Mobile worksystems for decontamination and decommissioning operations. Final report

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Description

This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D&D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D&D work by evolving the design through a series of technological developments, performance tests and evaluations. The Phase I effort was based on a robot called the Remote Work Vehicle ... continued below

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73 p.

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Creator: Unknown. February 1, 1997.

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Description

This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D&D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D&D work by evolving the design through a series of technological developments, performance tests and evaluations. The Phase I effort was based on a robot called the Remote Work Vehicle (RWV) that was previously developed by CMU for use in D&D operations at the Three Mile Island Unit 2 Reactor Building basement. During Phase I of this program, the RWV was rehabilitated and upgraded with contemporary control and user interface technologies and used as a testbed for remote D&D operations. We established a close working relationship with the DOE Robotics Technology Development Program (RTDP). In the second phase, we designed and developed a next generation mobile worksystem, called Rosie, and a semi-automatic task space scene analysis system, called Artisan, using guidance from RTDP. Both systems are designed to work with and complement other RTDP D&D technologies to execute selective equipment removal scenarios in which some part of an apparatus is extricated while minimally disturbing the surrounding objects. RTDP has identified selective equipment removal as a timely D&D mission, one that is particularly relevant during the de-activation and de-inventory stages of facility transitioning as a means to reduce the costs and risks associated with subsequent surveillance and monitoring. In the third phase, we tested and demonstrated core capabilities of Rosie and Artisan; we also implemented modifications and enhancements that improve their relevance to DOE`s facility transitioning mission.

Physical Description

73 p.

Notes

INIS; OSTI as DE97005460

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  • Other Information: PBD: Feb 1997

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  • Other: DE97005460
  • Report No.: DOE/MC/29104--5759
  • Grant Number: AC21-92MC29104
  • DOI: 10.2172/589230 | External Link
  • Office of Scientific & Technical Information Report Number: 589230
  • Archival Resource Key: ark:/67531/metadc693812

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • February 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • June 14, 2016, 3:44 p.m.

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Mobile worksystems for decontamination and decommissioning operations. Final report, report, February 1, 1997; United States. (digital.library.unt.edu/ark:/67531/metadc693812/: accessed December 16, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.