Miniaturized robotically deployed sensor systems for in-situ characterization of hazardous waste

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Description

A series of ``MiniLab`` end effectors are currently being designed for robotic deployment in hazardous areas such as waste storage tanks at Idaho National Engineering Laboratories (INEL) and Oak Ridge National Laboratory (ORNL). These MiniLabs will be the first ever multichannel hazardous waste characterization end effectors deployed in underground high level waste storage tanks. They consist of a suite of chemical, radiological, and physical properties sensors integrated into a compact package mounted on the end of a robotic arm and/or vehicle. Most of the sensors are commercially available thus reducing the overall cost of design and maintenance. Sensor configurations can ... continued below

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7 p.

Creation Information

Fischer, G.J. December 31, 1996.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

A series of ``MiniLab`` end effectors are currently being designed for robotic deployment in hazardous areas such as waste storage tanks at Idaho National Engineering Laboratories (INEL) and Oak Ridge National Laboratory (ORNL). These MiniLabs will be the first ever multichannel hazardous waste characterization end effectors deployed in underground high level waste storage tanks. They consist of a suite of chemical, radiological, and physical properties sensors integrated into a compact package mounted on the end of a robotic arm and/or vehicle. Most of the sensors are commercially available thus reducing the overall cost of design and maintenance. Sensor configurations can be customized depending on site/customer needs. This paper will address issues regarding the cost of field sampling verses MiniLab in-situ measurements and a brief background of the Light Duty utility Arm (LDUA) program. Topics receiving in depth attention will include package size parameters/constraints, design specifications, and investigations of currently available sensor technology. Sensors include radiological, gas, chemical, electrolytic, visual, temperature, and ranging. The effects of radiation on the life of the systems/sensors will also be discussed. Signal processing, control, display, and data acquisition methods will be described. The paper will conclude with an examination of possible applications for MiniLabs.

Physical Description

7 p.

Notes

INIS; OSTI as DE97001880

Source

  • 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997

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  • Other: DE97001880
  • Report No.: SAND--96-2934C
  • Report No.: CONF-970464--3
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 459342
  • Archival Resource Key: ark:/67531/metadc676146

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  • December 31, 1996

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

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  • June 14, 2016, 3:43 p.m.

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Fischer, G.J. Miniaturized robotically deployed sensor systems for in-situ characterization of hazardous waste, article, December 31, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc676146/: accessed August 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.