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Description: A project to provide information on the hazards associated wlth arc melting of Th is described. A general airsampling analysis was made to determine the separation, concentration, and distribution of Th daughter (decay) products throughout arc melting, machining, and forging processes found in a handling facility. The value of well coordinated health physics program is stressed in connection with potential health hazards and personnel protection. Building, equipment, and exhaust ventilation requirements for such a facility are discussed, along wlth special handling methods. (auth)
Date: November 1, 1960
Creator: Lowery, R.R.
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

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

MEMS Packaging - Current Issues and Approaches

Description: The assembly and packaging of MEMS (Microelectromechanical Systems) devices raise a number of issues over and above those normally associated with the assembly of standard microelectronic circuits. MEMS components include a variety of sensors, microengines, optical components, and other devices. They often have exposed mechanical structures which during assembly require particulate control, space in the package, non-contact handling procedures, low-stress die attach, precision die placement, unique process schedules, hermetic sealing in controlled environments (including vacuum), and other special constraints. These constraints force changes in the techniques used to separate die on a wafer, in the types of packages which can be used in the assembly processes and materials, and in the sealing environment and process. This paper discusses a number of these issues and provides information on approaches being taken or proposed to address them.
Date: January 19, 2000
Partner: UNT Libraries Government Documents Department

Reliability review of the remote tool delivery system locomotor

Description: The locomotor being built by RedZone Robotics is designed to serve as a remote tool delivery (RID) system for waste retrieval, tank cleaning, viewing, and inspection inside the high-level waste tanks 8D-1 and 8D-2 at West Valley Nuclear Services (WVNS). The RTD systm is to be deployed through a tank riser. The locomotor portion of the RTD system is designed to be inserted into the tank and is to be capable of moving around the tank by supporting itself and moving on the tank internal structural columns. The locomotor will serve as a mounting platform for a dexterous manipulator arm. The complete RTD system consists of the locomotor, dexterous manipulator arm, cameras, lights, cables, hoses, cable/hose management system, power supply, and operator control station.
Date: April 1, 1999
Creator: Chesser, J.B.
Partner: UNT Libraries Government Documents Department

An Improved Socking Technique for Master Slaves

Description: A technique for socking a pair of standard Model 8 master-slave manipulators is described. The technique is primarily concerned with the fabrication of the bellows section, which provides for Z motion as well as wris movement and rotation. (N.W.R.)
Date: October 29, 1962
Creator: Parsons, T. C.; Deckard, L. E. & Howe, P. W.
Partner: UNT Libraries Government Documents Department


Description: Catalog number 58, containing information concerning remote maintenance tools which have been used at ORNL, is presented. It is intended as a guide and as a starting point for modification work. Complete information is not available on all tools. (J.R.D.)
Date: January 1, 1958
Partner: UNT Libraries Government Documents Department

Manipulator Cable With Constant Stress

Description: A manipulator or mechanical arm involves an upper and a lower arm, with a variable angle between them. Cables used to transmit motion and force from the upper to the lower arms pass over a pulley at the joint or elbow. A pulley, axiaily fixed with respect to the joint, imposes a change in length of the cable as the angle between the arms varies. Manipulation design requires a cable of constant length during this variation; this constant length may be achieved by guiding the center of the pulley along the proper path. Acceptable solutions were obtained in terms of variables such as the lengths of each arm, the radius of the pulley, and the angle between the arms. In one design the pulley center is moved along a straight line with respect to the lower arm, while in the other solution the pulley center is moved along a circular arc with respect to the upper amn. Practical and economical mechanisms based on these solutions were investigated for use in manipulator design. (auth)
Date: November 1, 1959
Creator: Grimson, J. H.
Partner: UNT Libraries Government Documents Department

D. R. Dolly Instruction Book

Description: Instruction book for the DR Dolly. "The DR Dolly is a unit which is designed to perform various mechanical operations which a man would otherwise perform if he were able to work safely in the area where the Dolly is to operate. It consists of six mechanical components mounted on a steel car which in turn runs back and forth on rails. The car simply forms a movable platform for the following components, which are: a 36" mirror, a mechanical arm and various hands, two valve turners, a ram, and a nozzle remover."
Date: 1956
Creator: General Electric Company. General Engineering and Consulting Laboratory
Partner: UNT Libraries Government Documents Department

Remote Control Apparatus

Description: Report discussing equipment that can be used to perform chemical and mechanical operations involving radioactive materials safely. Illustrations of the equipment are provided.
Date: April 12, 1948
Creator: Goertz, R. C.
Partner: UNT Libraries Government Documents Department

TPX in-vessel remote maintenance tooling

Description: The Tokamak Physics Experiment (TPX) has used the lessons learned from successful remote maintenance and remote handling facilities to develop both a concept and philosophy for incorporation of remote design from the earliest phases of the project. Initiation of mockup testing during the conceptual design phase leads to significant improvements in the basic maintenance equipment configuration. In addition, remote handling features and capabilities have been incorporated into the design of the plasma-facing components (PFCs) as part of the total PFC design effort.
Date: December 31, 1995
Creator: Rennich, M.J. & Silke, G.W.
Partner: UNT Libraries Government Documents Department

Remote dismantlement tasks for the CP5 reactor: Implementation, operations, and lessons learned

Description: This paper presents a developer`s perspective on lessons learned from one example of the integration of new prototype technology into a traditional operations environment. The dual arm work module was developed by the Robotics Technology Development Program as a research and development activity to examine manipulator controller modes and deployment options. It was later reconfigured for the dismantlement of the Argonne National Laboratory Chicago Pile {number_sign}5 reactor vessel as the crane-deployed dual arm work platform. Development staff worked along side operations staff during a significant part of the deployment to provide training, maintenance, and tooling support. Operations staff completed all actual remote dismantlement tasks. At the end of available development support funding, the Dual Arm Work Platform was turned over to the operations staff, who is still using it to complete their dismantlement tasks.
Date: November 1, 1998
Creator: Noakes, M. W.
Partner: UNT Libraries Government Documents Department

Shielded Cells D&D and Dismantlement System Requirements

Description: This document describes the basis for the development of the System for Highly Radioactive Equipment Dismantlement or SHRED. It is the result of a thorough investigation into current and past dismantlement practices at shielded cell facilities around the DOE complex. This information has been used to formulate the development requirements for the SHRED.
Date: March 27, 1995
Creator: Witherspoon, R.L.
Partner: UNT Libraries Government Documents Department

Remote mechanical operating methods vs rubber glove operating methods for the 234-5 process

Description: The present RMA Line has now progressed through the run-in period and is engaged in actual production. Considerable new data and experiences are available for use in an evaluation of the basis used for design of the equipment in regard to contamination control and the safety of operating and maintenance personnel. Research and development funds have been allocated to the improvement of the 234-5 process equipment. Thus it is desirable that an up-to-date basis be established for use as criteria for the design development of these improvements. It is concluded that remote control operation of all plutonium purification and fabrication equipment is ultimately desirable. However, until reliable, tested, remote-control equipment is available, the remote control requirement may have to be compromised on some steps of the process to allow non-remote or rubber glove operation in order to obtain equipment with sufficient operating reliability.
Date: September 23, 1952
Creator: Ingalls, W.P.
Partner: UNT Libraries Government Documents Department

Advanced Robotics Handling and Controls Applied to Mixed Waste Characterization, Segregation and Treatment

Description: At Lawrence Livermore National Laboratory under the Mixed Waste Operations program of the Department of Energy Robotic Technology Development Program (RTDP), a key emphasis is developing a total solution to the problem of characterizing, handling and treating complex and potentially unknown mixed waste objects. LLNL has been successful at looking at the problem from a system perspective and addressing some of the key issues including non-destructive evaluation of the waste stream prior to the materials entering the handling workcell, the level of automated material handling required for effective processing of the waste stream objects (both autonomous and tele-operational), and the required intelligent robotic control to carry out the characterization, segregation, and waste treating processes. These technologies were integrated and demonstrated in a prototypical surface decontamination workcell this past year.
Date: November 1994
Creator: Grasz, E.; Huber, L.; Horvath, J.; Roberson, P.; Wilhelmsen, K. & Ryon, R.
Partner: UNT Libraries Government Documents Department

TPX remote maintenance and shielding

Description: The Tokamak Physics Experiment machine design incorporates comprehensive planning for efficient and safe component maintenance. Three programmatic decisions have been made to insure the successful implementation of this objective. First, the tokamak incorporates radiation shielding to reduce activation of components and limit the dose rate to personnel working on the outside of the machine. This allows most of the ex-vessel equipment to be maintained through conventional ``hands-on`` procedures. Second, to the maximum extent possible, low activation materials will be used inside the shielding volume. This resulted in the selection of Titanium (Ti-6Al-4V) for the vacuum vessel and PFC structures. The third decision stipulated that the primary in-vessel components will be replaced or repaired via remote maintenance tools specifically provided for the task. The component designers have been given the responsibility of incorporating maintenance design and for proving the maintainability of the design concepts in full-scale mockup tests prior to the initiation of final fabrication. Remote maintenance of the TPX machine is facilitated by general purpose tools provided by a special purpose design team. Major tools will include an in-vessel transporter, a vessel transfer system and a large component transfer container. In addition, tools such as manipulators and remotely operable impact wrenches will be made available to the component designers by this group. Maintenance systems will also provide the necessary controls for this equipment.
Date: September 1, 1994
Creator: Rennich, M. J. & Nelson, B. E.
Partner: UNT Libraries Government Documents Department

Remote drill bit loader

Description: A drill bit loader is described for loading a tapered shank of a drill bit into a similarly tapered recess in the end of a drill spindle. The spindle has a transverse slot at the inner end of the recess. The end of the tapered shank of the drill bit has a transverse tang adapted to engage in the slot so that the drill bit will be rotated by the spindle. The loader is in the form of a cylinder adapted to receive the drill bit with the shank projecting out of the outer end of the cylinder. Retainer pins prevent rotation of the drill bit in the cylinder. The spindle is lowered to extend the shank of the drill bit into the recess in the spindle and the spindle is rotated to align the slot in the spindle with the tang on the shank. A spring unit in the cylinder is compressed by the drill bit during its entry into the recess of the spindle and resiliently drives the tang into the slot in the spindle when the tang and slot are aligned. In typical remote drilling operations, whether in hot cells or water pits, drill bits have been held using a collet or end mill type holder with set screws. In either case, to load or change a drill bit required the use master-slave manipulators to position the bits and tighten the collet or set screws. This requirement eliminated many otherwise useful work areas because they were not equipped with slaves, particularly in water pits.
Date: December 31, 1996
Creator: Dokos, J.A.
Partner: UNT Libraries Government Documents Department