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The use and development of teleoperators for hostile environment applications at Savannah River Site

Description: The Robotics Development Group (RDG) of the Westinghouse Savannah River Company (WSRC) has used a variety of teleoperated vehicles, arms, and support equipment in hostile environment applications at the US Department of Energy's (DOE) Savannah River Site (SRS). WSRC primarily uses teleoperated hardware to eliminate or significantly reduce personnel exposure in radioactive activities or other hazardous tasks. Teleoperators at SRS handle radioactive material, decontaminate areas contaminated with… more
Date: January 1, 1991
Creator: Fogle, R. F.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Summary report for 1990 inservice inspection (ISI) of SRS 100-L reactor tank

Description: The integrity of the SRS reactor tanks is a key factor affecting their suitability for continued service since, unlike the external piping system and components, the tanks are virtually irreplaceable. Cracking in various areas of the process water piping systems has occurred beginning in about 1960 as a result of several degradation mechanisms, chiefly intergranular stress corrosion cracking (IGSCC) and chloride-induced transgranular cracking. The primary objective of this inspection was to det… more
Date: July 12, 1991
Creator: Morrison, J. M. & Loibl, M. W.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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Remote video radioactive process evaluation, Savannah River Site

Description: Specialized miniature low cost video equipment has been effectively used in a number of remote, radioactive, and contaminated environments at the Savannah River Site (SRS). The equipment and related techniques have reduced the potential for personnel exposure to both radiation and physical hazards. The valuable process information thus provided would not have otherwise been available for use in improving the quality of operation at SRS.
Date: January 1, 1990
Creator: Heckendorn, F.M.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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A Demonstration of Remote Survey and Characterization of a Buried Waste Site Using the SRIP (Soldier Robot Interface Project) Testbed

Description: During FY 1990, the Oak Ridge National Laboratory (ORNL) supported the Department of Energy (DOE) Environmental Restoration and Waste Management (ER WM) Office of Technology Development through several projects including the development of a semiautonomous survey of a buried waste site using a remotely operated all-terrain robotic testbed borrowed from the US Army. The testbed was developed for the US Army's Human Engineering Laboratory (HEL) for the US Army's Soldier Robot Interface Project (S… more
Date: January 1, 1990
Creator: Burks, B. L.; Richardson, B. S.; Armstrong, G. A.; Hamel, W. R.; Jansen, J. F.; Killough, S. M. et al.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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Remote video radioactive systems evaluation, Savannah River Site

Description: Specialized miniature low cost video equipment has been effectively used in a number of remote, radioactive, and contaminated environments at the Savannah River Site (SRS). The equipment and related techniques have reduced the potential for personnel exposure to both radiation and physical hazards. The valuable process information thus provided would not have otherwise been available for use in improving the quality of operation at SRS.
Date: January 1, 1991
Creator: Heckendorn, F.M. & Robinson, C.W.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

1990 waste tank inspection program

Description: Aqueous radioactive wastes from Savannah River Site separations processes are contained in large underground carbon steel tanks. Tank conditions are evaluated by inspection using periscopes, still photography, and video systems for visual imagery. Inspections made in 1990 are the subject of this report.
Date: January 1, 1990
Creator: McNatt, F.G.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Summary report for 1990 inservice inspection (ISI) of SRS 100-K reactor tank

Description: The integrity of the SRS reactor tanks is a key factor affecting their suitability for continued service since, unlike the external piping system and components, the tanks are virtually irreplaceable. Cracking in various areas of the process water piping systems has occurred beginning in about 1960 as a result of several degradation mechanisms, chiefly intergranular stress corrosion cracking (IGSCC) and chloride-induced transgranular cracking. The purpose of this inspection was to determine if … more
Date: May 15, 1990
Creator: Morrison, J. M. & Loibl, M. W.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Pipe crawlers: Versatile adaptations for real applications

Description: A problem at the Savannah River Site requires the unique application of a pipe crawler. A number of stainless steel pipes buried in concrete require ultrasonic inspection of the heat affected zones of the welds for detection of flaws or cracks. The paper describes the utilization of an inch-worm motion pipe crawler which negotiates a 90 degree reducing elbow with significant changes in diameter and vertical sections before entering the area of concern. After a discussion of general consideratio… more
Date: January 1, 1990
Creator: Hapstack, M. & Talarek, T.R.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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Low-cost teleoperator-controlled vehicle for damage assessment and radiation dose measurement

Description: A low-cost, disposable, radio-controlled, remote-reading, ionizing radiation and surveillance teleoperator re-entry vehicle has been built. The vehicle carries equipment, measures radiation levels, and evaluates building conditions. The basic vehicle, radio control with amplifiers, telemetry, elevator, and video camera with monitor cost less than $2500. Velcro-mounted alpha, beta-gamma, and neutron sensing equipment is used in the present system. Many types of health physics radiation measuring… more
Date: January 1, 1991
Creator: Tyree, W.H.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

DOE Robotics Project

Description: This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)
Date: January 1, 1991
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

The Robotic Edge Finishing Laboratory

Description: The Robotic Edge Finishing Laboratory at Sandia National Laboratories is developing four areas of technology required for automated deburring, chamfering, and blending of machined edges: (1) the automatic programming of robot trajectories and deburring processes using information derived from a CAD database, (2) the use of machine vision for locating the workpiece coupled with force control to ensure proper tool contact, (3) robotic deburring, blending, and machining of precision chamfered edge… more
Date: July 1990
Creator: Loucks, Clifford S. & Selleck, Collin B.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Remote radioactive waste drum inspection with an autonomous mobile robot

Description: An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions.
Date: January 1, 1992
Creator: Heckendorn, F. M.; Ward, C. R. & Wagner, D. G.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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A remote characterization system for subsurface mapping of buried waste sites

Description: Mapping of buried objects and regions of chemical and radiological contamination is required at US Department of Energy (DOE) buried waste sites. The DOE Office of Technology Development Robotics Integrated Program has initiated a project to develop and demonstrate a remotely controlled subsurface sensing system, called the Remote Characterization System (RCS). This project, a collaborative effort by five of the National Laboratories, involves the development of a unique low-signature survey ve… more
Date: October 1, 1992
Creator: Sandness, G.A. & Bennett, D.W.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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Savannah River Site L reactor testing

Description: Flow tests were conducted in the Savannah River Site L reactor to evaluate the performance of the primary coolant system under simulated Loss of Coolant Accident (LOCA) conditions. Results were obtained with a prototypic cold fuel charge in the core. Core flows typical of normal and shutdown operation were studied. The tests consisted of measuring hydraulic parameters while lowering tank moderator levels to allow air entrainment from the reactor tank through operating coolant pumps. Data were c… more
Date: January 1, 1990
Creator: Menna, J. D. & Whitehouse, J. C.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Remote removal of an obstruction from FFTF (Fast Flux Test Facility) in-service inspection camera track

Description: Remote techniques and special equipment were used to clear the path of a closed-circuit television camera system that travels on a monorail track around the reactor vessel support arm structure. A tangle of wire-wrapped instrumentation tubing had been inadvertently inserted through a dislocated guide-tube expansion joint and into the camera track area. An externally driven auger device, mounted on the track ahead of the camera to view the procedure, was used to retrieve the tubing. 6 figs.
Date: November 1, 1990
Creator: Gibbons, P.W.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

A Remote Characterization System and a fault-tolerant tracking system for subsurface mapping of buried waste sites

Description: This paper describes two closely related projects that will provide new technology for characterizing hazardous waste burial sites. The first project, a collaborative effort by five of the national laboratories, involves the development and demonstration of a remotely controlled site characterization system. The Remote Characterization System (RCS) includes a unique low-signature survey vehicle, a base station, radio telemetry data links, satellite-based vehicle tracking, stereo vision, and sen… more
Date: August 1, 1992
Creator: Sandness, G. A.; Bennett, D. W.; Martinson, L.; Bingham, D. N. & Anderson, A. A.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Intelligent System Controller for remote systems

Description: The US Department of Energy's Office of Technology Development (OTD) has sponsored the development of the Generic Intelligent System Controller (GISC) for application to the clean up of hazardous waste sites. Of primary interest to the OTD is the development of technologies which result in faster, safer, and cheaper cleanup of hazardous waste sites than possible using conventional approaches. An objective of the GISC development project is to achieve these goals by developing a modular robotics… more
Date: January 1, 1992
Creator: Harrigan, R.W.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Remote radioactive waste drum inspection with an autonomous mobile robot

Description: An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions.
Date: November 1, 1992
Creator: Heckendorn, F. M.; Ward, C. R. & Wagner, D. G.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Engineering task plan for flammable gas atmosphere mobile color video camera systems

Description: This Engineering Task Plan (ETP) describes the design, fabrication, assembly, and testing of the mobile video camera systems. The color video camera systems will be used to observe and record the activities within the vapor space of a tank on a limited exposure basis. The units will be fully mobile and designed for operation in the single-shell flammable gas producing tanks. The objective of this tank is to provide two mobile camera systems for use in flammable gas producing single-shell tanks … more
Date: January 25, 1995
Creator: Kohlman, E. H.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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Integration of video and radiation analysis data

Description: For the past several years, the integration of containment and surveillance (C/S) with nondestructive assay (NDA) sensors for monitoring the movement of nuclear material has focused on the hardware and communications protocols in the transmission network. Little progress has been made in methods to utilize the combined C/S and NDA data for safeguards and to reduce the inspector time spent in nuclear facilities. One of the fundamental problems in the integration of the combined data is that the … more
Date: December 31, 1995
Creator: Menlove, H. O.; Howell, J. A.; Rodriguez, C. A.; Eccleston, G. W.; Beddingfield, D.; Smith, J. E. et al.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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Acceptance/operational test procedure 241-AN-107 Video Camera System

Description: This procedure will document the satisfactory operation of the 241-AN-107 Video Camera System. The camera assembly, including camera mast, pan-and-tilt unit, camera, and lights, will be installed in Tank 241-AN-107 to monitor activities during the Caustic Addition Project. The camera focus, zoom, and iris remote controls will be functionally tested. The resolution and color rendition of the camera will be verified using standard reference charts. The pan-and-tilt unit will be tested for require… more
Date: November 18, 1994
Creator: Pedersen, L. T.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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Integrated computer-enhanced remote viewing system. Quarterly report No. 2, January--March 1993

Description: The Interactive, Computer-Enhanced, Remote Viewing System (ICERVS) is a system designed to provide a reliable geometric description of a robotic task space in a fashion that enables robotic remediation to be carried out more efficiently and economically than with present systems. The key elements are a faithful way to store empirical data and a friendly user interface that provides an operator with timely access to all that is known about a scene.
Date: May 3, 1993
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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In situ characterization of metal fuel stored in the Hanford K Basins

Description: The Hanford K Basins contain roughly 2,000 tons of uranium metal fuel previously irradiated in N Reactor. Current plans call for the fuel to be moved to a new storage location in the next few years. This paper describes near term activities to gather data on the mechanical condition and chemical state of the fuel and associated sludge. These on-going in-situ, nondestructive, examinations are intended to complement hot cell examinations which are planned for the near future. Characterization dat… more
Date: February 1, 1995
Creator: Makenas, B. J.; Omberg, R. P. & Lawrence, L. A.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
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