This report summarizes the work performed under the Sandia LDRD project "Eyes on the Ground: Visual Verification for On-Site Inspection." The goal of the project was to develop methods and tools to assist an IAEA inspector in assessing visual and other information encountered during an inspection. Effective IAEA inspections are key to verifying states' compliance with nuclear non-proliferation treaties. In the course of this work we developed a taxonomy of candidate inspector assistance tasks, selected key tasks to focus on, identified hardware and software solution approaches, and made progress in implementing them. In particular, we demonstrated the use of multiple types of 3-d scanning technology applied to simulated inspection environments, and implemented a preliminary prototype of a novel inspector assistance tool. This report summarizes the project's major accomplishments, and gathers the abstracts and references for the publication and reports that were prepared as part of this work. We then describe work in progress that is not yet ready for publication. Approved for public release; further dissemination unlimited.
A previous report assesses our progress to date on the Eyes On the Ground project, and reviews lessons learned. In this report, we address the implications of those lessons in defining the most productive path forward for the remainder of the project. We propose two main concepts: Interactive Diagnosis and Model-Driven Assistance. Among these, the Model-Driven Assistance concept appears the most promising. The Model-Driven Assistance concept is based on an approximate but useful model of a facility, which provides a unified representation for storing, viewing, and analyzing data that is known about the facility. This representation provides value to both inspectors and IAEA headquarters, and facilitates communication between the two. The concept further includes a lightweight, portable field tool to aid the inspector in executing a variety of inspection tasks, including capture of images and 3-d scan data. We develop a detailed description of this concept, including its system components, functionality, and example use cases. The envisioned tool would provide value by reducing inspector cognitive load, streamlining inspection tasks, and facilitating communication between the inspector and teams at IAEA headquarters. We conclude by enumerating the top implementation priorities to pursue in the remaining limited time of the project. Approved for public release; further dissemination unlimited.
The goal of the Eyes On the Ground project is to develop tools to aid IAEA inspectors. Our original vision was to produce a tool that would take three-dimensional measurements of an unknown piece of equipment, construct a semantic representation of the measured object, and then use the resulting data to infer possible explanations of equipment function. We report our tests of a 3-d laser scanner to obtain 3-d point cloud data, and subsequent tests of software to convert the resulting point clouds into primitive geometric objects such as planes and cylinders. These tests successfully identified pipes of moderate diameter and planar surfaces, but also incurred significant noise. We also investigated the IAEA inspector task context, and learned that task constraints may present significant obstacles to using 3-d laser scanners. We further learned that equipment scale and enclosing cases may confound our original goal of equipment diagnosis. Meanwhile, we also surveyed the rapidly evolving field of 3-d measurement technology, and identified alternative sensor modalities that may prove more suitable for inspector use in a safeguards context. We conclude with a detailed discussion of lessons learned and the resulting implications for project goals. Approved for public release; further dissemination unlimited.
The Chain of Custody Item Monitor (CoCIM) developed by Sandia National Laboratories is one of the most mature and well-studied active seals for use in containment applications for arms control treaty verification and international nuclear safeguards. However, its typical design includes wireless communications provided by a radio frequency (RF) transmitter and receiver. While this provides flexibility of movement for many applications, it is unnecessary and undesired for some treaty verification applications. This report details the design and construction of two variants of the CoCIM that remove the RF transmission capability in favor of directly connected wired and short-range infrared communications, as well as a new coordinator that is used to interface the CoCIM to a computer, and new interface software that is simplified for a likely inspection use case.
This User Manual contains a description of the wired and infrared (IR) variants of the Chain of Custody Item Monitor (CoCIM), the Coordinator for reading stored messages, and the inspector Message Viewer user interface (UI) software, as well as instructions for use. This manual does not include descriptions or use instructions for the radio frequency (RF) variant of the CoCIM. The intended audience is planners and participants in treaty verification exercises where chain of custody (CoC) elements are required.
The real H1514 Shipping and Storage Container is an environmentally sealed and desiccated aluminum drum-type container designed to transport the W88/Mk5 Reentry Body Assembly. The H1514 is cylindrical except for a portion of its base, which is 36" square and 3" high and contains the forklift openings. Our mock H1514 retains the dimensions and shape of the real H1514 in a lighter form that is not sealed and does not have ports for desiccation.
The charter goal of the Agile Machining and Inspection Thrust Area Team is to identify technical requirements, within the nuclear weapons complex (NWC), for Agile Machining and Inspection capabilities. During FY 2008, the team identified Parametric Technology Corporation (PTC) Pro/CMM as a software tool for use in off-line programming of probing routines--used for measurement--for machining and turning centers. The probing routine would be used for in-process verification of part geometry. The same Pro/CMM program used on the machine tool could also be employed for program validation / part verification using a coordinate measuring machine (CMM). Funding was provided to determine the compatibility of the Pro/CMM probing program with CMM software (Zeiss DMISEngine).