S ww (no) oddJ cr1 wS z *+ PLT - IOF SEEPAGE DRAIN 2 ~ GPERFORATED PIPE I GO NON -PERFORATED PIPE EL ŗ ZINVERT ELBA 675.0 zme * 4#0" 21 SMALL

  7. Underwater television camera for monitoring inner side of pressure vessel

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

    An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

  8. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  9. Underwater manipulator

    International Nuclear Information System (INIS)

    Schrum, P.B.; Cohen, G.H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion

  10. A development methodology for a remote inspection system with JAVA and socket

    International Nuclear Information System (INIS)

    Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

    2004-01-01

    We have developed RISYS (Reactor Inspection System) which inspects reactor vessel welds by an underwater mobile robot. The system consists of a main control computer and an inspection robot which is controlled by the main control computer. Since the environments of the inspection tasks in a nuclear plant, like in other industrial fields, is very poor, serious accidents often happen. Therefore the necessity for remote inspection and control system has increased more and more. We have carried out the research for a remote inspection model for RISYS, and have adopted the world wide web, java, and socket technologies for it. Client interface to access the main control computer that controls the inspection equipment is essential for the development of a remote inspection system. It has been developed with a traditional programming language, for example, Visual C++, Visual Basic and X-Window. However, it is too expensive to vend and maintain the version of a interface program because of the different computer O/S. Nevertheless web and java technologies come to the fore to solve the problems but the java interpreting typed language could incur a performance problem in operating the remote inspection system. We suggest a methodology for developing a remote inspection system with java, a traditional programming language, and a socket programming that solves the java performance problem in this paper

  11. Y-12 Groundwater Protection Program CY2012 Triennial Report Of The Monitoring Well Inspection And Maintenance Program Y-12 National Security Complex, Oak Ridge, Tennessee

    Energy Technology Data Exchange (ETDEWEB)

    None

    2013-09-01

    This document is the triennial report for the Well Inspection and Maintenance Program of the Y- 12 Groundwater Protection Program (GWPP), at the U.S. Department of Energy (DOE) Y-12 National Security Complex (Y-12). This report formally documents well inspections completed by the GWPP on active and inactive wells at Y-12 during calendar years (CY) 2010 through 2012. In addition, this report also documents well inspections performed under the Y-12 Water Resources Restoration Program, which is administered by URS|CH2M Oak Ridge (UCOR). This report documents well maintenance activities completed since the last triennial inspection event (CY 2009); and provides summary tables of well inspections and well maintenance activities during the reference time period.

  12. Cervical Cancer Screening Program by Visual Inspection: Acceptability and Feasibility in Health Insurance Companies

    Science.gov (United States)

    Horo, Apollinaire G.; Didi-Kouko Coulibaly, Judith; Koffi, Abdoul; Tchounga, Boris; Seni, Konan; Aka, Kacou Edèle; Kone, Mamourou

    2015-01-01

    Objective. To assess willingness to participate and diagnostic accuracy of visual inspection for early detection of cervical neoplasia among women in a health insurance company. Patients and Method. Cervical cancer screening was systematically proposed to 800 women after consecutive information and awareness sessions. The screening method was visual inspection with acetic acid (VIA) or Lugol's iodine (VILI). Results. Among the 800 identified women, 640 (82%) have accepted the screening, their mean age was 39 years, and 12.0% of them were involved in a polygamist couple. 28.2% of women had prior cervical screening. VIA has been detected positive in 5.9% of women versus 8.6% for VILI. The sensitivity was 72.9% and specificity was 95.2% for VIA versus 71.2% and 97.3% for VILI respectively. The histological examination highlighted a nonspecific chronic cervicitis in 4.6%, CIN1 lesions in 5.91%, and CIN2/3 in 1.2% of the cases. Conclusion. Cervical cancer screening by visual inspection showed appropriate diagnostic accuracy when used to detect early cervical lesions. It is a simple and easy to perform method that could be introduced progressively in the health insurance policy while waiting for a national screening program. PMID:26167178

  13. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  14. Study of program defects of 22nm nanoimprint template with an advanced e-beam inspection system

    Science.gov (United States)

    Hiraka, Takaaki; Mizuochi, Jun; Nakanishi, Yuko; Yusa, Satoshi; Sasaki, Shiho; Kurihara, Masaaki; Toyama, Nobuhito; Morikawa, Yasutaka; Mohri, Hiroshi; Hayashi, Naoya; Xiao, Hong; Kuan, Chiyan; Wang, Fei; Ma, Long; Zhao, Yan; Jau, Jack

    2009-10-01

    Nanoimprint lithography (NIL) is a candidate of alternative, low cost of ownership lithography solution for deep nano-meter device manufacturing12. For the NIL template pattern making, we have been developing the processes with 100keV SB EB writer and 50keV VSB EB writer to achieve the fine resolution of near 20nm1-7. However, inspection of nanoimprint template posed a big challenge to inspection system due to the small geometry, 1x comparing to 4x of Optical mask and EUV mask. Previous studies of nanoimprint template inspection were performed indirectly on a stamped wafer and/or on a round quartz wafer13. Electron beam inspection (EBI) systems have been widely used in semiconductor fabs in nanometer technology nodes. Most commonly EBI applications are electrical defects, or voltage contrast (VC) defects detection and monitoring8-11. In this study, we used a mask EBI system developed by Hermes Microvision, Inc. (HMI) to directly inspect a NIL template with line/space and hole patterns half pitched from 22nm to 90nm and with program defects sized from 4nm to 92nm. Capability of inspection with 10nm pixel size has been demonstrated and capability of capturing program defects sized 12nm and smaller has been shown. This study proved the feasibility of EBI as inspection solution of nanoimprint template for 22nmHP and beyond.

  15. Underwater Sound Reference Division

    Data.gov (United States)

    Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...

  16. Development of hole inspection program using touch trigger probe on CNC machine tools

    International Nuclear Information System (INIS)

    Lee, Chan Ho; Lee, Eung Suk

    2012-01-01

    According to many customers' requests, optical measurement module (OMM) applications using automatic measuring devices to measure the machined part rapidly on a machine tool have increased steeply. Touch trigger probes are being used for job setup and feature inspection as automatic measuring devices, and this makes quality checking and machining compensation possible. Therefore, in this study, the use of touch trigger probes for accurate measurement of the machined part has been studied and a macro program for a hole measuring cycle has been developed. This hole is the most common feature to be measured, but conventional methods are still not free from measuring error. In addition, the eccentricity change of the least square circle was simulated according to the roundness error in a hole measurement. To evaluate the reliability of this study, the developed hole measuring program was executed to measure the hole plate on the machine and verify the roundness error in the eccentricity simulation result

  17. Evaluation of Nondestructive Underwater Timber Inspection Techniques

    Science.gov (United States)

    1984-08-01

    possible to codice their presnce. Figure 1. Characteristics of marine borers. 3 Table 1. Accuracy Requirements for Timber Piles [Nomenclature at end of...Athens GA NAVSEASYSCOM Code OOC-D. Washington. DC: Codk PMS 395 A 3. Washington. DC; Code PMS 395 A2. Wasi~ington. DC; Codic PMS 396.3311 (Rekas), Wash

  18. Decentralized real time control system of inspection robot programmed in APL

    International Nuclear Information System (INIS)

    Dupeyrat, Benoit; Liabot, M.J.; Vertut, Jean

    1979-01-01

    The running of the SUPER PHENIX vessel inspection robot meets with special practical necessities: the distance between the robot and the computer responsible for its management is important since the piloting station is outside the safety enclosure. For this reason the control and alarm functions have been separated from those of strategy and readjustment. The system described here is thus made up of: a mini-computer to manage the piloting station and a microprocessor as close as possible to the machine for control and safety duties. This arrangement has the advantage of limiting the input/output volume of the mini-computer which can thus be programmed in APL, a language particularly efficient and well suited to the problem [fr

  19. ANI [American Nuclear Insurers] support and research facility nuclear liability insurance inspection program

    International Nuclear Information System (INIS)

    Ernst, B.

    1988-01-01

    American Nuclear Insurers (ANI), a voluntary association of insurance companies, provides property and nuclear liability insurance protection to the nuclear industry. It generally offers insurance coverage to nuclear facilities, suppliers, and transporters for the following: (1) their liability for damages because of bodily injury and/or property damage caused by the nuclear energy hazard, and (2) all-risk damage to nuclear facilities. Among the range of facilities and suppliers insured by ANI are (a) operators of nuclear power plants that supply electricity for the general public, (b) operators of nuclear testing and research reactors, (c) fuel fabricators that manufacture fuel for use in reactors, (d) operators of facilities that dispose of nuclear waste that cannot be salvaged, (e) facilities that maintain and repair equipment used at nuclear facilities, (f) nuclear laundries, and (g) low-level-waste processors. The fundamental goal of the ANI nuclear engineering inspection program is to provide protection to pool members' assets by reducing insurance risk

  20. Industry assessment of human factors in aviation maintenance and inspection research program : an assessment of industry awareness and use of the Federal Aviation Administration Office of Aviation Medicine Human Factors in Aviation Maintenance and Inspect

    Science.gov (United States)

    1998-03-01

    Ten years ago the Federal Aviation Administration (FAA) Office of Aviation Medicine embarked on a research and development program dedicated to human factors in aviation maintenance and inspection. Since 1989 FAA has invested over $12M in maintenance...

  1. National Dam Safety Program. Raintree Lake Dam (MO 20388), Missouri - Kansas City Basin, Cass County, Missouri. Phase I Inspection Report.

    Science.gov (United States)

    1979-05-01

    report was pepared under the National Program of Inspection of Non-Federal Dams. This report assesses the general condition of the dam withprespect...raise any serious questions relating to the safety of the dam or iden- tify any serious dangers that would require a Phase II investigation. e. Seismic

  2. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

    This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...

  3. 8 x 8 fuel surveillance program at Monticello site - end of Cycle 6: fourth post-irradiation inspection, October 1978

    International Nuclear Information System (INIS)

    Skarshaug, N.H.

    1980-09-01

    A fuel surveillance program for a lead 8 x 8 reload fuel assembly was implemented at the Monticello Nuclear Power Station in May 1974 prior to Reactor Cycle 3. Inspection results of the fourth post-irradiation inspection performed on this surveillance fuel assembly in October 1978 at EOC 6, after a bundle average exposure of 25,900 MWd/MT, are presented. The measurement techniques, results obtained and comparisons to previous measurements are discussed. The bundle and individual rods examined exhibited characteristics of normal operation and were approved for continued irradiation during Monticello operating Cycle 7

  4. 8 x 8 fuel surveillance program at Monticello site - end of Cycle 5: third post-irradiation inspection, September 1977

    International Nuclear Information System (INIS)

    Skarshaug, N.H.

    1980-09-01

    A fuel surveillance program for a lead 8 x 8 reload fuel assembly was implemented at the Monticello Nuclear Power Station in May 1974 prior to Reactor Cycle 3. Inspection results of the third post-irradiation inspection performed on this surveillance fuel assembly in September 1977 at EOC 5, after a bundle average exposure of 20,500 MWd/MT, are presented. The measurement techniques, results obtained and comparisons to previous measurements are discussed. The bundle and individual comparisons to previous measurements are discussed. The bundle and individual rods examined exhibited characteristics of normal operation and were approved for continued irradiation during Monticello operating Cycle 6

  5. Incore inspection device

    International Nuclear Information System (INIS)

    Ogisu, Tatsuki; Taguchi, Kosei.

    1995-01-01

    The device of the present invention can inspect surfaces of equipments in reactor water in a nuclear reactor in a state of atmospheric air. Namely, an inspection device is movable forwardly and backwardly in a water-proof vessel. An annular sucker with pleats is disposed to the outer side of a lid of the water-proof vessel. A television camera for an under water monitoring is disposed to the inner side of the lid of the water-proof vessel by way of a partitioning wall with lid. Transferring screws are disposed at the back and on the side of the water-proof vessel. In the device having such a constitution, (1) the inside of the water-proof vessel is at first made water-tight by closing the partitioning wall with lid, (2) the back and the side screws are operated by the guide of the underwater monitoring television camera, to transfer the water-proof vessel to the surface of the reactor core to be inspected, (3) the annular sucker with pleats is urged on the surface to be inspected by the back screw, to fix the water-proof vessel, (4) reactor water in a space of the annular sucker with pleats is discharged and replaced with air, and (5) the lid of the partition wall with lid is opened and the inspection device is disposed at a position of the underwater monitoring television camera, to inspect the surface to be inspected in a state of atmospheric air. (I.S.)

  6. Planning and programming of pre-operational and in-service inspections

    International Nuclear Information System (INIS)

    Udaondo, M.S.

    1984-01-01

    After a brief mention of the actual scope of in-service inspection work, conclusions are presented that relate to the preparations for inspections, making use of experience acquired since 1972 at 11 nuclear power plants in Spain which have commissioned such studies from one particular organization, and analyses are given of the advantages to be gained therefrom. Three different aspects of preparations for inspections are considered: (a) man-hour estimates and the duration of in-service inspections; (b) the sequence of action during a pre-operational inspection (assuming a typical functional organization) from definition of the codes of practice and standards applicable up to the issue of the final report and the schedule for distribution of the annual work load to be invested in a typical project, as a result of combining the two previous estimates, and (c) the documentary aspect of preparations for an inspection during a scheduled outage, as related to the various documents to be drawn up and their contents. Reference is made to the general training to be given to the staff in charge of inspection activities so as to provide them with information on, and a perspective of, the in-service inspection jobs required. (author)

  7. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  8. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

    Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi

    2017-02-01

    Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.

  9. [Evaluation on the visual inspection with Lugol's iodine in cervical cancer screening program].

    Science.gov (United States)

    Li, Ni; Ma, Cong-ping; Sun, Li-xin; Zhang, Yong-zhen; Shao, Shu-li; Xing, Ju-xia; Bao, Yan-ping; Huang, Rui-de; He, Li-ji; Qiao, You-lin

    2006-01-01

    To evaluate visual inspection with Lugol's iodine (VILI) in cervical cancer screening program and to provide evidence for designing a cervical cancer screening algorithm in high risk areas of existing low-resource settings to reduce the incidence and mortality of cervical cancer. Women in Yangcheng county, Shanxi province were screened with VILI, colposcopy, liquid-based cytology test and human papilloma virus (HPV) DNA test. The efficacy of different screening tests was compared by Youden's index based on the pathology as the gold standard. In the population being screened, the mean age was 40.80 +/- 10.75 years old. Based on pathological findings, 4.35% (32/735) of the subjects had >or= CIN (cervical intraepithelial neoplasia) II. The sensitivity and specificity for the VILI test (>or= positive) were 53.13 and 82.19, while 56.25 and 79.09 were for colposcopy (>or= low grade dysplasia) respectively. Comparing by the Youden's indexs, there was no statistically significant difference (P > 0.05) between VILI and colposcopy. However, statistical significant difference (P 0.05) found between the experienced doctors and the newly-trained doctors working in the field station. With low sensitivity when using microscope but low cost of equipments, VILI can be one of the primary screening tests in China's rural area with low-resource settings if the screening frequency is to be increased.

  10. Visual inspection. Better than your eyes

    International Nuclear Information System (INIS)

    Jakobs, N.; Baumgartl, R.

    2005-01-01

    Ongoing improvements in the development of camera technologies and manipulator techniques permit an enhanced performance of inspection tasks in nuclear services. In areas of reduced dose rate it's possible to use small size high resolution CCD cameras instead of tube cameras. Underwater inspections may be performed by submarine instead of rigid manipulator systems. This allows the enlargement of inspection areas and the performance at reduced time and personnel dose rate. (author)

  11. Ultrasonic Inspection

    Science.gov (United States)

    1976-01-01

    Automation Industries Inc. has had more than $2 million in contracts to produce innovative equipment for the Apollo program. When Marshall Space Flight Center sought a fast nondestructive way to inspect butt welds in aluminum alloys for spacecraft, the company developed a reliable ultrasonic device using multiple transducers called "delta manipulators" which detect lack of weld penetration not readily seen in radiograph automation. Industry soon adapted the ultrasonic equipment to a unique rail inspection device that saves countless man hours. Device is contained in self propelled railroad cars produced and operated by the company to check old track welds for deterioration.

  12. Spanish guideline for the definition and assessment of risk-informed inservice inspection programs for piping

    International Nuclear Information System (INIS)

    Figueras, J.M.; Olivar, F.; Mendoza, C.; Vazquez, T.; Morales, L.; Bros, J.; Mach, I.; Gutierrez, E.

    2001-01-01

    The recent emphasis on risk-informed in-service inspection has been taken on by the Spanish Utilities and the Spanish Regulatory Body in their proposal for a co-operation project for defining a Risk-Informed In-Service Inspection Guideline for Piping. This paper describes first the main features of this Spanish guideline and then the results of the pilot applications developed in order to check the consistency of the guideline. (authors)

  13. “Diving for dope” : Controlling underwater drug trafficking

    NARCIS (Netherlands)

    Eski, Y.

    2017-01-01

    This paper will offer an ethnographic account of the everyday reality of controlling illegal underwater drug trafficking in the global Port of Rotterdam (PoR). In so doing, it will explore what it means for customs diving officers to do drug inspections under challenging circumstances in order to

  14. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  15. Underwater Glider System Study

    OpenAIRE

    Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph

    2003-01-01

    The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...

  16. National Air Transportation Inspection Program, Federal Aviation Administration, March 4 - June 5, 1984.

    Science.gov (United States)

    1984-01-01

    The FAA should capitalize on ’the NATI-inspired interchange between and among its inspection personnel to update * its present regulations and guidance...Airlines ( Certificate Not 2. Executive SumA ry X a. ODR attached, Ist page x x b. ODR Supplemental Form attached, 2nd and 3rd pages . 3. Number of

  17. United States nuclear regulatory commission program for inspection of decommissioning nuclear power plants

    International Nuclear Information System (INIS)

    Harris, P.W.

    2001-01-01

    The United States Nuclear Regulatory Commission (USNRC or Commission) has been inspecting decommissioning commercial nuclear power plants in the United States (U.S.) since the first such facility permanently shutdown in September 1967. Decommissioning inspections have principally focused on the safe storage and maintenance of spent reactor fuel; occupational radiation exposure; environmental radiological releases; the dismantlement and decontamination of structures, systems, and components identified to contain or potentially contain licensed radioactive material; and the performance of final radiological survey of the site and remaining structures to support termination of the USNRC-issued operating license. Over the last 5 years, USNRC inspection effort in these areas has been assessed and found to provide reasonable confidence that decommissioning can be conducted safely and in accordance with Commission rules and regulations. Recently, the staff has achieved a better understanding of the risks associated with particular decommissioning accidents 1 and plans to apply these insights to amendments proposed to enhance decommissioning rules and regulations. The probabilities, scenarios, and conclusions resulting from this effort are being assessed as to their applicability to the inspection of decommissioning commercial power reactors. (author)

  18. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

    Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.

    2001-01-01

    As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)

  19. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

    Full Text Available We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV. To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  20. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-01-01

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

  1. Use of a remotely operated vehicle (submarine) for nuclear plant inspections

    International Nuclear Information System (INIS)

    Duink, S.S.; Adam, J.D.

    1989-01-01

    This paper describes the use of a specialized remotely operated vehicle (ROV) to perform visual underwater inspections in nuclear power plants. An underwater ROV, or minisubmarine, for visual inspections has several advantages over the more traditional camera-on-a-pole techniques and can perform some inspections easily that in the past were considered too difficult to conduct remotely. Other advantages include radiation does savings, outage critical path savings, and reduced manpower and expenses

  2. An Underwater Robot for the Maintenance of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min

    2007-01-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them

  3. An Underwater Robot for the Maintenance of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2007-07-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them.

  4. Inspection robots for nuclear industry

    International Nuclear Information System (INIS)

    Miyazawa, Tatsuo; Kimura, Motohiko; Sato, Michio

    1990-01-01

    In order to maintain the soundness in nuclear facilities including nuclear power stations, the inspection prior to operation and the inspection during operation as well as the quality control at the time of manufacture are carried out. The main methods of inspection are nondestructive inspection, and visual, ultrasonic flaw detection, eddy current flaw detection, X-ray and other inspections are carried out. In nuclear facilities, it is necessary to do inspection in the places where radiation and radioactivity exist, accordingly in view of reducing the dose in working as far as possible, remote and automatic inspection is desirable. Besides, the research and development of the upgrading of quality and the shortening of time of inspection have been done. The ultrasonic flaw detection of the nozzle parts of reactor pressure vessels, welded pipings and so on was automated, and the application of CT technology to make the three-dimensional images of piping defects has been studied. In this report, a remote, automatic ultrasonic flaw detection apparatus and an underwater visual inspection apparatus are described. The former is composed of an electromagnetic acoustic transducer and its running mechanism of trackless magnetic sticking type. The latter uses a television camera mounted on a vehicle. (K.I.)

  5. National Program for Inspection of Non-Federal Dams. Mashhpaug Pond Spillway (CT 00640), Dike (CT 01699), Dam (CT 01700), Quinebaug River Basin, Union, Connecticut. Phase I Inspection Report.

    Science.gov (United States)

    1981-03-01

    INSPECTION REPORT SECTION I - PROJECT INFORMATION 6 1.1 General: a. Authort: Public Law 92-367, August 8, 1972, authorized the Secretary of the Army...ARMY ENGINEER DIV. NEW ENGLAND MASHAPAUG POND DIKE coops OF r.� NATIONAL PROGRAM OF UNION, CONNECTICUT WALRA .ABO C~ SI TSIN SPEC TIO N O F C T

  6. Office of Inspector General report on inspection of selected issues regarding the Department of Energy accident investigation program

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-04-01

    One method used by the Department of Energy (DOE) to promote worker safety is through the Department`s accident investigation program. The objectives of the program are, among other things, to enhance safety and health of employees, to prevent the recurrence of accidents, and to reduce accident fatality rates and promote a downward trend in the number and severity of accidents. The Assistant Secretary, Office of Environment, Safety and Health (EH), through the EH Office of the Deputy Assistant Secretary for Oversight, is responsible for implementation of the Department`s accident investigation program. As part of the inspection, the authors reviewed an April 1997 EH accident investigation report regarding an accident involving a Lockheed Martin Energy Systems (LMES) welder, who suffered fatal burns when his clothing caught fire while he was using a cutting torch at the Oak Ridge K-25 Site. They also reviewed reports of other accident investigations conducted by EH and DOE field organizations. Based on the review of these reports, the authors identified issues concerning the adequacy of the examination and reporting by accident investigation boards of specific management systems and organizations as a possible accident root cause. The inspection also identified issues concerning worker safety that they determined required immediate management attention, such as whether occurrences were being reported in the appropriate management systems and whether prompt consideration was being given to implementing revisions of national standards when the revisions increased worker safety.

  7. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

    The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.

  8. Development of an automatic reactor inspection system

    International Nuclear Information System (INIS)

    Kim, Jae Hee; Eom, Heung Seop; Lee, Jae Cheol; Choi, Yoo Raek; Moon, Soon Seung

    2002-02-01

    Using recent technologies on a mobile robot computer science, we developed an automatic inspection system for weld lines of the reactor vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new automatic inspection system using a small mobile robot crawling on the vertical wall of the reactor vessel. According to our conceptual design, we developed the reactor inspection system including an underwater inspection robot, a laser position control subsystem, an ultrasonic data acquisition/analysis subsystem and a main control subsystem. We successfully carried out underwater experiments on the reactor vessel mockup, and real reactor ready for Ulchine nuclear power plant unit 6 at Dusan Heavy Industry in Korea. After this project, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 4 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants

  9. Impact of preparing for OSHA local emphasis program inspections of New York dairy farms: Case studies and financial cost analysis.

    Science.gov (United States)

    Gadomski, Anne M; Vargha, Marybeth; Tallman, Nancy; Scribani, Melissa B; Kelsey, Timothy W

    2016-03-01

    OSHA inspection of dairy farms began in July 1, 2014 in New York State. As of September 2014, a total of eight farms were randomly selected for inspection. This case study addresses how dairy farm managers prepared for these inspections, and identifies farm level costs preparing for inspection and/or being inspected. Four farms that were OSHA inspected and 12 farms that were not inspected were included in this mixed method evaluation using a multimodal (telephone, email, or mail) survey. Descriptive analysis was carried out using frequencies, proportions, means, and medians. Overall, the impact of OSHA inspections was positive, leading to improved safety management and physical changes on the farm and worker trainings, although the farmers' perspectives about OSHA inspection were mixed. The cost of compliance was low relative to estimated overall production costs. Clarifications and engineering solutions for specific dairy farm hazard exposures are needed to facilitate compliance with OSHA regulations. © 2015 Wiley Periodicals, Inc.

  10. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...... tools and robots, and recharge their batteries while underwater. These properties will provide the system, when fully developed, with unique capabilities such as ability to adapt robotic morphology and function to the current task and tolerate failures leading to long-term autonomous operations....

  11. State of the art report: Underwater examination techniques for spent nuclear fuels

    International Nuclear Information System (INIS)

    Chun, Yong Bum

    1997-06-01

    In these days, much efforts are being put to increase the final discharge burnup of PWR fuels. Therefore, the necessity of the inspection of irradiated nuclear fuels assembly during the the refueling outage is greatly increased to evaluate the safe operation and soundness of fuel assemblies in their next cycles in core, and apply the results for safe operation and effective core management. The necessity to evaluate the irradiation performance of indigenous nuclear fuels pushes the relative researchers to the development of on-site fuel inspection techniques and devices which can perform the underwater inspection and measurement of irradiated nuclear fuels during refueling outage. To ensure the technologies, the status of in situ underwater fuel inspection techniques and equipment were investigated and reviewed. Those information provides the fuel inspection capability to evaluate and certificate the performance and integrity of nuclear fuels which leads to the safe operation of NPP. (author). 49 refs., 52 figs

  12. National Program for Inspection of Non-Federal Dams. Indian Lake Dam (CT 00189), Lower Conn River Basin, Clinton, Connecticut. Phase I Inspection Report.

    Science.gov (United States)

    1981-03-01

    7. 3. Karp Acimovic, L.D.E.I. 8. 4 Gonzao Castro, G.E.I. 9. 5. 10. PROJECT FEATURE INSPECTED BY REMARKS I. 2. 3. 4. S 5. 6. 7. 8. 9. 10. S A-1... Gerald J. Vece, the Clinton Director of Civil Pre- paredness, and advised him of the dangerous situation at the dam. He told me that he had been informed

  13. National Program for Inspection of Non-Federal Dams. Georgiaville Pond Dam (RI 03108), Woonasquatucket River Basin, Smithfield, Rhode Island. Phase I Inspection Report.

    Science.gov (United States)

    1979-04-01

    in a gatehouse structure. e. Test Flood Analysis. Recommended guidelines for the Safety Inspection of Dams by the Corps of Engineers were used for...going over the spillway was flowing in virtually every direction on land below the dam on the easterly side of the river. A considerable - amount of...covered * by trees ardbrush and virtually inaccessible. The - ground is for the most part very wet, which coendition is largely due to the flow from tha

  14. Major challenges to scale up of visual inspection-based cervical cancer prevention programs: the experience of Guatemalan NGOs.

    Science.gov (United States)

    Chary, Anita Nandkumar; Rohloff, Peter J

    2014-08-01

    Like many other low- and middle-income countries, Guatemala has adopted visual inspection with acetic acid (VIA) as a low-resource alternative to the Pap smear for cervical cancer screening. Nongovernmental organizations (NGOs) introduced VIA to Guatemala in 2004, and a growing number of NGOs, working both independently and in collaboration with the Guatemalan Ministry of Health, employ VIA in cervical cancer prevention programs today. While much research describes VIA efficacy and feasibility in Latin America, little is known about NGO involvement with VIA programming or experiences with VIA outside the context of clinical trials and pilot projects in the region. To explore challenges faced by NGOs implementing VIA programs in Guatemala, we conducted semi-structured interviews with 36 NGO staff members involved with 20 VIA programs as direct service providers, program administrators, and training course instructors. Additionally, we collected data through observation at 30 NGO-sponsored cervical cancer screening campaigns, 8 cervical cancer prevention conferences, and 1 week-long NGO-sponsored VIA training course. Frequently highlighted challenges included staff turnover, concerns over training quality, a need for opportunities for continued supervision, and problems with cryotherapy referrals when immediate treatment for VIA-positive women was unavailable. Reducing staff turnover, budgeting to train replacement providers, standardizing training curricula, and offering continued supervision are key strategies to improve VIA service quality and program sustainability. Alternative training methods, such as on-the-job mentoring and course prerequisites of online learning, could help increase training time available for clinical supervision. Efforts should be made to ensure that VIA testing is coupled with immediate cryotherapy, that providers trained in VIA are also trained in cryotherapy, and that cryotherapy supplies and equipment are maintained. Where this is not

  15. Underwater laser detection system

    Science.gov (United States)

    Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.

    2015-02-01

    The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.

  16. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

    Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

  17. 33 CFR 222.6 - National Program for Inspection of Non-Federal Dams.

    Science.gov (United States)

    2010-07-01

    ... the district office. However, in cases which involve significant economic, social or political impacts..., etc., for defining a comprehensive national dam safety program. (G) Responding to Congressional, media... communications among technical disciplines, Public Affairs Office, emergency officials, training officers...

  18. Subsea Infrastructure Inspection

    DEFF Research Database (Denmark)

    Mai, Christian; Pedersen, Simon; Hansen, Leif

    2016-01-01

    Due to the increasing energy demands, the offshore energy business has boomed in recent decades. Sub-sea pipeline and power transmission cable installations are commonly applied worldwide. Any potential breakages can cause equipment damage and also damage the environment. The majority of the offs......Due to the increasing energy demands, the offshore energy business has boomed in recent decades. Sub-sea pipeline and power transmission cable installations are commonly applied worldwide. Any potential breakages can cause equipment damage and also damage the environment. The majority...... of the offshore pipeline inspections are currently committed using Towed or Remotely Operated Vehicle (ROV) systems. It is well-known that the ROVs are very time-consuming and expensive to operate, with respect to the fact that they require a relatively large support ship to accommodate the equipment as well...... as very skilled pilot and crews. The paper examines the existing challenges related to the sub-sea inspection in general, the ROVs, AUVs and semi-autonomous ROVs advantages and disadvantages in different subsea inspec-tion applications. Replacing the ROVs with Semi or fully-Autonomous Underwa-ter Vehicle...

  19. Inspection Database

    Data.gov (United States)

    U.S. Department of Health & Human Services — FDA is disclosing the final inspection classification for inspections related to currently marketed FDA-regulated products. The disclosure of this information is not...

  20. National Program for Inspection of Non-Federal Dams. Shenipsit Dam (CT 00482), Thames River Basin, Stafford, Connecticut. Phase I Inspection Report.

    Science.gov (United States)

    1980-09-01

    calculatec by the Soil Loss Formula (0.1 ton/ac/yr. y±cld). The dosianed heiGht of the structures vill provide st rage for a 50 year sediment...As shown in the above listing the design meet, the c:rr,1 ,ia established in all instances. L B-13 rage -,- n We have discussed with the S. C.S...WALTHAM,* MASS rMdlRie INSPECTION OF Stafford, CT CANIN ENGINEERS INC. WALLINGFORD, CON.NF. DAS CE# 27 785 KC EWNGINEER NO-FD AS DATE Set𔃺 PAGE C-4 S S U

  1. Motivation of parametric studies. French recommendations concerning surveillance in exploitation. Program of steam generator inspection

    International Nuclear Information System (INIS)

    Birac, C.

    1986-10-01

    The PISC/2 program deals with parametric studies; the different parameters that may have an influence on the defect detection and sizing are the following ones: effect of the defect characteristic and sitting, effect of the measuring system characteristics, and possible utilization of electro-magnetic techniques. A second part of this report concerns the French recommendations concerning surveillance while the power plant is operating. Finally the PISC 3 program is presented; it will deal with steam generator control: experimental evaluation of the performance of the tests applied to the nuclear power plant steam generator tubes [fr

  2. The Animal and Plant Health Inspection Service (APHIS) brucellosis eradication program in the United States.

    Science.gov (United States)

    Ragan, Valerie E

    2002-12-20

    Efforts to eradicate brucellosis caused by Brucella abortus in the United States began in 1934 as part of an economic recovery program to reduce the cattle population because of the Great Depression and concurrent severe drought conditions. A number of states saw this as an opportunity to reduce the level of brucellosis, which was the most significant livestock disease problem in the US at the time. In 1934 and 1935, the reactor rate in adult cattle tested was 11.5%. In 1954, the magnitude of the brucellosis problem in the United States in terms of economics to the cattle industry and human health prompted Congress to appropriate funds for a comprehensive national effort to eradicate brucellosis. The brucellosis eradication program was designed as a cooperative effort between the federal government, the states, and livestock producers. As the science and technology of brucellosis has developed over the years through research and experience, the eradication program has been modified many times. As of 31 December 2000, there were no affected cattle herds in the United States. This was the first time in the history of the brucellosis program that the United States had no known brucellosis affected herds. However, brucellosis has a variable, sometimes quite lengthy incubation period, so it is expected that additional affected herds will be disclosed. It is likely that additional affected herds will be disclosed before brucellosis is finally eradicated from cattle. Animal health officials remain prepared to aggressively pursue any newly disclosed affected herds to eliminate the disease as quickly as possible. The State-Federal Brucellosis Eradication Program has made tremendous progress since its inception. In an eradication program, it is critically important to recognize that, despite all the tools that are available to eliminate the disease, an effective surveillance system is the critical first step that must be in place in order to be successful. It is imperative

  3. Inspection robots

    International Nuclear Information System (INIS)

    Takenaka, Toshio; Oya, Tadashi

    1990-01-01

    Inspections of nuclear power plants make it possible to achieve and maintain high levels of plant reliability and availability. The Corporation is developing robots to perform inspection tasks. The benefits of robot use include maintaining higher surveillance levels, reducing occupational radiation exposure, and reduced labor costs. The article introduces two fully developed products: a remote-inspection robot for use inside nuclear reactor containment vessels, and a remote inspection and repair robot for use inside the the vacuum vessel of the JT-60 nuclear-fusion critical plasma test reactor. It also describes a prototype automatic inspection robot that detects abnormalities using video and infrared cameras and an image-processing system. (author)

  4. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

    Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST [0001] The...the Invention [0003] The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves. [0006] Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable

  5. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

    Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

  6. Inspection planning

    International Nuclear Information System (INIS)

    Korosec, D.; Levstek, M.F.

    2001-01-01

    Slovenian Nuclear Safety Administration (SNSA) division of nuclear and radiological safety inspection has developed systematic approach to their inspections. To be efficient in their efforts regarding regular and other types of inspections, in past years, the inspection plan has been developed. It is yearly based and organized on a such systematic way, that all areas of nuclear safety important activities of the licensee are covered. The inspection plan assures appropriate preparation for conducting the inspections, allows the overview of the progress regarding the areas to be covered during the year. Depending on the licensee activities and nature of facility (nuclear power plant, research reactor, radioactive waste storage, others), the plan has different levels of intensity of inspections and also their frequency. One of the basic approaches of the plan is to cover all nuclear and radiological important activities on such way, that all regulatory requests are fulfilled. In addition, the inspection plan is a good tool to improve inspection effectiveness based on previous experience and allows to have the oversight of the current status of fulfillment of planned inspections. Future improvement of the plan is necessary in the light of newest achievements on this field in the nuclear world, that means, new types of inspections are planned and will be incorporated into plan in next year.(author)

  7. Inspection quality demonstrations

    International Nuclear Information System (INIS)

    Dau, G.J.

    1985-01-01

    This paper discusses an inspection demonstration process that was initiated in late 1982 and is still functioning. In 1982, the Nine Mile Point-1 boiling water reactor completed the required inspection governed by rules established by the American Society of Mechanical Engineers Boiler and Pressure Vessel Code and the U.S. Nuclear Regulatory Commission. The inspection results indicated there were no cracks when the results were evaluated against the established criteria. Later, while performing the system hydro-test prior to returning to power, one of the joints leaked, indicating a through-wall crack. The demonstration process, including a training program recognized by the NRC, are described in the paper. The final answer on how good the demonstration and field inspection are can only be determined by comparison of the inspection results with direct observation of the flaws. This is currently in progress

  8. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

    We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.

  9. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

    Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

    2018-04-06

    Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

  10. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 7, 0.07 Conveying

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    System information is given for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; and system work breakdown structure. Deficiency standards and inspection methods are presented for elevators and special conveyors.

  11. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 2, 0.02 Substructure

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    System information is given for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. System assembly/component deficiencies and inspection methods are given for slabs-on-grade, columns, and column fireproofing.

  12. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 3, 0.03 Superstructure

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented on asset determinant factor/CAS profile codes/CAS cost process; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. Deficiency standards and inspection methods are presented for beams; pre-engineered building systems; floors; roof structure; stairs; and fireproofing.

  13. RoboMind. A platform for on-the-fly programming and inspection of behavior-based robot programs

    OpenAIRE

    Svendsen, Alexander

    2014-01-01

    Lego Mindstorms is a popular tool used by universities for educational and demonstrational purposes. Lego Mindstorms is a set of buildable and programmable robotic kits, made by Lego. It allows for a high level of participation from the audience, while being easily programmable. However, for demonstrational and recruitment purposes, it is not without shortcomings. When there is a limited time to talk to people, it is difficult to explain and change a running Lego Mindstorm program. Typically ...

  14. Research methods to develop Measures of Effectiveness of the United States Coast Guard`s Vessel Inspection and Boarding Program. Volume 2, Main report

    Energy Technology Data Exchange (ETDEWEB)

    Wheeler, T.; Cox, R. [Sandia National Labs., Albuquerque, NM (United States); Gawande, K. [New Mexico Univ., Albuquerque, NM (United States). Dept. of Economics; Stone, R.; Waisel, L.; Wallace, W.A. [Rensselaer Polytechnic Inst., Troy, New York (United States). Dept. of Decision Sciences and Engineering Systems

    1995-04-01

    The primary objective of this study is to provide Measures of Effectiveness (MOEs) of the US Coast Guard Marine Inspection and Boarding Program based on objective scientific methods. A secondary objective of the study is to provide USCG management with a methodologically and theoretically sound aid to effective policy decision-making. The MOEs constructed in this study are specific to the Marine Inspection and Boarding Program, but the methodology of the study is based on sound theoretical principles that are probably applicable to a range of USCG activities. Hence the methodology applied equally to other important USCG programs and can be similarly used to measure their effectiveness and as an aid to decision-making.

  15. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

    The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.

  16. National Program for Inspection of Non-Federal Dams. Pine Island Lake Dam and Dike - Dam (MA 00595) Dike (MA 00596) Connecticut River Basin, Westhampton, Massachusetts. Phase I Inspection Report.

    Science.gov (United States)

    1981-08-01

    should institute a program of annual tecnnical inspection. S. The Owner should develop a formal warning system for downstream areas in case of emergency ...ArEA EVLI /TEf CONDIT ION OIUTLET W4ORKS CONTROL TOWER L a. Concrete and Structural None at this project. General Condi tion Condition of Joints p Spal 1...eti:e- cc wale soJiway apnears to be the same as tinvert. of emergency sci a of in 1Sz1and Lake Damu, M7umbe r v.3.5lon opp-os ite end of Lake. -A , zq

  17. Underwater Remote Handling Equipment for Reactor Internals Maintenance

    International Nuclear Information System (INIS)

    Motohiko Kimura; Mitsuaki Shimamura; Tomoyuki Itoh; Nobuhiko Tanaka; Yasuhiro Yuguchi; Katsuhiko Naruse

    2002-01-01

    More than fifty nuclear reactors generate about thirty-five percent of electricity in Japan. The need to operate these reactors safely and in a stable manner constitutes a very important issue. On the other hand, aged reactors are increasing and they are not necessarily designed and constructed using the latest technology. Stress Corrosion Cracking (SCC) on reactor internal components has become a major concern regarding aged reactors in recent years. Usually maintenance work such as inspection, repair, and preventive maintenance for core components is done by using underwater remote handling and robotic technology. It becomes very important to develop not only new efficient technology for inspection, repair, and preventive maintenance for all suspect components and but also the associated application technology for execution in a reactor. We have been developing several kind of remote handling equipment for underwater maintenance work. This paper describes some results obtained in the area of underwater remote handling that can contribute to the progress of plant reliability. (authors)

  18. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

    A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

  19. Application of an Underwater Robot in Reactor Coolant System

    International Nuclear Information System (INIS)

    Choi, Young-Soo; Jeong, Kyung-Min; Lee, Sung-Uk; Cho, Jai-Wan

    2006-01-01

    Nuclear energy is a major source of electric energy consumed in Korea. It has the advantage of other energy sources, nuclear energy is cost effective and little pollution. But the fearfulness of an accident and/or failure has scared us the utilization of nuclear energy extensively. So, the safety and reliability of nuclear power plants become more important. Inspection and maintenance of component should be achieved continuously. The RCS(reactor coolant system) of PWR(pressurized water reactor) has a role to cool down the reactor's temperature. Cooling water is injected through the SI(safety injection) nozzle into the cold leg of the primary loop. Thermal sleeves are attached inside the cylindrical SI nozzle to reduce the thermal shock of the cooling water to the weld zone of the safety injection nozzle. The human workers are susceptible to radiation exposure and manual handling machine is hard to access because of the complexity of the path. So, we developed and applied free running, tele-operated underwater vehicle to inspect SI nozzle close to the place. Tele-operated robot is useful to inspect and maintain the component of nuclear power plants to reduce the radiation exposure of human operators and improve the reliability of the operation in nuclear power plants. Underwater robot is comprised of two parts; one is robot vehicle and the other is remote control module. Underwater robot vehicle has 4 DOF(degree of freedom) of mobility and 1 DOF of camera observation. The task to inspect the internal of RCS in nuclear power plant is achieved successfully. And the reliability for the maintenance is increased by the aid of tele-operated robot

  20. Application of an Underwater Robot in Reactor Coolant System

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Young-Soo; Jeong, Kyung-Min; Lee, Sung-Uk; Cho, Jai-Wan [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    2006-07-01

    Nuclear energy is a major source of electric energy consumed in Korea. It has the advantage of other energy sources, nuclear energy is cost effective and little pollution. But the fearfulness of an accident and/or failure has scared us the utilization of nuclear energy extensively. So, the safety and reliability of nuclear power plants become more important. Inspection and maintenance of component should be achieved continuously. The RCS(reactor coolant system) of PWR(pressurized water reactor) has a role to cool down the reactor's temperature. Cooling water is injected through the SI(safety injection) nozzle into the cold leg of the primary loop. Thermal sleeves are attached inside the cylindrical SI nozzle to reduce the thermal shock of the cooling water to the weld zone of the safety injection nozzle. The human workers are susceptible to radiation exposure and manual handling machine is hard to access because of the complexity of the path. So, we developed and applied free running, tele-operated underwater vehicle to inspect SI nozzle close to the place. Tele-operated robot is useful to inspect and maintain the component of nuclear power plants to reduce the radiation exposure of human operators and improve the reliability of the operation in nuclear power plants. Underwater robot is comprised of two parts; one is robot vehicle and the other is remote control module. Underwater robot vehicle has 4 DOF(degree of freedom) of mobility and 1 DOF of camera observation. The task to inspect the internal of RCS in nuclear power plant is achieved successfully. And the reliability for the maintenance is increased by the aid of tele-operated robot.

  1. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

    This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting

  2. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 1, 0.01 Foundations and footings

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. Deficiency standards and inspection methods are given for footings - spread/strip/grade beams; foundation walls; foundation dampproofing/waterproofing; excavation/backfill/ and piles & caissons.

  3. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 5, 0.05 Roofing

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; and system work breakdown structure. Deficiency standards and inspection methods are presented for built-up membrane; single- ply membrane; metal roofing systems; coated foam membrane; shingles; tiles; parapets; roof drainage system; roof specialties; and skylights.

  4. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 11, 0.11 Specialty systems

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. Deficiency standards and inspection methods are presented for canopies; loading dock systems; tanks; domes (bulk storage, metal framing); louvers & vents; access floors; integrated ceilings; and mezzanine structures.

  5. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 6, 0.06 Interior construction

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. Deficiency standards and inspection methods are presented for conventional and specialty partitions, toilet partitions & accessories, interior doors, paint finishes/coatings/ wall covering systems; floor finishing systems; and ceiling systems.

  6. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 12, 0.12 Sitework

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    General information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet tool & material listing; testing methods; inspection frequency; standard system design life tables; system work breakdown structure; and general system/material data. Deficiency standards and inspection methods are given for utility distribution systems, central heating, central cooling, electrical, utility support structures, paving roadways/walkways, and tunnels.

  7. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

    . This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...

  8. Section 32 Program. Streambank Erosion Control Evaluation and Demonstration. Work Unit 2. Evaluation of Existing Bank Protection. Inspection of Sites in Albuquerque District,

    Science.gov (United States)

    1977-11-01

    with the gabion installation in August 1975. On 5 September 1975 when the first course of gabions had been partially installed, high creek flows caused...a suspension of the work. These flows resulted in damage to the uncompleted gabion revetment and to the levee embankment. An additional inspection...CE, has currently proposed monitoring of four existing sites in the Section 32 Program. One 0 proposed site, the gabion protection works on Cuchillo

  9. National Dam Safety Program. Watervliet Upper Dam (Inventory Number N.Y. 1356), Lower Hudson River Basin, Albany County, New York. Phase I Inspection Report,

    Science.gov (United States)

    1981-07-29

    Program Watervliet Upper Dam Visul ispecion o"Albany County Hy.1 Visual 7 TStrcturlnii-- Lower Hudson River Basii 2O~ AN~ ~ - ~ ~ - ~ fe. 𔃼~ -- t7...1407 LOWER HUDSON RIVER BASIN TABLE OF CONTENTS PAGE NO. - ASSESSMENT - OVERVIEW PHOTOGRAPH 1 PROJECT INFORMATION 1 1.1 GENERAL 1 1.2 DESCRIPTION OF...inspection and maintenance of the dam and appurtenances. Document this information for future reference. 6. An emergency action plan must be developed. I

  10. Underwater Ship Husbandry Discharges

    Science.gov (United States)

    2011-11-01

    fittings, and corrosion control equipment. While certain hull husbandry activities such as inspection, cleaning and application of antifouling...2000 dollars) (GISP, 2008). Hull husbandry controls biofouling and microbial induced corrosion of the ships’ propulsion and seawater cooling...Control Board, Los Angeles Region. 2005. Draft Total Maximum Daily Load for Toxic Pollutants in Marina del Rey Harbor. Retrieved from: http

  11. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

    The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  12. Inspection Methods in Programming.

    Science.gov (United States)

    1981-06-01

    Abelson, Carl Hewitt and Mike Hammer, who were readers. Many friends and colleagues at the Al Lab helped me with my ideas and writing. I have benefited ...material takes place in the plan calculus, where the benefits of additivity hold. Only afterwards is code regenerated from the augmented plan. Notice...W.A. Wulf, and RL. London, "Abstraction and Verification in Alphard: Defining and Specifying Iteration ana Generators", Comm. of the ACAI , Vol 20, No

  13. Diving Deep: A Comparative Study of Educator Undergraduate and Graduate Backgrounds and Their Effect on Student Understanding of Engineering and Engineering Careers, Utilizing an Underwater Robotics Program

    Science.gov (United States)

    Scribner, J. Adam

    Numerous studies have demonstrated that educators having degrees in their subjects significantly enhances student achievement, particularly in secondary mathematics and science (Chaney, 1995; Goe, 2007; Rowan, Chiang, & Miller, 1997; Wenglinsky, 2000). Yet, science teachers in states that adopt the Next Generation Science Standards will be facilitating classroom engineering activities despite the fact that few have backgrounds in engineering. This quantitative study analyzed ex-post facto WaterBotics (an innovative underwater robotics curriculum for middle and high school students) data to determine if educators having backgrounds in engineering (i.e., undergraduate and graduate degrees in engineering) positively affected student learning on two engineering outcomes: 1) the engineering design process, and 2) understanding of careers in engineering (who engineers are and what engineers do). The results indicated that educators having backgrounds in engineering did not significantly affect student understanding of the engineering design process or careers in engineering when compared to educators having backgrounds in science, mathematics, technology education, or other disciplines. There were, however, statistically significant differences between the groups of educators. Students of educators with backgrounds in technology education had the highest mean score on assessments pertaining to the engineering design process while students of educators with disciplines outside of STEM had the highest mean scores on instruments that assess for student understanding of careers in engineering. This might be due to the fact that educators who lack degrees in engineering but who teach engineering do a better job of "sticking to the script" of engineering curricula.

  14. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

  15. Hospital Inspections

    Data.gov (United States)

    U.S. Department of Health & Human Services — Welcome to hospitalinspections.org, a website run by the Association of Health Care Journalists (AHCJ) that aims to make federal hospital inspection reports easier...

  16. Underwater Inspection of Navigation Structures with an Acoustic Camera

    Science.gov (United States)

    2013-08-01

    38  Figure 4-11. Masonry wall comparison of visible image and acoustical image, downtown landing, Mississippi River, Vicksburg...early automated mosaic software efforts. ERDC/ITL TR-13-3 39 Figure 4-11. Masonry wall comparison of visible image and acoustical image...areas not accessible by conventional side- scan or multi-beam deployments. Figure 4-19 shows a profile and surface view of various sheet pilings

  17. United States Program for Technical assistance to IAEA Standards. Concept Paper: Knowledge Acquisition, Skills training for enhanced IAEA safeguards inspections

    Energy Technology Data Exchange (ETDEWEB)

    Morris, F.A.; Toquam, J.L.

    1993-11-01

    This concept paper explores the potential contribution of ``Knowledge Acquisition Skills`` in enhancing the effectiveness of international safeguards inspections by the International Atomic energy Agency (IAEA, or Agency) and identifies types of training that could be provided to develop or improve such skills. For purposes of this concept paper, Knowledge Acquisition Skills are defined broadly to include all appropriate techniques that IAEA safeguards inspectors can use to acquire and analyze information relevant to the performance of successful safeguards inspections. These techniques include a range of cognitive, analytic, judgmental, interpersonal, and communications skills that have the potential to help IAEA safeguards inspectors function more effectively.

  18. National Dam Safety Program. Roxbury Dam (Inventory Number 788) Delaware River Basin, Delaware County, New York. Phase I Inspection Report,

    Science.gov (United States)

    1980-05-21

    num~ber) This report provides information and analys’s on the physical condition o0 4 Sthe dam as of the report date. Information and anaLysis nre...based on visuL ’ inspection of the dam by the performing organization. W Examination of available documents’ and a visual inspection of the C- C.2 dam...c ’U . ELA AR-E iV pf@8% L / ........ DELWARE COUNTY,-NEW YORK, TABLE OFCNTI’ r ".. PAGE NO. ASSESSMENT OVERVIEW PHOTOGRAPH 1 PROJECT INFORMATION 1

  19. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

    The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)

  20. Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

    DEFF Research Database (Denmark)

    Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

    2015-01-01

    This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...... for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform...

  1. Condition Assessment Survey (CAS) Program. Deficiency standards and inspections methods manual: Volume 8, 0.08 Mechanical, Book 1

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-01

    System information is presented for asset determinant factor/CAS repair codes/CAS cost factors; guide sheet too & material listing; testing methods; inspection frequency; standard system design life tables; and system work breakdown structure. Deficiency standards are given for plumbing, fire protection, heating, cooling, and special (drinking water cooling systems).

  2. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  3. RIMACS, Reactor Inspection Main Control System

    International Nuclear Information System (INIS)

    2008-01-01

    1 - Description of program or function: RIMACS prepares for automatic inspection files on each inspection item for the reactor. These automatic inspection files provide the data to move RIROB (Reactor Inspection Robot) with laser by interpreting the coordinates of LASPO (Laser Positioner) and the laser detecting device of RIROB in three dimensional space. In addition, when RIROB arrives at the inspecting location, the files provide all values of the manipulator's motions to acquire the ultrasonic data. RIMACS provides various modules in order to perform these complex functions, and the functions are programmed on graphic user interface for the convenience of the user. RIMACS provides various functions, such as insertion of reactor production data, selection of the reactor for inspection, the creation of automatic inspection file, the selection of the inspection item, inspection simulation, and automatic inspection procedures. It also provides all other functions, which are necessary for the inspection, such as operating program download and manual control of LASPO and RIROB, the inspection simulation and the inspection status display by means of the graphic screen, and SODAS (ultra-Sonic Data Acquisition System) drive verification. 2 - Methods: Moving path and operation procedures for inspection robot are generated automatically with Kinematics algorithm. 3 - Restrictions on the complexity of the problem: A graphics display with MS-Window capability is required

  4. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  5. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

    DeLong, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  6. Underwater measurements of muon intensity

    Science.gov (United States)

    Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.

    1985-01-01

    Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.

  7. Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.

    Science.gov (United States)

    Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Y; Gravdahl, Jan T

    2015-01-01

    Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined areas. This is interesting for inspection and monitoring operations, for instance within the subsea oil and gas industry and within marine archeology. In addition, underwater snake robots can provide both inspection and intervention capabilities and are thus interesting candidates for the next generation inspection and intervention AUVs. Furthermore, bioinspired locomotion through oscillatory gaits, like lateral undulation and eel-like motion, is interesting from an energy efficiency point of view. Increasing the motion efficiency in terms of the achieved forward speed by improving the method of propulsion is a key issue for underwater robots. Moreover, energy efficiency is one of the main challenges for long-term autonomy of these systems. In this study, we will consider both these two aspects of efficiency. This paper considers the energy efficiency of swimming snake robots by presenting and experimentally investigating fundamental properties of the velocity and the power consumption of an underwater snake robot for both lateral undulation and eel-like motion patterns. In particular, we investigate the relationship between the parameters of the gait patterns, the forward velocity and the energy consumption for different motion patterns. The simulation and experimental results are seen to support the theoretical findings.

  8. Operational inspections

    International Nuclear Information System (INIS)

    Bystersky, M.

    1997-01-01

    Special equipment is described, designed for inspection of reactor pressure vessels performed from the inside. Central shaft manipulator ZMM-5 is available for crack detection control using ultrasound and eddy currents, for visual check of surfaces, repair works at the reactor pressure vessel, and hardness measurements. The manipulator consists of the manipulator bridge, a cable container, shaft segments, a control mechanism and auxiliary parts. Eight inspections were performed at the Bohunice nuclear power plant and two at the Paks nuclear power plant. (M.D.)

  9. Inspection Program Development for an Aircraft Fleet and an Airline on the Basis of the Acceptance Fatigue Test Result

    Directory of Open Access Journals (Sweden)

    Paramonov Yuri

    2015-02-01

    Full Text Available An inspection interval planning is considered in order to limit the probability of any fatigue failure (FFP in a fleet of N aircraft (AC and to provide an economical effectiveness of airline (AL under the limitation of fatigue failure rate (FFR. A solution of these two problems is based on the processing of the result of acceptance fatigue test of a new type of aircraft. During this test an estimate of the parameter ϴ, of a fatigue crack growth trajectory has been obtained. If the result of this acceptance test is too bad then this new type of aircraft will not be used in service. A redesign of this project should be done. If the result the acceptance test is pretty good then the reliability of the aircraft fleet and the airline will be provided without inspections. For this strategy there is a maximum of FFP (a maximum of FFR as a function of an unknown parameter ᶿ. This maximum can be limited by the use of the offered here procedure of the choice of the inspection number. The economic effectiveness of the AL operation is considered using the theory of Markov process with rewords.

  10. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

    Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.

  11. Knowledge-Based Inspection Capabilities

    National Research Council Canada - National Science Library

    Marrano, Lance R; Grussing, Michael N

    2006-01-01

    ... does not present a compelling safety hazard. Abandoning certain inspection programs to reduce costs is not a viable alternative, however, because that could degrade real property investments, soldier quality of life, and mission-readiness...

  12. Allegheny County Commercial Vehicle Inspections

    Data.gov (United States)

    Allegheny County / City of Pittsburgh / Western PA Regional Data Center — This dataset lists the locations and results of all commercial vehicle inspections performed by the Allegheny County Police Motor Carrier Safety Assistance Program...

  13. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

    The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.

  14. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

    A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

  15. Underwater Robots Surface in Utah

    Science.gov (United States)

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  16. Probabilistic inspection strategies for minimizing service failures

    Science.gov (United States)

    Brot, Abraham

    1994-09-01

    The INSIM computer program is described which simulates the 'limited fatigue life' environment in which aircraft structures generally operate. The use of INSIM to develop inspection strategies which aim to minimize service failures is demonstrated. Damage-tolerance methodology, inspection thresholds and customized inspections are simulated using the probability of failure as the driving parameter.

  17. Savannah River Plant waste tank inspection manual

    International Nuclear Information System (INIS)

    McNatt, F.G.

    1979-01-01

    This manual is to aid in making visual and photographic inspections and steel thickness measurements of Building 241-F and -H underground waste storage tanks. It describes the inspection program, the storage tanks, the equipment and techniques used and the results of their application, and the inspection recordkeeping methods

  18. Probabilistic inspection strategies for minimizing service failures

    Science.gov (United States)

    Brot, Abraham

    1994-01-01

    The INSIM computer program is described which simulates the 'limited fatigue life' environment in which aircraft structures generally operate. The use of INSIM to develop inspection strategies which aim to minimize service failures is demonstrated. Damage-tolerance methodology, inspection thresholds and customized inspections are simulated using the probability of failure as the driving parameter.

  19. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

    In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.

  20. National Dam Safety Program. Henley Lake Dam (MO 30322), Missouri - Osage - Gasconade Basin, Cole County, Missouri. Phase I Inspection Report

    Science.gov (United States)

    1981-08-01

    durinq this inspection, and noted herein, are not considered of sionificant inmortance to warrant immediate remedial action. However, it is...0+40) SPILLWAY CROSS-SECTION STA. 0+00 SCALES: I"=5’V., I"=20’H. UPSTREAM FACE QSPWY WALL@ ’-*.STA. 0+00 WATER SURFACE EL . 630.0 24" CONC. a BLOCK...foot thick cencrate and block wall overflow section with a variable crest ele -vaticn for --hich conventioawi fona-ilas are not considered applic:-ble

  1. Proceedings of the FAA Inspection Program Area Review, Held in Ames, Iowa on April 5-7, 1994

    Science.gov (United States)

    1994-07-01

    Corrosion Inspection Technology: 13:20 Thermal Wave Imaging R. Thomas, WSU 14:05 Dual Band Infrared Imaging N. DelGrande, LLNL 14:25 Ultrasonic...Palmer, Scott Northwest Airlines (612) 452 7803 Papadakis, Emmanuel CASR Iowa State University (515) 294 9738 Patton , Thadd CASR Iowa State University...8217............... ....... I. . . .. .. . matri. loss 1 . ". ... . . . . l . .... .... . .. .. I • I • i, " ,,.~ ~~ ~~ .... .. . , - t rl ll s z 0 Woo I-l900 00 E 4w Sa) 0 222 x

  2. National Program for Inspection of Non-Federal Dams. Winsor Dam (MA 00588), Quabbin Spillway (MA 00589), Goodnough Dike (MA 00590), Connecticut River Basin, Ware, Massachusetts. Phase I Inspection Report.

    Science.gov (United States)

    1978-09-01

    prepared under the National Programa for Inspection of Non-Federal Dams. This report is .p4resented for your use and is based upon a visual, inspection, a...in the July 1935 BSCE Journal. Vol. XXI , No. 3, indicates that a runoff of 12 inches in 24 hours would result in a spillway discharge of 9, 000 cfs

  3. Fault-Tolerant Control For A Robotic Inspection System

    Science.gov (United States)

    Tso, Kam Sing

    1995-01-01

    Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

  4. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

    Ferrini, V. L.; Morton, J. J.; Wiener, C.

    2016-02-01

    Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of

  5. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

    Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944. [21] Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks

  6. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

    Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

  7. International Conference on Underwater Environment

    CERN Document Server

    Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

    2016-01-01

    This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

  8. The value of visual inspection with acetic acid and Pap smear in cervical cancer screening program in low resource settings - A population-based study.

    Science.gov (United States)

    Huy, Nguyen Vu Quoc; Tam, Le Minh; Tram, Ngo Viet Quynh; Thuan, Dang Cong; Vinh, Truong Quang; Thanh, Cao Ngoc; Chuang, Linus

    2018-05-01

    This study aims to determine the diagnostic values of visual inspection with acetic acid (VIA) and Pap smear in a cervical cancer screening program at a community level in Vietnam. A cross-sectional analysis was obtained, including 1034 women of reproductive age from Thua Thien Hue Province, Vietnam from 09/2012 to 09/2013. Samples were taken from cervixes for Pap smear testing, followed by visual inspection with acetic acid. Subjects with abnormal VIA and/or positive cytology results were invited for colposcopy and biopsy. Histologic confirmed cervical intraepithelial neoplasia (CIN2+) served as gold standards for diagnostic values analysis. Abnormal VIA results were recorded in 87 cases (7.7%). The sensitivity, specificity, accuracy, positive predictive value (PPV) and negative predictive value (NPV) of VIA for CIN2+ were 88.8%, 43.8%, 63.4%, 51.2% and 83.3%, respectively. Diagnostic values of Pap smear were 58.0%, 85.2%, 69.9%, 83.3% and 61.3% for its sensitivity, specificity, accuracy, PPV and NPV, respectively. VIA yielded high sensitivity but its accuracy is still limited in pre-cancerous lesions during cervical cancer screening. The Pap smear has acceptable sensitivity and specificity, but its false-negative rate is still high. We recommend a combination of different tests to increase the efficiency of screening in our community.

  9. National Program for Inspection of Non-Federal Dams. Upper Bemis Pond Dam (MA 00069), Lower Bemis Pond Dam (MA 00531), Connecticut River Basin, Chicopee, Massachusetts. Phase I Inspection Report.

    Science.gov (United States)

    1980-10-01

    were Ferformed or. , , Copies of the inspection checklists are inclunez n Appendix A. Previous inspections were conducted t"y t.. Iampden County Cori...and a maximum- storage cap~acity cf E’ acre-feet at-- There is r.o& low, level outlet at thsdam7 ex~e-, fc. which has solgs aha ca b s dse c 1c-.:e r

  10. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  11. 29 CFR 1960.31 - Inspections by OSHA.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 9 2010-07-01 2010-07-01 false Inspections by OSHA. 1960.31 Section 1960.31 Labor... MATTERS Inspection and Abatement § 1960.31 Inspections by OSHA. (a) The Secretary or the Secretary's... scheduled inspections as an integral part of OSHA's evaluation of an agency's safety and health program in...

  12. Motor Vehicle Repairs and Inspection Personnel--Manpower Development Program. Final Report, 1 July, 1968-31 December, 1969.

    Science.gov (United States)

    McCutcheon, R. W.; And Others

    A perennial problem facing vocational educators is the need to correlate required on-the-job skills and knowledge with the instruction in the corresponding vocational education program. Using this as an objective, data were gathered on current automotive mechanic training programs by reviewing selected government reports and related literature and…

  13. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  14. Analysing deterioration of marble stones exposed to underwater conditions

    Science.gov (United States)

    Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

    2016-04-01

    The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

  15. Visual inspection with acetic acid (via screening program: 7 years experience in early detection of cervical cancer and pre-cancers in rural South India

    Directory of Open Access Journals (Sweden)

    Usha Rani Poli

    2015-01-01

    Full Text Available Cervical cancer continues to be a major public health problem in India in the absence of wide spread organised cervical screening programs. Visual inspection of the cervix with acetic acid (VIA is an effective, inexpensive screening test that can be combined with simple treatment procedures for early cervical lesions, provided by trained health workers. We report 7 years experience in early detection of cervical cancer and pre-cancers using the VIA test in a community-based program in rural Andhra Pradesh, India where there are no existing organised cervical screening programs. Materials and Methods: Eligible women aged between 26 and 60 were opportunistically screened by trained health wor kers using the VIA test. Women who tested positive were further evaluated and those with cervical lesions were treated either by cryotherapy in the screening clinic or referred to a higher center. Results: A total of 18,869 women were screened by a single round of VIA testing with a positive rate of 10.75%. Biopsy proven high-grade squamous intraepithelials (HSILs were 90 (0.48% and low-grade squamous intraepithelials (LSILs were 43 (0.28%. The overall prevalence of cervical intraepithelial neoplasia (CIN 2+ lesion rate is 1.05%. A total of 312 (1.65% cryotherapies were done and 49 women underwent hysterectomy. Conclusions: VIA by trained female health workers is a safe, acceptable, and effective test that can save lives from cervical cancer even in remote areas with few resources. These results have important implications for efficient service delivery in cervical screening programs in low-resourced settings.

  16. National Dam Safety Program. Memphis Lake and Park Dam (MO 10217), Mississippi - SAlt - Quincy River Basin, Scotland County, Missouri. Phase I Inspection Report.

    Science.gov (United States)

    1978-12-01

    within a reasonable period of time. d. Necessity for Phase II Inspection Based on results of the Phase I inspection, a Phase II inspection is not felt...ENGINEE.IG COND TS TJLTAN-r-&TS, INC" 0 rc i a l dAca - a k- 5 dLFiLZ KE~ ~5EET N. OF~ V3 SJ013 NO, -770 itu 2i S2 b 771 SI 772 2+7 .4 -773 4+5 774

  17. National Dam Inspection Program. Star Junction Number 1 Dam (NDI Number PA-00198, PennDER Number 26-30) Ohio River Basin, Washington Run, Fayette County, Pennsylvania. Phase I Inspection Report,

    Science.gov (United States)

    1980-04-01

    end and erosion K of the training dike has occurred. g. Instrumentation : No instrumentation was observed during the inspection. h. Downstream...DATE: 19 MAR 80 RN TDZ: 10.30.40 NATIONAL PROGR FOR TEM INSPEC ION OF NON-FEERAL DM HXDROLOMC AND MRAILIC ANALISIS OF STAR JUNCTION NamR 1 DAm PROBABLE

  18. 77 FR 12843 - Fees for Sanitation Inspections of Cruise Ships

    Science.gov (United States)

    2012-03-02

    ... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... sanitation inspections. These inspections are conducted by CDC's Vessel Sanitation Program (VSP). VSP assists... comprehensive sanitation programs to minimize the risk for acute gastroenteritis. Every vessel that has a...

  19. An Autonomous Underwater Recorder Based on a Single Board Computer

    Science.gov (United States)

    Caldas-Morgan, Manuel; Alvarez-Rosario, Alexander; Rodrigues Padovese, Linilson

    2015-01-01

    As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost. PMID:26076479

  20. An Autonomous Underwater Recorder Based on a Single Board Computer.

    Science.gov (United States)

    Caldas-Morgan, Manuel; Alvarez-Rosario, Alexander; Rodrigues Padovese, Linilson

    2015-01-01

    As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost.

  1. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

    These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

  2. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16

  3. [Career planning for explanation of clinical test results and program of inspections: developing medical technologists for team medical care].

    Science.gov (United States)

    Uchida, Misuko

    2013-04-01

    Current medical care is subdivided according to medical advances, and sophistication and new techniques are necessary. In this setting, doctors and nurses have been explaining to and consulting patients about their medical examinations; however, in recent years, medical technologists have performed these duties at the start of the team's medical care. Therefore, we think it is possible for patients to receive clear and convincing explanations. Most patients cannot understand their examination data, which are written using numbers and charts, etc. Recently, the Nagano Medical Technologist Society has been developing technologists who could explain examination results to patients. This development training included hospitality and communication. The certificate of completion will be issued in March when the program starts.

  4. Assessing the co-benefits of greenhouse gas reduction: Health benefits of particulate matter related inspection and maintenance programs in Bangkok, Thailand

    International Nuclear Information System (INIS)

    Li, Ying; Crawford-Brown, Douglas J.

    2011-01-01

    the expenditures on policy implementation. - Research Highlights: → Health benefits are important co-benefits of greenhouse gas reduction. → We quantify the health benefits of inspection and maintenance programs in Bangkok. → The programs could yield substantial health benefits relative to business-as-usual. → The benefits considerably outweigh the expenditures on policy implementation.

  5. Allocation of NRC inspection effort to risk-related activities in nuclear power plants

    International Nuclear Information System (INIS)

    Lynch, G.J.; Bradley, G.H. Jr.; Brisbin, N.L.; Murphy, D.J. Jr.

    1980-04-01

    The inspection modules in the NRC inspection program for the Preoperational Test, Startup Test, and Operation phases of nuclear power plants were examined to assess whether manhours invested in each inspection were commensurate with the potential of these inspections for detecting conditions which would contribute significantly to risk. No basis was found in this assessment for fundamental changes to the inspection program. However, to improve program effectiveness, some modifications to specific parts of the program appear to be warranted

  6. National Dam Inspection Program. Laurel Run Dam. NDI ID Number PA-00380. DER ID Number 35-6, Pennsylvania Gas and Water Company. Susquehanna River Basin, Laurel Run, Lackawanna County, Pennsylvania Phase I Inspection Report,

    Science.gov (United States)

    1980-04-01

    materials used. b. Construction Considerations. The Pennsylvania Water Supply Commission Report of 1914 indicated that the dam was well -constructed. They...operation. A record of operation does exist in the form of inspection reports prepared by the Commonwealth between 1919 and 1957 as well as various...shaped downwarp that trends northeast and soutwest from Orson to Orangeville. The rim rocks are of the Pottsville and Pocono Formations; they have dips

  7. National Dam Inspection Program. Page’s Lake Dam NDI Number PA 00062 PennDER Number 58-5) Susquehanna River Basin, Salt Lick Creek, Susquehanna County, Pennsylvania. Phase I Inspection Report.

    Science.gov (United States)

    1981-02-01

    based upon available data and visual inspections. Detailed investigation, and analyses involving topographic mapping, subsurface investigations, teEting ...potential of the dam. 2) Fill the erosion gully located to the left of the spillway and reseed the area. 3) Remove the brush below the downstream face...in Appendix A. b. Dam - A small erosion gully has formed at the junction of the left spillway training wall and embankment. Brush was present

  8. National Dam Inspection Program. Shawnee Dam (NDI-ID number PA-00629), DER-ID number 45-115 Shawnee Development, nc. Delaware River Basin, Shawnee Creek, Monroe County, Pennsylvania. Phase I Inspection Report.

    Science.gov (United States)

    1980-01-01

    brush from the embankment. Upon removal of brush and trees, the embankment should be inspected for bulges, cracks, and other signs of distress. Take...apron. j. Regulating Outlets. Type. One 30-inch diameter reinforced concrete pipe. -5- - .- ka ..Sii,-i~~i j. Regulating Outlets. (Cont’d.) Length ( teet ...level is overgrown with brush and trees (Photograph C). The riprap is intact, but it does not extend to the top of the dam. The portion of the slope

  9. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

    Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank

    2009-03-01

    An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.

  10. Training mock up and training for in-service inspection of nuclear steam generator

    International Nuclear Information System (INIS)

    Ding Xunshen

    1997-01-01

    The primary side and secondary side structures of a training mock up for inservice inspection of nuclear steam generator, and various training programs that are where on performed for heat transfer tube eddy current inspection, CCTV inspection of channel head cladding, installation of radiographic source positioning tool, video inspection of secondary side cleanliness, foreign material retrieval and installation of water lancing gun are described. It has been substantiated that such training programs can play a significant role in learning in-service inspection techniques, familiarizing with operating skills and reducing inspection time period. Prior to in-service inspection, inspection personnel should take the above-mentioned training programs on the mock up

  11. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

    The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.

  12. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

    The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.

  13. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

    Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

  14. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

    Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

    2011-01-01

    This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.

  15. 7 CFR 1779.12 - Inspections.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 12 2010-01-01 2010-01-01 false Inspections. 1779.12 Section 1779.12 Agriculture Regulations of the Department of Agriculture (Continued) RURAL UTILITIES SERVICE, DEPARTMENT OF AGRICULTURE (CONTINUED) WATER AND WASTE DISPOSAL PROGRAMS GUARANTEED LOANS § 1779.12 Inspections. The lender will notify...

  16. Inspection of nuclear fuel transport in Spain

    International Nuclear Information System (INIS)

    Lobo Mendez, J.

    1977-01-01

    The experience acquired in inspecting nuclear fuel shipments carried out in Spain will serve as a basis for establishing the regulations wich must be adhered to for future transports, as the transport of nuclear fuels in Spain will increase considerably within the next years as a result of the Spanish nuclear program. The experience acquired in nuclear fuel transport inspection is described. (author) [es

  17. Additive Manufacturing Infrared Inspection

    Science.gov (United States)

    Gaddy, Darrell; Nettles, Mindy

    2015-01-01

    The Additive Manufacturing Infrared Inspection Task started the development of a real-time dimensional inspection technique and digital quality record for the additive manufacturing process using infrared camera imaging and processing techniques. This project will benefit additive manufacturing by providing real-time inspection of internal geometry that is not currently possible and reduce the time and cost of additive manufactured parts with automated real-time dimensional inspections which deletes post-production inspections.

  18. Underwater noise levels in UK waters

    OpenAIRE

    Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.

    2016-01-01

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...

  19. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

    In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication

  20. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

    The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  1. System Enhancements for Mechanical Inspection Processes

    Science.gov (United States)

    Hawkins, Myers IV

    2011-01-01

    Quality inspection of parts is a major component to any project that requires hardware implementation. Keeping track of all of the inspection jobs is essential to having a smooth running process. By using HTML, the programming language ColdFusion, and the MySQL database, I created a web-based job management system for the 170 Mechanical Inspection Group that will replace the Microsoft Access based management system. This will improve the ways inspectors and the people awaiting inspection view and keep track of hardware as it is in the inspection process. In the end, the management system should be able to insert jobs into a queue, place jobs in and out of a bonded state, pre-release bonded jobs, and close out inspection jobs.

  2. Spatiotemporal dynamics of underwater conical shock wave focusing

    Czech Academy of Sciences Publication Activity Database

    Hoffer, Petr; Lukeš, Petr; Akiyama, H.; Hosseini, H.

    2017-01-01

    Roč. 27, č. 4 (2017), s. 685-690 ISSN 0938-1287 Grant - others:Rada Programu interní podpory projektů mezinárodní spolupráce AV ČR(CZ) M100431203 Program:M Institutional support: RVO:61389021 Keywords : Underwater shock wave focusing * multichannel * electrohydraulic discharge * conical shock wave reflection * medical application Subject RIV: BI - Acoustics OBOR OECD: Applied mechanics Impact factor: 1.107, year: 2016 https://link.springer.com/article/10.1007/s00193-016-0703-7

  3. Calibration and Characterization of Autonomous Recorders Used in the Measurement of Underwater Noise.

    Science.gov (United States)

    Hayman, Gary; Robinson, Stephen; Lepper, Paul

    2016-01-01

    The use of autonomous recorders is motivated by the need to monitor underwater noise, such as in response to the requirements of the European Union Marine Strategy Framework Directive. The performance of these systems is a crucial factor governing the quality of the measured data, providing traceability for future underwater noise-monitoring programs aimed at the protection of the marine environment from anthropogenic noise. In this paper, a discussion is presented of measurement methodologies for the key acoustic performance characteristics of the recorders, including self-noise, dynamic range, and the absolute sensitivity as a function of frequency of the hydrophone and recorder system.

  4. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  5. National Dam Inspection Program. K-Section Dam (NDI ID Number PA-1045, DER ID Number 1-84), Potomac River Basin, Tributary to Toms Creek, Adams County, Pennsylvania, Carroll Valley Borough. Phase I Inspection Report

    Science.gov (United States)

    1981-08-01

    CONTEITS PAGE SECTION I -PROJECT INFORMATION S*11 General 1 1.2 Description o Project I S1.3 Pertinent Data 2 SECTION 2 - ENGINEERING DATA 5 2.1 Design...5 2.2 Construrction 5 2.3 Operation 5 2.4 Evaluation 5 SECTION 3 - VISUL INSPECTION 6 3.1 Findings 6 3.2 Evaluation 7 SECTION 4 - OPERATIONAL...dam is pres- ently used for recreation. S. Design and Construction history. Based on information con- tained in the PannDER files, it appears as

  6. Aspects of Inspection Planning

    DEFF Research Database (Denmark)

    Faber, M. H.; Sørensen, John Dalsgaard

    2000-01-01

    Inspection planning for systems is considered with special emphasis to the effect of the quality of inspections on the system reliability and the probability of repair. Inspection quality is described and discussed in terms of inspection reliability and inspection coverage where the latter is set...... in relation to the correlation between the failure modes of the considered system. The inspection planning problem is described in general terms taking basis in the Bayesian decision theory. Practical applicable approaches are derived from the more general but also more involving formulations. The theoretical...

  7. Licensee contractor and vendor inspection status report

    International Nuclear Information System (INIS)

    1990-10-01

    A fundamental premise of the Nuclear Regulatory Commission's (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The total government-industry system for the inspection of commercial nuclear facilities has been designed to provide for multiple levels of inspection and verification. Licensees, contractors, and vendors each participate in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 Code of Federal Regulations). The NRC performs an overview of the commercial nuclear industry by inspection to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of ongoing quality verification programs

  8. 78 FR 51728 - Fees for Sanitation Inspections of Cruise Ships

    Science.gov (United States)

    2013-08-21

    ... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... for vessel sanitation inspections for Fiscal Year (FY) 2014. These inspections are conducted by HHS/CDC's Vessel Sanitation Program (VSP). VSP helps the cruise line industry fulfill its responsibility...

  9. 77 FR 50511 - Fees for Sanitation Inspections of Cruise Ships

    Science.gov (United States)

    2012-08-21

    ... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department...), announces fees for vessel sanitation inspections for Fiscal Year (FY) 2013. These inspections are conducted by HHS/CDC's Vessel Sanitation Program (VSP). VSP helps the cruise line industry fulfill its...

  10. 48 CFR 570.111 - Inspection and acceptance.

    Science.gov (United States)

    2010-10-01

    ... CONTRACTING PROGRAMS ACQUIRING LEASEHOLD INTERESTS IN REAL PROPERTY General 570.111 Inspection and acceptance... requirements and specifications. Document the inspection and acceptance in the contract file. ... 48 Federal Acquisition Regulations System 4 2010-10-01 2010-10-01 false Inspection and acceptance...

  11. Underwater Noise Modeling in Lithuanian Area of the Baltic Sea

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

    Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.

  12. Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

    NARCIS (Netherlands)

    Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

    2012-01-01

    The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

  13. Risk-based methodology for USNRC inspections

    International Nuclear Information System (INIS)

    Wong, S.M.; Holahan, G.M.; Chung, J.W.; Johnson, M.R.

    1995-01-01

    This paper describes the development and trial applications of a risk-based methodology to enhance the inspection processes for US nuclear power plants. Objectives of risk-based methods to complement prescriptive engineering approaches in US Nuclear Regulatory Commission (USNRC) inspection programs are presented. Insights from time-dependent risk profiles of plant configurational from Individual Plant Evaluation (IPE) studies were integrated to develop a framework for optimizing inspection efforts in NRC regulatory initiatives. Lessons learned from NRC pilot applications of the risk-based methodology for evaluation of the effectiveness of operational risk management programs at US nuclear power plant sites are also discussed

  14. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

    Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.

    1990-01-01

    The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics

  15. Routing strategies for underwater gliders

    Science.gov (United States)

    Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.

    2009-02-01

    Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.

  16. Autonomous underwater handling system for service, measurement and cutting tasks for the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    Hahn, M.; Haferkamp, H.; Bach, W.; Rose, N.

    1992-01-01

    For about 10 years the Institute for Material Science at the Hanover University has worked on projects of underwater cutting and welding. Increasing tasks to be done in nuclear facilities led to the development of special handling systems to support and handle the cutting tools. Also sensors and computers for extensive and complex tasks were integrated. A small sized freediving handling system, equipped with 2 video cameras, ultrasonic and radiation sensors and a plasma cutting torch for inspection and decommissioning tasks in nuclear facilities is described in this paper. (Author)

  17. Technical objectives of inspection

    International Nuclear Information System (INIS)

    Sorenson, R.J.; Stewart, K.B.; Schneider, R.A.

    1976-01-01

    The various technical objectives of inspection are discussed in a very general manner. The discussion includes how the inspection function is related to the assumed threat, the various degrees of assurance and reliance on criteria, and the hierarchy of assurance which is obtained from the various types or levels of inspection

  18. Short notice inspections

    International Nuclear Information System (INIS)

    Pouchkarev, V.

    1998-01-01

    For 30 years the IAEA safeguards system have evolved and have been strengthened by the regular introduction of new methods and techniques, improving both its effectiveness and efficiency. The member States of the IAEA have indicated their willingness to accept new obligations and associated technical measure that greatly strengthen the nuclear safeguards system. One element of this is the extent to which the IAEA inspectors have physical access to relevant locations for the purpose of providing independent verification of the exclusively peaceful intent of a State nuclear program. The Protocol to Safeguards granted new legal authority with respect to information on, and short notice inspector access to, all buildings on a nuclear site and administrative agreements that improve the process of designating inspectors and IAEA access to modern means of communication. This report is a short description of unannounced or short notice inspections as measures on which the new strengthened and cost efficient system will be based

  19. Reactor vessel inspection tool availability improvement

    International Nuclear Information System (INIS)

    Stepek, J.J.

    1986-01-01

    Periodic inspection of nuclear plant components and systems is a practical necessity, as well as a mandatory requirement for the Nuclear Regulatory Commission. Accordingly, Westinghouse has established a comprehensive Nuclear Inspection Program with procedures and sophisticated state-of-the-art equipment to assist utilities in the planning, implementation, and documentation of timely, efficient, and effective inspections. Westinghouse has a broad background of inspection service experience that encompasses the full range of nondestructive examinations. These examinations are performed in accordance with the applicable edition of Section XI of the ASME Boiler and Pressure Vessel Code, the Plant Technical specifications, and other pertinent regulatory guidelines (such as NRC Reg. Guide 1.150). The overall objective of this program was to identify those elements of the R.V. ISI Program which had negative impact on performance and develop/implement an action plant to resolve those issues

  20. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  1. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-01-01

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

  2. Effectiveness of an Automatic Tracking Software in Underwater Motion Analysis

    Directory of Open Access Journals (Sweden)

    Fabrício A. Magalhaes

    2013-12-01

    Full Text Available Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP, based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers’ positions were manually tracked to determine the markers’ center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM. Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker’s coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4% than for COM (17.8%. Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis.

  3. Randomization of inspections

    International Nuclear Information System (INIS)

    Markin, J.T.

    1989-01-01

    As the numbers and complexity of nuclear facilities increase, limitations on resources for international safeguards may restrict attainment of safeguards goals. One option for improving the efficiency of limited resources is to expand the current inspection regime to include random allocation of the amount and frequency of inspection effort to material strata or to facilities. This paper identifies the changes in safeguards policy, administrative procedures, and operational procedures that would be necessary to accommodate randomized inspections and identifies those situations where randomization can improve inspection efficiency and those situations where the current nonrandom inspections should be maintained. 9 refs., 1 tab

  4. National Dam Safety Program. East Canada Lake Dam (Inventory Number NY 201), Mohawk River Basin, Herkimer and Montgomery Counties, New York. Phase I Inspection Report,

    Science.gov (United States)

    1981-09-10

    bNCTLASStFIEDI- New York, -IT 10281- 5. ~ 4 SICTO.DWGO~ 16. OISTfl;3UTIO.4 STATEMH2.4r (>J hJs Rpart Approved for public raiaasa; Distribucion unlir.,i-ed. r j1 :a...drained prior to inspection, such ac- tion, while improving the stability and safety of the dam, removes the normal load on the structure and may obscure...certain conditions which might otherwise be detectable if inspected under the normal operating en- vironment of the structure. It is important to note

  5. Advanced Approach of Reactor Pressure Vessel In-service Inspection

    International Nuclear Information System (INIS)

    Matokovic, A.; Picek, E.; Pajnic, M.

    2006-01-01

    The most important task of every utility operating a nuclear power plant is the continuously keeping of the desired safety and reliability level. This is achieved by the performance of numerous inspections of the components, equipment and system of the nuclear power plant in operation and in particular during the scheduled maintenance periods at re-fueling time. Periodic non-destructive in-service inspections provide most relevant criteria of the integrity of primary circuit pressure components. The task is to reliably detect defects and realistically size and characterize them. One of most important and the most extensive examination is a reactor pressure vessel in-service inspection. That inspection demand high standards of technology and quality and continual innovation in the field of non-destructive testing (NDT) advanced technology as well as regarding reactor pressure vessel tool and control systems. A remote underwater contact ultrasonic technique is employed for the examination of the defined sections (reactor welds), whence eddy current method is applied for clad surface examinations. Visual inspection is used for examination of the vessel inner surface. The movement of probes and data positioning are assured by using new reactor pressure vessel tool concept that is fully integrated with NDT systems. The successful performance is attributed thorough pre-outage planning, training and successful performance demonstration qualification of chosen NDT techniques on the specimens with artificial and/or real defects. Furthermore, use of advanced approach of inspection through implementation the state of the art examination equipment significantly reduced the inspection time, radiation exposure to examination personnel, shortening nuclear power plant outage and cutting the total inspection costs. The advanced approach as presented in this paper offer more flexibility of application (non-destructive tests, local grinding action as well as taking of boat samples

  6. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....

  7. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

    Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

    1993-01-01

    In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

  8. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

    Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander

    2013-06-01

    Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.

  9. Validation of Passive Sampling Devices for Monitoring of Munitions Constituents in Underwater Environments

    Science.gov (United States)

    2017-06-30

    Program (ESTCP), project #ER-201433. Leveraged funding was provided by the Navy’s Environmental Sustainability Development to Integration (NESDI...Monitoring of Munitions Constituents in Underwater Environments . Environmental Security Technology Demonstration Program Project #ER-201433. Final...reference compounds. Environ . Monit. Assess. 189:1-19. DOI 10.1007/s10661-016- 5706-4. U.S. Environmental Protection Agency (EPA), Jenkins TF, Bigl SR

  10. IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

    Energy Technology Data Exchange (ETDEWEB)

    Klingstedt, G.; Leisio, C. [ed.

    1998-07-01

    A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

  11. Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

    Science.gov (United States)

    Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

    2016-08-20

    The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

  12. Pre-service inspection performance of Chashma Nuclear Power Plant

    International Nuclear Information System (INIS)

    Li Songbai; Cheng Jianxiu

    2001-01-01

    Chashma Nuclear Power Plant of Pakistan is a turnkey project which is constructed by China National Nuclear Corporation (CNNC). The Pre-service Inspection (PSI) for the plant was performed by the Research Institute of Nuclear Power Operation (RINPO) following the requirement of ASME (section V, XI, edition 1989) codes. The pre-service inspection activities are outlined, which include establishing organization, developing advanced technologies, drawing up general Pre-service Inspection and In-service Inspection program, designing and manufacturing reference blocks (tubes), preparing examination procedures and other technical documents, scheduling pre-service inspection plans, setting-up and validating the inspection equipment, training utility NDT engineers and conducting on-site pre-service inspection and generating the inspection reports

  13. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

    sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to

  14. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  15. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

    2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16 [10] P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown

  16. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

    Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van

    2013-01-01

    In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients

  17. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

    Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly

  18. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

    A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.

  19. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

    Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula

    2016-01-01

    The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise

  20. MATLAB-based simulation of buoyancy-driven underwater glider motion

    Science.gov (United States)

    Kan, Lei; Zhang, Yuwen; Fan, Hui; Yang, Wugang; Chen, Zhikun

    2008-02-01

    The mass configuration of the buoyancy-driven underwater glider is decomposed and defined. The coupling between the glider body and its internal masses is addressed using the energy law. A glider motion model is established, and the corresponding simulation program is derived using MATLAB. The characteristics of the glider motion are explored using this program. The simulation results show that the basic characteristic of a buoyancy-driven underwater glider is the periodic alternation of downward and upward motions. The glider’s spiral motion can be applied to missions in restricted regions. The glider’s horizontal velocity, gliding depth and its motion radius in spiral motion can be changed to meet different application purposes by using different glider parameter designs. The simulation also shows that the model is appropriate and the program has strong simulation functions.

  1. NRC inspection alternatives. A study report

    International Nuclear Information System (INIS)

    Conver, S.K.; Legasey, E.E.; LeDoux, J.C.; Rehfuss, C.

    1977-04-01

    IE's efforts in pursuing various resident inspection concepts are consistent with the stated interests of the new Administration in improving federal oversight of the nuclear industry. Four alternative resident inspection concepts are described and evaluated vis-a-vis the current program. The concept of full-time onsite inspectors as a preferred alternative is discussed. The tasks necessary to implement this preferred alternative are described

  2. Optical fiber inspection system

    Science.gov (United States)

    Moore, Francis W.

    1987-01-01

    A remote optical inspection system including an inspection head. The inspection head has a passageway through which pellets or other objects are passed. A window is provided along the passageway through which light is beamed against the objects being inspected. A plurality of lens assemblies are arranged about the window so that reflected light can be gathered and transferred to a plurality of coherent optical fiber light guides. The light guides transfer the light images to a television or other image transducer which converts the optical images into a representative electronic signal. The electronic signal can then be displayed on a signal viewer such as a television monitor for inspection by a person. A staging means can be used to support the objects for viewing through the window. Routing means can be used to direct inspected objects into appropriate exit passages for accepted or rejected objects. The inspected objects are advantageously fed in a singular manner to the staging means and routing means. The inspection system is advantageously used in an enclosure when toxic or hazardous materials are being inspected.

  3. The contribution of inspection to the management of risk

    Energy Technology Data Exchange (ETDEWEB)

    Baron, J. [Folville Consulting Inc., Ontario (Canada)

    2016-01-15

    Over the recent several years, the nuclear power industry has moved to designing in-service inspection programs based on plant risk analyses. This has led to significant reduction in the amount of inspections required thereby reducing the cost of the inspection process itself but, more significantly, the cost due to plant downtime. Inspection has no impact on the consequence of failure but, rather, mitigates risk through reduction in the probability of failure. In so doing, it is important to consider the reliability of inspections, how reliability may be improved through deployment of automation but consideration must also be given to human factors with respect to achieving and reporting correct results. (author)

  4. Color image digitization and analysis for drum inspection

    International Nuclear Information System (INIS)

    Muller, R.C.; Armstrong, G.A.; Burks, B.L.; Kress, R.L.; Heckendorn, F.M.; Ward, C.R.

    1993-01-01

    A rust inspection system that uses color analysis to find rust spots on drums has been developed. The system is composed of high-resolution color video equipment that permits the inspection of rust spots on the order of 0.25 cm (0.1-in.) in diameter. Because of the modular nature of the system design, the use of open systems software (X11, etc.), the inspection system can be easily integrated into other environmental restoration and waste management programs. The inspection system represents an excellent platform for the integration of other color inspection and color image processing algorithms

  5. National Dam Safety Program. Honk Falls Dam (Inventory Number N.Y. 73), Lower Hudson River Basin, Ulster County, New York. Phase I Inspection Report,

    Science.gov (United States)

    1981-08-14

    release; Distribucion uniatea. 17. O!STR13UTION STATEMENT (01:11% abstract wnerod Ia Block 20, If different from Report) 4 IS. SUPPLEEMT ARY NOTES- is...such action, while improving the stability and safety of the dam, removes the normal load on the structure and may obscure certain conditions which...might otherwise be detectable if inspected under the normal operating environment of the structure. * It is important to note that the condition of a

  6. Steam Generator Inspection Planning Expert System

    International Nuclear Information System (INIS)

    Rzasa, P.

    1987-01-01

    Applying Artificial Intelligence technology to steam generator non-destructive examination (NDE) can help identify high risk locations in steam generators and can aid in preparing technical specification compliant eddy current test (ECT) programs. A steam Generator Inspection Planning Expert System has been developed which can assist NDE or utility personnel in planning ECT programs. This system represents and processes its information using an object oriented declarative knowledge base, heuristic rules, and symbolic information processing, three artificial intelligence based techniques incorporated in the design. The output of the system is an automated generation of ECT programs. Used in an outage inspection, this system significantly reduced planning time

  7. Risk-Informed Decisions Optimization in Inspection and Maintenance

    International Nuclear Information System (INIS)

    Robertas Alzbutas

    2002-01-01

    The Risk-Informed Approach (RIA) used to support decisions related to inspection and maintenance program is considered. The use of risk-informed methods can help focus the adequate in-service inspections and control on the more important locations of complex dynamic systems. The focus is set on the highest risk measured as conditional core damage frequency, which is produced by the frequencies of degradation and final failure at different locations combined with the conditional failure consequence probability. The probabilities of different degradation states per year and consequences are estimated quantitatively. The investigation of inspection and maintenance process is presented as the combination of deterministic and probabilistic analysis based on general risk-informed model, which includes the inspection and maintenance program features. Such RIA allows an optimization of inspection program while maintaining probabilistic and fundamental deterministic safety requirements. The failure statistics analysis is used as well as the evaluation of reliability of inspections. The assumptions regarding the effectiveness of the inspection methods are based on a classification of the accessibility of the welds during the inspection and on the different techniques used for inspection. The probability of defect detection is assumed to depend on the parameters either through logarithmic or logit transformation. As example the modeling of the pipe systems inspection process is analyzed. The means to reduce a number of inspection sites and the cumulative radiation exposure to the NPP inspection personnel with a reduction of overall risk is presented together with used and developed software. The developed software can perform and administrate all the risk evaluations and ensure the possibilities to compare different options and perform sensitivity analysis. The approaches to define an acceptable level of risk are discussed. These approaches with appropriate software in

  8. Transparencies used in describing the on-site inspection technologies

    International Nuclear Information System (INIS)

    Patel, V.

    1999-01-01

    The aim of this presentation is to describe the current status for developing the on-site inspection component of the verification regime, the current status of the the on-site operational manual, on-site inspection techniques, technologies and equipment, status of the training and exercise program and the equipment testing program

  9. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

    Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

    2017-10-01

    Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

  10. Innovative inspection system for reactor pressure vessels; Innovative Pruefsysteme fuer Reaktordruckbehaelter

    Energy Technology Data Exchange (ETDEWEB)

    Mertens, K.; Trautmann, H.

    1999-08-01

    The versatile, compact and modern underwater systems described, the DELPHIN manipulators and MIDAS submarines, are innovative systems enabling RPV inspections at considerably reduced efforts and time, thus reducing the total time required for ISI of reactors. (orig./CB) [Deutsch] Die vorgestellten kleinen, flexiblen und modernen Schwimmsysteme (DELPHIN-Manipulatoren und MIDAS-U-Boote) sind innovative Systeme fuer die Reduzierung der Aufwaende und Zeit zur Pruefung des Reaktordruckbehaelters und damit zur Reduktion der Revisionszeiten der Reaktoranlagen. (orig.)

  11. The application of the welding technique at fillet groove by the YAG-laser repair-welding robot for underwater environment

    International Nuclear Information System (INIS)

    Makihara, Y.; Miwa, Y.; Hirose, N.; Satoh, S.; Ohwaki, K.

    2004-01-01

    Generally, when we need repair welding due to the reduction of the thickness generated by corrosion in the inside of tanks, usually people enter the tank and repair after the inner liquid is drained. For radioactive waste tanks, operating in nuclear plants, we have developed an underwater welding technology by YAG laser to repair without having to drain the tank. A repair welding work involving a robot is performed in 3 steps: 1) degradation area detection; 2) crack removal and edge preparation; and 3) repair welding, and inspection. We have checked through visual inspection, liquid penetrant test, macroscopic test, tensile test and bend test, that the underwater YAG repair welding is appropriate to weld the butt joint and the fillet groove joint

  12. Focusing Automatic Code Inspections

    NARCIS (Netherlands)

    Boogerd, C.J.

    2010-01-01

    Automatic Code Inspection tools help developers in early detection of defects in software. A well-known drawback of many automatic inspection approaches is that they yield too many warnings and require a clearer focus. In this thesis, we provide such focus by proposing two methods to prioritize

  13. An Articulated Inspection Arm for fusion purposes

    Energy Technology Data Exchange (ETDEWEB)

    Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2016-11-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  14. Pressure vessel integrity and weld inspection procedure

    International Nuclear Information System (INIS)

    Solomon, K.A.; Okrent, D.; Kastenberg, W.E.

    1975-01-01

    The primary objective of this paper is to develop a simple methodology which, when coupled with existing observations on pressure vessel behavior, provides an inter-relation between pressure vessel integrity, and the parameters of the in-service inspection program, including inspection sample size, frequency and efficiency. A modified Markov process is employed and a computer code was written to obtain numerical results. The Markov process mathematically describes the following physical events. In a nuclear reactor pressure vessel weld, some defects may exist prior to the zeroth inspection (i.e., prior to vessel operation). During the zeroth inspection and repair processes, some of these defects are removed. During the first cycle of vessel operation, the existing defects may grow and some new defects may be generated. Those defects that are found at the first (and succeeding) inspection interval and warrant repair, are repaired. The above process continues through several operating cycles to the end of vessel life. During any inspection, only a portion of the welds may be inspected, and with less than perfect efficiency

  15. Health products inspection

    International Nuclear Information System (INIS)

    Stoltz, M.

    2009-01-01

    To protect public health, the Health Products Inspection is a public service mission where the application of regulations concerning activities on human health products and cosmetic products is verified. This mission permits a global approach to assess the health products risk-based benefit and, in monitoring by laboratory testing and by on site inspections, to verify their compliance with appropriate regulations. The seventy five inspectors perform about eight hundred inspections per year, in France and abroad. These inspections are related to data provided in the health products assessment and also to manufacturing and delivery practices. The French inspection body is also involved in the training of foreign inspectors and in the harmonization of national, European and international practices either for operators than for the competent authorities. (author)

  16. Remotely controlled inspection and handling systems for decommissioning tasks in nuclear facilities

    International Nuclear Information System (INIS)

    Schreck, G.; Bach, W.; Haferkamp, H.

    1993-01-01

    The Institut fur Werkstoffkunde at the University of Hanover has recently developed three remotely controlled systems for different underwater inspection and dismantling tasks. ODIN I is a tool guiding device, particularly being designed for the dismantling of the steam dryer housing of the KRB A power plant at Gundremmingen, Germany. After being approved by the licencing organization TUEV Bayern, hot operation started in November 1992. The seven axes remotely controlled handling system ZEUS, consisting of a three translatory axes guiding machine and a tool handling device with four rotatory axes, has been developed for the demonstration of underwater plasma arc cutting of spherical metallic components with great wall thicknesses. A specially designed twin sensor system and a modular torch, exchanged by means of a remote controlled tool changing device, will be used for different complex cutting tasks. FAUST, an autonomous, freediving underwater vehicle, was designed for complex inspection, maintenance and dismantling tasks. It is equipped with two video cameras, an ultrasonic and a radiologic sensor and a small plasma torch. A gripper and a subsidiary vehicle for inspection may be attached. (author)

  17. Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

    Digital Repository Service at National Institute of Oceanography (India)

    Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

  18. Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

    Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

  19. Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

    Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

  20. Development of advanced ultrasonic inspection system for nuclear power plant reactor vessels

    International Nuclear Information System (INIS)

    Sawaragi, Kazuo; Miyake, Yoshio; Nakayama, Junji; Tachibana, Kiyoshi; Oomichi, Takao; Fukagawa, Yukio; Fujiwara, Masahiro; Honmura, Shiro

    1991-01-01

    Ultrasonic inspection machine consisting of large and stiff columns and guide rails has been usually used in the pre-service inspection (PSI) and in-service inspection (ISI) of the nuclear power plant reactor vessels. However, the machine is so large-sized and heavy that maintenance and handling are degraded. To solve these problems, our robotics technology and idea obtained from experience of reactor vessel ISI have been applied to develop a new second generation machine that can dramatically reduce critical path time of reactor vessel ISI. This system is characterized by the following features. (1) It can move automatically and can set the position accurately by underwater positioning system. (2) Inspection is made by the articulated manipulator of high rigidity and high path accuracy. (3) The total weight is approx 300 kg in air (0 kg underwater). So the plant's polar crane is not required during inspection. Realization of this system, we have studied and designed all of the systems. We have also fabricated prototype machine to make the functional test using full scale mock up of reactor vessel. (author)

  1. SICOM: On-site inspection systems

    International Nuclear Information System (INIS)

    Serna, J.J.; Quecedo, M.; Fernandez, J.R.

    2002-01-01

    As the irradiation conditions become more demanding for the fuel than in the past, there is a need for surveillance programs to gather in-reactor operating experience. The data obtained in these programs can be used to assess the performance of current fuel designs and the improvements incorporated to the fuel assembly design, the performance of the advanced cladding alloys, etc. In these regards, valuable data is obtained from on-site fuel inspections. These on-site data comprise fuel assembly dimensional data such as length and distortion (tilt, twist and bow) and fuel rod data such as length and oxide thickness. These data have to be reliable and accurate to be useful thus, demanding a high precision inspection equipment. However, the inspection equipment has to be also robust and flexible enough to operate in the plant spent fuel pool and, sometimes, without interfering in the works carried out during a plant outage. To meet these requirements, during the past years ENUSA and TECNATOM have developed two on-site inspection systems. While the first system can perform most of the typical measurements in a stand-alone manner thus, without interfering with the critical path of the reload, the second one reduces the inspection time but requires using the plant capabilities. The paper describes both equipment for fuel on-site inspection, their characteristics and main features. (author)

  2. National Dam Safety Program. Clove Lake Dam (NJ 00259) Delaware River Basin, Shimers Brook, Sussex County, New Jersey. Phase I Inspection Report.

    Science.gov (United States)

    1981-08-01

    CLASSIFICATION OF TIMIS PACE (When 0010 Enterme ,•.DEPARTMENT OF THE ARMY PHILADELPHIA DISTRICT. COR’S O ENGINEE-Rs CUSTOM HOUSE -2 & CHESTNUT STREE TS...high hazard potential structure but reduced to a low hazard potent ’ al structure as a result ot this inspection, is judged to be in fair overall...cix1tilon 8 p~ way apron goare nd In good ocoditios No leakage in evidence at tiee of inspeotion 4. Omst; Works Operatonal condition of valves or gate

  3. An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

    Science.gov (United States)

    2013-02-01

    remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether

  4. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference

  5. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki

    2009-01-01

    Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)

  6. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

    Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)

    2002-09-01

    The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)

  7. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  8. Ocean Research Enabled by Underwater Gliders

    Science.gov (United States)

    Rudnick, Daniel L.

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  9. Emerging nondestructive inspection methods for aging aircraft

    Energy Technology Data Exchange (ETDEWEB)

    Beattie, A; Dahlke, L; Gieske, J [and others

    1994-01-01

    This report identifies and describes emerging nondestructive inspection (NDI) methods that can potentially be used to inspect commercial transport and commuter aircraft for structural damage. The nine categories of emerging NDI techniques are: acoustic emission, x-ray computed tomography, backscatter radiation, reverse geometry x-ray, advanced electromagnetics, including magnetooptic imaging and advanced eddy current techniques, coherent optics, advanced ultrasonics, advanced visual, and infrared thermography. The physical principles, generalized performance characteristics, and typical applications associated with each method are described. In addition, aircraft inspection applications are discussed along with the associated technical considerations. Finally, the status of each technique is presented, with a discussion on when it may be available for use in actual aircraft maintenance programs. It should be noted that this is a companion document to DOT/FAA/CT-91/5, Current Nondestructive Inspection Methods for Aging Aircraft.

  10. Underwater Nuclear Fuel Disassembly and Rod Storage Process and Equipment Description. Volume II

    International Nuclear Information System (INIS)

    Viebrock, J.M.

    1981-09-01

    The process, equipment, and the demonstration of the Underwater Nuclear Fuel Disassembly and Rod Storage System are presented. The process was shown to be a viable means of increasing spent fuel pool storage density by taking apart fuel assemblies and storing the fuel rods in a denser fashion than in the original storage racks. The assembly's nonfuel-bearing waste is compacted and containerized. The report documents design criteria and analysis, fabrication, demonstration program results, and proposed enhancements to the system

  11. A MAC protocol for underwater sensors networks

    OpenAIRE

    Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel

    2015-01-01

    “The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...

  12. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

    irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST [0001] The invention described

  13. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

    Qurnell, F.D.; Peloquin, A.V.

    1982-01-01

    An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)

  14. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

    Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was

  15. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos

  16. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

    Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.

  17. Obstacle avoidance in underwater glider path planning

    OpenAIRE

    Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor

    2012-01-01

    Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...

  18. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

    300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST [0001] The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400. [0024] The water jets 100 will increase

  19. Inspection of licensee - Maintenance programme and activities

    International Nuclear Information System (INIS)

    2013-01-01

    An effective maintenance programme is critical to sustained safe and reliable operation of nuclear power plants. The Working Group on Inspection Practices (WGIP) concluded that when a licensee has an effective maintenance programme, the overall operating safety of the plant is improved and the protection of public health and safety enhanced. All Regulatory Bodies (RB) consider maintenance to be an important area for oversight. Although a variety of inspection practices are being used; RB are actively monitoring licensee performance. Specifically the following conclusions were reached and commendable practices identified: - Maintenance oversight by regulators appears to be in a stable continuous improvement state. Most regulators are executing inspection oversight based on an existing regulatory framework. - The performance of a licensee's maintenance programme is recognized as important part of maintaining nuclear safety. The result of the maintenance program assessment is included in the overall performance assessment of a license. - Maintenance inspection activities are recognized as an important part of the regulatory oversight process. Inspection activities are based on the safety significance and nature of work being performed by the licensee. - The effectiveness of the maintenance inspection activities is recognized to rely on properly qualified inspectors; who are adequately supported by specialists. Training and qualification of inspectors should be based on how the RB reviews and inspects licensee maintenance programmes. - Reporting requirements are identified to provide information on the licensees maintenance programme, and to help guide inspection activities. - Performance Indicators are recognized as a useful tool for helping focus regulatory activities. Basic PI are identified and tracked by the RB, and use of PI by the licensee is monitored. - Inspections are designed to confirm that the licensee is planning and scheduling maintenance with due

  20. Implementation of the INSPECT software package for statistical calculation in nuclear material accountability

    International Nuclear Information System (INIS)

    Marzo, M.A.S.

    1986-01-01

    The INSPECT software package was developed in the Pacific Northwest Laboratory for statistical calculations in nuclear material accountability. The programs apply the inspection and evaluation methodology described in Part of the Safeguards Technical Manual. In this paper the implementation of INSPECT at the Safeguards Division of CNEN, and the main characteristics of INSPECT are described. The potential applications of INSPECT to the nuclear material accountability is presented. (Author) [pt

  1. FMCSA safety program effectiveness measurement : Roadside Intervention Effectiveness Model FY 2012, [analysis brief].

    Science.gov (United States)

    2016-02-01

    Roadside Inspection and Traffic Enforcement are two of : the Federal Motor Carrier Safety Administrations : (FMCSAs) key safety programs. The Roadside : Inspection Program consists of roadside inspections : performed by qualified safety inspect...

  2. Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

    DEFF Research Database (Denmark)

    Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

    2016-01-01

    The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

  3. Calibration Techniques for Accurate Measurements by Underwater Camera Systems.

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

    Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  4. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

    Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  5. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  6. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  7. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

    .... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...

  8. Underwater sound emissions and effects of the pile driving of the OWEZ windfarm facility near Egmond aan Zee (Tconstruct)

    NARCIS (Netherlands)

    Haan, de D.; Burggraaf, D.; Ybema, M.S.; Hille Ris Lambers, R.

    2007-01-01

    The aim of this part of the Monitoring and Evaluation Program NSW (MEP-NSW), i.e. “acoustic measurements”, is to measure and analyze underwater sound emissions from the construction of the OWEZ wind farm and to investigate the effects to marine animals (in particular fish, harbour porpoises and

  9. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

    Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper.

  10. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

    Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

    2017-09-01

    This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

  11. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  12. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

    Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.

  13. Runway Inspection by RPAS

    Directory of Open Access Journals (Sweden)

    Stanislav Absolon

    2015-10-01

    Full Text Available This article discusses the use of the RPAS for the inspection of the airport operating areas. The paper compares the current process of the inspection of the airport operating areas by the airport staff with the possibilities which are offered by the use of the modern technology RPAS. The following text also describes how to inspect airport operating areas by the RPAS, specific technical possibilities and the applicable technical solutions. Furthermore there are variants of piloting the RPAS, comparing usable equipment, equipment for video recording and the possibility of using thermal imaging camera in the article.

  14. Recertification analysis and inspection planning for environmental test facilities

    Science.gov (United States)

    Rebeck, K. J.; Danna, R.; Miller, G. S.; Hollingsworth, R. T.

    1984-01-01

    Program development and implementation for recertification of pressure vessels used at NASA facilities are outlined, together with inspection procedures. The recertification is carried out in three phases: analysis, inspection planning, and long term inspection plans and management. A data base was developed for each piece of equipment and the associated performance parameters. Either documentation was obtained or NDT was performed on the vessels to confirm design and Code compliance. A Failure Modes and Effects Analysis technique was used to target recurring inspection items and guidelines were drawn up for inspections of parts and systems and intervals between inspections. The steps taken in establishing the program are considered applicable in both research and industrial situations.

  15. 77 FR 15263 - Approval and Promulgation of Implementation Plans; New Jersey; Motor Vehicle Enhanced Inspection...

    Science.gov (United States)

    2012-03-15

    ..., Periodic Inspection Program for Diesel Emissions, and Self- Inspection of Certain Classes of Motor Vehicles... Promulgation of Implementation Plans; New Jersey; Motor Vehicle Enhanced Inspection and Maintenance Program... 12, 2010, to the New Jersey State Implementation Plan (SIP) pertaining to New Jersey's motor vehicle...

  16. Quality assurance inspections for shipping and storage containers

    Energy Technology Data Exchange (ETDEWEB)

    Stromberg, H.M.; Roberts, G.D.; Bryce, J.H. [Lockheed Idaho Technologies Co., Idaho Falls, ID (United States)

    1996-04-01

    This is a guide for conducting quality assurance inspections of transportation packaging and dry spent fuel storage system suppliers. (Suppliers are defined as designers, fabricators, distributors, users or owners of those packaging and storage systems.) This guide may be used during inspection to determine regulatory compliance with 10 CFR, Part 71, Subpart H; 10 CFR, Part 72, Subpart G; 10 CFR, Part 21; and supplier`s quality assurance program commitments. It was developed to provide a structured, consistent approach to inspections. The guidance therein provides a framework for evaluation of transportation packaging and dry spent fuel storage systems quality assurance programs. Inspectors are provided with the flexibility to adapt the methods and concepts to meet inspection requirements for the particular facility. The method used in the guide treats each activity at a facility as a separate performance element and combines the activities within the framework of an ``inspection tree.``The method separates each performance element into several areas for inspection and identifies guidelines, based on regulatory requirements, to qualitatively evaluate each area. This guide also serves as a field manual to facilitate quality assurance inspection activities. This guide replaces an earlier one, NUREG/CR-5717 (Packing Supplier Inspection Guide). This replacement guide enhances the inspection activities for transportation packagings and adds the dry spent fuel storage system quality assurance inspection activities.

  17. Wheel inspection system environment.

    Science.gov (United States)

    2008-11-18

    International Electronic Machines Corporation (IEM) has developed and is now marketing a state-of-the-art Wheel Inspection System Environment (WISE). WISE provides wheel profile and dimensional measurements, i.e. rim thickness, flange height, flange ...

  18. Signal Station Inspection Reports

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Handwritten reports resulting from detailed inspections of US Army Signal Service Stations, 1871-1889. Features reported included instrument exposure and condition,...

  19. Mobile Inspection Assistance

    OpenAIRE

    ECT Team, Purdue

    2007-01-01

    While advanced bridge management systems are being created, deployed and used to collect data for inventories of bridges and support the systematic identification and prioritization of needs, the bridge inspectors in the field are using paper-based to support, and record the result of their inspection process. MIA which is a wearable computer system, helps bridge inspectors collect multimedia information in the field and produce the inspection report. This system allows the inspector to fill ...

  20. Inspection at Summerhill

    OpenAIRE

    Keeble-Ramsay, Diane

    2016-01-01

    This paper considers issues surrounding the 1999 OFSTED inspection of Summerhill school (in Suffolk) which led to a Notice of Closure, and subsequent successful appeal on the grounds of inappropriate judgements made by OFSTED inspectors. It is useful to note that Summerhill School has existed in the independent sector offering ‘progressive education’ since the 1920s. However, following a 1990s inspection from OFSTED, its existence was threatened in terms of its freedom in future continuing to...

  1. National Dam Safety Program. Wiscoy Dam (Inventory Number N.Y. 461), Genesee River Basin, Allegheny County, New York. Phase I Inspection Report,

    Science.gov (United States)

    1981-08-27

    York. Piase I 13. SUPPLEM.TARY NOTE Inspection Report 19. K iY ROS (Conrthw on row... oido if noc. s r md Idnlty by bloc>. rmbe)ID =_ Safety...C3 CL &L. 0 4a4E Il 0 I% 0 E000 C4 co BtD%% E~ T - <. r-,.r.- cc )%N =00 00 C%%% 00 Ito 4, EL - II C> ɘu E v 4a 0 0N0 NI fn 0w 0 * SECTION 6...6-N wtn SjEcT 1 ~ D-1 J’ ~ DATE7~/k ERMAN, ANTHONY, ASSOCIATES 𔃿T~KD DATE " _ _ susJUcT 7/ / - 0 u- TN. Z dc47%/ 4 - I el c6). _-Ts- -1 70 60. -2

  2. 77 FR 69508 - Inservice Inspection of Prestressed Concrete Containment Structures With Grouted Tendons

    Science.gov (United States)

    2012-11-19

    ... NUCLEAR REGULATORY COMMISSION [NRC-2011-0096] Inservice Inspection of Prestressed Concrete... (RG) 1.90, ``Inservice Inspection of Prestressed Concrete Containment Structures with Grouted Tendons... appropriate surveillance program for prestressed concrete containment structures with grouted tendons...

  3. Packaging supplier inspection guide

    International Nuclear Information System (INIS)

    Stromberg, H.M.; Gregg, R.E.; Kido, C.; Boyle, C.D.

    1991-05-01

    This is document is a guide for conducting quality assurance inspections of transportations packaging suppliers, where suppliers are defined as designers, fabricators, distributors, users, or owners of transportation packaging. This document can be used during an inspection to determine regulatory compliance within the requirements of 10 Code of Federal Regulations, Part 71, Subpart H (10 CFR 71.101--71.135). The guidance described in this document provides a framework for an inspection. It provides the inspector with the flexibility to adapt the methods and concepts presented here to meet the needs of the particular facility being inspected. The guide was developed to ensure a structured and consistent approach for inspections. The method treats each activity at a supplier facility as a separate entity (or functional element), and combines the activities within the framework of an ''inspection tree.'' The method separates each functional element into several areas of performance and then identifies guidelines, based on regulatory requirements, to be used to qualitatively rate each area. This document was developed to serve as a field manual to facilitate the work of inspectors. 1 ref., 1 fig., 5 tabs

  4. Predictors of default from follow-up care in a cervical cancer screening program using direct visual inspection in south-western Nigeria.

    Science.gov (United States)

    Ezechi, Oliver Chukwujekwu; Petterson, Karen Odberg; Gbajabiamila, Titilola A; Idigbe, Ifeoma Eugenia; Kuyoro, Olutunmike; Ujah, Innocent Achaya Otobo; Ostergren, Per Olof

    2014-03-31

    Increasingly evidence is emerging from south East Asia, southern and east Africa on the burden of default to follow up care after a positive cervical cancer screening/diagnosis, which impacts negatively on cervical cancer prevention and control. Unfortunately little or no information exists on the subject in the West Africa sub region. This study was designed to determine the proportion of and predictors and reasons for default from follow up care after positive cervical cancer screen. Women who screen positive at community cervical cancer screening using direct visual inspection were followed up to determine the proportion of default and associated factors. Multivariate logistic regression was used to determine independent predictors of default. One hundred and eight (16.1%) women who screened positive to direct visual inspection out of 673 were enrolled into the study. Fifty one (47.2%) out of the 108 women that screened positive defaulted from follow-up appointment. Women who were poorly educated (OR: 3.1, CI: 2.0 - 5.2), or lived more than 10 km from the clinic (OR: 2.0, CI: 1.0 - 4.1), or never screened for cervical cancer before (OR: 3.5, CI:3:1-8.4) were more likely to default from follow-up after screening positive for precancerous lesion of cervix . The main reasons for default were cost of transportation (48.6%) and time constraints (25.7%). The rate of default was high (47.2%) as a result of unaffordable transportation cost and limited time to keep the scheduled appointment. A change from the present strategy that involves multiple visits to a "see and treat" strategy in which both testing and treatment are performed at a single visit is recommended.

  5. Gravity Probe B Inspection

    Science.gov (United States)

    2000-01-01

    The space vehicle Gravity Probe B (GP-B) is the relativity experiment developed at Stanford University to test two extraordinary predictions of Albert Einstein's general theory of relativity. The experiment will measure, very precisely, the expected tiny changes in the direction of the spin axes of four gyroscopes contained in an Earth-orbiting satellite at a 400-mile altitude. So free are the gyroscopes from disturbance that they will provide an almost perfect space-time reference system. They will measure how space and time are very slightly warped by the presence of the Earth, and, more profoundly, how the Earth's rotation very slightly drags space-time around with it. These effects, though small for the Earth, have far-reaching implications for the nature of matter and the structure of the Universe. GP-B is among the most thoroughly researched programs ever undertaken by NASA. This is the story of a scientific quest in which physicists and engineers have collaborated closely over many years. Inspired by their quest, they have invented a whole range of technologies that are already enlivening other branches of science and engineering. In this photograph, engineer Gary Reynolds is inspecting the inside of the probe neck during probe thermal repairs. GP-B is scheduled for launch in April 2004 and managed for NASA by the Marshall Space Flight Center. Development of the GP-B is the responsibility of Stanford University along with major subcontractor Lockheed Martin Corporation. (Image credit to Russ Leese, Gravity Probe B, Stanford University)

  6. Codified Risk Based Inspection Planning

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Faber, Michael Havbro

    2002-01-01

    and inspection/repair techniques. Generic inspection plans can be used for design of new structures as well as for requalification of existing structures. In this paper it is described how generic inspection plans can be used for codification purposes in connection with inspection planning of steel structures....

  7. A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics

    Science.gov (United States)

    Jaffe, Jules S.; Franks, Peter J. S.; Roberts, Paul L. D.; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

    2017-01-01

    Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

  8. A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics.

    Science.gov (United States)

    Jaffe, Jules S; Franks, Peter J S; Roberts, Paul L D; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

    2017-01-24

    Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

  9. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...

  10. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

    Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie

    2014-03-01

    Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.

  11. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

  12. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest

  13. The WODA guidance paper on underwater sound from dredging (abstract)

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

    2013-01-01

    The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

  14. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...

  15. Capacitive Micromachined Ultrasonic Transducers (CMUTs for Underwater Imaging Applications

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

    Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20  excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.

  16. Underwater Sensor Network Redeployment Algorithm Based on Wolf Search.

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

    This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.

  17. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.

    2011-09-19

    The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.

  18. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

    It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

  19. 7 CFR 352.10 - Inspection; safeguards; disposal.

    Science.gov (United States)

    2010-01-01

    ....10 Agriculture Regulations of the Department of Agriculture (Continued) ANIMAL AND PLANT HEALTH INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE PLANT QUARANTINE SAFEGUARD REGULATIONS § 352.10 Inspection... inspectors. 3 The Deputy Administrator, Plant Protection and Quarantine Programs, Animal and Plant Health...

  20. Architectural: Construction, Supervision, and Inspection. Course of Study.

    Science.gov (United States)

    Robson, Frank

    This architectural course of study is part of a construction, supervision, and inspection series, which provides instructional materials for community or junior college technical courses in the inspection program. Material covered pertains to: construction contracts, schedules, and site preparation; footings and foundations; masonry and…

  1. Inspection Strategies for Concrete Bridges

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Thoft-Christensen, Palle

    1989-01-01

    In this paper an optimal inspection strategy for concrete bridges based on periodic routine and detailed inspections is presented. The failure mode considered is corrosion of the reinforcement due to chlorides. A simple modelling of the corrosion and of the inspection strategy is presented....... The optimal inspection strategy is determined from an optimization problem, where the design variables are time intervals between detailed inspections and the concrete cover. The strategy is illustrated on a simple structure, namely a reinforced concrete beam....

  2. Space Shuttle Program (SSP) Orbiter Main Propulsion System (MPS) Gaseous Hydrogen (GH2) Flow Control Valve (FCV) Poppet Eddy Current (EC) Inspection Probability of Detection (POD) Study. Volume 2; Appendices

    Science.gov (United States)

    Piascik, Robert S.; Prosser, William H.

    2011-01-01

    The Director of the NASA Engineering and Safety Center (NESC), requested an independent assessment of the anomalous gaseous hydrogen (GH2) flow incident on the Space Shuttle Program (SSP) Orbiter Vehicle (OV)-105 during the Space Transportation System (STS)-126 mission. The main propulsion system (MPS) engine #2 GH2 flow control valve (FCV) LV-57 transition from low towards high flow position without being commanded. Post-flight examination revealed that the FCV LV-57 poppet had experienced a fatigue failure that liberated a section of the poppet flange. The NESC assessment provided a peer review of the computational fluid dynamics (CFD), stress analysis, and impact testing. A probability of detection (POD) study was requested by the SSP Orbiter Project for the eddy current (EC) nondestructive evaluation (NDE) techniques that were developed to inspect the flight FCV poppets. This report contains the Appendices to the main report.

  3. Space Shuttle Program (SSP) Orbiter Main Propulsion System (MPS) Gaseous Hydrogen (GH2) Flow Control Valve (FCV) Poppet Eddy Current (EC) Inspection Probability of Detection (POD) Study. Volume 1

    Science.gov (United States)

    Piascik, Robert S.; Prosser, William H.

    2011-01-01

    The Director of the NASA Engineering and Safety Center (NESC), requested an independent assessment of the anomalous gaseous hydrogen (GH2) flow incident on the Space Shuttle Program (SSP) Orbiter Vehicle (OV)-105 during the Space Transportation System (STS)-126 mission. The main propulsion system (MPS) engine #2 GH2 flow control valve (FCV) LV-57 transition from low towards high flow position without being commanded. Post-flight examination revealed that the FCV LV-57 poppet had experienced a fatigue failure that liberated a section of the poppet flange. The NESC assessment provided a peer review of the computational fluid dynamics (CFD), stress analysis, and impact testing. A probability of detection (POD) study was requested by the SSP Orbiter Project for the eddy current (EC) nondestructive evaluation (NDE) techniques that were developed to inspect the flight FCV poppets. This report contains the findings and recommendations from the NESC assessment.

  4. Computerized ultrasonic test inspection enhancement system for aircraft components

    Science.gov (United States)

    Parent, R. G.

    Attention is given to the computerized ultrasonic test inspection enhancement (CUTIE) system which was designed to meet the following program goals: (1) automation of the inspection technique and evaluation of the discontinuities for aircraft components while maintaining reasonable implementation costs and reducing the overall inspection costs; and (2) design of a system which would allow for easy modification so that new concepts could be implemented. The system's ultrasonic test bridge, C-scan recorder, computer control, and ultrasonic flaw detector are described. Consideration is also given to the concurrent development of an eight element array transducer (for increasing the inspection rate) and a high-speed data acquisition system (for signature analysis).

  5. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

    This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to

  6. Hemispherical optical dome for underwater communication

    Science.gov (United States)

    Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.

    2017-08-01

    For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with

  7. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

    Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.

  8. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

    Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.

    1998-01-01

    At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)

  9. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

    Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens

    2014-01-01

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...

  10. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

    concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977. [11] A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970. [12] D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI

  11. Inspection device in liquid

    International Nuclear Information System (INIS)

    Nagaoka, Etsuo.

    1996-01-01

    The present invention provides an inspection device in PWR reactor core in which inspection operations are made efficient by stabilizing a posture of the device in front-to-back, vertical and left-to-right directions by a simple structure. When the device conducts inspection while running in liquid, the front and the back directions of the device main body are inspected using a visual device while changing the posture by operating a front-to-back direction propulsion device and a right-to-left direction propulsion device, and a vertical direction propulsion device against to rolling, pitching and yawing of the device main body. In this case, a spherical magnet moves freely in the gravitational direction in a vibration-damping fluid in a non-magnetic spherical shell following the change of the posture of the device main body, in which the vibrations due to the movement of the spherical magnet is settled by the vibration-damping fluid thereby stabilizing the posture of the device main body. At a typical inspection posture, the settling effect is enhanced by the attraction force between the spherical magnets in the spherical shell and each of magnetic force-attracted magnetic members disposed to the outer circumference of the shell, and the posture of the device main body can be confirmed in front-to-back, right-to-left and vertical directions by each of the posture confirming magnetic sensors. (N.H.)

  12. Piping inspection round robin

    International Nuclear Information System (INIS)

    Heasler, P.G.; Doctor, S.R.

    1996-04-01

    The piping inspection round robin was conducted in 1981 at the Pacific Northwest National Laboratory (PNNL) to quantify the capability of ultrasonics for inservice inspection and to address some aspects of reliability for this type of nondestructive evaluation (NDE). The round robin measured the crack detection capabilities of seven field inspection teams who employed procedures that met or exceeded the 1977 edition through the 1978 addenda of the American Society of Mechanical Engineers (ASME) Section 11 Code requirements. Three different types of materials were employed in the study (cast stainless steel, clad ferritic, and wrought stainless steel), and two different types of flaws were implanted into the specimens (intergranular stress corrosion cracks (IGSCCs) and thermal fatigue cracks (TFCs)). When considering near-side inspection, far-side inspection, and false call rate, the overall performance was found to be best in clad ferritic, less effective in wrought stainless steel and the worst in cast stainless steel. Depth sizing performance showed little correlation with the true crack depths

  13. Risk-based inspection--Development of guidelines

    International Nuclear Information System (INIS)

    1993-07-01

    Effective inservice inspection programs can play a significant role in minimizing equipment and structural failures. Most of the current inservice inspection programs for light water reactor (LWR) nuclear power plant components are based on experience and engineers' qualitative judgment. These programs include only an implicit consideration of risk, which combines the probability of failure of a component under its operation and loading conditions and the consequences of such failure, if it occurs. This document recommends appropriate methods for establishing a risk-based inspection program for LWR nuclear power plant components. The process has been built from a general methodology (Volume 1) and has been expanded to involve five major steps: defining the system; evaluating qualitative risk assessment results; using this and information from plant probabilistic risk assessments to perform a quantitative risk analysis; selecting target failure probabilities; and developing an inspection program for components using economic decision analysis and structural reliability assessment methods

  14. U.S. Industry Activities on Inspection of CRDM Penetrations

    International Nuclear Information System (INIS)

    Alley, Tom; Kietzman, Kim; Ammirato, Frank

    2002-01-01

    The discovery of primary water stress corrosion cracking (PWSCC) in control rod drive mechanisms (CRDM) penetrations in U.S. and European plants prompted the U.S. nuclear industry to focus considerable effort on development and implementation of effective inspection methods. In particular, cracking was discovered in butt welds connecting reactor vessel nozzles to main coolant piping and in control rod drive mechanism (CRDM) head penetration base material and attachment welds. The EPRI Materials Reliability Program (EPRI-MRP) formed an Inspection Committee to address development of industry guidance for inspection of these components, development of effective non-destructive examination (NDE) methods, and demonstration of inspection processes. This paper discusses the MRP activities pertaining to inspection of CRDM penetrations. Results of demonstrations and field inspections conducted will also be summarized. (authors)

  15. Advances in inspection automation

    Science.gov (United States)

    Weber, Walter H.; Mair, H. Douglas; Jansen, Dion; Lombardi, Luciano

    2013-01-01

    This new session at QNDE reflects the growing interest in inspection automation. Our paper describes a newly developed platform that makes the complex NDE automation possible without the need for software programmers. Inspection tasks that are tedious, error-prone or impossible for humans to perform can now be automated using a form of drag and drop visual scripting. Our work attempts to rectify the problem that NDE is not keeping pace with the rest of factory automation. Outside of NDE, robots routinely and autonomously machine parts, assemble components, weld structures and report progress to corporate databases. By contrast, components arriving in the NDT department typically require manual part handling, calibrations and analysis. The automation examples in this paper cover the development of robotic thickness gauging and the use of adaptive contour following on the NRU reactor inspection at Chalk River.

  16. Program for establishing long-time flight service performance of composite materials in the center wing structure of C-130 aircraft. Phase 5: flight service and inspection. Final report

    International Nuclear Information System (INIS)

    Kizer, J.A.

    1981-10-01

    Inspections of the C-130 composite-reinforced center wings were conducted over the flight service monitoring period of more than six years. Twelve inspections were conducted on each of the two C-130H airplanes having composite reinforced center wing boxes. Each inspection consisted of visual and ultrasonic inspection of the selective boron-epoxy reinforced center wings which included the inspection of the boron-epoxy laminates and the boron-epoxy reinforcement/aluminum structure adhesive bondlines. During the flight service monitoring period, the two C-130H aircraft accumulated more than 10,000 flight hours and no defects were detected in the inspections over this period. The successful performance of the C-130H aircraft with composite-reinforced center wings allowed the transfer of the responsibilities of inspecting and maintaining these two aircraft to the U. S. Air Force

  17. Inspection and test planning

    International Nuclear Information System (INIS)

    Miller, T.

    1980-01-01

    Purpose of Quality Plan - arrangement of all necessary tests or inspections as far as possible filted to certain components or systems. Subject of Quality Plan - precise determination of tests or inspections and - according to the actual safety significance - the certificates to be done. Disposition of Quality Plan - accommodation of tests to the actual state of fabrication. Application of Quality Plan - to any component or system that is regarded. Supervision of Employment - by authorized personnel of manufacturer, customer or authority providing exact employment of quality plan. Overservance of Instructions - certificates given by authorized personnel. (orig./RW)

  18. Federal environmental inspections handbook

    International Nuclear Information System (INIS)

    1991-10-01

    This Federal Environmental Inspection Handbook has been prepared by the Department of Energy (DOE), Office of Environmental Guidance, RCRA/CERCLA Division (EH-231). It is designed to provide DOE personnel with an easily accessible compilation of the environmental inspection requirements under Federal environmental statutes which may impact DOE operations and activities. DOE personnel are reminded that this Handbook is intended to be used in concert with, and not as a substitute for, the Code of Federal Regulations (CFR). Federal Register (FR), and other applicable regulatory documents

  19. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

    Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing

    2017-10-01

    Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.

  20. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

    Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.

  1. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

    Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

  2. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

    Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.

  3. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

    Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li

    2016-08-01

    Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.

  4. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

    Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

  5. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

  6. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

    Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.

  7. Underwater noise levels in UK waters.

    Science.gov (United States)

    Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J

    2016-11-10

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.

  8. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

    Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.

    2017-10-01

    The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.

  9. Inspection of Emergency Arrangements

    International Nuclear Information System (INIS)

    2013-01-01

    The Working Group on Inspection Practices (WGIP) was tasked by the NEA CNRA to examine and evaluate the extent to which emergency arrangements are inspected and to identify areas of importance for the development of good inspection practices. WGIP members shared their approaches to the inspection of emergency arrangements by the use of questionnaires, which were developed from the requirements set out in IAEA Safety Standards. Detailed responses to the questionnaires from WGIP member countries have been compiled and are presented in the appendix to this report. The following commendable practices have been drawn from the completed questionnaires and views provided by WGIP members: - RBs and their Inspectors have sufficient knowledge and information regarding operator's arrangements for the preparedness and response to nuclear emergencies, to enable authoritative advice to be given to the national coordinating authority, where necessary. - Inspectors check that the operator's response to a nuclear emergency is adequately integrated with relevant response organisations. - Inspectors pay attention to consider the integration of the operator's response to safety and security threats. - The efficiency of international relations is checked in depth during some exercises (e.g. early warning, assistance and technical information), especially for near-border facilities that could lead to an emergency response abroad. - RB inspection programmes consider the adequacy of arrangements for emergency preparedness and response to multi-unit accidents. - RBs assess the adequacy of arrangements to respond to accidents in other countries. - The RB's role is adequately documented and communicated to all agencies taking part in the response to a nuclear or radiological emergency. - Inspectors check that threat assessments for NPPs have been undertaken in accordance with national requirements and that up-to-date assessments have been used as the basis for developing emergency plans for

  10. Promoting transparency: The Korean national inspection experience

    International Nuclear Information System (INIS)

    Kim, B.K.

    1999-01-01

    The Republic of Korea started the LAMA full-scope safeguards inspection with the TRIGA research reactor in 1976 when the nuclear industry was at its infancy. Over two decades of rapid economic growth was propelled by stable supply of electricity, substantially from nuclear energy. Today nearly half of the nations electricity comes from sixteen operating nuclear power plants (12 LWRs + 4 OLRs). Total number of facilities under IAEA inspection reaches 30 where the Agency conducts about 400 PDIs annually. Within the last decade, nuclear transparency in Korea has transformed into the international norm primarily from the needs of rapidly expanding domestic nuclear program. In addition, possibility of North/South mutual inspection helped initiate the national inspection regime in addition to the IAEA inspection. The Technology Center for Nuclear Control was established at KAERI in 1994 in order to maintain the nation's nuclear verification expertise in support of the Korean government. National inspections have been carried out simultaneously with the IAEA inspection since 1997 with trial facilities, and all domestic facilities are being inspected from this year. Necessary legal framework and working procedures were developed and field-tried for LWRs, OLRs, fuel fabrication plants and research reactor facilities. Although the inspection equipment and technology along with the safeguards criteria are quite similar to those of the Agency, it is essential to maintain the independent conclusion capabilities between IAEA and the national authority. Substantial improvements in the IAEA safeguards inspection goal attainments since 1997 are credited to the increasing safeguards awareness among operators and SSAC. Further work is necessary to develop the evaluation criteria based on the field inspection results to meet the national inspection goals. The Korean Government signed the Additional Protocol with IAEA on June, 1999 after much deliberation since it involves facilities

  11. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    OpenAIRE

    Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua

    2015-01-01

    Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...

  12. A Framework for Multiple Object Tracking in Underwater Acoustic MIMO Communication Channels

    Directory of Open Access Journals (Sweden)

    Domingo Rodriguez

    2017-02-01

    Full Text Available This work presents a computational framework for the analysis and design of large-scale algorithms utilized in the estimation of acoustic, doubly-dispersive, randomly time-variant, underwater communication channels. Channel estimation results are used, in turn, in the proposed framework for the development of efficient high performance algorithms, based on fast Fourier transformations, for the search, detection, estimation and tracking (SDET of underwater moving objects through acoustic wavefront signal analysis techniques associated with real-time electronic surveillance and acoustic monitoring (eSAM operations. Particular importance is given in this work to the estimation of the range and speed of deep underwater moving objects modeled as point targets. The work demonstrates how to use Kronecker products signal algebra (KSA, a branch of finite-dimensional tensor signal algebra, as a mathematical language for the formulation of novel variants of parallel orthogonal matching pursuit (POMP algorithms, as well as a programming aid for mapping these algorithms to large-scale computational structures, using a modified Kuck’s paradigm for parallel computation.

  13. Underwater fiber-wireless communication with a passive front end

    Science.gov (United States)

    Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

    2017-11-01

    We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

  14. Towards a Hybrid Approach to Context Reasoning for Underwater Robots

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

    Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.

  15. Hydro-Quebec METAR inspection bracelet

    International Nuclear Information System (INIS)

    Lavoie, E.; Rousseau, G.; Lessard, J.; Drolet, A.

    2000-01-01

    This paper will present the Gentilly-2 Inspection program targeting outlet feeder pipe thinning caused by FAC. The focus of the paper will be on the METAR inspection bracelet development and qualification process, as well as highlights of the 2000 outage inspection campaign. In summary, the '99 inspection campaign allowed personnel to measure wall thickness of 66 outlet feeders totaling 106 elbows. Since the beginning of the inspection program in '97, about 80% of 2-inch outlets and 40% of 2.5-inch outlets have been measured at least once. Collecting high quality data is a challenge, mainly due to tack of space around the pipes - especially for 2.5-inch pipes - and the roughness of feeder pipes at Gentilly-2. Hydro-Quebec developed the METAR Inspection bracelet to improve the quality of inspection data and increase efficiency. The METAR bracelet is a mechanical device that can be attached directly onto the feeder to measure thickness in situ. It consists of 14 ultrasonic sensors, each mounted in its own shoe, attached together in an assembly called a collar. The collar permits each sensor some degree of movement while keeping the proper orientation, perpendicular to the feeder. The collar is held onto the feeder by the frame and kept in position by means of an elastic band. The frame is designed to ease movement and minimize friction. There is a different frame for each feeder size, but the same collar is used. In most cases, inspection can be carried out with only one hand and requires little adjustment by the operator. To date, the bracelet is not motorized and must be moved along the pipes manually. A multi-channel acquisition unit was built for this project based on the R/D Tech μ Tomoscan ultrasonic system and Tomoview data analysis software. The system features real-time C-scan from all 14 channels and provides a thickness map of the scanned area for rapid evaluation of minimum wall thickness. The RF waveform is recorded and the sizing technique is based on

  16. Determining prestressing forces for inspection of prestressed concrete containments

    International Nuclear Information System (INIS)

    1990-07-01

    General Design Criterion 53, ''Provisions for Containment Testing and Inspection,'' of Appendix A, ''General Design Criteria for Nuclear Power Plants,'' to 10 CFR Part 50, ''Domestic Licensing of Production and Utilization Facilities,'' requires, in part, that the reactor containment be designed to permit (1) periodic inspection of all important areas and (2) an appropriate surveillance program. Regulatory Guide 1.35, ''Inservice Inspection of Ungrouted Tendons in Prestressed Concrete Containment Structures,'' describes a basis acceptable to the NRC staff for developing an appropriate inservice inspection and surveillance program for ungrouted tendons in prestressed concrete containment structures of light-water-cooled reactors. This guide expands and clarifies the NRC staff position on determining prestressing forces to be used for inservice inspections of prestressed concrete containment structures

  17. International Nuclear Safeguards Inspection Support Tool (INSIST)

    International Nuclear Information System (INIS)

    St. Pierre, D.E.; Steinmaus, K.L.; Moon, B.D.

    1994-07-01

    DOE is committed to providing technologies to the International Atomic Energy Agency (IAEA) to meet escalating monitoring and inspection requirements associated with the Non-Proliferation Treaty (NPT). One example of technology provided to the IAEA is the information management and remote monitoring capabilities being customized for the IAEA by the International Safeguards Division of the Office of Non-Proliferation and National Security. The ongoing Safeguards Information Management Systems (SIMS) program is an interlaboratory effort providing the IAEA with a range of information management capabilities designed to enhance the effectiveness of their nuclear inspection activities. The initial commitment involved the customization of computer capabilities to provide IAEA with the basic capability to geographically organize, store, and retrieve the large quantity of information involved in their nuclear on site inspection activities in Iraq. This initial system, the International Nuclear Safeguards Inspection Support Tool (INSIST), was developed by DOE's Pacific Northwest Laboratory (PNL). To date, two INSIST workstations have been deployed at the IAEA. The first has been used to support the IAEA Action Team in the inspection of Iraqi nuclear facilities since August 1993. A second, and similar, workstation has been deployed to support environmental monitoring under the IAEA 93+2 Programme. Both INSIST workstations geographically integrate analog (video) and digital data to provide an easy to use and effective tool for storing retrieving and displaying multimedia site and facility information including world-wide maps, satellite and aerial imagery, on site photography, live inspection videos, and treaty and inspection textual information. The interactive, UNIX-based workstations have a variety of peripheral devices for information input and output. INSIST software includes commercial-off-the-shelf (COTS) modules and application-specific code developed at PNL

  18. Natural hydrocarbon seeps observation with underwater gliders and UV fluorescence sensor

    Science.gov (United States)

    Rochet, V.

    2016-02-01

    Hydrocarbons may leak to the near-surface from subsurface accumulations, from mature source rock, or by buoyancy along major cross-strata routes. The presence of migrating near-surface hydrocarbons can provide strong evidence for the presence of a working petroleum system, as well as valuable information on source, maturity, and migration pathways. Detection and characterization of hydrocarbons in the water column may then help to de-risk hydrocarbon plays at a very preliminary stage of an exploration program. In order to detect hydrocarbons in the water column, an underwater glider survey was conducted in an offshore frontier area. Driven by buoyancy variation, underwater gliders enable collecting data autonomously along the water column for weeks to months. Underwater gliders are regularly piloted from shore by satellite telemetry and do not require a surface supervising vessel resulting in substantial operational costs savings. The data compiled, over 700m depth of the water column, included temperature, salinity, pressure, dissolved oxygen and hydrocarbon components (phenanthrene and naphthalene) measured by "MINIFLUO" sensors to particularly target representative crude oil compounds Two gliders were deployed at sea, one from coast in shallow water and the other one offshore on the survey area. Both accurately squared the survey area following pre-defined lines and cross lines. Data files were transmitted by satellite telemetry in near real time during the performance of the mission for real time observations and appropriate re-positioning of the gliders. Using rechargeable underwater gliders increased reliability reducing the risk of leakage and associated logistics during operation at sea. Despite strong evidences of seabed seepages such as pockmarks, faults, etc, over the area of interest, no hydrocarbon indices were detected in the water column, which was confirmed later by seabed sample analysis. The use of glider platforms for hydrocarbon detection has

  19. Level of Service Program for INDOT Operations

    Science.gov (United States)

    2012-08-01

    INDOT has used an inspection program named Maintenance Quality Survey (MQS) to perform a statewide inspection of their roadway : assets, rightofway to rightofway. This inspection requires two twoperson teams approximately 18 months ...

  20. Devices for the contamination containment employees in the steam generator inspection; Dispositivo para confinamiento de la contaminacion empleados en la inspeccion de generadores de vapor

    Energy Technology Data Exchange (ETDEWEB)

    Garcia Bueno, A.; Largo Izquierdo, P.; Calleja Rubio, J. A.

    2010-07-01

    The process of induced current inspection of the tubes of the steam generator is a typical programmed inspections at each refueling outages of pressurized water in nuclear power plants. components inspection being quite active, interested in the program of continuous improvement, further optimize the inspection system.

  1. Development of Remote Inspection Systems with the Java Applet

    International Nuclear Information System (INIS)

    Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

    2005-01-01

    The world wide web and java are powerful networking technologies on the internet. An applet is a program written in the java programming language that can be included in an HTML page, much in the same way as an image is included. When we use a Java technology-enabled browser to view a page that contains an applet, the applet code is transferred to a client's system and executed by the browser's Java Virtual Machine (JVM). We have developed two remote inspection systems for a reactor wall inspection and guide tube spilt pin inspection based on the java and traditional programming language. The java is used on a GUI(graphic user interface) and the traditional visual C++ programming language is used to control the inspection equipments

  2. Wireless roadside inspection phase II : final report : [technology brief].

    Science.gov (United States)

    2014-04-01

    The Federal Motor Carrier Safety Administration (FMCSA) Wireless Roadside Inspection (WRI) Program is demonstrating the feasibility and value of electronically assessing truck and motorcoach driver and vehicle safety. Electronic assessments (or WRIs)...

  3. INSPTRAX - The Inspection Targeting, Planning and Tracking Database

    Data.gov (United States)

    U.S. Environmental Protection Agency — The INSPTRAX System tracks Air, RCRA, and Water inspection targeting, planning and tracking information. It is used by the the Air, RCRA, and Water programs to input...

  4. Automatic Inspection During Machining

    Science.gov (United States)

    Ransom, Clyde L.

    1988-01-01

    In experimental manufacturing process, numerically-controlled machine tool temporarily converts into inspection machine by installing electronic touch probes and specially-developed numerical-control software. Software drives probes in paths to and on newly machined parts and collects data on dimensions of parts.

  5. Underwater Facilities Inspections and Assessments at Naval Amphibious Base, Coronado, California.

    Science.gov (United States)

    1984-11-01

    filamentous forms of red and green algae such as witches hair or mermaids hair. In addition, forms of green algae such as sea lettuce are found attached to...Very little significant damage to the piling was noted. Nine of the piles exhibit cracks at their tops suggestive of driving fractures. The pile caps

  6. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

    Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

  7. Application of YAG laser processing in underwater welding and cutting

    International Nuclear Information System (INIS)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi

    2002-01-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  8. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...

  9. Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

    Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.

  10. Licensee contractor and vendor inspection status report: Quarterly report, July 1986-September 1986

    International Nuclear Information System (INIS)

    1986-11-01

    This periodical covers the results of inspections performed by the NRC's Vendor Program Branch that have been distributed to the inspected organizations during the period from July 1986 thru September 1986. Also, included in this issue are the results of certain inspections performed prior to July 1986 that were not previously reported

  11. 23 CFR 661.55 - How are BIA and Tribal owned IRR bridges inspected?

    Science.gov (United States)

    2010-04-01

    ... 23 Highways 1 2010-04-01 2010-04-01 false How are BIA and Tribal owned IRR bridges inspected? 661... AND TRAFFIC OPERATIONS INDIAN RESERVATION ROAD BRIDGE PROGRAM § 661.55 How are BIA and Tribal owned IRR bridges inspected? BIA and Tribally owned IRR bridges are inspected in accordance with 25 CFR part...

  12. Licensee contractor and vendor inspection status report: Quarterly report, October 1986-December 1986

    International Nuclear Information System (INIS)

    1987-02-01

    This periodical covers the results of inspections performed by the NRC's Vendor Program Branch that have been distributed to the inspected organizations during the period from October 1986 through December 1986. Also, included in this issue are the results of certain inspections performed prior to October 1986 that were not included in previous issues of NUREG-0040

  13. FMCSA safety program effectiveness measurement : Roadside Intervention Effectiveness Model, fiscal year 2010 : [analysis brief].

    Science.gov (United States)

    2014-11-01

    Two of the Federal Motor Carrier Safety Administrations (FMCSAs) key safety programs are the Roadside Inspection and Traffic Enforcement programs. The Roadside Inspection program consists of roadside inspections performed by qualified safety in...

  14. Flexible ultrasonic pipe inspection apparatus

    Energy Technology Data Exchange (ETDEWEB)

    Jenkins, C.F.; Howard, B.D.

    1994-01-01

    Pipe crawlers, pipe inspection {open_quotes}rabbits{close_quotes} and similar vehicles are widely used for inspecting the interior surfaces of piping systems, storage tanks and process vessels for damaged or flawed structural features. This paper describes the design of a flexible, modular ultrasonic pipe inspection apparatus.

  15. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

    The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.

  16. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

    This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...

  17. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

    Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: rapidis@inp.demokritos.gr

    2009-04-11

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  18. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

    Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.

  19. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

    Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael

    2007-01-01

    A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater

  20. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

    Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.

  1. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  2. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

    Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J

    2013-01-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)

  3. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

    The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.

  4. Short Communication Evaluation of an underwater biopsy probe for ...

    African Journals Online (AJOL)

    lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...

  5. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

    "Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

  6. Automated Underwater Image Restoration and Retrieval of Related Optical Properties

    National Research Council Canada - National Science Library

    Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L

    2007-01-01

    ...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...

  7. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

    Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

  8. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

    In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

  9. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

    Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

    2017-09-01

    Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

  10. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  11. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

    Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.

  12. Multi-layer protective armour for underwater shock wave mitigation

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

    The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.

  13. Underwater image enhancement through depth estimation based on random forest

    Science.gov (United States)

    Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han

    2017-11-01

    Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.

  14. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

    Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.

    To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...

  15. Euclidean reconstruction of natural underwater scenes using optic imagery sequence

    Science.gov (United States)

    Hu, Han

    The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.

  16. National Dam Safety Program. Smith Mills Reservoir Dam (Inventory Number NY-786), Lake Erie Basin, Chautauqua County, New York. Phase 1 Inspection Report

    Science.gov (United States)

    1980-03-01

    REPORT NUMBER Inventory No. 786 ;: 0 7. AUTHOR(s) 0 . CONTRACT OR GRANT NUMBER(&) George Koch ~ S. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM...UT A U Q U A C O U N T Y , / j < . INVENTORY No. NY 786 ’ .A T IO N A L D A M S A F E T Y P R O G R A M LL NEW YORK DISTRICT CORPS OF ENGINEERi i AR8...within the vicinity of the dam is generally northwestward, due to its location near the Portage Escarpment. Glacial cover is generally thin, the

  17. Underwater acoustic communications. From point-to-point to networks

    OpenAIRE

    Jesus, S. M.

    2013-01-01

    This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...

  18. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

    Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.

    2001-01-01

    In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...

  19. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Science.gov (United States)

    Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie

    2007-06-01

    To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  20. Underwater striling engine design with modified one-dimensional model

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

    Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...

  1. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels [4]. Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...

  2. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

    79  ix LIST OF FIGURES Figure 1.  NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate

  3. A potential flow based flight simulator for an underwater glider

    OpenAIRE

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois

    2013-01-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...

  4. Analytical and Numerical Optimal Motion Planning for an Underwater Glider

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

    The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...

  5. Boundary curvature effects on gas bubble oscillations in underwater explosion

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

    The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...

  6. Track inspection planning and risk measurement analysis.

    Science.gov (United States)

    2014-11-01

    This project models track inspection operations on a railroad network and discusses how the inspection results can : be used to measure the risk of failure on the tracks. In particular, the inspection times of the tracks, inspection frequency of the ...

  7. Overview of the software inspection process

    Energy Technology Data Exchange (ETDEWEB)

    Lane, G.L.; Dabbs, R. [Sandia National Labs., Albuquerque, NM (United States)

    1997-11-01

    This tutorial introduces attendees to the Inspection Process and teaches them how to organize and participate in a software inspection. The tutorial advocates the benefits of inspections and encourages attendees to socialize the inspection process in their organizations.

  8. Regulatory inspection in Spain

    International Nuclear Information System (INIS)

    Alvarez de Buergo, L.

    1977-01-01

    The 1964 Act on Nuclear Energy lays down that the Junta de Energia Nuclear is responsible for assessing the hazards of and inspecting nuclear power plants as well as for the transport of nuclear fuel for these plants. The Junta de Energia Nuclear has a specialised service, the Nuclear Safety Department in charge of performing these duties. Experience acquired from work in this field is analysed in this paper. (NEA) [fr

  9. Terahertz Radome Inspection

    Directory of Open Access Journals (Sweden)

    Fabian Friederich

    2018-01-01

    Full Text Available Radomes protecting sensitive radar, navigational, and communications equipment of, e.g., aircraft, are strongly exposed to the environment and have to withstand harsh weather conditions and potential impacts. Besides their significance to the structural integrity of the radomes, it is often crucial to optimize the composite structures for best possible radio performance. Hence, there exists a significant interest in non-destructive testing techniques, which can be used for defect inspection of radomes in field use as well as for quality inspection during the manufacturing process. Contactless millimeter-wave and terahertz imaging techniques provide millimeter resolution and have the potential to address both application scenarios. We report on our development of a three-dimensional (3D terahertz imaging system for radome inspection during industrial manufacturing processes. The system was designed for operation within a machining center for radome manufacturing. It simultaneously gathers terahertz depth information in adjacent frequency ranges, from 70 to 110 GHz and from 110 to 170 GHz by combining two frequency modulated continuous-wave terahertz sensing units into a single measurement device. Results from spiraliform image acquisition of a radome test sample demonstrate the successful integration of the measurement system.

  10. Deep Learning Methods for Underwater Target Feature Extraction and Recognition

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

    Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

  11. Underwater and in-air sounds from a small hovercraft

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

    Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.

  12. Performance Evaluation of Hybrid Acoustic-Optical Underwater Swarm Networks

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

    Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.

  13. Mechanized inspection of steam generator components during manufacture

    International Nuclear Information System (INIS)

    Otte, H.-J.; Leupoldt, K.; Meister, W.

    2009-01-01

    Steam Generator (SG) parts are intensively inspected by UT in the course of the manufacturing process. These inspections - mostly performed manually using different codes - are time consuming and call for a sophisticated documentation, figuring part of the life time documentation package. In order to reduce time and costs mechanized inspection equipment is introduced, combining short inspection times, avoiding influence of the human factor and providing proper electronic storage of all inspection results prepared for comparison with data generated during in-service inspection. Since 2001 Cegelec delivered various UT systems for gas turbine disks and rotor ends called SIRO-MAN. Within only a few years the majority of important providers of such components successfully switched from manual inspection to mechanized inspection following the requirements of manufacturers like ALSTOM, GE and Siemens. The SIRO-MAN is now adapted to the needs of mechanized inspection of SG components. The inspection is performed on the products during rotation around the vertical axis. The multi - probe assemblies are manoeuvred on the products by a manipulator system backed by a NC control unit. Acoustic coupling of UT probes to the product surface is performed with oil or water in a closed circuit. UT and - if requested ET - data along with position information of the probe assembly provided by the control unit are acquired, processed and evaluated by an UT / ET electronic system delivered by either Olympus or ZETEC. As performed already on rotor ends a sequence of inspections using different parameter settings can be programmed with simple means (Teach In) so that such inspection sequence can be executed without operating personnel. Probe assemblies allow for individual operation of probes out of the probe assembly according to the individual needs. Conventional UT and phased array applications or combination of both techniques can be provided. The UT / ET electronic equipment offers

  14. Pressurized water reactor inspection procedures

    International Nuclear Information System (INIS)

    Heinrich, D.; Mueller, G.; Otte, H.J.; Roth, W.

    1998-01-01

    Inspections of the reactor pressure vessels of pressurized water reactors (PWR) so far used to be carried out with different central mast manipulators. For technical reasons, parallel inspections of two manipulators alongside work on the refueling cavity, so as to reduce the time spent on the critical path in a revision outage, are not possible. Efforts made to minimize the inspection time required with one manipulator have been successful, but their effects are limited. Major reductions in inspection time can be achieved only if inspections are run with two manipulators in parallel. The decentralized manipulator built by GEC Alsthom Energie and so far emmployed in boiling water reactors in the USA, Spain, Switzerland and Japan allows two systems to be used in parallel, thus reducing the time required for standard inspection of a pressure vessel from some six days to three days. These savings of approximately three days are made possible without any compromises in terms of positioning by rail-bound systems. During inspection, the reactor refueling cavity is available for other revision work without any restrictions. The manipulator can be used equally well for inspecting standard PWR, PWR with a thermal shield, for inspecting the land between in-core instrumentation nozzles, BWR with and without jet pumps (complementary inspection), and for inspecting core support shrouds. (orig.) [de

  15. National Dam Safety Program. Millbrook Watershed Project Site I (inventory Number NY 715) Susquehanna River Basin, Chenango County, New York. Phase 1 Inspection Report

    Science.gov (United States)

    1980-09-30

    Milibrook Watershed Project Site T fn~ %/ V National. Darm Safety Program Albny 1223 6. PJERMN ORG RAE04 NUBE Department of th Ar4 Neworek, No 128 9...4U CA > c~ 9%1 Ul NU.LUr -w Z CC 00 tn U.0D L ft SA. .4 ft 0WO ’ O ~02 cmi at 0 0 LA . 30S-U 30 0 ... J 00 z A ~0 3l zu 0 &u .ft~z ft 0 00 -. Q U. m...m m -4 4( -- jC 1- h .0 m -14 0. ~~Ia U% -4-4 tI L.4ET ID eu - - - - - N CU44-. -4..-4 - -L U SlU 20 uv0. 0. zcc f 0 LL U W LA N 0 - a U~ a. C.cr r L

  16. Quality assurance inspections in the transportation packaging supplier industry

    International Nuclear Information System (INIS)

    Jankovich, J.P.

    1991-01-01

    In this paper the quality assurance inspections of the transportation packaging supplier industry, conducted by the U.S. Nuclear Regulatory Commission (NRC) on a routine basis since 1989 are discussed. The term supplier is used to include designers, fabricators, and distributors that hold NRC approved Quality Assurance Programs and Certificates of Compliance for packagings to transport radioactive materials. The objective of the inspections is to provide assurance that transportation packagings are fabricated and procured in accordance with 10 CFR Parts 21 and 71 requirements. The inspections are conducted in a systematic and comprehensive manner, utilizing uniform inspection techniques in order to assure uniformity and comparability. During the April 1989 and May 1991 period approximately 21 inspections were conducted by the Transportation Branch, Office of Nuclear Material Safety and Safeguards of the NRC. The majority of the findings were identified in the areas of quality assurance procedures, control of special processes (e.g. welding, radiography), and maintenance of QA records

  17. Feasibility of underwater welding of highly irradiated in-vessel components of boiling-water reactors: A literature review

    Energy Technology Data Exchange (ETDEWEB)

    Lund, A.L.

    1997-11-01

    In February 1997, the U.S. Nuclear Regulatory Commission (NRC), Office of Nuclear Regulatory Research (RES), initiated a literature review to assess the state of underwater welding technology. In particular, the objective of this literature review was to evaluate the viability of underwater welding in-vessel components of boiling water reactor (BWR) in-vessel components, especially those components fabricated from stainless steels that are subjected to high neutron fluences. This assessment was requested because of the recent increased level of activity in the commercial nuclear industry to address generic issues concerning the reactor vessel and internals, especially those issues related to repair options. This literature review revealed a preponderance of general information about underwater welding technology, as a result of the active research in this field sponsored by the U.S. Navy and offshore oil and gas industry concerns. However, the literature search yielded only a limited amount of information about underwater welding of components in low-fluence areas of BWR in-vessel environments, and no information at all concerning underwater welding experiences in high-fluence environments. Research reported by the staff of the U.S. Department of Energy (DOE) Savannah River Site and researchers from the DOE fusion reactor program proved more fruitful. This research documented relevant experience concerning welding of stainless steel materials in air environments exposed to high neutron fluences. It also addressed problems with welding highly irradiated materials, and primarily attributed those problems to helium-induced cracking in the material. (Helium is produced from the neutron irradiation of boron, an impurity, and nickel.) The researchers found that the amount of helium-induced cracking could be controlled, or even eliminated, by reducing the heat input into the weld and applying a compressive stress perpendicular to the weld path.

  18. Application of a modified industrial robot in underwater areas. Einsatz eines modifizierten Industrieroboters im Unterwasserbereich

    Energy Technology Data Exchange (ETDEWEB)

    Gustmann, M.; Aust, E.

    1993-01-01

    At present, there are two alternative technical concepts for work at considerable underwater depths: 1 bar systems which carry the human worker near to the working site, from the inside of which he can perform his work with the help of built-in manipulators; and more sophisticated handling systems, which perform their work automatically, e.g. controlled and monitored from a ship, and supported by sensor technology and offline programming. This second alternative is presently being studied within the framework of a co-operation between the GKSS and the Brazilian oil company, PETROBRAS. (orig.)

  19. Design considerations for an underwater soft-robot inspired from marine invertebrates.

    Science.gov (United States)

    Krieg, Michael; Sledge, Isaac; Mohseni, Kamran

    2015-10-29

    This article serves as an overview of the unique challenges and opportunities made possible by a soft, jellyfish inspired, underwater robot. We include a description of internal pressure modeling as it relates to propulsive performance, leading to a desired energy-minimizing volume flux program. Strategies for determining optimal actuator placement derived from biological body motions are presented. In addition a feedback mechanism inspired by the epidermal line sensory system of cephalopods is presented, whereby internal pressure distribution can be used to determine pertinent deformation parameters.

  20. Developing a methodology to inspect and assess conditions of short span structures on county roads in Wyoming.

    Science.gov (United States)

    2015-12-01

    Ever since the introduction of the National Bridge Inspection Standards (NBIS) in 1971, there has been a : tremendous amount of effort put into bridge rehabilitation programs and safety inspections. The : Wyoming Department of Transportation (WYDOT) ...

  1. Licensee contractor and vendor inspection status report. Quarterly report, October-December 1985. Volume 9, No. 4

    International Nuclear Information System (INIS)

    1986-02-01

    This periodical covers the results of inspections performed by the NRCs vendor program branch that have been distribution to the inspected organizations during the period from October 1985 through December 1985

  2. Underwater cleaning techniqued used for removal of zebra mussels at the FitzPatrick Nuclear Power Plant

    International Nuclear Information System (INIS)

    Hobbs, B.; Kahabka, J.

    1995-01-01

    This paper discusses the use of a mechanical brush cleaning technology recently used to remove biofouling from the Circulating Water (CW) System at New York Power Authority's James A. FitzPatrick Nuclear Power Plant. The FitzPatrick plant had previously used chemical molluscicide to treat zebra mussels in the CW system. Full system treatment was performed in 1992 with limited forebay/screenwell treatment in 1993. The New York Power Authority (NYPA) decided to conduct a mechanical cleaning of the intake system in 1994. Specific project objectives included: (1) Achieve a level of surface cleaniness greater than 98%; (2) Remove 100% of debris, both existing sediment and debris generated as a result of cleaning; (3) Inspect all surfaces and components, identifying any problem areas; (4) Complete the task in a time frame within the 1994-95 refueling outage schedule window, and; (5) Determine if underwater mechanical cleaning is a cost-effective zebra mussel control method suitable for future application at FitzPatrick. A pre-cleaning inspection, including underwater video photography, was conducted of each area. Cleaning was accomplished using diver-controlled, multi-brush equipment included the electro-hydraulic powered Submersible Cleaning and Maintenance Platform (SCAMP), and several designs of hand-held machines. The brushes swept all zebra mussels off surfaces, restoring concrete and metal substrates to their original condition. Sensitive areas including pump housings, standpipes, sensor piping and chlorine injection tubing, were cleaned without degradation. Submersible vortex vacuum pumps were used to remove debris from the cavity. More than 46,000 ft 2 of surface area was cleaned and over 460 cubic yards of dewatered debris were removed. As each area was completed, a post-clean inspection with photos and video was performed

  3. New tools for steel catenary risers inspection; Novas ferramentas para inspecao de risers tipo SCR

    Energy Technology Data Exchange (ETDEWEB)

    Camerini, Claudio Soligo; Marinho, Carla Alves; Raphael, Fabiana N.; Maia, Carlos [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil); Freitas, Miguel [Pontificia Univ. Catolica do Rio de Janeiro, RJ (Brazil); Lopes, Ricardo Tadeu; Rocha, Henrique [Universidade Federal, Rio de Janeiro, RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia

    2005-07-01

    The Research Center of PETROBRAS and two of the Federal Brazilian Universities, PUC-Rio and UFRJ, have been developing two new projects in order to inspect risers of petroleum production. The first tool is an instrumented pig for profiling internal corrosion, having flexibility under diameter variations and independence related to thickness wall pipeline. The second one is a gammagraphy system remotely operated by ROVs, to be employed in alveoli corrosion and fatigue cracks detection in underwater pipelines. This work shows the trajectory of these two tools, describing laboratory and field tests and the future activities. (author)

  4. Licensee contractor and vendor inspection status report: Quarterly report, January--March 1996. Volume 20, Number 1

    International Nuclear Information System (INIS)

    1996-05-01

    A fundamental premise of the US Nuclear Regulatory Commission (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The Federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. Each licensee, contractor, and vendor participates in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 of the Code of Federal Regulations). The NRC does inspections to oversee the commercial nuclear industry to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of quality verification programs. This periodical covers the results of inspections performed by the NRC's Special Inspection Branch, Vendor Inspection Section, that have been distributed to the inspected organizations during the period from January 1996 through March 1996

  5. Licensee contractor and vendor inspection status report: Quarterly report, January--March 1997. Volume 21, Number 1

    International Nuclear Information System (INIS)

    1997-07-01

    A fundamental premise of the US Nuclear Regulatory Commission (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The Federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. Each licensee, contractor, and vendor participates in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 of the Code of Federal Regulations). The NRC does inspections to oversee the commercial nuclear industry to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of quality verification programs. This periodical covers the results of inspections performed by the NRC's Special Inspection Branch, Vendor Inspection Section, that have been distributed to the inspected organizations during the period from January 1997 through March 1997

  6. Shell Inspection History and Current CMM Inspection Efforts

    Energy Technology Data Exchange (ETDEWEB)

    Montano, Joshua Daniel [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2017-01-26

    The following report provides a review of past and current CMM Shell Inspection efforts. Calibration of the Sheffield rotary contour gauge has expired and the primary inspector, Matthew Naranjo, has retired. Efforts within the Inspection team are transitioning from maintaining and training new inspectors on Sheffield to off-the-shelf CMM technology. Although inspection of a shell has many requirements, the scope of the data presented in this report focuses on the inner contour, outer contour, radial wall thickness and mass comparisons.

  7. Laser Safety Inspection Criteria

    International Nuclear Information System (INIS)

    Barat, K.

    2005-01-01

    A responsibility of the Laser Safety Officer (LSO) is to perform laser audits. The American National Standard Z136.1 Safe Use of Lasers references this requirement through several sections. One such reference is Section 1.3.2.8, Safety Features Audits, ''The LSO shall ensure that the safety features of the laser installation facilities and laser equipment are audited periodically to assure proper operation''. The composition, frequency and rigor of that inspection/audit rests in the hands of the LSO. A common practice for institutions is to develop laser audit checklists or survey forms It is common for audit findings from one inspector or inspection to the next to vary even when reviewing the same material. How often has one heard a comment, ''well this area has been inspected several times over the years and no one ever said this or that was a problem before''. A great number of audit items, and therefore findings, are subjective because they are based on the experience and interest of the auditor to particular items on the checklist. Beam block usage, to one set of eyes might be completely adequate, while to another, inadequate. In order to provide consistency, the Laser Safety Office of the National Ignition Facility Directorate has established criteria for a number of items found on the typical laser safety audit form. The criteria are distributed to laser users. It serves two broad purposes; first, it gives the user an expectation of what will be reviewed by an auditor. Second, it is an opportunity to explain audit items to the laser user and thus the reasons for some of these items, such as labelling of beam blocks

  8. Pellet inspection apparatus

    Science.gov (United States)

    Wilks, Robert S.; Taleff, Alexander; Sturges, Jr., Robert H.

    1982-01-01

    Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The fl GOVERNMENT CONTRACT CLAUSE The invention herein described was made in the course of or under a contract or subcontract thereunder with the Department of Energy bearing No. EY-67-14-C-2170.

  9. Safeguards management inspection procedures

    International Nuclear Information System (INIS)

    Barth, M.J.; Dunn, D.R.

    1984-08-01

    The objective of this inspection module is to independently assess the contributions of licensee management to overall safeguards systems performance. The inspector accomplishes this objective by comparing the licensee's safeguards management to both the 10 CFR, parts 70 and 73, requirements and to generally accepted management practices. The vehicle by which this comparison is to be made consists of assessment questions and key issues which point the inspector to areas of primary concern to the NRC and which raise additional issues for the purpose of exposing management ineffectiveness. Further insight into management effectiveness is obtained through those assessment questions specifically directed toward the licensee's safeguards system performance. If the quality of the safeguards is poor, then the inspector should strongly suspect that management's role is ineffective and should attempt to determine management's influence (or lack thereof) on the underlying safeguards deficiencies. (The converse is not necessarily true, however.) The assessment questions in essence provide an opportunity for the inspector to identify, to single out, and to probe further, questionable management practices. Specific issues, circumstances, and concerns which point to questionable or inappropriate practices should be explicitly identified and referenced against the CFR and the assessment questions. The inspection report should also explain why the inspector feels certain management practices are poor, counter to the CFR, and/or point to ineffecive management. Concurrent with documenting the inspection results, the inspector should provide recommendations for alleviating observed management practices that are detrimental to effective safeguards. The recommendations could include: specific changes in the practices of the licensee, followup procedures on the part of NRC, and proposed license changes

  10. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  11. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

    Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing

  12. Acoustic inspection device

    Energy Technology Data Exchange (ETDEWEB)

    Diaz, Aaron A.; Burghard, Brion J.; Skorpik, James R.; Pappas, Richard A.; Mullen, O. Dennis; Samuel, Todd J.; Reid, Larry D.; Harris, Joe C.; Valencia, Juan D.; Smalley, Jonathan T.; Shepard, Chester L.; Taylor, Theodore T.

    2005-09-06

    An ultrasound inspection apparatus particularly adapted to examine containers (sealed or unsealed) containing a liquid or solid bulk material. The apparatus has an overall configuration of a hand held pistol with a front transducer contact surface that is positioned against a front wall of the container. An ultrasound pulse is transmitted from the apparatus to be reflected from a back wall of a container being investigated. The received echo pulse is converted to a digital waveform. The waveform is analyzed relative to temperature, travel distance of the pulse(s), and time of travel to ascertain characteristics of the liquid or other materials and to provide identification of the same.

  13. Underwater Optical Wireless Channel Modeling Using Monte-Carlo Method

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

    At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.

  14. What kinds of injuries do OSHA inspections prevent?

    Science.gov (United States)

    Haviland, Amelia; Burns, Rachel; Gray, Wayne; Ruder, Teague; Mendeloff, John

    2010-08-01

    OSHA's enforcement program is one of the major public efforts to protect American workers. We examine both the scope of injury prevention that inspections can contribute and the types of standards that contribute the most. We linked Pennsylvania Department of Labor and Industry files for lost-time injuries and employment to calculate injury rates for 1998-2005 for all single-establishment manufacturing firms. We linked these to OSHA inspection records. Inspections with penalties did affect injury types unrelated to standards as well as those related. We also found again that citations for violations of the standard requiring personal protective equipment had the largest impact on preventing injuries. Programs requiring protective equipment use deserve added attention from consultants and inspectors. In addition, some inspections spur managers to undertake safety measures that go beyond compliance with standards. 2010 Elsevier Ltd. All rights reserved.

  15. Predictive maintenance and inspection through airborne ultrasound technology

    Energy Technology Data Exchange (ETDEWEB)

    Bandes, A. [UE Systems, Inc., Elmsford, NY (United States)

    1997-12-31

    Airborne ultrasound can be considered an ideal integrating technology in that these instruments can stand alone to detect a variety of potential problems or they can be used to support vibration and infrared inspection programs. Usually portable, these instruments detect leaks in both pressurized gas systems or vacuum systems and related equipment such as tanks, pipes, heat exchangers, valves and steam traps. Additional applications include inspection of high voltage apparatus for corona, arcing and tracking. They are used to trend bearing failure as well as to detect conditions such as lack of lubrication and rubbing. A brief overview of the technology, its applications and suggested inspection techniques are explained. (orig.) 2 refs.

  16. A Framework for Evaluating Advanced Search Concepts for Multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

    .... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...

  17. A comparative view of routing protocols for underwater wireless sensor networks

    NARCIS (Netherlands)

    Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin

    2011-01-01

    Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as

  18. US-Japan Cooperative Research on Biology-Inspired Precision Maneuvering of Underwater Vehicles

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

    .... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...

  19. Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

    A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...

  20. Waste inspection tomography (WIT)

    International Nuclear Information System (INIS)

    Bernardi, R.T.

    1995-01-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU

  1. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

    McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A

    2012-01-01

    Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.

  2. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

    Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

  3. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

    Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

    2013-07-01

    Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

  4. Data extraction system for underwater particle holography

    Science.gov (United States)

    Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

    2000-08-01

    Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

  5. DOE standard: Quality assurance inspection and testing of HEPA filters

    International Nuclear Information System (INIS)

    1999-02-01

    This standard establishes essential elements for the quality assurance inspection and testing of HEPA filters by US Department of Energy (DOE)-accepted Filter Test Facilities (FTF). The standard specifies HEPA filter quality assurance inspection and testing practices established in DOE-STD-3022-98, DOE HEPA Filter Test Program, and provides a basis for the preparation of written operating procedures for primary FTF functions

  6. Research of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

    Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.

  7. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  8. PWR vessel inspection performance improvements

    International Nuclear Information System (INIS)

    Blair Fairbrother, D.; Bodson, Francis

    1998-01-01

    A compact robot for ultrasonic inspection of reactor vessels has been developed that reduces setup logistics and schedule time for mandatory code inspections. Rather than installing a large structure to access the entire weld inspection area from its flange attachment, the compact robot examines welds in overlapping patches from a suction cup anchor to the shell wall. The compact robot size allows two robots to be operated in the vessel simultaneously. This significantly reduces the time required to complete the inspection. Experience to date indicates that time for vessel examinations can be reduced to fewer than four days. (author)

  9. Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

    This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...

  10. Design and implementation of an underwater sound recording device.

    Science.gov (United States)

    Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A

    2011-01-01

    To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  11. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

    Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  12. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

    Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan

    2008-12-01

    In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.

  13. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  14. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  15. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

    Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

  16. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  17. Proposal of the visual inspection of the integrity of the storage cells of spent fuel from the nuclear power plant of Laguna Verde

    International Nuclear Information System (INIS)

    Gonzalez M, J. L.; Rivero G, T.; Merino C, F. J.; Santander C, L. E.

    2015-09-01

    As part of the evaluation of the structural integrity of the components of nuclear plants, particularly those applying for life extension is necessary to carry out inspections and nondestructive testing to determine the state meet. In many cases these activities are carried out in areas with high levels of radiation and contamination difficult to access, so that are required to use equipment or robotic systems operated remotely. Among others, the frames and cells of the storage pools for spent fuel are structures subject to a program of tests and inspections, and become relevant because the nuclear power plant of Laguna Verde (NPP-LV) is processing the license to extend the operational life of its reactors. Of non-destructive testing can be used to verify the physical condition of the frames and storage cells, is the remote visual inspection which is a test that allows determine the physical integrity of the components by one or more video cameras designed to applications in underwater environments with radiation, and are used to identify and locate adverse conditions such as ampoules, protuberances, pitting, cracks, stains or buckling, which could affect the three main functions for which the store components are designed: to maintain the physical integrity of spent fuels, store them properly guaranteeing their free insertion and removal, and ensure that the store as a whole meets the criticality criteria that k eff is less than 0.95 throughout the life of the plant. This paper describes a proposal to carry out the visual inspection of the storage cells of spent fuel from the NPP-LV using a probe including one or more video cameras along with your recorder, and its corresponding control program. It is noted that due to the obtained results, the nuclear power plant personnel can make decisions regarding remedial actions or applying complementary methods to verify that the cells and frames have not lost their physical integrity, or in particular that the cover

  18. Preventing Work-Related Musculoskeletal Illnesses Through Ergonomics: The Air Force PREMIER Program, Volume 4B: Research Report For Level I Ergonomics Methodology Guide For Maintenance/Inspection Work Areas

    National Research Council Canada - National Science Library

    Barker, Richard

    1997-01-01

    This report describes the results of a pilot test to assess the reliability, sensitivity, validity, and practicality of the Level I Ergonomics Assessment Methodology Guide for Maintenance/Inspection Work Areas...

  19. Program for in-pile qualification of high density silicide dispersion fuel at IPEN/CNEN-SP

    International Nuclear Information System (INIS)

    Silva, Jose E.R. da; Silva, Antonio T. e; Terremoto, Luis A.A.; Durazzo, Michelangelo

    2009-01-01

    The development of high density nuclear fuel (U 3 Si 2 -Al) with 4,8 gU/cm 3 is on going at IPEN, at this time. This fuel has been considered to be utilized at the new Brazilian Multipurpose Reactor (RMB), planned to be constructed up to 2014. As Brazil does not have hot-cell facilities available for post-irradiation analysis, an alternative qualifying program for this fuel is proposed based on the same procedures used at IPEN since 1988 for qualifying its own U 3 O 8 -Al (1,9 and 2,3 gU/cm 3 ) and U 3 Si 2 -Al (3,0 gU/cm 3 ) dispersion fuels. The fuel miniplates and full-size fuel elements irradiations should be tested at IEA-R1 core. The fuel characterization along the irradiation time should be made by means of non-destructive methods, including periodical visual inspections with an underwater video camera system, sipping tests for fuel elements suspected of leakage, and underwater dimensional measurements for swelling evaluation, performed inside the reactor pool. This work presents the program description for the qualification of the high density nuclear fuel (U 3 Si 2 -Al) with 4,8 gU/cm 3 , and describes the IPEN fuel fabrication infrastructure and some basic features of the available systems for non-destructive tests at IEA-R1 research reactor. (author)

  20. National Program of Inspection of Non-Federal Dams, Tennessee. Red Boiling Springs Dam Number 1 (Inventory Number TN 11104), Barren River Basin, near Red Boiling Springs, Macon County, Tennessee. Phase I Investigation Report,

    Science.gov (United States)

    1981-06-01

    Creek at Witcher Hollow Date of Inspection........................January 8, 1981 This investigation and evaluation was prepared by the Tennessee...Macon Stream......................Tributary of Salt Lick Creek at Witcher Hollow Date of Inspection..........January 8, 1981 ABSTRACT The damn...DESCRIPTION 2.1 Location - Red Boiling Springs Dam # 1 is located in Macon County, Tennessee, 1.6 miles east of Red Boiling Springs in Witcher Hollow on an