The Gamma Detector Response and Analysis Software--Detector Response Function (GADRAS-DRF) application computes the response of gamma-ray and neutron detectors to incoming radiation. This manual provides step-by-step procedures to acquaint new users with the use of the application. The capabilities include characterization of detector response parameters, plotting and viewing measured and computed spectra, analyzing spectra to identify isotopes, and estimating source energy distributions from measured spectra. GADRAS-DRF can compute and provide detector responses quickly and accurately, giving users the ability to obtain usable results in a timely manner (a matter of seconds or minutes).
Sandia’s Intelligent Systems, Robotics, and Cybernetics group (ISRC) created the Sandia Architecture for Heterogeneous Unmanned System Control (SAHUC) to demonstrate how heterogeneous multi-agent teams could be used for tactical operations including the protection of high-consequence sites. Advances in multi-agent autonomy and unmanned systems have provided revolutionary new capabilities that can be leveraged for physical security applications. SAHUC applies these capabilities to produce a command-intent driven, autonomously adapting, multi-agent mobile sensor network. This network could enhance the security of high-consequence sites; it can be quickly and intuitively re-tasked to rapidly adapt to changing security conditions. The SAHUC architecture, GUI, autonomy layers, and implementation are explored. Results from experiments and a demonstration are also discussed.
The Sandia Architecture for Heterogeneous Unmanned System Control (SAHUC) was produced as part of a three year internally funded project performed by Sandia's Intelligent Systems, Robotics, and Cybernetics group (ISRC). ISRC created SAHUC to demonstrate how teams of Unmanned Systems (UMS) can be used for small-unit tactical operations incorporated into the protection of high-consequence sites. Advances in Unmanned Systems have provided crucial autonomy capabilities that can be leveraged and adapted to physical security applications. SAHUC applies these capabilities to provide a distributed ISR network for site security. This network can be rapidly re-tasked to respond to changing security conditions. The SAHUC architecture contains multiple levels of control. At the highest level a human operator inputs objectives for the network to accomplish. The heterogeneous unmanned systems automatically decide which agents can perform which objectives and then decide the best global assignment. The assignment algorithm is based upon coarse metrics that can be produced quickly. Responsiveness was deemed more crucial than optimality for responding to time-critical physical security threats. Lower levels of control take the assigned objective, perform online path planning, execute the desired plan, and stream data (LIDAR, video, GPS) back for display on the user interface. SAHUC also retains an override capability, allowing the human operator to modify all autonomous decisions whenever necessary. SAHUC has been implemented and tested with UAVs, UGVs, and GPS-tagged blue/red force actors. The final demonstration illustrated how a small fleet, commanded by a remote human operator, could aid in securing a facility and responding to an intruder.
The Gamma Detector Response and Analysis Software - Detector Response Function (GADRAS-DRF) application computes the response of gamma-ray and neutron detectors to incoming radiation. This manual provides step-by-step procedures to acquaint new users with the use of the application. The capabilities include characterization of detector response parameters, plotting and viewing measured and computed spectra, analyzing spectra to identify isotopes, and estimating source energy distributions from measured spectra. GADRAS-DRF can compute and provide detector responses quickly and accurately, giving users the ability to obtain usable results in a timely manner (a matter of seconds or minutes).
The Gamma Detector Response and Analysis Software-Detector Response Function (GADRAS-DRF) application computes the response of gamma-ray detectors to incoming radiation. This manual provides step-by-step procedures to acquaint new users with the use of the application. The capabilities include characterization of detector response parameters, plotting and viewing measured and computed spectra, and analyzing spectra to identify isotopes or to estimate flux profiles. GADRAS-DRF can compute and provide detector responses quickly and accurately, giving researchers and other users the ability to obtain usable results in a timely manner (a matter of seconds or minutes).
The original Trusted Radiation Identification System (TRIS) was developed from 1999-2001, featuring information barrier technology to collect gamma radiation template measurements useful for arms control regime operations. The first TRIS design relied upon a multichannel analyzer (MCA) that was external to the protected volume of the system enclosure, undesirable from a system security perspective. An internal complex programmable logic device (CPLD) contained data which was not subject to software authentication. Physical authentication of the TRIS instrument case was performed by a sensitive but slow eddy-current inspection method. This paper describes progress to date for the Next Generation TRIS (NG-TRIS), which improves the TRIS design. We have incorporated the MCA internal to the trusted system volume, achieved full authentication of CPLD data, and have devised rapid methods to authenticate the system enclosure and weld seals of the NG-TRIS enclosure. For a complete discussion of the TRIS system and components upon which NG-TRIS is based, the reader is directed to the comprehensive user's manual and system reference of Seager, et al.
This reports describes the successful extension of artificial immune systems from the domain of computer security to the domain of real time control systems for robotic vehicles. A biologically-inspired computer immune system was added to the control system of two different mobile robots. As an additional layer in a multi-layered approach, the immune system is complementary to traditional error detection and error handling techniques. This can be thought of as biologically-inspired defense in depth. We demonstrated an immune system can be added with very little application developer effort, resulting in little to no performance impact. The methods described here are extensible to any system that processes a sequence of data through a software interface.
The Zone 4 Stage Right Shielded Lift Trucks (SLT's) will likely need refurbishment or replacement within the next two to five years, due to wear. This document discusses the options to provide a long term and reliable means of satisfying Zone 4 material movement and inventory requirements.
The Intelligent Systems and Robotics Center of Sandia National Laboratories has an ongoing research program in advanced user interfaces. As part of this research, promising new transduction devices, particularly hands-free devices, are being explored for the control of mobile and floor-mounted robotic systems. Brainwave control has been successfully demonstrated by other researchers in a variety of fields. In the research described here, Sandia developed and demonstrated a proof-of-concept brainwave-controlled mobile robot system. Preliminary results were encouraging. Additional work required to turn this into a reliable, fieldable system for mobile robotic control is identified. Used in conjunction with other controls, brainwave control could be an effective control method in certain circumstances.