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Advanced sluicing system test report for single shell tank waste retrieval integrated testing

Description: This document describes the testing performed by ARD Environmental, Inc., and Los Alamos Technical Associates of the LATA/ARD Advanced Sluicing System, in support of ACTR Phase 1 activities. Testing was to measure the impact force and pressures of sluicing streams at three different distances, as measured by the Government supplied load cell. Simulated sluicing of large simulated salt cake and hard pan waste coupons was also performed. Due to operational difficulties experienced with the Government supplied load cell, no meaningful results with respect to sluice stream impact pressure distribution or stream coherence were obtained. Sluice testing using 3000 psi salt cake simulants measured waste retrieval rates of approximately 12 Ml/day (17.6 ft{sup 3}/hr). Rates as high as 314 m{sup 3}/day (463 ft{sup 3}/hr) were measured against the lower strength salt cake simulants.
Date: May 29, 1997
Creator: Berglin, E.J.
Partner: UNT Libraries Government Documents Department

Operations and maintenance manual for the light duty utility arm (LDUA) at-tank instrument enclosure (ATIE) (LDUA system 4300)

Description: The Light Duty Utility Arm (LDUA) At-Tank Instrument Enclosure has completed testing and is ready for operation. This document defines the requirements applicable to the operation and maintenance of the At-Tank Instrument Enclosure.
Date: July 23, 1996
Creator: Clark, D.A., Westinghouse Hanford
Partner: UNT Libraries Government Documents Department

Lockheed Martin T-Rex: Preliminary report

Description: T-Rex is a robot which may be used in toxic or flammable environments. The assessment of the T-Rex conducted at the Lockheed Martin facility was limited in its scope. The scope of the assessment was directed by the type of equipment being used and the amount of accessibility to the equipment. Due to severe time constraints--the assessment was conducted in one day--human factors interface activities were limited. This should be considered a preliminary assessment. This report covers aspects of the technology that were available to the assessment team. Recommendations for future evaluation of this technology are also included. The contents are as follows: Electrical Considerations; General Electrical Consideration; Trailing Cables; Grounding; Surface High Voltage Distribution; Low and Medium Voltage Alternating Current Circuits; Potential for Harmful Human Factor Incidents and Enterprise Disablement; Exclusion Zone Emergency Maintenance; and Recommendations.
Date: July 31, 1997
Partner: UNT Libraries Government Documents Department

Modular robotics overview of the `state of the art`

Description: The design of a robotic arm processing modular components and reconfigurable links is the general goal of a modular robotics development program. The impetus behind the pursuit of modular design is the remote engineering paradigm of improved reliability and availability provided by the ability to remotely maintain and repair a manipulator operating in a hazardous environment by removing and replacing worn or failed modules. Failed components can service off- line and away from hazardous conditions. The desire to reconfigure an arm to perform different tasks is also an important driver for the development of a modular robotic manipulator. In order to bring to fruition a truly modular manipulator, an array of technical challenges must be overcome. These range from basic mechanical and electrical design considerations such as desired kinematics, actuator types, and signal and transmission types and routings, through controls issues such as the need for control algorithms capable of stable free space and contact control, to computer and sensor design issues like consideration of the use of embedded processors and redundant sensors. This report presents a brief overview of the state of the art of technical issues relevant of modular robotic arm design. The focus is on breadth of coverage, rather than depth, in order to provide a reference frame for future development.
Date: August 1, 1996
Creator: Kress, R.L.; Jansen, J.F. & Hamel, W.R.
Partner: UNT Libraries Government Documents Department

Installation and assembly device and method of using

Description: The present invention relates to an installation and assembly device and method for facilitating the fitup of mating components during blind or remote installation and assembly, especially where close fitup tolerances are involved. The present invention is particularly useful for the purpose of facilitating vertical and/or radial relative positioning of a pump impeller within a mating inlet nozzle during a blind assembly wherein actual fitup cannot be observed during installation. The information within identifies just one successful application of the installation and assembly alignment device for a pump. The device, however, is not solely limited to pump assembly but can be used in other cases where fitup of a sleeve inside a mating bore is required under conditions of close tolerance during a blind or remote assembly. The device is likewise not limited to circular configurations but can be used for many other shapes or configurations. Any material that can be machined and hold reasonably close tolerances can be used for the device. Also, because the sleeve position is adjusted by set screws or bolts, the concentricity can be radially biased, if required, to achieve particular alignment conditions.
Date: December 31, 1995
Creator: Kolsun, G.J.
Partner: UNT Libraries Government Documents Department

EM-50 Tanks Focus Area retrieval process development and enhancements. FY97 technology development summary report

Description: The Retrieval Process Development and Enhancements (RPD and E) activities are part of the US Department of Energy (DOE) EM-50 Tanks Focus Area, Retrieval and Closure program. The purpose of RPD and E is to understand retrieval processes, including emerging and existing technologies, and to gather data on these processes, so that end users have requisite technical bases to make retrieval decisions. Technologies addressed during FY97 include enhancements to sluicing, the use of pulsed air to assist mixing, mixer pumps, innovative mixing techniques, confined sluicing retrieval end effectors, borehole mining, light weight scarification, and testing of Russian-developed retrieval equipment. Furthermore, the Retrieval Analysis Tool was initiated to link retrieval processes with tank waste farms and tank geometric to assist end users by providing a consolidation of data and technical information that can be easily assessed. The main technical accomplishments are summarized under the following headings: Oak Ridge site-gunite and associated tanks treatability study; pulsed air mixing; Oak Ridge site-Old Hydrofracture Facility; hydraulic testbed relocation; cooling coil cleaning end effector; light weight scarifier; innovative tank mixing; advanced design mixer pump; enhanced sluicing; Russian retrieval equipment testing; retrieval data analysis and correlation; simulant development; and retrieval analysis tool (RAT).
Date: September 1, 1997
Creator: Rinker, M.W.; Bamberger, J.A. & Alberts, D.G.
Partner: UNT Libraries Government Documents Department

Large underground radioactive waste storage tanks successfully cleaned at Oak Ridge National Laboratory

Description: Waste retrieval operations were successfully completed in two large underground radioactive waste storage tanks in 1997. The US Department of Energy (DOE) and the Gunite Tanks Team worked cooperatively during two 10-week waste removal campaigns and removed approximately 58,300 gallons of waste from the tanks. About 100 gallons of a sludge and liquid heel remain in each of the 42,500 gallon tanks. These tanks are 25 ft. in diameter and 11 ft. deep, and are located in the North Tank Farm in the center of Oak Ridge National Laboratory. Less than 2% of the radioactive contaminants remain in the tanks, proving the effectiveness of the Radioactive Tank Cleaning System, and accomplishing the first field-scale cleaning of contaminated underground storage tanks with a robotic system in the DOE complex.
Date: May 1, 1998
Creator: Billingsley, K.; Burks, B.L.; Johnson, M.; Mims, C.; Powell, J. & Hoesen, D. van
Partner: UNT Libraries Government Documents Department

A Cost Effective Automatic Balloon Launcher

Description: Approximately 800,000 balloon-borne radiosondes are hand-launched each year, a cost and labor-intensive procedure. Development of a low-cost Automatic Radiosonde Launcher would allow the manual procedure to be replaced with a reliable and less expensive process. Balloon-borne radiosondes provide essential meteorological data used by forecasters and researchers around the globe. The National Weather service alone launches tens of thousands of sondes from sites across the US. Although worldwide launching of radiosondes has been done for many years, it remains a labor intensive and therefore expensive operation. Using its own funding and, more recently with the help of a Phase I SBIR grant, Visidyne, Inc. has begun investigating the feasibility of building an Automatic Radiosonde Launcher (ARL) that can be built at a cost that will be acceptable to the commercial marketplace. That work has led to the issuing of four patents covering important innovations that will allow us to meet that goal. Under the recent Phase I effort, solutions to many of the key problems have been tested in the laboratory and in real-world demonstrations in the field. The balloon filling, battery wetting, and launch release mechanisms were designed, built, and tested. A breadboard launcher was constructed and tested to prove feasibility of key system elements. Demonstration launches of radiosondes were performed using the breadboard launcher from the National Weather Service facility in Gray, ME, and from Hanscom AFB in Lexington, MA. The cost and size of a full scale shelter prevented us from building one during Phase I, however, we do have a design that will accomplish our goals. The Automatic Radiosonde Launcher will significantly reduce the cost of launching balloon-borne instruments. US and foreign weather services and atmospheric, climatological, and meteorological researchers will all benefit from this innovation.
Date: June 8, 2000
Creator: Michael, Berrigan J.
Partner: UNT Libraries Government Documents Department

Large-bore pipe decontamination

Description: The decontamination and decommissioning (D and D) of 1200 buildings within the US Department of Energy-Office of Environmental Management (DOE-EM) Complex will require the disposition of miles of pipe. The disposition of large-bore pipe, in particular, presents difficulties in the area of decontamination and characterization. The pipe is potentially contaminated internally as well as externally. This situation requires a system capable of decontaminating and characterizing both the inside and outside of the pipe. Current decontamination and characterization systems are not designed for application to this geometry, making the direct disposal of piping systems necessary in many cases. The pipe often creates voids in the disposal cell, which requires the pipe to be cut in half or filled with a grout material. These methods are labor intensive and costly to perform on large volumes of pipe. Direct disposal does not take advantage of recycling, which could provide monetary dividends. To facilitate the decontamination and characterization of large-bore piping and thereby reduce the volume of piping required for disposal, a detailed analysis will be conducted to document the pipe remediation problem set; determine potential technologies to solve this remediation problem set; design and laboratory test potential decontamination and characterization technologies; fabricate a prototype system; provide a cost-benefit analysis of the proposed system; and transfer the technology to industry. This report summarizes the activities performed during fiscal year 1997 and describes the planned activities for fiscal year 1998. Accomplishments for FY97 include the development of the applicable and relevant and appropriate regulations, the screening of decontamination and characterization technologies, and the selection and initial design of the decontamination system.
Date: January 1, 1998
Creator: Ebadian, M.A.
Partner: UNT Libraries Government Documents Department

Type C investigation of electrical fabrication projects in ICF Kaiser shops

Description: A Type C Investigation Board was convened to investigate an electrical miswiring problem found during the operation of the electrical distribution trailer for the TWRS Rotary Mode Core Sampling Truck {number_sign}2. The trailer was designed by WHC and fabricated ICF KH on site for use in the Characterization Program. This problem resulted in a serious safety hazard since the support truck frame/chassis became electrically energized. This final report provides results of the ``Type C Investigation, Electrical Fabrication Projects in ICF KH Shops, June, 1995.`` It contains the investigation scope, executive summary, relevant facts, analysis, conclusions and corrective actions. DOE Order 5484.1, ``Environmental Protection, Safety and Health Protection Information Reporting Requirements,`` was followed in preparation of this report. Because the incident was electrical in nature and involved both Westinghouse Hanford Company and ICF Kaiser Hanford organizations, the board included members from both contractors and members with considerable electrical expertise.
Date: June 1, 1995
Creator: Huckfeldt, R.A.
Partner: UNT Libraries Government Documents Department

Conveyor with rotary airlock apparatus

Description: This invention is comprised of an apparatus for transferring objects from a first region to a second region, the first and second regions having differing atmospheric environments. The apparatus includes a shell having an entrance and an exit, a conveyer belt running through the shell from the entrance to the exit, and a horizontally mounted `revolving door` with at least four vanes revolving about its axis. The inner surface of the shell and the top surface of the conveyer belt act as opposing walls of the `revolving door`. The conveyer belt dips as it passes under but against the revolving vanes so as not to interfere with them but to engage at least two of the vanes and define thereby a moving chamber. Preferably, the conveyer belt has ridges or grooves on its surface that engage the edges of the vanes and act to rotate the vane assembly. Conduits are provided that communicate with the interior of the shell and allow the adjustment of the atmosphere of the moving chamber or recovery of constituents of the atmosphere of the first region from the moving chamber before they escape to the second region.
Date: January 1, 1993
Creator: Kronbert, J.W.
Partner: UNT Libraries Government Documents Department


Description: The introduction of automation systems into many of the facilities dealing with the production, use and disposition of nuclear materials has been an ongoing objective. Many previous attempts have been made, using a variety of monolithic and, in some cases, modular technologies. Many of these attempts were less than successful, owing to the difficulty of the problem, the lack of maturity of the technology, and over optimism about the capabilities of a particular system. Consequently, it is not surprising that suggestions that automation can reduce worker Occupational Radiation Exposure (ORE) levels are often met with skepticism and caution. The development of effective demonstrations of these technologies is of vital importance if automation is to become an acceptable option for nuclear material processing environments. The University of Texas Robotics Research Group (UTRRG) has been pursuing the development of technologies to support modular small automation systems (each of less than 5 degrees-of-freedom) and the design of those systems for more than two decades. Properly designed and implemented, these technologies have a potential to reduce the worker ORE associated with work in nuclear materials processing facilities. Successful development of systems for these applications requires the development of technologies that meet the requirements of the applications. These application requirements form a general set of rules that applicable technologies and approaches need to adhere to, but in and of themselves are generally insufficient for the design of a specific automation system. For the design of an appropriate system, the associated task specifications and relationships need to be defined. These task specifications also provide a means by which appropriate technology demonstrations can be defined. Based on the requirements and specifications of the operations of the Advanced Recovery and Integrated Extraction System (ARIES) pilot line at Los Alamos National Laboratory (LANL), which are considered to be representative ...
Date: December 1, 2000
Creator: TURNER, C.; PEHL, J. & AL, ET
Partner: UNT Libraries Government Documents Department

BOA: Asbestos pipe insulation removal robot system. Phase 1

Description: The project described in this report targets the development of a mechanized system for safe, cost-efficient and automated abatement of asbestos containing materials used as pipe insulation. Based on several key design criteria and site visits, a proof-of-concept prototype robot system, dubbed BOA, was designed and built, which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure -- restrictions to be alleviated through continued development. BOA removed asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. The containment and vacuum system on BOA was able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/ 8-hr. shift. This program consists of two phases. The first phase was completed and a demonstration was given to a review panel, consisting of DOE headquarters and site representatives as well as commercial abatement industry representatives. Based on the technical and programmatic recommendations drafted, presented and discussed during the review meeting, a new plan for the Phase II effort of this project was developed. Phase 11 will consist of a 26-month effort, with an up-front 4-month site-, market-, cost/benefit and regulatory study before the next BOA robot (14 months) is built, and then deployed and demonstrated (3 months) at a DOE site (such as Fernald or Oak Ridge) by the beginning of FY`97.
Date: February 1, 1995
Creator: Schempf, H. & Bares, J. E.
Partner: UNT Libraries Government Documents Department

Past and future challenges in developing remote systems technology

Description: During the early development of remote systems for processing and examining fuel and materials from nuclear reactors, the facility designer and operator worked closely together to meet the challenges of this new field. Numerous challenges still face the nuclear remote systems engineer, e.g., the development of systems that reduce the exposure of workers, the need for advances in basic technology, and the development of cost-effective facilities. The solution to these and other challenges can be accelerated by an expanded program of information exchange, an aggressive development program, and improved project management procedures.
Date: January 1, 1978
Creator: Ferguson, K.R.
Partner: UNT Libraries Government Documents Department

Design considerations for automated packaging operations

Description: The paper is based on work performed at Sandia National Laboratories to automate DOE packaging operations. It is a general summary of work from several projects which may be applicable to other packaging operations. Examples are provided of robotic operations which have been demonstrated as well as operations that are currently being developed. General design considerations for packages and for automated handling systems are described.
Date: December 31, 1993
Creator: Fahrenholtz, J.; Jones, J. & Kincy, M.
Partner: UNT Libraries Government Documents Department

Two-axis hydraulic joint for high speed, heavy lift robotic operations

Description: A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.
Date: April 1, 1994
Creator: Vaughn, M. R.; Robinett, R. D.; Phelan, J. R. & VanZuiden, D. M.
Partner: UNT Libraries Government Documents Department

Omnidirectional holonomic platforms

Description: This paper presents the concepts for a new family of wheeled platforms which feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the orthogonal-wheels concept and the two major wheel assemblies on which these platforms are based. They then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. The design and control of two prototype platforms are then presented and their respective characteristics with respect to rotational and translational motion control are discussed.
Date: June 1, 1994
Creator: Pin, F. G. & Killough, S. M.
Partner: UNT Libraries Government Documents Department

Apparatus for Attaching a Cleaning Tool to a Robotic Manipulator

Description: This invention is comprised of an apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.
Date: 1991~
Creator: Killian, Mark A. & Zollinger, W. Thor
Partner: UNT Libraries Government Documents Department

Project W-320 Heel Jet Secondary Catch Mechanism lateral load test

Description: This test procedure establishes the requirements for performing a lateral load test of the Heel Jet Secondary Catch Mechanism (SCM). Successful performance of this test will demonstrate that the SCM is capable of performing as designed when subjected to a force applied normal to the longitudinal axis of the mechanism. This test procedure is prepared following the recommended format and content guidelines for test procedures as prescribed in WHC-IP-1026, Engineering Practice Guidelines, Appendix K, Test Plans, Specifications, Procedures and Reports.
Date: September 1, 1994
Creator: Bellomy, J. R.
Partner: UNT Libraries Government Documents Department

Telerobotic operation of structurally flexible, long-reach manipulators

Description: As a part of the Department of Energy`s Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated.
Date: September 1, 1994
Creator: Kwon, D. S.; Hwang, D. H. & Babcock, S. M.
Partner: UNT Libraries Government Documents Department

Remote maintenance experience in the Transuranium Processing Plant at ORNL

Description: From joint meeting of the American Nuclear Society and the Atomic Industrial Forum and Nuclear Energy Exhibition; San Francisco, California, USA (11 Nov 1973). Special features to permit remote maintenance and replacement of equipment were incorporated into the Transuranium Processing Plant during initial design in 1962. However, these features were not required initially and were first tested during the summer of 1972. Until then, radiation levels were sufficiently low to permit most maintenance operations to be performed directly by men wearing air suits. Radiation levels increased during 1971 and 1972 due to a processing program for the recovery of large quantities of curium and californium from targets that had been very highly irradiated. These increased levels of both gamma and neutron radiation backgrounds dictated the shielding of equipment in tank pits by- water flooding and required that maintenance be done from above through a shield as a routine procedure in most of the plant. Of eight tools developed for remote maintenance, four were demonstrated during the actual maintenance program to be completely adequate; three required slight modification or were rebuilt to make them more versatile or to make them stronger. One tool required complete redesign to fulfill needs demonstrated during the maintenance work. Experience during 1972 showed that the original design concept of ten years ago has resulted in a very successful operating facility from the standpoint of flexibility and maintainability. A short period of maintenance activities during 1973 demonstrated the adequacy of the tools that were developed for remote maintenance. (auth)
Date: January 1, 1973
Creator: Peishel, F.L.; Evans, W.W. & Matherne, J.L.
Partner: UNT Libraries Government Documents Department