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Sample records for based remote handled

  1. Remote handling at LAMPF

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1983-01-01

    Experimental area A at the Clinton P. Anderson Meson Physics Facility (LAMPF) encompasses a large area. Presently there are four experimental target cells along the main proton beam line that have become highly radioactive, thus dictating that all maintenance be performed remotely. The Monitor remote handling system was developed to perform in situ maintenance at any location within area A. Due to the complexity of experimental systems and confined space, conventional remote handling methods based upon hot cell and/or hot bay concepts are not workable. Contrary to conventional remote handling which require special tooling for each specifically planned operation, the Monitor concept is aimed at providing a totally flexible system capable of remotely performing general mechanical and electrical maintenance operations using standard tools. The Monitor system is described

  2. Remote handling equipment

    International Nuclear Information System (INIS)

    Clement, G.

    1984-01-01

    After a definition of intervention, problems encountered for working in an adverse environment are briefly analyzed for development of various remote handling equipments. Some examples of existing equipments are given [fr

  3. Development of remote handling system based on 3-D shape recognition technique

    International Nuclear Information System (INIS)

    Tomizuka, Chiaki; Takeuchi, Yutaka

    2006-01-01

    In a nuclear facility, the maintenance and repair activities must be done remotely in a radioactive environment. Fuji Electric Systems Co., Ltd. has developed a remote handling system based on 3-D recognition technique. The system recognizes the pose and position of the target to manipulate, and visualizes the scene with the target in 3-D, enabling an operator to handle it easily. This paper introduces the concept and the key features of this system. (author)

  4. Remote handling machines

    International Nuclear Information System (INIS)

    Sato, Shinri

    1985-01-01

    In nuclear power facilities, the management of radioactive wastes is made with its technology plus the automatic techniques. Under the radiation field, the maintenance or aid of such systems is important. To cope with this situation, MF-2 system, MF-3 system and a manipulator system as remote handling machines are described. MF-2 system consists of an MF-2 carrier truck, a control unit and a command trailer. It is capable of handling heavy-weight objects. The system is not by hydraulic but by electrical means. MF-3 system consists of a four-crawler truck and a manipulator. The truck is versatile in its posture by means of the four independent crawlers. The manipulator system is bilateral in operation, so that the delicate handling is made possible. (Mori, K.)

  5. Remote handling in ZEPHYR

    International Nuclear Information System (INIS)

    Andelfinger, C.; Lackner, E.; Ulrich, M.; Weber, G.; Schilling, H.B.

    1982-04-01

    A conceptual design of the ZEPHYR building is described. The listed radiation data show that remote handling devices will be necessary in most areas of the building. For difficult repair and maintenance works it is intended to transfer complete units from the experimental hall to a hot cell which provides better working conditions. The necessary crane systems and other transport means are summarized as well as suitable commercially available manipulators and observation devices. The conept of automatic devices for cutting and welding and other operations inside the vacuum vessel and the belonging position control system is sketched. Guidelines for the design of passive components are set up in order to facilitate remote operation. (orig.)

  6. Remote handling and accelerators

    International Nuclear Information System (INIS)

    Wilson, M.T.

    1983-01-01

    The high-current levels of contemporary and proposed accelerator facilities induce radiation levels into components, requiring consideration be given to maintenance techniques that reduce personnel exposure. Typical components involved include beamstops, targets, collimators, windows, and instrumentation that intercepts the direct beam. Also included are beam extraction, injection, splitting, and kicking regions, as well as purposeful spill areas where beam tails are trimmed and neutral particles are deposited. Scattered beam and secondary particles activate components all along a beamline such as vacuum pipes, magnets, and shielding. Maintenance techniques vary from hands-on to TV-viewed operation using state-of-the-art servomanipulators. Bottom- or side-entry casks are used with thimble-type target and diagnostic assemblies. Long-handled tools are operated from behind shadow shields. Swinging shield doors, unstacking block, and horizontally rolling shield roofs are all used to provide access. Common to all techniques is the need to make operations simple and to provide a means of seeing and reaching the area

  7. Simulation-based design process for the verification of ITER remote handling systems

    International Nuclear Information System (INIS)

    Sibois, Romain; Määttä, Timo; Siuko, Mikko; Mattila, Jouni

    2014-01-01

    Highlights: •Verification and validation process for ITER remote handling system. •Simulation-based design process for early verification of ITER RH systems. •Design process centralized around simulation lifecycle management system. •Verification and validation roadmap for digital modelling phase. -- Abstract: The work behind this paper takes place in the EFDA's European Goal Oriented Training programme on Remote Handling (RH) “GOT-RH”. The programme aims to train engineers for activities supporting the ITER project and the long-term fusion programme. One of the projects of this programme focuses on the verification and validation (V and V) of ITER RH system requirements using digital mock-ups (DMU). The purpose of this project is to study and develop efficient approach of using DMUs in the V and V process of ITER RH system design utilizing a System Engineering (SE) framework. Complex engineering systems such as ITER facilities lead to substantial rise of cost while manufacturing the full-scale prototype. In the V and V process for ITER RH equipment, physical tests are a requirement to ensure the compliance of the system according to the required operation. Therefore it is essential to virtually verify the developed system before starting the prototype manufacturing phase. This paper gives an overview of the current trends in using digital mock-up within product design processes. It suggests a simulation-based process design centralized around a simulation lifecycle management system. The purpose of this paper is to describe possible improvements in the formalization of the ITER RH design process and V and V processes, in order to increase their cost efficiency and reliability

  8. Welding method by remote handling

    International Nuclear Information System (INIS)

    Hashinokuchi, Minoru.

    1994-01-01

    Water is charged into a pit (or a water reservoir) and an article to be welded is placed on a support in the pit by remote handling. A steel plate is disposed so as to cover the article to be welded by remote handling. The welding device is positioned to the portion to be welded and fixed in a state where the article to be welded is shielded from radiation by water and the steel plate. Water in the pit is drained till the portion to be welded is exposed to the atmosphere. Then, welding is conducted. After completion of the welding, water is charged again to the pit and the welding device and fixing jigs are decomposed in a state where the article to be welded is shielded again from radiation by water and the steel plate. Subsequently, the steel plate is removed by remote handling. Then, the article to be welded is returned from the pit to a temporary placing pool by remote handling. This can reduce operator's exposure. Further, since the amount of the shielding materials can be minimized, the amount of radioactive wastes can be decreased. (I.N.)

  9. A Perspective on Remote Handling Operations and Human Machine Interface for Remote Handling in Fusion

    International Nuclear Information System (INIS)

    Haist, B.; Hamilton, D.; Sanders, St.

    2006-01-01

    A large-scale fusion device presents many challenges to the remote handling operations team. This paper is based on unique operational experience at JET and gives a perspective on remote handling task development, logistics and resource management, as well as command, control and human-machine interface systems. Remote operations require an accurate perception of a dynamic environment, ideally providing the operators with the same unrestricted knowledge of the task scene as would be available if they were actually at the remote work location. Traditional camera based systems suffer from a limited number of viewpoints and also degrade quickly when exposed to high radiation. Virtual Reality and Augmented Reality software offer great assistance. The remote handling system required to maintain a tokamak requires a large number of different and complex pieces of equipment coordinating to perform a large array of tasks. The demands on the operator's skill in performing the tasks can escalate to a point where the efficiency and safety of operations are compromised. An operations guidance system designed to facilitate the planning, development, validation and execution of remote handling procedures is essential. Automatic planning of motion trajectories of remote handling equipment and the remote transfer of heavy loads will be routine and need to be reliable. This paper discusses the solutions developed at JET in these areas and also the trends in management and presentation of operational data as well as command, control and HMI technology development offering the potential to greatly assist remote handling in future fusion machines. (author)

  10. Remote handling equipment for SNS

    International Nuclear Information System (INIS)

    Poulten, B.H.

    1983-01-01

    This report gives information on the areas of the SNS, facility which become highly radioactive preventing hands-on maintenance. Levels of activity are sufficiently high in the Target Station Area of the SNS, especially under fault conditions, to warrant reactor technology to be used in the design of the water, drainage and ventilation systems. These problems, together with the type of remote handling equipment required in the SNS, are discussed

  11. Remote handling in reprocessing plants

    International Nuclear Information System (INIS)

    Streiff, G.

    1984-01-01

    Remote control will be the rule for maintenance in hot cells of future spent fuel reprocessing plants because of the radioactivity level. New handling equipments will be developed and intervention principles defined. Existing materials, recommendations for use and new manipulators are found in the PMDS' documentation. It is also a help in the choice and use of intervention means and a guide for the user [fr

  12. Hot Laboratories and Remote Handling

    International Nuclear Information System (INIS)

    Bart, G.; Blanc, J.Y.; Duwe, R.

    2003-01-01

    The European Working Group on ' Hot Laboratories and Remote Handling' is firmly established as the major contact forum for the nuclear R and D facilities at the European scale. The yearly plenary meetings intend to: - Exchange experience on analytical methods, their implementation in hot cells, the methodologies used and their application in nuclear research; - Share experience on common infrastructure exploitation matters such as remote handling techniques, safety features, QA-certification, waste handling; - Promote normalization and co-operation, e.g., by looking at mutual complementarities; - Prospect present and future demands from the nuclear industry and to draw strategic conclusions regarding further needs. The 41. plenary meeting was held in CEA Saclay from September 22 to 24, 2003 in the premises and with the technical support of the INSTN (National Institute for Nuclear Science and Technology). The Nuclear Energy Division of CEA sponsored it. The Saclay meeting was divided in three topical oral sessions covering: - Post irradiation examination: new analysis methods and methodologies, small specimen technology, programmes and results; - Hot laboratory infrastructure: decommissioning, refurbishment, waste, safety, nuclear transports; - Prospective research on materials for future applications: innovative fuels (Generation IV, HTR, transmutation, ADS), spallation source materials, and candidate materials for fusion reactor. A poster session was opened to transport companies and laboratory suppliers. The meeting addressed in three sessions the following items: Session 1 - Post Irradiation Examinations. Out of 12 papers (including 1 poster) 7 dealt with surface and solid state micro analysis, another one with an equally complex wet chemical instrumental analytical technique, while the other four papers (including the poster) presented new concepts for digital x-ray image analysis; Session 2 - Hot laboratory infrastructure (including waste theme) which was

  13. Hot Laboratories and Remote Handling

    International Nuclear Information System (INIS)

    2007-01-01

    The Opening talk of the workshop 'Hot Laboratories and Remote Handling' was given by Marin Ciocanescu with the communication 'Overview of R and D Program in Romanian Institute for Nuclear Research'. The works of the meeting were structured into three sections addressing the following items: Session 1. Hot cell facilities: Infrastructure, Refurbishment, Decommissioning; Session 2. Waste, transport, safety and remote handling issues; Session 3. Post-Irradiation examination techniques. In the frame of Section 1 the communication 'Overview of hot cell facilities in South Africa' by Wouter Klopper, Willie van Greunen et al, was presented. In the framework of the second session there were given the following four communications: 'The irradiated elements cell at PHENIX' by Laurent Breton et al., 'Development of remote equipment for DUPIC fuel fabrication at KAERI', by Jung Won Lee et al., 'Aspects of working with manipulators and small samples in an αβγ-box, by Robert Zubler et al., and 'The GIOCONDA experience of the Joint Research Centre Ispra: analysis of the experimental assemblies finalized to their safe recovery and dismantling', by Roberto Covini. Finally, in the framework of the third section the following five communications were presented: 'PIE of a CANDU fuel element irradiated for a load following test in the INR TRIGA reactor' by Marcel Parvan et al., 'Adaptation of the pole figure measurement to the irradiated items from zirconium alloys' by Yury Goncharenko et al., 'Fuel rod profilometry with a laser scan micrometer' by Daniel Kuster et al., 'Raman spectroscopy, a new facility at LECI laboratory to investigate neutron damage in irradiated materials' by Lionel Gosmain et al., and 'Analysis of complex nuclear materials with the PSI shielded analytical instruments' by Didier Gavillet. In addition, eleven more presentations were given as posters. Their titles were: 'Presentation of CETAMA activities (CEA analytic group)' by Alain Hanssens et al. 'Analysis of

  14. Development of standard components for remote handling

    International Nuclear Information System (INIS)

    Taguchi, Kou; Kakudate, Satoshi; Nakahira, Masataka; Ito, Akira

    1998-01-01

    The core of Fusion Experimental Reactor consists of various components such as superconducting magnets and forced-cooled in-vessel components, which are remotely maintained due to intense of gamma radiation. Mechanical connectors such as cooling pipe connections, insulation joints and electrical connectors are commonly used for maintenance of these components and have to be standardized in terms of remote handling. This paper describes these mechanical connectors developed as the standard component compatible with remote handling and tolerable for radiation. (author)

  15. Development of standard components for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Taguchi, Kou; Kakudate, Satoshi; Nakahira, Masataka; Ito, Akira [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1998-04-01

    The core of Fusion Experimental Reactor consists of various components such as superconducting magnets and forced-cooled in-vessel components, which are remotely maintained due to intense of gamma radiation. Mechanical connectors such as cooling pipe connections, insulation joints and electrical connectors are commonly used for maintenance of these components and have to be standardized in terms of remote handling. This paper describes these mechanical connectors developed as the standard component compatible with remote handling and tolerable for radiation. (author)

  16. Remote handling technology for nuclear fuel cycle facilities

    International Nuclear Information System (INIS)

    Sakai, Akira; Maekawa, Hiromichi; Ohmura, Yutaka

    1997-01-01

    Design and R and D on nuclear fuel cycle facilities has intended development of remote handling and maintenance technology since 1977. IHI has completed the design and construction of several facilities with remote handling systems for Power Reactor and Nuclear Fuel Development Corporation (PNC), Japan Atomic Energy Research Institute (JAERI), and Japan Nuclear Fuel Ltd. (JNFL). Based on the above experiences, IHI is now undertaking integration of specific technology and remote handling technology for application to new fields such as fusion reactor facilities, decommissioning of nuclear reactors, accelerator testing facilities, and robot simulator-aided remote operation systems in the future. (author)

  17. Advanced remote handling developments for high radiation applications

    International Nuclear Information System (INIS)

    Herndon, J.N.; Kring, C.T.; Feldman, M.J.; Kuban, D.P.; Martin, H.L.; Rowe, J.C.; Hamel, W.R.

    1985-01-01

    The Remote Control Engineering Task of the Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory has been developing advanced techniques for remote maintenance of future US fuel reprocessing plants. These efforts are based on the application of teleoperated, force-reflecting servomanipulators for dexterous remote handling with television viewing for large-volume hazardous applications. These developments fully address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in fuel reprocessing. This paper covers the primary emphasis in the present program; the design, fabrication, and installation of a prototype remote handling system for reprocessing applications, the Advanced Integrated Maintenance System

  18. Remote handling maintenance of ITER

    International Nuclear Information System (INIS)

    Haange, R.

    1999-01-01

    The remote maintenance strategy and the associated component design of the International Thermonuclear Experimental Reactor (ITER) have reached a high degree of completeness, especially with respect to those components that are expected to require frequent or occasional remote maintenance. Large-scale test stands, to demonstrate the principle feasibility of the remote maintenance procedures and to develop the required equipment and tools, were operational at the end of the Engineering Design Activities (EDA) phase. The initial results are highly encouraging: major remote equipment deployment and component replacement operations have been successfully demonstrated. (author)

  19. Remote Inspection, Measurement and Handling for LHC

    CERN Document Server

    Kershaw, K; Coin, A; Delsaux, F; Feniet, T; Grenard, J L; Valbuena, R

    2007-01-01

    Personnel access to the LHC tunnel will be restricted to varying extents during the life of the machine due to radiation, cryogenic and pressure hazards. The ability to carry out visual inspection, measurement and handling activities remotely during periods when the LHC tunnel is potentially hazardous offers advantages in terms of safety, accelerator down time, and costs. The first applications identified were remote measurement of radiation levels at the start of shut-down, remote geometrical survey measurements in the collimation regions, and remote visual inspection during pressure testing and initial machine cool-down. In addition, for remote handling operations, it will be necessary to be able to transmit several real-time video images from the tunnel to the control room. The paper describes the design, development and use of a remotely controlled vehicle to demonstrate the feasibility of meeting the above requirements in the LHC tunnel. Design choices are explained along with operating experience to-dat...

  20. Remote handling for an ISIS target change

    International Nuclear Information System (INIS)

    Broome, T.A.; Holding, M.

    1989-01-01

    During 1987 two ISIS targets were changed. This document describes the main features of the remote handling aspects of the work. All the work has to be carried out using remote handling techniques. The radiation level measured on the surface of the reflector when the second target had been removed was about 800 mGy/h demonstrating that hands on operations on any part of the target reflector moderator assembly is not practical. The target changes were the first large scale operations in the Target Station Remote Handling Cell and a great deal was learned about both equipment and working practices. Some general principles emerged which are applicable to other active handling tasks on facilities like ISIS and these are discussed below. 8 figs

  1. Remote-handled transuranic system assessment appendices. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-11-01

    Volume 2 of this report contains six appendices to the report: Inventory and generation of remote-handled transuranic waste; Remote-handled transuranic waste site storage; Characterization of remote-handled transuranic waste; RH-TRU waste treatment alternatives system analysis; Packaging and transportation study; and Remote-handled transuranic waste disposal alternatives.

  2. Remote-handled transuranic system assessment appendices. Volume 2

    International Nuclear Information System (INIS)

    1995-11-01

    Volume 2 of this report contains six appendices to the report: Inventory and generation of remote-handled transuranic waste; Remote-handled transuranic waste site storage; Characterization of remote-handled transuranic waste; RH-TRU waste treatment alternatives system analysis; Packaging and transportation study; and Remote-handled transuranic waste disposal alternatives

  3. Design for high productivity remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Sykes, N., E-mail: nick.sykes@ccfe.ac.uk [Culham Centre For Fusion Energy, Culham Science Centre, OX14 3DB, Abingdon (United Kingdom); Collins, S.; Loving, A.B.; Ricardo, V. [Culham Centre For Fusion Energy, Culham Science Centre, OX14 3DB, Abingdon (United Kingdom); Villedieu, E. [Association Euratom-CEA Cadarache, DSM/IRFM, Saint Paul Les Durance (France)

    2011-10-15

    As the central part of a programme of enhancements in support of ITER, the Joint European Torus (JET) is being equipped with an all-metal wall. This enhancement programme requires the removal and installation of 6927 tile carriers and tiles, as well as the removal and installation of embedded diagnostics and antennas. The scale of this operation and the necessity to maximise operational availability of the facility added a requirement for high productivity in the remote activities to the existing exigencies of precision, reliability, cleanliness and operational security. This high productivity requirement has been incorporated into the design of the components and associated installation tooling, the design of the installation equipment, the development of installation procedures including the use of a mock-up for optimisation and training. Consideration of the remote handling installation process is vital during the design of the in vessel components. A number of features to meet the need of the high productivity while maintaining the function requirements have been incorporated into the metal wall components and associated tooling including kinematic design with guidance appropriate for remote operation. The component and tools are designed to guide the attachment of the installation tool, the installation path, and the interlocking with adjacent components without contact between the fragile castellated beryllium of the adjacent tiles. Other incorporated ergonomic features are discussed. At JET, the remote maintenance is conducted using end effectors, normally bi-lateral force feed back manipulator, mounted on driven, articulated booms. Prior to the current shutdown one long boom was used to conduct the installation and collect and deliver components to the 'short' boom which was linked to the tile carrier transfer facility. This led to loss of efficiency during these movements. The adoption of a new remote handling philosophy using 'point of

  4. Design for high productivity remote handling

    International Nuclear Information System (INIS)

    Sykes, N.; Collins, S.; Loving, A.B.; Ricardo, V.; Villedieu, E.

    2011-01-01

    As the central part of a programme of enhancements in support of ITER, the Joint European Torus (JET) is being equipped with an all-metal wall. This enhancement programme requires the removal and installation of 6927 tile carriers and tiles, as well as the removal and installation of embedded diagnostics and antennas. The scale of this operation and the necessity to maximise operational availability of the facility added a requirement for high productivity in the remote activities to the existing exigencies of precision, reliability, cleanliness and operational security. This high productivity requirement has been incorporated into the design of the components and associated installation tooling, the design of the installation equipment, the development of installation procedures including the use of a mock-up for optimisation and training. Consideration of the remote handling installation process is vital during the design of the in vessel components. A number of features to meet the need of the high productivity while maintaining the function requirements have been incorporated into the metal wall components and associated tooling including kinematic design with guidance appropriate for remote operation. The component and tools are designed to guide the attachment of the installation tool, the installation path, and the interlocking with adjacent components without contact between the fragile castellated beryllium of the adjacent tiles. Other incorporated ergonomic features are discussed. At JET, the remote maintenance is conducted using end effectors, normally bi-lateral force feed back manipulator, mounted on driven, articulated booms. Prior to the current shutdown one long boom was used to conduct the installation and collect and deliver components to the 'short' boom which was linked to the tile carrier transfer facility. This led to loss of efficiency during these movements. The adoption of a new remote handling philosophy using 'point of installation

  5. Remote handling procedures in JET

    International Nuclear Information System (INIS)

    Raimondi, T.; Huguet, M.

    1976-01-01

    Remote maintenance will be needed in the second phase of operation due to the structural activation produced by deuterium-tritium discharges. Priority will be given to tasks which require frequent intervention, but efforts will be made also to tackle larger operations such as replacement of an octant. Owing to the variety and unpredictability of the operations which may be required, general purpose telemanipulator and TV systems will be used, mounted on versatile articulated supports capable of reaching the various parts of the machine. An experimental programme is planned to test the envisaged equipment and develop procedures for carrying out the various tasks as they are more clearly identified. Design of peripheral equipment for easy accessibility, choice of simple connection methods, development of auxiliary tools, as well as careful programming of the operations, will be essential for successful remote maintenance. The effort put into these areas will, however, also result in considerable time saving during the assembly and maintenance in non-active conditions. Preliminary feasibility tests of some difficult operations have already been done with a force-reflecting servo-manipulator and two TV sets for front and side viewing. Leak identification and precision welding for vacuum tightness were demonstrated

  6. Trends in remote handling device development

    International Nuclear Information System (INIS)

    Raimondi, T.

    1991-01-01

    A brief review is given of studies on layouts and methods for handling some major components requiring remote maintenance in future fusion reactors: Neutral sources and beam lines, the blanket, divertor plates, armour tiles and vacuum pumps. Comparison is made to problems encountered in JET, methods and equipment used and development work done there. Areas requiring development and research are outlined. These include topics which are the subject of papers presented here, such as dynamic studies and control of transporters, improvements to the man-machine interface and hot cell equipment. A variety of other topics where effort is needed are also mentioned: Environmental tolerance of components and equipment, TV viewing and compensation of viewing difficulties with aids such as computer graphics and image processing, safety assessment, computer aids for remote manipulation, remote cutting and welding techniques, routine in-vessel inspection methods and selection of connectors and flanges for remote handling. (orig.)

  7. Remote handling needs of the Princeton Plasma Physics Laboratory

    International Nuclear Information System (INIS)

    Smiltnieks, V.

    1982-07-01

    This report is the result of a Task Force study commissioned by the Canadian Fusion Fuels Technology Project (CFFTP) to investigate the remote handling requirements at the Princeton Plasma Physics Laboratory (PPPL) and identify specific areas where CFFTP could offer a contractual or collaborative participation, drawing on the Canadian industrial expertise in remote handling technology. The Task Force reviewed four areas related to remote handling requirements; the TFTR facility as a whole, the service equipment required for remote maintenance, the more complex in-vessel components, and the tritium systems. Remote maintenance requirements both inside the vacuum vessel and around the periphery of the machine were identified as the principal areas where Canadian resources could effectively provide an input, initially in requirement definition, concept evaluation and feasibility design, and subsequently in detailed design and manufacture. Support requirements were identified in such areas as the mock-up facility and a variety of planning studies relating to reliability, availability, and staff training. Specific tasks are described which provide an important data base to the facility's remote handling requirements. Canadian involvement in the areas is suggested where expertise exists and support for the remote handling work is warranted. Reliability, maintenance operations, inspection strategy and decommissioning are suggested for study. Several specific components are singled out as needing development

  8. PREPD O and VE remote handling system

    International Nuclear Information System (INIS)

    Theil, T.N.

    1985-01-01

    The Process Experimental Pilot Plant (PREPP) at the Idaho National Engineering Laboratory is designed for volume reduction and packaging of transuranic (TRU) waste. The PREPP opening and verification enclosure (O and VE) remote handling system, within that facility, is designed to provide examination of the contents of various TRU waste storage containers. This remote handling system will provide the means of performing a hazardous operation that is currently performed manually. The TeleRobot to be used in this system is a concept that will incorporate and develop man in the loop operation (manual mode), standardized automatic sequencing of end effector tools, increased payload and reach over currently available computer-controlled robots, and remote handling of a hazardous waste operation. The system is designed within limited space constraints and an operation that was originally planned, and is currently being manually performed at other plants. The PREPP O and VE remote handling system design incorporates advancing technology to improve the working environment in the nuclear field

  9. Remote technologies for handling spent fuel

    International Nuclear Information System (INIS)

    Ramakumar, M.S.

    1999-01-01

    The nuclear programme in India involves building and operating power and research reactors, production and use of isotopes, fabrication of reactor fuel, reprocessing of irradiated fuel, recovery of plutonium and uranium-233, fabrication of fuel containing plutonium-239, uranium-233, post-irradiation examination of fuel and hardware and handling solid and liquid radioactive wastes. Fuel that could be termed 'spent' in thermal reactors is a source for second generation fuel (plutonium and uranium-233). Therefore, it is only logical to extend remote techniques beyond handling fuel from thermal reactors to fuel from fast reactors, post-irradiation examination etc. Fabrication of fuel containing plutonium and uranium-233 poses challenges in view of restriction on human exposure to radiation. Hence, automation will serve as a step towards remotisation. Automated systems, both rigid and flexible (using robots) need to be developed and implemented. Accounting of fissile material handled by robots in local area networks with appropriate access codes will be possible. While dealing with all these activities, it is essential to pay attention to maintenance and repair of the facilities. Remote techniques are essential here. There are a number of commonalities in these requirements and so development of modularized subsystems, and integration of different configurations should receive attention. On a long-term basis, activities like decontamination, decommissioning of facilities and handling of waste generated have to be addressed. While robotized remote systems have to be designed for existing facilities, future designs of facilities should take into account total operation with robotic remote systems. (author)

  10. Remote handling systems for the Pride application

    International Nuclear Information System (INIS)

    Kim, K.; Lee, J.; Lee, H.; Kim, S.; Kim, H.

    2010-10-01

    In this paper is described the development of remote handling systems for use in the pyro processing technology development. Remote handling systems mainly include a BDSM (Bridge transported Dual arm Servo-Manipulator) and a simulator, all of which will be applied to the Pride (Pyro process integrated inactive demonstration facility) that is under construction at KAERI. BDMS that will traverse the length of the ceiling is designed to have two pairs of master-slave manipulators of which each pair of master-slave manipulators has a kinematic similarity and a force reflection. A simulator is also designed to provide an efficient means for simulating and verifying the conceptual design, developments, arrangements, and rehearsal of the pyro processing equipment and relevant devices from the viewpoint of remote operation and maintenance. In our research is presented activities and progress made in developing remote handling systems to be used for the remote operation and maintenance of the pyro processing equipment and relevant devices in the Pride. (Author)

  11. CAD-model based remote handling control system for NET and JET

    International Nuclear Information System (INIS)

    Leinemann, K.; Kuehneapfel, U.; Ludwig, A.

    1989-01-01

    For maintenance work in fusion plants a supervisory control system concept was developed, which organized a close, problem-suited cooperation of man and machine, based on shared control and mutual help. The central module on the task control level of the control system is a real-time simulator based on a three-dimensional CAD-model. This simulator serves for planning and of-line programming of maintenance sequences, and, in th execution phase, for integrated viewing, combining TV and synthetic scene presentation. A first implementation of a geometric simulator and its integration in an overall control system was realized for JET. (author). 5 refs.; 7 figs

  12. Remote handling equipment for CANDU retubing

    International Nuclear Information System (INIS)

    Crawford, G.S.; Lowe, H.

    1993-01-01

    Numet Engineering Ltd. has designed and supplied remote handling equipment for Ontario Hydro's retubing operation of its CANDU reactors at the Bruce Nuclear Generating Station. This equipment consists of ''Retubing Tool Carriers'' an'' Worktables'' which operate remotely or manually at the reactor face. Together they function to transport tooling to and from the reactor face, to position and support tooling during retubing operations, and to deliver and retrieve fuel channels and channel components. This paper presents the fundamentals of the process and discusses the equipment supplied in terms of its design, manufacturing, components and controls, to meet the functional and quality requirements of Ontario Hydro's retubing process. (author)

  13. Remote-Handled Transuranic Content Codes

    Energy Technology Data Exchange (ETDEWEB)

    Washington TRU Solutions

    2006-12-01

    The Remote-Handled Transuranic (RH-TRU) Content Codes (RH-TRUCON) document describes the inventory of RH-TRU waste within the transportation parameters specified by the Remote-Handled Transuranic Waste Authorized Methods for Payload Control (RH-TRAMPAC).1 The RH-TRAMPAC defines the allowable payload for the RH-TRU 72-B. This document is a catalog of RH-TRU 72-B authorized contents by site. A content code is defined by the following components: • A two-letter site abbreviation that designates the physical location of the generated/stored waste (e.g., ID for Idaho National Laboratory [INL]). The site-specific letter designations for each of the sites are provided in Table 1. • A three-digit code that designates the physical and chemical form of the waste (e.g., content code 317 denotes TRU Metal Waste). For RH-TRU waste to be transported in the RH-TRU 72-B, the first number of this three-digit code is “3.” The second and third numbers of the three-digit code describe the physical and chemical form of the waste. Table 2 provides a brief description of each generic code. Content codes are further defined as subcodes by an alpha trailer after the three-digit code to allow segregation of wastes that differ in one or more parameter(s). For example, the alpha trailers of the subcodes ID 322A and ID 322B may be used to differentiate between waste packaging configurations. As detailed in the RH-TRAMPAC, compliance with flammable gas limits may be demonstrated through the evaluation of compliance with either a decay heat limit or flammable gas generation rate (FGGR) limit per container specified in approved content codes. As applicable, if a container meets the watt*year criteria specified by the RH-TRAMPAC, the decay heat limits based on the dose-dependent G value may be used as specified in an approved content code. If a site implements the administrative controls outlined in the RH-TRAMPAC and Appendix 2.4 of the RH-TRU Payload Appendices, the decay heat or FGGR

  14. Development of spent fuel remote handling technology

    Energy Technology Data Exchange (ETDEWEB)

    Park, B. S.; Yoon, J. S.; Hong, H. D. (and others)

    2007-02-15

    In this research, the remote handling technology was developed for the ACP application. The ACP gives a possible solution to reduce the rapidly cumulative amount of spent fuels generated from the nuclear power plants in Korea. The remote technologies developed in this work are a slitting device, a voloxidizer, a modified telescopic servo manipulator and a digital mock-up. A slitting device was developed to declad the spent fuel rod-cuts and collect the spent fuel UO{sub 2} pellets. A voloxidizer was developed to convert the spent fuel UO{sub 2} pellets obtained from the slitting process in to U{sub 3}O{sub 8} powder. Experiments were performed to test the capabilities and remote operation of the developed slitting device and voloxidizer by using simulated rod-cuts and fuel in the ACP hot cell. A telescopic servo manipulator was redesigned and manufactured improving the structure of the prototype. This servo manipulator was installed in the ACP hot cell, and the target module for maintenance of the process equipment was selected. The optimal procedures for remote operation were made through the maintenance tests by using the servo manipulator. The ACP digital mockup in a virtual environment was established to secure a reliability and safety of remote operation and maintenance. The simulation for the remote operation and maintenance was implemented and the operability was analyzed. A digital mockup about the preliminary conceptual design of an enginnering-scale ACP was established, and an analysis about a scale of facility and remote handling was accomplished. The real-time diagnostic technique was developed to detect the possible fault accidents of the slitting device. An assessment of radiation effect for various sensors was also conducted in the radiation environment.

  15. Development of spent fuel remote handling technology

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Ji Sup; Park, B S; Park, Y S; Oh, S C; Kim, S H; Cho, M W; Hong, D H

    1997-12-01

    Since the nation`s policy on spent fuel management is not finalized, the technical items commonly required for safe management and recycling of spent fuel - remote technologies of transportation, inspection, maintenance, and disassembly of spent fuel - are selected and pursued. In this regards, the following R and D activities are carried out : collision free transportation of spent fuel assembly, mechanical disassembly of spent nuclear fuel and graphical simulation of fuel handling / disassembly process. (author). 36 refs., 16 tabs., 77 figs

  16. Means for attaching remote handling tongs

    International Nuclear Information System (INIS)

    Kearney, A.S.

    1982-01-01

    A remote handling tong has a replaceable slave head assembly provided with a spring biased latch which engages a recess in a barrel member of the tong. The latch bolt extends transverse to the barrel member, and has studs which project at each end beyond the body of the slave head assembly so as to engage respective linear cam surfaces at a station for parking the slave head assembly. (author)

  17. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

    Yoon, Ji Sup; Park, B. S.; Park, Y. S.; Oh, S. C.; Kim, S. H.; Cho, M. W.; Hong, D. H.

    1997-12-01

    Since the nation's policy on spent fuel management is not finalized, the technical items commonly required for safe management and recycling of spent fuel - remote technologies of transportation, inspection, maintenance, and disassembly of spent fuel - are selected and pursued. In this regards, the following R and D activities are carried out : collision free transportation of spent fuel assembly, mechanical disassembly of spent nuclear fuel and graphical simulation of fuel handling / disassembly process. (author). 36 refs., 16 tabs., 77 figs

  18. Development of remote handling tools and equipment

    International Nuclear Information System (INIS)

    Nakahira, Masataka; Oka, Kiyoshi; Taguchi, Kou; Ito, Akira; Fukatsu, Seiichi; Oda, Yasushi; Kajiura, Soji; Yamazaki, Seiichiro; Aoyama, Kazuo.

    1997-01-01

    The remote handling (RH) tools and equipment development in ITER focuses mainly on the welding and cutting technique, weld inspection and double-seal door which are essential factors in the replacement of in-vessel components such as divertor and blanket. The conceptual design of these RH tools and equipment has been defined through ITER engineering design activity (EDA). Similarly, elementary R and D of the RH tools and equipment have been extensively performed to accumulate a technological data base for process and performance qualification. Based on this data, fabrications of full-scale RH tools and equipment are under progress. A prototypical bore tool for pipe welding and cutting has already been fabricated and is currently undergoing integrated performance tests. This paper describes the design outline of the RH tools and equipment related to in-vessel components maintenance, and highlights the current status of RH tools and equipment development by the Japan Home Team as an ITER R and D program. This paper also includes an outline of insulation joint and quick-pipe connector development, which has also been conducted through the ITER R and D program in order to standardize RH operations and components. (author)

  19. Development of remote handling techniques for the HLLW solidification plant

    International Nuclear Information System (INIS)

    Tosha, Yoshitsugu; Iwata, Toshio; Inada, Eiichi; Nagaki, Hiroshi; Yamamoto, Masao

    1982-01-01

    To develop the techniques for the remote maintenance of the equipment in a HLLW (high-level liquid waste) solidification plant, the mock-up test facility (MTF) has been designed and constructed. Before its construction, the specific mock-up equipment was manufactured and tested. The results of the test and the outline of the MTF are described. As the mock-up equipment, a denitrater-concentrator, a ceramic melter and a canister handling equipment were selected. Remote operation was performed according to the maintenance program, and the evaluation of the component was conducted on the easiness of operation, performance, and the suitability to remote handling equipment. As a result of the test, four important elements were identified; they were guides, lifting fixtures, remote handling bolts, and remote pipe connectors. Many improvements of these elements were achieved, and reflected in the design of the MTF. The MTF is a steel-framed and slate-covered building (25 mL x 20 mW x 27 mH) with five storys of test bases. It contains the following four main systems: pretreatment and off-gas treatment system, glass melting system, canister handling system and secondary waste liquid recovery system. Further development of the remote maintenance techniques is expected through the test in the MTF. (Aoki, K.)

  20. Getting to grips with remote handling and robotics

    Energy Technology Data Exchange (ETDEWEB)

    Mosey, D [Ontario Hydro, Toronto (Canada)

    1984-12-01

    A report on the Canadian Nuclear Society Conference on robotics and remote handling in the nuclear industry, September 1984. Remote handling in reactor operations, particularly in the Candu reactors is discussed, and the costs and benefits of use of remote handling equipment are considered. Steam generator inspection and repair is an area in which practical application of robotic technology has made a major advance.

  1. Concentration of remote-handled, transuranic, sodium nitrate-based sludge using agitated thin-film evaporators

    International Nuclear Information System (INIS)

    Walker, J.F. Jr.; Youngblood, E.L.; Berry, J.B.; Pen, Ben-Li

    1991-01-01

    The Waste Handling and Packaging Plant (WHPP) is being designed at Oak Ridge National Laboratory (ORNL) to prepared transuranic waste for final disposal. Once operational, this facility will process, package, and certify remote-handled transuranic waste for ultimate shipment and disposal at the Waste Isolation Pilot Plant (WIPP) in Carlsbad, New Mexico. One of the wastes that will be handled at WHIPP is the transuranic sludge currently stored at ORNL in eight 50,000-gal underground tanks. The use of an Agitated Thin-Film Evaporator (ATFE) for concentration of this waste is being investigated. Tests have shown that the ATFE can be used to produce a thick slurry, a powder, or a fused salt. A computer model developed at the Savannah River Plant (SRP) to simulate the operation of ATFE's on their waste is being modified for use on the ORNL transuranic sludge. This paper summarizes the results of the test with the ATFEs to date, discusses the changes in the SRP model necessary to use this model with the ORNL waste, and compares the results of the model with the actual data taken from the operation of ATFEs at vendors' test facilities. 8 refs., 1 fig., 3 tabs

  2. ITER - TVPS remote handling critical design issues

    International Nuclear Information System (INIS)

    1990-09-01

    This report describes critical design issues concerning remote maintenance of the ITER Torus Vacuum Pumping System (TVPS). The key issues under investigation are the regeneration/isolation valve seal and seal mechanism replacement; impact of inert gas operation; impact of remote handling (RH) on the building configuration and RH equipment requirements. Seal exchange concepts are developed and their impact on the valve design identified. Concerns regarding the design and operation of RH equipment in an inert gas atmosphere are also explored. The report compares preliminary RH equipment options, pumping equipment maintenance frequency and their impact on the building design, and makes recommendations where a conflict exists between pumping equipment and the building layout. (51 figs., 11 refs.)

  3. Remote handling recognition and display device

    International Nuclear Information System (INIS)

    Kimura, Motohiko.

    1979-01-01

    Purpose: To surely recognize the movements of remote handling equipments in a reactor by the use of a device in a simple structure. Constitution: A light emission surface and a light reception surface are provided, for example, putting therebetween a hook of a nob of a control rod as a remote control equipment. Depending on the position of the hook, there are two possible cases where the light can not arrive the light reception surface inhibited by the hook and where the light can be received not inhibited by the hook. By visually monitoring the presence or absence of the light reception from the outside of the reactor, the movement of the nob for the control rod can be recognized. Optical fibers connect the optical source with the light emission surface, and the light reception surface with the display surface. (Ikeda, J.)

  4. The remote handling systems for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Ribeiro, Isabel, E-mail: mir@isr.ist.utl.pt [Institute for Systems and Robotics/Instituto Superior Tecnico, Lisboa (Portugal); Damiani, Carlo [Fusion for Energy, Barcelona (Spain); Tesini, Alessandro [ITER Organization, Cadarache (France); Kakudate, Satoshi [ITER Tokamak Device Group, Japan Atomic Energy Agency, Ibaraki (Japan); Siuko, Mikko [VTT Systems Engineering, Tampere (Finland); Neri, Carlo [Associazione EURATOM ENEA, Frascati (Italy)

    2011-10-15

    The ITER remote handling (RH) maintenance system is a key component in ITER operation both for scheduled maintenance and for unexpected situations. It is a complex collection and integration of numerous systems, each one at its turn being the integration of diverse technologies into a coherent, space constrained, nuclearised design. This paper presents an integrated view and recent results related to the Blanket RH System, the Divertor RH System, the Transfer Cask System (TCS), the In-Vessel Viewing System, the Neutral Beam Cell RH System, the Hot Cell RH and the Multi-Purpose Deployment System.

  5. Solution for remote handling in accelerator installations

    International Nuclear Information System (INIS)

    Burgerjon, J.J.; Ekberg, E.L.; Grisham, D.L.; Horne, R.A.; Meyer, R.E.; Flatau, C.R.; Wilson, K.B.

    1977-01-01

    A description is given of a remote-handling system designed for the Los Alamos Clinton P. Anderson Meson Physics Facility (LAMPF), versatile enough to be used in a variety of situations found around particle accelerators. The system consists of a bilateral (force-reflecting) servomanipulator installed on an articulated hydraulic boom. The boom also carries the necessary tools and observation devices. The whole slave unit can be moved by crane or truck to the area of operation. A control cable connects the slave unit with the control station, located at a safe distance in a trailer. Various stages of development as well as some operating experience are discussed

  6. Development of nuclear fuel cycle remote handling technology

    International Nuclear Information System (INIS)

    Kim, K. H.; Park, B. S.; Kim, S. H.

    2012-04-01

    This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are four areas conducted in this work. In first area, the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately, and an automatic equipment which is capable of collecting residual powder remaining on separated hulls were developed. In second area, a servo-manipulator system was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In third area, a digital mock-up and a remote handling evaluation mock-up were constructed to evaluate the pyroprocess equipments from the in-cell arrangements, remote operability and maintainability viewpoint before they are installed in the PRIDE. In last area, a base technology for remote automation of integrated pyroprocess was developed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be used for remote operation and maintenance of the pyroprocess equipments in the PRIDE. The constructed digital mock-up and remote handling evaluation mock-up will be also used to verify and improve the pyroprocess equipments for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the KAPF (Korea Advanced Pyroprocess Facility) development

  7. Recent advances in remote handling at LAMPF

    International Nuclear Information System (INIS)

    Lambert, J.E.; Grisham, D.L.

    1985-01-01

    The Clinton P. Anderson Meson Physics Facility (LAMPF) has operated at beam currents above 200 microamperes since 1976. As a result, the main experimental beam line (Line A) has become increasingly radioactive over the years. Since 1976 the radiation levels have steadily increased from 100 mR/hr to levels that exceed 10,000 R/hr in the components near the pion production targets. During this time the LAMPF remote handling system, Monitor, has continued to operate successfully in the ever-increasing radiation levels, as well as with more complex remote-handling situations. This paper briefly describes the evolution of Monitor and specifically describes the complete rebuild of the A-6 target area, which is designated as the beam stop, but also includes isotope production capabilities and a primitive neutron irradiation facility. The new facility includes not only the beam stop and isotope production, but also facilities for proton irradiation and a ten-fold expansion in neutron irradiation facilities

  8. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

    Yoon, J. S.; Hong, H. D.; Kim, S. H.

    2004-02-01

    In this research, the remote handling technology is developed for the advanced spent fuel conditioning process which gives a possible solution to deal with the rapidly increasing spent fuels. In detail, a fuel rod slitting device is developed for the decladding of the spent fuel. A series of experiments has been performed to find out the optimal condition of the spent fuel voloxidation which converts the UO 2 pellet into U 3 O 8 powder. The design requirements of the ACP equipment for hot test is established by analysing the modular requirement, radiation hardening and thermal protection of the process equipment, etc. The prototype of the servo manipulator is developed. The manipulator has an excellent performance in terms of the payload to weight ratio that is 30 % higher than that of existing manipulators. To provide reliability and safety of the ACP, the 3 dimensional graphic simulator is developed. Using the simulator the remote handling operation is simulated and as a result, the optimal layout of ACP is obtained. The supervisory control system is designed to control and monitor the several different unit processes. Also the failure monitoring system is developed to detect the possible accidents of the reduction reactor

  9. Remote handling facility and equipment used for space truss assembly

    International Nuclear Information System (INIS)

    Burgess, T.W.

    1987-01-01

    The ACCESS truss remote handling experiments were performed at Oak Ridge National Laboratory's (ORNL's) Remote Operation and Maintenance Demonstration (ROMD) facility. The ROMD facility has been developed by the US Department of Energy's (DOE's) Consolidated Fuel Reprocessing Program to develop and demonstrate remote maintenance techniques for advanced nuclear fuel reprocessing equipment and other programs of national interest. The facility is a large-volume, high-bay area that encloses a complete, technologically advanced remote maintenance system that first began operation in FY 1982. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the DOE, the Power Reactor and Nuclear Fuel Development Corporation (PNC) of Japan, and the US Navy in addition to the National Aeronautics and Space Administration. ACCESS truss remote assembly was performed in the ROMD facility using the Central Research Laboratory's (CRL) model M-2 servomanipulator. The model M-2 is a dual-arm, bilateral force-reflecting, master/slave servomanipulator which was jointly developed by CRL and ORNL and represents the state of the art in teleoperated manipulators commercially available in the United States today. The model M-2 servomanipulator incorporates a distributed, microprocessor-based digital control system and was the first successful implementation of an entirely digitally controlled servomanipulator. The system has been in operation since FY 1983. 3 refs., 2 figs

  10. Evaluating ITER remote handling middleware concepts

    Energy Technology Data Exchange (ETDEWEB)

    Koning, J.F., E-mail: j.f.koning@differ.nl [FOM Institute DIFFER, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M.; Schoen, P.; Smedinga, D. [Heemskerk Innovative Technology, Noordwijk (Netherlands); Boode, A.H. [University of Applied Sciences InHolland, Alkmaar (Netherlands); Hamilton, D.T. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2013-10-15

    Highlights: ► Remote Handling Study Centre: middleware system setup and modules built. ► Aligning to ITER RH Control System Layout: prototype of database, VR and simulator. ► OpenSplice DDS, ZeroC ICE messaging and object oriented middlewares reviewed. ► Windows network latency found problematic for semi-realtime control over the network. -- Abstract: Remote maintenance activities in ITER will be performed by a unique set of hardware systems, supported by an extensive software kit. A layer of middleware will manage and control a complex set of interconnections between teams of operators, hardware devices in various operating theatres, and databases managing tool and task logistics. The middleware is driven by constraints on amounts and timing of data like real-time control loops, camera images, and database access. The Remote Handling Study Centre (RHSC), located at FOM institute DIFFER, has a 4-operator work cell in an ITER relevant RH Control Room setup which connects to a virtual hot cell back-end. The centre is developing and testing flexible integration of the Control Room components, resulting in proof-of-concept tests of this middleware layer. SW components studied include generic human-machine interface software, a prototype of a RH operations management system, and a distributed virtual reality system supporting multi-screen, multi-actor, and multiple independent views. Real-time rigid body dynamics and contact interaction simulation software supports simulation of structural deformation, “augmented reality” operations and operator training. The paper presents generic requirements and conceptual design of middleware components and Operations Management System in the context of a RH Control Room work cell. The simulation software is analyzed for real-time performance and it is argued that it is critical for middleware to have complete control over the physical network to be able to guarantee bandwidth and latency to the components.

  11. Evaluating ITER remote handling middleware concepts

    International Nuclear Information System (INIS)

    Koning, J.F.; Heemskerk, C.J.M.; Schoen, P.; Smedinga, D.; Boode, A.H.; Hamilton, D.T.

    2013-01-01

    Highlights: ► Remote Handling Study Centre: middleware system setup and modules built. ► Aligning to ITER RH Control System Layout: prototype of database, VR and simulator. ► OpenSplice DDS, ZeroC ICE messaging and object oriented middlewares reviewed. ► Windows network latency found problematic for semi-realtime control over the network. -- Abstract: Remote maintenance activities in ITER will be performed by a unique set of hardware systems, supported by an extensive software kit. A layer of middleware will manage and control a complex set of interconnections between teams of operators, hardware devices in various operating theatres, and databases managing tool and task logistics. The middleware is driven by constraints on amounts and timing of data like real-time control loops, camera images, and database access. The Remote Handling Study Centre (RHSC), located at FOM institute DIFFER, has a 4-operator work cell in an ITER relevant RH Control Room setup which connects to a virtual hot cell back-end. The centre is developing and testing flexible integration of the Control Room components, resulting in proof-of-concept tests of this middleware layer. SW components studied include generic human-machine interface software, a prototype of a RH operations management system, and a distributed virtual reality system supporting multi-screen, multi-actor, and multiple independent views. Real-time rigid body dynamics and contact interaction simulation software supports simulation of structural deformation, “augmented reality” operations and operator training. The paper presents generic requirements and conceptual design of middleware components and Operations Management System in the context of a RH Control Room work cell. The simulation software is analyzed for real-time performance and it is argued that it is critical for middleware to have complete control over the physical network to be able to guarantee bandwidth and latency to the components

  12. Automation and remote handling activities in BARC: an overview

    International Nuclear Information System (INIS)

    Badodkar, D.N.

    2016-01-01

    Division of Remote Handling and Robotics, BARC has been working on design and development of various application specific remote handling and automation systems for nuclear front-end and back-end fuel cycle technologies. Division is also engaged in preservice and in-service inspection of coolant channels for Pressurized Heavy Water Reactors in India. Design and development of Reactor Control Mechanisms for Nuclear Research and Power Reactors (PHWRs and Compact LWRs) is another important activity carried out in this division. Robotic systems for Indoor and Outdoor surveillance in and around nuclear installations have also been developed. A line scan camera based system has been developed for measuring individual PHWR fuel pellet lengths as well as stack length. An industrial robot is used for autonomous exchange of pellets to achieve desired stack length. The system can be extended for active fuel pellets also. An automation system has been conceptualized for remote handling and transfer of spent fuel bundles from storage pool directly to the chopper unit of reprocessing plant. In case of Advanced Heavy Water Reactor which uses mixed oxides of (Th-Pu) and (Th-"2"3"3U ) as fuel, automation system for front-end fuel cycle has been designed, which includes Powder processing and pressing; Pellet handling and inspection; Pin handling and inspection; and Cluster assembly and dis-assembly in shielded facilities. System demonstration through fullscale mock-up facility is nearing completion. Above talk is presented on behalf of all the officers and staff of DRHR. The talk is mainly focused on development of an automated fuel fabrication facility for mixed oxides of (Th- Pu)/(Th-"2"3"3U ) fuel pins. An overview of divisional ongoing activities in the field of remote handling and automation are also covered. (author)

  13. Radioactivity, shielding, radiation damage, and remote handling

    International Nuclear Information System (INIS)

    Wilson, M.T.

    1975-01-01

    Proton beams of a few hundred million electron volts of energy are capable of inducing hundreds of curies of activity per microampere of beam intensity into the materials they intercept. This adds a new dimension to the parameters that must be considered when designing and operating a high-intensity accelerator facility. Large investments must be made in shielding. The shielding itself may become activated and require special considerations as to its composition, location, and method of handling. Equipment must be designed to withstand large radiation dosages. Items such as vacuum seals, water tubing, and electrical insulation must be fabricated from radiation-resistant materials. Methods of maintaining and replacing equipment are required that limit the radiation dosages to workers.The high-intensity facilities of LAMPF, SIN, and TRIUMF and the high-energy facility of FERMILAB have each evolved a philosophy of radiation handling that matches their particular machine and physical plant layouts. Special tooling, commercial manipulator systems, remote viewing, and other techniques of the hot cell and fission reactor realms are finding application within accelerator facilities. (U.S.)

  14. Remote Handling behind port plug in ITER

    International Nuclear Information System (INIS)

    Bede, O.; Neuberger, H.

    2006-01-01

    Different Test Blanket Modules (TBM) will be used in succession in the same equatorial ports of ITER. The remote handling operations for connection/disconnection of an interface between the port plug of the EU-HCPB-TBM and the port cell equipment are investigated with the goal to reach a quick and simple TBM exchange procedure. This paper describes the operations and systems which are required for connection of the TBM to its supply lines at this interface. The interface is located inside the free space of the port plug flange between the port plug shield and the bioshield of the port cell behind. The approach of the operation place is only available through a narrow gate in the bioshield opened temporarily during maintenance periods. This gate limits the dimensions of the whole system and its tools. The current design of the EU-HCPB-TBM foresees up to 9 supply lines which have to be connected inside the free space of one half of the port plug flange. The connection operations require positioning and adjustment of the tools for each pipe separately. Despite the strict circumstances it is still possible to find such an industrial jointed-arm robot with sufficient payload, which can penetrate into the working area. A mechanical system is necessary to move the robot from its storing place in the hot cell to the port plug on 6 m distance. Each operation requires different end-of-arm tools. The most special one is a pipe positioner tool, which can position and pull the pipe ends to each other and align the tool before welding and hold them in proper position during the welding process. Weld seams can be made by orbital welding tool. The pipe positioner tool has to provide place for welding tool. Using of inbore tool is impossible because pipes have no open ends where the tool could leave it. Orbital tool must be modified to meet requirements of remote handling because it is designed for human handling. The coolant is helium, so for eliminating the leak of helium it is

  15. Remote-handled transuranic waste study

    International Nuclear Information System (INIS)

    1995-10-01

    The Waste Isolation Pilot Plant (WIPP) was developed by the US Department of Energy (DOE) as a research and development facility to demonstrate the safe disposal of transuranic (TRU) radioactive wastes generated from the Nation's defense activities. The WIPP disposal inventory will include up to 250,000 cubic feet of TRU wastes classified as remote handled (RH). The remaining inventory will include contact-handled (CH) TRU wastes, which characteristically have less specific activity (radioactivity per unit volume) than the RH-TRU wastes. The WIPP Land Withdrawal Act (LWA), Public Law 102-579, requires a study of the effect of RH-TRU waste on long-term performance. This RH-TRU Waste Study has been conducted to satisfy the requirements defined by the LWA and is considered by the DOE to be a prudent exercise in the compliance certification process of the WIPP repository. The objectives of this study include: conducting an evaluation of the impacts of RH-TRU wastes on the performance assessment (PA) of the repository to determine the effects of Rh-TRU waste as a part of the total WIPP disposal inventory; and conducting a comparison of CH-TRU and RH-TRU wastes to assess the differences and similarities for such issues as gas generation, flammability and explosiveness, solubility, and brine and geochemical interactions. This study was conducted using the data, models, computer codes, and information generated in support of long-term compliance programs, including the WIPP PA. The study is limited in scope to post-closure repository performance and includes an analysis of the issues associated with RH-TRU wastes subsequent to emplacement of these wastes at WIPP in consideration of the current baseline design. 41 refs

  16. Guidelines for Remote Handling Maintenance of ITER Neutral Beam Components

    International Nuclear Information System (INIS)

    Cordier, J.-J.; Hemsworth, R.; Bayetti, P.

    2006-01-01

    Remote handling maintenance of ITER components is one of the main challenges of the ITER project. This type of maintenance shall be operational for the nuclear phase of exploitation of ITER, and be considered at a very early stage since it significantly impacts on the components design, interfaces management and integration business. A large part of the R/H equipment will be procured by the EU partner, in particular the whole Neutral Beam Remote Handling (RH) equipment package. A great deal of work has already been done in this field during the EDA phase of ITER project, but improvements and alternative option that are now proposed by ITER lead to added RH and maintenance engineering studies. The Neutral Beam Heating -and- Current Drive system 1 is being revisited by the ITER project. The vertical maintenance scheme that is presently considered by ITER, may significantly impact on the reference design of the Neutral Beam (NB) system and associated components and lead to new design of the NB box itself. In addition, revision of both NB cell radiation level zoning and remote handling classification of the beam line injector will also significantly impact on components design and maintenance. Based on the experience gained on the vertical maintenance scheme, developed in detail for the ITER Neutral Beam Test Facility 2 to be built in Europe in a near future, guidelines for the revision of the design and preliminary feasibility study of the remote handling vertical maintenance scheme of beam line components are described in the paper. A maintenance option for the SINGAP3 accelerator is also presented. (author)

  17. Remote handling in nuclear fusion research

    International Nuclear Information System (INIS)

    Removille, J.

    1989-01-01

    When the Joint European Torus (JET) commences operation in 1992, the neutron flux will increase by 2 or 3 orders of magnitude activating the components of the machine to such an extent as to prohibit the access of personnel into the machine hall to carry out maintenance tasks. This paper lists operations which will have to be carried out remotely either because they are essential to the routine running of the machine or in emergencies. Remotely operated equipment which has been developed to perform these tasks is described. It is based on a system of conveyors which carry manipulators and tools to their point of operation. The principal conveyors are: a telescopic articulated mast carried on a bridge over the machine enabling tasks around and above the torus to be performed; conveyors running on rails which can reach otherwise inaccessible regions beneath the machine; an articulated arm which can position a manipulator within the torus; and a radio controlled support vehicle running on caterpillar tracks carrying a camera and tools for connecting cables to other conveyors. The main features of the control room from which the conveyors, manipulators, tools and cameras are remotely operated is also described. (UK)

  18. Full scale tests on remote handled FFTF fuel assembly waste handling and packaging

    International Nuclear Information System (INIS)

    Allen, C.R.; Cash, R.J.; Dawson, S.A.; Strode, J.N.

    1986-01-01

    Handling and packaging of remote handled, high activity solid waste fuel assembly hardware components from spent FFTF reactor fuel assemblies have been evaluated using full scale components. The demonstration was performed using FFTF fuel assembly components and simulated components which were handled remotely using electromechanical manipulators, shielding walls, master slave manipulators, specially designed grapples, and remote TV viewing. The testing and evaluation included handling, packaging for current and conceptual shipping containers, and the effects of volume reduction on packing efficiency and shielding requirements. Effects of waste segregation into transuranic (TRU) and non-transuranic fractions also are discussed

  19. Potential applications of advanced remote handling and maintenance technology to future waste handling facilities

    International Nuclear Information System (INIS)

    Kring, C.T.; Herndon, J.N.; Meacham, S.A.

    1987-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory (ORNL) has been advancing the technology in remote handling and remote maintenance of in-cell systems planned for future US nuclear fuel reprocessing plants. Much of the experience and technology developed over the past decade in this endeavor are directly applicable to the in-cell systems being considered for the facilities of the Federal Waste Management System (FWMS). The ORNL developments are based on the application of teleoperated force-reflecting servomanipulators controlled by an operator completely removed from the hazardous environment. These developments address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in a waste handling facility. Employing technological advancements in dexterous manipulators, as well as basic design guidelines that have been developed for remotely maintained equipment and processes, can increase operation and maintenance system capabilities, thereby allowing the attainment of two Federal Waste Management System major objectives: decreasing plant personnel radiation exposure and increasing plant availability by decreasing the mean-time-to-repair in-cell maintenance and process equipment

  20. Potential applications of advanced remote handling and maintenance technology to future waste handling facilities

    International Nuclear Information System (INIS)

    Kring, C.T.; Herndon, J.N.; Meacham, S.A.

    1987-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory (ORNL) has been advancing the technology in remote handling and remote maintenance of in-cell systems planned for future U.S. nuclear fuel reprocessing plants. Much of the experience and technology developed over the past decade in this endeavor are directly applicable to the in-cell systems being considered for the facilities of the Federal Waste Management System (FWMS). The ORNL developments are based on the application of teleoperated force-reflecting servomanipulators controlled by an operator completely removed from the hazardous environment. These developments address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in a waste handling facility. Employing technological advancements in dexterous manipulators, as well as basic design guidelines that have been developed for remotely maintained equipment and processes, can increase operation and maintenance system capabilities, thereby allowing the attainment of two Federal Waste Management System major objectives: decreasing plant personnel radiation exposure and increasing plant availability by decreasing the mean-time-to-repair in-cell maintenance and process equipment

  1. ITER - torus vacuum pumping system remote handling issues

    International Nuclear Information System (INIS)

    Stringer, J.

    1992-11-01

    This report describes further design issues concerning remote maintenance of torus vacuum pumping systems options for ITER. The key issues under investigation in this report are flask support systems for valve seal exchange operations for the compound cryopump scheme and remote maintenance of a proposed multiple turbomolecular pump (TMP) system, an alternative ITER torus exhaust pumping option. Previous studies have shown that the overhead support methods for seal exchange flask equipment could malfunction due to valve/flask misalignment. A floor-mounted support system is described in this report. This scheme provides a more rigid support system for seal exchange operations. An alternative torus pumping system, based on the use of multiple TMPs, is studied from a remote maintenance standpoint. In this concept, centre distance spacing for pump/valve assemblies is too restrictive for remote maintenance. Recommendations are made for adequate spacing of these assemblies based on commercially-available 0.8 m and 1.0 m diameter valves. Fewer pumps will fit in this arrangement, which implies a need for larger TMPs. Pumps of this size are not commercially available. Other concerns regarding the servicing and storage of remote handling equipment in cells are also identified. (9 figs.)

  2. A Perspective on Equipment Design for Fusion Remote Handling

    International Nuclear Information System (INIS)

    Mills, S.; Haist, B.; Hamilton, D.

    2006-01-01

    For 8 years, JET remote operations have become more capable and confident. Many tasks have been successfully completed, even those never intended to be remote maintenance activities. The general approach to the provision of remote handling equipment at JET has been the preferred use of commercially-off-the-shelf equipment. In the areas of electrical, electronic, software and control this approach has been generally achievable. However, in the area of mechanical equipment it has been more difficult. In particular the RH tooling has been almost entirely bespoke as its requirements are highly sensitive to the design of the JET component being handled and there are many design variations. Hence, JET has required the design and manufacture of over 700 types of bespoke RH equipment. This paper will discuss the experience of introducing and developing remote handling mechanical equipment for JET. The paper will cover the relationship between the remote handling equipment and the JET component design and the potential for improving the design function. A major lesson from the introduction of remote handling to JET has been demonstration of the very close interdependency of the design of JET components with design of remote handling tooling. The JET remote handling manual was originally introduced as the vehicle to ensure remote handling compatibility by the introduction of standards. Experience has shown that in general the remote handling manual approach has been insufficient. Future fusion machines will be much more complex than JET and will demand even greater remote handling compatibility. This paper will discuss possible methods for improving this process. Equipment operating in a high radiation environment must be dependable It may spend part of its time in areas that would be extremely difficult to recover from in the case of failure. The equipment may also have a high duty cycle to minimise shutdown times and probably cannot be manually inspected on a frequent

  3. Beginnings of remote handling at the RAL Spallation Neutron Source

    International Nuclear Information System (INIS)

    Liska, D.J.; Hirst, J.

    1985-01-01

    Expenditure of funds and resources for remote maintenance systems traditionally are delayed until late in an accelerator's development. However, simple remote-surveillance equipment can be included early in facility planning to set the stage for future remote-handling needs and to identify appropriate personnel. Some basic equipment developed in the UK at the Spallation Neutron Source (SNS) that serves this function and that has been used to monitor beam loss during commissioning is described. A photograph of this equipment, positioned over the extractor septum magnet, is shown. This method can serve as a pattern approach to the problem of initiating remote-handling activities in other facilities

  4. Remote-Handled Transuranic Content Codes

    International Nuclear Information System (INIS)

    2001-01-01

    The Remote-Handled Transuranic (RH-TRU) Content Codes (RH-TRUCON) document represents the development of a uniform content code system for RH-TRU waste to be transported in the 72-Bcask. It will be used to convert existing waste form numbers, content codes, and site-specific identification codes into a system that is uniform across the U.S. Department of Energy (DOE) sites.The existing waste codes at the sites can be grouped under uniform content codes without any lossof waste characterization information. The RH-TRUCON document provides an all-encompassing description for each content code and compiles this information for all DOE sites. Compliance with waste generation, processing, and certification procedures at the sites (outlined in this document foreach content code) ensures that prohibited waste forms are not present in the waste. The content code gives an overall description of the RH-TRU waste material in terms of processes and packaging, as well as the generation location. This helps to provide cradle-to-grave traceability of the waste material so that the various actions required to assess its qualification as payload for the 72-B cask can be performed. The content codes also impose restrictions and requirements on the manner in which a payload can be assembled. The RH-TRU Waste Authorized Methods for Payload Control (RH-TRAMPAC), Appendix 1.3.7 of the 72-B Cask Safety Analysis Report (SAR), describes the current governing procedures applicable for the qualification of waste as payload for the 72-B cask. The logic for this classification is presented in the 72-B Cask SAR. Together, these documents (RH-TRUCON, RH-TRAMPAC, and relevant sections of the 72-B Cask SAR) present the foundation and justification for classifying RH-TRU waste into content codes. Only content codes described in thisdocument can be considered for transport in the 72-B cask. Revisions to this document will be madeas additional waste qualifies for transport. Each content code uniquely

  5. Remote waste handling and feed preparation for Mixed Waste Management

    International Nuclear Information System (INIS)

    Couture, S.A.; Merrill, R.D.; Densley, P.J.

    1995-05-01

    The Mixed Waste Management Facility (MWMF) at the Lawrence Livermore National Laboratory (LLNL) will serve as a national testbed to demonstrate mature mixed waste handling and treatment technologies in a complete front-end to back-end --facility (1). Remote operations, modular processing units and telerobotics for initial waste characterization, sorting and feed preparation have been demonstrated at the bench scale and have been selected for demonstration in MWMF. The goal of the Feed Preparation design team was to design and deploy a robust system that meets the initial waste preparation flexibility and productivity needs while providing a smooth upgrade path to incorporate technology advances as they occur. The selection of telerobotics for remote handling in MWMF was made based on a number of factors -- personnel protection, waste generation, maturity, cost, flexibility and extendibility. Modular processing units were selected to enable processing flexibility and facilitate reconfiguration as new treatment processes or waste streams are brought on line for demonstration. Modularity will be achieved through standard interfaces for mechanical attachment as well as process utilities, feeds and effluents. This will facilitate reconfiguration of contaminated systems without drilling, cutting or welding of contaminated materials and with a minimum of operator contact. Modular interfaces also provide a standard connection and disconnection method that can be engineered to allow convenient remote operation

  6. ITER L 6 equatorial maintenance duct remote handling study

    International Nuclear Information System (INIS)

    Millard, J.

    1996-09-01

    The status and conclusions of a preliminary study of equatorial maintenance duct remote handling is reported. Due to issues with the original duct design a significant portion of the study had to be refocused on equatorial duct layout studies. The study gives an overview of some of the options for design of these ducts and the impact of the design on the equipment to work in the duct. To develop a remote handling concept for creating access through the ducts the following design tasks should be performed: define the operations sequences for equatorial maintenance duct opening and closing; review the remote handling requirements for equatorial maintenance duct opening and closing; design concept for door and pipe handling equipment and to propose preliminary procedures for material handling outsides the duct. 35 figs

  7. SNS Target Test Facility for remote handling design and verification

    International Nuclear Information System (INIS)

    Spampinato, P.T.; Graves, V.B.; Schrock, S.L.

    1998-01-01

    The Target Test Facility will be a full-scale prototype of the Spallation Neutron Source Target Station. It will be used to demonstrate remote handling operations on various components of the mercury flow loop and for thermal/hydraulic testing. This paper describes the remote handling aspects of the Target Test Facility. Since the facility will contain approximately 1 cubic meter of mercury for the thermal/hydraulic tests, an enclosure will also be constructed that matches the actual Target Test Cell

  8. Conceptual design of CFETR divertor remote handling compatible structure

    International Nuclear Information System (INIS)

    Dai, Huaichu; Yao, Damao; Cao, Lei; Zhou, Zibo; Li, Lei

    2016-01-01

    Highlights: • Conceptual design for the CFETR divertor have been proposed, especially the divertor remote handling compatible structure. • The degrees of freedom of the divertor are analyzed in order to validate the design the divertor supports structure. • Besides the ITER-like scheme, a new scheme for the divertor remote handling compatible supports is proposed, that is the rack and pinion mechanism. • The installation/removel process is verified through simulation in Delmia in order to check design quality for remote handling requirements. - Abstract: Divertor is one of key components of tokamak fusion reactor. The CFETR is China Fusion Engineering Test Reactor. Its divertor will expose to tritium environment and neutron radiation. Materials of the divertor will be radioactived, and cannot be handled by personnel directly. To develop structure which compatible with robots handle for installation, maintenance and removing is required. This paper introduces a conceptual design of CFETR divertor module which compatible with remote handling end-effectors. The divertor module is confined by inner and outer support. The inner support is only confined divertor module radial, toroidal and vertical moving freedom degrees, but not confined rotating freedom degrees. The outer support is the structure that can confine rotating freedom degrees and should also be compatible with remote handling end-effectors.

  9. Conceptual design of CFETR divertor remote handling compatible structure

    Energy Technology Data Exchange (ETDEWEB)

    Dai, Huaichu, E-mail: yaodm@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); University of Science and Technology of China, Hefei (China); Yao, Damao; Cao, Lei; Zhou, Zibo; Li, Lei [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China)

    2016-11-15

    Highlights: • Conceptual design for the CFETR divertor have been proposed, especially the divertor remote handling compatible structure. • The degrees of freedom of the divertor are analyzed in order to validate the design the divertor supports structure. • Besides the ITER-like scheme, a new scheme for the divertor remote handling compatible supports is proposed, that is the rack and pinion mechanism. • The installation/removel process is verified through simulation in Delmia in order to check design quality for remote handling requirements. - Abstract: Divertor is one of key components of tokamak fusion reactor. The CFETR is China Fusion Engineering Test Reactor. Its divertor will expose to tritium environment and neutron radiation. Materials of the divertor will be radioactived, and cannot be handled by personnel directly. To develop structure which compatible with robots handle for installation, maintenance and removing is required. This paper introduces a conceptual design of CFETR divertor module which compatible with remote handling end-effectors. The divertor module is confined by inner and outer support. The inner support is only confined divertor module radial, toroidal and vertical moving freedom degrees, but not confined rotating freedom degrees. The outer support is the structure that can confine rotating freedom degrees and should also be compatible with remote handling end-effectors.

  10. Remote handling demonstration of ITER blanket module replacement

    International Nuclear Information System (INIS)

    Kakudate, S.; Nakahira, M.; Oka, K.; Taguchi, K.; Obara, K.; Tada, E.; Shibanuma, K.; Tesini, A.; Haange, R.; Maisonnier, D.

    2001-01-01

    In ITER, the in-vessel components such as blanket are to be maintained or replaced remotely since they will be activated by 14 MeV neutrons, and a complete exchange of shielding blanket with breeding blanket is foreseen after the Basic Performance Phase. The blanket is segmented into about seven hundred modules to facilitate remote maintainability and allow individual module replacement. For this, the remote handing equipment for blanket maintenance is required to handle a module with a dead weight of about 4 tonne within a positioning accuracy of a few mm under intense gamma radiation. According to the ITER R and D program, a rail-mounted vehicle manipulator system was developed and the basic feasibility of this system was verified through prototype testing. Following this, development of full-scale remote handling equipment has been conducted as one of the ITER Seven R and D Projects aiming at a remote handling demonstration of the ITER blanket. As a result, the Blanket Test Platform (BTP) composed of the full-scale remote handling equipment has been completed and the first integrated performance test in March 1998 has shown that the fabricate remote handling equipment satisfies the main requirements of ITER blanket maintenance. (author)

  11. Robotics and remote handling in the nuclear industry

    Energy Technology Data Exchange (ETDEWEB)

    1984-01-01

    This book presents the papers given at a conference on the use of remote handling equipment in nuclear facilities. Topics considered at the conference included dose reduction, artificial intelligence in nuclear plant maintenance, robotic welding, uncertainty covariances, reactor operation and inspection, reactor maintenance and repair, uranium mining, fuel fabrication, reactor component manufacture, irradiated fuel and radioactive waste management, and radioisotope handling.

  12. Remote systems and automation in radioactive waste package handling

    International Nuclear Information System (INIS)

    Gneiting, B.C.; Hayward, M.L.

    1987-01-01

    A proof-of-principle test was conducted at the Hanford Engineering Development Laboratory (HEDL) to demonstrate the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. This development testing showed feasibility of performing critical cask receipt, preparation, and unloading operations from a single control station using remote controls and indirect viewing. Using robotics and remote automation in a cask handling system can result in lower personnel exposure levels and cask turnaround times while maintaining operational flexibility. An automated cask handling system presents a flexible state-of-the-art, cost effective alternative solution to hands-on methods that have been used in the past

  13. Overhead remote handling systems for the process facility modifications project

    International Nuclear Information System (INIS)

    Wiesener, R.W.; Grover, D.L.

    1987-01-01

    Each of the cells in the process facility modifications (PFM) project complex is provided with a variety of general purpose remote handling equipment including bridge cranes, monorail hoist, bridge-mounted electromechanical manipulator (EMM) and an overhead robot used for high efficiency particulate air (HEPA) filter changeout. This equipment supplements master-slave manipulators (MSMs) located throughout the complex to provide an overall remote handling system capability. The overhead handling equipment is used for fuel and waste material handling operations throughout the process cells. The system also provides the capability for remote replacement of all in-cell process equipment which may fail or be replaced for upgrading during the lifetime of the facility

  14. Preoperational checkout of the remote-handled transuranic waste handling at the Waste Isolation Pilot Plant

    International Nuclear Information System (INIS)

    1987-09-01

    This plan describes the preoperational checkout for handling Remote-Handled Transuranic (RH-TRU) Wastes from their receipt at the Waste Isolation Pilot Plant (WIPP) to their emplacement underground. This plan identifies the handling operations to be performed, personnel groups responsible for executing these operations, and required equipment items. In addition, this plan describes the quality assurance that will be exercised throughout the checkout, and finally, it establishes criteria by which to measure the success of the checkout. 7 refs., 5 figs

  15. Design of remote handling equipment for the ITER NBI

    Energy Technology Data Exchange (ETDEWEB)

    Oka, Kiyoshi; Tada, Eisuke [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1999-08-01

    The ITER machine has three Neutral Beam Injectors (NBIs) placed tangential to the plasma at a minimum radius of 6.25 m. During operation, neutrons produced by the D-T reactions will irradiate the NBI structure and it will become radioactive. Radiation levels will be such that all subsequent maintenance of the NBIs must be carried out remotely. The presence of tritium and possibly radioactive dust requires that precautions be taken during maintenance to prevent the escape of these contaminants beyond the prescribed boundaries. The scope of this task is both the development of remote maintenance procedures and the design of the remote handling equipment to handle the NBIs. This report describes the design of remote handling tools for the ion source and its filaments, transfer cask, maintenance time, manufacturing schedule and cost estimation. (author)

  16. Remote handling and automation in back end of fuel cycle

    International Nuclear Information System (INIS)

    Nair, K.N.S.

    2010-01-01

    Full text: Indian nuclear programme is readying for a quantum leap and it is essential that technology is available for building advanced fuel recycle plants in the back end and for sustained operation of such plants. Remote technology and automation plays a big role to achieve this goal. With the introduction of advanced fuel cycles in indigenous programme and scenario of international cooperation it is essential to be ready with indigenous technology for meeting all challenges. Work has been progressing to develop locally support technology for remote handling and automation with good success. Essential RH tools such as master slave manipulators, power manipulators and hot cell viewing systems have been developed and commercial production has been established. Customised RH requirements for back end plants have been met and the designs have proven to be worthy for hot operations over the years. In the last few years stress has been on development of equipment and technology to meet the increasing demands of higher throughput plants. Substantial progress has been achieved in the head end and reconversion laboratory systems of reprocessing plants. Similarly successful efforts have also been made for establishing Thoria processing cells and also the RH in the reconversion operations. Custom designed equipment has been developed for decommissioning of ceramic melter, used glove boxes etc. Efforts are on hand to develop automated RH equipment for material handling in underground repositories. This paper aims at bringing out the theme based on some of our own experiences and some reports from plants in operation abroad. (author)

  17. Advanced remote handling for future applications: The advanced integrated maintenance system

    International Nuclear Information System (INIS)

    Herndon, J.N.; Kring, C.T.; Rowe, J.C.

    1986-01-01

    The Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory has been developing advanced techniques for remote maintenance of future US fuel reprocessing plants. The developed technology has a wide spectrum of application for other hazardous environments. These efforts are based on the application of teleoperated, force-reflecting servomanipulators for dexterous remote handling with television viewing for large-volume hazardous applications. These developments fully address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in fuel reprocessing. This paper covers the primary emphasis in the present program; the design, fabrication, installation, and operation of a prototype remote handling system for reprocessing applications, the Advanced Integrated Maintenance System

  18. Evaluating ITER remote handling middleware concepts

    NARCIS (Netherlands)

    Koning, J. F.; Heemskerk, C. J. M.; Schoen, P.; Smedinga, D.; Boode, A. H.; Hamilton, D. T.

    2013-01-01

    Remote maintenance activities in ITER will be performed by a unique set of hardware systems, supported by an extensive software kit. A layer of middleware will manage and control a complex set of interconnections between teams of operators, hardware devices in various operating theatres, and

  19. Remote handling design for moderator-reflector maintenance in JSNS

    International Nuclear Information System (INIS)

    Teshigawara, Makoto; Aizawa, Hideyuki; Harada, Masahide; Kinoshita, Hidetaka; Meigo, Shinichiro; Maekawa, Fujio; Kaminaga, Masanori; Kato, Takashi; Ikeda, Yujiro

    2005-05-01

    This report introduces the present design status of remote-handling devices for activated and used components such as moderator and reflector in a spallation neutron source of the Material and Life Science Facility (MLF) at J-PARC (Japan Proton Accelerator Research Complex). The design concept and maintenance scenario are also mentioned. A key maintenance scenario adopts that the used components should be taken out from the MLF to the other storage facility after the volume reduction of them. Almost full remote handling is available to the maintenance work except for the connection/disconnection pipes of the cooling water. Remote handling for the cooling water system is under designing and it will be prepared before being significant radiation dose by accumulation of beryllium ( 7 Be) in future. Total six remote handling devices are used for moderator-reflector maintenance. They are also available to the proton beam window and muon target maintenance. Maintenance scenario is separated into two works. One is to replace used components to new ones during beam-stop and the other is dispose used components during beam operation. Required period of replacement work is estimated to be ∼15 days, on the other hand, the disposal work is ∼26 days after dry up work (∼30 days), respectively. Study of the maintenance scenario and the remote handling design brings about the reasonable procedures and period of the maintenance work. (author)

  20. ITER - torus vacuum pumping system remote handling issues

    International Nuclear Information System (INIS)

    Stringer, J.

    1992-11-01

    This report describes design issues concerning remote maintenance of the ITER torus vacuum pumping system. Key issues under investigation in this report are bearings for inert gas operation, transporter integration options, cryopump access, gate valve maintenance frequency, tritium effects on materials, turbomolecular pump design, and remote maintenance. Alternative bearing materials are explored for inert gas operation. Encapsulated motors and rotary feedthroughs offer an alternative option where space requirements are restrictive. A number of transporter options are studied. The preferred scheme depends on the shielded reconfigured ducts to prevent streaming and activation of RH (remote handling) equipment. A radiation mapping of the cell is required to evaluate this concept. Valve seal and bellow life are critical issues and need to be evaluated, as they have a direct bearing on the provision of adequate RH equipment to meet scheduled and unscheduled maintenance outages. The limited space on the inboard side of the cryopumps for RH equipment access requires a reconfigured duct and manifold. A modified shielded duct arrangement is proposed, which would provide more access space, reduced activation of components, and the potential for improved valve seal life. Work at Mound Laboratories has shown the adverse effects of tritium on some bearing lubricants. Silicone-based lubricants should be avoided. (11 refs., 2 tabs., 31 figs.)

  1. Remote filter handling machine for Sizewell B

    International Nuclear Information System (INIS)

    Barker, D.

    1993-01-01

    Two Filter Handling machines (FHM) have been supplied to Nuclear Electric plc for use at Sizewell B Power Station. These machines have been designed and built following ALARP principles with the functional objective being to remove radioactive filter cartridges from a filter housing and replace them with clean filter cartridges. Operation of the machine is achieved by the prompt of each distinct task via an industrial computer or the prompt of a full cycle using the automatic mode. The design of the machine features many aspects demonstrating ALARP while keeping the machine simple, robust and easy to maintain. (author)

  2. Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

    Science.gov (United States)

    Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

    2018-03-01

    A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

  3. Remote-Handled Low Level Waste Disposal Project Alternatives Analysis

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2010-10-01

    This report identifies, evaluates, and compares alternatives for meeting the U.S. Department of Energy’s mission need for management of remote-handled low-level waste generated by the Idaho National Laboratory and its tenants. Each alternative identified in the Mission Need Statement for the Remote-Handled Low-Level Waste Treatment Project is described and evaluated for capability to fulfill the mission need. Alternatives that could meet the mission need are further evaluated and compared using criteria of cost, risk, complexity, stakeholder values, and regulatory compliance. The alternative for disposal of remote-handled low-level waste that has the highest confidence of meeting the mission need and represents best value to the government is to build a new disposal facility at the Idaho National Laboratory Site.

  4. Conceptual design report for a remotely operated cask handling system

    International Nuclear Information System (INIS)

    Yount, J.A.; Berger, J.D.

    Recent advances in remote handling utilizing commercial robotics are conceptually applied to the problem of lowering operator cumulative dose and increasing throughput during cask handling operations in proposed nuclear waste container shipping and receiving facilities. The functional criteria for each subsystem are defined, and candidate systems are described. The report also contains a generic description of a waste receiving facility, to show possible deployment configurations for the equipment

  5. Development of remote handling tools for glove box

    International Nuclear Information System (INIS)

    Tomita, Yutaka; Nemoto, Takeshi; Denuma, Akio; Todokoro, Akio

    1996-01-01

    For a part of advanced nuclear fuel recycling technology development, we will separate and recover Americium from the MOX fuel scrap by solvent extraction. When we carry this examination, reduction of exposure from Americium-241 is one of important problems. To solve this problem fundamentally, we studied many joints type of the remote handling tools for glove box and produced a trial production machine. Also, we carried out basic function examinations of it. As a result, we got the prospect of development of the remote handling tools which could treat Americium in glove box. (author)

  6. Man-machine cooperation in remote handling for fusion plants

    International Nuclear Information System (INIS)

    Leinemann, K.

    1984-01-01

    Man-machine cooperation in remote handling for fusion plants comprises cooperation for design of equipment and planning of procedures using a CAD system, and cooperation during operation of the equipment with computer aided telemanipulation systems (CAT). This concept is presently being implemented for support of slave positioning, camera tracking, and camera alignment in the KfK manipulator test facility. The pilot implementation will be used to test various man-machine interface layouts, and to establish a set of basic buildings blocks for future implementations of advanced remote handling control systems. (author)

  7. Handling of multiassembly sealed baskets between reactor storage and a remote handling facility

    International Nuclear Information System (INIS)

    Massey, J.V.; Kessler, J.H.; McSherry, A.J.

    1989-06-01

    The storage of multiple fuel assemblies in sealed (welded) dry storage baskets is gaining increasing use to augment at-reactor fuel storage capacity. Since this increasing use will place a significant number of such baskets on reactor sites, some initial downstream planning for their future handling scenarios for retrieving multi-assembly sealed baskets (MSBs) from onsite storage and transferring and shipping the fuel (and/or the baskets) to a federally operated remote handling facility (RHF). Numerous options or at-reactor and away-from-reactor handling were investigated. Materials handling flowsheets were developed along with conceptual designs for the equipment and tools required to handle and open the MSBs. The handling options were evaluated and compared to a reference case, fuel handling sequence (i.e., fuel assemblies are taken from the fuel pool, shipped to a receiving and handling facility and placed into interim storage). The main parameters analyzed are throughout, radiation dose burden and cost. In addition to evaluating the handling of MSBs, this work also evaluated handling consolidated fuel canisters (CFCs). In summary, the handling of MSBs and CFCs in the store, ship and bury fuel cycle was found to be feasible and, under some conditions, to offer significant benefits in terms of throughput, cost and safety. 14 refs., 20 figs., 24 tabs

  8. Remote operational trials with the ITER FDR divertor handling equipment

    International Nuclear Information System (INIS)

    Irving, M.; Baldi, L.; Benamati, G.; Galbiati, L.; Giacomelli, S.; Lorenzelli, L.; Micciche, G.; Muro, L.; Polverari, A.; Palmer, J.; Martin, E.

    2003-01-01

    The ITER divertor test platform (DTP) located at ENEA's Research Centre in Brasimone, Italy is a full-scale mock-up of a 72 deg. arc of the ITER 1998 vessel divertor region--the result of a major initiative over the period 1996-2000. Since the implementation of this facility, the design of the ITER vessel--and therefore much of the remote maintenance equipment--has changed substantially. However, the nature and principles of the remote handling equipment are still very similar, and hence many valuable lessons can yet be learned from the existing equipment for the future. In particular, true remote handling tests of the major maintenance subsystems were seen as an important step in determining their suitability for ITER. This paper describes and documents a series of three, discrete, remote-handling trials carried out using most of the major DTP subsystems, and presents an overview of the conclusions and suggestions for future development of ITER cassette remote handling equipment

  9. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

    Yoon, J. S.; Hong, H. D.; Kim, Y. H.

    2001-03-01

    Since the amount of the spent fuel rapidly increases, the current R and D activities are focused on the technology development related with the storage and utilization of the spent fuel. In this research, to provide such a technology, the mechanical head-end process has been developed. In detail, the swing and shock-free crane and the RCGLUD(Remote Cask Grappling and Lid Unbolting Device) were developed for the safe transportation of the spent fuel assembly, the LLW drum and the transportation cask. Also, the disassembly devices required for the head-end process were developed. This process consists of an assembly downender, a rod extractor, a rod cutter, a fuel decladding device, a skeleton compactor, a force-rectifiable manipulator for the abnormal spent fuel disassembly, and the gantry type telescopic transporter, etc. To provide reliability and safety of these devices, the 3 dimensional graphic design system is developed. In this system, the mechanical devices are modelled and their operation is simulated in the virtual environment using the graphic simulation tools. So that the performance and the operational mal-function can be investigated prior to the fabrication of the devices. All the devices are tested and verified by using the fuel prototype at the mockup facility

  10. Structural acceptance criteria Remote Handling Building Tritium Extraction Facility

    Energy Technology Data Exchange (ETDEWEB)

    Mertz, G.

    1999-12-16

    This structural acceptance criteria contains the requirements for the structural analysis and design of the Remote Handling Building (RHB) in the Tritium Extraction Facility (TEF). The purpose of this acceptance criteria is to identify the specific criteria and methods that will ensure a structurally robust building that will safely perform its intended function and comply with the applicable Department of Energy (DOE) structural requirements.

  11. Advanced robotic remote handling system for reactor dismantlement

    International Nuclear Information System (INIS)

    Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

    1991-01-01

    An advanced robotic remote handling system equipped with a multi-functional amphibious manipulator has been developed and used to dismantle a portion of radioactive reactor internals of an experimental boiling water reactor in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. (author)

  12. Structural acceptance criteria Remote Handling Building Tritium Extraction Facility

    International Nuclear Information System (INIS)

    Mertz, G.

    1999-01-01

    This structural acceptance criteria contains the requirements for the structural analysis and design of the Remote Handling Building (RHB) in the Tritium Extraction Facility (TEF). The purpose of this acceptance criteria is to identify the specific criteria and methods that will ensure a structurally robust building that will safely perform its intended function and comply with the applicable Department of Energy (DOE) structural requirements

  13. Examples of remote handling of irradiated fuel assemblies in Germany

    International Nuclear Information System (INIS)

    Peehs, M.; Knecht, K.

    1999-01-01

    Examples for the remote handling of irradiated fuel in Germany are presented in the following areas: - fuel assembling pool service activities; - early encapsulation of spent fuel in the pool of a nuclear power plant (NPP) at the end of the wet storage period. All development in remote fuel assembly handling envisages minimization of the radioactive dose applied to the operating staff. In the service area a further key objective for applying advanced methods is to perform the work faster and at a higher quality standard. The early encapsulation is a new technology to provide the final packaging of spent fuel already in the pool of a NPP to ensure reliable handling for all further back end processes. (author)

  14. Remote systems and automation in radioactive waste package handling

    International Nuclear Information System (INIS)

    Gneiting, B.C.; Hayward, M.L.

    1987-01-01

    A proof-of-principle test was conducted at the Hanford Engineering Development Laboratory (HEDL) to demonstrate the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. This development testing showed feasibility of performing critical cask receipt, preparation, and unloading operations from a single control station using remote controls and indirect viewing. Using robotics and remote automation in a cask handling system can result in lower personnel exposure levels and cask turnaround times while maintaining operational flexibility. An automated cask handling system presents a flexible state-of-the-art, cost effective alternative solution to hands-on methods that have been used in the past. 7 refs., 13 figs

  15. Remotely-operated equipment for inspection, measurement and handling

    CERN Document Server

    Bertone, C; CERN. Geneva. TS Department

    2008-01-01

    As part of the application of ALARA radiation dose reduction principles at CERN, inspection, measurement and handling interventions in controlled areas are being studied in detail. A number of activities which could be carried out as remote operations have already been identified and equipment is being developed. Example applications include visual inspection to check for ice formation on LHC components or water leaks, measurement of radiation levels before allowing personnel access, measurement of collimator or magnet alignment, visual inspection or measurements before fire service access in the event of fire, gas leak or oxygen deficiency. For these applications, a modular monorail train, TIM, has been developed with inspection and measurement wagons. In addition TIM provides traction, power and data communication for lifting and handling units such as the remote collimator exchange module and vision for other remotely operated units such as the TAN detector exchange mini-cranes. This paper describes the eq...

  16. Remote handling assessment of attachment concepts for DEMO blanket segments

    Energy Technology Data Exchange (ETDEWEB)

    Iglesias, Daniel, E-mail: daniel.iglesias@ccfe.ac.uk [CCFE, Culham Science Centre, Abingdon, Oxon OX14 3DB (United Kingdom); Bastow, Roger; Cooper, Dave; Crowe, Robert; Middleton-Gear, Dave [CCFE, Culham Science Centre, Abingdon, Oxon OX14 3DB (United Kingdom); Sibois, Romain [VTT, Technical Research Centre of Finland, Industrial Systems, ROViR, Tampere (Finland); Carloni, Dario [Institute of Neutron Physics and Reactor Technology, Karlsruhe Institute of Technology (KIT) (Germany); Vizvary, Zsolt; Crofts, Oliver [CCFE, Culham Science Centre, Abingdon, Oxon OX14 3DB (United Kingdom); Harman, Jon [EFDA Close Support Unit Garching, Boltzmannstaße 2, D-85748 Garching bei München (Germany); Loving, Antony [CCFE, Culham Science Centre, Abingdon, Oxon OX14 3DB (United Kingdom)

    2015-10-15

    Highlights: • Challenges are identified for the remote handling of blanket segments’ attachments. • Two attachment design approaches are assessed for remote handling (RH) feasibility. • An alternative is proposed, which potentially simplifies and speeds-up RH operations. • Up to three different assemblies are proposed for the remote handling of the attachments. • Proposed integrated design of upper port is compatible with the attachment systems. - Abstract: The replacement strategy of the massive Multi-Module Blanket Segments (MMS) is a key driver in the design of several DEMO systems. These include the blankets themselves, the vacuum vessel (VV) and its ports and the Remote Maintenance System (RMS). Common challenges to any blanket attachment system have been identified, such as the need for applying a preload to the MMS manifold, the effects of the decay heat and several uncertainties related to permanent deformations when removing the blanket segments after service. The WP12 kinematics of the MMS in-vessel transportation was adapted to the requirements of each of the supports during 2013 and 2014 design activities. The RM equipment envisaged for handling attachments and earth connections may be composed of up to three different assemblies. An In-Vessel Mover at the divertor level handles the lower support and earth bonding, and could stabilize the MMS during transportation. A Shield Plug crane with a 6 DoF manipulator operates the upper attachment and earth straps. And a Vertical Maintenance Crane is responsible for the in-vessel MMS transportation and can handle the removable upper support pins. A final proposal is presented which can potentially reduce the number of required systems, at the same time that speeds-up the RMS global operations.

  17. Conceptual design of divertor cassette handling by remote handling system for JT-60SA

    International Nuclear Information System (INIS)

    Hayashi, Takao; Sakurai, Shinji; Masaki, Kei; Tamai, Hiroshi; Yoshida, Kiyoshi; Matsukawa, Makoto

    2007-01-01

    The JT-60SA aims to contribute and supplement ITER toward DEMO reactor based on tokamak concept. One of the features of JT-60SA is its high power long pulse heating, causing the large annual neutron fluence. Because the expected dose rate at the vacuum vessel (VV) may exceed 1 mSv/hr after 10 years operation and three month cooling, the human access inside the VV is prohibited. Therefore a remote handling (RH) system is necessary for the maintenance and repair of in-vessel components. This paper described the RH system of JT-60SA, especially the expansion of the RH rail and exchange of the divertor modules. The RH rail is divided into nine and three-point mounting. The nine sections can cover 225 degrees in toroidal direction. A divertor module, which is 10 degrees wide in toroidal direction and weighs 500kg itself due to the limitations of port width and handling weight, can be exchanged by heavy weight manipulator (HWM). The HWM brings the divertor module to the front of the other RH port, which is used for supporting the rail and/or carrying in and out equipments. Then another RH device receives and brings out the module by a pallet installed from outside the VV. (author)

  18. Conceptual design of divertor cassette handling by remote handling system of JT-60SA

    International Nuclear Information System (INIS)

    Hayashi, Takao; Sakurai, Shinji; Masaki, Kei; Tamai, Hiroshi; Yoshida, Kiyoshi; Matsukawa, Makoto

    2008-01-01

    The JT-60SA aims to contribute and supplement ITER toward demonstration fusion reactor based on tokamak concept. One of the features of JT-60SA is its high power long pulse heating, causing the large annual neutron fluence. Because the expected dose rate at the vacuum vessel (VV) may exceed 1 mSv/hr after 10 years operation and three month cooling, the human access inside the VV is restricted. Therefore a remote handling (RH) system is necessary for the maintenance and repair of in-vessel components. This paper described the RH system of JT-60SA, especially the expansion of the RH rail and exchange of the divertor cassettes. The RH rail is divided into nine and three-point mounting. The nine sections can cover 225 degrees in toroidal direction. A divertor cassette, which is 10 degrees wide in toroidal direction and weighs 500 kg itself due to the limitations of port width and handling weight, can be exchanged by heavy weight manipulator (HWM). The HWM brings the divertor cassette to the front of the other RH port, which is used for supporting the rail and/or carrying in and out equipments. Then another RH device receives and brings out the cassette by a pallet installed from outside the VV. (author)

  19. Application of remote handling compatibility on ITER plant

    International Nuclear Information System (INIS)

    Sanders, S.; Rolfe, A.; Mills, S.F.; Tesini, A.

    2011-01-01

    The ITER plant will require fully remote maintenance during its operational life. For this to be effective, safe and efficient the plant will have to be developed in accordance with remote handling (RH) compatibility requirements. A system for ensuring RH compatibility on plant designed for Tokamaks was successfully developed and applied, inter alia, by the authors when working at the JET project. The experience gained in assuring RH compatibility of plant at JET is now being applied to RH relevant ITER plant. The methodologies required to ensure RH compatibility of plant include the standardization of common plant items, standardization of RH features, availability of common guidance on RH best practice and a protocol for design and interface review and approval. The protocol in use at ITER is covered by the ITER Remote Maintenance Management System (IRMMS) defines the processes and utilization of management controls including Plant Definition Forms (PDF), Task Definition Forms (TDFs) and RH Compatibility Assessment Forms (RHCA) and the ITER RH Code of Practice. This paper will describe specific examples where the authors have applied the methodology proven at JET to ensure remote handling compatibility on ITER plant. Examples studied are: ·ELM coils (to be installed in-vessel behind the Blanket Modules) - handling both in-vessel, in Casks and at the Hot Cell as well as fully remote installation and connection (mechanical and electrical) in-vessel. ·Neutral beam systems (in-vessel and in the NB Cell) - beam sources, cesium oven, beam line components (accessed in the NB Cell) and Duct Liner (remotely replaced from in-vessel). ·Divertor (in-vessel) - cooling pipe work and remotely operated electrical connector. The RH compatibility process can significantly affect plant design. This paper should therefore be of interest to all parties who develop ITER plant designs.

  20. Remote-Handled Transuranic Waste Content Codes (RH-Trucon)

    International Nuclear Information System (INIS)

    2006-01-01

    The Remote-Handled Transuranic (RH-TRU) Content Codes (RH-TRUCON) document describes the inventory of RH-TRU waste within the transportation parameters specified by the Remote-Handled Transuranic Waste Authorized Methods for Payload Control (RH-TRAMPAC). The RH-TRAMPAC defines the allowable payload for the RH-TRU 72-B. This document is a catalog of RH-TRU 72-B authorized contents by site. A content code is defined by the following components: (1) A two-letter site abbreviation that designates the physical location of the generated/stored waste (e.g., ID for Idaho National Laboratory [INL]). The site-specific letter designations for each of the sites are provided in Table 1. (2) A three-digit code that designates the physical and chemical form of the waste (e.g., content code 317 denotes TRU Metal Waste). For RH-TRU waste to be transported in the RH-TRU 72-B, the first number of this three-digit code is ''3''. The second and third numbers of the three-digit code describe the physical and chemical form of the waste. Table 2 provides a brief description of each generic code. Content codes are further defined as subcodes by an alpha trailer after the three-digit code to allow segregation of wastes that differ in one or more parameter(s). For example, the alpha trailers of the subcodes ID 322A and ID 322B may be used to differentiate between waste packaging configurations. As detailed in the RH-TRAMPAC, compliance with flammable gas limits may be demonstrated through the evaluation of compliance with either a decay heat limit or flammable gas generation rate (FGGR) limit per container specified in approved content codes. As applicable, if a container meets the watt*year criteria specified by the RH-TRAMPAC, the decay heat limits based on the dose-dependent G value may be used as specified in an approved content code. If a site implements the administrative controls outlined in the RH-TRAMPAC and Appendix 2.4 of the RH-TRU Payload Appendices, the decay heat or FGGR

  1. ITER L 7 duct remote handling equipment design report

    International Nuclear Information System (INIS)

    Millard, J.

    1996-09-01

    The operation, design and interfaces of the 'Duct Vehicle' and it's associated remote handling equipment are briefly described in this document. This equipment is being designed by Spar Aerospace Ltd. for the Divertor Test Platform as part of ITER Research and Development Project L-7. Canadian Fusion Fuels Technology Project funds this work as part of the Canadian Contribution to ITER. This document describes the equipment design status at the September 1996 design review. 23 figs

  2. Analysis of ITER upper port plug remote handling maintenance scenarios

    International Nuclear Information System (INIS)

    Koning, J.F.; Baar, M.R. de; Elzendoorn, B.S.Q.; Heemskerk, C.J.M.; Ronden, D.M.S.; Schuth, W.J.

    2012-01-01

    Highlights: ► Remote Handling Study Centre: providing RH compatibility analysis. ► Simulation: virtual reality including kinematics and realtime physics simulator. ► Applied on analysis of RH compatibility of Upper Launcher component replacement. ► Resulting in lowered maintenance procedure time and lessons learned. - Abstract: The ITER tokamak has a modular design, with port plugs, blanket modules and divertor cassettes. This set-up allows for maintenance of diagnostics, heating systems and first wall elements. The maintenance can be done in situ, or in the Hot Cell. Safe and effective remote handling (RH) will be ensured by the RH requirements and standards. Compliance is verified through remote handling compatibility assessments at the ITER Design Review milestones. The Remote Handling Study Centre at FOM Institute DIFFER is created to study ITER RH maintenance processes at different levels of complexity, from relatively simple situational awareness checks using snap-shots in the CAD system, time studies using virtual reality (VR) animations, to extensive operational sequence validation with multiple operators in real-time. The multi-operator facility mimics an RH work-cell as presently foreseen in the ITER RH control room. Novel VR technology is used to create a realistic setting in which a team of RH operators can interact with virtual ITER environments. A physics engine is used to emulate real-time contact interaction as to provide realistic haptic feed-back. Complex interactions between the RH operators and the control room system software are tested. RH task performance is quantified and operational resource usage estimated. The article provides a description and lessons learned from a recent study on replacement of the Steering Mirror Assembly on the ECRH (Electron Cyclotron Resonance Heating) Upper Launcher port plug.

  3. Protecting worker health and safety using remote handling systems

    International Nuclear Information System (INIS)

    Dennison, D.K.; Merrill, R.D.; Reed, R.K.

    1995-03-01

    Lawrence Livermore National Laboratory (LLNL) is currently developing and installing two large-scale, remotely controlled systems for use in improving worker health and safety by minimizing exposure to hazardous and radioactive materials. The first system is a full-scale liquid feed system for use in delivering chemical reagents to LLNL's existing aqueous low-level radioactive and mixed waste treatment facility (Tank Farm). The Tank Farm facility is used to remove radioactive and toxic materials in aqueous wastes prior to discharge to the City of Livermore Water Reclamation Plant (LWRP), in accordance with established discharge limits. Installation of this new reagent feed system improves operational safety and process efficiency by eliminating the need to manually handle reagents used in the treatment processes. This was done by installing a system that can inject precisely metered amounts of various reagents into the treatment tanks and can be controlled either remotely or locally via a programmable logic controller (PLC). The second system uses a robotic manipulator to remotely handle, characterize, process, sort, and repackage hazardous wastes containing tritium. This system uses an IBM-developed gantry robot mounted within a special glove box enclosure designed to isolate tritiated wastes from system operators and minimize the potential for release of tritium to the atmosphere. Tritiated waste handling is performed remotely, using the robot in a teleoperational mode for one-of-a-kind functions and in an autonomous mode for repetitive operations. The system is compatible with an existing portable gas cleanup unit designed to capture any gas-phase tritium inadvertently released into the glove box during waste handling

  4. SP-100 reactor disassembly remote handling test program

    International Nuclear Information System (INIS)

    Wilson, C.E.; Potter, J.D.; Maiden, G.E.; Vader, D.P.

    1991-01-01

    This paper is presented as an overview of the remote handling equipment validation testing, which will be conducted before installation and use in the ground engineering test facility. This equipment will be used to defuel the SP-100 reactor core after removing it from the Test Assembly following nuclear testing. A series of full scale mock-up operational tests will be conducted at a Hanford Site facility to verify equipment design, operation, and capabilities

  5. Analysis of ITER upper port plug remote handling maintenance scenarios

    Energy Technology Data Exchange (ETDEWEB)

    Koning, J.F., E-mail: j.f.koning@heemskerk-innovative.nl [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Baar, M.R. de; Elzendoorn, B.S.Q. [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology, Noordwijk (Netherlands); Ronden, D.M.S.; Schuth, W.J. [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer Remote Handling Study Centre: providing RH compatibility analysis. Black-Right-Pointing-Pointer Simulation: virtual reality including kinematics and realtime physics simulator. Black-Right-Pointing-Pointer Applied on analysis of RH compatibility of Upper Launcher component replacement. Black-Right-Pointing-Pointer Resulting in lowered maintenance procedure time and lessons learned. - Abstract: The ITER tokamak has a modular design, with port plugs, blanket modules and divertor cassettes. This set-up allows for maintenance of diagnostics, heating systems and first wall elements. The maintenance can be done in situ, or in the Hot Cell. Safe and effective remote handling (RH) will be ensured by the RH requirements and standards. Compliance is verified through remote handling compatibility assessments at the ITER Design Review milestones. The Remote Handling Study Centre at FOM Institute DIFFER is created to study ITER RH maintenance processes at different levels of complexity, from relatively simple situational awareness checks using snap-shots in the CAD system, time studies using virtual reality (VR) animations, to extensive operational sequence validation with multiple operators in real-time. The multi-operator facility mimics an RH work-cell as presently foreseen in the ITER RH control room. Novel VR technology is used to create a realistic setting in which a team of RH operators can interact with virtual ITER environments. A physics engine is used to emulate real-time contact interaction as to provide realistic haptic feed-back. Complex interactions between the RH operators and the control room system software are tested. RH task performance is quantified and operational resource usage estimated. The article provides a description and lessons learned from a recent study on replacement of the Steering Mirror Assembly on the ECRH (Electron Cyclotron Resonance Heating) Upper Launcher port plug.

  6. Advantage of redundancy in the controllability of remote handling manipulator

    International Nuclear Information System (INIS)

    Muhammad, Ali; Mattila, Jouni; Vilenius, Matti; Siuko, Mikko; Semeraro, Luigi

    2011-01-01

    To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.

  7. Canadian capabilities in fusion fuels technology and remote handling

    International Nuclear Information System (INIS)

    1987-10-01

    This report describes Canadian expertise in fusion fuels technology and remote handling. The Canadian Fusion Fuels Technology Project (CFFTP) was established and is funded by the Canadian government, the province of Ontario and Ontario Hydro to focus on the technology necessary to produce and manage the tritium and deuterium fuels to be used in fusion power reactors. Its activities are divided amongst three responsibility areas, namely, the development of blanket, first wall, reactor exhaust and fuel processing systems, the development of safe and reliable operating procedures for fusion facilities, and, finally, the application of these developments to specific projects such as tritium laboratories. CFFTP also hopes to utilize and adapt Canadian developments in an international sense, by, for instance, offering training courses to the international tritium community. Tritium management expertise is widely available in Canada because tritium is a byproduct of the routine operation of CANDU reactors. Expertise in remote handling is another byproduct of research and development of of CANDU facilities. In addition to describing the remote handling technology developed in Canada, this report contains a brief description of the Canadian tritium laboratories, storage beds and extraction plants as well as a discussion of tritium monitors and equipment developed in support of the CANDU reactor and fusion programs. Appendix A lists Canadian manufacturers of tritium equipment and Appendix B describes some of the projects performed by CFFTP for offshore clients

  8. Remote handling installation of diagnostics in the JET Tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Allan, P., E-mail: Peter.Allan@ccfe.ac.uk [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Loving, A.B. [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Omran, H. [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Oxford Technologies Ltd, 7 Nuffield Way, Abingdon OX14 1RJ (United Kingdom); Collins, S.; Thomas, J. [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Parsloe, A.; Merrigan, I. [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); British Nuclear Services, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Hassall, I. [JET-EFDA, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Oxford Technologies Ltd, 7 Nuffield Way, Abingdon OX14 1RJ (United Kingdom)

    2011-10-15

    The requirement for an upgrade of the diagnostics for the JET ITER Like Wall (ILW) while maintaining personnel exposure to contamination as low as reasonably practicable or ALARP, has necessitated the development of a bespoke set of diagnostic components. These components, by virtue of their design and location, require a versatile yet comprehensive suite of remote handling tools to undertake their in-vessel installation. The installation of the various diagnostic components is covered in multiple tasks. Each task requires careful assessment and design of tools that can successfully interface with the components and comply with the handling and installation requirements. With remote maintenance a requirement, the looms/conduits were designed to be modular with connections which are electrically connected when the module is fitted or conversely disconnected when removed. The shape of each complex and often bulky component is verified during the design phase, to ensure that it can be delivered and installed to its specified location in the torus. This is done by matching the kinematic capabilities of the remote handling system and the path of the component through the torus by using a state of the art virtual reality system.

  9. Safety handling manual for high dose rate remote afterloading system

    International Nuclear Information System (INIS)

    1999-01-01

    This manual is mainly for safety handling of 192 Ir-RALS (remote afterloading system) of high dose rate and followings were presented: Procedure and document format for the RALS therapy and for handling of its radiation source with the purpose of prevention of human errors and unexpected accidents, Procedure for preventing errors occurring in the treatment schedule and operation, and Procedure and format necessary for newly introducing the system into a facility. Consistency was intended in the description with the quality assurance guideline for therapy with small sealed radiation sources made by JASTRO (Japan Society for Therapeutic Radiology and Oncology). Use of the old type 60 Co-RALS was pointed out to be a serious problem remained and its safety handling procedure was also presented. (K.H.)

  10. Simulating and visualizing deflections of a remote handling mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Saarinen, Hannu, E-mail: hannu.saarinen@vtt.fi [VTT, Technical Research Centre of Finland, Tekniikankatu 1, 33720 Tampere (Finland); Hämäläinen, Vesa; Karjalainen, Jaakko; Määttä, Timo; Siuko, Mikko [VTT, Technical Research Centre of Finland, Tekniikankatu 1, 33720 Tampere (Finland); Esqué, Salvador [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Hamilton, David [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2013-10-15

    Highlights: ► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model accuracy improved from 80 to 5 mm. ► The deflection model is capable of adapting to changes in load at the end-effector. ► The algorithms and approach described are generic and can be adopted for other mechanisms. -- Abstract: Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions. Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation. Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment. Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach. Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM

  11. Simulating and visualizing deflections of a remote handling mechanism

    International Nuclear Information System (INIS)

    Saarinen, Hannu; Hämäläinen, Vesa; Karjalainen, Jaakko; Määttä, Timo; Siuko, Mikko; Esqué, Salvador; Hamilton, David

    2013-01-01

    Highlights: ► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model accuracy improved from 80 to 5 mm. ► The deflection model is capable of adapting to changes in load at the end-effector. ► The algorithms and approach described are generic and can be adopted for other mechanisms. -- Abstract: Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions. Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation. Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment. Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach. Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM

  12. High-definition television evaluation for remote handling task performance

    International Nuclear Information System (INIS)

    Fujita, Y.; Omori, E.; Hayashi, S.; Draper, J.V.; Herndon, J.N.

    1986-01-01

    In a plant that employs remote handling techniques for equipment maintenance, operators perform maintenance tasks primarily by using the information from television systems. The efficiency of the television system has a significant impact on remote maintenance task performance. High-definition television (HDTV) transmits a video image with more than twice the number of horizontal scan lines as standard-resolution television (1125 for HDTV to 525 for standard-resolution NTSC television). The added scan lines dramatically improve the resolution of images on the HDTV monitors. This paper describes experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The experiments described in this paper compared the performance of four operators using HDTV with their performance while using other television systems. The experiments included four television systems: (a) high-definition color television, (b) high-definition monochromatic television, (c) standard-resolution monochromatic television, and (d) standard-resolution stereoscopic monochromatic television

  13. Versatile cable handling mechanisms for remote operator control

    Energy Technology Data Exchange (ETDEWEB)

    Collie, A.A.; White, T.S.; Christopher, M.D.; Hewer, N.D. [Portech Ltd., Portsmouth (United Kingdom)

    1996-12-31

    This paper describes a system of cable management for keeping the umbilical cables of remote operating vehicles and manipulators tidy and contained without direct intervention by operators. Two distinct types of winding mechanism have been designed. One mechanism is a fixed reel type where the cable is wound onto the reel by a rotating bail arm. The other mechanism consists of a pair of curved belts held against each other between which cable is passed. The complete system includes tension measuring and slack loop take-up devices. The whole system is controlled by a servo system in conjunction with a PC based visual graphic environment which allows a variety of mechanisms to be built up into a system able to handle up to four umbilical cables simultaneously. The control system provides additional tension sensors and cable odometers connected to the control system so that the operator has immediate perception of all the cable parameters, and by defining rules, can set up a variety of alarm situations. (Author).

  14. Versatile cable handling mechanisms for remote operator control

    International Nuclear Information System (INIS)

    Collie, A.A.; White, T.S.; Christopher, M.D.; Hewer, N.D.

    1996-01-01

    This paper describes a system of cable management for keeping the umbilical cables of remote operating vehicles and manipulators tidy and contained without direct intervention by operators. Two distinct types of winding mechanism have been designed. One mechanism is a fixed reel type where the cable is wound onto the reel by a rotating bail arm. The other mechanism consists of a pair of curved belts held against each other between which cable is passed. The complete system includes tension measuring and slack loop take-up devices. The whole system is controlled by a servo system in conjunction with a PC based visual graphic environment which allows a variety of mechanisms to be built up into a system able to handle up to four umbilical cables simultaneously. The control system provides additional tension sensors and cable odometers connected to the control system so that the operator has immediate perception of all the cable parameters, and by defining rules, can set up a variety of alarm situations. (Author)

  15. Versatile cable handling mechanisms for remote operator control

    International Nuclear Information System (INIS)

    Collie, A.A.; White, T.S.; Christopher, M.D.; Hewer, N.D.

    1996-01-01

    This paper describes a system of cable management for keeping the umbilical cables of remote operating vehicles and manipulators tidy and contained without direct intervention by operators. Two distinct types of winding mechanism have been designed. One mechanism is a fixed reel type where the cable is wound onto the reel by a rotating bail arm. The other mechanism consists of a pair of curved belts held against each other, between which cable is passed. The complete system includes tension measuring and slack loop take-up devices. The whole system is controlled by a servo system in conjunction with a PC based visual graphic environment which allows a variety of mechanisms to be built up into a system able to handle up to four umbilical cables simultaneously. The control system provides additional tension sensors and cable odometers connected to the control system so that the operator has immediate perception of all the cable parameters, and by defining rules, can set up a variety of alarm situations. (UK)

  16. Development of simulator for remote handling system of ITER blanket

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakanhira, Masataka; Matsumoto, Yasuhiro; Shibanuma, K.

    2007-01-01

    The maintenance activity in the ITER has to be performed remotely because 14 MeV neutron caused by fusion reaction induces activation of structural material and emission of gamma ray. In general, it is one of the most critical issues to avoid collision between the remote maintenance system and in-vessel components. Therefore, the visual information in the vacuum vessel is required strongly to understand arrangement of these devices and components. However, there is a limitation of arrangement of viewing cameras in the vessel because of high intensity of gamma ray. It is expected that enough numbers of cameras and lights are not available because of arrangement restriction. Furthermore, visibility of the interested area such as the contacting part is frequently disturbed by the devices and components, thus it is difficult to recognize relative position between the devices and components only by visual information even if enough cameras and lights are equipped. From these reasons, the simulator to recognize the positions of each devices and components is indispensable for remote handling systems in fusion reactors. The authors have been developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robot simulation software ''ENVISION''. The simulator is connected to the control system of the manipulator which was developed as a part of the blanket maintenance system in the EDA and can reconstruct the positions of the manipulator and the blanket module using the position data of the motors through the LAN. In addition, it can provide virtual visual information, such as the connecting operation behind the blanket module with making the module transparent on the screen. It can be used also for checking the maintenance sequence before the actual operation. The developed simulator will be modified further adding other necessary functions and finally completed as a prototype of the actual simulator for the blanket remote handling system

  17. Factors affecting remote handling productivity during installation of the ITER-like wall at JET

    International Nuclear Information System (INIS)

    Collins, S.; Matthews, G.; Thomas, J.; Hermon, G.

    2013-01-01

    Highlights: ► The paper describes the challenges to achieve the installation of the ILW beryllium sliced wall. ► Examines the factual difference between estimated remote handling in-vessel durations and those achieved, with a view to quantifying the typical disparity between the two. ► The paper will elaborate and highlight the contributing factors. This offers an opportunity to provide provenance for availability estimates of devices such as ITER and DEMO. ► The paper will identify and describe the factors influencing the ratio between estimated versus the actual durations for remote handling operations. -- Abstract: Remote handling operations at JET have encountered many challenges to achieve the installation of the ILW beryllium sliced wall during the Enhanced Performance stage 2 (EP2) shutdown of JET. This was a demanding and challenging activity which was based on the experience gained from a period of over 15 years (20,000 h operations) of JET In-Vessel remote handling operations. This paper describes the difference between estimated remote handling in-vessel durations and those actually achieved with a view to quantifying the typical disparity between them. There are many factors that affect productivity of the remote handling operations and it is important to accommodate these either in the design of the component or within the production of the operational procedures with a view to minimise all impact on the final task duration. Some factors that affect the efficiency are outside the control of the design and operational procedures. These are unforeseen anomalies that were encountered during the removal, naked wall survey and installation of the components. Recoveries from these anomalies are extremely challenging and need to be addressed efficiently in order to minimise the impact on the shutdown duration and prevent optimised panned activities from becoming inefficient by fragmentation

  18. Management of remote-handled defense transuranic wastes

    International Nuclear Information System (INIS)

    Ebra, M.A.; Pierce, G.D.; Carson, P.H.

    1988-01-01

    Transuranic (TRU) wastes generated by defense-related activities are scheduled for emplacement at the Waste Isolation Pilot Plant (WIPP) in New Mexico beginning in October 1988. After five years of operation as a research and development facility, the WIPP may be designated as a permanent repository for these wastes, if it has been demonstrated that this deep, geologically stable formation is a safe disposal option. Defense TRU wastes are currently stored at various Department of Energy (DOE) sites across the nation. Approximately 2% by volume of currently stored TRU wastes are defined, on the basis of dose rates, as remote-handled (RH). RH wastes continue to be generated at various locations operated by DOE contractors. They require special handling and processing prior to and during emplacement in the WIPP. This paper describes the strategy for managing defense RH TRU wastes

  19. Remote automated material handling of radioactive waste containers

    International Nuclear Information System (INIS)

    Greager, T.M.

    1994-09-01

    To enhance personnel safety, improve productivity, and reduce costs, the design team incorporated a remote, automated stacker/retriever, automatic inspection, and automated guidance vehicle for material handling at the Enhanced Radioactive and Mixed Waste Storage Facility - Phase V (Phase V Storage Facility) on the Hanford Site in south-central Washington State. The Phase V Storage Facility, scheduled to begin operation in mid-1997, is the first low-cost facility of its kind to use this technology for handling drums. Since 1970, the Hanford Site's suspect transuranic (TRU) wastes and, more recently, mixed wastes (both low-level and TRU) have been accumulating in storage awaiting treatment and disposal. Currently, the Hanford Site is only capable of onsite disposal of radioactive low-level waste (LLW). Nonradioactive hazardous wastes must be shipped off site for treatment. The Waste Receiving and Processing (WRAP) facilities will provide the primary treatment capability for solid-waste storage at the Hanford Site. The Phase V Storage Facility, which accommodates 27,000 drum equivalents of contact-handled waste, will provide the following critical functions for the efficient operation of the WRAP facilities: (1) Shipping/Receiving; (2) Head Space Gas Sampling; (3) Inventory Control; (4) Storage; (5) Automated/Manual Material Handling

  20. Nuclear robotics and remote handling at Harwell Laboratory

    International Nuclear Information System (INIS)

    Abel, E.; Brown, M.H.; Fischer, P.J.; Garlick, D.R.; Hanna, T.T.; Siva, K.V.

    1988-01-01

    After reviewing robotics technology and its possible application in nuclear remote handling systems of the future, six main research topics were identified where particular effort should be made. The Harwell Nuclear Robotics Programme is currently establishing sets of demonstration hardware which will allow generic research to be carried out on telerobotics, systems integration, the man machine interface, communications, servo systems and radiation tolerance. The objectives of the demonstrators are to allow validation of the techniques required for successful active facility applications such as decommissioning, decontamination, refurbishment, maintenance and repair, and to act as training aids to encourage plant designers and operators to adopt developments in new technology. (author)

  1. Availability analysis of the ITER blanket remote handling system

    International Nuclear Information System (INIS)

    Maruyama, Takahito; Noguchi, Yuto; Takeda, Nobukazu; Kakudate, Satoshi

    2015-01-01

    The ITER blanket remote handling system (BRHS) is required to replace 440 blanket first wall panels in a two-year maintenance period. To investigate this capability, an availability analysis of the system was carried out. Following the analysis procedure defined by the ITER organization, the availability analysis consists of a functional analysis and a reliability block diagram analysis. In addition, three measures to improve availability were implemented: procurement of spare parts, in-vessel replacement of cameras, and simultaneous replacement of umbilical cables. The availability analysis confirmed those measures improve the availability and capability of the BRHS to replace 440 blanket first wall panels in two years. (author)

  2. Three-dimensional television system for remote handling

    International Nuclear Information System (INIS)

    Dumbreck, A.A.; Abel, E.

    1988-01-01

    The paper refers to work previously described on the development of 3-D Television Systems. 3-D TV had been developed with a view to proving whether it was a useful remote handling tool which would be easy to use and comfortable to view. The paper summarizes the work of evaluation trials at UK facilities and reviews the developments which have subsequently taken place. 3-D TV systems have been found to give improved performance in terms of speed and accuracy of operations and to reduce the number of camera views required. (author)

  3. Development of nuclear fuel cycle remote handling technology

    International Nuclear Information System (INIS)

    Kim, K. H.; Park, B. S.; Kim, S. H.

    2010-04-01

    This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are three areas conducted in this work. In first area, developed were the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately and an automatic equipment which is capable of collecting residual powder remaining on separated hulls. In second area, a servo-manipulator prototype was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In last area, a simulator was developed to simulate and evaluate the design developments of the pyroprocess equipment from the in-cell arrangements, remote operability and maintainability viewpoint in a virtual process environment in advance before they are constructed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be installed in the PRIDE and used for remote operation and maintenance of the pyroprocess equipment. The developed simulator will be also used to verify and improve the design of the pyroprocess equipment for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the ESPF (Engineering Scale Pyroprocess Facility) and KAPF (Korea Advanced Pyroprocess Facility) development

  4. The use of virtual reality for preparation and implementation of JET remote handling operations

    International Nuclear Information System (INIS)

    Sanders, S.; Rolfe, A.C.

    2003-01-01

    The use of real time 3-D computer graphic models for preparation and support of remote handling operations on JET has been in use since the mid 1980s. A complete review has been undertaken of the functional requirements and benefits of VR for remote handling and a subsequent market survey of the present state-of-the-art of VR systems has resulted in the implementation of a new system for JET. The VR system is used in two discrete modes: in on-line mode the remote handling equipment Electro-mechanical hardware is connected to the VR system and provides input for the VR system to update a real time 3-D display of the equipment inside the torus. This mode supplements the video camera system and assists with camera control and warnings of impending or potential collisions. In Off-line mode the operator manipulates the VR system model with no connections to the remote handling equipment. This mode is used during preparation of RH operational strategies, checking of operational feasibility and operations procedures. Various VR systems were evaluated against a detailed technical specification that covered visualisation function and performance, user interface design and base model input/creation capabilities. The cheapest of those systems that satisfied the technical requirements was selected

  5. Siting Study for the Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    Lisa Harvego; Joan Connolly; Lance Peterson; Brennon Orr; Bob Starr

    2010-10-01

    The U.S. Department of Energy has identified a mission need for continued disposal capacity for remote-handled low-level waste (LLW) generated at the Idaho National Laboratory (INL). An alternatives analysis that was conducted to evaluate strategies to achieve this mission need identified two broad options for disposal of INL generated remote-handled LLW: (1) offsite disposal and (2) onsite disposal. The purpose of this study is to identify candidate sites or locations within INL boundaries for the alternative of an onsite remote handled LLW disposal facility and recommend the highest-ranked locations for consideration in the National Environmental Policy Act process. The study implements an evaluation based on consideration of five key elements: (1) regulations, (2) key assumptions, (3) conceptual design, (4) facility performance, and (5) previous INL siting study criteria, and uses a five-step process to identify, screen, evaluate, score, and rank 34 separate sites located across INL. The result of the evaluation is identification of two recommended alternative locations for siting an onsite remote-handled LLW disposal facility. The two alternative locations that best meet the evaluation criteria are (1) near the Advanced Test Reactor Complex and (2) west of the Idaho Comprehensive Environmental Response, Compensation, and Liability Act Disposal Facility.

  6. Highly active vitrification plant remote handling operational experience and improvements

    International Nuclear Information System (INIS)

    Milgate, I.

    1996-01-01

    All the main process plant and equipment at the Sellafield Waste Vitrification Plant (WVP) is enclosed in heavily shielded concrete walled cells. There is a large quantity of relatively complex plant and equipment which must be remotely operated, maintained or replaced in-cell in a severe environment. The WVP has five in-cell polar cranes which are of modular construction to aid replacement of failed components. Each can be withdrawn into a shielded cell extension for decontamination and hands-on maintenance. The cells have a total of 80 through wall tube positions to receive Master Slave Manipulators (MSMs). The MSMs are used where possible for ''pick and place'' purposes but are often called upon to position substantial pieces of mechanical equipment and thus are subject to heavy loading and high failure rates. An inward flow of air is maintained in the active cells. The discharged air passes through a filter cell where remote damper operation filter changing and maintenance is carried out by means of a PAR3000 manipulator. A Nuclear Engineered Advanced Teleoperated Robot (Neater) swabs the vitrified product container to ensure cleanliness before storage. There is a significant arising of solid radioactive waste from replaced in-cell items which undergoes sorting and size reduction in a breakdown cell equipped with a large reciprocating saw and a hydraulic shear. Improvements to the remote handling facilities made in the light of operational experience are described. (UK)

  7. Development of a Remote Handling System in an Integrated Pyroprocessing Facility

    Directory of Open Access Journals (Sweden)

    Hyo Jik Lee

    2013-10-01

    Full Text Available Over the course of a decade-long research programme, the Korea Atomic Energy Research Institute (KAERI has developed several remote handling systems for use in pyroprocessing research facilities. These systems are now used successfully for the operation and maintenance of processing equipment. The most recent remote handling system is the bridge-transported dual arm servo-manipulator system (BDSM, which is used for remote operation at the world's largest pyroprocess integrated inactive demonstration facility (PRIDE. Accurate and reliable servo-control is the basic requirement for the BDSM to accomplish any given tasks successfully in a hotcell environment. To achieve this end, the hardware and software of a digital signal processor-based remote control system were fully custom-developed and implemented to control the BDSM. To reduce the residual vibration of the BDSM, several input profiles, including input shaping, were carefully chosen and evaluated. Furthermore, a time delay controller was employed to achieve good tracking performance and systematic gain tuning. The experimental results demonstrate that the applied control algorithms are more effective than conventional approaches. The BDSM successfully completed its performance tests at a mock-up and was installed at PRIDE for real-world operation. The remote handling system at KAERI is expected to advance the actualization of pyroprocessing.

  8. Analysis of operational possibilities and conditions of remote handling systems in nuclear facilities

    International Nuclear Information System (INIS)

    Hourfar, D.

    1989-01-01

    Accepting the development of the occupational radiation exposure in nuclear facilities, it will be showing possibilities of cost effective reduction of the dose rate through the application of robots and manipulators for the maintenance of nuclear power plants, fuel reprocessing plants, decommissioning and dismantling of the mentioned plants. Based on the experiences about industrial robot applications by manufacturing and manipulator applications by the handling of radioactive materials as well as analysis of the handling procedures and estimation of the dose intensity, it will be defining task-orientated requirements for the conceptual design of the remote handling systems. Furthermore the manifold applications of stationary and mobil arranged handling systems in temporary or permanent operation are described. (orig.) [de

  9. Remote handling of JET in-torus components. A practical experience

    International Nuclear Information System (INIS)

    Mills, S.; Brade, R.; Edwards, P.

    2000-01-01

    This paper summarises the experiences gained from the extensive handling of JET components inside the torus. The problems involved with handling components not designed to be remotely handled and the methods used to overcome them are described and discussed with specific examples from recent JET remote operations. The method employed for remotely producing structural TIG welds is explained. The problems of dextrous manipulation in an inverted attitude are discussed and the methods of amelioration are described

  10. Progress in standardization for ITER Remote Handling control system

    International Nuclear Information System (INIS)

    Hamilton, David Thomas; Tesini, Alessandro; Ranz, Roberto; Kozaka, Hiroshi

    2014-01-01

    Graphical abstract: - Highlights: • Standard parts specified for ITER Remote Handling (RH) control system. • Standard approach for VR modeling of structural deformations in real-time. • RH Core System produced as standard platform for RH controller applications. • Synthetic Viewing investigated and demonstrated. • Structured language defined for RH operation procedures and motion sequences. - Abstract: An integrated control system architecture has been defined for the ITER Remote Handling (RH) equipment systems, and work has been continuing to develop and validate standards for this architecture. Evaluations of standard parts and a standard control room work-cell have contributed to an update of the RH Control System Design Handbook, while R and D activities have been carried out to validate concepts for standard solutions to ITER RH problems: the use of a standard master arm with different slave arms, the achievement of high accuracy tracking of RH operations within virtual reality, and condition monitoring of RH equipment systems. The standardization efforts have been consolidated through the development of a freely distributable software platform to support the adoption of the ITER RH standards. The RH Core System installs on top of the CODAC Core System and provides the basic platform for the development of ITER RH equipment controller applications. The standardization work has continued in the areas of RH viewing, network communication protocols, and a structured language for programming ITER RH operations. Prototyping has been done on high-level control system applications, and R and D has been carried out in the area of synthetic viewing for ITER RH. These developments will be reflected in a new version of the RH Core System to be produced during 2013

  11. Optimized hardware design for the divertor remote handling control system

    Energy Technology Data Exchange (ETDEWEB)

    Saarinen, Hannu [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland)], E-mail: hannu.saarinen@tut.fi; Tiitinen, Juha; Aha, Liisa; Muhammad, Ali; Mattila, Jouni; Siuko, Mikko; Vilenius, Matti [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); Jaervenpaeae, Jorma [VTT Systems Engineering, Tekniikankatu 1, 33720 Tampere (Finland); Irving, Mike; Damiani, Carlo; Semeraro, Luigi [Fusion for Energy, Josep Pla 2, Torres Diagonal Litoral B3, 08019 Barcelona (Spain)

    2009-06-15

    A key ITER maintenance activity is the exchange of the divertor cassettes. One of the major focuses of the EU Remote Handling (RH) programme has been the study and development of the remote handling equipment necessary for divertor exchange. The current major step in this programme involves the construction of a full scale physical test facility, namely DTP2 (Divertor Test Platform 2), in which to demonstrate and refine the RH equipment designs for ITER using prototypes. The major objective of the DTP2 project is the proof of concept studies of various RH devices, but is also important to define principles for standardizing control hardware and methods around the ITER maintenance equipment. This paper focuses on describing the control system hardware design optimization that is taking place at DTP2. Here there will be two RH movers, namely the Cassette Multifuctional Mover (CMM), Cassette Toroidal Mover (CTM) and assisting water hydraulic force feedback manipulators (WHMAN) located aboard each Mover. The idea here is to use common Real Time Operating Systems (RTOS), measurement and control IO-cards etc. for all maintenance devices and to standardize sensors and control components as much as possible. In this paper, new optimized DTP2 control system hardware design and some initial experimentation with the new DTP2 RH control system platform are presented. The proposed new approach is able to fulfil the functional requirements for both Mover and Manipulator control systems. Since the new control system hardware design has reduced architecture there are a number of benefits compared to the old approach. The simplified hardware solution enables the use of a single software development environment and a single communication protocol. This will result in easier maintainability of the software and hardware, less dependence on trained personnel, easier training of operators and hence reduced the development costs of ITER RH.

  12. Progress in standardization for ITER Remote Handling control system

    Energy Technology Data Exchange (ETDEWEB)

    Hamilton, David Thomas, E-mail: david.hamilton@iter.org [ITER Organization, Route de Vinon, 13115 St. Paul-lez-Durance (France); Tesini, Alessandro [ITER Organization, Route de Vinon, 13115 St. Paul-lez-Durance (France); Ranz, Roberto [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Kozaka, Hiroshi [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan)

    2014-10-15

    Graphical abstract: - Highlights: • Standard parts specified for ITER Remote Handling (RH) control system. • Standard approach for VR modeling of structural deformations in real-time. • RH Core System produced as standard platform for RH controller applications. • Synthetic Viewing investigated and demonstrated. • Structured language defined for RH operation procedures and motion sequences. - Abstract: An integrated control system architecture has been defined for the ITER Remote Handling (RH) equipment systems, and work has been continuing to develop and validate standards for this architecture. Evaluations of standard parts and a standard control room work-cell have contributed to an update of the RH Control System Design Handbook, while R and D activities have been carried out to validate concepts for standard solutions to ITER RH problems: the use of a standard master arm with different slave arms, the achievement of high accuracy tracking of RH operations within virtual reality, and condition monitoring of RH equipment systems. The standardization efforts have been consolidated through the development of a freely distributable software platform to support the adoption of the ITER RH standards. The RH Core System installs on top of the CODAC Core System and provides the basic platform for the development of ITER RH equipment controller applications. The standardization work has continued in the areas of RH viewing, network communication protocols, and a structured language for programming ITER RH operations. Prototyping has been done on high-level control system applications, and R and D has been carried out in the area of synthetic viewing for ITER RH. These developments will be reflected in a new version of the RH Core System to be produced during 2013.

  13. The JET experience with remote handling equipment and future prospects

    International Nuclear Information System (INIS)

    Raimondi, T.

    1989-01-01

    The commissioning and testing of numerous pieces of equipment are now in progress at JET. Two microprocessor controlled force feedback MASCOT IV servomanipulators have shown comparable characteristics to those of the previous analogue types. Teach and repeat software permits precision welding and repetitive operations in a robotics mode. Other computer aids are planned to improve the man-machine interface: Tool-weight compensation, constraints along preferred lines or planes, automatic tracking of the TV cameras. The in-vessel transporter, provided with 5 vertical hinges, a pan-tilt-roll extension and special purpose end effectors, has been used under direct visual control to install 32 toroidal limiters and 8 radio frequency antennae. Test of remote installation in teach and repeat were done, using the JET spare octant as a mock-up, achieving repeatability of better than 5 mm. A considerable number of special remote handling tools were used inside the vessel hands-on to align, cut and weld diagnostics ports and water pipes. The cutting and welding trolleys were used hands-on, on a total of 250 m of lip joints. The ex-vessel transporter, a crane-mounted vertical telescope, 17 m high with a 10 m horizontal arm, is being manufactured. It will be equipped with manipulator and TV systems and controlled via joystick or keyboard or in teach and repeat. Image processing for collision avoidance is being studied. A low level transporter was used for turbo-pump replacement and is now being equipped with remote control. Mock-up work has started on the replacement of the Neutral Injector sources. Bench tests on flanges, heating jackets and connectors are being done to identify refinements needed. The in-vessel inspection system has been used at high temperature in vacuum. (orig.)

  14. The Jet experience with remote handling equipment and future prospects

    International Nuclear Information System (INIS)

    Raimondi, T.

    1989-01-01

    The commissioning and testing of numerous pieces of equipment are now in progress at JET. Two microprocessor controlled force feedback MASCOT IV servomanipulators have shown comparable characteristics to those of the previous analogue types. Teach and repeat software permits precision welding and repetitive operations in a robotics mode. Other computer aids are planned to improve the man-machine interface: tool-weight compensation, constraints along preferred lines or planes, automatic tracking of the TV cameras. The in-vessel transporter, provided with 5 vertical hinges, a pan-tilt-roll extension and special purpose end effectors, has been used under direct visual control to install 32 toroidal limiters and 8 radio frequency antennae. Tests of remote installation in teach and repeat were done, using the JET spare octant as a mock-up, achieving repeatability of better than 5mm. A considerable number of special remote handling tools were used inside the vessel hands-on to align, cut and weld diagnostics ports and water pipes. The cutting and welding trolleys were used hands-on, on a total of 250m of lip joints. The ex-vessel transporter, a crane-mounted vertical telescope, 17m high with a 10m horizontal arm, is being manufactured. It will be equipped with manipulator and TV systems and controlled via joystick or keyboard or in teach and repeat. Image processing for collision avoidance is being studied. A low level transporter was used for turbo-pump replacement and is now being equipped with remote control. Mock-up work has started on the replacement of the Neutral Injector sources. Bench tests on flanges, heating jackets and connectors are being done to identify refinements needed. The in-vessel inspection system has been used at high temperature in vacuum

  15. The JET experience with remote handling equipment and future prospects

    International Nuclear Information System (INIS)

    Raimondi, T.

    1989-01-01

    The commissioning and testing of numerous pieces of equipment are now in progress at JET. Two microprocessor controlled force feedback MASCOT IV servomanipulators have shown comparable characteristics to those of the previous analogue types. Teach and repeat software permits precision welding and repetitive operations in a robotics mode. Other computer aids are planned to improve the man-machine interface: tool-weigth compensation, constraints along preferred lines or planes, automatic tracking of the TV cameras. The in-vessel transporter, provided with 5 vertical hinges, a pan-tilt-roll extension and special purpose end effectors, has been used under direct visual control to install 32 toroidal limiters and 8 radio frequency antennae. Tests of remote installation in teach and repeat were done, using the JET spare octant as a mock-up, achieving repeatability of better than 5 mm. A considerable number of special remote handling tools were used inside the vessel hands-on to align, cut and weld diagnostics ports and water pipes. The cutting and welding trolleys were used hands-on, on a total of 250 m of lip joints. The ex-vessel transporter, a crane-mounted vertical telescope, 17 m high with a 10 m horizontal arm, is being manufactured. it will be equipped with manipulator and TV systems and controlled via joystick or keyboard or in teach and repeat. image processing for collision avoidance is being studied. A low level transporter was used for turbo-pump replacement and is now being equipped with remote control. Mock-up work has started on the replacement of the Neutral Injector sources. Bench tests on flanges, heating jackets and connectors are being done to identify refinements needed. The in-vessel inspection system has been used at high temperature in vacuum. (author). 14 refs.; 12 figs

  16. Concept design of DEMO divertor cassette remote handling: Simply supported beam approach

    Energy Technology Data Exchange (ETDEWEB)

    Mozzillo, Rocco [CREATE, University of Naples Federico II, DII, P.le Tecchio 80, 80125, Naples (Italy); Di Gironimo, Giuseppei, E-mail: peppe.digironimo@gmail.com [CREATE, University of Naples Federico II, DII, P.le Tecchio 80, 80125, Naples (Italy); Mäkinen, Harri [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Miccichè, Gioacchino [ENEA – CR Brasimone, I-40032 Camugnano, BO (Italy); Määttä, Timo [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland)

    2017-03-15

    Highlights: • The present work focused on a new approach to the design of DEMO Divertor Cassette Remote Handling Equipment. • The work provides an alternative approach to the design based on the concept of a simply supported beam. • The approach proposed focuses a Divertor Cassette mover that performs the maintenance of the three cassettes at each port. • First rough dimensioning of the main components has been provided and demonstrating the feasibility of the design solutions. • The main idea of the work consisted on a design capable to use knowledge already adopted in industrial contexts. - Abstract: The present work focused on the development of a new approach to the concept design of DEMO Divertor Cassette (DC) Remote Handling Equipment (RHE). The approach is based on three main assumptions: the DC remote handling activities and the equipment shall be simplified as much as possible; technologies well known and consolidated in the industrial context can be adopted also in the nuclear fusion field; the design of the RHE should be based on a simply supported beam approach instead of cantilever approach. In detail, during the maintenance activities the barycentre of the DC is centred with respect to DC supports. This solution could simplify the design of RHE with a consequent reduction of the design and development costs. Moreover also the DC remote handling tasks shall be simplified in order to better manage the DC maintenance processes. For this reason the DC assembly and disassembly process has been simplified dividing the main sequences in basic movements. For each movement a dedicated tool has been conceived.

  17. Defense Remote Handled Transuranic Waste Cost/Schedule Optimization Study

    International Nuclear Information System (INIS)

    Pierce, G.D.; Wolaver, R.W.; Carson, P.H.

    1986-11-01

    The purpose of this study is to provide the DOE information with which it can establish the most efficient program for the long management and disposal, in the Waste Isolation Pilot Plant (WIPP), of remote handled (RH) transuranic (TRU) waste. To fulfill this purpose, a comprehensive review of waste characteristics, existing and projected waste inventories, processing and transportation options, and WIPP requirements was made. Cost differences between waste management alternatives were analyzed and compared to an established baseline. The result of this study is an information package that DOE can use as the basis for policy decisions. As part of this study, a comprehensive list of alternatives for each element of the baseline was developed and reviewed with the sites. The principle conclusions of the study follow. A single processing facility for RH TRU waste is both necessary and sufficient. The RH TRU processing facility should be located at Oak Ridge National Laboratory (ORNL). Shielding of RH TRU to contact handled levels is not an economic alternative in general, but is an acceptable alternative for specific waste streams. Compaction is only cost effective at the ORNL processing facility, with a possible exception at Hanford for small compaction of paint cans of newly generated glovebox waste. It is more cost effective to ship certified waste to WIPP in 55-gal drums than in canisters, assuming a suitable drum cask becomes available. Some waste forms cannot be packaged in drums, a canister/shielded cask capability is also required. To achieve the desired disposal rate, the ORNL processing facility must be operational by 1996. Implementing the conclusions of this study can save approximately $110 million, compared to the baseline, in facility, transportation, and interim storage costs through the year 2013. 10 figs., 28 tabs

  18. Failure of a yoke body pin of a remote handling device

    International Nuclear Information System (INIS)

    Kasiviswanathan, K.V.; Muralidharan, N.G.; Raj, B.

    1984-01-01

    This note analyses the cause of failure observed in a yoke body pin of a remote handling device (Master Slave Manipulator) used for handling highly radioactive materials, remotely in shielded enclosures. The yoke body constitutes an important part of the manipulator wrist assembly and was made out of AISI 420 grade steel as a single piece investment casting. (orig./IHOE) [de

  19. Applying HAZOP analysis in assessing remote handling compatibility of ITER port plugs

    NARCIS (Netherlands)

    Duisings, L. P. M.; van Til, S.; Magielsen, A. J.; Ronden, D. M. S.; Elzendoorn, B. S. Q.; Heemskerk, C. J. M.

    2013-01-01

    This paper describes the application of a Hazard and Operability Analysis (HAZOP) methodology in assessing the criticality of remote handling maintenance activities on port plugs in the ITER Hot Cell facility. As part of the ECHUL consortium, the remote handling team at the DIFFER Institute is

  20. Man/machine interface for a nuclear cask remote handling control station: system design requirements

    International Nuclear Information System (INIS)

    Clarke, M.M.; Kreifeldt, J.G.; Draper, J.V.

    1984-01-01

    Design requirements are presented for a control station of a proposed semi-automated facility for remote handling of nuclear waste casks. Functional and operational man/machine interface: controls, displays, software format, station architecture, and work environment. In addition, some input is given to the design of remote sensing systems in the cask handling areas. 18 references, 9 figures, 12 tables

  1. Remote handling experiments with the MASCOT IV servomanipulator at JET and prospects of enhancements

    International Nuclear Information System (INIS)

    Hamilton, D.; Colombi, S.; Galbiati, L.; Haist, B.; Mills, S.; Raimondi, T.

    1995-01-01

    Ongoing remote handling trials are being performed at JET, using the MASCOT IV servomanipulator, in order to establish the feasibility of proposed remote handling tasks. This promotes the development of appropriate tools and methods, the determination of time scales, and suggests modifications to be incorporated into the final design of the related JET components. (orig.)

  2. Survey of technology for decommissioning of nuclear fuel cycle facilities. 8. Remote handling and cutting techniques

    Energy Technology Data Exchange (ETDEWEB)

    Ogawa, Ryuichiro; Ishijima, Noboru [Japan Nuclear Cycle Development Inst., Oarai, Ibaraki (Japan). Oarai Engineering Center

    1999-03-01

    In nuclear fuel cycle facility decommissioning and refurbishment, the remote handling techniques such as dismantling, waste handling and decontamination are needed to reduce personnel radiation exposure. The survey research for the status of R and D activities on remote handling tools suitable for nuclear facilities in the world and domestic existing commercial cutting tools applicable to decommissioning of the facilities was conducted. In addition, the drive mechanism, sensing element and control system applicable to the remote handling devices were also surveyed. This report presents brief surveyed summaries. (H. Itami)

  3. Critical element development of standard pipe connector for remote handling

    International Nuclear Information System (INIS)

    Taguchi, Kou; Kakudate, Satoshi; Kanamori, Naokazu; Oka, Kiyoshi; Nakahira, Masataka; Obara, Kenjiro; Tada, Eisuke; Shibanuma, Kiyoshi; Seki, Masahiro

    1994-08-01

    In fusion experimental reactors such as ITER, the in-vessel components such as blanket and divertor are actively cooled and a large number of cooling pipes are located around the core of reactor, where personnel access is prohibited. Mechanical pipe connectors are highly required as standard components for easy and reliable connection/disconnection of cooling pipe by remote handling. For this purpose, a clamping chain type connector has been developed with special mechanisms such as plate springs and guide structures so as to enable concentric and axial movement of clamping chain for easy mounting and dismounting. The basic performance test of a prototypical connector for a 80-A pipe shows sufficient leak tightness and proof pressure capability as well as simple connection/disconnection operation. In addition to the clamp chain type connector, design efforts have been made to develop a quick coupling type connector and a preliminary model of air-actuated quick connector has been fabricated for further investigations. This paper gives the design concept of mechanical pipe connectors such as clamping chain type and quick coupler type, and the basic performance tests results of clamping chain type connector. (author)

  4. Remote material handling in the Plutonium Immobilization Project. Revision 1

    International Nuclear Information System (INIS)

    Brault, J.R.

    2000-01-01

    With the downsizing of the US and Russian nuclear stockpiles, large quantities of weapons-usable plutonium in the US are being declared excess and will be disposed of by the Department of Energy Fissile Materials Disposition Program. To implement this program, DOE has selected the Savannah River Site (SRS) for the construction and operation of three new facilities: pit disassembly and conversion; mixed oxide fuel fabrication; and plutonium immobilization. The Plutonium Immobilization Project (PIP) will immobilize a portion of the excess plutonium in a hybrid ceramic and glass form containing high level waste for eventual disposal in a geologic repository. The PIP is divided into three distinct operating areas: Plutonium Conversion, First Stage Immobilization, and Second Stage Immobilization. Processing technology for the PIP is being developed jointly by the Lawrence Livermore National Laboratory and Westinghouse Savannah River Company. This paper will discuss development of the automated unpacking and sorting operations in the conversion area, and the automated puck and tray handling operations in the first stage immobilization area. Due to the high radiation levels and toxicity of the materials to be disposed of, the PIP will utilize automated equipment in a contained (glovebox) facility. Most operations involving plutonium-bearing materials will be performed remotely, separating personnel from the radiation source. Source term materials will be removed from the operations during maintenance. Maintenance will then be performed hands on within the containment using glove ports

  5. B cell remote-handled waste shipment cask alternatives study

    International Nuclear Information System (INIS)

    RIDDELLE, J.G.

    1999-01-01

    The decommissioning of the 324 Facility B Cell includes the onsite transport of grouted remote-handled radioactive waste from the 324 Facility to the 200 Areas for disposal. The grouted waste has been transported in the leased ATG Nuclear Services 3-82B Radioactive Waste Shipping Cask (3-82B cask). Because the 3-82B cask is a U.S. Nuclear Regulatory Commission (NRC)-certified Type B shipping cask, the lease cost is high, and the cask operations in the onsite environment may not be optimal. An alternatives study has been performed to develop cost and schedule information on alternative waste transportation systems to assist in determining which system should be used in the future. Five alternatives were identified for evaluation. These included continued lease of the 3-82B cask, fabrication of a new 3-82B cask, development and fabrication of an onsite cask, modification of the existing U.S. Department of Energy-owned cask (OH-142), and the lease of a different commercially available cask. Each alternative was compared to acceptance criteria for use in the B Cell as an initial screening. Only continued leasing of the 3-82B cask, fabrication of a new 3-82B cask, and the development and fabrication of an onsite cask were found to meet all of the B Cell acceptance criteria

  6. Conceptual design of Blanket Remote Handling System for CFETR

    International Nuclear Information System (INIS)

    Wei, Jianghua; Song, Yuntao; Pei, Kun; Zhao, Wenlong; Zhang, Yu; Cheng, Yong

    2015-01-01

    Highlights: • The concept for the blanket maintenance is carried out, including three sub-systems. • The basic maintenance procedure for blanket between VV and hot cell is carried out. • The primary kinematics study is used to verify the feasibility of BRHS. • Virtual reality is adopted as another approach to verify the concept design. - Abstract: The China Fusion Engineering Testing Reactor (CFETR), which is a new superconducting tokamak device being designed by China, has a mission to achieve a high duty time (0.3–0.5). To accomplish this great mission, the big modular blanket option has been adopted to achieve the high efficiency of the blanket maintenance. Considering this mission and the large and heavy blanket module, a novel conceptual blanket maintenance system for CFETR has been carried out by us over the past year. This paper presents the conceptual design of the Blanket Remote Handling System (BRHS), which mainly comprises the In-Vessel-Maintenance-System (IVMS), Lifting System and Blanket-Tool-Manipulator System (BTMS). The BRHS implements the extraction and replacement between in-vessel (the blanket module operation configuration location) and ex-vessel (inside of the vertical maintenance cask) by the collaboration of these three sub systems. What is more, this paper represents the blanket maintenance procedure between the docking station (between hot cell building and tokamak building) and inside the vacuum vessel, in tokamak building. Virtual reality technology is also used to verify and optimize our concept design.

  7. Remote controlled stud bolt handling device for reactor pressure vessel

    International Nuclear Information System (INIS)

    Shindo, Takenori; Shigehiro, Katsuya; Ito, Morio; Okada, Kenji

    1988-01-01

    In nuclear power stations, at the time of regular inspection, the works of opening and fixing the upper covers of reactor pressure vessels are carried out for inspecting the inside of reactor pressure vessels and exchanging fuel rods. These upper covers are fastened with many stud bolts, therefore, the works of opening and fixing require a large amount of labor, and are done under the restricted condition of wearing protective clothings and masks. Babcock Hitachi K.K. has completed the development of a remotely controlled automatic bolt tightenig device for this purpose, therefore, its outline is reported. The conventional method of these works and the problems in it are described. The design of the new device aimed at the parallel execution of cleaning screw threads, loosening and tightening nuts, and taking off and putting on nuts and washers, thus contributing to the shortening of regular inspection period, the reduction of the radiation exposure of workers, and the decrease of the number of workers. The function, reliability and endurance of the new device were confirmed by the verifying test using a device made for trial. The device is composed of a stand, a rail and four stations each with a cleaning unit, a stud tensioner and a nut handling unit. (K.I.)

  8. Conceptual design of Blanket Remote Handling System for CFETR

    Energy Technology Data Exchange (ETDEWEB)

    Wei, Jianghua, E-mail: weijh@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Song, Yuntao, E-mail: songyt@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Pei, Kun; Zhao, Wenlong; Zhang, Yu; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2015-11-15

    Highlights: • The concept for the blanket maintenance is carried out, including three sub-systems. • The basic maintenance procedure for blanket between VV and hot cell is carried out. • The primary kinematics study is used to verify the feasibility of BRHS. • Virtual reality is adopted as another approach to verify the concept design. - Abstract: The China Fusion Engineering Testing Reactor (CFETR), which is a new superconducting tokamak device being designed by China, has a mission to achieve a high duty time (0.3–0.5). To accomplish this great mission, the big modular blanket option has been adopted to achieve the high efficiency of the blanket maintenance. Considering this mission and the large and heavy blanket module, a novel conceptual blanket maintenance system for CFETR has been carried out by us over the past year. This paper presents the conceptual design of the Blanket Remote Handling System (BRHS), which mainly comprises the In-Vessel-Maintenance-System (IVMS), Lifting System and Blanket-Tool-Manipulator System (BTMS). The BRHS implements the extraction and replacement between in-vessel (the blanket module operation configuration location) and ex-vessel (inside of the vertical maintenance cask) by the collaboration of these three sub systems. What is more, this paper represents the blanket maintenance procedure between the docking station (between hot cell building and tokamak building) and inside the vacuum vessel, in tokamak building. Virtual reality technology is also used to verify and optimize our concept design.

  9. Evaluation of a New Remote Handling Design for High Throughput Annular Centrifugal Contactors

    International Nuclear Information System (INIS)

    Meikrantz, David H.; Garn, Troy G.; Law, Jack D.; Macaluso, Lawrence L.

    2009-01-01

    Advanced designs of nuclear fuel recycling plants are expected to include more ambitious goals for aqueous based separations including; higher separations efficiency, high-level waste minimization, and a greater focus on continuous processes to minimize cost and footprint. Therefore, Annular Centrifugal Contactors (ACCs) are destined to play a more important role for such future processing schemes. Previous efforts defined and characterized the performance of commercial 5 cm and 12.5 cm single-stage ACCs in a 'cold' environment. The next logical step, the design and evaluation of remote capable pilot scale ACCs in a 'hot' or radioactive environment was reported earlier. This report includes the development of remote designs for ACCs that can process the large throughput rates needed in future nuclear fuel recycling plants. Novel designs were developed for the remote interconnection of contactor units, clean-in-place and drain connections, and a new solids removal collection chamber. A three stage, 12.5 cm diameter rotor module has been constructed and evaluated for operational function and remote handling in highly radioactive environments. This design is scalable to commercial CINC ACC models from V-05 to V-20 with total throughput rates ranging from 20 to 650 liters per minute. The V-05R three stage prototype was manufactured by the commercial vendor for ACCs in the U.S., CINC mfg. It employs three standard V-05 clean-in-place (CIP) units modified for remote service and replacement via new methods of connection for solution inlets, outlets, drain and CIP. Hydraulic testing and functional checks were successfully conducted and then the prototype was evaluated for remote handling and maintenance suitability. Removal and replacement of the center position V-05R ACC unit in the three stage prototype was demonstrated using an overhead rail mounted PaR manipulator. This evaluation confirmed the efficacy of this innovative design for interconnecting and cleaning

  10. Mock-up test on key components of ITER blanket remote handling system

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Matsumoto, Yasuhiro; Taguchi, Koh; Kozaka, Hiroshi; Shibanuma, Kiyoshi; Tesini, Alessandro

    2009-01-01

    The maintenance operation of the ITER in-vessel component, such as a blanket and divertor, must be executed by the remote equipment because of the high gamma-ray environment. During the Engineering Design Activity (EDA), the Japan Atomic Energy Agency (then called as Japan Atomic Energy Research Institute) had been fabricated the prototype of the vehicle manipulator system for the blanket remote handling and confirmed feasibility of this system including automatic positioning of the blanket and rail deployment procedure of the articulated rail. The ITER agreement, which entered into force in the last year, formally decided that Japan will procure the blanket remote handling system and the JAEA, as the Japanese Domestic Agency, is continuing several R and Ds so that the system can be procured smoothly. The residual key issues after the EDA are rail connection and cable handling. The mock-ups of the rail connection mechanism and the cable handling system were fabricated from the last year and installed at the JAEA Naka Site in this March. The former was composed of the rail connecting mechanism, two rail segments and their handling systems. The latter one utilized a slip ring, which implemented 80 lines for power and 208 lines for signal, because there is an electrical contact between the rotating spool and the fixed base. The basic function of these systems was confirmed through the mock-up test. The rail connection mechanism, for example, could accept misalignment of 1.5-2 mm at least. The future test plan is also mentioned in the paper.

  11. Potential application of nuclear remote-handling technology to underwater inspection and maintenance

    International Nuclear Information System (INIS)

    Eccleston, M.J.

    1990-01-01

    Examples are given of remote handling equipment developed within the nuclear industry and employing telemanipulative or telerobotic principles. In telerobotics the nuclear industry has been following a trend towards increased levels of autonomy, delegating operator control to a computer, for example, in resolved rate manipulator tip control, teach-and-repeat control and collision avoidance. Illustrations are presented of remote-handling techniques from the nuclear industry which may be carried over into undersea remote inspection, maintenance and repair systems. (author)

  12. Project Execution Plan for the Remote Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    Danny Anderson

    2014-07-01

    As part of ongoing cleanup activities at the Idaho National Laboratory (INL), closure of the Radioactive Waste Management Complex (RWMC) is proceeding under the Comprehensive Environmental Response, Compensation, and Liability Act (42 USC 9601 et seq. 1980). INL-generated radioactive waste has been disposed of at RWMC since 1952. The Subsurface Disposal Area (SDA) at RWMC accepted the bulk of INL’s contact and remote-handled low-level waste (LLW) for disposal. Disposal of contact-handled LLW and remote-handled LLW ion-exchange resins from the Advanced Test Reactor in the open pit of the SDA ceased September 30, 2008. Disposal of remote-handled LLW in concrete disposal vaults at RWMC will continue until the facility is full or until it must be closed in preparation for final remediation of the SDA (approximately at the end of fiscal year FY 2017). The continuing nuclear mission of INL, associated ongoing and planned operations, and Naval spent fuel activities at the Naval Reactors Facility (NRF) require continued capability to appropriately dispose of contact and remote handled LLW. A programmatic analysis of disposal alternatives for contact and remote-handled LLW generated at INL was conducted by the INL contractor in Fiscal Year 2006; subsequent evaluations were completed in Fiscal Year 2007. The result of these analyses was a recommendation to the Department of Energy (DOE) that all contact-handled LLW generated after September 30, 2008, be disposed offsite, and that DOE proceed with a capital project to establish replacement remote-handled LLW disposal capability. An analysis of the alternatives for providing replacement remote-handled LLW disposal capability has been performed to support Critical Decision-1. The highest ranked alternative to provide this required capability has been determined to be the development of a new onsite remote-handled LLW disposal facility to replace the existing remote-handled LLW disposal vaults at the SDA. Several offsite DOE

  13. Plans for Managing Hanford Remote Handled Transuranic (TRU) Waste

    International Nuclear Information System (INIS)

    MCKENNEY, D.E.

    2001-01-01

    The current Hanford Site baseline and life-cycle waste forecast predicts that approximately 1,000 cubic meters of remote-handled transuranic (RH-TRU) waste will be generated by waste management and environmental restoration activities at Hanford. These 1,000 cubic meters, comprised of both transuranic and mixed transuranic (TRUM) waste, represent a significant portion of the total estimated inventory of RH-TRU to be disposed of at the Waste Isolation Pilot Plant (WIPP). A systems engineering approach is being followed to develop a disposition plan for each RH-TRU/TRUM waste stream at Hanford. A number of significant decision-making efforts are underway to develop and finalize these disposition plans, including: development and approval of a RH-TRU/TRUM Waste Project Management Plan, revision of the Hanford Waste Management Strategic Plan, the Hanford Site Options Study (''Vision 2012''), the Canyon Disposal Initiative Record-of-Decision, and the Hanford Site Solid (Radioactive and Hazardous) Waste Program Environmental Impact Statement (SW-EIS). Disposition plans may include variations of several options, including (1) sending most RH-TRU/TRUM wastes to WIPP, (2) deferrals of waste disposal decisions in the interest of both efficiency and integration with other planned decision dates and (3) disposition of some materials in place consistent with Department of Energy Orders and the regulations in the interest of safety, risk minimization, and cost. Although finalization of disposition paths must await completion of the aforementioned decision documents, significant activities in support of RH-TRU/TRUM waste disposition are proceeding, including Hanford participation in development of the RH TRU WIPP waste acceptance criteria, preparation of T Plant for interim storage of spent nuclear fuel sludge, sharing of technology information and development activities in cooperation with the Mixed Waste Focus Area, RH-TRU technology demonstrations and deployments, and

  14. Progress in the design, R and D and procurement preparation of the ITER Divertor Remote Handling System

    Energy Technology Data Exchange (ETDEWEB)

    Esqué, Salvador, E-mail: Salvador.Esque@f4e.europa.eu [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Hille, Carine van; Ranz, Roberto; Damiani, Carlo [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Palmer, Jim; Hamilton, David [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France)

    2014-10-15

    Highlights: •The ITER Divertor Remote Handling System (DRHS) reference design is presented. •Different R and D activities that have contributed to the development and validation of the current reference design are reported. •The DRHS turns to be a unique system in terms of complexity due to size of the to-be-handled components, the novelty of the remote operations and the operational conditions. -- Abstract: The ITER Divertor Remote Handling System (DRHS) consists of a number of dedicated remote handling equipment and tooling that will provide the means to perform the exchange of the divertor system in a full-remote way. In order to achieve this objective the DRHS will need to perform a number of novel and complex remote operations in a contaminated and space-constrained environment, in rather poor lightening conditions. Fusion for Energy has recently launched the tendering phase for the in-kind procurement of the DRHS. The procurement is based on a set of system requirements and functional specifications supported by a reference design which are presented and discussed in this paper along with the main outcomes of the different R and D activities that have contributed to the development and validation of the current reference design.

  15. Preliminary Safety Design Report for Remote Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    Timothy Solack; Carol Mason

    2012-03-01

    A new onsite, remote-handled low-level waste disposal facility has been identified as the highest ranked alternative for providing continued, uninterrupted remote-handled low-level waste disposal for remote-handled low-level waste from the Idaho National Laboratory and for nuclear fuel processing activities at the Naval Reactors Facility. Historically, this type of waste has been disposed of at the Radioactive Waste Management Complex. Disposal of remote-handled low-level waste in concrete disposal vaults at the Radioactive Waste Management Complex will continue until the facility is full or until it must be closed in preparation for final remediation of the Subsurface Disposal Area (approximately at the end of Fiscal Year 2017). This preliminary safety design report supports the design of a proposed onsite remote-handled low-level waste disposal facility by providing an initial nuclear facility hazard categorization, by discussing site characteristics that impact accident analysis, by providing the facility and process information necessary to support the hazard analysis, by identifying and evaluating potential hazards for processes associated with onsite handling and disposal of remote-handled low-level waste, and by discussing the need for safety features that will become part of the facility design.

  16. Applying remote handling attributes to the ITER neutral beam cell monorail crane

    Energy Technology Data Exchange (ETDEWEB)

    Crofts, O., E-mail: Oliver.Crofts@CCFE.ac.uk [CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Allan, P.; Raimbach, J. [CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Tesini, A.; Choi, C.-H. [ITER Organisation, CS90 046, 13067 St. Paul les Durance Cedex (France); Damiani, C.; Van Uffelen, M. [Fusion for Energy, C/Josep Pla 2, Torres Diagonal Litoral-B3, E-08019 Barcelona (Spain)

    2013-10-15

    The maintenance requirements for the equipment in the ITER neutral beam cell require components to be lifted and transported within the cell by remote means. To meet this requirement, the provision of an overhead crane with remote handling capabilities has been initiated. The layout of the cell has driven the design to consist of a monorail crane that travels on a branched monorail track attached to the cell ceiling. This paper describes the principle design constraints and how the remote handling attributes were applied to the concept design of the monorail crane, concentrating on areas where novel design solutions have been required and on the remote recovery requirements and solutions.

  17. Applying remote handling attributes to the ITER neutral beam cell monorail crane

    International Nuclear Information System (INIS)

    Crofts, O.; Allan, P.; Raimbach, J.; Tesini, A.; Choi, C.-H.; Damiani, C.; Van Uffelen, M.

    2013-01-01

    The maintenance requirements for the equipment in the ITER neutral beam cell require components to be lifted and transported within the cell by remote means. To meet this requirement, the provision of an overhead crane with remote handling capabilities has been initiated. The layout of the cell has driven the design to consist of a monorail crane that travels on a branched monorail track attached to the cell ceiling. This paper describes the principle design constraints and how the remote handling attributes were applied to the concept design of the monorail crane, concentrating on areas where novel design solutions have been required and on the remote recovery requirements and solutions

  18. Irradiation tests of critical components for remote handling in gamma radiation environment

    International Nuclear Information System (INIS)

    Obara, Henjiro; Kakudate, Satoshi; Oka, Kiyoshi

    1994-08-01

    Since the fusion power core of a D-T fusion reactor will be highly activated once it starts operation, personnel access will be prohibited so that assembly and maintenance of the components in the reactor core will have to be totally conducted by remote handling technology. Fusion experimental reactors such as ITER require unprecedented remote handling equipments which are tolerable under gamma radiation of more than 10 6 R/h. For this purpose, the Japan Atomic Energy Research Institute (JAERI) has been developing radiation hard components for remote handling purpose and a number of key components have been tested over 10 9 rad at a radiation dose rate of around 10 6 R/h, using Gamma Ray Radiation Test Facility in JAERI-Takasaki Establishment. This report summarizes the irradiation test results and the latest status of AC servo motor, potentiometer, optical elements, lubricant, sensors and cables, which are key elements of the remote handling system. (author)

  19. Design principles for target stations and methods of remote handling at PSI

    International Nuclear Information System (INIS)

    Steiner, E.W.

    1992-01-01

    Two design concepts for target stations used at Paul Scherrer Institute (PSI) are shown. The method of the remote handling of activated elements is described and some conclusions with respect to a radioactive beam facility are given

  20. Remote-Handled Low-Level Waste Disposal Project Code of Record

    Energy Technology Data Exchange (ETDEWEB)

    S.L. Austad, P.E.; L.E. Guillen, P.E.; C. W. McKnight, P.E.; D. S. Ferguson, P.E.

    2012-06-01

    The Remote-Handled Low-Level Waste (LLW) Disposal Project addresses an anticipated shortfall in remote-handled LLW disposal capability following cessation of operations at the existing facility, which will continue until it is full or until it must be closed in preparation for final remediation of the Subsurface Disposal Area (approximately at the end of Fiscal Year 2017). Development of a new onsite disposal facility will provide necessary remote-handled LLW disposal capability and will ensure continuity of operations that generate remote-handled LLW. This report documents the Code of Record for design of a new LLW disposal capability. The report is owned by the Design Authority, who can authorize revisions and exceptions. This report will be retained for the lifetime of the facility.

  1. Development of monitoring-control methods for heavy remote handling operations in an irradiated environment

    Energy Technology Data Exchange (ETDEWEB)

    Argouac' h, J R [Alsthom-Atlantique, ACB Nantes (France)

    1984-11-01

    Heavy remote handling equipment units have benefited from the progress made in robotics, but with certain specific constraints linked to the environment in which they are required to operate. Notably, these constraints impose the exclusive use of electrical techniques.

  2. Remote-Handled Low-Level Waste Disposal Project Code of Record

    Energy Technology Data Exchange (ETDEWEB)

    S.L. Austad, P.E.; L.E. Guillen, P.E.; C. W. McKnight, P.E.; D. S. Ferguson, P.E.

    2014-06-01

    The Remote-Handled Low-Level Waste (LLW) Disposal Project addresses an anticipated shortfall in remote-handled LLW disposal capability following cessation of operations at the existing facility, which will continue until it is full or until it must be closed in preparation for final remediation of the Subsurface Disposal Area (approximately at the end of Fiscal Year 2017). Development of a new onsite disposal facility will provide necessary remote-handled LLW disposal capability and will ensure continuity of operations that generate remote-handled LLW. This report documents the Code of Record for design of a new LLW disposal capability. The report is owned by the Design Authority, who can authorize revisions and exceptions. This report will be retained for the lifetime of the facility.

  3. Remote-Handled Low-Level Waste Disposal Project Code of Record

    Energy Technology Data Exchange (ETDEWEB)

    Austad, S. L. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Guillen, L. E. [Idaho National Lab. (INL), Idaho Falls, ID (United States); McKnight, C. W. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Ferguson, D. S. [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-04-01

    The Remote-Handled Low-Level Waste (LLW) Disposal Project addresses an anticipated shortfall in remote-handled LLW disposal capability following cessation of operations at the existing facility, which will continue until it is full or until it must be closed in preparation for final remediation of the Subsurface Disposal Area (approximately at the end of Fiscal Year 2017). Development of a new onsite disposal facility will provide necessary remote-handled LLW disposal capability and will ensure continuity of operations that generate remote-handled LLW. This report documents the Code of Record for design of a new LLW disposal capability. The report is owned by the Design Authority, who can authorize revisions and exceptions. This report will be retained for the lifetime of the facility.

  4. Observations on human-technology interaction aspects in remote handling for fusion

    International Nuclear Information System (INIS)

    Salminen, Karoliina

    2009-01-01

    Remote handling can been seen as cooperation between human and machine. One of the characteristics of remote handling is that there is always a human involved in the technique: there is always a human guiding and supervising the movements and deciding the actions of the machine. Unlike many other fields of remote handling for fusion, the human-technology interaction side has not been studied carefully recently. The state-of-the-art research about different kinds of remote handling systems shows that there is a lot of information available in this subject, but there is a clear need for studies where the special needs of ITER are taken into account. During the PREFIT programme, the human-interaction aspects of remote handling have been studied, and the goal has been to find solutions compatible with ITER. Some of the aspects that make ITER a unique system are its new technology combining state-of-the-art knowledge from several different fields, and its very international working environment. When discussing the human aspects, the fact of the multinational cooperation cannot be neglected. Since the majority of the information found in the literature review is not about remote handling, references need to be taken from other industries, like aviation. This article consists of ITER remote handling relevant findings in state-of-the-art research and information and knowledge gained during the PREFIT programme, especially during the training periods at JET in Culham and at CEA in Fontenay-aux-Roses. It also discusses the importance of human-technology interaction field in remote handling, especially in ITER.

  5. Measurement and control system for the ITER remote handling mock-up test

    International Nuclear Information System (INIS)

    Oka, K.; Kakudate, S.; Takiguchi, Y.; Ako, K.; Taguchi, K.; Tada, E.; Ozaki, F.; Shibanuma, K.

    1998-01-01

    The mock-up test platforms composed of full-scale remote handling (RH) equipment were developed for demonstrating remote replacement of the ITER blanket and divertor. In parallel, the measurement and control system for operating these RH equipment were constructed on the basis of open architecture with object oriented feature, aiming at realization of fully-remoted automatic operation required for ITER. This paper describes the design concept of the measurement and control system for the remote handling equipment of ITER, and outlines the measured performances of the fabricated measurement system for the remote handling mock-up tests, which includes Data Acquisition System (DAS), Visual Monitoring System (VMS) and Virtual Reality System (VRS). (authors)

  6. Combined application of Product Lifecycle and Software Configuration Management systems for ITER remote handling

    International Nuclear Information System (INIS)

    Muhammad, Ali; Esque, Salvador; Aha, Liisa; Mattila, Jouni; Siuko, Mikko; Vilenius, Matti; Jaervenpaeae, Jorma; Irving, Mike; Damiani, Carlo; Semeraro, Luigi

    2009-01-01

    The advantages of Product Lifecycle Management (PLM) systems are widely understood among the industry and hence a PLM system is already in use by International Thermonuclear Experimental Reactor (ITER) Organization (IO). However, with the increasing involvement of software in the development, the role of Software Configuration Management (SCM) systems have become equally important. The SCM systems can be useful to meet the higher demands on Safety Engineering (SE), Quality Assurance (QA), Validation and Verification (V and V) and Requirements Management (RM) of the developed software tools. In an experimental environment, such as ITER, the new remote handling requirements emerge frequently. This means the development of new tools or the modification of existing tools and the development of new remote handling procedures or the modification of existing remote handling procedures. PLM and SCM systems together can be of great advantage in the development and maintenance of such remote handling system. In this paper, we discuss how PLM and SCM systems can be integrated together and play their role during the development and maintenance of ITER remote handling system. We discuss the possibility to investigate such setup at DTP2 (Divertor Test Platform 2), which is the full scale mock-up facility to verify the ITER divertor remote handling and maintenance concepts.

  7. Applying HAZOP analysis in assessing remote handling compatibility of ITER port plugs

    International Nuclear Information System (INIS)

    Duisings, L.P.M.; Til, S. van; Magielsen, A.J.; Ronden, D.M.S.; Elzendoorn, B.S.Q.; Heemskerk, C.J.M.

    2013-01-01

    Highlights: ► We applied HAZOP analysis to assess the criticality of remote handling maintenance activities on port plugs in the ITER Hot Cell facility. ► We identified several weak points in the general upper port plug maintenance concept. ► We made clear recommendations on redesign in port plug design, operational sequence and Hot Cell equipment. ► The use of a HAZOP approach for the ECH UL port can also be applied to ITER port plugs in general. -- Abstract: This paper describes the application of a Hazard and Operability Analysis (HAZOP) methodology in assessing the criticality of remote handling maintenance activities on port plugs in the ITER Hot Cell facility. As part of the ECHUL consortium, the remote handling team at the DIFFER Institute is developing maintenance tools and procedures for critical components of the ECH Upper launcher (UL). Based on NRG's experience with nuclear risk analysis and Hot Cell procedures, early versions of these tool concepts and maintenance procedures were subjected to a HAZOP analysis. The analysis identified several weak points in the general upper port plug maintenance concept and led to clear recommendations on redesigns in port plug design, the operational sequence and ITER Hot Cell equipment. The paper describes the HAZOP methodology and illustrates its application with specific procedures: the Steering Mirror Assembly (SMA) replacement and the exchange of the Mid Shield Optics (MSO) in the ECH UPL. A selection of recommended changes to the launcher design associated with the accessibility, maintainability and manageability of replaceable components are presented

  8. Influence of visual feedback on human task performance in ITER remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Schropp, Gwendolijn Y.R., E-mail: g.schropp@heemskerk-innovative.nl [Utrecht University, Utrecht (Netherlands); Heemskerk Innovative Technology, Noordwijk (Netherlands); Heemskerk, Cock J.M. [Heemskerk Innovative Technology, Noordwijk (Netherlands); Kappers, Astrid M.L.; Tiest, Wouter M. Bergmann [Helmholtz Institute-Utrecht University, Utrecht (Netherlands); Elzendoorn, Ben S.Q. [FOM-Institute for Plasma Physics Rijnhuizen, Association EURATOM/FOM, Partner in the Trilateral Euregio Clusterand ITER-NL, PO box 1207, 3430 BE Nieuwegein (Netherlands); Bult, David [FOM-Institute for Plasma Physics Rijnhuizen, Association EURATOM/FOM, Partner in the Trilateral Euregio Clusterand ITER-NL, PO box 1207, 3430 BE Nieuwegein (Netherlands)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer The performance of human operators in an ITER-like test facility for remote handling. Black-Right-Pointing-Pointer Different sources of visual feedback influence how fast one can complete a maintenance task. Black-Right-Pointing-Pointer Insights learned could be used in design of operator work environment or training procedures. - Abstract: In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures. Additional verification and validation is based on simulation and hardware tests in 1:1 scale mockups. The Master Slave manipulator system (MS2) Benchmark Product was designed to implement a reference set of maintenance tasks representative for ITER remote handling. Experiments were performed with two versions of the Benchmark Product. In both experiments, the quality of visual feedback varied by exchanging direct view with indirect view (using video cameras) in order to measure and analyze its impact on human task performance. The first experiment showed that both experienced and novice RH operators perform a simple task significantly better with direct visual feedback than with camera feedback. A more complex task showed a large variation in results and could not be completed by many novice operators. Experienced operators commented on both the mechanical design and visual feedback. In a second experiment, a more elaborate task was tested on an improved Benchmark product. Again, the task was performed significantly faster with direct visual feedback than with camera feedback. In post-test interviews, operators indicated that they regarded the lack of 3D perception as the primary factor hindering their performance.

  9. Influence of visual feedback on human task performance in ITER remote handling

    International Nuclear Information System (INIS)

    Schropp, Gwendolijn Y.R.; Heemskerk, Cock J.M.; Kappers, Astrid M.L.; Tiest, Wouter M. Bergmann; Elzendoorn, Ben S.Q.; Bult, David

    2012-01-01

    Highlights: ► The performance of human operators in an ITER-like test facility for remote handling. ► Different sources of visual feedback influence how fast one can complete a maintenance task. ► Insights learned could be used in design of operator work environment or training procedures. - Abstract: In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures. Additional verification and validation is based on simulation and hardware tests in 1:1 scale mockups. The Master Slave manipulator system (MS2) Benchmark Product was designed to implement a reference set of maintenance tasks representative for ITER remote handling. Experiments were performed with two versions of the Benchmark Product. In both experiments, the quality of visual feedback varied by exchanging direct view with indirect view (using video cameras) in order to measure and analyze its impact on human task performance. The first experiment showed that both experienced and novice RH operators perform a simple task significantly better with direct visual feedback than with camera feedback. A more complex task showed a large variation in results and could not be completed by many novice operators. Experienced operators commented on both the mechanical design and visual feedback. In a second experiment, a more elaborate task was tested on an improved Benchmark product. Again, the task was performed significantly faster with direct visual feedback than with camera feedback. In post-test interviews, operators indicated that they regarded the lack of 3D perception as the primary factor hindering their performance.

  10. Conceptual design report for a remotely operated cask handling system. Revision 1

    International Nuclear Information System (INIS)

    Yount, J.A.; Berger, J.D.

    1984-09-01

    Recent advances in remote handling utilizing commercial robotics are conceptually applied to lowering operator cumulative radiation exposure and increasing throughput during cask handling operations in nuclear shipping and receiving facilities. Revision 1 incorporates functional criteria for facility equipment, equipment technical outline specifications, and interface control drawings to assist Architect Engineers in the application of remote handling to waste shipping and receiving facilities. The document has also been updated to show some of the equipment used in proof-of-principle testing during fiscal year 1984. 10 references, 50 figures, 1 table

  11. Localization of cask and plug remote handling system in ITER using multiple video cameras

    Energy Technology Data Exchange (ETDEWEB)

    Ferreira, João, E-mail: jftferreira@ipfn.ist.utl.pt [Instituto de Plasmas e Fusão Nuclear - Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Vale, Alberto [Instituto de Plasmas e Fusão Nuclear - Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ribeiro, Isabel [Laboratório de Robótica e Sistemas em Engenharia e Ciência - Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

    2013-10-15

    Highlights: ► Localization of cask and plug remote handling system with video cameras and markers. ► Video cameras already installed on the building for remote operators. ► Fiducial markers glued or painted on cask and plug remote handling system. ► Augmented reality contents on the video streaming as an aid for remote operators. ► Integration with other localization systems for enhanced robustness and precision. -- Abstract: The cask and plug remote handling system (CPRHS) provides the means for the remote transfer of in-vessel components and remote handling equipment between the Hot Cell building and the Tokamak building in ITER. Different CPRHS typologies will be autonomously guided following predefined trajectories. Therefore, the localization of any CPRHS in operation must be continuously known in real time to provide the feedback for the control system and also for the human supervision. This paper proposes a localization system that uses the video streaming captured by the multiple cameras already installed in the ITER scenario to estimate with precision the position and the orientation of any CPRHS. In addition, an augmented reality system can be implemented using the same video streaming and the libraries for the localization system. The proposed localization system was tested in a mock-up scenario with a scale 1:25 of the divertor level of Tokamak building.

  12. Localization of cask and plug remote handling system in ITER using multiple video cameras

    International Nuclear Information System (INIS)

    Ferreira, João; Vale, Alberto; Ribeiro, Isabel

    2013-01-01

    Highlights: ► Localization of cask and plug remote handling system with video cameras and markers. ► Video cameras already installed on the building for remote operators. ► Fiducial markers glued or painted on cask and plug remote handling system. ► Augmented reality contents on the video streaming as an aid for remote operators. ► Integration with other localization systems for enhanced robustness and precision. -- Abstract: The cask and plug remote handling system (CPRHS) provides the means for the remote transfer of in-vessel components and remote handling equipment between the Hot Cell building and the Tokamak building in ITER. Different CPRHS typologies will be autonomously guided following predefined trajectories. Therefore, the localization of any CPRHS in operation must be continuously known in real time to provide the feedback for the control system and also for the human supervision. This paper proposes a localization system that uses the video streaming captured by the multiple cameras already installed in the ITER scenario to estimate with precision the position and the orientation of any CPRHS. In addition, an augmented reality system can be implemented using the same video streaming and the libraries for the localization system. The proposed localization system was tested in a mock-up scenario with a scale 1:25 of the divertor level of Tokamak building

  13. Remote handling concept for the neutral beam system

    International Nuclear Information System (INIS)

    Choi, Chang-Hwan; Palmer, Jim; Conesa, Carles; Friconneau, Jean-Pierre; Martins, Jean-Pierre; Subramanian, Rajendran; Jeannoutot, Thomas; Graceffa, Joseph; Schunke, Beatrix; Uffelen, MarcoVan; Damiani, Carlo; Tesini, Alessandro

    2011-01-01

    The NB ITER Remote Maintenance System (NB IRMS) provides the means for the remote maintenance within the NB Cell by removal and replacement of the plant equipment. The NB IRMS will be installed and removed with the assistance of human workers during the preparation, and post-operation phase. During the maintenance operation after opening the Passive Magnetic Shield (PMS) and vessels, the maintenance activity and recovery from failure should be conducted remotely. This paper describes the concept design of the NB IRMS operating inside the NB cell for maintenance of the plant equipment such as NB components, and Upper Port Plugs (UPP). The main tasks of the IRMS, the description of the sub-systems and their specification, and deployment/operation principles are presented. The transportation concept of the NB IRMS to the hot cell facility for storage and maintenance is presented, which is to avoid unnecessary exposure on the equipment inside the NB cell during the machine operation.

  14. Remote handling equipment design for the HEDL fuel supply program

    International Nuclear Information System (INIS)

    Metcalf, I.L.

    1984-09-01

    A process line is currently being developed for fabrication of high exposure mixed uranium-plutonium core assemblies. This paper describes the design philosophy, process flow, equipment, and the handling and radiation shielding techniques used for inspection of Fast Flux Test Facility (FFTF) fuel pins and assembly of Driver Fuel Assemblies (DFAs) 6 figures

  15. Preliminary concept design of the divertor remote handling system for DEMO power plant

    Energy Technology Data Exchange (ETDEWEB)

    Carfora, D., E-mail: dario.carfora@gmail.com [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); ENEA/CREATE/University of Naples Federico II, 80125 Naples (Italy); Di Gironimo, G. [ENEA/CREATE/University of Naples Federico II, 80125 Naples (Italy); Järvenpää, J. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Huhtala, K. [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); Määttä, T.; Siuko, M. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland)

    2014-11-15

    Highlights: • Concept design of the RH system for the DEMO fusion power plant. • Divertor Mover: Hydraulic telescopic boom concept design. An alternative solution to ITER rack and pinion divertor mover (CMM). • Divertor cassettes end effector studies. • Transportation cask conceptual studies and logistic. - Abstract: This paper is based on the remote maintenance system project (WPRM) for the demonstration fusion power reactor (DEMO). Following ITER, DEMO aims to confirm the capability of generating several hundred of MW of net electricity by 2050. The main objective of these activities is to develop an efficient and reliable remote handling (RH) system for replacing the divertor cassettes. This paper presents the preliminary results of the concept design of the divertor RH system. The proposed divertor mover is a hydraulic telescopic boom driven from the transportation cask through the maintenance tunnel of the reactor. The boom is divided in three sections of 4 m each, and it is driving an end-effector in order to perform the scheduled operations of maintenance inside the vacuum vessel. Two alternative design of the end effector to grip and manipulate the divertor cassette are also presented in this work. Both the concepts are hydraulically actuated, basing on the ITER previous studies. The divertor cassette end-effector consists of a lifting arm linked to the divertor mover, a tilting plate, a cantilever arm and a hook-plate. The main objective of this paper is to illustrate the feasibility of DEMO divertor remote maintenance operations.

  16. Mockup of an automated material transport system for remote handling

    International Nuclear Information System (INIS)

    Porter, M.L.

    1992-01-01

    The automated material transport system (AMTS) was conceived for the transport of samples within the material and process control laboratory (MPCL), located in the plutonium processing building of the special isotope separation (SIS) facility. The MPCL was designed with a dry sample handling laboratory and a wet chemistry analysis laboratory. Each laboratory contained several processing glove boxes. The function of the AMTS was to automate the handling of materials, multiple process samples, and bulky items between process stations with a minimum of operator intervention and with a minimum of waiting periods and nonproductive activities. The AMTS design requirements, design verification mockup plan, and AMTS mockup procurement specification were established prior to cancellation of the SIS project. Due to the AMTS's flexibility, the need for technology development, and applicability to other US Department of Energy facilities, mockup of the AMTS continued. This paper discusses the system design features, capabilities, and results of initial testing

  17. Mockup of an automated material transport system for remote handling

    International Nuclear Information System (INIS)

    Porter, M.L.

    1992-01-01

    An Automated Material Transport System (AMTS) was identified for transport of samples within a Material and Process Control Laboratory (MPCL). The MPCL was designed with a dry sample handling laboratory and a wet chemistry analysis laboratory. Each laboratory contained several processing gloveboxes. The function of the AMTS was to automate the handling of materials, multiple process samples, and bulky items between process stations with a minimum of operator intervention and with minimum o[ waiting periods and nonproductive activities. This paper discusses the system design features, capabilities and results of initial testing. The overall performance of the AMTS is very good. No major problems or concerns were identified. System commands are simple and logical making the system user friendly. Operating principle and design of individual components is simple. With the addition of various track modules, the system can be configured in most any configuration. The AMTS lends itself very well for integration with other automated systems or products. The AMTS is suited for applications involving light payloads which require multiple sample and material handling, lot tracking, and system integration with other products

  18. Preliminary definition of the remote handling system for the current IFMIF Test Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Queral, V., E-mail: vicentemanuel.queral@ciemat.es [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain); Urbon, J. [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain); Instituto de Fusion Nuclear, Universidad Politecnica de Madrid, 28006 Madrid (Spain); Garcia, A.; Cuarental, I.; Mota, F. [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain); Micciche, G. [CR ENEA Brasimone, I-40035 Camugnano (BO) (Italy); Ibarra, A. [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain); Rapisarda, D. [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain); Instituto de Fusion Nuclear, Universidad Politecnica de Madrid, 28006 Madrid (Spain); Casal, N. [Laboratorio Nacional de Fusion, EURATOM-CIEMAT, 28040 Madrid (Spain)

    2011-10-15

    A coherent design of the remote handling system with the design of the components to be manipulated is vital for reliable, safe and fast maintenance, having a decisive impact on availability, occupational exposures and operational cost of the facility. Highly activated components in the IFMIF facility are found at the Test Cell, a shielded pit where the samples are accurately located. The remote handling system for the Test Cell reference design was outlined in some past IFMIF studies. Currently a new preliminary design of the Test Cell in the IFMIF facility is being developed, introducing important modifications with respect to the reference one. This recent design separates the previous Vertical Test Assemblies in three functional components: Test Modules, shielding plugs and conduits. Therefore, it is necessary to adapt the previous design of the remote handling system to the new maintenance procedures and requirements. This paper summarises such modifications of the remote handling system, in particular the assessment of the feasibility of a modified commercial multirope crane for the handling of the weighty shielding plugs for the new Test Cell and a quasi-commercial grapple for the handling of the new Test Modules.

  19. Preliminary definition of the remote handling system for the current IFMIF Test Facilities

    International Nuclear Information System (INIS)

    Queral, V.; Urbon, J.; Garcia, A.; Cuarental, I.; Mota, F.; Micciche, G.; Ibarra, A.; Rapisarda, D.; Casal, N.

    2011-01-01

    A coherent design of the remote handling system with the design of the components to be manipulated is vital for reliable, safe and fast maintenance, having a decisive impact on availability, occupational exposures and operational cost of the facility. Highly activated components in the IFMIF facility are found at the Test Cell, a shielded pit where the samples are accurately located. The remote handling system for the Test Cell reference design was outlined in some past IFMIF studies. Currently a new preliminary design of the Test Cell in the IFMIF facility is being developed, introducing important modifications with respect to the reference one. This recent design separates the previous Vertical Test Assemblies in three functional components: Test Modules, shielding plugs and conduits. Therefore, it is necessary to adapt the previous design of the remote handling system to the new maintenance procedures and requirements. This paper summarises such modifications of the remote handling system, in particular the assessment of the feasibility of a modified commercial multirope crane for the handling of the weighty shielding plugs for the new Test Cell and a quasi-commercial grapple for the handling of the new Test Modules.

  20. Tolerancing requirements for remote handling at the Hanford vitrification project

    International Nuclear Information System (INIS)

    Keenan, R.M.; Bullis, R.E.; Van Katwijk, C.

    1993-01-01

    The Hanford Waste Vitrification Plant is being designed by Fluor Daniel, Inc. with WasteChem Corporation as Fluor Daniel's major subcontractor specializing in vitrification and remote system technologies. United Engineers and Constructors/Catalytic (UE ampersand C) will construct the plant. Westinghouse Hanford Company (WHC) is the Project Integration manager, manager and as the plant operator provides technical direction to the Architect/Engineer team (A/E) and constructor on behalf of the Department of Energy - Richland Field Office. The A/E has developed, in cooperation with UE ampersand C, WHC and DOE, a new and innovative approach to installations of the many remote nozzles and electrical connectors that must be installed to demanding tolerances. This paper summarizes the key elements of the HWVP approach

  1. Remote waste handling at the Hot Fuel Examination Facility

    International Nuclear Information System (INIS)

    Vaughn, M.E.

    1982-01-01

    Radioactive solid wastes, some of which are combustible, are generated during disassembly and examination of irradiated fast-reactor fuel and material experiments at the Hot Fuel Examination Facility (HFEF). These wastes are remotely segregated and packaged in doubly contained, high-integrity, clean, retrievable waste packages for shipment to the Radioactive Waste Management Complex (RWMC) at the Idaho National Engineering Laboratory (INEL). This paper describes the equipment and techniques used to perform these operations

  2. Virtual reality applications in remote handling development for tokamaks in India

    International Nuclear Information System (INIS)

    Dutta, Pramit; Rastogi, Naveen; Gotewal, Krishan Kumar

    2017-01-01

    Highlights: • Evaluation of Virtual Reality (VR) in design and operation phases of Remote Handling (RH) equipment for tokamak. • VR based centralized facility, to cater RH development and operation, is setup at Institute for Plasma Research, India. • The VR facility system architecture and components are discussed. • Introduction to various VR applications developed for design and development of tokamak RH equipment. - Abstract: A tokamak is a plasma confinement device that can be used to achieve magnetically confined nuclear fusion within a reactor. Owing to the harsh environment, Remote Handling (RH) systems are used for inspection and maintenance of the tokamak in-vessel components. As the number of in-vessel components requiring RH maintenance is large, physical prototyping of all strategies becomes a major challenge. The operation of RH systems poses further challenge as all equipment have to be controlled remotely within very strict accuracy limits with minimum reliance on the available camera feedback. In both design and operation phases of RH equipment, application of Virtual Reality (VR) becomes imperative. The scope of this paper is to introduce some applications of VR in the design and operation cycle of RH, which are not available commercially. The paper discusses the requirement of VR as a tool for RH equipment design and operation. The details of a comprehensive VR facility that has been established to support the RH development for Indian tokamaks are also presented. Further, various cases studies are provided to highlight the utilization of this VR facility within phases of RH development and operation.

  3. Virtual reality applications in remote handling development for tokamaks in India

    Energy Technology Data Exchange (ETDEWEB)

    Dutta, Pramit, E-mail: pramitd@ipr.res.in; Rastogi, Naveen; Gotewal, Krishan Kumar

    2017-05-15

    Highlights: • Evaluation of Virtual Reality (VR) in design and operation phases of Remote Handling (RH) equipment for tokamak. • VR based centralized facility, to cater RH development and operation, is setup at Institute for Plasma Research, India. • The VR facility system architecture and components are discussed. • Introduction to various VR applications developed for design and development of tokamak RH equipment. - Abstract: A tokamak is a plasma confinement device that can be used to achieve magnetically confined nuclear fusion within a reactor. Owing to the harsh environment, Remote Handling (RH) systems are used for inspection and maintenance of the tokamak in-vessel components. As the number of in-vessel components requiring RH maintenance is large, physical prototyping of all strategies becomes a major challenge. The operation of RH systems poses further challenge as all equipment have to be controlled remotely within very strict accuracy limits with minimum reliance on the available camera feedback. In both design and operation phases of RH equipment, application of Virtual Reality (VR) becomes imperative. The scope of this paper is to introduce some applications of VR in the design and operation cycle of RH, which are not available commercially. The paper discusses the requirement of VR as a tool for RH equipment design and operation. The details of a comprehensive VR facility that has been established to support the RH development for Indian tokamaks are also presented. Further, various cases studies are provided to highlight the utilization of this VR facility within phases of RH development and operation.

  4. A graphics based remote handling control system

    International Nuclear Information System (INIS)

    Leinemann, K.

    1984-08-01

    A control and simulation system with an interactive graphic man-machine interface is proposed for the articulated boom in JET. The system shall support 1. the study of boom movements in the planning phase, 2. the training of operators by appropriate simulations, 3. the programming of boom movements, and 4. the on-line control of the boom. A combination of computer graphic display and TV-images is proposed for providing optimum recognition of the actual situation and for echoing to the operator actions. (orig.) [de

  5. Design and operation of a remotely operated plutonium waste size reduction and material handling process

    International Nuclear Information System (INIS)

    Stewart, J.A. III; Charlesworth, D.L.

    1986-01-01

    Noncombustible 238 Pu and 239 Pu waste is generated as a result of normal operation and decommissioning activity at the Savannah River Plant, and is being retrievably stored there. As part of the long-term plant to process the stored waste and current waste for permanent disposal, a remote size reduction and material handling process is being cold-tested at Savannah River Laboratory. The process consists of a large, low-speed shredder and material handling system, a remote worktable, a bagless transfer system, and a robotically controlled manipulator. Initial testing of the shredder and material handling system and a cycle test of the bagless transfer system has been completed. Fabrication and acceptance testing of the Telerobat, a robotically controlled manipulator has been completed. Testing is scheduled to begin in 3/86. Design features maximizing the ability to remotely maintain the equipment were incorporated. Complete cold-testing of the equipment is scheduled to be completed in 1987

  6. Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2011-04-01

    This report identifies, evaluates, and compares alternatives for meeting the U.S. Department of Energy’s mission need for management of remote-handled low-level waste generated by the Idaho National Laboratory and its tenants. Each alternative identified in the Mission Need Statement for the Remote-Handled Low-Level Waste Treatment Project is described and evaluated for capability to fulfill the mission need. Alternatives that could meet the mission need are further evaluated and compared using criteria of cost, risk, complexity, stakeholder values, and regulatory compliance. The alternative for disposal of remote-handled low-level waste that has the highest confidence of meeting the mission need and represents best value to the government is to build a new disposal facility at the Idaho National Laboratory Site.

  7. Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2011-03-01

    This report identifies, evaluates, and compares alternatives for meeting the U.S. Department of Energy’s mission need for management of remote-handled low-level waste generated by the Idaho National Laboratory and its tenants. Each alternative identified in the Mission Need Statement for the Remote-Handled Low-Level Waste Treatment Project is described and evaluated for capability to fulfill the mission need. Alternatives that could meet the mission need are further evaluated and compared using criteria of cost, risk, complexity, stakeholder values, and regulatory compliance. The alternative for disposal of remote-handled low-level waste that has the highest confidence of meeting the mission need and represents best value to the government is to build a new disposal facility at the Idaho National Laboratory Site.

  8. Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2010-06-01

    This report identifies, evaluates, and compares alternatives for meeting the U.S. Department of Energy’s mission need for management of remote-handled low-level waste generated by the Idaho National Laboratory and its tenants. Each alternative identified in the Mission Need Statement for the Remote-Handled Low-Level Waste Treatment Project is described and evaluated for capability to fulfill the mission need. Alternatives that could meet the mission need are further evaluated and compared using criteria of cost, risk, complexity, stakeholder values, and regulatory compliance. The alternative for disposal of remote-handled low-level waste that has the highest confidence of meeting the mission need and represents best value to the government is to build a new disposal facility at the Idaho National Laboratory Site.

  9. REMOTE MATERIAL HANDLING IN THE YUCCA MOUNTAIN WASTE PACKAGE CLOSURE CELL AND SUPPORT AREA GLOVEBOX

    International Nuclear Information System (INIS)

    K.M. Croft; S.M. Allen; M.W. Borland

    2005-01-01

    The Yucca Mountain Waste Package Closure System (WPCS) cells provide for shielding of highly radioactive materials contained in unsealed waste packages. The purpose of the cells is to provide safe environments for package handling and sealing operations. Once sealed, the packages are placed in the Yucca Mountain Repository. Closure of a typical waste package involves a number of remote operations. Those involved typically include the placement of matched lids onto the waste package. The lids are then individually sealed to the waste package by welding. Currently, the waste package includes three lids. One lid is placed before movement of the waste package to the closure cell; the final two are placed inside the closure cell, where they are welded to the waste package. These and other important operations require considerable remote material handling within the cell environment. This paper discusses the remote material handling equipment, designs, functions, operations, and maintenance, relative to waste package closure

  10. Remote-handling demonstration tests for the Fusion Materials Irradiation Test (FMIT) Facility

    International Nuclear Information System (INIS)

    Shen, E.J.; Hussey, M.W.; Kelly, V.P.; Yount, J.A.

    1982-01-01

    The mission of the Fusion Materials Irradiation Test (FMIT) Facility is to create a fusion-like environment for fusion materials development. Crucial to the success of FMIT is the development and testing of remote handling systems required to handle materials specimens and maintenance of the facility. The use of full scale mock-ups for demonstration tests provides the means for proving these systems

  11. Automatic refueling platform and CRD remote handling device for BWR plant

    International Nuclear Information System (INIS)

    Kato, Hiroaki; Takagi, Kaoru

    1978-01-01

    In BWR plants, machines for replacing fuel assemblies and control rod drives are usually operated directly by personnel. An automatic refueling platform and a CRD remote handling device aiming at radiation exposure reduction and handling perfectness are described, which are already used in BWR plants. Automation of the former is achieved in transporting fuel assemblies between a reactor pressure vessel and a fuel storage pool, shuffling fuel assemblies in a reactor core and moving fuel assemblies in a fuel storage pool. In the latter, replacement of CRDs is nearly all performed remotely. (Mori, K.)

  12. Radiation-tolerant cable management systems for remote handling applications in the nuclear industry

    International Nuclear Information System (INIS)

    Cullen, S.; Thom, M.

    1993-01-01

    Experience has shown that one of the most vulnerable areas within remote handling equipment is the umbilical cable and termination system. Repairs of a damaged system can be very long due to poorly designed termination techniques. Over the past five years W.L. Gore has gained considerable experience in the design and manufacture of cable systems, utilising unique radiation tolerant materials and manufacturing processes. The cable systems manufactured at the W.L. Gore, Dunfermline, Scotland facility have proven to give excellent performance in the most demanding of remote handling applications. (author)

  13. Application of advanced remote systems technology to future waste handling facilities

    International Nuclear Information System (INIS)

    Kring, C.T.; Meacham, S.A.

    1987-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory (ORNL) has been advancing the technology of remote handling and remote maintenance for in-cell systems planned for future nuclear fuel reprocessing plants. Much of the experience and technology developed over the past decade in this endeavor is directly applicable to the proposed in-cell systems being considered for the facilities of the Federal Waste Management System (FWMS). The application of teleoperated, force-reflecting servomanipulators with television viewing could be a major step forward in waste handling facility design. Primary emphasis in the current program is the operation of a prototype remote handling and maintenance system, the advanced servomanipulator (ASM), which specifically addresses the requirements of fuel reprocessing and waste handling with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. Concurrent with the evolution of dexterous manipulators, concepts have also been developed that provide guidance for standardization of the design of the remotely operated and maintained equipment, the interface between the maintenance tools and the equipment, and the interface between the in-cell components and the facility

  14. Handling trolley for Argonne M8, Pye Mo 1815, Pye Heavy Duty, etc. remote manipulators

    International Nuclear Information System (INIS)

    Roussel, E.; Labiche, M.; Chevallier, E.

    1962-01-01

    The removal and installation of remote manipulators and periscopes in hot cells are delicate operations requiring a specific handling trolley. This note describes the technical specifications of such a trolley having the following advantages: occupies a minimal space when not in use, easy and efficient fastening and monitoring, smooth moving of the remote manipulators during removal or installation, trolley stability and immobility during operation, requires only two operators

  15. High-definition television evaluation for remote handling task performance

    International Nuclear Information System (INIS)

    Fujita, Y.; Omori, E.; Hayashi, S.; Draper, J.V.; Herndon, J.N.

    1986-01-01

    This paper describes experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The experiments described in this paper compared the performance of four operators using HDTV with their performance while using other television systems. The experiments included four television systems: (1) high-definition color television, (2) high-definition monochromatic television, (3) standard-resolution monochromatic television, and (4) standard-resolution stereoscopic monochromatic television. The stereo system accomplished stereoscopy by displaying two cross-polarized images, one reflected by a half-silvered mirror and one seen through the mirror. Observers wore a pair of glasses with cross-polarized lenses so that the left eye received only the view from the left camera and the right eye received only the view from the right camera

  16. Development of remote handling technology for nuclear fuel cycle facilities in Japan

    International Nuclear Information System (INIS)

    Maekawa, Hiromichi; Sakai, Akira; Miura, Noriaki; Kozaka, Tetsuo; Hamada, Takashi

    2015-01-01

    Remote handling technology has been systematically developed for nuclear fuel cycle facilities in Japan since 1970s, primarily in parallel with the development of reprocessing and HLLW (High Level Liquid Waste) vitrification process. In case of reprocessing and vitrification process to handle highly radioactive and hazardous materials, the most of components are installed in the radiation shielded hot cells and operators are not allowed to enter the work area in the cells for operation and maintenance. Therefore, a completely remote handling system is adopted for the cells to reduce radiation doses of operators and increase the availability of the facility. The hot cells are generally designed considering the scale of components (laboratory, demonstration, or full-scale), the function of the systems (chemical process, material handling, dismantling, decontamination, or chemical analysis), and the environmental conditions (radiation dose rate, airborne concentration, surface contamination, or fume/mist/dust). Throughout our domestic development work for remote handling technology, the concept of the large scale integrated cell has been adopted rather than a number of small scale separated cells, for the reasons to reduce the total installation space and the number of remote handling equipment required for the each cell as much as possible. In our domestic remote maintenance design, several new concepts have been developed, tested, and demonstrated in the Tokai Virtrification Facility (TVF) and the Rokkasho HLLW Vitrification and Storage Facility (K-facility). Layout in the hot cells, the performance of remote handling equipment, and the structure of the in-cell components are important factors for remote maintenance design. In case of TVF (hot tests started in 1995), piping and vessels are prefabricated in the rack modules and installed in two lines on both sides of the cell. These modules are designed to be remotely replaced in the whole rack. Two overhead cranes

  17. Study on compact design of remote handling equipment for ITER blanket maintenance

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi

    2006-03-01

    In the ITER, the neutrons created by D-T reactions activate structural materials, and thereby, the circumstance in the vacuum vessel is under intense gamma radiation field. Thus, the in-vessel components such as blanket are handled and replaced by remote handling equipment. The objective of this report is to study the compactness of the remote handling equipment (a vehicle/manipulator) for the ITER blanket maintenance. In order to avoid the interferences between the blanket and the equipment during blanket replacement in the restricted vacuum vessel, a compact design of the equipment is required. Therefore, the compact design is performed, including kinematic analyses aiming at the reduction of the sizes of the vehicle equipped with a manipulator handling the blanket and the rail for the vehicle traveling in the vacuum vessel. Major results are as follows: 1. The compact vehicle/manipulator is designed concentration on the reduction of the rail size and simplification of the guide roller mechanism as well as the reduction of the gear diameter for vehicle rotation around the rail. Height of the rail is reduced from 500 mm to 400 mm by a parameter survey for weight, stiffness and stress of the rail. The roller mechanism is divided into two simple functional mechanisms composed of rollers and a pad, that is, the rollers support relatively light loads during rail deployment and vehicle traveling while a pad supports heavy loads during blanket replacement. Regarding the rotation mechanism, the double helical gear is adopted, because it has higher contact ratio than the normal spur gear and consequently can transfer higher force. The smaller double helical gear, 996 mm in diameter, can achieve 26% higher output torque, 123.5 kN·m, than that of the original spur gear of 1,460 mm in diameter, 98 kN·m. As a result, the manipulator becomes about 30% lighter, 8 tons, than the original weight, 11.2 tons. 2. Based on the compact design of the vehicle/manipulator, the

  18. Remote sensing data handling to improve the system integration of indonesian national spatial data infrastructure

    International Nuclear Information System (INIS)

    Hari, G. R. V.

    2010-01-01

    With the usage of metadata as a reference for spatial data query, remote sensing images and other spatial datasets have been linked to their related semantic information. In the current catalogue systems, like those or satellite data provides, or clearinghouses, each remote sensing image is maintained as an independent entity. There is a very limited possibility to know the linkage of one image to another, even if one image has actually been derived from the other. It is an advantage for many purposes if the linkage among remote sensing image or other spatial data can be maintained or at least reconstructed. This research will explore how an image is linked to its related information, and how an image can be linked to another images. By exploring links among remote sensing images, a query of remote sensing data collection can be extended, for example, to find the answer of the query: 'which images are used to create certain dataset?', or 'which images have been created from a concrete dataset?', or 'is there a relationship between image A and image B based on their processing steps?'. By building links among spatial datasets in a collection based on their creation process, a further possibility of spatial data organization can be supported. The applicability and compatibility of the proposed method with the current platform is also considered. The proposed method can be implemented using the same standard and protocol and using the same metadata file as used by the existing system. This approach makes it also possible to be implemented in many countries which use the same infrastructure. To prove this purpose, we develop a prototype based on open source platform, including PostgreSQL, Apache Webserver, Mapserver WebGIS, and PHP programming environment. The output of this research leads to an improvement of spatial data handling, where an adjacency list is used to maintain spatial dataset history link. This improvement can enhance the query of spatial data in a

  19. 76 FR 33277 - Proposed Approval of the Central Characterization Project's Remote-Handled Transuranic Waste...

    Science.gov (United States)

    2011-06-08

    ... disposal of TRU radioactive waste. As defined by the WIPP Land Withdrawal Act (LWA) of 1992 (Pub. L. 102... certification of the WIPP's compliance with disposal regulations for TRU radioactive waste [63 Federal Register... radioactive remote-handled (RH) transuranic (TRU) waste characterization program implemented by the Central...

  20. Influence of visual feedback on human task performance in ITER remote handling

    NARCIS (Netherlands)

    Schropp, Gwendolijn Y R; Heemskerk, Cock J M; Kappers, Astrid M L; Bergmann Tiest, Wouter M; Elzendoorn, Ben S Q; Bult, David

    In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures.

  1. Potential uses of remote handling and robotic techniques in the back end of the fuel cycle

    International Nuclear Information System (INIS)

    Reynolds, N.P.; Tabe, T.; Fenton, N.; Baumgartner, P.

    1984-01-01

    Atomic Energy of Canada Limited (AECL) is actively conducting research on used fuel immobilization, used fuel reprocessing, and nuclear fuel waste immobilization and disposal. This paper attempts to identify potential uses of robotics and remote handling techniques in these areas, where their adoption could lead to significant processing, economic and safety advantages

  2. Experience of remote under water handling operations at Tarapur Atomic Power Station

    International Nuclear Information System (INIS)

    Agarwal, S.K.

    1990-01-01

    Each Refuelling outage of Tarapur Atomic Power Station Reactors involves a great deal of remote underwater handling operations using special remote handling tools, working deep down in the reactor vessel under about sixty feet of water and in the narrow confines of highly radioactive core. The remote underwater handling operations include incore and out of core sipping operations, fuel reloading or shuffling, uncoupling of control rod drives, replacement and shuffling of control blades, replacement of local power range monitors, spent fuel shipment in casks, retrieval of fallen or displaced fuel top guide spacers, orifices and their installation, underwater CCTV inspection of reactor internals, core verification, channelling and dechannelling of fuel bundles, inspection of fuel bundles and channels, unbolting and removal of old racks, installation of high density racks, removal and reinstallation of fuel support plugs and guide tubes, underwater cutting of irradiated hardware material and their disposal, fuel reconstitution, removal and reinstallation of system dryer separator etc.. The paper describes in brief the salient experience of remote underwater handling operations at TAPS especially the unusual problems faced and solved, by using special tools, employing specific techniques and by repeated efforts, patience, ingenuity and skills. (author). 10 figs

  3. Haptic shared control improves hot cell remote handling despite controller inaccuracies

    NARCIS (Netherlands)

    van Oosterhout, J.; Abbink, D. A.; Koning, J. F.; Boessenkool, H.; Wildenbeest, J. G. W.; Heemskerk, C. J. M.

    2013-01-01

    A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested

  4. Robotics and remote handling concepts for disposal of high-level nuclear waste

    International Nuclear Information System (INIS)

    McAffee, Douglas; Raczka, Norman; Schwartztrauber, Keith

    1997-01-01

    This paper summarizes preliminary remote handling and robotic concepts being developed as part of the US Department of Energy's (DOE) Yucca Mountain Project. The DOE is currently evaluating the Yucca Mountain Nevada site for suitability as a possible underground geologic repository for the disposal of high level nuclear waste. The current advanced conceptual design calls for the disposal of more than 12,000 high level nuclear waste packages within a 225 km underground network of tunnels and emplacement drifts. Many of the waste packages may weigh as much as 66 tonnes and measure 1.8 m in diameter and 5.6 m long. The waste packages will emit significant levels of radiation and heat. Therefore, remote handling is a cornerstone of the repository design and operating concepts. This paper discusses potential applications areas for robotics and remote handling technologies within the subsurface repository. It also summarizes the findings of a preliminary technology survey which reviewed available robotic and remote handling technologies developed within the nuclear, mining, rail and industrial robotics and automation industries, and at national laboratories, universities, and related research institutions and government agencies

  5. ORNL shielded facilities capable of remote handling of highly radioactive beta--gamma emitting materials

    International Nuclear Information System (INIS)

    Whitson, W.R.

    1977-09-01

    A survey of ORNL facilities having adequate shielding and containment for the remote handling of experimental quantities of highly radioactive beta-gamma emitting materials is summarized. Portions of the detailed descriptions of these facilities previously published in ORNL/TM-1268 are still valid and are repeated

  6. Evolving the JET virtual reality system for delivering the JET EP2 shutdown remote handling tasks

    Energy Technology Data Exchange (ETDEWEB)

    Williams, Adrian, E-mail: adrian.williams@oxfordtechnologies.co.uk [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon, Oxon, OX14 1RJ (United Kingdom); JET-EFDA, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom); Sanders, Stephen [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon, Oxon, OX14 1RJ (United Kingdom); JET-EFDA, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom); Weder, Gerard [Tree-C Technology BV, Buys Ballotstraat 8, 6716 BL Ede (Netherlands); JET-EFDA, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom); Bastow, Roger; Allan, Peter; Hazel, Stuart [CCFE, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom); JET-EFDA, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom)

    2011-10-15

    The quality, functionality and performance of the virtual reality (VR) system used at JET for preparation and implementation of remote handling (RH) operations has been progressively enhanced since its first use in the original JET remote handling shutdown in 1998. As preparation began for the JET EP2 (Enhanced Performance 2) shutdown it was recognised that the VR system being used was unable to cope with the increased functionality and the large number of 3D models needed to fully represent the JET in-vessel components and tooling planned for EP2. A bespoke VR software application was developed in collaboration with the OEM, which allowed enhancements to be made to the VR system to meet the requirements of JET remote handling in preparation for EP2. Performance improvements required to meet the challenges of EP2 could not be obtained from the development of the new VR software alone. New methodologies were also required to prepare source, CATIA models for use in the VR using a collection of 3D software packages. In collaboration with the JET drawing office, techniques were developed within CATIA using polygon reduction tools to reduce model size, while retaining surface detail at required user limits. This paper will discuss how these developments have played an essential part in facilitating EP2 remote handling task development and examine their impact during the EP2 shutdown.

  7. Evolving the JET virtual reality system for delivering the JET EP2 shutdown remote handling tasks

    International Nuclear Information System (INIS)

    Williams, Adrian; Sanders, Stephen; Weder, Gerard; Bastow, Roger; Allan, Peter; Hazel, Stuart

    2011-01-01

    The quality, functionality and performance of the virtual reality (VR) system used at JET for preparation and implementation of remote handling (RH) operations has been progressively enhanced since its first use in the original JET remote handling shutdown in 1998. As preparation began for the JET EP2 (Enhanced Performance 2) shutdown it was recognised that the VR system being used was unable to cope with the increased functionality and the large number of 3D models needed to fully represent the JET in-vessel components and tooling planned for EP2. A bespoke VR software application was developed in collaboration with the OEM, which allowed enhancements to be made to the VR system to meet the requirements of JET remote handling in preparation for EP2. Performance improvements required to meet the challenges of EP2 could not be obtained from the development of the new VR software alone. New methodologies were also required to prepare source, CATIA models for use in the VR using a collection of 3D software packages. In collaboration with the JET drawing office, techniques were developed within CATIA using polygon reduction tools to reduce model size, while retaining surface detail at required user limits. This paper will discuss how these developments have played an essential part in facilitating EP2 remote handling task development and examine their impact during the EP2 shutdown.

  8. Monitor: a short-cut approach to remote-handling at LAMPF

    International Nuclear Information System (INIS)

    Horne, R.A.; Ekberg, E.L.

    1975-01-01

    The monitor, constructed from relatively cheap commercial components, is a straightforward, totally remotely operated handling system intended to work on components in the LAMPF external beam line or elsewhere. It can be towed or lifted into position, then hard-wire controlled from a distance by using television. (auth)

  9. Remote technology related to the handling, storage and disposal of spent fuel. Proceedings of a technical committee meeting

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-11-01

    Reduced radiation exposure, greater reliability and cost savings are all potential benefits of the application of remote technologies to the handling of spent nuclear fuel. Remote equipment and technologies are used to some extent in all facilities handling fuel and high-level wastes whether they are for interim storage, processing/repacking, reprocessing or disposal. In view of the use and benefits of remote technologies, as well as recent technical and economic developments in the area, the IAEA organized the Technical Committee Meeting (TCM) on Remote Technology Related to the Handling, Storage and/or Disposal of Spent Fuel. Twenty-one papers were presented at the TCM, divided into five general areas: 1. Choice of technologies; 2. Use of remote technologies in fuel handling; 3. Use of remote technologies for fuel inspection and characterization; 4. Remote maintenance of facilities; and 5. Current and future developments. Refs, figs and tabs.

  10. Development of radiation hard components for ITER blanket remote handling system

    Energy Technology Data Exchange (ETDEWEB)

    Saito, Makiko, E-mail: saito.makiko@jaea.go.jp; Anzai, Katsunori; Maruyama, Takahito; Noguchi, Yuto; Ueno, Kenichi; Takeda, Nobukazu; Kakudate, Satoshi

    2016-11-01

    Highlights: • Clarify the components that will degrade by gamma ray irradiation. • Perform the irradiation tests to BRHS components. • Optimize the materials to increase the radiation hardness. - Abstract: The ITER blanket remote handling system (BRHS) will be operated in a high radiation environment (250 Gy/h max.) and must stably handle the blanket modules, which weigh 4.5 t and are more than 1.5 m in length, with a high degree of position and posture accuracy. The reliability of the system can be improved by reviewing the failure events of the system caused by high radiation. A failure mode and effects analysis (FMEA) identified failure modes and determined that lubricants, O-rings, and electric insulation cables were the dominant components affecting radiation hardness. Accordingly, we tried to optimize the lubricants and cables of the AC servo motors by using polyphenyl ether (PPE)-based grease and polyether ether ketone (PEEK), respectively. Materials containing radiation protective agents were also selected for the cable sheaths and O-rings to improve radiation hardness. Gamma ray irradiation tests were performed on these components and as a result, a radiation hardness of 8 MGy was achieved for the AC servo motors. On the other hand, to develop the radiation hardness and BRHS compatibility furthermore, the improvement of materials of cable and O ring were performed.

  11. Progress in the design of the ITER Neutral Beam cell Remote Handling System

    Energy Technology Data Exchange (ETDEWEB)

    Shuff, R., E-mail: robin.shuff@f4e.europa.eu [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Van Uffelen, M.; Damiani, C. [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Tesini, A.; Choi, C.-H. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France); Meek, R. [Oxford Technologies Limited, 7 Nuffield Way, Abingdon OX14 1RL (United Kingdom)

    2014-10-15

    The ITER Neutral Beam cell will include a suite of Remote Handling equipment for maintenance tasks. This paper summarises the current status and recent developments in the design of the ITER Neutral Beam Remote Handling System. Its concept design was successfully completed in July 2012 by CCFE in the frame of a grant agreement with F4E, in collaboration with the ITER Organisation, including major systems like monorail crane, Beam Line Transporter, beam source equipment, upper port and neutron shield equipment and associated tooling. Research and development activities are now underway on the monorail crane radiation hardened on-board control system and first of a kind remote pipe and lip seal maintenance tooling for the beam line vessel, reported in this paper.

  12. Progress in the design of the ITER Neutral Beam cell Remote Handling System

    International Nuclear Information System (INIS)

    Shuff, R.; Van Uffelen, M.; Damiani, C.; Tesini, A.; Choi, C.-H.; Meek, R.

    2014-01-01

    The ITER Neutral Beam cell will include a suite of Remote Handling equipment for maintenance tasks. This paper summarises the current status and recent developments in the design of the ITER Neutral Beam Remote Handling System. Its concept design was successfully completed in July 2012 by CCFE in the frame of a grant agreement with F4E, in collaboration with the ITER Organisation, including major systems like monorail crane, Beam Line Transporter, beam source equipment, upper port and neutron shield equipment and associated tooling. Research and development activities are now underway on the monorail crane radiation hardened on-board control system and first of a kind remote pipe and lip seal maintenance tooling for the beam line vessel, reported in this paper

  13. The ITER EC H&CD Upper Launcher: Analysis of vertical Remote Handling applied to the BSM maintenance

    NARCIS (Netherlands)

    Grossetti, G.; Aiello, G.; Heemskerk, C.; Elzendoorn, B.; Geßner, R.; Koning, J.; Meier, A.; Ronden, D.; Späh, P.; Scherer, T.; Schreck, S.; Strauß, D.; Vaccaro, A.

    2013-01-01

    This paper deals with Remote Handling activities foreseen on the Blanket Shield Module, the plasma facing component of the ITER Electron Cyclotron Heating and Current Drive Upper Launcher. The maintenance configuration considered here is the Vertical Remote Handling, meaning gravity acting along the

  14. Progress on the interface between UPP and CPRHS (Cask and Plug Remote Handling System) tractor/gripping tool for ITER

    International Nuclear Information System (INIS)

    Rosa, Elena V.; Rios, Luis; Queral, Vicente

    2013-01-01

    Highlights: ► UPP interface requirements in the plug RH extraction/insertion for ITER. ► Analyze of maximum misalignment between port duct and port cell. ► Friction study between plug skids and VV port/ramp rails during the plug transfer. ► Definition of the tolerance in the plug skids to avoid the plug jamming. ► Concepts of gripping tools based on one gripping point and avoiding force feedback. -- Abstract: EFDA finances a training programme called Goal Oriented Training Programme for Remote Handling (GOT RH), whose goal is to train engineers in Remote Handling for ITER. As part of this training programme, the conceptual design of the mechanical interface between Upper Port Plug (UPP) and Cask and Plug Remote Handling System (CPRHS) as well as the conceptual design of the needed tools for UPP Remote Handling is carried out. The paper presents the conceptual design of the UPP/Gripping Tool Interface. This includes the conceptual design of the gripping tool for introducing/removing the UPP in/from the ITER port and the mechanical features on both sides of the UPP/Gripping Tool Interface (e.g. alignment features, mechanical connectors, fasteners). In order to develop the design of the interface between UPP and CPRHS it is necessary to first identify the functional requirements of the Transfer Cask System (TCS) and the CPRHS, such as required degrees of freedom (DoF), required performances of system, geometrical constraints, loading conditions, alignment requirements, RAMI requirements. These requirements are the input data for the design of the interface between UPP and gripping tool and some of them are also described in the paper

  15. Robot vision system R and D for ITER blanket remote-handling system

    International Nuclear Information System (INIS)

    Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, Alessandro

    2014-01-01

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system

  16. Robot vision system R and D for ITER blanket remote-handling system

    Energy Technology Data Exchange (ETDEWEB)

    Maruyama, Takahito, E-mail: maruyama.takahito@jaea.go.jp [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Tesini, Alessandro [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France)

    2014-10-15

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system.

  17. Flexible path optimization for the Cask and Plug Remote Handling System in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Vale, Alberto, E-mail: avale@ipfn.ist.utl.pt [Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Fonte, Daniel; Valente, Filipe; Ferreira, João [Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ribeiro, Isabel [Laboratório de Robótica e Sistemas em Engenharia e Ciência, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Gonzalez, Carmen [Fusion for Energy Agency (F4E), Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain)

    2013-10-15

    Highlights: ► Complementary approach for path optimization named free roaming that takes full advantage of the rhombic like kinematics of the Cask and Plug Remote Handling System (CPRHS). ► Possibility to find trajectories not possible in the past using the line guidance developed in a previous work, in particular when moving the Cask Transfer System (CTS) beneath the pallet or in rescue missions. ► Methodology that maximizes the common parts of different trajectories in the same level of ITER buildings. -- Abstract: The Cask and Plug Remote Handling System (CPRHS) provides the means for the remote transfer of in-vessel components and remote handling equipment between the Hot Cell Building and the Tokamak Building in ITER along pre-defined optimized trajectories. A first approach for CPRHS path optimization was previously proposed using line guidance as the navigation methodology to be adopted. This approach might not lead to feasible paths in new situations not considered during the previous work, as rescue operations. This paper addresses this problem by presenting a complementary approach for path optimization inspired in rigid body dynamics that takes full advantage of the rhombic like kinematics of the CPRHS. It also presents a methodology that maximizes the common parts of different trajectories in the same level of ITER buildings. The results gathered from 500 optimized trajectories are summarized. Conclusions and open issues are presented and discussed.

  18. Development of a zonal applicability tool for remote handling equipment in DEMO

    Energy Technology Data Exchange (ETDEWEB)

    Madzharov, Vladimir, E-mail: vladimir.madzharov@kit.edu [Karlsruhe Institute of Technology, Institute for Material Handling and Logistics, Karlsruhe (Germany); Mittwollen, Martin [Karlsruhe Institute of Technology, Institute for Material Handling and Logistics, Karlsruhe (Germany); Leichtle, Dieter [Fusion for Energy F4E, Barcelona (Spain); Hermon, Gary [Culham Center for Fusion Energy, Culham Science Centre, OX14 3DB Abingdon (United Kingdom)

    2015-10-15

    Highlights: • Radiation-hardness assessment of remote handling (RH) components used in DEMO. • A radiation assessment tool for supporting remote handling engineers. • Connecting data from the radiation field analysis to the radiation hardness data. • Output is the expected lifetime of the selected RH component used for maintenance. - Abstract: A radiation-induced damage caused by the ionizing radiation can induce a malfunctioning of the remote handling equipment (RHE) used during maintenance in fusion power plants, other nuclear power stations and high-energy accelerators facilities like e.g. IFMIF. Therefore to achieve a sufficient length of operational time inside future fusion power plants, a suitable radiation tolerant RHE for maintenance operations in radiation environments is inevitably required. To assess the influence of the radiation on remote handling equipment (RHE), an investigation about radiation hardness assessment of typically used RHE components, has been performed. Additionally, information about the absorbed total dose that every component can withstand before failure was collected. Furthermore, the development of a zonal applicability tool for supporting RHE designers has been started using Excel VBA. The tool connects the data from the radiation field analysis (3-D radiation map) to the radiation hardness data of the planned RHE for DEMO remote maintenance. The intelligent combination of the available information for the radiation behaviour and radiation level at certain time and certain location may help with the taking of decisions about the application of RHE in radiation environment. The user inputs the following parameters: the specific device used in the RHE, the planned location and the maintenance period. The output is the expected lifetime of the selected RHE component at the given location and maintenance period. Planned action times have to be also considered. After having all the parameters it can be decided, if specific RHE

  19. The application of advanced remote systems technology to future waste handling facilities: Waste Systems Data and Development Program

    International Nuclear Information System (INIS)

    Kring, C.T.; Herndon, J.N.; Meacham, S.A.

    1987-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory (ORNL) has been advancing the technology in remote handling and remote maintenance of in-cell systems planned for future US nuclear fuel reprocessing plants. Much of the experience and technology developed over the past decade in this endeavor are directly applicable to the in-cell systems being considered for the facilities of the Federal Waste Management System (FWMS). The ORNL developments are based on the application of teleoperated force-reflecting servomanipulators controlled by an operator completely removed from the hazardous environment. These developments address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in a waste handling facility. Employing technological advancements in dexterous manipulators, as well as basic design guidelines that have been developed for remotely maintained equipment and processes, can increase operation and maintenance system capabilities, thereby allowing the attainment of two FWMS major objectives: decreasing plant personnel radiation exposure and increasing plant availability by decreasing the mean-time-to-repair in-cell maintenance and process equipment. 5 refs., 7 figs

  20. Demonstration of remotely operated TRU waste size reduction and material handling equipment

    International Nuclear Information System (INIS)

    Looper, M.G.; Charlesworth, D.L.

    1988-01-01

    The Savannah River Laboratory (SRL) is developing remote size reduction and material handling equipment to prepare 238 Pu contaminated waste for permanent disposal at the Waste Isolation Pilot Plant (WIPP) in New Mexico. The waste is generated at the Savannah River Plant (SRP) from normal operation and decommissioning activity and is retrievably stored onsite. A Transuranic Waste Facility for preparing, size-reducing, and packaging this waste for disposal is scheduled for completion in 1995. A cold test facility for demonstrating the size reduction and material handling equipment was built, and testing began in January 1987. 9 figs., 1 tab

  1. Interim design status and operational report for remote handling fixtures: primary and secondary burners

    International Nuclear Information System (INIS)

    Burgoyne, R.M.

    1976-12-01

    The HTGR reprocessing flowsheet consists of two basic process elements: (1) spent fuel crushing and burning and (2) solvent extraction. Fundamental to these elements is the design and development of specialized process equipment and support facilities. A major consideration of this design and development program is equipment maintenance: specifically, the design and demonstration of selected remote maintenance capabilities and the integration of these into process equipment design. This report documents the current status of the development of remote handling and maintenance fixtures for the primary and secondary burners

  2. A fiber optic link for the remote handling in nuclear environment

    International Nuclear Information System (INIS)

    Breuze, G.; Carnet, B.; Friant, A.; Blanc, F.; Lordet, J.; Boisde, G.

    1988-01-01

    At CEA a R/D program is running to improve performances of servomanipulators used in nuclear fuel reprocessing plants. Present work gives the main environmental parameters (gamma rays exposition, temperature) and shows the basis of the digital link designed to remote-handle such a manipulator. Up to 10 5 Gy behavior of optical fibers and electronic components was studied. Two different optical cables were built, one for the long link (100 m), the second to set in an especially designed winding unwinding wheel. Six way permanent or remote-handle connectors were developed to connect optical interfaces and a leaktight penetration. Measured budget of the link taking into account efficient photoblesching of the pure silica core fiber and influence of gamma rays on the slave interface is presented [fr

  3. Track-mounted remote handling system for the Tokamak Fusion Engineering Test

    International Nuclear Information System (INIS)

    Kelly, V.P.; Berger, J.D.; Daubert, R.L.; Yount, J.A.

    1982-01-01

    Concepts for remote handling machines (IVM) designed to transverse the interior of toroidal vessels with guidance and support from track systems have been developed for the proposed Tokamak Fusion Engineering Test (TFET). TFET has been proposed as an upgrade for the Tokamak Fusion Test Reactor (TFTR), currently nearing completion. The track-mounted IVMs were conceived to perform in-vessel remote maintenance for TFET, including removal and replacement of pump limiter blades and protective tiles as well as other maintenance-related tasks such as vessel wall inspection leak testing and interior cleanup. The conceptual IVMs consist of three manipulator arms mounted on a common frame member: a single power manipulator arm with high load carrying capacity and two lower-capacity servomanipulator arms. Descriptions of the IVM concepts, in-vessel track systems, and ex-vessel handling systems are presented

  4. Conceptual Design Report for Remote-Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    Lisa Harvego; David Duncan; Joan Connolly; Margaret Hinman; Charles Marcinkiewicz; Gary Mecham

    2010-10-01

    This conceptual design report addresses development of replacement remote-handled low-level waste disposal capability for the Idaho National Laboratory. Current disposal capability at the Radioactive Waste Management Complex is planned until the facility is full or until it must be closed in preparation for final remediation (approximately at the end of Fiscal Year 2017). This conceptual design report includes key project assumptions; design options considered in development of the proposed onsite disposal facility (the highest ranked alternative for providing continued uninterrupted remote-handled low level waste disposal capability); process and facility descriptions; safety and environmental requirements that would apply to the proposed facility; and the proposed cost and schedule for funding, design, construction, and operation of the proposed onsite disposal facility.

  5. Conceptual Design Report for the Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2011-05-01

    This conceptual design report addresses development of replacement remote-handled low-level waste disposal capability for the Idaho National Laboratory. Current disposal capability at the Radioactive Waste Management Complex is planned until the facility is full or until it must be closed in preparation for final remediation (approximately at the end of Fiscal Year 2017). This conceptual design report includes key project assumptions; design options considered in development of the proposed onsite disposal facility (the highest ranked alternative for providing continued uninterrupted remote-handled low level waste disposal capability); process and facility descriptions; safety and environmental requirements that would apply to the proposed facility; and the proposed cost and schedule for funding, design, construction, and operation of the proposed onsite disposal facility.

  6. Conceptual Design Report for the Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    Lisa Harvego; David Duncan; Joan Connolly; Margaret Hinman; Charles Marcinkiewicz; Gary Mecham

    2011-03-01

    This conceptual design report addresses development of replacement remote-handled low-level waste disposal capability for the Idaho National Laboratory. Current disposal capability at the Radioactive Waste Management Complex is planned until the facility is full or until it must be closed in preparation for final remediation (approximately at the end of Fiscal Year 2017). This conceptual design report includes key project assumptions; design options considered in development of the proposed onsite disposal facility (the highest ranked alternative for providing continued uninterrupted remote-handled low level waste disposal capability); process and facility descriptions; safety and environmental requirements that would apply to the proposed facility; and the proposed cost and schedule for funding, design, construction, and operation of the proposed onsite disposal facility.

  7. Conceptual design for remote handling methods using the HIP process in the Calcine Immobilization Program

    International Nuclear Information System (INIS)

    Berry, S.M.; Cox, C.G.; Hoover, M.A.

    1994-03-01

    This report recommends the remote conceptual design philosophy for calcine immobilization using the hot isostatic press (HIP) process. Areas of remote handling operations discussed in this report include: (1) introducing the process can into the front end of the HIP process, (2) filling and compacting the calcine/frit mixture into the process can, (3) evacuating and sealing the process can, (4) non-destructive testing of the seal on the process can, (5) decontamination of the process can, (6) HIP furnace loading and unloading the process can for the HIPing operation, (7) loading an overpack canister with processed HIP cans, (8) sealing the canister, with associated non-destructive examination (NDE) and decontamination, and (9) handling canisters for interim storage at the Idaho Chemical Processing Plant (ICPP) located on the Idaho National Engineering Laboratory (INEL) site

  8. The remote handling of canisters containing nuclear waste in glass at the Savannah River Plant

    International Nuclear Information System (INIS)

    Callan, J.E.

    1986-01-01

    The Defense Waste Processing Facility (DWPF) is a complete production area being constructed at the Savannah River Plant for the immobilization of nuclear waste in glass. The remote handling of canisters filled with nuclear waste in glass is an essential part of the process of the DWPF at the Savannah River Plant. The canisters are filled with nuclear waste containing up to 235,000 curies of radioactivity. Handling and movement of these canisters must be accomplished remotely since they radiate up to 5000 R/h. Within the Vitrification Building during filling, cleaning, and sealing, canisters are moved using standard cranes and trolleys and a specially designed grapple. During transportation to the Glass Waste Storage Building, a one-of-a-kind, specially designed Shielded Canister Transporter (SCT) is used. 8 figs

  9. Remote Handled Transuranic Sludge Retrieval Transfer And Storage System At Hanford

    Energy Technology Data Exchange (ETDEWEB)

    Raymond, Rick E. [CH2M HILL Plateau Remediation Company, Richland, WA (United States); Frederickson, James R. [AREVA, Avignon (France); Criddle, James [AREVA, Avignon (France); Hamilton, Dennis [CH2M HILL Plateau Remediation Company, Richland, WA (United States); Johnson, Mike W. [CH2M HILL Plateau Remediation Company, Richland, WA (United States)

    2012-10-18

    This paper describes the systems developed for processing and interim storage of the sludge managed as remote-handled transuranic (RH-TRU). An experienced, integrated CH2M HILL/AFS team was formed to design and build systems to retrieve, interim store, and treat for disposal the K West Basin sludge, namely the Sludge Treatment Project (STP). A system has been designed and is being constructed for retrieval and interim storage, namely the Engineered Container Retrieval, Transfer and Storage System (ECRTS).

  10. The development and evaluation of a stereoscopic television system for remote handling

    International Nuclear Information System (INIS)

    Dumbreck, A.A.; Murphy, S.P.; Smith, C.W.

    1990-01-01

    This paper describes the development and evaluation of a stereoscopic television system at Harwell Laboratory. The theory of stereo image geometry is outlined, and criteria for the matching of stereoscopic pictures are given. A stereoscopic television system designed for remote handling tasks has been produced, it provides two selectable angles of view and variable convergence, the display is viewed via polarizing spectacles. Evaluations have indicated improved performance with no problems of operator fatigue over a wide range of applications. (author)

  11. Remote Handled Transuranic Sludge Retrieval Transfer And Storage System At Hanford

    International Nuclear Information System (INIS)

    Raymond, Rick E.; Frederickson, James R.; Criddle, James; Hamilton, Dennis; Johnson, Mike W.

    2012-01-01

    This paper describes the systems developed for processing and interim storage of the sludge managed as remote-handled transuranic (RH-TRU). An experienced, integrated CH2M HILL/AFS team was formed to design and build systems to retrieve, interim store, and treat for disposal the K West Basin sludge, namely the Sludge Treatment Project (STP). A system has been designed and is being constructed for retrieval and interim storage, namely the Engineered Container Retrieval, Transfer and Storage System (ECRTS)

  12. Remote Handling Devices for Disposition of Enriched Uranium Reactor Fuel Using Melt-Dilute Process

    International Nuclear Information System (INIS)

    Heckendorn, F.M.

    2001-01-01

    Remote handling equipment is required to achieve the processing of highly radioactive, post reactor, fuel for the melt-dilute process, which will convert high enrichment uranium fuel elements into lower enrichment forms for subsequent disposal. The melt-dilute process combines highly radioactive enriched uranium fuel elements with deleted uranium and aluminum for inductive melting and inductive stirring steps that produce a stable aluminum/uranium ingot of low enrichment

  13. Installation of remote-handling typed EBSD-OIM analyzer for heavy irradiated reactor materials

    International Nuclear Information System (INIS)

    Kato, Yoshiaki; Takada, Fumiki; Ohmi, Masao; Nakagawa, Tetsuya; Miwa, Yukio

    2008-06-01

    The remote-handling typed EBSD-OIM analyzer for heavy irradiated reactor materials was installed in the JMTR hot laboratory at the first time in the world. The analyzer is used to study on IASCC (irradiation assisted stress corrosion cracking) or IGSCC (inter granular stress corrosion cracking) in reactor materials. This report describes the measurement procedure, the measured results and the operating experiences on the analyzer in the JMTR hot laboratory. (author)

  14. Remote handling features of the Fusion Materials Irradiation Test (FMIT) facility

    International Nuclear Information System (INIS)

    Klos, D.B.; Wierman, R.W.; Kelly, V.P.; Yount, J.A.

    1980-01-01

    Initial design of the experimental system provided two modes of access to the test cells. The horizontal mode was the predominant one. However, as the design progressed unacceptable risks were identified that increased personnel exposure to radiation and decreased testing availability of the facility. Consequently, vertical-only access was adopted. Remote handling features of both design concepts are described including the technical basis for the transition from the first to the second concept

  15. A passive-active neutron device for assaying remote-handled transuranic waste

    International Nuclear Information System (INIS)

    Estep, R.J.; Coop, K.L.; Deane, T.M.; Lujan, J.E.

    1990-01-01

    A combined passive-active neutron assay device was constructed for assaying remote-handled transuranic waste. A study of matrix and source position effects in active assays showed that a knowledge of the source position alone is not sufficient to correct for position-related errors in highly moderating or absorbing matrices. An alternate function for the active assay of solid fuel pellets was derived, although the efficacy of this approach remains to be established

  16. Conceptual design of a test facility for the remote handling operations of the ITER Test Blanker Modules

    International Nuclear Information System (INIS)

    Marqueta, A.; Garcia, I.; Gomez, A.; Garcia, L.; Sedano, E.; Fernandez, I.

    2012-01-01

    Conceptual Design of a test facility for the remote handling operations of the ITER Test Blanket Modules. Conditions inside a fusion reactor are incompatible with conventional manual maintenance tasks. the same applies for ancillary equipment. As a consequence, it will become necessary to turn to remote visualization and remote handling techniques, which will have in consideration the extreme conditions, both physical and operating, of ITER. Main goal of the project has been the realization of the conceptual design for the test facility for the Test Blanket Modules of ITER and their associated systems, related to the Remote Handling operations regarding the Port Cell area. Besides the definition of the operations and the specification of the main components and ancillary systems of the TBM graphical simulation have been used for the design, verification and validation of the remote handling operations. (Author)

  17. Benchmarking the Remote-Handled Waste Facility at the West Valley Demonstration Project

    Energy Technology Data Exchange (ETDEWEB)

    O. P. Mendiratta; D. K. Ploetz

    2000-02-29

    ABSTRACT Facility decontamination activities at the West Valley Demonstration Project (WVDP), the site of a former commercial nuclear spent fuel reprocessing facility near Buffalo, New York, have resulted in the removal of radioactive waste. Due to high dose and/or high contamination levels of this waste, it needs to be handled remotely for processing and repackaging into transport/disposal-ready containers. An initial conceptual design for a Remote-Handled Waste Facility (RHWF), completed in June 1998, was estimated to cost $55 million and take 11 years to process the waste. Benchmarking the RHWF with other facilities around the world, completed in November 1998, identified unique facility design features and innovative waste pro-cessing methods. Incorporation of the benchmarking effort has led to a smaller yet fully functional, $31 million facility. To distinguish it from the June 1998 version, the revised design is called the Rescoped Remote-Handled Waste Facility (RRHWF) in this topical report. The conceptual design for the RRHWF was completed in June 1999. A design-build contract was approved by the Department of Energy in September 1999.

  18. Benchmarking the Remote-Handled Waste Facility at the West Valley Demonstration Project

    International Nuclear Information System (INIS)

    Mendiratta, O.P.; Ploetz, D.K.

    2000-01-01

    ABSTRACT Facility decontamination activities at the West Valley Demonstration Project (WVDP), the site of a former commercial nuclear spent fuel reprocessing facility near Buffalo, New York, have resulted in the removal of radioactive waste. Due to high dose and/or high contamination levels of this waste, it needs to be handled remotely for processing and repackaging into transport/disposal-ready containers. An initial conceptual design for a Remote-Handled Waste Facility (RHWF), completed in June 1998, was estimated to cost $55 million and take 11 years to process the waste. Benchmarking the RHWF with other facilities around the world, completed in November 1998, identified unique facility design features and innovative waste processing methods. Incorporation of the benchmarking effort has led to a smaller yet fully functional, $31 million facility. To distinguish it from the June 1998 version, the revised design is called the Rescoped Remote-Handled Waste Facility (RRHWF) in this topical report. The conceptual design for the RRHWF was completed in June 1999. A design-build contract was approved by the Department of Energy in September 1999

  19. Augmented virtualised reality-Applications and benefits in remote handling for fusion

    International Nuclear Information System (INIS)

    King, Ryan; Hamilton, David

    2009-01-01

    Over the last 10 years VR has been used at JET in an increasingly important role. It now finds use in various aspects of task preparation including planning, mock-up, training and task overview. It also plays an important role in actual operations where it is used to gain a more complete view of the work area. The JET VR implementation does not have on-line monitoring of the remote environment and the robot modelling has accuracy limitations, so this system cannot be used as the primary means of viewing. Work is currently underway with the aim of allowing such as system to run at ITER with full remote environment monitoring with high enough precision and accuracy so as to allow its use as the primary viewing method. This paper looks at how this augmented virtualised reality solution would be applied and considers some of the additional benefits AVR could have in remote handling for fusion.

  20. Real-time markerless Augmented Reality for Remote Handling system in bad viewing conditions

    International Nuclear Information System (INIS)

    Ziaei, Z.; Hahto, A.; Mattila, J.; Siuko, M.; Semeraro, L.

    2011-01-01

    Remote Handling (RH) in harsh environments usually has to tackle the lack of sufficient visual feedback for the human operator due to the limited number of on-site cameras, the not optimized position of the cameras, the poor viewing angles, occlusion, failure, etc. Augmented Reality (AR) enables the user to perceive virtual computer-generated objects in a real scene. The most common goals usually include visibility enhancement and provision of extra information, such as positional data of various objects. The proposed AR system first recognizes and locates the markerless object by using a template based matching algorithm, and then augments the virtual model on top of the recognized item. The tracking algorithm is exploited for locating the object in a continuous sequence of frames. Conceptually, the template is found by computing the similarity between the template and the image frame, for all the relevant template poses (rotation and translation). As a case study, AR interface was displaying measured orientation and transformation of the Water Hydraulic Manipulator (WHMAN) Divertor preloading tool, in near real-time tracking. The bad viewing condition implies on the case when the view angle is such that the interesting features of the object are not in the field of view. The method in this paper was validated in concrete operational context at DTP2. The developed method proved to deliver robust positional and orientation information while augmenting and tracking the moving tool object.

  1. Divertor remote handling for DEMO: Concept design and preliminary FMECA studies

    Energy Technology Data Exchange (ETDEWEB)

    Carfora, D., E-mail: dario.carfora@gmail.com [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); ENEA/CREATE/Università degli studi Napoli Federico II, 80125 Napoli (Italy); Di Gironimo, G. [ENEA/CREATE/Università degli studi Napoli Federico II, 80125 Napoli (Italy); Järvenpää, J. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Huhtala, K. [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); Määttä, T.; Siuko, M. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland)

    2015-10-15

    Highlights: • Concept design of the RH system for the DEMO fusion power plant. • Divertor mover: hydraulic telescopic boom concept design. • An alternative solution to ITER rack and pinion divertor mover (CMM). • Divertor cassettes end effector studies. • FMECA studies started on the DEMO divertor mover. - Abstract: The paper describes a concept design of a remote handling (RH) system for replacing divertor cassettes and cooling pipes in future DEMO fusion power plant. In DEMO reactor design important considerations are the reactor availability and reliable maintenance operations. The proposed divertor mover is a hydraulic telescopic boom driven from the transportation cask through the maintenance tunnel of the reactor. The boom is divided in three sections and it is driving an end-effector in order to perform the scheduled operations of maintenance inside the vacuum vessel. Two alternative designs of the end effector to grip and manipulate the divertor cassette are presented in this work. Both concepts are hydraulically actuated, based on ITER previous studies. The divertor cassette end-effector consists of a lifting arm linked to the divertor mover, a tilting plate, a cantilever arm and a hook-plate. Taking advantage of the ITER RH background and experience, the proposed hydraulic RH system is compared with the rack and pinion system currently designed for ITER and is an object of simulations at Divertor Test Platform (DTP2) in VTT's Labs of Tampere, Finland. Pros and cons will be put in evidence.

  2. Haptic shared control improves hot cell remote handling despite controller inaccuracies

    International Nuclear Information System (INIS)

    Oosterhout, J. van; Abbink, D.A.; Koning, J.F.; Boessenkool, H.; Wildenbeest, J.G.W.; Heemskerk, C.J.M.

    2013-01-01

    Highlights: Haptic shared control is generally based upon perfect environment information. A realistic implementation holds model errors with respect to the environment. Operators were aided with inaccurate guiding forces during a peg-in-hole task. The results showed that small guiding inaccuracies still aid the operator. -- Abstract: A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without potentially flawed haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations

  3. The European contribution to the procurement of the ITER Remote Handling systems

    International Nuclear Information System (INIS)

    Damiani, Carlo; Irving, Mike; Semeraro, Luigi

    2009-01-01

    Fusion for Energy (F4E) will manage the European in-kind contribution of various remote handling (RH) systems for the maintenance of ITER components: (i) the divertor cassette movers, end effectors, manipulator arms and tooling; (ii) 50% of the transfer casks, in particular the air transfer systems and some in-cask devices; (iii) the in-vessel viewing and metrology system (IVVS); (iv) the Neutral Beam (NB) Cell crane, manipulator arms, tooling, Caesium Oven replacement tooling, NB source installation/removal trolley, auxiliary vehicles. A wide range of technologies is involved: special monorail crane, movers, manipulator arms, pipe cutting/welding tooling, special cameras, laser-based metrology devices, control systems, virtual reality. An important aspect to consider is the resistance to radiation levels that range from max ∼10 KGy/h for IVVS down to ∼1 Gy/h for the RH devices operating in the NB cell. Given the unprecedented complexity of the ITER maintenance scenario, a development strategy is being implemented that includes prototyping and testing of RH subsystems before proceeding with the final production for ITER. This paper presents an overview of the various procurement packages, the status of development for each of them, the validation and procurement strategy, including issues like radiation resistance and standardisation policy, and the organisational and managerial challenges in relation with the complex ITER Organisation (IO).

  4. Haptic shared control improves hot cell remote handling despite controller inaccuracies

    Energy Technology Data Exchange (ETDEWEB)

    Oosterhout, J. van, E-mail: J.vanOosterhout@differ.nl [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Abbink, D.A. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Wildenbeest, J.G.W. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands)

    2013-10-15

    Highlights: Haptic shared control is generally based upon perfect environment information. A realistic implementation holds model errors with respect to the environment. Operators were aided with inaccurate guiding forces during a peg-in-hole task. The results showed that small guiding inaccuracies still aid the operator. -- Abstract: A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without potentially flawed haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations.

  5. Mission Need Statement for the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Project

    International Nuclear Information System (INIS)

    Harvego, Lisa

    2009-01-01

    The Idaho National Laboratory proposes to establish replacement remote-handled low-level waste disposal capability to meet Nuclear Energy and Naval Reactors mission-critical, remote-handled low-level waste disposal needs beyond planned cessation of existing disposal capability at the end of Fiscal Year 2015. Remote-handled low-level waste is generated from nuclear programs conducted at the Idaho National Laboratory, including spent nuclear fuel handling and operations at the Naval Reactors Facility and operations at the Advanced Test Reactor. Remote-handled low-level waste also will be generated by new programs and from segregation and treatment (as necessary) of remote-handled scrap and waste currently stored in the Radioactive Scrap and Waste Facility at the Materials and Fuels Complex. Replacement disposal capability must be in place by Fiscal Year 2016 to support uninterrupted Idaho operations. This mission need statement provides the basis for the laboratory's recommendation to the Department of Energy to proceed with establishing the replacement remote-handled low-level waste disposal capability, project assumptions and constraints, and preliminary cost and schedule information for developing the proposed capability. Without continued remote-handled low-level waste disposal capability, Department of Energy missions at the Idaho National Laboratory would be jeopardized, including operations at the Naval Reactors Facility that are critical to effective execution of the Naval Nuclear Propulsion Program and national security. Remote-handled low-level waste disposal capability is also critical to the Department of Energy's ability to meet obligations with the State of Idaho

  6. Mission Need Statement for the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    Lisa Harvego

    2009-06-01

    The Idaho National Laboratory proposes to establish replacement remote-handled low-level waste disposal capability to meet Nuclear Energy and Naval Reactors mission-critical, remote-handled low-level waste disposal needs beyond planned cessation of existing disposal capability at the end of Fiscal Year 2015. Remote-handled low-level waste is generated from nuclear programs conducted at the Idaho National Laboratory, including spent nuclear fuel handling and operations at the Naval Reactors Facility and operations at the Advanced Test Reactor. Remote-handled low-level waste also will be generated by new programs and from segregation and treatment (as necessary) of remote-handled scrap and waste currently stored in the Radioactive Scrap and Waste Facility at the Materials and Fuels Complex. Replacement disposal capability must be in place by Fiscal Year 2016 to support uninterrupted Idaho operations. This mission need statement provides the basis for the laboratory’s recommendation to the Department of Energy to proceed with establishing the replacement remote-handled low-level waste disposal capability, project assumptions and constraints, and preliminary cost and schedule information for developing the proposed capability. Without continued remote-handled low-level waste disposal capability, Department of Energy missions at the Idaho National Laboratory would be jeopardized, including operations at the Naval Reactors Facility that are critical to effective execution of the Naval Nuclear Propulsion Program and national security. Remote-handled low-level waste disposal capability is also critical to the Department of Energy’s ability to meet obligations with the State of Idaho.

  7. Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

    Directory of Open Access Journals (Sweden)

    Peihua Chen

    2014-01-01

    Full Text Available Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV, a planar articulated arm (PAA, and an articulated teleoperated manipulator (ATM. The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM. The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

  8. Demonstration of a remotely operated TRU waste size-reduction and material handling process

    International Nuclear Information System (INIS)

    Stewart, J.A. III; Schuler, T.F.; Ward, C.R.

    1986-01-01

    Noncombustible Pu-238 and Pu-239 waste is generated as a result of normal operation and decommissioning activity at the Savannah River Plant and is being retrievably stored at the site. As part of the long-term plan to process the stored waste and current waste for permanent disposal, a remote size-reduction and material handling process is being tested at Savannah River Laboratory to provide design support for the plant TRU Waste Facility scheduled to be completed in 1993. The process consists of a large, low-speed shredder and material handling system, a remote worktable, a bagless transfer system, and a robotically controlled manipulator, or Telerobot. Initial testing of the shredder and material handling system and a cycle test of the bagless transfer system were completed. Initial Telerobot run-in and system evaluation was completed. User software was evaluated and modified to support complete menu-driven operation. Telerobot prototype size-reduction tooling was designed and successfully tested. Complete nonradioactive testing of the equipment is scheduled to be completed in 1987

  9. Failure Mode and Effect Analysis for remote handling transfer systems of ITER

    International Nuclear Information System (INIS)

    Pinna, T.; Caporali, R.; Tesini, A.

    2008-01-01

    A Failure Mode and Effect Analysis (FMEA) at component level was done to study safety-relevant implications arising from possible failures in performing remote handling (RH) operations at ITER facility . Autonomous air cushion transporter, pallet, sealed casks and tractor movers needed for port plug mounting/dismantling operation were analysed. For each sub-system, the breakdown of significant components was outlined and, for each component, possible failure modes have been investigated pointing out possible causes, possible actions to prevent the causes, consequences and actions to prevent or mitigate consequences. Off-normal events which may result in hazardous consequences to the public and the environment have been defined as Postulated Initiating Events (PIEs). Two safety-relevant PIEs have been defined by assessing elementary failures related to the analysed system. Each PIE has been discussed in order to qualitatively identify accident sequences arising from each of them. As an output of this FMEA study, possible incidental scenarios, where the intervention of rescue RH equipments is required to overcome critical situations determined by fault of RH components, were defined as well. Being rescue scenarios of main concern for ITER remote handling activities, such families could be helpful in defining the design requirements of port handling systems in general and on RH transfer system in particular. Furthermore, they could be useful in defining casks and vehicles to be used for rescue activities

  10. New System For Tokamak T-10 Experimental Data Acquisition, Data Handling And Remote Access

    International Nuclear Information System (INIS)

    Sokolov, M. M.; Igonkina, G. B.; Koutcherenko, I. Yu.; Nurov, D. N.

    2008-01-01

    For carrying out the experiments on nuclear fusion devices in the Institute of Nuclear Fusion, Moscow, a system for experimental data acquisition, data handling and remote access (further 'DAS-T10') was developed and has been used in the Institute since the year 2000. The DAS-T10 maintains the whole cycle of experimental data handling: from configuration of data measuring equipment and acquisition of raw data from the fusion device (the Device), to presentation of math-processed data and support of the experiment data archive. The DAS-T10 provides facilities for the researchers to access the data both at early stages of an experiment and well afterwards, locally from within the experiment network and remotely over the Internet.The DAS-T10 is undergoing a modernization since the year 2007. The new version of the DAS-T10 will accommodate to modern data measuring equipment and will implement improved architectural solutions. The innovations will allow the DAS-T10 to produce and handle larger amounts of experimental data, thus providing the opportunities to intensify and extend the fusion researches. The new features of the DAS-T10 along with the existing design principles are reviewed in this paper

  11. Progress in the conceptual design of the ITER cask and plug remote handling system

    Energy Technology Data Exchange (ETDEWEB)

    Locke, Darren, E-mail: darren.locke@f4e.europa.eu [Fusion for Energy Agency (F4E), Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); González Gutiérrez, Carmen; Damiani, Carlo [Fusion for Energy Agency (F4E), Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Friconneau, Jean-Pierre; Martins, Jean-Pierre [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2014-10-15

    Highlights: • The CPRHS is a complex system with a significant number of complicated interfaces. • Significant effort is being made to ensure that the system requirements are clearly defined. • This solution relates to planned operations and also anticipation of rescue operations. • With the CPRHS performing a safety function process control is being put in place. • All these factors will have a significant impact on the success of the CPRHS. - Abstract: One function of the ITER remote maintenance system is the transportation of in-vessel components and remote handling systems to and from the vacuum vessel and docking stations in the Hot Cell via dedicated galleries and lift. The cask and plug remote handling system (CPRHS) has been adopted as the solution to provide this nuclear confinement and transportation. This paper discusses the development of the conceptual design to-date and presents the processes being implemented to effectively control the subsequent CPRHS development. The CPRHS is a complex suite of systems with a significant number of interfaces with other ITER systems. Significant effort is being made to ensure that the system requirements are comprehensively defined and carefully managed and a feasible solution is developed – including planned and rescue operations. With the CPRHS performing a critical confinement function appropriate processes are being put in place to control the system development of the CPRHS. The expectation is that the combination of these factors will have a significant impact on the successful implementation of the CPRHS.

  12. Progress in the conceptual design of the ITER cask and plug remote handling system

    International Nuclear Information System (INIS)

    Locke, Darren; González Gutiérrez, Carmen; Damiani, Carlo; Friconneau, Jean-Pierre; Martins, Jean-Pierre

    2014-01-01

    Highlights: • The CPRHS is a complex system with a significant number of complicated interfaces. • Significant effort is being made to ensure that the system requirements are clearly defined. • This solution relates to planned operations and also anticipation of rescue operations. • With the CPRHS performing a safety function process control is being put in place. • All these factors will have a significant impact on the success of the CPRHS. - Abstract: One function of the ITER remote maintenance system is the transportation of in-vessel components and remote handling systems to and from the vacuum vessel and docking stations in the Hot Cell via dedicated galleries and lift. The cask and plug remote handling system (CPRHS) has been adopted as the solution to provide this nuclear confinement and transportation. This paper discusses the development of the conceptual design to-date and presents the processes being implemented to effectively control the subsequent CPRHS development. The CPRHS is a complex suite of systems with a significant number of interfaces with other ITER systems. Significant effort is being made to ensure that the system requirements are comprehensively defined and carefully managed and a feasible solution is developed – including planned and rescue operations. With the CPRHS performing a critical confinement function appropriate processes are being put in place to control the system development of the CPRHS. The expectation is that the combination of these factors will have a significant impact on the successful implementation of the CPRHS

  13. Remotely controlled inspection and handling systems for decommissioning tasks in nuclear facilities

    International Nuclear Information System (INIS)

    Schreck, G.; Bach, W.; Haferkamp, H.

    1993-01-01

    The Institut fur Werkstoffkunde at the University of Hanover has recently developed three remotely controlled systems for different underwater inspection and dismantling tasks. ODIN I is a tool guiding device, particularly being designed for the dismantling of the steam dryer housing of the KRB A power plant at Gundremmingen, Germany. After being approved by the licencing organization TUEV Bayern, hot operation started in November 1992. The seven axes remotely controlled handling system ZEUS, consisting of a three translatory axes guiding machine and a tool handling device with four rotatory axes, has been developed for the demonstration of underwater plasma arc cutting of spherical metallic components with great wall thicknesses. A specially designed twin sensor system and a modular torch, exchanged by means of a remote controlled tool changing device, will be used for different complex cutting tasks. FAUST, an autonomous, freediving underwater vehicle, was designed for complex inspection, maintenance and dismantling tasks. It is equipped with two video cameras, an ultrasonic and a radiologic sensor and a small plasma torch. A gripper and a subsidiary vehicle for inspection may be attached. (author)

  14. Integrated digital control and man-machine interface for complex remote handling systems

    International Nuclear Information System (INIS)

    Rowe, J.C.; Spille, R.F.; Zimmermann, S.D.

    1986-12-01

    The Advanced Integrated Maintenance System (AIMS) is part of a continuing effort within the Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory to develop and extend the capabilities of remote manipulation and maintenance technology. The AIMS is a totally integrated approach to remote handling in hazardous environments. State-of-the-art computer systems connected through a high-speed communication network provide a real-time distributed control system that supports the flexibility and expandability needed for large integrated maintenance applications. A Man-Machine Interface provides high-level human interaction through a powerful color graphics menu-controlled operator console. An auxiliary control system handles the real-time processing needs for a variety of support hardware. A pair of dedicated fiber-optic-linked master/slave computer system control the Advanced Servomanipulator master/slave arms using powerful distributed digital processing methods. The FORTH language was used as a real-time operating and development environment for the entire system, and all of these components are integrated into a control room concept that represents the latest advancements in the development of remote maintenance facilities for hazardous environments

  15. A sensor-based automation system for handling nuclear materials

    International Nuclear Information System (INIS)

    Drotning, W.; Kimberly, H.; Wapman, W.; Darras, D.

    1997-01-01

    An automated system is being developed for handling large payloads of radioactive nuclear materials in an analytical laboratory. The automation system performs unpacking and repacking of payloads from shipping and storage containers, and delivery of the payloads to the stations in the laboratory. The system uses machine vision and force/torque sensing to provide sensor-based control of the automation system in order to enhance system safety, flexibility, and robustness, and achieve easy remote operation. The automation system also controls the operation of the laboratory measurement systems and the coordination of them with the robotic system. Particular attention has been given to system design features and analytical methods that provide an enhanced level of operational safety. Independent mechanical gripper interlock and tool release mechanisms were designed to prevent payload mishandling. An extensive Failure Modes and Effects Analysis of the automation system was developed as a safety design analysis tool

  16. State and outlooks of remote handling and automation techniques use for industrial radioactive operations

    International Nuclear Information System (INIS)

    Guilloteau, R.; Le Guennec, R.; Dumond, S.

    1981-01-01

    Handling in reactors mainly concerns charging and discharging operations and inspection. Specific means are being developed for each operation, with an increasing degree of automation. This serves to reduce exposure of personnel. However, the development of these means conflicts in certain cases with the original plant design, which did not provide for remote maintenance. With regard to fuel reprocessing, handling at the processing level is becoming increasingly automated. The difficulties lie principally in maintenance and waste conditioning operations. These involve less specialized means than is the case with reactors and can only be automated to a limited extent, save in exceptional cases. The greatest progress will be achieved by laying down stringent maintenance principles and taking them into consideration at the design stage

  17. Interactive virtual mock-ups for Remote Handling compatibility assessment of heavy components

    Energy Technology Data Exchange (ETDEWEB)

    Oosterhout, J. van, E-mail: j.vanoosterhout@differ.nl [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M.; Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk 6 (Netherlands); Ronden, D.M.S.; Baar, M. de [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands)

    2014-10-15

    Highlights: •Specific ITER components require RHCA on hardware mock-ups. •Hardware mock-ups are expensive and have a long lead time. •Interactive Virtual Reality mock-ups are readily available and easily adapted. •This paper analysis and proposes improvements to simulator capabilities. -- Abstract: ITER standards Tesini (2009) require hardware mock-ups to validate the Remote Handling (RH) compatibility of RH class 1- and critical class 2-components. Full-scale mock-ups of large ITER components are expensive, have a long lead time and lose their relevance in case of design changes. Interactive Virtual Reality simulations with real time rigid body dynamics and contact interaction allow for RH Compatibility Assessment during the design iterations. This paper explores the use of interactive virtual mock-ups to analyze the RH compatibility of heavy component handling and maintenance. It infers generic maintenance operations from the analysis and proposes improvements to the simulator capabilities.

  18. Interactive virtual mock-ups for Remote Handling compatibility assessment of heavy components

    International Nuclear Information System (INIS)

    Oosterhout, J. van; Heemskerk, C.J.M.; Koning, J.F.; Ronden, D.M.S.; Baar, M. de

    2014-01-01

    Highlights: •Specific ITER components require RHCA on hardware mock-ups. •Hardware mock-ups are expensive and have a long lead time. •Interactive Virtual Reality mock-ups are readily available and easily adapted. •This paper analysis and proposes improvements to simulator capabilities. -- Abstract: ITER standards Tesini (2009) require hardware mock-ups to validate the Remote Handling (RH) compatibility of RH class 1- and critical class 2-components. Full-scale mock-ups of large ITER components are expensive, have a long lead time and lose their relevance in case of design changes. Interactive Virtual Reality simulations with real time rigid body dynamics and contact interaction allow for RH Compatibility Assessment during the design iterations. This paper explores the use of interactive virtual mock-ups to analyze the RH compatibility of heavy component handling and maintenance. It infers generic maintenance operations from the analysis and proposes improvements to the simulator capabilities

  19. User's manual for remote-handled transuranic waste container welding and inspection fixture

    International Nuclear Information System (INIS)

    Hauptmann, J.P.

    1985-09-01

    Rockwell Hanford Operations (Rockwell) has designed built, and tested a prototype remotely operated welding and inspection fixture to be used in making the closure weld on the remote-handled transuranic (RH-TRU) waste container. The RH-TRU waste container has an average TRU concentration in excess of 100 nCi/gm, and a surface radiation dose rate in excess of 200 mrem/h, but not exceeding 100 rem/h. The RH-TRU waste container is to be used by defense waste generator sites in the United States for final packaging of RH-TRU wastes and is compatible with the requirements of the Waste Isolation Pilot Plant (WIPP) and the WIPP handling system. Standard and stacked RH-TRU container designs are available. The standard container is 26 in. in dia. by 121 in. high; the stacked containers are 26 in. in dia. by 61.25 in. high. After loading, two stacked containers are fitted and welded together to form the identical measurements of the standard 121-in. container. The prototype RH-TRU waste container welding and inspection fixture was intended for test and evaluation only, and not for installation in an operating facility. The final RH-TRU waste container welding and inspection fixture drawings (see appendix) incorporate several changes made following operational testing of the original fixture. These modifications are identified in this manual. However, not all modifications have been functionally tested. The purpose of this manual is to aid waste generator sites in designing a remotely operated welding and inspection fixture that will conform to their own requirements. Modifications to the Rockwell design must be evaluated for structural and WIPP handling requirements. This manual also provides design philosophy, component vendor information, and cost estimates

  20. The remote handling compatibility analysis of the ITER generic upper port plug structure

    Energy Technology Data Exchange (ETDEWEB)

    Ronden, D.M.S., E-mail: d.m.s.ronden@differ.nl [FOM Institute DIFFER, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Dammann, A. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France); Elzendoorn, B. [FOM Institute DIFFER, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Giacomin, T. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France); Heemskerk, C. [Heemskerk Innovative Technology, Merelhof 2, 2172 HZ Sassenheim (Netherlands); Loesser, D. [Princeton Plasma Physics Laboratory, Princeton, NJ 08543-0451 (United States); Maquet, P. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France); Oosterhout, J. van [FOM Institute DIFFER, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Pak, S.; Pitcher, C.S.; Portales, M.; Proust, M.; Udintsev, V.S.; Walsh, M.J. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul-lez-Durance (France)

    2014-10-15

    Highlights: • We describe the remote handling compatibility of the ITER generic upper port plug. • Concepts are presented of specific design solutions to improve RH compatibility. • Simulation in VR of the GUPP DSM replacement indicates possible collisions. • Specific tooling concepts are proposed for GUPP handling equipment for the hot cell. - Abstract: The ITER diagnostics generic upper port plug (GUPP) is developed as a standardized design for all diagnostic upper port plugs, in which a variety of payloads can be mounted. Here, the remote handling compatibility analysis (RHCA) of the GUPP design is presented that was performed for the GUPP final design review. The analysis focuses mainly on the insertion and extraction procedure of the diagnostic shield module (DSM), a removable cassette that contains the diagnostic in-vessel components. It is foreseen that the DSM is a replaceable component – the procedure of which is to be performed inside the ITER hot cell facility (HCF), where the GUPP can be oriented in a vertical position. The DSM removal procedure in the HCF consists of removing locking pins, an M30 sized shoulder bolt and two electrical straps through the use of a dexterous manipulator, after which the DSM is lifted out of the GUPP by an overhead crane. For optimum access to its internals, the DSM is mounted in a handling device. The insertion of a new or refurbished DSM follows the reverse procedure. The RHCA shows that the GUPP design requires a moderate amount of changes to become fully compatible with RH maintenance requirements.

  1. The remote handling compatibility analysis of the ITER generic upper port plug structure

    International Nuclear Information System (INIS)

    Ronden, D.M.S.; Dammann, A.; Elzendoorn, B.; Giacomin, T.; Heemskerk, C.; Loesser, D.; Maquet, P.; Oosterhout, J. van; Pak, S.; Pitcher, C.S.; Portales, M.; Proust, M.; Udintsev, V.S.; Walsh, M.J.

    2014-01-01

    Highlights: • We describe the remote handling compatibility of the ITER generic upper port plug. • Concepts are presented of specific design solutions to improve RH compatibility. • Simulation in VR of the GUPP DSM replacement indicates possible collisions. • Specific tooling concepts are proposed for GUPP handling equipment for the hot cell. - Abstract: The ITER diagnostics generic upper port plug (GUPP) is developed as a standardized design for all diagnostic upper port plugs, in which a variety of payloads can be mounted. Here, the remote handling compatibility analysis (RHCA) of the GUPP design is presented that was performed for the GUPP final design review. The analysis focuses mainly on the insertion and extraction procedure of the diagnostic shield module (DSM), a removable cassette that contains the diagnostic in-vessel components. It is foreseen that the DSM is a replaceable component – the procedure of which is to be performed inside the ITER hot cell facility (HCF), where the GUPP can be oriented in a vertical position. The DSM removal procedure in the HCF consists of removing locking pins, an M30 sized shoulder bolt and two electrical straps through the use of a dexterous manipulator, after which the DSM is lifted out of the GUPP by an overhead crane. For optimum access to its internals, the DSM is mounted in a handling device. The insertion of a new or refurbished DSM follows the reverse procedure. The RHCA shows that the GUPP design requires a moderate amount of changes to become fully compatible with RH maintenance requirements

  2. Development of a virtual reality simulator for the ITER blanket remote handling system

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi; Tesini, Alessandro

    2008-01-01

    The authors developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robotic simulation software, ENVISION. The simulator is connected to the control system of the manipulator, which was developed as part of the blanket maintenance system during the Engineering Design Activity (EDA), and can reconstruct the positions of the manipulator and blanket module using position data transmitted from motors through a LAN. In addition, it can provide virtual visual information (e.g., about the interface structures behind the blanket module) by making the module transparent on the screen. It can also be used for confirming a maintenance sequence before the actual operation. The simulator will be modified further, with addition of other necessary functions, and will finally serve as a prototype of the actual simulator for the blanket remote handling system, which will be procured as part of an in-kind contribution

  3. Joint Working Group-39, Manufacturing Technology Subworking Group-F, remote handling and automation

    Energy Technology Data Exchange (ETDEWEB)

    Merrill, R.D.

    1995-02-01

    The terms of reference were reviewed and continue to encompass the scope of activities of the SUBWOG. No revisions to the terms of reference were proposed. The list of site contacts who should receive copies of SUBWOG correspondence and meeting minutes was reviewed and updated. Documents exchanged related to the meeting include: Minutes of the sixth SUBOG 39F meeting; transactions of the fifth topical meeting on robotics and remote handling; data on manipulators was forwarded to LLNL from the robotics group at AEA Harwell; and the specifications of the duct remediation robot from the Rocky Flats Plant.

  4. Remote handling and robotic inspections of Palo Verde reactor vessel internals

    International Nuclear Information System (INIS)

    Ryder, W.

    1998-01-01

    Remote visual examinations and handling evolutions in high radiation field environments have required the use of radiation tolerant video systems. These systems involve significant expense and potentially require large envelope deployment structures. Recent events at Palo Verde including Upper Guide Structure damage and Reactor Vessel In-Service Inspections have provided opportunities for research, design and utilization of alternative approaches. Most significant of these, utilization of CCD modules with high magnification capabilities, have produced higher quality viewing, reduced maintenance expenditures, and rapid deployment intervals. (orig.) [de

  5. Remote handling equipment for laboratory research of fuel reprocessing in Nuclear Research Institute at Rez

    International Nuclear Information System (INIS)

    Fidler, J.; Novy, P.; Kyrs, M.

    1985-04-01

    Laboratory installations were developed for two nuclear fuel reprocessing methods, viz., the solvent extraction process and the fluoride volatility process. The apparatus for solvent extraction reprocessing consists of a pneumatically driven rod-chopper, a dissolver, mixer-settler extractors, an automatic fire extinguishing device and other components and it was tested using irradiated uranium. The technological line for the fluoride volatility process consists of a fluorimater, condensers, sorption columns with NaF pellets and a distillation column for the separation of volatile fluorides from UF 6 . The line has not yet been tested using irradiated fuel. Some features of the remote handling equipment of both installations are briefly described. (author)

  6. Development of a remote handling system for replacement of armor tiles in the Fusion Experimental Reactor

    International Nuclear Information System (INIS)

    Adachi, J.; Kakudate, S.; Oka, K.; Seki, M.

    1995-01-01

    The armor tiles of the Fusion Experimental Reactor (FER) planned by JAERI are categorized as scheduled maintenance components, since they are damaged by severe heat and particle loads from the plasma during operation. A remote handling system is thus required to replace a large number of tiles rapidly in the highly activated reactor. However, the simple teaching-playback method cannot be adapted to this system because of deflection of the tiles caused by thermal deformation and so on. We have developed a control system using visual feedback control to adapt to this deflection and an end-effector for a single arm. We confirm their performance in tests. (orig.)

  7. Preliminary Project Execution Plan for the Remote-Handled Low-Level Waste Disposal Project

    International Nuclear Information System (INIS)

    Duncan, David

    2011-01-01

    This preliminary project execution plan (PEP) defines U.S. Department of Energy (DOE) project objectives, roles and responsibilities of project participants, project organization, and controls to effectively manage acquisition of capital funds for construction of a proposed remote-handled low-level waste (LLW) disposal facility at the Idaho National Laboratory (INL). The plan addresses the policies, requirements, and critical decision (CD) responsibilities identified in DOE Order 413.3B, 'Program and Project Management for the Acquisition of Capital Assets.' This plan is intended to be a 'living document' that will be periodically updated as the project progresses through the CD process to construction and turnover for operation.

  8. Concept for a vertical maintenance remote handling system for multi module blanket segments in DEMO

    International Nuclear Information System (INIS)

    Coleman, M.; Sykes, N.; Cooper, D.; Iglesias, D.; Bastow, R.; Loving, A.; Harman, J.

    2014-01-01

    Highlights: •A conceptual architectural model for a vertical maintenance DEMO is presented. •Novel concepts for a set of DEMO remote handling equipment are put forward. •Remote maintenance of a multi module segment blanket is found to be feasible. •The criticality of space in the vertical port is highlighted. -- Abstract: The anticipated high neutron flux, and the consequent damage to plasma-facing components in DEMO, results in the need to regularly replace the tritium breeding and radiation shielding blanket. The current European multi module segment (MMS) blanket concept favours a less invasive small port entry maintenance system over large sector transport concepts, because of the reduced impact on other tokamak systems – particularly the magnetic coils. This paper presents a novel conceptual remote maintenance strategy for a Vertical Maintenance Scheme DEMO, incorporating substantiated designs for an in-vessel mover, to detach and attach the blanket segments, and cask-housed vertical maintenance devices to open and close access ports, cut and join service connections, and extract blanket segments from the vessel. In addition, a conceptual architectural model for DEMO was generated to capture functional and spatial interfaces between the remote maintenance equipment and other systems. Areas of further study are identified in order to comprehensively establish the feasibility of the proposed maintenance system

  9. Overview of remote handling technologies developed for inspection and maintenance of spent fuel management facilities in France

    Energy Technology Data Exchange (ETDEWEB)

    Desbats, Philippe [CEA - Direction de la Recherche Technologique / LIST, BP 6 - 92265, Fontenay-aux-Roses cedex (France); Piolain, Gerard [COGEMA-HAG/DMCO, AREVA NC SA, 2, rue Paul Dautier, BP 4, 78 141 Velizy Cedex (France)

    2006-07-01

    In the facilities of the end of the nuclear fuel cycle, like spent fuel storage pools, reprocessing plants, Plutonium-based fuel manufacturing plants or waste temporary storage units, materials handling must be carried out remotely, taking into account the nuclear radiating environment. In addition to the automation requirement, robotics equipment in the nuclear industry must be substituted to human operators in order to respect the ALARA principle. More over, remote handling technologies aim to improve the working conditions, as well as the quality of the work achieved by the operators. Ten years ago, COGEMA (AREVA Group) and CEA (French Atomic Energy Agency) started an ambitious R and D program in robotics and remote handling technologies applied to COGEMA spent fuel management facilities in France, with the aim to cover the requirements of the different plant life cycle steps. The paper gives an overview of the important developments that have been carried out by CEA and then transferred to the COGEMA industrial group. The range includes the next generation of servo-manipulators, long range inspection tools and carriers, nuclear versions of industrial robots, radiation hardened electronic systems, interactive environment modeling tools, as well as force-feedback master-slave generic control software for tele-operation systems. Some applications of this development are presented in the paper: - rad-hard electronic modules for robotic equipment which are used by COGEMA in high radiating environment; - long reach articulated carrier for inspection of spent full management blind cells; - new electrical force feedback master/slave system to improve the tele-operation of standard tele-manipulators; - generic control software for tele-manipulators. The results of the robotic program carried out by COGEMA and CEA have been very valuable for the introduction of new technologies inside nuclear industry. Innovative products and sub-systems can be integrated now in a large

  10. Enhancement of the use of digital mock-ups in the verification and validation process for ITER remote handling systems

    Energy Technology Data Exchange (ETDEWEB)

    Sibois, R., E-mail: romain.sibois@vtt.fi [VTT Technical Research Centre of Finland, P.O. Box 1300, 33101 Tampere (Finland); Salminen, K.; Siuko, M. [VTT Technical Research Centre of Finland, P.O. Box 1300, 33101 Tampere (Finland); Mattila, J. [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); Määttä, T. [VTT Technical Research Centre of Finland, P.O. Box 1300, 33101 Tampere (Finland)

    2013-10-15

    Highlights: • Verification and validation process for ITER remote handling system. • Verification and validation framework for complex engineering systems. • Verification and validation roadmap for digital modelling phase. • Importance of the product life-cycle management in the verification and validation framework. -- Abstract: The paper is part of the EFDA's programme of European Goal Oriented Training programme on remote handling (RH) “GOT-RH”. The programme aims to train engineers for activities supporting the ITER project and the long-term fusion programme. This paper is written based on the results of a project “verification and validation (V and V) of ITER RH system using digital mock-ups (DMUs)”. The purpose of this project is to study efficient approach of using DMU for the V and V of the ITER RH system design utilizing a system engineering (SE) framework. This paper reviews the definitions of DMU and virtual prototype and overviews the current trends of using virtual prototyping in the industry during the early design phase. Based on the survey of best industrial practices, this paper proposes ways to improve the V and V process for ITER RH system utilizing DMUs.

  11. Concept design of divertor remote handling system for the FAST machine

    Energy Technology Data Exchange (ETDEWEB)

    Di Gironimo, G., E-mail: giuseppe.digironimo@unina.it [Association Euratom/ENEA/CREATE, Università di Napoli Federico II, 80125 Napoli (Italy); Labate, C.; Renno, F. [Association Euratom/ENEA/CREATE, Università di Napoli Federico II, 80125 Napoli (Italy); Brolatti, G.; Crescenzi, F.; Crisanti, F. [CR ENEA Frascati, Via E. Fermi 27, Frascati (RM) (Italy); Lanzotti, A. [Association Euratom/ENEA/CREATE, Università di Napoli Federico II, 80125 Napoli (Italy); Lucca, F. [LT Calcoli SaS, Piazza Prinetti 26/B, 23807 Merate (Italy); Siuko, M. [VTT Systems Engineering, Tekniikankatu 1, 33720 Tampere (Finland)

    2013-10-15

    The paper presents a concept design of a remote handling (RH) system oriented to maintenance operations on the divertor second cassette in FAST, a satellite of ITER tokamak. Starting from ITER configuration, a suitably scaled system, composed by a cassette multifunctional mover (CMM) connected to a second cassette end-effector (SCEE), can represent a very efficient solution for FAST machine. The presence of a further system able to open the divertor port, used for RH aims, and remove the first cassette, already aligned with the radial direction of the port, is presumed. Although an ITER-like system maintains essentially shape and proportions of its reference configuration, an appropriate arrangement with FAST environment is needed, taking into account new requirements due to different dimensions, weights and geometries. The use of virtual prototyping and the possibility to involve a great number of persons, not only mechanical designers but also physicist, plasma experts and personnel assigned to remote handling operations, made them to share the multiphysics design experience, according to a concurrent engineering approach. Nevertheless, according to the main objective of any satellite tokamak, such an approach benefits the study of enhancements to ITER RH system and the exploration of alternative solutions.

  12. Design of remote handled process assemblies for the process facility modifications project

    International Nuclear Information System (INIS)

    Smets, J.L.; Ajifu, D.A.

    1987-01-01

    The modular design philosophy for the process facility modification project utilizes an integrated design of components to facilitate operations and maintenance of nuclear fuel reprocessing equipment in a hot cell environment. The utilization of a matrix of remoteable base frames combines with process equipment designed as remote assemblies and sub-assemblies has simplified the overall design. Modularity will allow future flexibility while providing advantages for construction and maintenance in the initial installation

  13. Guidelines for remote handling maintenance of ITER neutral beam line components: Proposal of an alternate supporting system

    International Nuclear Information System (INIS)

    Cordier, J.J.; Bayetti, P.; Hemsworth, R.; David, O.; Friconneau, J.P.

    2007-01-01

    Remote handling (R/H) maintenance of ITER components is one of the main challenges of the ITER project. This type of maintenance shall be operational for the assembly and nuclear phase of exploitation of ITER. It must be considered at a very early stage since it significantly impacts on the components design, interfaces management, assembly, maintenance and integration aspects. A large part of the R/H equipment will be procured by the EU Participating Team, including the whole Neutral Beam R/H Equipment. The Neutral Beam Heating and Current Drive system (NB and CD) design is being revisited by the ITER project. A vertical maintenance scheme is presently considered which may significantly impact on the reference design and associated components and lead to a new design of the NB and CD vacuum tank. In addition, NB line components remote handling solutions are being studied. The neutral beam test facility ITER to be built in Europe in the near future is also based on the vertical NB maintenance scheme of beam line components. New design guidelines compliant for both the ITER NB and CD system and the NB test facility proposed by the CEA association are described in the paper

  14. Development and use of a remote waste handling system for disposal of greater confinement wastes

    International Nuclear Information System (INIS)

    Williams, R.E.

    1985-01-01

    This paper discusses the design and development of a remotely controlled waste handling system (RWHS) for use in radioactive waste disposal operations. A RWHS was developed at the US Department of Energy's (DOE) Nevada Test Site for use in the Greater Confinement Disposal Test (GCDT). The RWHS consists of a remote control console and the following remotely operated features: a crane, a grapple/manipulator module which is suspended by the crane hoist hook, and closed-circuit television cameras. The RWHS was used to safely place high-specific-activity radioactive waste in greater confinement disposal. Between December 15, 1983, and February 23, 1984, five encapsulated sources were open-air transferred from shielded shipping casks and placed 30 m down a 3-m-dia augered shaft using the RWHS. These sources contained approximately 460 kCi of 90 Sr, 21 kCi of 137 Cs, and 390 Ci of 60 Co. Each source was transferred safely and efficiently and operational personnel did not receive any recordable doses. 3 references, 5 figures

  15. Calibration and compensation of deflections and compliances in remote handling equipment configurations

    International Nuclear Information System (INIS)

    Kivelae, Tuomo; Saarinen, H.; Mattila, J.; Haemaelaeinen, V.; Siuko, M.; Semeraro, L.

    2011-01-01

    This paper presents a generic method of calibrating and compensating remote handling system configurations subject to manufacturing and assembly tolerances, deflections and compliances. A method consists of kinematic part and non-kinematic part. A kinematic calibration algorithm is presented for finding the values of kinematic model errors by measuring the end-effector Cartesian position. This is a conventional way to calibrate industrial robots. However, in this case the kinematic calibration is not able to compensate flaws fully due to large deflections and compliances caused by a massive Cassette payload (approx. 9 ton). Positioning error at the furthest point of the cassette before any compensation was 80 mm. Therefore, extra compensation must be introduced in addition to a kinematic calibration. A kinematic calibration together with an extra compensation is a demanding task to carry out. The resulting complex compensation function has to be such that it can be implemented in real-time Cassette Multifunctional Mover (CMM) control system software.

  16. Report of the remote-handled transuranic waste mock retrieval demonstration

    International Nuclear Information System (INIS)

    1987-05-01

    This report documents the results of the mock, onsite retrieval demonstration that was conducted on May 19 and 20, 1987, for representatives of the New Mexico Environmental Evaluation Group (EEG). Demonstration of the retrievability of remote-handled transuranic (RH TRU) waste is part of a milestone included in the Agreement for Consultation and Cooperation between the state of New Mexico and the United States Department of Energy. Retrieval equipment design documents and a retrievability demonstration plan for RH TRU waste were previously transmitted to the EEG. This report documents the results of the demonstration by evaluating the demonstration against the acceptance criteria that were established in the Demonstration Plan. 1 fig., 2 tabs

  17. Preliminary Project Execution Plan for the Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    David Duncan

    2011-05-01

    This preliminary project execution plan (PEP) defines U.S. Department of Energy (DOE) project objectives, roles and responsibilities of project participants, project organization, and controls to effectively manage acquisition of capital funds for construction of a proposed remote-handled low-level waste (LLW) disposal facility at the Idaho National Laboratory (INL). The plan addresses the policies, requirements, and critical decision (CD) responsibilities identified in DOE Order 413.3B, 'Program and Project Management for the Acquisition of Capital Assets.' This plan is intended to be a 'living document' that will be periodically updated as the project progresses through the CD process to construction and turnover for operation.

  18. Interoperability of remote handling control system software modules at Divertor Test Platform 2 using middleware

    International Nuclear Information System (INIS)

    Tuominen, Janne; Rasi, Teemu; Mattila, Jouni; Siuko, Mikko; Esque, Salvador; Hamilton, David

    2013-01-01

    Highlights: ► The prototype DTP2 remote handling control system is a heterogeneous collection of subsystems, each realizing a functional area of responsibility. ► Middleware provides well-known, reusable solutions to problems, such as heterogeneity, interoperability, security and dependability. ► A middleware solution was selected and integrated with the DTP2 RH control system. The middleware was successfully used to integrate all relevant subsystems and functionality was demonstrated. -- Abstract: This paper focuses on the inter-subsystem communication channels in a prototype distributed remote handling control system at Divertor Test Platform 2 (DTP2). The subsystems are responsible for specific tasks and, over the years, their development has been carried out using various platforms and programming languages. The communication channels between subsystems have different priorities, e.g. very high messaging rate and deterministic timing or high reliability in terms of individual messages. Generally, a control system's communication infrastructure should provide interoperability, scalability, performance and maintainability. An attractive approach to accomplish this is to use a standardized and proven middleware implementation. The selection of a middleware can have a major cost impact in future integration efforts. In this paper we present development done at DTP2 using the Object Management Group's (OMG) standard specification for Data Distribution Service (DDS) for ensuring communications interoperability. DDS has gained a stable foothold especially in the military field. It lacks a centralized broker, thereby avoiding a single-point-of-failure. It also includes an extensive set of Quality of Service (QoS) policies. The standard defines a platform- and programming language independent model and an interoperability wire protocol that enables DDS vendor interoperability, allowing software developers to avoid vendor lock-in situations

  19. On the control performance of motors driven by long cables for remote handling at ITER

    International Nuclear Information System (INIS)

    Sol, Enrique del; Meek, Richard; Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador

    2016-01-01

    Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

  20. Interoperability of remote handling control system software modules at Divertor Test Platform 2 using middleware

    Energy Technology Data Exchange (ETDEWEB)

    Tuominen, Janne, E-mail: janne.m.tuominen@tut.fi [Tampere University of Technology, Department of Intelligent Hydraulics and Automation, Tampere (Finland); Rasi, Teemu; Mattila, Jouni [Tampere University of Technology, Department of Intelligent Hydraulics and Automation, Tampere (Finland); Siuko, Mikko [VTT, Technical Research Centre of Finland, Tampere (Finland); Esque, Salvador [F4E, Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla2, 08019, Barcelona (Spain); Hamilton, David [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2013-10-15

    Highlights: ► The prototype DTP2 remote handling control system is a heterogeneous collection of subsystems, each realizing a functional area of responsibility. ► Middleware provides well-known, reusable solutions to problems, such as heterogeneity, interoperability, security and dependability. ► A middleware solution was selected and integrated with the DTP2 RH control system. The middleware was successfully used to integrate all relevant subsystems and functionality was demonstrated. -- Abstract: This paper focuses on the inter-subsystem communication channels in a prototype distributed remote handling control system at Divertor Test Platform 2 (DTP2). The subsystems are responsible for specific tasks and, over the years, their development has been carried out using various platforms and programming languages. The communication channels between subsystems have different priorities, e.g. very high messaging rate and deterministic timing or high reliability in terms of individual messages. Generally, a control system's communication infrastructure should provide interoperability, scalability, performance and maintainability. An attractive approach to accomplish this is to use a standardized and proven middleware implementation. The selection of a middleware can have a major cost impact in future integration efforts. In this paper we present development done at DTP2 using the Object Management Group's (OMG) standard specification for Data Distribution Service (DDS) for ensuring communications interoperability. DDS has gained a stable foothold especially in the military field. It lacks a centralized broker, thereby avoiding a single-point-of-failure. It also includes an extensive set of Quality of Service (QoS) policies. The standard defines a platform- and programming language independent model and an interoperability wire protocol that enables DDS vendor interoperability, allowing software developers to avoid vendor lock-in situations.

  1. Innovative design for FAST divertor compatible with remote handling, electromagnetic and mechanical analyses

    Energy Technology Data Exchange (ETDEWEB)

    Di Gironimo, Giuseppe, E-mail: giuseppe.digironimo@unina.it [CREATE, University of Naples Federico II, P.le Tecchio 80, 80125 Napoli (Italy); Cacace, Maurizio [CREATE, University of Naples Federico II, P.le Tecchio 80, 80125 Napoli (Italy); Crescenzi, Fabio [ENEA, Unità Tecnica Fusione, ENEA C. R. Frascati, via E. Fermi 45, 00044 Frascati, Roma (Italy); Labate, Carmelenzo [CREATE, University of Naples Parthenope, Via Acton 38, 80133 Napoli (Italy); Lanzotti, Antonio [CREATE, University of Naples Federico II, P.le Tecchio 80, 80125 Napoli (Italy); Lucca, Flavio [LT Calcoli srl, Piazza Prinetti 26/B, 23807 Merate, LC (Italy); Marzullo, Domenico; Mozzillo, Rocco [CREATE, University of Naples Federico II, P.le Tecchio 80, 80125 Napoli (Italy); Pagani, Irene [LT Calcoli srl, Piazza Prinetti 26/B, 23807 Merate, LC (Italy); Ramogida, Giuseppe; Roccella, Selanna [ENEA, Unità Tecnica Fusione, ENEA C. R. Frascati, via E. Fermi 45, 00044 Frascati, Roma (Italy); Viganò, Fabio [LT Calcoli srl, Piazza Prinetti 26/B, 23807 Merate, LC (Italy)

    2015-10-15

    Highlights: • The conceptual design of FAST divertor has been carried out through a continuous process of requirements refinement and design optimization (V-model approach), in order to achieve a design suited to the needs, RH compatible and ITER-like. • Thermal, structural and electromagnetic analyses have been performed, resulting in requirements refinement. • FAST divertor is now characterized by more realistic, reliable and functional features, satisfying thermo-mechanical capabilities and the remote handling (RH) compatibility. - Abstract: Divertor is a crucial component in Tokamaks, aiming to exhaust the heat power and particles fluxes coming from the plasma during discharges. This paper focuses on the optimization process of FAST divertor, aimed at achieving required thermo-mechanical capabilities and the remote handling (RH) compatibility. Divertor RH system final layout has been chosen between different concept solutions proposed and analyzed within the principles of Theory of Inventive Problem Solving (TRIZ). The design was aided by kinematic simulations performed using Digital Mock-Up capabilities of Catia software. Considerable electromagnetic (EM) analysis efforts and top-down CAD approach enabled the design of a final and consistent concept, starting from a very first dimensioning for EM loads. In the final version here presented, the divertor cassette supports a set of tungsten (W) actively cooled tiles which compose the inner and outer vertical targets, facing the plasma and exhausting the main part of heat flux. W-tiles are assembled together considering a minimum gap tolerance (0.1–0.5 mm) to be mandatorily respected. Cooling channels have been re-dimensioned to optimize the geometry and the layout of coolant volume inside the cassette has been modified as well to enhance the general efficiency.

  2. On the control performance of motors driven by long cables for remote handling at ITER

    Energy Technology Data Exchange (ETDEWEB)

    Sol, Enrique del, E-mail: enrique.delsol@oxfordtechnologies.co.uk [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Meek, Richard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador [Fusion for Energy, Josep Pla, 2, Barcelona 08019 (Spain)

    2016-06-15

    Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

  3. Design and construction of γ-rays irradiation facility for remote-handling parts and components of fusion reactor

    International Nuclear Information System (INIS)

    Yagi, Toshiaki; Morita, Yousuke; Seguchi, Tadao

    1995-03-01

    For the evaluation of radiation resistance of remote-handling system for International Thermonuclear Experimental Reactor(ITER), 'high dose-rate and high temperature (upper 350degC) γ-rays irradiation facility' was designed and constructed. In this facility, the parts and components of remote-handling system such as sensing devices, motors, optical glasses, wires and cables, etc., are tested by irradiation with 2x10 6 Roentgen/h Co-60 γ-rays at a temperature up to 350degC under various atmospheres (dry nitrogen gas, argon gas, dry air and vacuum). (author)

  4. The ITER EC H and CD upper launcher: Analysis of remote handling compatibility

    International Nuclear Information System (INIS)

    Ronden, D.M.S.; Baar, M. de; Chavan, R.; Elzendoorn, B.S.Q.; Goodman, T.; Heemskerk, C.J.M.; Henderson, M.A.; Koning, J.F.; Saibene, G.; Spaeh, P.; Strauss, D.

    2011-01-01

    Research highlights: → RH class 1 requires a full RH compatible design and a detailed maintenance plan that needs to be demonstrated through hardware mockup testing. → RH class 2 requires a full RH compatible design and a detailed and verified maintenance plan. → RH class 3 requires a RH compatible design and a basic maintenance plan. - Abstract: The present design of the ECH (Electron Cyclotron Heating) upper port launcher has been evaluated in light of the ITER remote handling (RH) requirements. Changes to the launcher design associated with the accessibility, maintainability and manageability of replaceable components are presented. Captive bolts were placed along the flange of the Blanket Shielding Module (BSM). A hinge mechanism was integrated to simplify the (dis-)mounting of the BSM and a frame with incorporated cooling and actuation lines was suggested for simplified mounting and replacement of the steerable mirrors. Rotating the upper port plug upside-down improves maintenance access and component handling. Tools are proposed for manipulation of the port plug and its sub-components. The RH compatibility analysis can improve a design. Early consideration of RH requirements and implementation of necessary features is therefore vital.

  5. Remote handling of the blanket segments: testing of 1/3 scale mock-ups at the Robertino facility

    International Nuclear Information System (INIS)

    Maisonnier, D.; Amelotti, F.; Chiasera, A.; Gaggini, P.; Damiani, C.; Degli Esposti, L.; Gatti, G.; Castillo, E.; Caravati, D.; Farfalletti-Casali, F.; Gritzmann, P.; Ruiz, E.

    1995-01-01

    The remote replacement of blanket segments inside the vacuum vessel of a fusion reactor is probably the most complex task from the maintenance standpoint. Its success will rely on the definition of appropriate handling concepts and equipment, but also on a ''maintenance friendly'' reactor layout and blanket design. The key difficulty is the lack of rigidity of the segments which results in considerable deformations since they cannot be gripped above their centre of gravity. These deformations may be up to five times greater than the assembly clearance and one order of magnitude larger than the required positioning accuracy. Experimental activities have been undertaken to select appropriate handling devices and procedures, to assess the design of the components handled, and to review specific technical issues such as kinematics and dynamics performance, trajectory planning and control and sensors requirement for the handling devices. Work was performed in the Robertino facility where two handling concepts have been tested at a 1/3 scale. (orig.)

  6. A MGy radiation-hardened sensor instrumentation link for nuclear reactor monitoring and remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Verbeeck, Jens; Cao, Ying [KU Leuven - KUL, Div. LRD-MAGyICS, Kasteelpark Arenberg 10, 3001 Heverlee (Belgium); Van Uffelen, Marco; Mont Casellas, Laura; Damiani, Carlo; Morales, Emilio Ruiz; Santana, Roberto Ranz [Fusion for Energy - F4E, c/Josep,n deg. 2, Torres Diagonal Litoral, Ed. B3, 08019 Barcelona (Spain); Meek, Richard; Haist, Bernhard [Oxford Technologies Ltd. OTL, 7 Nuffield Way, Abingdon OX14 1RL (United Kingdom); De Cock, Wouter; Vermeeren, Ludo [SCK-CEN, Boeretang 200, 2400 Mol (Belgium); Steyaert, Michiel [KU Leuven, ESAT-MICAS, KasteelparkArenberg 10, 3001 Heverlee (Belgium); Leroux, Paul [KU Leuven, ESAT-MICAS, KasteelparkArenberg 10, 3001 Heverlee (Belgium)

    2015-07-01

    Decommissioning, dismantling and remote handling applications in nuclear facilities all require robotic solutions that are able to survive in radiation environments. Recently raised safety, radiation hardness and cost efficiency demands from both the nuclear regulatory and the society impose severe challenges in traditional methods. For example, in case of the dismantling of the Fukushima sites, solutions that survive accumulated doses higher than 1 MGy are mandatory. To allow remote operation of these tools in nuclear environments, electronics were used to be shielded with several centimeters of lead or even completely banned in these solutions. However, shielding electronics always leads to bulky and heavy solutions, which reduces the flexibility of robotic tools. It also requires longer repair time and produces extra waste further in a dismantling or decommissioning cycle. In addition, often in current reactor designs, due to size restrictions and the need to inspect very tight areas there are limitations to the use of shielding. A MGy radiation-hardened sensor instrumentation link developed by MAGyICS provides a solution to build a flexible, easy removable and small I and C module with MGy radiation tolerance without any shielding. Hereby it removes all these pains to implement electronics in robotic tools. The demonstrated solution in this poster is developed for ITER Remote Handling equipments operating in high radiation environments (>1 MGy) in and around the Tokamak. In order to obtain adequately accurate instrumentation and control information, as well as to ease the umbilical management, there is a need of front-end electronics that will have to be located close to those actuators and sensors on the remote handling tool. In particular, for diverter remote handling, it is estimated that these components will face gamma radiation up to 300 Gy/h (in-vessel) and a total dose of 1 MGy. The radiation-hardened sensor instrumentation link presented here, consists

  7. Proposed master-slave and automated remote handling system for high-temperature gas-cooled reactor fuel refabrication

    International Nuclear Information System (INIS)

    Grundmann, J.G.

    1974-01-01

    The Oak Ridge National Laboratory's Thorium-Uranium Recycle Facility (TURF) will be used to develop High-Temperature Gas-Cooled Reactor (HTGR) fuel recycle technology which can be applied to future HTGR commercial fuel recycling plants. To achieve recycle capabilities it is necessary to develop an effective material handling system to remotely transport equipment and materials and to perform maintenance tasks within a hot cell facility. The TURF facility includes hot cells which contain remote material handling equipment. To extend the capabilities of this equipment, the development of a master-slave manipulator and a 3D-TV system is necessary. Additional work entails the development of computer controls to provide: automatic execution of tasks, automatic traverse of material handling equipment, automatic 3D-TV camera sighting, and computer monitoring of in-cell equipment positions to prevent accidental collisions. A prototype system which will be used in the development of the above capabilities is presented. (U.S.)

  8. The ITER EC H and CD Upper Launcher: Analysis of vertical Remote Handling applied to the BSM maintenance

    International Nuclear Information System (INIS)

    Grossetti, Giovanni; Aiello, Gaetano; Heemskerk, Cock; Elzendoorn, Ben; Geßner, Robby; Koning, Jarich; Meier, Andreas; Ronden, Dennis; Späh, Peter; Scherer, Theo; Schreck, Sabine; Strauß, Dirk; Vaccaro, Alessandro

    2013-01-01

    This paper deals with Remote Handling activities foreseen on the Blanket Shield Module, the plasma facing component of the ITER Electron Cyclotron Heating and Current Drive Upper Launcher. The maintenance configuration considered here is the Vertical Remote Handling, meaning gravity acting along the launcher radial axis. The plant, where the maintenance under consideration is occurring, is the Hot Cell Facility Work Cell. The study here reported has been carried out within the presently ongoing EFDA Goal Oriented Training program on Remote Handling (GOT-RH), which aims to support ITER activities. This document and its contents have to be considered as part of a more vast RAMI analysis to be developed within the GOT-RH, which aims to maximize the Electron Cyclotron Heating and Current Drive system availability. The Baseline CAD model of the Electron Cyclotron Heating and Current Drive Upper Launcher is currently in its preliminary design phase and does not provide enough details for developing a fully detailed maintenance strategy. Therefore, through a System Engineering approach, a set of assumptions was conceived on the launcher structure, as a basis for development of a Remote Handling strategy. Moreover, to compare different design solutions related to the possibility of integrating a quasi-optical component into the Blanket Shield Module, a Trade-Off was made, and its contents are shown here. The outcome of this System Engineering approach has been formalized into Task Definition Forms whose contents are reported here. The Remote Handling strategy presented in this work will be tested in the near future both through Virtual Reality simulations and through prototype experiments

  9. The ITER EC H and CD Upper Launcher: Analysis of vertical Remote Handling applied to the BSM maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Grossetti, Giovanni, E-mail: giovanni.grossetti@kit.edu [Karlsruhe Institute of Technology, Association KIT-EURATOM, P.O. Box 3640, D-76021 Karlsruhe (Germany); Aiello, Gaetano [Karlsruhe Institute of Technology, Association KIT-EURATOM, P.O. Box 3640, D-76021 Karlsruhe (Germany); Heemskerk, Cock [Heemskerk Innovative Technology, Merelhof 2, 2172 HZ Sassenheim (Netherlands); Elzendoorn, Ben [FOM Institute DIFFER, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Geßner, Robby [Karlsruhe Institute of Technology, Association KIT-EURATOM, P.O. Box 3640, D-76021 Karlsruhe (Germany); Koning, Jarich [Heemskerk Innovative Technology, Merelhof 2, 2172 HZ Sassenheim (Netherlands); Meier, Andreas [Karlsruhe Institute of Technology, Association KIT-EURATOM, P.O. Box 3640, D-76021 Karlsruhe (Germany); Ronden, Dennis [FOM Institute DIFFER, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Späh, Peter; Scherer, Theo; Schreck, Sabine; Strauß, Dirk; Vaccaro, Alessandro [Karlsruhe Institute of Technology, Association KIT-EURATOM, P.O. Box 3640, D-76021 Karlsruhe (Germany)

    2013-10-15

    This paper deals with Remote Handling activities foreseen on the Blanket Shield Module, the plasma facing component of the ITER Electron Cyclotron Heating and Current Drive Upper Launcher. The maintenance configuration considered here is the Vertical Remote Handling, meaning gravity acting along the launcher radial axis. The plant, where the maintenance under consideration is occurring, is the Hot Cell Facility Work Cell. The study here reported has been carried out within the presently ongoing EFDA Goal Oriented Training program on Remote Handling (GOT-RH), which aims to support ITER activities. This document and its contents have to be considered as part of a more vast RAMI analysis to be developed within the GOT-RH, which aims to maximize the Electron Cyclotron Heating and Current Drive system availability. The Baseline CAD model of the Electron Cyclotron Heating and Current Drive Upper Launcher is currently in its preliminary design phase and does not provide enough details for developing a fully detailed maintenance strategy. Therefore, through a System Engineering approach, a set of assumptions was conceived on the launcher structure, as a basis for development of a Remote Handling strategy. Moreover, to compare different design solutions related to the possibility of integrating a quasi-optical component into the Blanket Shield Module, a Trade-Off was made, and its contents are shown here. The outcome of this System Engineering approach has been formalized into Task Definition Forms whose contents are reported here. The Remote Handling strategy presented in this work will be tested in the near future both through Virtual Reality simulations and through prototype experiments.

  10. IFMIF - Layout and arrangement of cells according to requirements of technical logistics, reliability and remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Mittwollen, Martin, E-mail: martin.mittwollen@kit.edu [Karlsruhe Institute of Technology, Institute for Conveying Technology and Logistics, Karlsruhe (Germany); Eilert, Dirk; Kubaschewski, Martin; Madzharov, Vladimir [Karlsruhe Institute of Technology, Institute for Conveying Technology and Logistics, Karlsruhe (Germany); Tian Kuo [Karlsruhe Institute of Technology, Institute for Neutron Physics and Reactor Technology, Karlsruhe (Germany)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer In a first approach, layout and arrangement of the cells followed a predetermined plant layout. Black-Right-Pointing-Pointer Disadvantages in technical logistics, reliability and remote handling have been detected. Black-Right-Pointing-Pointer Deliberation with project teams opened space for improvements. Black-Right-Pointing-Pointer Layout and arrangement of cells have been improved by simplification of design. Black-Right-Pointing-Pointer Speed and reliability have been increased significantly. - Abstract: The International Fusion Material Irradiation Facility (IFMIF) is designed to study and qualify structural and functional materials which shall be used in future fusion nuclear power plants. During the current engineering validation and engineering design activities (EVEDA) phase the development of e.g. an optimized layout and arrangement of the cells (Access Cell, Test Cell, and Test Module Handling Cells) is of major interest. After defining different functions for the individual cells like e.g. large scale/fine scale disassembling of test modules a first layout has been developed. This design followed requirements like having a minimum of carrier changes to avoid sources of failures. On the other hand it has had to be a compact arrangement of cells due to restrictions from plant layout. A row of changes of transfer direction, and different crane systems were the consequence. Constructive discussion with project team results in the statement, that for reasons of being reliable and fast, layout and arrangement of cells goes first, plant layout then will follow. The chance for big improvements was taken and the result was a simplified design with strong reduced number of functional elements, and increased reliability and speed.

  11. Irradiation tests of critical components for remote handling system in gamma radiation environment

    International Nuclear Information System (INIS)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi

    1996-03-01

    This report covers the gamma ray irradiation tests according to the Agreement of ITER R and D Task (T35) in 1994 and describes radiation hardness of the standard components for the ITER remote handling system which are categorized into the robotics (Subtask-1), the viewing system (Subtask-2) and the common components (Subtask-3). The gamma ray irradiation tests have been conducted using No.2 and No.3 cells at the cobalt building of Takasaki Establishment in JAERI. The radiation source is cobalt sixty (Co-60), and the maximum dose rate of No.2 and No.3 cells is about 1x10 6 R/h and 2x10 6 R/h, respectively. The environmental conditions of the irradiation tests are described below and all of components excepting electrical wires have been tested in the No.2 cell. [No.2 cell : Atmosphere and ambient temperature No.3 cell : Nitrogen gas and 250degC] As a whole, many of components have been irradiated up to the rated dose of around 1x10 10 rads and the following main results are obtained. The developed AC servo motor and periscope for radiation use have shown excellent durability with the radiation hardness tolerable for more than 10 9 rads. An electrical connector compatible with remote operation has also shown no degradation of electrical characteristics after the irradiation of 10 10 rads. As for polyimide insulated wires, the mechanical and electrical characteristics are not degradated after the irradiation of 10 9 rads and more radiation hardness can be expected than the anticipation. On the contrary, standard position sensors such as rotary encoder show extremely low radiation hardness and further efforts have to be made for improvements. (J.P.N.)

  12. Remote Handled TRU Waste Status and Activities and Challenges at the Hanford Site

    International Nuclear Information System (INIS)

    MCKENNEY, D.E.

    2000-01-01

    A significant portion of the Department of Energy's forecast volume of remote-handled (RH) transuranic (TRU) waste will originate from the Hanford Site. The forecasted Hanford RH-TRU waste volume of over 2000 cubic meters may constitute over one-third of the forecast inventory of RH-TRU destined for disposal at the Waste Isolation Pilot Plant (WIPP). To date, the Hanford TRU waste program has focused on the retrieval, treatment and certification of the contact-handled transuranic (CH-TRU) wastes. This near-term focus on CH-TRU is consistent with the National TRU Program plans and capabilities. The first shipment of CH-TRU waste from Hanford to the WIPP is scheduled early in Calendar Year 2000. Shipments of RH-TRU from Hanford to the WIPP are scheduled to begin in Fiscal Year 2006 per the National TRU Waste Management Plan. This schedule has been incorporated into milestones within the Hanford Federal Facility Agreement and Consent Order (Tri-Party Agreement). These Tri-Party milestones (designated the ''M-91'' series of milestones) relate to development of project management plans, completion of design efforts, construction and contracting schedules, and initiation of process operations. The milestone allows for modification of an existing facility, construction of a new facility, and/or commercial contracting to provide the capabilities for processing and certification of RH-TRU wastes for disposal at the WIPP. The development of a Project Management Plan (PMP) for TRU waste is the first significant step in the development of a program for disposal of Hanford's RH-TRU waste. This PMP will address the path forward for disposition of waste streams that cannot be prepared for disposal in the Hanford Waste Receiving and Processing facility (a contact-handled, small container facility) or other Site facilities. The PMP development effort has been initiated, and the PMP will be provided to the regulators for their approval by June 30, 2000. This plan will detail the

  13. ITER Equatorial Port plug engineering: Design and remote handling activities supported by Virtual Reality tools

    International Nuclear Information System (INIS)

    Keller, Delphine; Dechelle, Christian; Doceul, Louis; Madeleine, Sylvain; Martins, Jean Pierre; Measson, Yvan; Patterlini, Jean Claude; Wagrez, Julien

    2011-01-01

    In the context of ITER, CEA/IRFM has participated to the design and integration of several components in the Equatorial Port plug region. Particularly, in the framework of the grant F4E-2008-GRT-09-PNS-TBM, CEA/IRFM has contributed to the test blanket module system (TBS) design and robot access feasibility study in the Port Cell. Simulations of the maintenance procedure were studied and fully integrated to the design process, enabling to provide space reservation for human and robotic access. For this mean, CEA/IRFM has used a CEA LIST Virtual Reality simulation software directly integrated to the Solidworks CAD software. The feasibility to connect/dis-connect the pipes in front of the Bioshield by a set of potential standard industrial arms was demonstrated. Aiming to give more realism to maintenance scenario and CAD models, CEA IRFM has decided to build a Virtual Reality platform in the institute, integrated to the design office. With the expertise of CEA LIST, this platform aims to provide the nearest possible links between design and remote handling needs. This paper presents the outcome of the robot access study and discusses about the Virtual Reality tools that are being developed for these applications.

  14. Cultural Resource Investigations for the Remote Handled Low Level Waste Facility at the Idaho National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Brenda R. Pace; Hollie Gilbert; Julie Braun Williams; Clayton Marler; Dino Lowrey; Cameron Brizzee

    2010-06-01

    The U. S. Department of Energy, Idaho Operations Office is considering options for construction of a facility for disposal of Idaho National Laboratory (INL) generated remote-handled low-level waste. Initial screening has resulted in the identification of two recommended alternative locations for this new facility: one near the Advanced Test Reactor (ATR) Complex and one near the Idaho Comprehensive Environmental Response, Compensation, and Liability Act Disposal Facility (ICDF). In April and May of 2010, the INL Cultural Resource Management Office conducted archival searches, intensive archaeological field surveys, and initial coordination with the Shoshone-Bannock Tribes to identify cultural resources that may be adversely affected by new construction within either one of these candidate locations. This investigation showed that construction within the location near the ATR Complex may impact one historic homestead and several historic canals and ditches that are potentially eligible for nomination to the National Register of Historic Places. No resources judged to be of National Register significance were identified in the candidate location near the ICDF. Generalized tribal concerns regarding protection of natural resources were also documented in both locations. This report outlines recommendations for protective measures to help ensure that the impacts of construction on the identified resources are not adverse.

  15. ITER Equatorial Port plug engineering: Design and remote handling activities supported by Virtual Reality tools

    Energy Technology Data Exchange (ETDEWEB)

    Keller, Delphine, E-mail: delphine.keller@cea.fr [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Dechelle, Christian; Doceul, Louis; Madeleine, Sylvain; Martins, Jean Pierre [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Measson, Yvan [CEA, LIST, Interactive Robotics Unit, 18 route du Panorama, BP6, F-92265 Fontenay Aux Roses (France); Patterlini, Jean Claude; Wagrez, Julien [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France)

    2011-10-15

    In the context of ITER, CEA/IRFM has participated to the design and integration of several components in the Equatorial Port plug region. Particularly, in the framework of the grant F4E-2008-GRT-09-PNS-TBM, CEA/IRFM has contributed to the test blanket module system (TBS) design and robot access feasibility study in the Port Cell. Simulations of the maintenance procedure were studied and fully integrated to the design process, enabling to provide space reservation for human and robotic access. For this mean, CEA/IRFM has used a CEA LIST Virtual Reality simulation software directly integrated to the Solidworks CAD software. The feasibility to connect/dis-connect the pipes in front of the Bioshield by a set of potential standard industrial arms was demonstrated. Aiming to give more realism to maintenance scenario and CAD models, CEA IRFM has decided to build a Virtual Reality platform in the institute, integrated to the design office. With the expertise of CEA LIST, this platform aims to provide the nearest possible links between design and remote handling needs. This paper presents the outcome of the robot access study and discusses about the Virtual Reality tools that are being developed for these applications.

  16. B cell remote-handled waste shipment cask alternatives study; TOPICAL

    International Nuclear Information System (INIS)

    RIDDELLE, J.G.

    1999-01-01

    The decommissioning of the 324 Facility B Cell includes the onsite transport of grouted remote-handled radioactive waste from the 324 Facility to the 200 Areas for disposal. The grouted waste has been transported in the leased ATG Nuclear Services 3-82B Radioactive Waste Shipping Cask (3-82B cask). Because the 3-82B cask is a U.S. Nuclear Regulatory Commission (NRC)-certified Type B shipping cask, the lease cost is high, and the cask operations in the onsite environment may not be optimal. An alternatives study has been performed to develop cost and schedule information on alternative waste transportation systems to assist in determining which system should be used in the future. Five alternatives were identified for evaluation. These included continued lease of the 3-82B cask, fabrication of a new 3-82B cask, development and fabrication of an onsite cask, modification of the existing U.S. Department of Energy-owned cask (OH-142), and the lease of a different commercially available cask. Each alternative was compared to acceptance criteria for use in the B Cell as an initial screening. Only continued leasing of the 3-82B cask, fabrication of a new 3-82B cask, and the development and fabrication of an onsite cask were found to meet all of the B Cell acceptance criteria

  17. Performance Assessment for the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    Annette L. Schafer; A. Jeffrey Sondrup; Arthur S. Rood

    2012-05-01

    This performance assessment for the Remote-Handled Low-Level Radioactive Waste Disposal Facility at the Idaho National Laboratory documents the projected radiological dose impacts associated with the disposal of low-level radioactive waste at the facility. This assessment evaluates compliance with the applicable radiological criteria of the U.S. Department of Energy and the U.S. Environmental Protection Agency for protection of the public and the environment. The calculations involve modeling transport of radionuclides from buried waste to surface soil and subsurface media, and eventually to members of the public via air, groundwater, and food chain pathways. Projections of doses are calculated for both offsite receptors and individuals who inadvertently intrude into the waste after site closure. The results of the calculations are used to evaluate the future performance of the low-level radioactive waste disposal facility and to provide input for establishment of waste acceptance criteria. In addition, one-factor-at-a-time, Monte Carlo, and rank correlation analyses are included for sensitivity and uncertainty analysis. The comparison of the performance assessment results to the applicable performance objectives provides reasonable expectation that the performance objectives will be met

  18. Remote handling of canisters containing nuclear waste in glass at the Savannah River Plant

    International Nuclear Information System (INIS)

    Callan, J.E.

    1986-01-01

    The Defense Waste Processing Facility is being constructed at the Savannah River Plant at a cost of $870 million to immobilize the defense high-level radioactive waste. This radioactive waste is being added to borosilicate glass for later disposal in a federal repository. The borosilicate glass is poured into stainless steel canisters for storage. These canisters must be handled remotely because of their high radioactivity, up to 5000 R/h. After the glass has been poured into the canister which will be temporarily sealed, it is transferred to a decontamination cell and decontaminated. The canister is then transferred to the weld cell where a permanent cap is welded into place. The canisters must then be transported from the processing building to a storage vault on the plant until the federal repository is available. A shielded canister transporter (SCT) has been designed and constructed for this purpose. The design of the SCT vehicle allows the safe transport of a highly radioactive canister containing borosilicate glass weighing 2300 kg with a radiation level up to 5000 R/h from one building to another. The design provides shielding for the operator in the cab of the vehicle to be below 0.5 rem/h. The SCT may also be used to load the final shipping cask when the federal repository is ready to receive the canisters

  19. High gamma-rays irradiation tests of critical components for ITER (International Thermonuclear Experimental Reactor) in-vessel remote handling system

    International Nuclear Information System (INIS)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi

    1999-02-01

    In ITER, the in-vessel remote handling is inevitably required to assemble and maintain the activated in-vessel components due to deuterium and tritium operation. Since the in-vessel remote handling system has to be operated under the intense of gamma ray irradiation, the components of the remote handling system are required to have radiation hardness so as to allow maintenance operation for a sufficient length of time under the ITER in-vessel environments. For this, the Japan, European and Russian Home Teams have extensively conducted gamma ray irradiation tests and quality improvements including optimization of material composition through ITER R and D program in order to develop radiation hard components which satisfy the doses from 10 MGy to 100 MGy at a dose rate of 1 x 10 6 R/h (ITER R and D Task: T252). This report describes the latest status of radiation hard component development which has been conducted by the Japan Home Team in the ITER R and D program. The number of remote handling components tested is about seventy and these are categorized into robotics (Subtask 1), viewing system (Subtask 2) and common components (Subtask 3). The irradiation tests, including commercial base products for screening, modified products and newly developed products to improve the radiation hardness, were carried out using the gamma ray irradiation cells in Takasaki Establishment, JAERI. As a result, the development of the radiation hard components which can be tolerable for high temperature and gamma radiation has been well progressed, and many components, such as AC servo motor with ceramics insulated wire, optical periscope and CCD camera, have been newly developed. (author)

  20. High gamma-rays irradiation tests of critical components for ITER (International Thermonuclear Experimental Reactor) in-vessel remote handling system

    Energy Technology Data Exchange (ETDEWEB)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi [Department of Fusion Engineering Research, Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, Naka, Ibaraki (Japan)] [and others

    1999-02-01

    In ITER, the in-vessel remote handling is inevitably required to assemble and maintain the activated in-vessel components due to deuterium and tritium operation. Since the in-vessel remote handling system has to be operated under the intense of gamma ray irradiation, the components of the remote handling system are required to have radiation hardness so as to allow maintenance operation for a sufficient length of time under the ITER in-vessel environments. For this, the Japan, European and Russian Home Teams have extensively conducted gamma ray irradiation tests and quality improvements including optimization of material composition through ITER R and D program in order to develop radiation hard components which satisfy the doses from 10 MGy to 100 MGy at a dose rate of 1 x 10{sup 6} R/h (ITER R and D Task: T252). This report describes the latest status of radiation hard component development which has been conducted by the Japan Home Team in the ITER R and D program. The number of remote handling components tested is about seventy and these are categorized into robotics (Subtask 1), viewing system (Subtask 2) and common components (Subtask 3). The irradiation tests, including commercial base products for screening, modified products and newly developed products to improve the radiation hardness, were carried out using the gamma ray irradiation cells in Takasaki Establishment, JAERI. As a result, the development of the radiation hard components which can be tolerable for high temperature and gamma radiation has been well progressed, and many components, such as AC servo motor with ceramics insulated wire, optical periscope and CCD camera, have been newly developed. (author)

  1. Remote handling of the blanket segments: Testing of 1/3 scale mock-ups on the ROBERTINO facility

    International Nuclear Information System (INIS)

    Maisonnier, D.; Amelotti, F.; Chiasera, A.

    1994-01-01

    The remotized replacement of the blanket segments inside the Vacuum Vessel of a fusion reactor is one of the critical tasks for reactor components design, operational procedures, and safety. This open-quotes hostile environmentclose quotes task must be accomplished by a specific Blanket Handling Device, with a grasping device acting as open-quotes end-effectorclose quotes, because of intervention complexity, of components dimensions and weights, and of consequences of possible accidents during the blanket segments handling operations. Therefore, specific support experimental studies in this field appear to be necessary in order to: select appropriate blanket handling devices and procedures; assess the design of all components involved in the handling operations; perform checks in all field related to the robotized handling control (kinematics and dynamics of the grasping device trajectory planning and motion control, sensing and intelligence of the blanket handling devices, etc.); improve reliability and safety for the replacement sequences; give a realistic estimation of the time duration of the replacement duration. During the test phase, handling operations were carried out on the blanket mock-ups by means of different gripping devices. The operations were driven in the control room by means of the Motion command computer and the real time sensing data display allowed operations' control. The results were analyzed by charting the sensors' data

  2. Cybernetic group method of data handling (GMDH) statistical learning for hyperspectral remote sensing inverse problems in coastal ocean optics

    Science.gov (United States)

    Filippi, Anthony Matthew

    For complex systems, sufficient a priori knowledge is often lacking about the mathematical or empirical relationship between cause and effect or between inputs and outputs of a given system. Automated machine learning may offer a useful solution in such cases. Coastal marine optical environments represent such a case, as the optical remote sensing inverse problem remains largely unsolved. A self-organizing, cybernetic mathematical modeling approach known as the group method of data handling (GMDH), a type of statistical learning network (SLN), was used to generate explicit spectral inversion models for optically shallow coastal waters. Optically shallow water light fields represent a particularly difficult challenge in oceanographic remote sensing. Several algorithm-input data treatment combinations were utilized in multiple experiments to automatically generate inverse solutions for various inherent optical property (IOP), bottom optical property (BOP), constituent concentration, and bottom depth estimations. The objective was to identify the optimal remote-sensing reflectance Rrs(lambda) inversion algorithm. The GMDH also has the potential of inductive discovery of physical hydro-optical laws. Simulated data were used to develop generalized, quasi-universal relationships. The Hydrolight numerical forward model, based on radiative transfer theory, was used to compute simulated above-water remote-sensing reflectance Rrs(lambda) psuedodata, matching the spectral channels and resolution of the experimental Naval Research Laboratory Ocean PHILLS (Portable Hyperspectral Imager for Low-Light Spectroscopy) sensor. The input-output pairs were for GMDH and artificial neural network (ANN) model development, the latter of which was used as a baseline, or control, algorithm. Both types of models were applied to in situ and aircraft data. Also, in situ spectroradiometer-derived Rrs(lambda) were used as input to an optimization-based inversion procedure. Target variables

  3. Waste Isolation Pilot Plant remote-handled transuranic waste disposal strategy

    International Nuclear Information System (INIS)

    1995-01-01

    The remote-handled transuranic (RH-TRU) waste disposal strategy described in this report identifies the process for ensuring that cost-effective initial disposal of RH-TRU waste will begin in Fiscal Year 2002. The strategy also provides a long-term approach for ensuring the efficient and sustained disposal of RH-TRU waste during the operating life of WIPP. Because Oak Ridge National Laboratory stores about 85 percent of the current inventory, the strategy is to assess the effectiveness of modifying their facilities to package waste, rather than constructing new facilities. In addition, the strategy involves identification of ways to prepare waste at other sites to supplement waste from Oak Ridge National Laboratory. DOE will also evaluate alternative packagings, modes of transportation, and waste emplacement configurations, and will select preferred alternatives to ensure initial disposal as scheduled. The long-term strategy provides a systemwide planning approach that will allow sustained disposal of RH-TRU waste during the operating life of WIPP. The DOE's approach is to consider the three relevant systems -- the waste management system at the generator/storage sites, the transportation system, and the WIPP disposal system -- and to evaluate the system components individually and in aggregate against criteria for improving system performance. To ensure full implementation, in Fiscal Years 1996 and 1997 DOE will: (1) decide whether existing facilities at Oak Ridge National Laboratory or new facilities to package and certify waste are necessary; (2) select the optimal packaging and mode of transportation for initial disposal; and (3) select an optimal disposal configuration to ensure that the allowable limits of RH-TRU waste can be disposed. These decisions will be used to identify funding requirements for the three relevant systems and schedules for implementation to ensure that the goal of initial disposal is met

  4. Logistics management for storing multiple cask plug and remote handling systems in ITER

    International Nuclear Information System (INIS)

    Ventura, Rodrigo; Ferreira, João; Filip, Iulian; Vale, Alberto

    2013-01-01

    Highlights: ► We model the logistics management problem in ITER, taking into account casks of multiple typologies. ► We propose a method to determine the best position of the casks inside a given storage area. ► Our method obtains the sequence of operations required to retrieve or store an arbitrary cask, given its storage place. ► We illustrate our method with simulation results in an example scenario. -- Abstract: During operation, maintenance inside the reactor building at ITER (International Thermonuclear Experimental Reactor) has to be performed by remote handling, due to the presence of activated materials. Maintenance operations involve the transportation and storage of large, heavyweight casks from and to the tokamak building. The transportation is carried out by autonomous vehicles that lift and move beneath these casks. The storage of these casks face several challenges, since (1) the cask storage area is limited in space, and (2) all casks have to be accessible for transportation by the vehicles. In particular, casks in the storage area may block other casks, so that the former has to be moved to a temporary position to give way to the latter. This paper addresses the challenge of managing the logistics of cask storage, where casks may have different typologies. In particular, we propose an approach to (1) determine the best position of the casks inside the storage area, and to (2) obtain the sequence of operations required to retrieve and store an arbitrary cask from/to a given storage place. A combinatorial optimization approach is used to obtain solutions to both these problems. Simulation results illustrate the application of the proposed method to a simple scenario

  5. Logistics management for storing multiple cask plug and remote handling systems in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Ventura, Rodrigo, E-mail: rodrigo.ventura@isr.ist.utl.pt [Laboratório de Robótica e Sistemas em Engenharia e Ciência – Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ferreira, João, E-mail: jftferreira@ipfn.ist.utl.pt [Instituto de Plasmas e Fusão Nuclear – Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Filip, Iulian, E-mail: ifilip@gmail.com [Faculty of Mechanical Engineering – Technical University Gheorghe Asachi of Iasi, 61 Dimitrie Mangeron Bldv., Iasi 700050 (Romania); Vale, Alberto, E-mail: avale@ipfn.ist.utl.pt [Instituto de Plasmas e Fusão Nuclear – Laboratório Associado, Instituto Superior Técnico, Universidade Técnica de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

    2013-10-15

    Highlights: ► We model the logistics management problem in ITER, taking into account casks of multiple typologies. ► We propose a method to determine the best position of the casks inside a given storage area. ► Our method obtains the sequence of operations required to retrieve or store an arbitrary cask, given its storage place. ► We illustrate our method with simulation results in an example scenario. -- Abstract: During operation, maintenance inside the reactor building at ITER (International Thermonuclear Experimental Reactor) has to be performed by remote handling, due to the presence of activated materials. Maintenance operations involve the transportation and storage of large, heavyweight casks from and to the tokamak building. The transportation is carried out by autonomous vehicles that lift and move beneath these casks. The storage of these casks face several challenges, since (1) the cask storage area is limited in space, and (2) all casks have to be accessible for transportation by the vehicles. In particular, casks in the storage area may block other casks, so that the former has to be moved to a temporary position to give way to the latter. This paper addresses the challenge of managing the logistics of cask storage, where casks may have different typologies. In particular, we propose an approach to (1) determine the best position of the casks inside the storage area, and to (2) obtain the sequence of operations required to retrieve and store an arbitrary cask from/to a given storage place. A combinatorial optimization approach is used to obtain solutions to both these problems. Simulation results illustrate the application of the proposed method to a simple scenario.

  6. Laser welding and ablation cutting process for hydraulic connections by remote handling in the ITER diagnostic port plug

    International Nuclear Information System (INIS)

    Pak, S.; Kim, Y.; Park, K.Y.; Lee, K.D.; Cheon, M.S.; Lee, H.G.

    2010-01-01

    To assess hydraulic connections between subcomponents of the International Thermonuclear Experimental Reactor (ITER) diagnostic port plug, we investigated the laser welding and ablation cutting process, which can be applied to remote handling maintenance. In this study, laser ablation cutting, which vaporizes a small amount of solid material directly into gas by focusing a laser beam of high-density energy, is adopted in order to overcome the limitation of the normal laser cutting technology that the head should be placed as close to the work piece as possible to blow out melt metal at a distance. Complete cutting of a work piece is obtained by repetitive multi-passes of the laser beam. The welding and cutting process were tested on the sample work pieces and finally on a prototype of a hydraulic connection module for remote handling. The results showed that this process can be a promising candidate for hydraulic connections by remote handling. Furthermore the design of the hydraulic connection module has been updated to resolve some technical difficulties that were found during the test.

  7. Laser welding and ablation cutting process for hydraulic connections by remote handling in the ITER diagnostic port plug

    Energy Technology Data Exchange (ETDEWEB)

    Pak, S. [National Fusion Research Institute, 52 Eoeun-dong, Yuseong-gu, Daejeon (Korea, Republic of)], E-mail: paksunil@nfri.re.kr; Kim, Y.; Park, K.Y.; Lee, K.D. [Institute for Advanced Engineering, 633-2, Goan-ri, Baegam-myeon, Cheoin-gu, Yongin-si, Gyeonggi-do (Korea, Republic of); Cheon, M.S.; Lee, H.G. [National Fusion Research Institute, 52 Eoeun-dong, Yuseong-gu, Daejeon (Korea, Republic of)

    2010-04-15

    To assess hydraulic connections between subcomponents of the International Thermonuclear Experimental Reactor (ITER) diagnostic port plug, we investigated the laser welding and ablation cutting process, which can be applied to remote handling maintenance. In this study, laser ablation cutting, which vaporizes a small amount of solid material directly into gas by focusing a laser beam of high-density energy, is adopted in order to overcome the limitation of the normal laser cutting technology that the head should be placed as close to the work piece as possible to blow out melt metal at a distance. Complete cutting of a work piece is obtained by repetitive multi-passes of the laser beam. The welding and cutting process were tested on the sample work pieces and finally on a prototype of a hydraulic connection module for remote handling. The results showed that this process can be a promising candidate for hydraulic connections by remote handling. Furthermore the design of the hydraulic connection module has been updated to resolve some technical difficulties that were found during the test.

  8. The remote infrared remote control system based on LPC1114

    Science.gov (United States)

    Ren, Yingjie; Guo, Kai; Xu, Xinni; Sun, Dayu; Wang, Li

    2018-05-01

    In view of the shortcomings such as the short control distance of the traditional air conditioner remote controller on the market nowadays and combining with the current smart home new mode "Cloud+ Terminal" mode, a smart home system based on internet is designed and designed to be fully applied to the simple and reliable features of the LPC1114 chip. The controller is added with temperature control module, timing module and other modules. Through the actual test, it achieved remote control air conditioning, with reliability and stability and brought great convenience to people's lives.

  9. Techniques for remote maintenance of in-cell material-handling system in the HFEF/N main cell

    International Nuclear Information System (INIS)

    Tobias, D.A.; Frickey, C.A.

    1975-01-01

    Operations in the main cell of HFEF/N have required development of remote handling equipment and unique techniques for maintaining the in-cell material-handling system. Specially designed equipment is used to remove a disabled crane or electromechanical manipulator bridge from its support rails and place it on floor stands for repair or maintenance. Support areas for the main cell, such as the spray chamber and hot repair area, provide essential decontamination, repair, and staging areas for the in-cell material-handling-system equipment and tools. A combined engineering and technical effort in upgrading existing master-slave manipulators has definitely reduced the requirements for their maintenance. The cell is primarily for postirradiation examination of LMFBR materials and fuel elements

  10. Web Based Remote Access Microcontroller Laboratory

    OpenAIRE

    H. Çimen; İ. Yabanova; M. Nartkaya; S. M. Çinar

    2008-01-01

    This paper presents a web based remote access microcontroller laboratory. Because of accelerated development in electronics and computer technologies, microcontroller-based devices and appliances are found in all aspects of our daily life. Before the implementation of remote access microcontroller laboratory an experiment set is developed by teaching staff for training microcontrollers. Requirement of technical teaching and industrial applications are considered when expe...

  11. The gas cushion technique as a handling means for the remote removal of tokamak segments

    International Nuclear Information System (INIS)

    Removille, J.; Stephano, R.

    1983-01-01

    The gas cushion technique has been studied as offering a compact, flexible and safe way of handling massive objects. The evolution of the gas-cushion handling philosophy is discussed and examples presented related to the displacements of different loads in the torus and in the reactor hall. A short technical comparison with the C-frame handling concept is made in the conclusion. (author)

  12. JOYO operation support system 'JOYCAT' based on intelligent alarm handling

    International Nuclear Information System (INIS)

    Tamaoki, Tetsuo; Yamamoto, Hiroki; Sato, Masuo; Yoshida, Megumu; Kaneko, Tomoko; Terunuma, Seiichi; Takatsuto, Hiroshi; Morimoto, Makoto.

    1992-01-01

    An operation support system for the experimental fast reactor 'JOYO' was developed based on an intelligent alarm-handling. A specific feature of this system, called JOYCAT (JOYO Consulting and Analyzing Tool), is in its sequential processing structure that a uniform treatment by using design knowledge base is firstly applied for all activated alarms, and an exceptional treatment by using heuristic knowledge base is then applied only for the former results. This enables us to achieve real-time and flexible alarm-handling. The first alarm-handling determines the candidates of causal alarms, important alarms with which the operator should firstly cope, through identifying the cause-consequence relations among alarms based on the design knowledge base in which importance and activating conditions are described for each of 640 alarms in a frame format. The second alarm-handling makes the final judgement with the candidates by using the heuristic knowledge base described as production rules. Then, operation manuals concerning the most important alarms are displayed to operators. JOYCAT has been in commission since September of 1990, after a wide scope of validation tests by using an on-site full-scope training simulator. (author)

  13. Project Plan 7930 Cell G PaR Remote Handling System Replacement

    International Nuclear Information System (INIS)

    Kinney, Kathryn A.

    2009-01-01

    For over 40 years the US Department of Energy (DOE) and its predecessors have made Californium-252 ( 252 Cf) available for a wide range of industries including medical, nuclear fuels, mining, military and national security. The Radiochemical Engineering Development Center (REDC) located within the Oak Ridge National Laboratory (ORNL) processes irradiated production targets from the High Flux Isotope Reactor (HFIR). Operations in Building 7930, Cell G provide over 70% of the world's demand for 252 Cf. Building 7930 was constructed and equipped in the mid-1960s. Current operations for 252 Cf processing in Building 7930, Cell G require use of through-the-wall manipulators and the PaR Remote Handling System. Maintenance and repairs for the manipulators is readily accomplished by removal of the manipulator and relocation to a repair shop where hands-on work can be performed in glove boxes. Contamination inside cell G does not currently allow manned entry and no provisions were created for a maintenance area inside the cell. There has been no maintenance of the PaR system or upgrades, leaving operations vulnerable should the system have a catastrophic failure. The Cell G PaR system is currently being operated in a run to failure mode. As the manipulator is now 40+ years old there is significant risk in this method of operation. In 2006 an assessment was completed that resulted in recommendations for replacing the manipulator operator control and power centers which are used to control and power the PaR manipulator in Cell G. In mid-2008 the chain for the bridge drive failed and subsequent examinations indicated several damaged links (see Figure 1). To continue operations the PaR manipulator arm is being used to push and pull the bridge as a workaround. A retrieval tool was fabricated, tested and staged inside Cell G that will allow positioning of the bridge and manipulator arm for removal from the cell should the PaR system completely fail. A fully functioning and

  14. Remote, under-sodium fuel handling experience at EBR-II

    International Nuclear Information System (INIS)

    King, R.W.; Planchon, H.P.

    1995-01-01

    The EBR-II is a pool-type design; the reactor fuel handling components and entire primary-sodium coolant system are submerged in the primary tank, which is 26 feet in diameter, 26 feet high, and contains 86,000 gallons of sodium. Since the reactor is submerged in sodium, fuel handling operations must be performed blind, making exact positioning and precision control of the fuel handling system components essential. EBR-II operated for 30 years, and the fuel handling system has performed approximately 25,000 fuel transfer operations in that time. Due to termination of the IFR program, EBR-II was shut down on September 30, 1994. In preparation for decommissioning, all fuel in the reactor will be transferred out of EBR-II to interim storage. This intensive fuel handling campaign will last approximately two years, and the number of transfers will be equivalent to the fuel handling done over about nine years of normal reactor operation. With this demand on the system, system reliability will be extremely important. Because of this increased demand, and considering that the system has been operating for about 32 years, system upgrades to increase reliability and efficiency are proceeding. Upgrades to the system to install new digital, solid state controls, and to take advantage of new visualization technology, are underway. Future reactor designs using liquid metal coolant will be able to incorporate imaging technology now being investigated, such as ultraviolet laser imaging and ultrasonic imaging

  15. An adaptive ES with a ranking based constraint handling strategy

    Directory of Open Access Journals (Sweden)

    Kusakci Ali Osman

    2014-01-01

    Full Text Available To solve a constrained optimization problem, equality constraints can be used to eliminate a problem variable. If it is not feasible, the relations imposed implicitly by the constraints can still be exploited. Most conventional constraint handling methods in Evolutionary Algorithms (EAs do not consider the correlations between problem variables imposed by the constraints. This paper relies on the idea that a proper search operator, which captures mentioned implicit correlations, can improve performance of evolutionary constrained optimization algorithms. To realize this, an Evolution Strategy (ES along with a simplified Covariance Matrix Adaptation (CMA based mutation operator is used with a ranking based constraint-handling method. The proposed algorithm is tested on 13 benchmark problems as well as on a real life design problem. The outperformance of the algorithm is significant when compared with conventional ES-based methods.

  16. Selected solutions and design features from the design of remotely handled filters and the technology of remote filter handling. Previous operating experience with these components in the PASSAT facility

    International Nuclear Information System (INIS)

    Jannakos, K.; Lange, W.; Potgeter, G.; Furrer, J.; Wilhelm, J.G.

    1981-01-01

    In a prototype filter offgas cleaning system for reprocessing plants (PASSAT) built at the Karlsruhe Nuclear Research Center a fullscale filter cell with remotely handled filters for aerosol and iodine removal and the corresponding remote handling systems for exchange, bagging out, packaging and disposal of spent filter elements has been installed and run in trial operation since July 1978. The filters and the replacement techniques have been tested for the past two years or so and so far have always worked satisfactory over the test period involving some 150 replacement events. Neither wear nor corrosion phenomena were found in the filter housings and the replacement systems. The seals and clamping devices were selected so that during operation the prescribed leak rates of -3 Torr l/s were always maintained on the filter lid, the seat of the filter element and the cell lock. The total clamping loads for the filter element and the filter lid amount to approx. 20 kN. The force necessary to separate the filter element from the filter housing is approx. 3.5 kN. No ruptures of seals or gaskets were to be detected. The design of the filters and of the handling systems has been found satisfactorily in the cold test operation so far and can be recommended for use in nuclear facilities. In all experiments conducted until now PASSAT has worked without any failure. All operating data required in the specifications were met in the test period. The maximum pressure loss in the system with loaded filter elements amounts to some 3000 mm of water. After operation with iodine and NO/sub x/, plant components exposed to 100% relative humidity and condensate showed corrosion

  17. A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

    Directory of Open Access Journals (Sweden)

    Zhi-Ying Chen

    2018-03-01

    Full Text Available In this study, a 6-axis robotic arm, which was controlled by an embedded Raspberry Pi with onboard WiFi, was developed and fabricated. A mobile application (APP, designed for the purpose, was used to operate and monitor a robotic arm by means of a WiFi connection. A computer vision was used to read common one-dimensional barcode (EAN code for the handling and identification of products such as milk tea drinks, sodas and biscuits. The gripper on the end of the arm could sense the clamping force and allowed real-time control of the amount of force used to hold and handle the products. The packages were all made of different material and this control allowed them to be handled without danger of damage or deformation. The maximum handling torque used was ~1.08 Nm and the mechanical design allowed the force of the gripper to be uniformly applied to the sensor to ensure accurate measurement of the force.

  18. Operating experience with remote handling equipment in a typical hot facility

    International Nuclear Information System (INIS)

    Ravishankar, A.; Balasubramanian, G.R.

    1990-01-01

    Large number of articulated arm manipulators and special purpose remote tools have been used either alone or in combination in a recent campaign of treatment of irradiated J rods of CIRUS for separation of 233 U. These equipments were used for operations such as remote maintenance of centrifuge, centrifugal extractor, direct sampling, assistance for sample conveying operations etc. Paper discusses problems encountered in using articulated arm manipulators of type MAll,AMl and how they were overcome. Problems encountered in use of model-8 manipulator for chopper maintenence in a mockup facility are also highlighted. (author). 4 figs., 1 tab

  19. Remote data acquisition system based on MSM7512B8

    International Nuclear Information System (INIS)

    Jiang Junfeng

    2003-01-01

    This paper introduces a remote data acquisition system based on MC68HC908GP32 and MSM7512B, which can accomplish remote data communications on telephone network, and realize remote data acquisition. (authors)

  20. Remote handling prospects. Computer aided remote handling

    International Nuclear Information System (INIS)

    Vertut, J.

    1984-01-01

    Mechanical manipulators, electrical control manipulators and computer aided manipulators were successively developed. The aim of computer aided manipulators is the realization of complex or tricky job in adverse environment but man is required for non routine work or for situation in evolution. French effort is developed in the frame of the project automation and advanced robotics and new problems have to be solved particularly at the interface man/machine [fr

  1. Tolerancing requirements for remote handling at the Hanford Waste Vitrification Plant

    International Nuclear Information System (INIS)

    Van Katwijk, C.; Keenan, R.M.; Bullis, R.E.

    1993-01-01

    The Hanford Waste Vitrification Plant (HWVP) is being designed by Fluor Daniel, Inc. with Waste Chem Corporation as Fluor Daniel, Inc.'s major subcontractor specializing in vitrification and remote system technologies. United Engineers and Constructors (UE ampersand C)/Catalytic (UCAT) will construct the plant. Westinghouse Hanford Company is the Project Integration manager and Business manager, and as the plant operator it provides technical direction to the Architect/ Engineer team (A/E) and constructor on behalf of the US Department of Energy - Richland Field Office. The A/E has developed, in cooperation with UE ampersand C, Westinghouse Hanford Company, and the US Department of Energy, a new and innovative approach to installations of the many remote nozzles and electrical connectors that must be installed to demanding tolerances. This paper summarizes the key elements of the HWVP approach

  2. Electromechanical three-axis development for remote handling in the Hot Experimental Facility

    International Nuclear Information System (INIS)

    Garin, J.; Bolfing, B.J.; Satterlee, P.E.; Babcock, S.M.

    1981-01-01

    A three-axis closed-loop position control system has been designed and installed on an overhead bridge, carriage, tube hoist for automotive positioning of manipulation at a remotely maintained work site. The system provides accurate (within 3 min) and repeatable three-axis positioning of the manipulator. The position control system has been interfaced to a supervisory minicomputer system that provides teach-playback capability of manipulator positioning and color graphic display of the three-axis system position

  3. A practical experience of using special remote handling tools on JET

    International Nuclear Information System (INIS)

    Mills, S.F.; Schreibmaier, J.; Tesini, A.; Wykes, M.

    1987-01-01

    Over 50 cutting and 200 UHV welding operations were made during the installation of new water cooled belt limiters and ICRF Antennae into the JET Vacuum Vessel. This work was performed by the hands-on use of 45 special tools which have been specifically designed for use with the Mascot servomanipulator in preparation for the JET D-T phase when all maintenance will be performed remotely. This paper reports on the techniques used and the performance of the tools. (author)

  4. Remote handling equipment for the decommissioning of the Windscale Advanced Gas Cooled Reactor

    International Nuclear Information System (INIS)

    Barker, A.; Birss, I.R.; Fish, G.

    1984-01-01

    A decision to decommission the Windscale Advanced Gas Cooled Reactor was taken shortly after reactor shutdown in 1981. The fuel has now been discharged and the decommissioning programme will last about 10-12 years. The paper describes the programme and objectives and deals with methods of handling and disposing of the radioactive waste material. The main new facility required is a Waste Packaging Building adjacent to the existing reactor in which the waste boxes will be filled, active waste encapsulated in concrete and the boxes cleaned, swabbed and monitored to comply with IAEA transport regulations. The handling machine concept and features are described. The assaying and packaging of the waste material, the control of box movement and the process of concrete encapsulation is described. The paper concludes with a description of the development programme to support the Project. The tasks include a study of cutting techniques, production and control of dust and smoke, viewing and lighting methods, filtration, decontamination and fixing of contamination

  5. Remote handling of decentralized power generation plants; Fernwirken von dezentralen Energieerzeugungsanlagen

    Energy Technology Data Exchange (ETDEWEB)

    Conrad, Michael [IDS GmbH, Ettlingen (Germany). Geschaeftsbereich Entwicklung-Prozessautomatisierung; Thomas, Ralf [IDS GmbH, Ettlingen (Germany). Bereich Business Development und Marketing

    2011-05-15

    The incresing number of decentral power generation systems requires new grid solutions, i.e. the so-called smart grids. One important function is the monitoring and control, e.g. of decentral PV, wind power and cogeneration systems. The data interfaces used are highly diverse and as a rule are taken from measuring and automation technology, i.e. they must be adapted to the data models and transmission procedures of remote control and guidance systems. A compact protocol gateway enables standardized control and diagnosis.

  6. Remote handling requirements and considerations for D-T fusion reactors

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1984-01-01

    This paper presents an overview of the maintenance considerations for next-generation fusion reactors. It draws upon the work done at the Fusion Engineering Design Center over the past several years in the conceptual development of tokamaks and tandem mirrors. It specifically addresses the maintenance philosophy adopted for these devices, the configuration development using a modular design approach, scheduled and unscheduled maintenance operations, assembly and disassembly scenarios for component replacements, maintenance equipment requirements, and the operating availability of these devices. In addition, recent work on the development of a totally remote tokamak configuration is presented

  7. Remote handling requirements and considerations for D-T fusion reactors

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1984-01-01

    This paper an overview of the maintenance considerations of next-generation fusion reactors. It draws upon the work done at the Fusion Engineering Design Center over the past several years in the conceptual development of tokamaks and tandem mirrors. It specifically addresses the maintenance philosophy adopted for these devices, the configuration development using a modular design approach, scheduled and unscheduled maintenance operations, assembly and disassembly scenarios for component replacements, maintenance equipment requirements, and the operating availability of these devices. In addition, recent work on the development of a totally remote tokamak configuration is presented

  8. Human machine interface to manually drive rhombic like vehicles in remote handling operations

    Energy Technology Data Exchange (ETDEWEB)

    Lopes, Pedro; Vale, Alberto [Instituto de Plasmas e Fusao Nuclear, Instituto Superior Tecnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ventura, Rodrigo [Institute for Systems and Robotics, Instituto Superior Tecnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

    2015-07-01

    In the thermonuclear experimental reactor ITER, a vehicle named CTS is designed to transport a container with activated components inside the buildings. In nominal operations, the CTS is autonomously guided under supervision. However, in some unexpected situations, such as in rescue and recovery operations, the autonomous mode must be overridden and the CTS must be remotely guided by an operator. The CTS is a rhombic-like vehicle, with two drivable and steerable wheels along its longitudinal axis, providing omni-directional capabilities. The rhombic kinematics correspond to four control variables, which are difficult to manage in manual mode operation. This paper proposes a Human Machine Interface (HMI) to remotely guide the vehicle in manual mode. The proposed solution is implemented using a HMI with an encoder connected to a micro-controller and an analog 2-axis joystick. Experimental results were obtained comparing the proposed solution with other controller devices in different scenarios and using a software platform that simulates the kinematics and dynamics of the vehicle. (authors)

  9. Human machine interface to manually drive rhombic like vehicles in remote handling operations

    International Nuclear Information System (INIS)

    Lopes, Pedro; Vale, Alberto; Ventura, Rodrigo

    2015-01-01

    In the thermonuclear experimental reactor ITER, a vehicle named CTS is designed to transport a container with activated components inside the buildings. In nominal operations, the CTS is autonomously guided under supervision. However, in some unexpected situations, such as in rescue and recovery operations, the autonomous mode must be overridden and the CTS must be remotely guided by an operator. The CTS is a rhombic-like vehicle, with two drivable and steerable wheels along its longitudinal axis, providing omni-directional capabilities. The rhombic kinematics correspond to four control variables, which are difficult to manage in manual mode operation. This paper proposes a Human Machine Interface (HMI) to remotely guide the vehicle in manual mode. The proposed solution is implemented using a HMI with an encoder connected to a micro-controller and an analog 2-axis joystick. Experimental results were obtained comparing the proposed solution with other controller devices in different scenarios and using a software platform that simulates the kinematics and dynamics of the vehicle. (authors)

  10. Status of microwave process development for RH-TRU [remote-handled transuranic] wastes at Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    White, T.L.; Youngblood, E.L.; Berry, J.B.; Mattus, A.J.

    1990-01-01

    The Oak Ridge National Laboratory (ORNL) Waste Handling and Packaging Plant is developing a microwave process to reduce and solidify remote-handled transuranic (RH-TRU) liquids and sludges presently stored in large tanks at ORNL. Testing has recently begun on an in-drum microwave process using nonradioactive RH-TRU surrogates. The microwave process development effort has focused on an in-drum process to dry the RH-TRU liquids and sludges in the final storage container and then melt the salt residues to form a solid monolith. A 1/3-scale proprietary microwave applicator was designed, fabricated, and tested to demonstrate the essential features of the microwave design and to provide input into the design of the full-scale applicator. The microwave fields are uniform in one dimension to reduce the formation of hot spots on the microwaved wasteform. The final wasteform meets the waste acceptance criteria for the Waste Isolation Pilot Plant, a federal repository for defense transuranic wastes near Carlsbad, New Mexico. 7 refs., 1 fig., 1 tab

  11. Unresolved issues for the disposal of remote-handled transuranic waste in the Waste Isolation Pilot Plant

    International Nuclear Information System (INIS)

    Silva, M.K.; Neill, R.H.

    1994-09-01

    The purpose of the Waste Isolation Pilot Plant (WIPP) is to dispose of 176,000 cubic meters of transuranic (TRU) waste generated by the defense activities of the US Government. The envisioned inventory contains approximately 6 million cubic feet of contact-handled transuranic (CH TRU) waste and 250,000 cubic feet of remote handled transuranic (RH TRU) waste. CH TRU emits less than 0.2 rem/hr at the container surface. Of the 250,000 cubic feet of RH TRU waste, 5% by volume can emit up to 1,000 rem/hr at the container surface. The remainder of RH TRU waste must emit less than 100 rem/hr. These are major unresolved problems with the intended disposal of RH TRU waste in the WIPP. (1) The WIPP design requires the canisters of RH TRU waste to be emplaced in the walls (ribs) of each repository room. Each room will then be filled with drums of CH TRU waste. However, the RH TRU waste will not be available for shipment and disposal until after several rooms have already been filled with drums of CH TRU waste. RH TRU disposal capacity will be loss for each room that is first filled with CH TRU waste. (2) Complete RH TRU waste characterization data will not be available for performance assessment because the facilities needed for waste handling, waste treatment, waste packaging, and waste characterization do not yet exist. (3) The DOE does not have a transportation cask for RH TRU waste certified by the US Nuclear Regulatory Commission (NRC). These issues are discussed along with possible solutions and consequences from these solutions. 46 refs

  12. A remote handling rate-position controller for telemanipulating in a large workspace

    International Nuclear Information System (INIS)

    Barrio, Jorge; Ferre, Manuel; Suárez-Ruiz, Francisco; Aracil, Rafael

    2014-01-01

    This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task

  13. A remote handling rate-position controller for telemanipulating in a large workspace

    Energy Technology Data Exchange (ETDEWEB)

    Barrio, Jorge, E-mail: jordi.barrio@upm.es; Ferre, Manuel, E-mail: m.ferre@upm.es; Suárez-Ruiz, Francisco, E-mail: fa.suarez@upm.es; Aracil, Rafael, E-mail: rafael.aracil@upm.es

    2014-01-15

    This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.

  14. KNOWLEDGE-BASED ROBOT VISION SYSTEM FOR AUTOMATED PART HANDLING

    Directory of Open Access Journals (Sweden)

    J. Wang

    2012-01-01

    Full Text Available

    ENGLISH ABSTRACT: This paper discusses an algorithm incorporating a knowledge-based vision system into an industrial robot system for handling parts intelligently. A continuous fuzzy controller was employed to extract boundary information in a computationally efficient way. The developed algorithm for on-line part recognition using fuzzy logic is shown to be an effective solution to extract the geometric features of objects. The proposed edge vector representation method provides enough geometric information and facilitates the object geometric reconstruction for gripping planning. Furthermore, a part-handling model was created by extracting the grasp features from the geometric features.

    AFRIKAANSE OPSOMMING: Hierdie artikel beskryf ‘n kennis-gebaseerde visiesisteemalgoritme wat in ’n industriёle robotsisteem ingesluit word om sodoende intelligente komponenthantering te bewerkstellig. ’n Kontinue wasige beheerder is gebruik om allerlei objekinligting deur middel van ’n effektiewe berekeningsmetode te bepaal. Die ontwikkelde algoritme vir aan-lyn komponentherkenning maak gebruik van wasige logika en word bewys as ’n effektiewe metode om geometriese inligting van objekte te bepaal. Die voorgestelde grensvektormetode verskaf voldoende inligting en maak geometriese rekonstruksie van die objek moontlik om greepbeplanning te kan doen. Voorts is ’n komponenthanteringsmodel ontwikkel deur die grypkenmerke af te lei uit die geometriese eienskappe.

  15. Remote handling dynamical modelling: assessment on new approach to enhance positioning accuracy with heavy load manipulation

    International Nuclear Information System (INIS)

    Gagarina-Sasia, T.; David, O.; Dubus, G.; Perrot, Y.; Riwain, A.

    2007-01-01

    In vessel maintenance work in Fusion Tokamak will be carried out with help several sets of robotic devices. Heavy loads handling in constrained space is identified by all players of the RH community as a key-issue in the latest Fusion Tokamak facilities. To deal with high-level dexterity tasks, high payload to mass ratio and limited operating space, RH equipment designers can only propose systems whose mechanical flexibility is no longer negligible and need to be taken into account in the control scheme. Traditional approaches where control system only includes a linear model of deformation of the structure leads to poor positioning accuracy. Uncontrolled or under evaluated errors could be damaging for in-vessel components during maintenance operations in the Tokamak facility. To address the control of complex flexible systems, we will investigate the use of specific mechanical software that combines both finite element and kinematical joints analyses, with a strong-coupled formulation, to perform system dynamics simulations. This procedure will be applied on a single axis mock up robotic joint with highly flexible structure. A comparison of experimental results with the traditional linear approach and the specified software model will be carried out. Benefits introduced by this new approach will finally be assessed in view of RH design or specification in the field of RH in Fusion Tokamak scale such as ITER. (orig.)

  16. Automation, robotics and remote handling technology in the nuclear fuel cycle

    International Nuclear Information System (INIS)

    Rajagopalan, C.; Venugopal, S.

    2013-01-01

    Automation and Robotics technology are making significant contributions in almost all fields of engineering and technology and their presence is felt in all spheres of human life. The importance of automation and robotics has increased rapidly in the recent years to cater to the global competitive pressures by the manufacturing industry by utilizing the increased productivity and improved quality this technology offers. Improvement of productivity, quality, profitability and, indeed, survival are the major motivating factors in the implementation of automation and robotics technology in the manufacturing sector. Robots are used extensively in the automotive industry, primarily for welding, painting and material handling applications. The electronics, aerospace, metalworking and consumer goods industries are also major potential robot users. The common uses of robots in industries mostly include the four Ps - Picking, Placing, Packaging and Painting - apart from other industrial routines like assembly and welding. As is the case with industrial tools and machineries, a properly designed robot (for the appropriate task) has almost unlimited endurance with the added benefit of precisions unmatched by human workers. With robot technology as a key element, integrated factory automation systems touch on nearly all types of manufacturing. The productivity and competitiveness in these industries will depend in large part on flexible automation through robotics

  17. Accessing remote data bases using microcomputers

    OpenAIRE

    Saul, Peter D.

    1985-01-01

    General practitioners' access to remote data bases using microcomputers is increasing, making even the most obscure information readily available. Some of the systems available to general practitioners in the UK are described and the methods of access are outlined. General practitioners should be aware of the advances in technology; data bases are increasing in size, the cost of access is falling and their use is becoming easier.

  18. WALS: A sensor-based robotic system for handling nuclear materials

    International Nuclear Information System (INIS)

    Drotning, W.; Kimberly, H.; Wapman, W.

    1997-01-01

    An automated system is being developed for handling large payloads of radioactive nuclear materials in an analytical laboratory. The system uses machine vision and force/torque sensing to provide sensor-based control of the automation system to enhance system safety, flexibility, and robustness and achieve easy remote operation. The automation system also controls the operation of the laboratory measurement systems and the coordination of them with the robotic system. Particular attention has been given to system design features and analytical methods that provide an enhanced level of operational safety. Independent mechanical gripper interlock and too release mechanisms were designed to prevent payload mishandling. An extensive failure modes and effects analysis (FMEA) of the automation system was developed as a safety design analysis tool

  19. IFMIF – Layout and arrangement of cells according to requirements of technical logistics, reliability and remote handling

    International Nuclear Information System (INIS)

    Mittwollen, Martin; Eilert, Dirk; Kubaschewski, Martin; Madzharov, Vladimir; Tian Kuo

    2012-01-01

    Highlights: ► In a first approach, layout and arrangement of the cells followed a predetermined plant layout. ► Disadvantages in technical logistics, reliability and remote handling have been detected. ► Deliberation with project teams opened space for improvements. ► Layout and arrangement of cells have been improved by simplification of design. ► Speed and reliability have been increased significantly. - Abstract: The International Fusion Material Irradiation Facility (IFMIF) is designed to study and qualify structural and functional materials which shall be used in future fusion nuclear power plants. During the current engineering validation and engineering design activities (EVEDA) phase the development of e.g. an optimized layout and arrangement of the cells (Access Cell, Test Cell, and Test Module Handling Cells) is of major interest. After defining different functions for the individual cells like e.g. large scale/fine scale disassembling of test modules a first layout has been developed. This design followed requirements like having a minimum of carrier changes to avoid sources of failures. On the other hand it has had to be a compact arrangement of cells due to restrictions from plant layout. A row of changes of transfer direction, and different crane systems were the consequence. Constructive discussion with project team results in the statement, that for reasons of being reliable and fast, layout and arrangement of cells goes first, plant layout then will follow. The chance for big improvements was taken and the result was a simplified design with strong reduced number of functional elements, and increased reliability and speed.

  20. Remote handling techniques in decommissioning - A report of the NEA Co-operative Programme on Decommissioning (CPD) project

    International Nuclear Information System (INIS)

    Borchardt, Ralf; Denissen, Luc; Desbats, Philippe; Jeanjacques, Michel; Nokhamzon, Jean-Guy; Valentin, Pierre; Slater, Steve; Valencia, Luis; Wittenauer, Stephan; Yamauchi, Toyoaki; Burton, Bob

    2011-01-01

    The NEA Co-operative Programme for the Exchange of Scientific and Technical Information Concerning Nuclear Installation Decommissioning Projects (CPD) is a joint undertaking of a limited number of organisations actively executing on planning the decommissioning of nuclear facilities. The objective of the CPD is to acquire information from operational experience in decommissioning nuclear installations that is useful for future projects. Although part of the information exchanged within CPD is confidential in nature and is restricted to programme participants, experience of general interest gained under the programme's auspices is released for broader use. Such information is brought to the attention of all NEA members through regular reports to the NEA Radioactive Waste Management Committee (RWMC), as well as through published studies. This report describes generic results obtained by a CPD Task Group analysing the needs for remote technologies. The existing technologies able to meet these needs, the lessons learned and showing where improvements or further developments should be made in this domain. During the D and D process, the handling of highly radioactive materials, the deployment of tools and sensors and the dismantling of components built from many different materials can be a long, labor-intensive process that has the potential for high exposure rates, heat stress and injury to personnel. Mobile robotics systems provide solutions to these hazards. Such remote handling systems are required to perform tasks within budget and on schedule while justifying the expense by a saving in cumulative doses received by project personnel. To reach this goal, the following are additional factors that need to be evaluated when preparing a project: - System and peripherals must be operator-friendly. Ideally, the system must be designed to allow personnel currently available for the D and D project to become trained as operators within a reasonable time frame. - The

  1. Design Scheme of Remote Monitoring System Based on Qt

    Directory of Open Access Journals (Sweden)

    Xu Dawei

    2015-01-01

    Full Text Available This paper introduces a design scheme of remote monitoring system based on Qt, the scheme of remote monitoring system based on S3C2410 and Qt, with the aid of cross platform development tools Qt and powerful ARM platform design and implementation. The development of remote video surveillance system based on embedded terminal has practical significance and value.

  2. Assessment of Geochemical Environment for the Proposed INL Remote-Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    D. Craig Cooper

    2011-11-01

    Conservative sorption parameters have been estimated for the proposed Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility. This analysis considers the influence of soils, concrete, and steel components on water chemistry and the influence of water chemistry on the relative partitioning of radionuclides over the life of the facility. A set of estimated conservative distribution coefficients for the primary media encountered by transported radionuclides has been recommended. These media include the vault system, concrete-sand-gravel mix, alluvium, and sedimentary interbeds. This analysis was prepared to support the performance assessment required by U.S. Department of Energy Order 435.1, 'Radioactive Waste Management.' The estimated distribution coefficients are provided to support release and transport calculations of radionuclides from the waste form through the vadose zone. A range of sorption parameters are provided for each key transport media, with recommended values being conservative. The range of uncertainty has been bounded through an assessment of most-likely-minimum and most-likely-maximum distribution coefficient values. The range allows for adequate assessment of mean facility performance while providing the basis for uncertainty analysis.

  3. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    International Nuclear Information System (INIS)

    Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

    2005-01-01

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

  4. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

    2005-11-15

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

  5. Remote handling developments for inspection and repair of highly active reprocessing plant

    International Nuclear Information System (INIS)

    Jones, E.L.

    1988-01-01

    Having the capability to carry out regular and comprehensive inspection of active plant can have benefits beyond the need to satisfy the possible requirements of National Regulatory Authorities. Intermediate inspection can provide qualitative data on the state of the plant, whilst regular inspection can provide quantitative data on which to base predictive judgments. Information of this sort can allow confidence in predicting the actual life of the plant as opposed to the theoretical. The following paper addresses the areas of plant inspection and repair by reference to specific projects either already completed or at an advanced stage of development at BNFL's Sellafield reprocessing plant. (author)

  6. The Remote Handled Immobilization Low-Activity Waste Disposal Facility Environmental Permits and Approval Plan

    International Nuclear Information System (INIS)

    DEFFENBAUGH, M.L.

    2000-01-01

    The purpose of this document is to revise Document HNF-SD-ENV-EE-003, ''Permitting Plan for the Immobilized Low-Activity Waste Project, which was submitted on September 4, 1997. That plan accounted for the interim storage and disposal of Immobilized-Low Activity Waste at the existing Grout Treatment Facility Vaults (Project W-465) and within a newly constructed facility (Project W-520). Project W-520 was to have contained a combination of concrete vaults and trenches. This document supersedes that plan because of two subsequent items: (1) A disposal authorization that was received on October 25, 1999, in a U. S. Department of Energy-Headquarters, memorandum, ''Disposal Authorization Statement for the Department of Energy Hanford site Low-Level Waste Disposal facilities'' and (2) ''Breakthrough Initiative Immobilized Low-Activity Waste (ILAW) Disposal Alternative,'' August 1999, from Lucas Incorporated, Richland, Washington. The direction within the U. S. Department of Energy-Headquarters memorandum was given as follows: ''The DOE Radioactive Waste Management Order requires that a Disposal authorization statement be obtained prior to construction of new low-level waste disposal facility. Field elements with the existing low-level waste disposal facilities shall obtain a disposal authorization statement in accordance with the schedule in the complex-wide Low-Level Waste Management Program Plan. The disposal authorization statement shall be issued based on a review of the facility's performance assessment and composite analysis or appropriate CERCLA documentation. The disposal authorization shall specify the limits and conditions on construction, design, operations, and closure of the low-level waste facility based on these reviews. A disposal authorization statement is a part of the required radioactive waste management basis for a disposal facility. Failure to obtain a disposal authorization statement or record of decision shall result in shutdown of an operational

  7. Optical/Infrared Signatures for Space-Based Remote Sensing

    National Research Council Canada - National Science Library

    Picard, R. H; Dewan, E. M; Winick, J. R; O'Neil, R. R

    2007-01-01

    This report describes work carried out under the Air Force Research Laboratory's basic research task in optical remote-sensing signatures, entitled Optical / Infrared Signatures for Space-Based Remote Sensing...

  8. The Remote Handled Immobilization Low Activity Waste Disposal Facility Environmental Permits & Approval Plan

    Energy Technology Data Exchange (ETDEWEB)

    DEFFENBAUGH, M.L.

    2000-08-01

    The purpose of this document is to revise Document HNF-SD-ENV-EE-003, ''Permitting Plan for the Immobilized Low-Activity Waste Project, which was submitted on September 4, 1997. That plan accounted for the interim storage and disposal of Immobilized-Low Activity Waste at the existing Grout Treatment Facility Vaults (Project W-465) and within a newly constructed facility (Project W-520). Project W-520 was to have contained a combination of concrete vaults and trenches. This document supersedes that plan because of two subsequent items: (1) A disposal authorization that was received on October 25, 1999, in a U. S. Department of Energy-Headquarters, memorandum, ''Disposal Authorization Statement for the Department of Energy Hanford site Low-Level Waste Disposal facilities'' and (2) ''Breakthrough Initiative Immobilized Low-Activity Waste (ILAW) Disposal Alternative,'' August 1999, from Lucas Incorporated, Richland, Washington. The direction within the U. S. Department of Energy-Headquarters memorandum was given as follows: ''The DOE Radioactive Waste Management Order requires that a Disposal authorization statement be obtained prior to construction of new low-level waste disposal facility. Field elements with the existing low-level waste disposal facilities shall obtain a disposal authorization statement in accordance with the schedule in the complex-wide Low-Level Waste Management Program Plan. The disposal authorization statement shall be issued based on a review of the facility's performance assessment and composite analysis or appropriate CERCLA documentation. The disposal authorization shall specify the limits and conditions on construction, design, operations, and closure of the low-level waste facility based on these reviews. A disposal authorization statement is a part of the required radioactive waste management basis for a disposal facility. Failure to obtain a disposal authorization statement

  9. Local Competition-Based Superpixel Segmentation Algorithm in Remote Sensing

    Directory of Open Access Journals (Sweden)

    Jiayin Liu

    2017-06-01

    Full Text Available Remote sensing technologies have been widely applied in urban environments’ monitoring, synthesis and modeling. Incorporating spatial information in perceptually coherent regions, superpixel-based approaches can effectively eliminate the “salt and pepper” phenomenon which is common in pixel-wise approaches. Compared with fixed-size windows, superpixels have adaptive sizes and shapes for different spatial structures. Moreover, superpixel-based algorithms can significantly improve computational efficiency owing to the greatly reduced number of image primitives. Hence, the superpixel algorithm, as a preprocessing technique, is more and more popularly used in remote sensing and many other fields. In this paper, we propose a superpixel segmentation algorithm called Superpixel Segmentation with Local Competition (SSLC, which utilizes a local competition mechanism to construct energy terms and label pixels. The local competition mechanism leads to energy terms locality and relativity, and thus, the proposed algorithm is less sensitive to the diversity of image content and scene layout. Consequently, SSLC could achieve consistent performance in different image regions. In addition, the Probability Density Function (PDF, which is estimated by Kernel Density Estimation (KDE with the Gaussian kernel, is introduced to describe the color distribution of superpixels as a more sophisticated and accurate measure. To reduce computational complexity, a boundary optimization framework is introduced to only handle boundary pixels instead of the whole image. We conduct experiments to benchmark the proposed algorithm with the other state-of-the-art ones on the Berkeley Segmentation Dataset (BSD and remote sensing images. Results demonstrate that the SSLC algorithm yields the best overall performance, while the computation time-efficiency is still competitive.

  10. Local Competition-Based Superpixel Segmentation Algorithm in Remote Sensing.

    Science.gov (United States)

    Liu, Jiayin; Tang, Zhenmin; Cui, Ying; Wu, Guoxing

    2017-06-12

    Remote sensing technologies have been widely applied in urban environments' monitoring, synthesis and modeling. Incorporating spatial information in perceptually coherent regions, superpixel-based approaches can effectively eliminate the "salt and pepper" phenomenon which is common in pixel-wise approaches. Compared with fixed-size windows, superpixels have adaptive sizes and shapes for different spatial structures. Moreover, superpixel-based algorithms can significantly improve computational efficiency owing to the greatly reduced number of image primitives. Hence, the superpixel algorithm, as a preprocessing technique, is more and more popularly used in remote sensing and many other fields. In this paper, we propose a superpixel segmentation algorithm called Superpixel Segmentation with Local Competition (SSLC), which utilizes a local competition mechanism to construct energy terms and label pixels. The local competition mechanism leads to energy terms locality and relativity, and thus, the proposed algorithm is less sensitive to the diversity of image content and scene layout. Consequently, SSLC could achieve consistent performance in different image regions. In addition, the Probability Density Function (PDF), which is estimated by Kernel Density Estimation (KDE) with the Gaussian kernel, is introduced to describe the color distribution of superpixels as a more sophisticated and accurate measure. To reduce computational complexity, a boundary optimization framework is introduced to only handle boundary pixels instead of the whole image. We conduct experiments to benchmark the proposed algorithm with the other state-of-the-art ones on the Berkeley Segmentation Dataset (BSD) and remote sensing images. Results demonstrate that the SSLC algorithm yields the best overall performance, while the computation time-efficiency is still competitive.

  11. Model-Based Control for Postal Automation and Baggage Handling

    NARCIS (Netherlands)

    Tarau, A.N.

    2010-01-01

    In this thesis we focus on two specific transportation systems, namely postal automation and baggage handling. Postal automation: During the last decades the volume of magazines, catalogs, and other plastic wrapped mail items that have to be processed by post sorting centers has increased

  12. Adaptive and energy efficient SMA-based handling systems

    Science.gov (United States)

    Motzki, P.; Kunze, J.; Holz, B.; York, A.; Seelecke, S.

    2015-04-01

    Shape Memory Alloys (SMA's) are known as actuators with very high energy density. This fact allows for the construction of very light weight and energy-efficient systems. In the field of material handling and automated assembly process, the avoidance of big moments of inertia in robots and kinematic units is essential. High inertial forces require bigger and stronger robot actuators and thus higher energy consumption and costs. For material handling in assembly processes, many different individual grippers for various work piece geometries are used. If one robot has to handle different work pieces, the gripper has to be exchanged and the assembly process is interrupted, which results in higher costs. In this paper, the advantages of using high energy density Shape Memory Alloy actuators in applications of material-handling and gripping-technology are explored. In particular, light-weight SMA actuated prototypes of an adaptive end-effector and a vacuum-gripper are constructed via rapid-prototyping and evaluated. The adaptive end-effector can change its configuration according to the work piece geometry and allows the handling of multiple different shaped objects without exchanging gripper tooling. SMA wires are used to move four independent arms, each arm adds one degree of freedom to the kinematic unit. At the tips of these end-effector arms, SMA-activated suction cups can be installed. The suction cup prototypes are developed separately. The flexible membranes of these suction cups are pulled up by SMA wires and thus a vacuum is created between the membrane and the work piece surface. The self-sensing ability of the SMA wires are used in both prototypes for monitoring their actuation.

  13. Web based remote instrumentation and control

    International Nuclear Information System (INIS)

    Dhekne, P.S.; Patil, Jitendra; Kulkarni, Jitendra; Babu, Prasad; Lad, U.C.; Rahurkar, A.G.; Kaura, H.K.

    2001-01-01

    The Web-based technology provides a very powerful communication medium for transmitting effectively multimedia information containing data generated from various sources, which may be in the form of audio, video, text, still or moving images etc. Large number of sophisticated web based software tools are available that can be used to monitor and control distributed electronic instrumentation projects. For example data can be collected online from various smart sensors/instruments such as images from CCD camera, pressure/ humidity sensor, light intensity transducer, smoke detectors etc and uploaded in real time to a central web server. This information can be processed further, to take control action in real time from any remote client, of course with due security care. The web-based technology offers greater flexibility, higher functionality, and high degree of integration providing standardization. Further easy to use standard browser based interface at the client end to monitor, view and control the desired process parameters allow you to cut down the development time and cost to a great extent. A system based on a web client-server approach has been designed and developed at Computer division, BARC and is operational since last year to monitor and control remotely various environmental parameters of distributed computer centers. In this paper we shall discuss details of this system, its current status and additional features which are currently under development. This type of system is typically very useful for Meteorology, Environmental monitoring of Nuclear stations, Radio active labs, Nuclear waste immobilization plants, Medical and Biological research labs., Security surveillance and in many such distributed situations. A brief description of various tools used for this project such as Java, CGI, Java Script, HTML, VBScript, M-JPEG, TCP/IP, UDP, RTP etc. along with their merits/demerits have also been included

  14. Realtime graphics support for remote handling operations in complex working environments within the framework of a control, simulation and off-line programming system

    International Nuclear Information System (INIS)

    Kuehnapfel, U.

    1992-05-01

    The application independent simulation system KISMET was developed. This tool gives a different approach compared to previously existing robot simulators. A hierarchical data structure approach is used for the definition of workcell geometry, assembly topology and mechanism kinematics. This database structure allows for presentation of interactively selectable levels of detail and is, therefore, especially useful for real-time rigid body simulation of complex RH-scenarios. With KISMET, assembly structures can be modelled in any number of detail levels. Workcell geometry, assembly topology and mechanisms can be defined interactively by means of the integrated modeller. The mechanism simulation allows for kinematical tree structures with any number of joints, planar closed chains, and interconnections between joints. Examples of novel simulation methods, data structures, and algorithms are presented for selected examples: the hidden surface problem, graphical presentation techniques, collision testing, and control of scene cameras (image simulation, fast positioning and tracking). Special attention is paid to the real-time problem. The way this system was realized within the UNIX world is shown as an example for geometric and kinematic modelling techniques that grant for the optimum use of the capabilities of high-performance graphics workstations. A further chapter is focussing on the use of standard interfaces for CAD model transfer (CAD * I, STEP) and robot programming (IRDATA). Examples of practical KISMET applications for remote handling in fusion reactors, in a nuclear fuel element reprocessing cell and in sensor based robotics are used to present the developed methods. (orig.) [de

  15. [Remote Slit Lamp Microscope Consultation System Based on Web].

    Science.gov (United States)

    Chen, Junfa; Zhuo, Yong; Liu, Zuguo; Chen, Yanping

    2015-11-01

    To realize the remote operation of the slit lamp microscope for department of ophthalmology consultation, and visual display the real-time status of remote slit lamp microscope, a remote slit lamp microscope consultation system based on B/S structure is designed and implemented. Through framing the slit lamp microscope on the website system, the realtime acquisition and transmission of remote control and image data is realized. The three dimensional model of the slit lamp microscope is established and rendered on the web by using WebGL technology. The practical application results can well show the real-time interactive of the remote consultation system.

  16. Technology Development And Deployment Of Systems For The Retrieval And Processing Of Remote-Handled Sludge From Hanford K-West Fuel Storage Basin

    International Nuclear Information System (INIS)

    Raymond, R.E.

    2011-01-01

    In 2011, significant progress was made in developing and deploying technologies to remove, transport, and interim store remote-handled sludge from the 105-K West Fuel Storage Basin on the Hanford Site in south-central Washington State. The sludge in the 105-K West Basin is an accumulation of degraded spent nuclear fuel and other debris that collected during long-term underwater storage of the spent fuel. In 2010, an innovative, remotely operated retrieval system was used to successfully retrieve over 99.7% of the radioactive sludge from 10 submerged temporary storage containers in the K West Basin. In 2011, a full-scale prototype facility was completed for use in technology development, design qualification testing, and operator training on systems used to retrieve, transport, and store highly radioactive K Basin sludge. In this facility, three separate systems for characterizing, retrieving, pretreating, and processing remote-handled sludge were developed. Two of these systems were successfully deployed in 2011. One of these systems was used to pretreat knockout pot sludge as part of the 105-K West Basin cleanup. Knockout pot sludge contains pieces of degraded uranium fuel ranging in size from 600 μm to 6350 μm mixed with pieces of inert material, such as aluminum wire and graphite, in the same size range. The 2011 pretreatment campaign successfully removed most of the inert material from the sludge stream and significantly reduced the remaining volume of knockout pot product material. Removing the inert material significantly minimized the waste stream and reduced costs by reducing the number of transportation and storage containers. Removing the inert material also improved worker safety by reducing the number of remote-handled shipments. Also in 2011, technology development and final design were completed on the system to remove knockout pot material from the basin and transport the material to an onsite facility for interim storage. This system is scheduled

  17. Planning for Community Based Tourism in a Remote Location

    Directory of Open Access Journals (Sweden)

    Sharon Harwood

    2010-07-01

    Full Text Available Remote areas are difficult to access, tend to lack critical infrastructure, are highly susceptible to shocks in the marketplace, and are perceived by industry to possess limited development opportunities. Accordingly a community orientated and territorial approach to development planning in a remote area will be more successful than a top down industry based approach [1]. Given the limitations of being remote, the case study community examined in this research manages and sustains a bird watching tourism product within a global market place. This paper examines how a remotely located community in the Arfak Mountains of West Papua overcomes these difficulties and plans for community based tourism (CBT in their locale.

  18. A simple, remote, video based breathing monitor.

    Science.gov (United States)

    Regev, Nir; Wulich, Dov

    2017-07-01

    Breathing monitors have become the all-important cornerstone of a wide variety of commercial and personal safety applications, ranging from elderly care to baby monitoring. Many such monitors exist in the market, some, with vital signs monitoring capabilities, but none remote. This paper presents a simple, yet efficient, real time method of extracting the subject's breathing sinus rhythm. Points of interest are detected on the subject's body, and the corresponding optical flow is estimated and tracked using the well known Lucas-Kanade algorithm on a frame by frame basis. A generalized likelihood ratio test is then utilized on each of the many interest points to detect which is moving in harmonic fashion. Finally, a spectral estimation algorithm based on Pisarenko harmonic decomposition tracks the harmonic frequency in real time, and a fusion maximum likelihood algorithm optimally estimates the breathing rate using all points considered. The results show a maximal error of 1 BPM between the true breathing rate and the algorithm's calculated rate, based on experiments on two babies and three adults.

  19. Torus sector handling system

    International Nuclear Information System (INIS)

    Grisham, D.L.

    1981-01-01

    A remote handling system is proposed for moving a torus sector of the accelerator from under the cryostat to a point where it can be handled by a crane and for the reverse process for a new sector. Equipment recommendations are presented, as well as possible alignment schemes. Some general comments about future remote-handling methods and the present capabilities of existing systems will also be included. The specific task to be addressed is the removal and replacement of a 425 to 450 ton torus sector. This requires a horizontal movement of approx. 10 m from a normal operating position to a point where its further transport can be accomplished by more conventional means (crane or floor transporter). The same horizontal movement is required for reinstallation, but a positional tolerance of 2 cm is required to allow reasonable fit-up for the vacuum seal from the radial frames to the torus sector. Since the sectors are not only heavy but rather tall and narrow, the transport system must provide a safe, stable, and repeatable method fo sector movement. This limited study indicates that the LAMPF-based method of transporting torus sectors offers a proven method of moving heavy items. In addition, the present state of the art in remote equipment is adequate for FED maintenance

  20. Ground-Based Correction of Remote-Sensing Spectral Imagery

    Science.gov (United States)

    Alder-Golden, Steven M.; Rochford, Peter; Matthew, Michael; Berk, Alexander

    2007-01-01

    Software has been developed for an improved method of correcting for the atmospheric optical effects (primarily, effects of aerosols and water vapor) in spectral images of the surface of the Earth acquired by airborne and spaceborne remote-sensing instruments. In this method, the variables needed for the corrections are extracted from the readings of a radiometer located on the ground in the vicinity of the scene of interest. The software includes algorithms that analyze measurement data acquired from a shadow-band radiometer. These algorithms are based on a prior radiation transport software model, called MODTRAN, that has been developed through several versions up to what are now known as MODTRAN4 and MODTRAN5 . These components have been integrated with a user-friendly Interactive Data Language (IDL) front end and an advanced version of MODTRAN4. Software tools for handling general data formats, performing a Langley-type calibration, and generating an output file of retrieved atmospheric parameters for use in another atmospheric-correction computer program known as FLAASH have also been incorporated into the present soft-ware. Concomitantly with the soft-ware described thus far, there has been developed a version of FLAASH that utilizes the retrieved atmospheric parameters to process spectral image data.

  1. Gamma-ray spectrometry combined with acceptable knowledge (GSAK). A technique for characterization of certain remote-handled transuranic (RH-TRU) wastes. Part 1. Methodology and techniques

    International Nuclear Information System (INIS)

    Hartwell, J.K.; McIlwain, M.E.

    2005-01-01

    Gamma-ray spectrometry combined with acceptable knowledge (GSAK) is a technique for the characterization of certain remote-handled transuranic (RH-TRU) wastes. GSAK uses gamma-ray spectrometry to quantify a portion of the fission product inventory of RH-TRU wastes. These fission product results are then coupled with calculated inventories derived from acceptable process knowledge to characterize the radionuclide content of the assayed wastes. GSAK has been evaluated and tested through several test exercises. GSAK approach is described, while test results are presented in Part II. (author)

  2. Gamma-ray spectrometry combined with acceptable knowledge (GSAK). A technique for characterization of certain remote-handled transuranic (RH-TRU) wastes. Part 2. Testing and results

    International Nuclear Information System (INIS)

    Hartwell, J.K.; McIlwain, M.E.

    2005-01-01

    Gamma-ray spectrometry combined with acceptable knowledge (GSAK) is a technique for the characterization of certain remote-handled transuranic (RH-TRU) wastes. GSAK uses gamma-ray spectrometry to quantify a portion of the fission product inventory of RH-TRU wastes. These fission product results are then coupled with calculated inventories derived from acceptable process knowledge to characterize the radionuclide content of the assayed wastes. GSAK has been evaluated and tested through several test exercises. These tests and their results are described; while the former paper in this issue presents the methodology, equipment and techniques. (author)

  3. An Interactive Web-Based Analysis Framework for Remote Sensing Cloud Computing

    Science.gov (United States)

    Wang, X. Z.; Zhang, H. M.; Zhao, J. H.; Lin, Q. H.; Zhou, Y. C.; Li, J. H.

    2015-07-01

    Spatiotemporal data, especially remote sensing data, are widely used in ecological, geographical, agriculture, and military research and applications. With the development of remote sensing technology, more and more remote sensing data are accumulated and stored in the cloud. An effective way for cloud users to access and analyse these massive spatiotemporal data in the web clients becomes an urgent issue. In this paper, we proposed a new scalable, interactive and web-based cloud computing solution for massive remote sensing data analysis. We build a spatiotemporal analysis platform to provide the end-user with a safe and convenient way to access massive remote sensing data stored in the cloud. The lightweight cloud storage system used to store public data and users' private data is constructed based on open source distributed file system. In it, massive remote sensing data are stored as public data, while the intermediate and input data are stored as private data. The elastic, scalable, and flexible cloud computing environment is built using Docker, which is a technology of open-source lightweight cloud computing container in the Linux operating system. In the Docker container, open-source software such as IPython, NumPy, GDAL, and Grass GIS etc., are deployed. Users can write scripts in the IPython Notebook web page through the web browser to process data, and the scripts will be submitted to IPython kernel to be executed. By comparing the performance of remote sensing data analysis tasks executed in Docker container, KVM virtual machines and physical machines respectively, we can conclude that the cloud computing environment built by Docker makes the greatest use of the host system resources, and can handle more concurrent spatial-temporal computing tasks. Docker technology provides resource isolation mechanism in aspects of IO, CPU, and memory etc., which offers security guarantee when processing remote sensing data in the IPython Notebook. Users can write

  4. Hazard Control Extensions in a COTS Based Data Handling System

    Science.gov (United States)

    Vogel, Torsten; Rakers, Sven; Gronowski, Matthias; Schneegans, Joachim

    2011-08-01

    EML is an electromagnetic levitator for containerless processing of conductive samples on the International Space Station. This material sciences experiment is running in the European Drawer Rack (EDR) facility. The objective of this experiment is to gain insight into the parameters of liquid metal samples and their crystallisation processes without the influence of container walls. To this end the samples are electromagnetically positioned in a coil system and then heated up beyond their melting point in an ultraclean environment.The EML programme is currently under development by Astrium Space Transportation in Friedrichshafen and Bremen; jointly funded by ESA and DLR (on behalf of BMWi, contract 50WP0808). EML consists of four main modules listed in Table 1. The paper focuses mainly on the architecture and design of the ECM module and its contribution to a safe operation of the experiment. The ECM is a computer system that integrates the power supply to the EML experiment, control functions and video handling and compression features. Experiment control is performed by either telecommand or the execution of predefined experiment scripts.

  5. The use of virtual reality and intelligent database systems for procedure planning, visualisation, and real-time component tracking in remote handling operations

    International Nuclear Information System (INIS)

    Robbins, Edward; Sanders, Stephen; Williams, Adrian; Allan, Peter

    2009-01-01

    The organisation of remote handling (RH) operations in fusion environments is increasingly critical as the number of tasks, components and tooling that RH operations teams must deal with inexorably rises. During the recent JET EP1 RH shutdown the existing virtual reality (VR) and procedural database systems proved essential for visualisation and tracking of operations, particularly due to the increasing complexity of remote tasks. A new task planning system for RH operations is in development, and is expected to be ready for use during the next major shutdown, planned for 2009. The system will make use of information available from the remote operations procedures, the RH equipment human-machine interfaces, the on-line RH equipment control systems and also the virtual reality (VR) system to establish a complete database for the location of plant items and RH equipment as RH operations progress. It is intended that the system be used during both preparation and implementation of shutdowns. In the preparations phase the system can be used to validate procedures and overall logistics by allowing an operator to increment through each operation step and to use the VR system to visualise the location and status of all components, manipulators and RH tools. During task development the RH operations engineers can plan and visualise movement of components and tooling to examine handling concepts and establish storage requirements. In the implementation of operations the daily work schedules information will be integrated with the RH operations procedures tracking records to enable the VR system to provide a visual representation of the status of remote operations in real time. Monitoring of the usage history of items will allow estimates of radiation dosage and contaminant exposure to be made. This paper describes the overall aims, structure and use of the system, discusses its application to JET and also considers potential future developments.

  6. Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

    International Nuclear Information System (INIS)

    Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

    2001-01-01

    This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

  7. Setting up and managing a remote maintenance operation for fusion

    International Nuclear Information System (INIS)

    Haist, Bernhard

    2008-01-01

    Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development. - Remote handling task logistics and resource management. - Command, control and human-machine interface system. - Viewing and camera systems. - Virtual reality and Augmented Reality software. - Automatic path planning and collision avoidance. - Remote transfer of heavy loads. - Maintainability of RH equipment. - Reliability, redundant systems and safety. - Rationalisation and modularity in both hardware and software. - Recovery from failure modes. - Condition monitoring and fault detection/prediction. - Ability to deal with unforeseen problems. Oxford Technologies Ltd. has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd. also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET remote handling experience and the ITER Hot Cell design and layout are given throughout this paper

  8. Setting up and managing a remote maintenance operation for fusion

    International Nuclear Information System (INIS)

    Haist, B.

    2007-01-01

    Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development - Remote handling task logistics and resource management - Command, control and human-machine interface system - Viewing and camera systems - Virtual Reality and Augmented Reality software - Automatic path planning and collision avoidance - Remote transfer of heavy loads - Maintainability of RH Equipment - Reliability, redundant systems and safety - Rationalisation and modularity in both hardware and software - Recovery from failure modes - Condition monitoring and fault detection/prediction - Ability to deal with unforeseen problems Oxford Technologies Ltd has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET Remote Handling experience and the ITER Hot Cell design and layout are given throughout this paper. (orig.)

  9. Setting up and managing a remote maintenance operation for fusion

    Energy Technology Data Exchange (ETDEWEB)

    Haist, Bernhard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon, Oxon OX14 1RJ (United Kingdom)], E-mail: Bernhard.Haist@oxfordtechnologies.co.uk

    2008-12-15

    Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development. - Remote handling task logistics and resource management. - Command, control and human-machine interface system. - Viewing and camera systems. - Virtual reality and Augmented Reality software. - Automatic path planning and collision avoidance. - Remote transfer of heavy loads. - Maintainability of RH equipment. - Reliability, redundant systems and safety. - Rationalisation and modularity in both hardware and software. - Recovery from failure modes. - Condition monitoring and fault detection/prediction. - Ability to deal with unforeseen problems. Oxford Technologies Ltd. has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd. also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET remote handling experience and the ITER Hot Cell design and layout are given throughout this paper.

  10. Remote Laboratory Java Server Based on JACOB Project

    Directory of Open Access Journals (Sweden)

    Pavol Bisták

    2011-02-01

    Full Text Available Remote laboratories play an important role in the educational process of engineers. This paper deals with the structure of remote laboratories. The principle of the proposed remote laboratory structure is based on the Java server application that communicates with Matlab through the COM technology for the data exchange under the Windows operating system. Java does not support COM directly so the results of the JACOB project are used and modified to cope with this problem. In laboratories for control engineering education a control algorithm usually runs on a PC with Matlab that really controls the real plant. This is the server side described in the paper in details. To demonstrate the possibilities of a remote control a Java client server application is also introduced. It covers communication and offers a user friendly interface for the control of a remote plant and visualization of measured data.

  11. Constrained Optimization Based on Hybrid Evolutionary Algorithm and Adaptive Constraint-Handling Technique

    DEFF Research Database (Denmark)

    Wang, Yong; Cai, Zixing; Zhou, Yuren

    2009-01-01

    A novel approach to deal with numerical and engineering constrained optimization problems, which incorporates a hybrid evolutionary algorithm and an adaptive constraint-handling technique, is presented in this paper. The hybrid evolutionary algorithm simultaneously uses simplex crossover and two...... mutation operators to generate the offspring population. Additionally, the adaptive constraint-handling technique consists of three main situations. In detail, at each situation, one constraint-handling mechanism is designed based on current population state. Experiments on 13 benchmark test functions...... and four well-known constrained design problems verify the effectiveness and efficiency of the proposed method. The experimental results show that integrating the hybrid evolutionary algorithm with the adaptive constraint-handling technique is beneficial, and the proposed method achieves competitive...

  12. Remote condition-based monitoring of turbines

    International Nuclear Information System (INIS)

    2005-01-01

    specific point in time; Timewave: Amount of motion and symmetry of wave shape (i.e., a truncated wave can be an indication of a rub); Orbits: A cross-sectional view of shaft movement; DC Gap Voltage: A measurement of the distance (e.g., gap) between the shaft and the proximity probes. This value is useful in determining bearing wear of shaft centerline location. Daily monitoring of these metrics will not only warn of impending failure, but provide valuable information regarding the possible cause of the impending failure and an approximate indication of time to failure. In the event of a sudden problem and subsequent trip of a turbine, this data helps determine the root cause of the failure. This results in faster problem resolution and a quicker restart of the turbine. Additionally, daily monitoring of these metrics allows companies to watch a problematic turbine's health until the next scheduled outage. Azima's remote, condition-based monitoring system and diagnostics service is an effective way to collect and trend these metrics on a daily basis, as well as supply expert advice in the event of any anomalies. The Azima system aggregates the analog data from the proximity probes mounted on the turbine at a sensor hub. The sensor hub digitizes the analog data and then, either wirelessly or through a wired Ethernet connection, sends the data via the Internet to a hosted server. The hosted server maintains the software that trends the data (e.g., vibration, spectrum, timewave, DC gap voltage, and orbits) and provides automatic alerting. The data can be accessed anywhere, anytime through a standard Web browser. The advantages of daily, remote, condition-based monitoring include: Daily monitoring of vital turbine health metrics to detect impending problems before they become critical; Automatic alerting when a change in condition is detected; Anywhere, anytime access via a standard Web browser. This allows multiple groups at different locations to simultaneously review and

  13. General Guidelines for Remote Operation and Maintenance of Pyroprocess Equipment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, S. H.; Park, B. S.; Park, H. S.; Lee, H. J.; Choi, C. W.; Lee, J. K

    2007-12-15

    As the pyroprocess handle the high radioactive materials, a high radioactive material handling facility required high safety, radioactive shielding, strict quality control, and the remote handling equipment of high technology. This report describes the guidelines of for pyroprocess based the design guides for radioactive material handling facility and equipment from American Nuclear Society(ANS), design guidelines for remotely maintained equipment from Oak Ridge National Laboratory(ORNL), and the experience of design for ACP equipment installed at the ACPF(Advanced Conditioning Process Facility). The General guidelines in this report are as follows. The General guidelines for remote operation and maintenance of pyroprocess equipment: Pyroprocess, Remote handling equipment for pyroprocess, General guide for remote operation and maintenance, general guidelines for the design of remotely operated and maintained equipment, Estimation and analysis for remote maintenance.

  14. Manual handling methods evaluation based on oxygen consumption

    Science.gov (United States)

    Nurmianto, E.; Ciptomulyono, U.; Suparno; Kromodihardjo, S.; Setijono, H.; Arief, N. A.

    2018-04-01

    Mining industry has become one of the largest industries in Indonesia, now competing in billions dollar market, with numbers people employed. Deliveries of a Return Rolls (RR) involve the use of a hand truck and, in many cases, a shoulder/elbow-mode of carriage. Workers usually prefer to the Gendong (carrying on the small of the back or the hip, supported by the waist and arm) mode or Manggul (carrying on some stuff shoulder) mode, because they feel safer by carrying RR on the shoulder/elbow. In this study, the physiological workload involved in shoulder/elbow-mode carrying was investigated, especially focusing on the effects of load weight and inclination. To measure heart rate and oxygen uptake while carrying on the shoulder/elbow, a laboratory experiment was conducted and safety guidelines for such tasks were proposed, based on the experimental results. Four healthy male subjects performed shoulder/elbow-mode carrying, weight between 20 and 24 kg: (1) on inclination of 10o, (2) 20o and (3) 30o. The results showed that inclination involved an increased physiological burden, and that a load of 24 kg entailed a significantly higher physiological cost than carrying a load of 20 kg. Although shoulder/elbow-mode carrying has some advantages, the worker should be advised to carry a load of less than 20 kg, to avoid a high physiological load. During shoulder/elbow-mode carrying, it is also recommended that a person prepare more training in order to have muscular strength.

  15. ARM Processor Based Embedded System for Remote Data Acquisition

    OpenAIRE

    Raj Kumar Tiwari; Santosh Kumar Agrahari

    2014-01-01

    The embedded systems are widely used for the data acquisition. The data acquired may be used for monitoring various activity of the system or it can be used to control the parts of the system. Accessing various signals with remote location has greater advantage for multisite operation or unmanned systems. The remote data acquisition used in this paper is based on ARM processor. The Cortex M3 processor used in this system has in-built Ethernet controller which facilitate to acquire the remote ...

  16. Human-factors-based implementation of the remote characterization system high-level control station

    International Nuclear Information System (INIS)

    Noakes, M.W.; Richardson, B.S.; Rowe, J.C.; Draper, J.V.; Sandness, G.R.

    1993-01-01

    The detection and characterization of buried objects and materials is an important first step in the restoration of the numerous US Department of Energy (DOE) and US Department of Defense waste disposal sites. DOE, through its Environmental Restoration and Waste Management Robotics and Technology Development Program, has developed the Remote Characterization System (RCS) to address the needs of remote subsurfacecharacterization. The RCS consists of a low-metal-content (low-metallic-signature) remotely piloted vehicle, a high-level control station (HLCS) where operators can remotely control the vehicle and analyze real-time data from sensors, and an array of sensors that can be chosen to meet the survey task at hand. Communication between the vehicle and the base station is handled by a radio link. Site mapping is made possible through the use of geopositioning satellite data. The primary mode of vehicle operation is teleoperation, but provision has been made for semiautonomous or supervisory control that allows for automated sitesurvey on simple sites. Data analysis and display is supported for both real-time observation and postprocessing of data. The particular emphasis of this paper documents the human-factors-based design influences on the HLCS and describes the design in detail

  17. Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

    Science.gov (United States)

    1985-01-01

    The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

  18. A Remote Registration Based on MIDAS

    Science.gov (United States)

    JIN, Xin

    2017-04-01

    We often need for software registration to protect the interests of the software developers. This article narrated one kind of software long-distance registration technology. The registration method is: place the registration information in a database table, after the procedure starts in check table registration information, if it has registered then the procedure may the normal operation; Otherwise, the customer must input the sequence number and registers through the network on the long-distance server. If it registers successfully, then records the registration information in the database table. This remote registration method can protect the rights of software developers.

  19. Model-based design of supervisory controllers for baggage handling systems

    NARCIS (Netherlands)

    Swartjes, L.; van Beek, D.A.; Fokkink, W.J.; van Eekelen, J.A.W.M.

    2017-01-01

    The complexity of airport baggage handling systems in combination with the required high level of robustness makes designing supervisory controllers for these systems a challenging task. We show how a state of the art, formal, model-based design framework has been successfully used for model-based

  20. Evaluation of Groundwater Impacts to Support the National Environmental Policy Act Environmental Assessment for the INL Remote-Handled Low-Level Waste Disposal Project

    Energy Technology Data Exchange (ETDEWEB)

    Annette Schafer, Arthur S. Rood, A. Jeffrey Sondrup

    2011-12-23

    Groundwater impacts have been analyzed for the proposed remote-handled low-level waste disposal facility. The analysis was prepared to support the National Environmental Policy Act environmental assessment for the top two ranked sites for the proposed disposal facility. A four-phase screening and analysis approach was documented and applied. Phase I screening was site independent and applied a radionuclide half-life cut-off of 1 year. Phase II screening applied the National Council on Radiation Protection analysis approach and was site independent. Phase III screening used a simplified transport model and site-specific geologic and hydrologic parameters. Phase III neglected the infiltration-reducing engineered cover, the sorption influence of the vault system, dispersion in the vadose zone, vertical dispersion in the aquifer, and the release of radionuclides from specific waste forms. These conservatisms were relaxed in the Phase IV analysis which used a different model with more realistic parameters and assumptions. Phase I screening eliminated 143 of the 246 radionuclides in the inventory from further consideration because each had a half-life less than 1 year. An additional 13 were removed because there was no ingestion dose coefficient available. Of the 90 radionuclides carried forward from Phase I, 57 radionuclides had simulated Phase II screening doses exceeding 0.4 mrem/year. Phase III and IV screening compared the maximum predicted radionuclide concentration in the aquifer to maximum contaminant levels. Of the 57 radionuclides carried forward from Phase II, six radionuclides were identified in Phase III as having simulated future aquifer concentrations exceeding maximum contaminant limits. An additional seven radionuclides had simulated Phase III groundwater concentrations exceeding 1/100th of their respective maximum contaminant levels and were also retained for Phase IV analysis. The Phase IV analysis predicted that none of the thirteen remaining

  1. Remote Sensing Image Classification Based on Stacked Denoising Autoencoder

    Directory of Open Access Journals (Sweden)

    Peng Liang

    2017-12-01

    Full Text Available Focused on the issue that conventional remote sensing image classification methods have run into the bottlenecks in accuracy, a new remote sensing image classification method inspired by deep learning is proposed, which is based on Stacked Denoising Autoencoder. First, the deep network model is built through the stacked layers of Denoising Autoencoder. Then, with noised input, the unsupervised Greedy layer-wise training algorithm is used to train each layer in turn for more robust expressing, characteristics are obtained in supervised learning by Back Propagation (BP neural network, and the whole network is optimized by error back propagation. Finally, Gaofen-1 satellite (GF-1 remote sensing data are used for evaluation, and the total accuracy and kappa accuracy reach 95.7% and 0.955, respectively, which are higher than that of the Support Vector Machine and Back Propagation neural network. The experiment results show that the proposed method can effectively improve the accuracy of remote sensing image classification.

  2. Customers' attributional judgments towards complaint handling in airline service: a confirmatory study based on attribution theory.

    Science.gov (United States)

    Chiou, Wen-Bin

    2007-06-01

    Besides flight safety, complaint handling plays a crucial role in airline service. Based upon Kelley's attribution theory, in the present study customers' attributions were examined under different conditions of complaint handling by the airlines. There were 531 passengers (216 women; ages 21 to 63 years, M = 41.5, SD = 11.1) with experiences of customer complaints who were recruited while awaiting boarding. Participants received one hypothetical scenario of three attributional conditions about complaint handling and then reported their attributional judgments. The findings indicated that the passengers were most likely to attribute the company's complaint handling to unconditional compliance when the airline company reacted to customer complaints under low distinctiveness, high consistency, and when consensus among the airlines was low. On the other hand, most passengers attributed the company's complaint handling to conditional compliance under the conditions in which distinctiveness, consistency, and consensus were all high. The results provide further insights into how different policies of complaint management affect customers' attributions. Future directions and managerial implications are also discussed.

  3. Remote control of microcontroller-based infant stimulating system.

    Science.gov (United States)

    Burunkaya, M; Güler, I

    2000-04-01

    In this paper, a remote-controlled and microcontroller-based cradle is designed and constructed. This system is also called Remote Control of Microcontroller-Based Infant Stimulation System or the RECOMBIS System. Cradle is an infant stimulating system that provides relaxation and sleeping for the baby. RECOMBIS system is designed for healthy full-term newborns to provide safe infant care and provide relaxation and sleeping for the baby. A microcontroller-based electronic circuit was designed and implemented for RECOMBIS system. Electromagnets were controlled by 8-bit PIC16F84 microcontroller, which is programmed using MPASM package. The system works by entering preset values from the keyboard, or pulse code modulated radio frequency remote control system. The control of the system and the motion range were tested. The test results showed that the system provided a good performance.

  4. AN INTERACTIVE WEB-BASED ANALYSIS FRAMEWORK FOR REMOTE SENSING CLOUD COMPUTING

    Directory of Open Access Journals (Sweden)

    X. Z. Wang

    2015-07-01

    Full Text Available Spatiotemporal data, especially remote sensing data, are widely used in ecological, geographical, agriculture, and military research and applications. With the development of remote sensing technology, more and more remote sensing data are accumulated and stored in the cloud. An effective way for cloud users to access and analyse these massive spatiotemporal data in the web clients becomes an urgent issue. In this paper, we proposed a new scalable, interactive and web-based cloud computing solution for massive remote sensing data analysis. We build a spatiotemporal analysis platform to provide the end-user with a safe and convenient way to access massive remote sensing data stored in the cloud. The lightweight cloud storage system used to store public data and users’ private data is constructed based on open source distributed file system. In it, massive remote sensing data are stored as public data, while the intermediate and input data are stored as private data. The elastic, scalable, and flexible cloud computing environment is built using Docker, which is a technology of open-source lightweight cloud computing container in the Linux operating system. In the Docker container, open-source software such as IPython, NumPy, GDAL, and Grass GIS etc., are deployed. Users can write scripts in the IPython Notebook web page through the web browser to process data, and the scripts will be submitted to IPython kernel to be executed. By comparing the performance of remote sensing data analysis tasks executed in Docker container, KVM virtual machines and physical machines respectively, we can conclude that the cloud computing environment built by Docker makes the greatest use of the host system resources, and can handle more concurrent spatial-temporal computing tasks. Docker technology provides resource isolation mechanism in aspects of IO, CPU, and memory etc., which offers security guarantee when processing remote sensing data in the IPython Notebook

  5. EEVADO-ontology based construction of a knowledge based system for handling radiation emergency

    International Nuclear Information System (INIS)

    Datta, D.; Hegde, A.G.

    2001-01-01

    The basic aim of handling a radiation emergency is to protect the site personnel and public in the off-site areas. Hence it is required to assess the accident to develop the protective action recommendations for the site personnel, members of the public and emergency workers. An explanation facility is required to analyze the emergency situation and make needful decision. Algorithmic based software cannot provide this support as it does not have any such facility. A knowledge based system (KBS) obviously would act as a special purpose intelligent agent on behalf or at the behest of the emergency organization. Knowledge of the KBS has been elicited on the basis of ontology, a set of definitions of classes, objects, attributes, relations and constraints. Ontology provides a vocabulary for the expression of domain knowledge. The present paper discusses the development and utility of a knowledge based system - EEVADO (Emergency Evaluation and Dosimetry). The present software is verified and validated by ontology and by conducting Desktop Exercise in training program on Emergency Preparedness. (author)

  6. NET remote workstation

    International Nuclear Information System (INIS)

    Leinemann, K.

    1990-10-01

    The goal of this NET study was to define the functionality of a remote handling workstation and its hardware and software architecture. The remote handling workstation has to fulfill two basic functions: (1) to provide the man-machine interface (MMI), that means the interface to the control system of the maintenance equipment and to the working environment (telepresence) and (2) to provide high level (task level) supporting functions (software tools) during the maintenance work and in the preparation phase. Concerning the man-machine interface, an important module of the remote handling workstation besides the standard components of man-machine interfacing is a module for graphical scene presentation supplementing viewing by TV. The technique of integrated viewing is well known from JET BOOM and TARM control using the GBsim and KISMET software. For integration of equipment dependent MMI functions the remote handling workstation provides a special software module interface. Task level support of the operator is based on (1) spatial (geometric/kinematic) models, (2) remote handling procedure models, and (3) functional models of the equipment. These models and the related simulation modules are used for planning, programming, execution monitoring, and training. The workstation provides an intelligent handbook guiding the operator through planned procedures illustrated by animated graphical sequences. For unplanned situations decision aids are available. A central point of the architectural design was to guarantee a high flexibility with respect to hardware and software. Therefore the remote handling workstation is designed as an open system based on widely accepted standards allowing the stepwise integration of the various modules starting with the basic MMI and the spatial simulation as standard components. (orig./HP) [de

  7. Feature-based handling of surface faults in compact disc players

    DEFF Research Database (Denmark)

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2006-01-01

    In this paper a novel method called feature-based control is presented. The method is designed to improve compact disc players’ handling of surface faults on the discs. The method is based on a fault-tolerant control scheme, which uses extracted features of the surface faults to remove those from...... the detector signals used for control during the occurrence of surface faults. The extracted features are coefficients of Karhunen–Loève approximations of the surface faults. The performance of the feature-based control scheme controlling compact disc players playing discs with surface faults has been...... validated experimentally. The proposed scheme reduces the control errors due to the surface faults, and in some cases where the standard fault handling scheme fails, our scheme keeps the CD-player playing....

  8. A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3D model morphing

    International Nuclear Information System (INIS)

    Kiviranta, Sauli; Saarinen, Hannu; Maekinen, Harri; Krassi, Boris

    2011-01-01

    A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant 'DTP2 test facility operation and upgrade preparation', the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due to its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-m long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.

  9. Handling a challenging context: experiences of facilitating evidence-based elderly care.

    Science.gov (United States)

    Nygårdh, Annette; Ahlström, Gerd; Wann-Hansson, Christine

    2016-03-01

    To explore improvement facilitators' experiences of handling their commission to implement evidence-based practice in elderly care for frail older persons. Improvement facilitators were put in place across Sweden in a time-limited project by the government, with one part of the project being to evaluate the model before establishing this facilitation of evidence-based practice in elderly care. Two focus groups were interviewed twice. Each group comprised three respondents. The interviews were analysed using qualitative content analysis. A main theme, 'Moving forward by adjusting to the circumstances', described how the improvement facilitators handle their commitment. Five subthemes emerged: identifying barriers, keeping focus, maintaining motivation, building bridges and finding balance. The improvement facilitators' commitment is ambiguous because of unclear leadership of, and responsibility for the national investment. They have to handle leaders' different approaches and justify the need for evidence-based practice. The improvement facilitators did not reflect on the impact of programme adaptations on evidence-based practice. The findings emphasise the need for collaboration between the improvement facilitator and the nurse manager. To fully implement evidence-based practice, negotiations with current practitioners for adaptation to local conditions are necessary. Furthermore, the value of improving organisational performance needs to be rigorously communicated throughout the organisation. © 2015 The Authors. Journal of Nursing Management Published by John Wiley & Sons Ltd.

  10. A remote laboratory for USRP-based software defined radio

    Science.gov (United States)

    Gandhinagar Ekanthappa, Rudresh; Escobar, Rodrigo; Matevossian, Achot; Akopian, David

    2014-02-01

    Electrical and computer engineering graduates need practical working skills with real-world electronic devices, which are addressed to some extent by hands-on laboratories. Deployment capacity of hands-on laboratories is typically constrained due to insufficient equipment availability, facility shortages, and lack of human resources for in-class support and maintenance. At the same time, at many sites, existing experimental systems are usually underutilized due to class scheduling bottlenecks. Nowadays, online education gains popularity and remote laboratories have been suggested to broaden access to experimentation resources. Remote laboratories resolve many problems as various costs can be shared, and student access to instrumentation is facilitated in terms of access time and locations. Labs are converted to homeworks that can be done without physical presence in laboratories. Even though they are not providing full sense of hands-on experimentation, remote labs are a viable alternatives for underserved educational sites. This paper studies remote modality of USRP-based radio-communication labs offered by National Instruments (NI). The labs are offered to graduate and undergraduate students and tentative assessments support feasibility of remote deployments.

  11. Remote sensing image segmentation based on Hadoop cloud platform

    Science.gov (United States)

    Li, Jie; Zhu, Lingling; Cao, Fubin

    2018-01-01

    To solve the problem that the remote sensing image segmentation speed is slow and the real-time performance is poor, this paper studies the method of remote sensing image segmentation based on Hadoop platform. On the basis of analyzing the structural characteristics of Hadoop cloud platform and its component MapReduce programming, this paper proposes a method of image segmentation based on the combination of OpenCV and Hadoop cloud platform. Firstly, the MapReduce image processing model of Hadoop cloud platform is designed, the input and output of image are customized and the segmentation method of the data file is rewritten. Then the Mean Shift image segmentation algorithm is implemented. Finally, this paper makes a segmentation experiment on remote sensing image, and uses MATLAB to realize the Mean Shift image segmentation algorithm to compare the same image segmentation experiment. The experimental results show that under the premise of ensuring good effect, the segmentation rate of remote sensing image segmentation based on Hadoop cloud Platform has been greatly improved compared with the single MATLAB image segmentation, and there is a great improvement in the effectiveness of image segmentation.

  12. Attacks on Heartbeat-Based Security Using Remote Photoplethysmography.

    Science.gov (United States)

    Seepers, Robert Mark; Wang, Wenjin; de Haan, Gerard; Sourdis, Ioannis; Strydis, Christos

    2018-05-01

    The time interval between consecutive heartbeats (interpulse interval, IPI) has previously been suggested for securing mobile-health solutions. This time interval is known to contain a degree of randomness, permitting the generation of a time- and person-specific identifier. It is commonly assumed that only devices trusted by a person can make physical contact with him/her, and that this physical contact allows each device to generate a similar identifier based on its own cardiac recordings. Under these conditions, the identifiers generated by different trusted devices can facilitate secure authentication. Recently, a wide range of techniques have been proposed for measuring heartbeats remotely, a prominent example of which is remote photoplethysmography (rPPG). These techniques may pose a significant threat to heartbeat-based security, as an adversary may pretend to be a trusted device by generating a similar identifier without physical contact, thus bypassing one of the core security conditions. In this paper, we assess the feasibility of such remote attacks using state-of-the-art rPPG methods. Our evaluation shows that rPPG has similar accuracy as contact PPG and, thus, forms a substantial threat to heartbeat-based-security systems that permit trusted devices to obtain their identifiers from contact PPG recordings. Conversely, rPPG cannot obtain an accurate representation of an identifier generated from electrical cardiac signals, making the latter invulnerable to state-of-the-art remote attacks.

  13. A stereo remote sensing feature selection method based on artificial bee colony algorithm

    Science.gov (United States)

    Yan, Yiming; Liu, Pigang; Zhang, Ye; Su, Nan; Tian, Shu; Gao, Fengjiao; Shen, Yi

    2014-05-01

    To improve the efficiency of stereo information for remote sensing classification, a stereo remote sensing feature selection method is proposed in this paper presents, which is based on artificial bee colony algorithm. Remote sensing stereo information could be described by digital surface model (DSM) and optical image, which contain information of the three-dimensional structure and optical characteristics, respectively. Firstly, three-dimensional structure characteristic could be analyzed by 3D-Zernike descriptors (3DZD). However, different parameters of 3DZD could descript different complexity of three-dimensional structure, and it needs to be better optimized selected for various objects on the ground. Secondly, features for representing optical characteristic also need to be optimized. If not properly handled, when a stereo feature vector composed of 3DZD and image features, that would be a lot of redundant information, and the redundant information may not improve the classification accuracy, even cause adverse effects. To reduce information redundancy while maintaining or improving the classification accuracy, an optimized frame for this stereo feature selection problem is created, and artificial bee colony algorithm is introduced for solving this optimization problem. Experimental results show that the proposed method can effectively improve the computational efficiency, improve the classification accuracy.

  14. Radiological Characterization Methodology for INEEL-Stored Remote-Handled Transuranic (RH TRU) Waste from Argonne National Laboratory-East

    International Nuclear Information System (INIS)

    Kuan, P.; Bhatt, R.N.

    2003-01-01

    An Acceptable Knowledge (AK)-based radiological characterization methodology is being developed for RH TRU waste generated from ANL-E hot cell operations performed on fuel elements irradiated in the EBR-II reactor. The methodology relies on AK for composition of the fresh fuel elements, their irradiation history, and the waste generation and collection processes. Radiological characterization of the waste involves the estimates of the quantities of significant fission products and transuranic isotopes in the waste. Methods based on reactor and physics principles are used to achieve these estimates. Because of the availability of AK and the robustness of the calculation methods, the AK-based characterization methodology offers a superior alternative to traditional waste assay techniques. Using the methodology, it is shown that the radiological parameters of a test batch of ANL-E waste is well within the proposed WIPP Waste Acceptance Criteria limits

  15. Executable specifications for hypothesis-based reasoning with Prolog and Constraint Handling Rules

    DEFF Research Database (Denmark)

    Christiansen, Henning

    2009-01-01

    Constraint Handling Rules (CHR) is an extension to Prolog which opens up a  spectrum of hypotheses-based reasoning in logic programs without additional interpretation overhead. Abduction with integrity constraints is one example of hypotheses-based reasoning which can be implemented directly...... in Prolog and CHR with a straightforward use of available and efficiently implemented facilities The present paper clarifies the semantic foundations for this way of doing abduction in CHR and Prolog as well as other examples  of hypotheses-based reasoning that is possible, including assumptive logic...

  16. Renewable based hydrogen energy projects in remote and island communities

    International Nuclear Information System (INIS)

    Miles, S.; Gillie, M.

    2009-01-01

    Task 18 working group of the International Energy Agency's Hydrogen Implementing Agreement has been evaluating and documenting experiences with renewable based hydrogen energy projects in remote and island communities in the United Kingdom, Canada, Norway, Iceland, Gran Canaria, Spain and New Zealand. The objective was to examine the lessons learned from existing projects and provide recommendations regarding the effective development of hydrogen systems. In order to accomplish this task, some of the drivers behind the niche markets where hydrogen systems have already been developed, or are in the development stages, were studied in order to determine how these could be expanded and modified to reach new markets. Renewable based hydrogen energy projects for remote and island communities are currently a key niche market. This paper compared various aspects of these projects and discussed the benefits, objectives and barriers facing the development of a hydrogen-based economy

  17. VME-based remote instrument control without ground loops

    CERN Document Server

    Belleman, J; González, J L

    1997-01-01

    New electronics has been developed for the remote control of the pick-up electrodes at the CERN Proton Synchrotron (PS). Communication between VME-based control computers and remote equipment is via full duplex point-to-point digital data links. Data are sent and received in serial format over simple twisted pairs at a rate of 1 Mbit/s, for distances of up to 300 m. Coupling transformers are used to avoid ground loops. The link hardware consists of a general-purpose VME-module, the 'TRX' (transceiver), containing four FIFO-buffered communication channels, and a dedicated control card for each remote station. Remote transceiver electronics is simple enough not to require micro-controllers or processors. Currently, some sixty pick-up stations of various types, all over the PS Complex (accelerators and associated beam transfer lines) are equipped with the new system. Even though the TRX was designed primarily for communication with pick-up electronics, it could also be used for other purposes, for example to for...

  18. Optimization of Microgrids at Military Remote Base Camps

    Science.gov (United States)

    2017-12-01

    the four primary technology areas for 2016 was “energy storage technology for mobile electric micro-grid applications” [12]. 4 Figure 1.3. Typical...providing electrical power to a remote U.S. contingency base. The first program minimizes the total cost of electricity production and the second program...battlefield and at home are a high priority for the U.S. military. We present twomixed integer linear programs developed for amicrogrid providing electrical

  19. Equipment for the handling of thorium materials

    International Nuclear Information System (INIS)

    Heisler, S.W. Jr.; Mihalovich, G.S.

    1988-01-01

    The Feed Materials Production Center (FMPC) is the United States Department of Energy's storage facility for thorium. FMPC thorium handling and overpacking projects ensure the continued safe handling and storage of the thorium inventory until final disposition of the materials is determined and implemented. The handling and overpacking of the thorium materials requires the design of a system that utilizes remote handling and overpacking equipment not currently utilized at the FMPC in the handling of uranium materials. The use of remote equipment significantly reduces radiation exposure to personnel during the handling and overpacking efforts. The design system combines existing technologies from the nuclear industry, the materials processing and handling industry and the mining industry. The designed system consists of a modified fork lift truck for the transport of thorium containers, automated equipment for material identification and inventory control, and remote handling and overpacking equipment for material identification and inventory control, and remote handling and overpacking equipment for repackaging of the thorium materials

  20. Summary of Conceptual Models and Data Needs to Support the INL Remote-Handled Low-Level Waste Disposal Facility Performance Assessment and Composite Analysis

    International Nuclear Information System (INIS)

    Sondrup, A. Jeff; Schafter, Annette L.; Rood, Arthur S.

    2010-01-01

    An overview of the technical approach and data required to support development of the performance assessment, and composite analysis are presented for the remote handled low-level waste disposal facility on-site alternative being considered at Idaho National Laboratory. Previous analyses and available data that meet requirements are identified and discussed. Outstanding data and analysis needs are also identified and summarized. The on-site disposal facility is being evaluated in anticipation of the closure of the Radioactive Waste Management Complex at the INL. An assessment of facility performance and of the composite performance are required to meet the Department of Energy's Low-Level Waste requirements (DOE Order 435.1, 2001) which stipulate that operation and closure of the disposal facility will be managed in a manner that is protective of worker and public health and safety, and the environment. The corresponding established procedures to ensure these protections are contained in DOE Manual 435.1-1, Radioactive Waste Management Manual (DOE M 435.1-1 2001). Requirements include assessment of (1) all-exposure pathways, (2) air pathway, (3) radon, and (4) groundwater pathway doses. Doses are computed from radionuclide concentrations in the environment. The performance assessment and composite analysis are being prepared to assess compliance with performance objectives and to establish limits on concentrations and inventories of radionuclides at the facility and to support specification of design, construction, operation and closure requirements. Technical objectives of the PA and CA are primarily accomplished through the development of an establish inventory, and through the use of predictive environmental transport models implementing an overarching conceptual framework. This document reviews the conceptual model, inherent assumptions, and data required to implement the conceptual model in a numerical framework. Available site-specific data and data sources

  1. 324 Building Compliance Project: Selection and evaluation of alternatives for the removal of solid remote-handled mixed wastes from the 324 Building

    International Nuclear Information System (INIS)

    Ross, W.A.; Bierschbach, M.C.; Dukelow, J.S. Jr.

    1995-06-01

    Six alternatives for the interim storage of remote-handled mixed wastes from the 324 Building on the Hanford Site have been identified and evaluated. The alternatives focus on the interim storage facility and include use of existing facilities in the 200 Area, the construction of new facilities, and the vitrification of the wastes within the 324 Building to remove the majority of the wastes from under RCRA regulations. The six alternatives are summarized in Table S.1, which identifies the primary facilities to be utilized, the anticipated schedule for removal of the wastes, the costs of the transfer from 324 Building to the interim storage facility (including any capital costs), and an initial risk comparison of the alternatives. A recently negotiated Tri-Party Agreement (TPA) change requires the last of the mixed wastes to be removed by May 1999. The ability to use an existing facility reduces the costs since it eliminates the need for new capital construction. The basic regulatory approvals for the storage of mixed wastes are in place for the PUREX facility, but the Form HI permit will need some minor modifications since the 324 Building wastes have some additional characteristic waste codes and the current permit limits storage of wastes to those from the facility itself. Regulatory reviews have indicated that it will be best to use the tunnels to store the wastes. The PUREX alternatives will only provide storage for about 65% of the wastes. This results from the current schedule of the B-Cell Clean Out Project, which projects that dispersible debris will continue to be collected in small quantities until the year 2000. The remaining fraction of the wastes will then be stored in another facility. Central Waste Complex (CWC) is currently proposed for that residual waste storage; however, other options may also be available

  2. Development of the remote-handled transuranic waste radioassay data quality objectives. An evaluation of RH-TRU waste inventories, characteristics, radioassay methods and capabilities

    Energy Technology Data Exchange (ETDEWEB)

    Meeks, A.M.; Chapman, J.A.

    1997-09-01

    The Waste Isolation Pilot Plant will accept remote-handled transuranic waste as early as October of 2001. Several tasks must be accomplished to meet this schedule, one of which is the development of Data Quality Objectives (DQOs) and corresponding Quality Assurance Objectives (QAOs) for the assay of radioisotopes in RH-TRU waste. Oak Ridge National Laboratory (ORNL) was assigned the task of providing to the DOE QAO, information necessary to aide in the development of DQOs for the radioassay of RH-TRU waste. Consistent with the DQO process, information needed and presented in this report includes: identification of RH-TRU generator site radionuclide data that may have potential significance to the performance of the WIPP repository or transportation requirements; evaluation of existing methods to measure the identified isotopic and quantitative radionuclide data; evaluation of existing data as a function of site waste streams using documented site information on fuel burnup, radioisotope processing and reprocessing, special research and development activities, measurement collection efforts, and acceptable knowledge; and the current status of technologies and capabilities at site facilities for the identification and assay of radionuclides in RH-TRU waste streams. This report is intended to provide guidance in developing the RH-TRU waste radioassay DQOs, first by establishing a baseline from which to work, second, by identifying needs to fill in the gaps between what is known and achievable today and that which will be required before DQOs can be formulated, and third, by recommending measures that should be taken to assure that the DQOs in fact balance risk and cost with an achievable degree of certainty.

  3. Development of the remote-handled transuranic waste radioassay data quality objectives. An evaluation of RH-TRU waste inventories, characteristics, radioassay methods and capabilities

    International Nuclear Information System (INIS)

    Meeks, A.M.; Chapman, J.A.

    1997-09-01

    The Waste Isolation Pilot Plant will accept remote-handled transuranic waste as early as October of 2001. Several tasks must be accomplished to meet this schedule, one of which is the development of Data Quality Objectives (DQOs) and corresponding Quality Assurance Objectives (QAOs) for the assay of radioisotopes in RH-TRU waste. Oak Ridge National Laboratory (ORNL) was assigned the task of providing to the DOE QAO, information necessary to aide in the development of DQOs for the radioassay of RH-TRU waste. Consistent with the DQO process, information needed and presented in this report includes: identification of RH-TRU generator site radionuclide data that may have potential significance to the performance of the WIPP repository or transportation requirements; evaluation of existing methods to measure the identified isotopic and quantitative radionuclide data; evaluation of existing data as a function of site waste streams using documented site information on fuel burnup, radioisotope processing and reprocessing, special research and development activities, measurement collection efforts, and acceptable knowledge; and the current status of technologies and capabilities at site facilities for the identification and assay of radionuclides in RH-TRU waste streams. This report is intended to provide guidance in developing the RH-TRU waste radioassay DQOs, first by establishing a baseline from which to work, second, by identifying needs to fill in the gaps between what is known and achievable today and that which will be required before DQOs can be formulated, and third, by recommending measures that should be taken to assure that the DQOs in fact balance risk and cost with an achievable degree of certainty

  4. Pneubotics - Membrane-Based Robotics for Remote Material Handling, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — We have invented a new class of robotics, called `Pneubotics', that rival current manipulators in payload and reach at 1/10th the weight. Our technology leverages...

  5. Pneubotics - Membrane-Based Robotics for Remote Material Handling, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — We have invented a new class of robotics, called `Pneubotics', that rival current manipulators in payload and reach at 1/10th the weight. Our technology leverages...

  6. Force Sensitive Handles and Capacitive Touch Sensor for Driving a Flexible Haptic-Based Immersive System

    OpenAIRE

    Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

    2013-01-01

    In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object...

  7. Web based system architecture for long pulse remote experimentation

    International Nuclear Information System (INIS)

    Heras, E. de las; Lastra, D.; Vega, J.; Castro, R.; Ruiz, M.; Barrera, E.

    2010-01-01

    Remote experimentation (RE) methods will be essential in next generation fusion devices. Requirements for long pulse RE will be: on-line data visualization, on-line data acquisition processes monitoring and on-line data acquisition systems interactions (start, stop or set-up modifications). Note that these methods are not oriented to real-time control of fusion plant devices. INDRA Sistemas S.A., CIEMAT (Centro de Investigaciones Energeticas Medioambientales y Tecnologicas) and UPM (Universidad Politecnica de Madrid) have designed a specific software architecture for these purposes. The architecture can be supported on the BeansNet platform, whose integration with an application server provides an adequate solution to the requirements. BeansNet is a JINI based framework developed by INDRA, which makes easy the implementation of a remote experimentation model based on a Service Oriented Architecture. The new software architecture has been designed on the basis of the experience acquired in the development of an upgrade of the TJ-II remote experimentation system.

  8. Proximity measuring device with backscattering radiation usable noticeably in remote handling or robotics and related data processing system. Proximetre a rayonnement retrodiffuse utilisable notamment en telemanipulation ou robotique et systeme de traitement associe

    Energy Technology Data Exchange (ETDEWEB)

    Andre, G; Espiau, B

    1985-05-03

    The invention is aimed at a proximity measuring device whose emitter, an electroluminescent diode, is controlled by control means to emit short duration (< 10 microseconds), high intensity (> 1A) flashes with periods higher than 100 microseconds. Emetter-object distance can be precisely measured on an 0-30 cm interval with the help of data processing of the response given by the proximity device receiver. This device can be used in remote handling and robotics.

  9. Non-Topographic Space-Based Laser Remote Sensing

    Science.gov (United States)

    Yu, Anthony W.; Abshire, James B.; Riris, Haris; Purucker, Michael; Janches, Diego; Getty, Stephanie; Krainak, Michael A.; Stephen, Mark A.; Chen, Jeffrey R.; Li, Steve X.; hide

    2016-01-01

    In the past 20+ years, NASA Goddard Space Flight Center (GSFC) has successfully developed and flown lidars for mapping of Mars, the Earth, Mercury and the Moon. As laser and electro-optics technologies expand and mature, more sophisticated instruments that once were thought to be too complicated for space are being considered and developed. We will present progress on several new, space-based laser instruments that are being developed at GSFC. These include lidars for remote sensing of carbon dioxide and methane on Earth for carbon cycle and global climate change; sodium resonance fluorescence lidar to measure environmental parameters of the middle and upper atmosphere on Earth and Mars and a wind lidar for Mars orbit; in situ laser instruments include remote and in-situ measurements of the magnetic fields; and a time-of-flight mass spectrometer to study the diversity and structure of nonvolatile organics in solid samples on missions to outer planetary satellites and small bodies.

  10. Web Based System Architecture for Long Pulse Remote Experimentation

    Energy Technology Data Exchange (ETDEWEB)

    De Las Heras, E.; Lastra, D. [INDRA Sistemas, S.A., Unidad de Sistemas de Control, Madrid (Spain); Vega, J.; Castro, R. [Association Euratom CIEMAT for Fusion, Madrid (Spain); Ruiz, M.; Barrera, E. [Universidad Politecnica de Madrid (Spain)

    2009-07-01

    INDRA is the first Information Technology company in Spain and it presents here, through a series of transparencies, its own approach for the remote experimentation architecture for long pulses (REAL). All the architecture is based on Java-2 platform standards and REAL is a totally open architecture. By itself REAL offers significant advantages: -) access authentication and authorization under multiple security implementations, -) local or remote network access: LAN, WAN, VPN..., -) on-line access to acquisition systems for monitoring and configuration, -) scalability, flexibility, robustness, platform independence,.... The BeansNet implementation of REAL gives additional good things such as: -) easy implementation, -) graphical tool for service composition and configuration, -) availability and hot-swap (no need of stopping or restarting services after update or remodeling, and -) INDRA support. The implementation of BeansNet at the TJ-2 stellarator at Ciemat is presented. This document is made of the presentation transparencies. (A.C.)

  11. Texture-based classification for characterizing regions on remote sensing images

    Science.gov (United States)

    Borne, Frédéric; Viennois, Gaëlle

    2017-07-01

    Remote sensing classification methods mostly use only the physical properties of pixels or complex texture indexes but do not lead to recommendation for practical applications. Our objective was to design a texture-based method, called the Paysages A PRIori method (PAPRI), which works both at pixel and neighborhood level and which can handle different spatial scales of analysis. The aim was to stay close to the logic of a human expert and to deal with co-occurrences in a more efficient way than other methods. The PAPRI method is pixelwise and based on a comparison of statistical and spatial reference properties provided by the expert with local properties computed in varying size windows centered on the pixel. A specific distance is computed for different windows around the pixel and a local minimum leads to choosing the class in which the pixel is to be placed. The PAPRI method brings a significant improvement in classification quality for different kinds of images, including aerial, lidar, high-resolution satellite images as well as texture images from the Brodatz and Vistex databases. This work shows the importance of texture analysis in understanding remote sensing images and for future developments.

  12. The remote monitoring system of BESⅢ detector based on web

    International Nuclear Information System (INIS)

    Zhang Yining; Ye Mei; Zhao Shujun

    2011-01-01

    It designed a remote monitoring system of BESⅢ experiment based on web. The software of the system is mainly based on module programming. The Ajax technology and the MVC pattern is used in system framework construction. The function of selecting multiple tables is realized by structural checkbox tree using jstree library. Data chart is plotted by High Charts library. The updating of data curve is realized by the method of calculating the time span between the real data record to measure the http request. The system design can be used by detector monitoring system like BESⅢ. (authors)

  13. Fuel handling machine and auxiliary systems for a fuel handling cell

    International Nuclear Information System (INIS)

    Suikki, M.

    2013-10-01

    This working report is an update for as well as a supplement to an earlier fuel handling machine design (Kukkola and Roennqvist 2006). A focus in the earlier design proposal was primarily on the selection of a mechanical structure and operating principle for the fuel handling machine. This report introduces not only a fuel handling machine design but also auxiliary fuel handling cell equipment and its operation. An objective of the design work was to verify the operating principles of and space allocations for fuel handling cell equipment. The fuel handling machine is a remote controlled apparatus capable of handling intensely radiating fuel assemblies in the fuel handling cell of an encapsulation plant. The fuel handling cell is air tight space radiation-shielded with massive concrete walls. The fuel handling machine is based on a bridge crane capable of traveling in the handling cell along wall tracks. The bridge crane has its carriage provided with a carousel type turntable having mounted thereon both fixed and telescopic masts. The fixed mast has a gripper movable on linear guides for the transfer of fuel assemblies. The telescopic mast has a manipulator arm capable of maneuvering equipment present in the fuel handling cell, as well as conducting necessary maintenance and cleaning operations or rectifying possible fault conditions. The auxiliary fuel handling cell systems consist of several subsystems. The subsystems include a service manipulator, a tool carrier for manipulators, a material hatch, assisting winches, a vacuum cleaner, as well as a hose reel. With the exception of the vacuum cleaner, the devices included in the fuel handling cell's auxiliary system are only used when the actual encapsulation process is not ongoing. The malfunctions of mechanisms or actuators responsible for the motion actions of a fuel handling machine preclude in a worst case scenario the bringing of the fuel handling cell and related systems to a condition appropriate for

  14. Fuel handling machine and auxiliary systems for a fuel handling cell

    Energy Technology Data Exchange (ETDEWEB)

    Suikki, M. [Optimik Oy, Turku (Finland)

    2013-10-15

    This working report is an update for as well as a supplement to an earlier fuel handling machine design (Kukkola and Roennqvist 2006). A focus in the earlier design proposal was primarily on the selection of a mechanical structure and operating principle for the fuel handling machine. This report introduces not only a fuel handling machine design but also auxiliary fuel handling cell equipment and its operation. An objective of the design work was to verify the operating principles of and space allocations for fuel handling cell equipment. The fuel handling machine is a remote controlled apparatus capable of handling intensely radiating fuel assemblies in the fuel handling cell of an encapsulation plant. The fuel handling cell is air tight space radiation-shielded with massive concrete walls. The fuel handling machine is based on a bridge crane capable of traveling in the handling cell along wall tracks. The bridge crane has its carriage provided with a carousel type turntable having mounted thereon both fixed and telescopic masts. The fixed mast has a gripper movable on linear guides for the transfer of fuel assemblies. The telescopic mast has a manipulator arm capable of maneuvering equipment present in the fuel handling cell, as well as conducting necessary maintenance and cleaning operations or rectifying possible fault conditions. The auxiliary fuel handling cell systems consist of several subsystems. The subsystems include a service manipulator, a tool carrier for manipulators, a material hatch, assisting winches, a vacuum cleaner, as well as a hose reel. With the exception of the vacuum cleaner, the devices included in the fuel handling cell's auxiliary system are only used when the actual encapsulation process is not ongoing. The malfunctions of mechanisms or actuators responsible for the motion actions of a fuel handling machine preclude in a worst case scenario the bringing of the fuel handling cell and related systems to a condition appropriate for

  15. Web based remote monitoring and controlling system for vulnerable environments

    Science.gov (United States)

    Thomas, Aparna; George, Minu

    2016-03-01

    The two major areas of concern in industrial establishments are monitoring and security. The remote monitoring and controlling can be established with the help of Web technology. Managers can monitor and control the equipment in the remote area through a web browser. The targeted area includes all type of susceptible environment like gas filling station, research and development laboratories. The environmental parameters like temperature, light intensity, gas etc. can be monitored. Security is a very important factor in an industrial setup. So motion detection feature is added to the system to ensure the security. The remote monitoring and controlling system makes use of the latest, less power consumptive and fast working microcontroller like S3C2440. This system is based on ARM9 and Linux operating system. The ARM9 will collect the sensor data and establish real time video monitoring along with motion detection feature. These captured video data as well as environmental data is transmitted over internet using embedded web server which is integrated within the ARM9 board.

  16. Software development for statistical handling of dosimetric and epidemiological data base

    International Nuclear Information System (INIS)

    Amaro, M.

    1990-01-01

    The dose records from different groups of occupationally exposed workers are available in a computerized data base whose main purpose is the individual dose follow-up. Apart from this objective, such a dosimetric data base can be useful to obtain statistical analysis. The type of statistical n formation that can be extracted from the data base may aim to attain mainly two kinds of objectives: - Individual and collective dose distributions and statistics. -Epidemiological statistics. The report describes the software developed to obtain the statistical reports required by the Regulatory Body, as well as any other type of dose distributions or statistics to be included in epidemiological studies A Users Guide for the operators who handle this software package, and the codes listings, are also included in the report. (Author) 2 refs

  17. Software development for statistical handling of dosimetric and epidemiological data base

    International Nuclear Information System (INIS)

    Amaro, M.

    1990-01-01

    The dose records from different group of occupationally exposed workers are available in a computerized data base whose main purpose is the individual dose follow-up. Apart from this objective, such a dosimetric data base can be useful to obtain statistical analysis. The type of statistical information that can be extracted from the data base may aim to attain mainly two kinds of obsectives: - Individual and collective dose distributions and statistics. - Epidemiological statistics. The report describes the software developed to obtain the statistical reports required by the Regulatory Body, as well as any other type of dose distributions or statistics to be included in epidsemiological studies. A Users Guide for the operators who handle this sofware package, and the codes listings, are also included in the report. (Author)

  18. Nuclear fuel handling apparatus

    International Nuclear Information System (INIS)

    Andrea, C.; Dupen, C.F.G.; Noyes, R.C.

    1977-01-01

    A fuel handling machine for a liquid metal cooled nuclear reactor in which a retractable handling tube and gripper are lowered into the reactor to withdraw a spent fuel assembly into the handling tube. The handling tube containing the fuel assembly immersed in liquid sodium is then withdrawn completely from the reactor into the outer barrel of the handling machine. The machine is then used to transport the spent fuel assembly directly to a remotely located decay tank. The fuel handling machine includes a decay heat removal system which continuously removes heat from the interior of the handling tube and which is capable of operating at its full cooling capacity at all times. The handling tube is supported in the machine from an articulated joint which enables it to readily align itself with the correct position in the core. An emergency sodium supply is carried directly by the machine to provide make up in the event of a loss of sodium from the handling tube during transport to the decay tank. 5 claims, 32 drawing figures

  19. Reference Information Based Remote Sensing Image Reconstruction with Generalized Nonconvex Low-Rank Approximation

    Directory of Open Access Journals (Sweden)

    Hongyang Lu

    2016-06-01

    Full Text Available Because of the contradiction between the spatial and temporal resolution of remote sensing images (RSI and quality loss in the process of acquisition, it is of great significance to reconstruct RSI in remote sensing applications. Recent studies have demonstrated that reference image-based reconstruction methods have great potential for higher reconstruction performance, while lacking accuracy and quality of reconstruction. For this application, a new compressed sensing objective function incorporating a reference image as prior information is developed. We resort to the reference prior information inherent in interior and exterior data simultaneously to build a new generalized nonconvex low-rank approximation framework for RSI reconstruction. Specifically, the innovation of this paper consists of the following three respects: (1 we propose a nonconvex low-rank approximation for reconstructing RSI; (2 we inject reference prior information to overcome over smoothed edges and texture detail losses; (3 on this basis, we combine conjugate gradient algorithms and a single-value threshold (SVT simultaneously to solve the proposed algorithm. The performance of the algorithm is evaluated both qualitatively and quantitatively. Experimental results demonstrate that the proposed algorithm improves several dBs in terms of peak signal to noise ratio (PSNR and preserves image details significantly compared to most of the current approaches without reference images as priors. In addition, the generalized nonconvex low-rank approximation of our approach is naturally robust to noise, and therefore, the proposed algorithm can handle low resolution with noisy inputs in a more unified framework.

  20. Issues and Recommendations Arising from the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility Composite Analysis - 13374

    Energy Technology Data Exchange (ETDEWEB)

    Rood, Arthur S.; Schafer, Annette L.; Sondrup, A. Jeff [Idaho National Laboratory, Battelle Energy Alliance, P.O. Box 1625, Idaho Falls, ID 83401-2107 (United States)

    2013-07-01

    Development of the composite analysis (CA) for the Idaho National Laboratory's (INLs) proposed remote-handled (RH) low-level waste (LLW) disposal facility has underscored the importance of consistency between analyses conducted for site-specific performance assessments (PAs) for LLW disposal facilities, sites regulated by the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) [1], and residual decontamination and decommissioning (D and D) inventories. Consistency is difficult to achieve because: 1) different legacy sources and compliance time-periods were deemed important for each of the sites evaluated at INL (e.g., 100 years for CERCLA regulated facilities vs. 1,000 years for LLW disposal facilities regulated under U.S. Department of Energy (DOE) Order 435.1 [2]); 2) fate and transport assumptions, parameters, and models have evolved through time at the INL including the use of screening-level parameters vs. site-specific values; and 3) evaluation objectives for the various CERCLA sites were inconsistent with those relevant to either the PA or CA including the assessment of risk rather than effective dose. The proposed single site-wide CA approach would provide needed consistency, allowing ready incorporation of new information and/or facilities in addition to being cost effective in terms of preparation of CAs and review by the DOE. A single site-wide CA would include a central database of all existing INL sources, including those from currently operating LLW facilities, D and D activities, and those from the sites evaluated under CERCLA. The framework presented for the INL RH-LLW disposal facility allows for development of a single CA encompassing air and groundwater impacts. For groundwater impacts, a site-wide MODFLOW/MT3D-MS model was used to develop unit-response functions for all potential sources providing responses for a grid of receptors. Convolution and superposition of the response functions are used to compute

  1. Regional Analysis of Remote Sensing Based Evapotranspiration Information

    Science.gov (United States)

    Geli, H. M. E.; Hain, C.; Anderson, M. C.; Senay, G. B.

    2017-12-01

    Recent research findings on modeling actual evapotranspiration (ET) using remote sensing data and methods have proven the ability of these methods to address wide range of hydrological and water resources issues including river basin water balance for improved water resources management, drought monitoring, drought impact and socioeconomic responses, agricultural water management, optimization of land-use for water conservations, water allocation agreement among others. However, there is still a critical need to identify appropriate type of ET information that can address each of these issues. The current trend of increasing demand for water due to population growth coupled with variable and limited water supply due to drought especially in arid and semiarid regions with limited water supply have highlighted the need for such information. To properly address these issues different spatial and temporal resolutions of ET information will need to be used. For example, agricultural water management applications require ET information at field (30-m) and daily time scales while for river basin hydrologic analysis relatively coarser spatial and temporal scales can be adequate for such regional applications. The objective of this analysis is to evaluate the potential of using an integrated ET information that can be used to address some of these issues collectively. This analysis will highlight efforts to address some of the issues that are applicable to New Mexico including assessment of statewide water budget as well as drought impact and socioeconomic responses which all require ET information but at different spatial and temporal scales. This analysis will provide an evaluation of four remote sensing based ET models including ALEXI, DisALEXI, SSEBop, and SEBAL3.0. The models will be compared with ground-based observations from eddy covariance towers and water balance calculations. Remote sensing data from Landsat, MODIS, and VIIRS sensors will be used to provide ET

  2. Data Container Study for Handling array-based data using Hive, Spark, MongoDB, SciDB and Rasdaman

    Science.gov (United States)

    Xu, M.; Hu, F.; Yang, J.; Yu, M.; Yang, C. P.

    2017-12-01

    Geoscience communities have come up with various big data storage solutions, such as Rasdaman and Hive, to address the grand challenges for massive Earth observation data management and processing. To examine the readiness of current solutions in supporting big Earth observation, we propose to investigate and compare four popular data container solutions, including Rasdaman, Hive, Spark, SciDB and MongoDB. Using different types of spatial and non-spatial queries, datasets stored in common scientific data formats (e.g., NetCDF and HDF), and two applications (i.e. dust storm simulation data mining and MERRA data analytics), we systematically compare and evaluate the feature and performance of these four data containers in terms of data discover and access. The computing resources (e.g. CPU, memory, hard drive, network) consumed while performing various queries and operations are monitored and recorded for the performance evaluation. The initial results show that 1) the popular data container clusters are able to handle large volume of data, but their performances vary in different situations. Meanwhile, there is a trade-off between data preprocessing, disk saving, query-time saving, and resource consuming. 2) ClimateSpark, MongoDB and SciDB perform the best among all the containers in all the queries tests, and Hive performs the worst. 3) These studied data containers can be applied on other array-based datasets, such as high resolution remote sensing data and model simulation data. 4) Rasdaman clustering configuration is more complex than the others. A comprehensive report will detail the experimental results, and compare their pros and cons regarding system performance, ease of use, accessibility, scalability, compatibility, and flexibility.

  3. The study of active tectonic based on hyperspectral remote sensing

    Science.gov (United States)

    Cui, J.; Zhang, S.; Zhang, J.; Shen, X.; Ding, R.; Xu, S.

    2017-12-01

    As of the latest technical methods, hyperspectral remote sensing technology has been widely used in each brach of the geosciences. However, it is still a blank for using the hyperspectral remote sensing to study the active structrure. Hyperspectral remote sensing, with high spectral resolution, continuous spectrum, continuous spatial data, low cost, etc, has great potentialities in the areas of stratum division and fault identification. Blind fault identification in plains and invisible fault discrimination in loess strata are the two hot problems in the current active fault research. Thus, the study of active fault based on the hyperspectral technology has great theoretical significance and practical value. Magnetic susceptibility (MS) records could reflect the rhythm alteration of the formation. Previous study shown that MS has correlation with spectral feature. In this study, the Emaokou section, located to the northwest of the town of Huairen, in Shanxi Province, has been chosen for invisible fault study. We collected data from the Emaokou section, including spectral data, hyperspectral image, MS data. MS models based on spectral features were established and applied to the UHD185 image for MS mapping. The results shown that MS map corresponded well to the loess sequences. It can recognize the stratum which can not identity by naked eyes. Invisible fault has been found in this section, which is useful for paleoearthquake analysis. The faults act as the conduit for migration of terrestrial gases, the fault zones, especially the structurally weak zones such as inrtersections or bends of fault, may has different material composition. We take Xiadian fault for study. Several samples cross-fault were collected and these samples were measured by ASD Field Spec 3 spectrometer. Spectral classification method has been used for spectral analysis, we found that the spectrum of the fault zone have four special spectral region(550-580nm, 600-700nm, 700-800nm and 800-900nm

  4. Research on cloud-based remote measurement and analysis system

    Science.gov (United States)

    Gao, Zhiqiang; He, Lingsong; Su, Wei; Wang, Can; Zhang, Changfan

    2015-02-01

    The promising potential of cloud computing and its convergence with technologies such as cloud storage, cloud push, mobile computing allows for creation and delivery of newer type of cloud service. Combined with the thought of cloud computing, this paper presents a cloud-based remote measurement and analysis system. This system mainly consists of three parts: signal acquisition client, web server deployed on the cloud service, and remote client. This system is a special website developed using asp.net and Flex RIA technology, which solves the selective contradiction between two monitoring modes, B/S and C/S. This platform supplies customer condition monitoring and data analysis service by Internet, which was deployed on the cloud server. Signal acquisition device is responsible for data (sensor data, audio, video, etc.) collection and pushes the monitoring data to the cloud storage database regularly. Data acquisition equipment in this system is only conditioned with the function of data collection and network function such as smartphone and smart sensor. This system's scale can adjust dynamically according to the amount of applications and users, so it won't cause waste of resources. As a representative case study, we developed a prototype system based on Ali cloud service using the rotor test rig as the research object. Experimental results demonstrate that the proposed system architecture is feasible.

  5. Cantilever-based bio-chemical sensor integrated in a microliquid handling system

    DEFF Research Database (Denmark)

    Thaysen, Jacob; Marie, Rodolphe; Boisen, Anja

    2001-01-01

    The cantilevers have integrated piezoresistive readout which, compared to optical readout, enables simple measurements on even non-transparent liquids, such as blood. First, we introduce a simple theory for using piezoresistive cantilevers as surface stress sensors. Then, the sensor fabrication...... based on conventional microfabrication is described and the sensor characterization is discussed. During the characterization we found a stress sensitivity of (ΔR/R)=4.6:10 -4 (N/m)-1 and a minimum detectable surface stress change of 2.6 mN/m. Aqua regia etch of gold on top of the cantilevers has been...... monitored, and immobilization of single-stranded thiol modified DNA-oligos has been detected by the sensor. Finally, it is demonstrated that it is possible to analyze two samples simultaneously by utilizing the laminar flow in the microliquid handling system....

  6. A Rule-Based Local Search Algorithm for General Shift Design Problems in Airport Ground Handling

    DEFF Research Database (Denmark)

    Clausen, Tommy

    We consider a generalized version of the shift design problem where shifts are created to cover a multiskilled demand and fit the parameters of the workforce. We present a collection of constraints and objectives for the generalized shift design problem. A local search solution framework with mul......We consider a generalized version of the shift design problem where shifts are created to cover a multiskilled demand and fit the parameters of the workforce. We present a collection of constraints and objectives for the generalized shift design problem. A local search solution framework...... with multiple neighborhoods and a loosely coupled rule engine based on simulated annealing is presented. Computational experiments on real-life data from various airport ground handling organization show the performance and flexibility of the proposed algorithm....

  7. RESEARCH ACTION: IMPLEMENTATION ZERO BASED BUDGET (ZBB IN THE PROVIDER SERVICE LEASING EQUIPAMENTS OF CARGO HANDLING.

    Directory of Open Access Journals (Sweden)

    Levi Gimenez

    2013-06-01

    Full Text Available This article aims to present the implementation of zero-based budgeting in a rental service provider of cargo handling equipment using the action research methodology. The goal was to examine the possibility of concomitant use of this instrument in service providers in need of accurate information that enables targeting at the best result in a setting avid for quick decisions and actions. Action research was used as research method. It was concluded that it is suitable for this branch, confirming its position as a useful model for restructuring and cutting costs, improving operational and financial results, and as a factor improving organizational environment (behavioral aspects, indirectly creating value to stakeholders.

  8. A new physical method to assess handle properties of fabrics made from wood-based fibers

    Science.gov (United States)

    Abu-Rous, M.; Liftinger, E.; Innerlohinger, J.; Malengier, B.; Vasile, S.

    2017-10-01

    In this work, the handfeel of fabrics made of wood-based fibers such as viscose, modal and Lyocell was investigated in relation to cotton fabrics applying the Tissue Softness Analyzer (TSA) method in comparison to other classical methods. Two different construction groups of textile were investigated. The validity of TSA in assessing textile softness of these constructions was tested. TSA results were compared to human hand evaluation as well as to classical physical measurements like drape coefficient, ring pull-through and Handle-o-meter, as well as a newer device, the Fabric Touch Tester (FTT). Physical methods as well as human hand assessments mostly agreed on the softest and smoothest range, but showed different rankings in the harder/rougher side fabrics. TSA ranking of softness and smoothness corresponded to the rankings by other physical methods as well as with human hand feel for the basic textile constructions.

  9. Hydrogen-based industry from remote excess hydroelectricity

    International Nuclear Information System (INIS)

    Ouellette, N.; Rogner, H.-H.; Scott, D.S.

    1997-01-01

    This paper examines synergies, opportunities and barriers associated with hydrogen and excess hydro-electricity in remote areas. The work is based on a case study that examined the techno-economic feasibility of a new hydrogen-based industry using surplus/off-peak generating capacity of the Taltson Dam and Generating Station in the Northwest Territories, Canada. After evaluating the amount and cost of hydrogen that could be produced from the excess capacity, the study investigates three hydrogen utilization scenarios: (1) merchant liquid or compressed hydrogen, (2) hydrogen as a chemical feedstock for the production of hydrogen peroxide, (3) methanol production from biomass, oxygen and hydrogen. Hydrogen peroxide production is the most promising and attractive strategy in the Fort Smith context. The study also illustrates patterns that recur in isolated sites throughout the world. (Author)

  10. BIOME: An Ecosystem Remote Sensor Based on Imaging Interferometry

    Science.gov (United States)

    Peterson, David L.; Hammer, Philip; Smith, William H.; Lawless, James G. (Technical Monitor)

    1994-01-01

    Until recent times, optical remote sensing of ecosystem properties from space has been limited to broad band multispectral scanners such as Landsat and AVHRR. While these sensor data can be used to derive important information about ecosystem parameters, they are very limited for measuring key biogeochemical cycling parameters such as the chemical content of plant canopies. Such parameters, for example the lignin and nitrogen contents, are potentially amenable to measurements by very high spectral resolution instruments using a spectroscopic approach. Airborne sensors based on grating imaging spectrometers gave the first promise of such potential but the recent decision not to deploy the space version has left the community without many alternatives. In the past few years, advancements in high performance deep well digital sensor arrays coupled with a patented design for a two-beam interferometer has produced an entirely new design for acquiring imaging spectroscopic data at the signal to noise levels necessary for quantitatively estimating chemical composition (1000:1 at 2 microns). This design has been assembled as a laboratory instrument and the principles demonstrated for acquiring remote scenes. An airborne instrument is in production and spaceborne sensors being proposed. The instrument is extremely promising because of its low cost, lower power requirements, very low weight, simplicity (no moving parts), and high performance. For these reasons, we have called it the first instrument optimized for ecosystem studies as part of a Biological Imaging and Observation Mission to Earth (BIOME).

  11. FRACTAL DIMENSION OF URBAN EXPANSION BASED ON REMOTE SENSING IMAGES

    Directory of Open Access Journals (Sweden)

    IACOB I. CIPRIAN

    2012-11-01

    Full Text Available Fractal Dimension of Urban Expansion Based on Remote Sensing Images: In Cluj-Napoca city the process of urbanization has been accelerated during the years and implication of local authorities reflects a relevant planning policy. A good urban planning framework should take into account the society demands and also it should satisfy the natural conditions of local environment. The expansion of antropic areas it can be approached by implication of 5D variables (time as a sequence of stages, space: with x, y, z and magnitude of phenomena into the process, which will allow us to analyse and extract the roughness of city shape. Thus, to improve the decision factor we take a different approach in this paper, looking at geometry and scale composition. Using the remote sensing (RS and GIS techniques we manage to extract a sequence of built-up areas (from 1980 to 2012 and used the result as an input for modelling the spatialtemporal changes of urban expansion and fractal theory to analysed the geometric features. Taking the time as a parameter we can observe behaviour and changes in urban landscape, this condition have been known as self-organized – a condition which in first stage the system was without any turbulence (before the antropic factor and during the time tend to approach chaotic behaviour (entropy state without causing an disequilibrium in the main system.

  12. The ITER Remote Maintenance Management System

    International Nuclear Information System (INIS)

    Tesini, Alessandro; Rolfe, A.C.

    2009-01-01

    A major challenge for the ITER project is to develop and implement a Remote Maintenance System, which can deliver high Tokamak availability within the constraints of the overall ITER programme objectives. Much of the maintenance of ITER will be performed using remote handling methods and some with combined manual and remote activities working together. The organization and management of the ITER remote handling facilities will be of a scale unlike any other remote handling application in the world. The ITER remote handling design and procurement activities will require co-ordination and management across many different sites throughout the world. It will be a major challenge for the ITER project to ensure a consistent quality and technical approach in all of the contributing parties. To address this issue the IO remote handling team are implementing the ITER Maintenance Management Plan (IMMP) comprising an overarching document defining the policies and methodologies (ITER Remote Maintenance Management System or IMMS) and an associated ITER remote handling code of practise (IRHCOP). The IMMS will be in document form available as a pdf file or similar. The IRHCOP will be implemented as a web based application and will provide access to the central resource of the entire code of practise from any location in the world. The IRHCOP data library will be centrally controlled in order that users can be assured of the data relevance and authenticity. This paper will describe the overall approach being taken to deal with this challenge and go on to detail the structure and content of both the IMMS and the IRHCOP.

  13. Internet-based remote consultations - general practitioner experience and attitudes in Norway and Germany.

    Science.gov (United States)

    Kampik, Timotheus; Larsen, Frank; Bellika, Johan Gustav

    2015-01-01

    The objective of the study was to identify experiences and attitudes of German and Norwegian general practitioners (GPs) towards Internet-based remote consultation solutions supporting communication between GPs and patients in the context of the German and Norwegian healthcare systems. Interviews with four German and five Norwegian GPs were conducted. The results were qualitatively analyzed. All interviewed GPs stated they would like to make use of Internet-based remote consultations in the future. Current experiences with remote consultations are existent to a limited degree. No GP reported to use a comprehensive remote consultation solution. The main features GPs would like to see in a remote consultation solution include asynchronous exchange of text messages, video conferencing with text chat, scheduling of remote consultation appointments, secure login and data transfer and the integration of the remote consultation solution into the GP's EHR system.

  14. Cascade Convolutional Neural Network Based on Transfer-Learning for Aircraft Detection on High-Resolution Remote Sensing Images

    Directory of Open Access Journals (Sweden)

    Bin Pan

    2017-01-01

    Full Text Available Aircraft detection from high-resolution remote sensing images is important for civil and military applications. Recently, detection methods based on deep learning have rapidly advanced. However, they require numerous samples to train the detection model and cannot be directly used to efficiently handle large-area remote sensing images. A weakly supervised learning method (WSLM can detect a target with few samples. However, it cannot extract an adequate number of features, and the detection accuracy requires improvement. We propose a cascade convolutional neural network (CCNN framework based on transfer-learning and geometric feature constraints (GFC for aircraft detection. It achieves high accuracy and efficient detection with relatively few samples. A high-accuracy detection model is first obtained using transfer-learning to fine-tune pretrained models with few samples. Then, a GFC region proposal filtering method improves detection efficiency. The CCNN framework completes the aircraft detection for large-area remote sensing images. The framework first-level network is an image classifier, which filters the entire image, excluding most areas with no aircraft. The second-level network is an object detector, which rapidly detects aircraft from the first-level network output. Compared with WSLM, detection accuracy increased by 3.66%, false detection decreased by 64%, and missed detection decreased by 23.1%.

  15. Negation handling in sentiment classification using rule-based adapted from Indonesian language syntactic for Indonesian text in Twitter

    Science.gov (United States)

    Amalia, Rizkiana; Arif Bijaksana, Moch; Darmantoro, Dhinta

    2018-03-01

    The presence of the word negation is able to change the polarity of the text if it is not handled properly it will affect the performance of the sentiment classification. Negation words in Indonesian are ‘tidak’, ‘bukan’, ‘belum’ and ‘jangan’. Also, there is a conjunction word that able to reverse the actual values, as the word ‘tetapi’, or ‘tapi’. Unigram has shortcomings in dealing with the existence of negation because it treats negation word and the negated words as separate words. A general approach for negation handling in English text gives the tag ‘NEG_’ for following words after negation until the first punctuation. But this may gives the tag to un-negated, and this approach does not handle negation and conjunction in one sentences. The rule-based method to determine what words negated by adapting the rules of Indonesian language syntactic of negation to determine the scope of negation was proposed in this study. With adapting syntactic rules and tagging “NEG_” using SVM classifier with RBF kernel has better performance results than the other experiments. Considering the average F1-score value, the performance of this proposed method can be improved against baseline equal to 1.79% (baseline without negation handling) and 5% (baseline with existing negation handling) for a dataset that all tweets contain negation words. And also for the second dataset that has the various number of negation words in document tweet. It can be improved against baseline at 2.69% (without negation handling) and 3.17% (with existing negation handling).

  16. Force Sensitive Handles and Capacitive Touch Sensor for Driving a Flexible Haptic-Based Immersive System

    Directory of Open Access Journals (Sweden)

    Umberto Cugini

    2013-10-01

    Full Text Available In this article, we present an approach that uses both two force sensitive handles (FSH and a flexible capacitive touch sensor (FCTS to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user’s fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

  17. Force sensitive handles and capacitive touch sensor for driving a flexible haptic-based immersive system.

    Science.gov (United States)

    Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

    2013-10-09

    In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user's fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

  18. Iterative student-based testing of automated information-handling exercises

    Directory of Open Access Journals (Sweden)

    C. K. Ramaiah

    1995-12-01

    Full Text Available Much laboratory teaching of information-handling involves students in evaluating information provided either online or via a computer package. A lecturer can help students carry out these tasks in a variety of ways. In particular, it is customary to provide students with hand-outs, and there is good evidence that such hand-outs are a valuable resource, especially for lower-ability students (see, for example Saloman, 1979. In many of these exercises, students are passive receivers of information, in the sense that they assess the information but do not change it. However, it is sometimes possible to use student feedback to change the original input. In this case, the users' mental models of the system can be employed to modify the user-interface set up by the original designer (see Moran, 1981. A number of experiments have been carried out in the Department of Information and Library Studies at Loughborough University to examine how computer interfaces and instruction sheets used in teaching can be improved by student feedback. The present paper discusses examples of this work to help suggest both the factors to be taken into account and the sorts of changes involved. Our approach has been based on the concept of 'iterative usability testing', the value of which has recently been emphasized by Shneiderman (1993.

  19. Performance Assessment of a Solar-Assisted Desiccant-Based Air Handling Unit Considering Different Scenarios

    Directory of Open Access Journals (Sweden)

    Giovanni Angrisani

    2016-09-01

    Full Text Available In this paper, three alternative layouts (scenarios of an innovative solar-assisted hybrid desiccant-based air handling unit (AHU are investigated through dynamic simulations. Performance is evaluated with respect to a reference system and compared to those of the innovative plant without modifications. For each scenario, different collector types, surfaces and tilt angles are considered. The effect of the solar thermal energy surplus exploitation for other low-temperature uses is also investigated. The first alternative scenario consists of the recovery of the heat rejected by the condenser of the chiller to pre-heat the regeneration air. The second scenario considers the pre-heating of regeneration air with the warmer regeneration air exiting the desiccant wheel (DW. The last scenario provides pre-cooling of the process air before entering the DW. Results reveal that the plants with evacuated solar collectors (SC can ensure primary energy savings (15%–24% and avoid equivalent CO2 emissions (14%–22%, about 10 percentage points more than those with flat-plate collectors, when the solar thermal energy is used only for air conditioning and the collectors have the best tilt angle. If all of the solar thermal energy is considered, the best results with evacuated tube collectors are approximately 73% in terms of primary energy saving, 71% in terms of avoided equivalent CO2 emissions and a payback period of six years.

  20. Determination of heat capacity of ionic liquid based nanofluids using group method of data handling technique

    Science.gov (United States)

    Sadi, Maryam

    2018-01-01

    In this study a group method of data handling model has been successfully developed to predict heat capacity of ionic liquid based nanofluids by considering reduced temperature, acentric factor and molecular weight of ionic liquids, and nanoparticle concentration as input parameters. In order to accomplish modeling, 528 experimental data points extracted from the literature have been divided into training and testing subsets. The training set has been used to predict model coefficients and the testing set has been applied for model validation. The ability and accuracy of developed model, has been evaluated by comparison of model predictions with experimental values using different statistical parameters such as coefficient of determination, mean square error and mean absolute percentage error. The mean absolute percentage error of developed model for training and testing sets are 1.38% and 1.66%, respectively, which indicate excellent agreement between model predictions and experimental data. Also, the results estimated by the developed GMDH model exhibit a higher accuracy when compared to the available theoretical correlations.

  1. Remote operation system for container

    International Nuclear Information System (INIS)

    Nakahara, Hirotaka; Hayata, Takashi; Kajiyama, Shigeru; Takahashi, Fuminobu

    1998-01-01

    The present invention provides a remote operation system for conducting operation with operation reaction for the inside of a container filled with water (liquid), such as of inner walls and inner structural materials of a BWR type reactor. Namely, a swimming robot comprises a swimming device swimming in the liquid and an attaching/detaching device for holding/releasing the handling robot. A control device remotely operate the swimming robot and the handling robot by way of a cable. A cable processing device takes up or dispenses the cable. In addition, when the swimming robot grasps the handling robot by the attaching/detaching device, the swimming robot transmits an operation instruction sent from the control device by way of the cable to the handling robot. After the attaching/detaching device of the swimming robot releases the handling robot, the handling robot operates based on the transmitted operation instruction. It is preferable that the handling robot has an adsorptive moving device for moving itself while being adsorbed on the wall surface of the container. (I.S.)

  2. Handling equipment Selection in open pit mines by using an integrated model based on group decision making

    Directory of Open Access Journals (Sweden)

    Abdolreza Yazdani-Chamzini

    2012-10-01

    Full Text Available Process of handling equipment selection is one of the most important and basic parts in the project planning, particularly mining projects due to holding a high charge of the total project's cost. Different criteria impact on the handling equipment selection, while these criteria often are in conflicting with each other. Therefore, the process of handling equipment selection is a complex and multi criteria decision making problem. There are a variety of methods for selecting the most appropriate equipment among a set of alternatives. Likewise, according to the sophisticated structure of the problem, imprecise data, less of information, and inherent uncertainty, the usage of the fuzzy sets can be useful. In this study a new integrated model based on fuzzy analytic hierarchy process (FAHP and fuzzy technique for order preference by similarity to ideal solution (FTOPSIS is proposed, which uses group decision making to reduce individual errors. In order to calculate the weights of the evaluation criteria, FAHP is utilized in the process of handling equipment selection, and then these weights are inserted to the FTOPSIS computations to select the most appropriate handling system among a pool of alternatives. The results of this study demonstrate the potential application and effectiveness of the proposed model, which can be applied to different types of sophisticated problems in real problems.

  3. On issues of constructing an exception handling mechanism for CSP-based process-oriented concurrent software

    NARCIS (Netherlands)

    Jovanovic, D.S.; Orlic, B.; Broenink, Johannes F.; Broenink, J.F.; Roebers, H.W.; Sunter, J.P.E.; Welch, P.H.; Wood, D.C.

    2005-01-01

    This paper discusses issues, possibilities and existing approaches for fitting an exception handling mechanism (EHM) in CSP-based process-oriented software architectures. After giving a survey on properties desired for a concurrent EHM, specific problems and a few principal ideas for including

  4. Fusing Multiscale Charts into 3D ENC Systems Based on Underwater Topography and Remote Sensing Image

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2015-01-01

    Full Text Available The purpose of this study is to propose an approach to fuse multiscale charts into three-dimensional (3D electronic navigational chart (ENC systems based on underwater topography and remote sensing image. This is the first time that the fusion of multiscale standard ENCs in the 3D ENC system has been studied. First, a view-dependent visualization technology is presented for the determination of the display condition of a chart. Second, a map sheet processing method is described for dealing with the map sheet splice problem. A process order called “3D order” is designed to adapt to the characteristics of the chart. A map sheet clipping process is described to deal with the overlap between the adjacent map sheets. And our strategy for map sheet splice is proposed. Third, the rendering method for ENC objects in the 3D ENC system is introduced. Fourth, our picking-up method for ENC objects is proposed. Finally, we implement the above methods in our system: automotive intelligent chart (AIC 3D electronic chart display and information systems (ECDIS. And our method can handle the fusion problem well.

  5. Design of Remote Power Plant Monitoring System Based on LabVIEW and VC++ Software

    Directory of Open Access Journals (Sweden)

    Dawei Tan

    2013-05-01

    Full Text Available This study designs a real-time remote monitoring system based on LabVIEW and Microsoft Visual C++ for Plant Units. The server written in LabVIEW uses for data acquisition and storage. The server adopts the TCP and DataSocket to communicate with the VC client. The remote VC client can accept real-time data and process data, enabling remote monitoring.

  6. Research on Remote Sensing Image Template Processing Based on Global Subdivision Theory

    OpenAIRE

    Xiong Delan; Du Genyuan

    2013-01-01

    Aiming at the questions of vast data, complex operation, and time consuming processing for remote sensing image, subdivision template was proposed based on global subdivision theory, which can set up high level of abstraction and generalization for remote sensing image. The paper emphatically discussed the model and structure of subdivision template, and put forward some new ideas for remote sensing image template processing, key technology and quickly applied demonstration. The research has ...

  7. A Dynamic Programming-Based Heuristic for the Shift Design Problem in Airport Ground Handling

    DEFF Research Database (Denmark)

    Clausen, Tommy

    We consider the heterogeneous shift design problem for a workforce with multiple skills, where work shifts are created to cover a given demand as well as possible while minimizing cost and satisfying a flexible set of constraints. We focus mainly on applications within airport ground handling whe...... programming that allows flexibility in modeling the workforce. Parameters allow a planner to determine the level of demand coverage that best fulfills the requirements of the organization. Results are presented from several diverse real-life ground handling instances.......We consider the heterogeneous shift design problem for a workforce with multiple skills, where work shifts are created to cover a given demand as well as possible while minimizing cost and satisfying a flexible set of constraints. We focus mainly on applications within airport ground handling where...

  8. Structural mapping based on potential field and remote sensing data ...

    Indian Academy of Sciences (India)

    Swarnapriya Chowdari

    2017-08-31

    Aug 31, 2017 ... to comprehend the tectonic development of the ... software for the analysis and interpretation of G– .... The application of remote sensing for mapping ..... Pf1 and Pf2 show profile locations adopted for joint G–M modelling.

  9. The design of remote intelligent terminal based on ARM

    International Nuclear Information System (INIS)

    Zhang Bin; Liu Zixin

    2014-01-01

    This paper introduces the function and principle of the remote intelligent terminal. It was designed on SmartARM 2200, uses uC/OS-II operating system and MiniGUI. And then,it gives a method to realize it. Introduces the work flow of remote intelligent terminal, and the function module of the system are analyzed in detail, and then the terminal of the principle has carried on the preliminary study. (authors)

  10. Experimental Validation of a Differential Variational Inequality-Based Approach for Handling Friction and Contact in Vehicle

    Science.gov (United States)

    2015-11-20

    terrain modeled using the discrete element method (DEM). Experimental Validation of a Differential Variational Inequality -Based Approach for Handling...COVERED 00-00-2015 to 00-00-2015 4. TITLE AND SUBTITLE Experimental Validation of a Differential Variational Inequality -Based Approach for...sinkage, and single wheel tests. 1.1. Modeling Frictional Contact Via Differential Variational Inequalities Consider a three dimensional (3D) system of

  11. Soil handling methods should be selected based on research questions and goals

    NARCIS (Netherlands)

    Gundale, Michael J.; Wardle, David A.; Kardol, Paul; Putten, Van Der Wim H.; Lucas, Richard W.

    2017-01-01

    A response to Reinhart & Rinella (2016) and Rinella & Reinhart (2017) ‘A common soil handling technique can generate incorrect estimates of soil biota effects on plants’ and ‘Mixing soil samples across experi- mental units ignores uncertainty and generates incorrect estimates of soil biota

  12. Handling Disruptions in Supply Chains : An Integrated Framework and an Agent-based Model

    NARCIS (Netherlands)

    Behdani, B.

    2013-01-01

    The degree of supply chain risk faced by many companies has risen dramatically and the impact of disruptions can cascade easily across companies’ and countries’ borders. To handle this increased vulnerability, systematic approaches and decision making tools are needed to provide support in managing

  13. A simulation-based approach for evaluating logging residue handling systems.

    Science.gov (United States)

    B. Bruce Bare; Benjamin A. Jayne; Brian F. Anholt

    1976-01-01

    Describes a computer simulation model for evaluating logging residue handling systems. The flow of resources is traced through a prespecified combination of operations including yarding, chipping, sorting, loading, transporting, and unloading. The model was used to evaluate the feasibility of converting logging residues to chips that could be used, for example, to...

  14. Remote Sensing Terminology in a Global and Knowledge-Based World

    Science.gov (United States)

    Kancheva, Rumiana

    The paper is devoted to terminology issues related to all aspects of remote sensing research and applications. Terminology is the basis for a better understanding among people. It is crucial to keep up with the latest developments and novelties of the terminology in advanced technology fields such as aerospace science and industry. This is especially true in remote sensing and geoinformatics which develop rapidly and have ever extending applications in various domains of science and human activities. Remote sensing terminology issues are directly relevant to the contemporary worldwide policies on information accessibility, dissemination and utilization of research results in support of solutions to global environmental challenges and sustainable development goals. Remote sensing and spatial information technologies are an integral part of the international strategies for cooperation in scientific, research and application areas with a particular accent on environmental monitoring, ecological problems natural resources management, climate modeling, weather forecasts, disaster mitigation and many others to which remote sensing data can be put. Remote sensing researchers, professionals, students and decision makers of different counties and nationalities should fully understand, interpret and translate into their native language any term, definition or acronym found in papers, books, proceedings, specifications, documentation, and etc. The importance of the correct use, precise definition and unification of remote sensing terms refers not only to people working in this field but also to experts in a variety of disciplines who handle remote sensing data and information products. In this paper, we draw the attention on the specifics, peculiarities and recent needs of compiling specialized dictionaries in the area of remote sensing focusing on Earth observations and the integration of remote sensing with other geoinformation technologies such as photogrammetry, geodesy

  15. Magnetoseismology ground-based remote sensing of Earth's magnetosphere

    CERN Document Server

    Menk, Frederick W

    2013-01-01

    Written by a researcher at the forefront of the field, this first comprehensive account of magnetoseismology conveys the physics behind these movements and waves, and explains how to detect and investigate them. Along the way, it describes the principles as applied to remote sensing of near-Earth space and related remote sensing techniques, while also comparing and intercalibrating magnetoseismology with other techniques. The example applications include advanced data analysis techniques that may find wider used in areas ranging from geophysics to medical imaging, and remote sensing using radar systems that are of relevance to defense surveillance systems. As a result, the book not only reviews the status quo, but also anticipates new developments. With many figures and illustrations, some in full color, plus additional computational codes for analysis and evaluation. Aimed at graduate readers, the text assumes knowledge of electromagnetism and physical processes at degree level, but introductory chapters wil...

  16. Remote collaboration system based on large scale simulation

    International Nuclear Information System (INIS)

    Kishimoto, Yasuaki; Sugahara, Akihiro; Li, J.Q.

    2008-01-01

    Large scale simulation using super-computer, which generally requires long CPU time and produces large amount of data, has been extensively studied as a third pillar in various advanced science fields in parallel to theory and experiment. Such a simulation is expected to lead new scientific discoveries through elucidation of various complex phenomena, which are hardly identified only by conventional theoretical and experimental approaches. In order to assist such large simulation studies for which many collaborators working at geographically different places participate and contribute, we have developed a unique remote collaboration system, referred to as SIMON (simulation monitoring system), which is based on client-server system control introducing an idea of up-date processing, contrary to that of widely used post-processing. As a key ingredient, we have developed a trigger method, which transmits various requests for the up-date processing from the simulation (client) running on a super-computer to a workstation (server). Namely, the simulation running on a super-computer actively controls the timing of up-date processing. The server that has received the requests from the ongoing simulation such as data transfer, data analyses, and visualizations, etc. starts operations according to the requests during the simulation. The server makes the latest results available to web browsers, so that the collaborators can monitor the results at any place and time in the world. By applying the system to a specific simulation project of laser-matter interaction, we have confirmed that the system works well and plays an important role as a collaboration platform on which many collaborators work with one another

  17. A rule-based fault detection method for air handling units

    Energy Technology Data Exchange (ETDEWEB)

    Schein, J.; Bushby, S. T.; Castro, N. S. [National Institute of Standards and Technology, Gaithersburg, MD (United States); House, J. M. [Iowa Energy Center, Ankeny, IA (United States)

    2006-07-01

    Air handling unit performance assessment rules (APAR) is a fault detection tool that uses a set of expert rules derived from mass and energy balances to detect faults in air handling units (AHUs). Control signals are used to determine the mode of operation of the AHU. A subset of the expert rules which correspond to that mode of operation are then evaluated to determine whether a fault exists. APAR is computationally simple enough that it can be embedded in commercial building automation and control systems and relies only upon the sensor data and control signals that are commonly available in these systems. APAR was tested using data sets collected from a 'hardware-in-the-loop' emulator and from several field sites. APAR was also embedded in commercial AHU controllers and tested in the emulator. (author)

  18. Musculoskeletal complaints among nurses related to patient handling tasks and psychosocial factors - Based on logbook registrations

    DEFF Research Database (Denmark)

    Warming, S.; Precht, D.H.; Suadicani, P.

    2009-01-01

    The aims were to evaluate the inter-method reliability of a registration sheet for patient handling tasks, to study the day-to-day variation of musculoskeletal complaints (MSC) and to examine whether patient handling tasks and psychosocial factors were associated with MSC. Nurses (n = 148...... transfer and care tasks. The numbers of nurses reporting MSC and the level of pain increased significantly during the three working days (15%-30% and 17%-37%, respectively) and decreased on the day off. Stress and transfer task were associated with LPB and transfer tasks were associated with KP. Our...... results confirm a relationship between work factors and MSC and indicate that logs could be one way to obtain a better understanding of the complex interaction of various nursing working conditions in relation to MSC. (C) 2008 Elsevier Ltd. All rights reserved Udgivelsesdato: 2009/7...

  19. Mapping remote and multidisciplinary learning barriers: lessons from challenge-based innovation at CERN

    Science.gov (United States)

    Jensen, Matilde Bisballe; Utriainen, Tuuli Maria; Steinert, Martin

    2018-01-01

    This paper presents the experienced difficulties of students participating in the multidisciplinary, remote collaborating engineering design course challenge-based innovation at CERN. This is with the aim to identify learning barriers and improve future learning experiences. We statistically analyse the rated differences between distinct design activities, educational background and remote vs. co-located collaboration. The analysis is based on a quantitative and qualitative questionnaire (N = 37). Our analysis found significant ranking differences between remote and co-located activities. This questions whether the remote factor might be a barrier for the originally intended learning goals. Further a correlation between analytical and converging design phases was identified. Hence, future facilitators are suggested to help students in the transition from one design phase to the next rather than only teaching methods in the individual design phases. Finally, we discuss how educators address the identified learning barriers when designing future courses including multidisciplinary or remote collaboration.

  20. A versatile data handling system for nuclear physics experiments based on PDP 11/03 micro-computers

    International Nuclear Information System (INIS)

    Raaf, A.J. de

    1979-01-01

    A reliable and low cost data handling system for nuclear physics experiments is described. It is based on two PDP 11/03 micro-computers together with Gec-Elliott CAMAC equipment. For the acquisition of the experimental data a fast system has been designed. It consists of a controller for four ADCs together with an intelligent 38k MOS memory with a word size of 24 bits. (Auth.)

  1. Classification of high resolution remote sensing image based on geo-ontology and conditional random fields

    Science.gov (United States)

    Hong, Liang

    2013-10-01

    The availability of high spatial resolution remote sensing data provides new opportunities for urban land-cover classification. More geometric details can be observed in the high resolution remote sensing image, Also Ground objects in the high resolution remote sensing image have displayed rich texture, structure, shape and hierarchical semantic characters. More landscape elements are represented by a small group of pixels. Recently years, the an object-based remote sensing analysis methodology is widely accepted and applied in high resolution remote sensing image processing. The classification method based on Geo-ontology and conditional random fields is presented in this paper. The proposed method is made up of four blocks: (1) the hierarchical ground objects semantic framework is constructed based on geoontology; (2) segmentation by mean-shift algorithm, which image objects are generated. And the mean-shift method is to get boundary preserved and spectrally homogeneous over-segmentation regions ;(3) the relations between the hierarchical ground objects semantic and over-segmentation regions are defined based on conditional random fields framework ;(4) the hierarchical classification results are obtained based on geo-ontology and conditional random fields. Finally, high-resolution remote sensed image data -GeoEye, is used to testify the performance of the presented method. And the experimental results have shown the superiority of this method to the eCognition method both on the effectively and accuracy, which implies it is suitable for the classification of high resolution remote sensing image.

  2. Evaluation of a remote webcam-based eye tracker

    DEFF Research Database (Denmark)

    Skovsgaard, Henrik; Agustin, Javier San; Johansen, Sune Alstrup

    2011-01-01

    In this paper we assess the performance of an open-source gaze tracker in a remote (i.e. table-mounted) setup, and compare it with two other commercial eye trackers. An experiment with 5 subjects showed the open-source eye tracker to have a significantly higher level of accuracy than one...

  3. Review of commonly used remote sensing and ground-based ...

    African Journals Online (AJOL)

    This review provides an overview of the use of remote sensing data, the development of spectral reflectance indices for detecting plant water stress, and the usefulness of field measurements for ground-truthing purposes. Reliable measurements of plant water stress over large areas are often required for management ...

  4. 3.5G based mobile remote monitoring system.

    Science.gov (United States)

    Bajracharya, Aman; Gale, Timothy J; Stack, Clive R; Turner, Paul

    2008-01-01

    Low bandwidth has long been a reason for the unsuitability of wireless internet in telemedicine. However with the advent of extended third generation wireless as an economically accessible high speed network, more opportunities are being created in this area of telemedicine. This paper explores the opportunity created by the latest wireless broadband technology for remote monitoring of patients in the home.

  5. Supervised Gaussian mixture model based remote sensing image ...

    African Journals Online (AJOL)

    Using the supervised classification technique, both simulated and empirical satellite remote sensing data are used to train and test the Gaussian mixture model algorithm. For the purpose of validating the experiment, the resulting classified satellite image is compared with the ground truth data. For the simulated modelling, ...

  6. The Effectiveness of Remote Facilitation in Simulation-Based Pediatric Resuscitation Training for Medical Students.

    Science.gov (United States)

    Ohta, Kunio; Kurosawa, Hiroshi; Shiima, Yuko; Ikeyama, Takanari; Scott, James; Hayes, Scott; Gould, Michael; Buchanan, Newton; Nadkarni, Vinay; Nishisaki, Akira

    2017-08-01

    To assess the effectiveness of pediatric simulation by remote facilitation. We hypothesized that simulation by remote facilitation is more effective compared to simulation by an on-site facilitator. We defined remote facilitation as a facilitator remotely (1) introduces simulation-based learning and simulation environment, (2) runs scenarios, and (3) performs debriefing with an on-site facilitator. A remote simulation program for medical students during pediatric rotation was implemented. Groups were allocated to either remote or on-site facilitation depending on the availability of telemedicine technology. Both groups had identical 1-hour simulation sessions with 2 scenarios and debriefing. Their team performance was assessed with behavioral assessment tool by a trained rater. Perception by students was evaluated with Likert scale (1-7). Fifteen groups with 89 students participated in a simulation by remote facilitation, and 8 groups with 47 students participated in a simulation by on-site facilitation. Participant demographics and previous simulation experience were similar. Both groups improved their performance from first to second scenario: groups by remote simulation (first [8.5 ± 4.2] vs second [13.2 ± 6.2], P = 0.003), and groups by on-site simulation (first [6.9 ± 4.1] vs second [12.4 ± 6.4], P = 0.056). The performance improvement was not significantly different between the 2 groups (P = 0.94). Faculty evaluation by students was equally high in both groups (7 vs 7; P = 0.65). A pediatric acute care simulation by remote facilitation significantly improved students' performance. In this pilot study, remote facilitation seems as effective as a traditional, locally facilitated simulation. The remote simulation can be a strong alternative method, especially where experienced facilitators are limited.

  7. Using optical remote sensing model to estimate oil slick thickness based on satellite image

    International Nuclear Information System (INIS)

    Lu, Y C; Tian, Q J; Lyu, C G; Fu, W X; Han, W C

    2014-01-01

    An optical remote sensing model has been established based on two-beam interference theory to estimate marine oil slick thickness. Extinction coefficient and normalized reflectance of oil are two important parts in this model. Extinction coefficient is an important inherent optical property and will not vary with the background reflectance changed. Normalized reflectance can be used to eliminate the background differences between in situ measured spectra and remotely sensing image. Therefore, marine oil slick thickness and area can be estimated and mapped based on optical remotely sensing image and extinction coefficient

  8. Remote maintenance for fusion: Requirements vs technology gap

    International Nuclear Information System (INIS)

    Davis, F.C.; Kuban, D.P.

    1989-01-01

    Today's remote handling technology was developed in response to the remote maintenance (RM) requirements of the fission community's nuclear fuel recycle process. The needs of the fusion community present new challenges to the remote handling experts of the world. New difficulties are superimposed on the difficulties experienced in maintaining fission processes. Today's technology must be enhanced to respond to the RM needs of these future huge investments. This paper first discusses the current RM needs for fusion based on existing facilities and designs of future machines. It then exposes the gap between these requirements and existing RM technology and recommends ways to extend the state of the art to close this gap

  9. A Web-Based Airborne Remote Sensing Telemetry Server, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — A Web-based Airborne Remote Sensing Telemetry Server (WARSTS) is proposed to integrate UAV telemetry and web-technology into an innovative communication, command,...

  10. [Estimation of desert vegetation coverage based on multi-source remote sensing data].

    Science.gov (United States)

    Wan, Hong-Mei; Li, Xia; Dong, Dao-Rui

    2012-12-01

    Taking the lower reaches of Tarim River in Xinjiang of Northwest China as study areaAbstract: Taking the lower reaches of Tarim River in Xinjiang of Northwest China as study area and based on the ground investigation and the multi-source remote sensing data of different resolutions, the estimation models for desert vegetation coverage were built, with the precisions of different estimation methods and models compared. The results showed that with the increasing spatial resolution of remote sensing data, the precisions of the estimation models increased. The estimation precision of the models based on the high, middle-high, and middle-low resolution remote sensing data was 89.5%, 87.0%, and 84.56%, respectively, and the precisions of the remote sensing models were higher than that of vegetation index method. This study revealed the change patterns of the estimation precision of desert vegetation coverage based on different spatial resolution remote sensing data, and realized the quantitative conversion of the parameters and scales among the high, middle, and low spatial resolution remote sensing data of desert vegetation coverage, which would provide direct evidence for establishing and implementing comprehensive remote sensing monitoring scheme for the ecological restoration in the study area.

  11. Design and implement of system for browsing remote seismic waveform based on B/S schema

    International Nuclear Information System (INIS)

    Zheng Xuefeng; Shen Junyi; Wang Zhihai; Sun Peng; Jin Ping; Yan Feng

    2006-01-01

    Browsing remote seismic waveform based on B/S schema is of significance in modern seismic research and data service, and the technology should be improved urgently. This paper describes the basic plan, architecture and implement of system for browsing remote seismic waveform based on B/S schema. The problem to access, browse and edit the waveform data on serve from client only using browser has been solved. On this basis, the system has been established and been in use. (authors)

  12. Remote measurement of microwave distribution based on optical detection

    Energy Technology Data Exchange (ETDEWEB)

    Ji, Zhong; Ding, Wenzheng; Yang, Sihua; Chen, Qun, E-mail: redrocks-chenqun@hotmail.com, E-mail: xingda@scnu.edu.cn; Xing, Da, E-mail: redrocks-chenqun@hotmail.com, E-mail: xingda@scnu.edu.cn [MOE Key Laboratory of Laser Life Science and Institute of Laser Life Science, South China Normal University, Guangzhou 510631 (China)

    2016-01-04

    In this letter, we present the development of a remote microwave measurement system. This method employs an arc discharge lamp that serves as an energy converter from microwave to visible light, which can propagate without transmission medium. Observed with a charge coupled device, quantitative microwave power distribution can be achieved when the operators and electronic instruments are in a distance from the high power region in order to reduce the potential risk. We perform the experiments using pulsed microwaves, and the results show that the system response is dependent on the microwave intensity over a certain range. Most importantly, the microwave distribution can be monitored in real time by optical observation of the response of a one-dimensional lamp array. The characteristics of low cost, a wide detection bandwidth, remote measurement, and room temperature operation make the system a preferred detector for microwave applications.

  13. Remote monitor system of temperature and humidity based on internet

    International Nuclear Information System (INIS)

    Wu Ting; Fang Fang; Zeng Zhijie

    2006-01-01

    This paper introduces the system architecture and implement details of the remote and realtime monitor system of temperature and humidity. In this design, NiosII soft CPU core and peripheral's IP core are embedded in FPGA, while a MicroC/OS2 real-time operating system and lightweight IP protocol stack are porting thereon, to achieve a open system which hardware and software are all can be reconfigure. (authors)

  14. Interdisciplinary Approach to Tool-Handle Design Based on Medical Imaging

    Directory of Open Access Journals (Sweden)

    G. Harih

    2013-01-01

    Full Text Available Products are becoming increasingly complex; therefore, designers are faced with a challenging task to incorporate new functionality, higher performance, and optimal shape design. Traditional user-centered design techniques such as designing with anthropometric data do not incorporate enough subject data to design products with optimal shape for best fit to the target population. To overcome these limitations, we present an interdisciplinary approach with medical imaging. The use of this approach is being presented on the development of an optimal sized and shaped tool handle where the hand is imaged using magnetic resonance imaging machine. The obtained images of the hand are reconstructed and imported into computer-aided design software, where optimal shape of the handle is obtained with Boolean operations. Methods can be used to develop fully customized products with optimal shape to provide best fit to the target population. This increases subjective comfort rating, performance and can prevent acute and cumulative trauma disorders. Provided methods are especially suited for products where high stresses and exceptional performance is expected (high performance tools, professional sports, and military equipment, etc.. With the use of these interdisciplinary methods, the value of the product is increased, which also increases the competitiveness of the product on the market.

  15. Updates to FuncLab, a Matlab based GUI for handling receiver functions

    Science.gov (United States)

    Porritt, Robert W.; Miller, Meghan S.

    2018-02-01

    Receiver functions are a versatile tool commonly used in seismic imaging. Depending on how they are processed, they can be used to image discontinuity structure within the crust or mantle or they can be inverted for seismic velocity either directly or jointly with complementary datasets. However, modern studies generally require large datasets which can be challenging to handle; therefore, FuncLab was originally written as an interactive Matlab GUI to assist in handling these large datasets. This software uses a project database to allow interactive trace editing, data visualization, H-κ stacking for crustal thickness and Vp/Vs ratio, and common conversion point stacking while minimizing computational costs. Since its initial release, significant advances have been made in the implementation of web services and changes in the underlying Matlab platform have necessitated a significant revision to the software. Here, we present revisions to the software, including new features such as data downloading via irisFetch.m, receiver function calculations via processRFmatlab, on-the-fly cross-section tools, interface picking, and more. In the descriptions of the tools, we present its application to a test dataset in Michigan, Wisconsin, and neighboring areas following the passage of USArray Transportable Array. The software is made available online at https://robporritt.wordpress.com/software.

  16. Adaptive handling of Rayleigh and Raman scatter of fluorescence data based on evaluation of the degree of spectral overlap

    Science.gov (United States)

    Hu, Yingtian; Liu, Chao; Wang, Xiaoping; Zhao, Dongdong

    2018-06-01

    At present the general scatter handling methods are unsatisfactory when scatter and fluorescence seriously overlap in excitation emission matrix. In this study, an adaptive method for scatter handling of fluorescence data is proposed. Firstly, the Raman scatter was corrected by subtracting the baseline of deionized water which was collected in each experiment to adapt to the intensity fluctuations. Then, the degrees of spectral overlap between Rayleigh scatter and fluorescence were classified into three categories based on the distance between the spectral peaks. The corresponding algorithms, including setting to zero, fitting on single or both sides, were implemented after the evaluation of the degree of overlap for individual emission spectra. The proposed method minimized the number of fitting and interpolation processes, which reduced complexity, saved time, avoided overfitting, and most importantly assured the authenticity of data. Furthermore, the effectiveness of this procedure on the subsequent PARAFAC analysis was assessed and compared to Delaunay interpolation by conducting experiments with four typical organic chemicals and real water samples. Using this method, we conducted long-term monitoring of tap water and river water near a dyeing and printing plant. This method can be used for improving adaptability and accuracy in the scatter handling of fluorescence data.

  17. Remote maintenance development for ITER

    International Nuclear Information System (INIS)

    Tada, Eisuke; Shibanuma, Kiyoshi

    1998-01-01

    This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

  18. Remote maintenance development for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Tada, Eisuke [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Shibanuma, Kiyoshi

    1998-04-01

    This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

  19. Ergonomics and patient handling.

    Science.gov (United States)

    McCoskey, Kelsey L

    2007-11-01

    This study aimed to describe patient-handling demands in inpatient units during a 24-hour period at a military health care facility. A 1-day total population survey described the diverse nature and impact of patient-handling tasks relative to a variety of nursing care units, patient characteristics, and transfer equipment. Productivity baselines were established based on patient dependency, physical exertion, type of transfer, and time spent performing the transfer. Descriptions of the physiological effect of transfers on staff based on patient, transfer, and staff characteristics were developed. Nursing staff response to surveys demonstrated how patient-handling demands are impacted by the staff's physical exertion and level of patient dependency. The findings of this study describe the types of transfers occurring in these inpatient units and the physical exertion and time requirements for these transfers. This description may guide selection of the most appropriate and cost-effective patient-handling equipment required for specific units and patients.

  20. Design and implementation of a wireless sensor network-based remote water-level monitoring system.

    Science.gov (United States)

    Li, Xiuhong; Cheng, Xiao; Gong, Peng; Yan, Ke

    2011-01-01

    The proposed remote water-level monitoring system (RWMS) consists of a field sensor module, a base station module, a data center module and a WEB releasing module. It has advantages in real time and synchronized remote control, expandability, and anti-jamming capabilities. The RWMS can realize real-time remote monitoring, providing early warning of events and protection of the safety of monitoring personnel under certain dangerous circumstances. This system has been successfully applied in Poyanghu Lake. The cost of the whole system is approximately 1,500 yuan (RMB).

  1. Design and Implementation of a Wireless Sensor Network-Based Remote Water-Level Monitoring System

    Science.gov (United States)

    Li, Xiuhong; Cheng, Xiao; Gong, Peng; Yan, Ke

    2011-01-01

    The proposed remote water-level monitoring system (RWMS) consists of a field sensor module, a base station module, adata center module and aWEB releasing module. It has advantages in real time and synchronized remote control, expandability, and anti-jamming capabilities. The RWMS can realize real-time remote monitoring, providing early warning of events and protection of the safety of monitoring personnel under certain dangerous circumstances. This system has been successfully applied in Poyanghu Lake. The cost of the whole system is approximately 1,500 yuan (RMB). PMID:22319377

  2. Development of Ethernet Based Remote Monitoring and Controlling of MST Radar Transmitters using ARM Cortex Microcontroller

    Directory of Open Access Journals (Sweden)

    Lakshmi Narayana ROSHANNA

    2013-01-01

    Full Text Available The recently emerging Web Services technology has provided a new and excellent solution to Industrial Automation in online control and remote monitoring. In this paper, a Web Service Based Remote Monitoring & Controlling of Radar Transmitters for safety management (WMCT developed for MST Radar is described. It achieved the MST radar transmitters’ remote supervisory, data logging and controlling activities. The system is developed using an ARM Cortex M3 processor to monitor and control the 32 triode-based transmitters of the 53-MHz Radar. The system controls transmitters via the internet using an Ethernet client server and store health status in the Database for radar performance analysis. The system enables scientists to operate and control the radar transmitters from a remote client machine Webpage.

  3. Apollo 16 landing site: Summary of earth based remote sensing data, part W

    Science.gov (United States)

    Zisk, S. H.; Masursky, H.; Milton, D. J.; Schaber, G. G.; Shorthill, R. W.; Thompson, T. W.

    1972-01-01

    Infrared and radar studies of the Apollo 16 landing site are summarized. Correlations and comparisons between earth based remote sensing data, IR observations, and other data are discussed in detail. Remote sensing studies were devoted to solving two problems: (1) determining the physical difference between Cayley and Descartes geologic units near the landing site; and (2) determining the nature of the bright unit of Descartes mountain material.

  4. Development of Web-Based Remote Desktop to Provide Adaptive User Interfaces in Cloud Platform

    OpenAIRE

    Shuen-Tai Wang; Hsi-Ya Chang

    2014-01-01

    Cloud virtualization technologies are becoming more and more prevalent, cloud users usually encounter the problem of how to access to the virtualized remote desktops easily over the web without requiring the installation of special clients. To resolve this issue, we took advantage of the HTML5 technology and developed web-based remote desktop. It permits users to access the terminal which running in our cloud platform from anywhere. We implemented a sketch of web interfac...

  5. A LabVIEW based Remote DSP Laboratory

    Directory of Open Access Journals (Sweden)

    Athanasios Kalantzopoulos

    2008-07-01

    Full Text Available Remote laboratories provide the students with the capability to perform laboratory exercises exploiting the relevant equipment any time of the day without their physical presence. Furthermore, providing the ability to use a single workstation by more than one student, they contribute to the reduction of the laboratory cost. Turning to advantage the above and according to the needs of post graduate modules in the fields of DSP Systems Design and Signal Processing Systems with DSPs, we designed and developed a Remote DSP Laboratory. A student using a Web Browser has the ability via internet to turn to account the R-DSP Lab and perform experiments using DSPs (Digital Signal Processors. For now, there is the opportunity to carry out laboratory exercises such as FIR, IIR digital filters and FFT as well as run any executable file developed by the user. In any case the observation of the results is carried out through the use of specially designed Graphical User Interfaces (GUIs.

  6. Some Insights on Grassland Health Assessment Based on Remote Sensing

    Directory of Open Access Journals (Sweden)

    Dandan Xu

    2015-01-01

    Full Text Available Grassland ecosystem is one of the largest ecosystems, which naturally occurs on all continents excluding Antarctica and provides both ecological and economic functions. The deterioration of natural grassland has been attracting many grassland researchers to monitor the grassland condition and dynamics for decades. Remote sensing techniques, which are advanced in dealing with the scale constraints of ecological research and provide temporal information, become a powerful approach of grassland ecosystem monitoring. So far, grassland health monitoring studies have mostly focused on different areas, for example, productivity evaluation, classification, vegetation dynamics, livestock carrying capacity, grazing intensity, natural disaster detecting, fire, climate change, coverage assessment and soil erosion. However, the grassland ecosystem is a complex system which is formed by soil, vegetation, wildlife and atmosphere. Thus, it is time to consider the grassland ecosystem as an entity synthetically and establish an integrated grassland health monitoring system to combine different aspects of the complex grassland ecosystem. In this review, current grassland health monitoring methods, including rangeland health assessment, ecosystem health assessment and grassland monitoring by remote sensing from different aspects, are discussed along with the future directions of grassland health assessment.

  7. Some insights on grassland health assessment based on remote sensing.

    Science.gov (United States)

    Xu, Dandan; Guo, Xulin

    2015-01-29

    Grassland ecosystem is one of the largest ecosystems, which naturally occurs on all continents excluding Antarctica and provides both ecological and economic functions. The deterioration of natural grassland has been attracting many grassland researchers to monitor the grassland condition and dynamics for decades. Remote sensing techniques, which are advanced in dealing with the scale constraints of ecological research and provide temporal information, become a powerful approach of grassland ecosystem monitoring. So far, grassland health monitoring studies have mostly focused on different areas, for example, productivity evaluation, classification, vegetation dynamics, livestock carrying capacity, grazing intensity, natural disaster detecting, fire, climate change, coverage assessment and soil erosion. However, the grassland ecosystem is a complex system which is formed by soil, vegetation, wildlife and atmosphere. Thus, it is time to consider the grassland ecosystem as an entity synthetically and establish an integrated grassland health monitoring system to combine different aspects of the complex grassland ecosystem. In this review, current grassland health monitoring methods, including rangeland health assessment, ecosystem health assessment and grassland monitoring by remote sensing from different aspects, are discussed along with the future directions of grassland health assessment.

  8. Fatigue crack growth from handling surface anomalies in a nickel based superalloy at high temperature

    Directory of Open Access Journals (Sweden)

    Gourdin Stéphane

    2014-01-01

    Full Text Available Aircraft engine manufacturers have to demonstrate that handling surface anomalies in sensitive areas of discs are not critical for in-service life of a component. Currently, the models used consider anomalies as long cracks propagating from the first cycle, which introduces a certain degree of conservatism when calculating the fatigue life of surface flaws. Preliminary studies have shown that the first stages of crack propagation from surface anomalies are responsible for the conservative results. Thus, the aim of the study is to characterize the crack propagation from typical surface anomalies and to establish a new crack growth model, which can account for the micro-propagation stage. To separate the effects of the geometry of the anomalies and the residual stress state after introduction of the surface flaws, two V-type anomalies are studied: scratches and dents. Different studies have shown that the residual stresses beneath the anomalies seem to control the fatigue life of samples exhibiting scratches and dents. In order to monitor the crack micro-propagation, a direct current potential drop technique, coupled with heat tints is used during fatigue tests at elevated temperature. Thermal treatments releasing the residual stresses are also used to decouple the effect of crack morphology and residual stresses.

  9. Remote maintenance development for ITER

    International Nuclear Information System (INIS)

    Tada, Eisuke; Shibanuma, Kiyoshi

    1997-01-01

    This paper both describes the overall design concept of the ITER remote maintenance system, which has been developed mainly for use with in-vessel components such as divertor and blanket, and outlines of the ITER R and D program, which has been established to develop remote handling equipment/tools and radiation hard components. In ITER, the reactor structures inside cryostat have to be maintained remotely because of activation due to DT operation. Therefore, remote-handling technology is fundamental, and the reactor-structure design must be made consistent with remote maintainability. The overall maintenance scenario and design concepts of the required remote handling equipment/tools have been developed according to their maintenance classification. Technologies are also being developed to verify the feasibility of the maintenance design and include fabrication and testing of a fullscale remote-handling equipment/tools for in-vessel maintenance. (author)

  10. Remote handling in the Plutonium Immobilization Project: Puck handling

    International Nuclear Information System (INIS)

    Brault, J.R.

    2000-01-01

    Since the break up of the Soviet Union at the end of the Cold War, the US and Russia have been negotiating ways to reduce their nuclear stockpiles. Economics is one of the reasons behind this, but another important reason is safeguarding these materials from unstable organizations and countries. With the downsizing of the nuclear stockpiles, large quantities of plutonium are being declared excess and must be safely disposed of. The Savannah River Site (SRS) has been selected as the site where the immobilization facility will be located. Conceptual design and process development commenced in 1998. SRS will immobilize excess plutonium in a ceramic waste form and encapsulate it in vitrified high level waste in the Defense Waste Processing Facility (DWPF) canister. These canisters will then be interred in the national repository at Yucca Mountain, New Mexico. The facility is divided into three distinct operating areas: Plutonium Conversion, First Stage Immobilization, and Second Stage Immobilization. This paper will discuss the first two operations

  11. Analysis of remote operating systems for space-based servicing operations, volume 1

    Science.gov (United States)

    1985-01-01

    A two phase study was conducted to analyze and develop the requirements for remote operating systems as applied to space based operations for the servicing, maintenance, and repair of satellites. Phase one consisted of the development of servicing requirements to establish design criteria for remote operating systems. Phase two defined preferred system concepts and development plans which met the requirements established in phase one. The specific tasks in phase two were to: (1) identify desirable operational and conceptual approaches for selected mission scenarios; (2) examine the potential impact of remote operating systems incorporated into the design of the space station; (3) address remote operating systems design issues, such as mobility, which are effected by the space station configuration; and (4) define the programmatic approaches for technology development, testing, simulation, and flight demonstration.

  12. Yb:YAG Lasers for Space Based Remote Sensing

    Science.gov (United States)

    Ewing, J.J.; Fan, T. Y.

    1998-01-01

    Diode pumped solid state lasers will play a prominent role in future remote sensing missions because of their intrinsic high efficiency and low mass. Applications including altimetry, cloud and aerosol measurement, wind velocity measurement by both coherent and incoherent methods, and species measurements, with appropriate frequency converters, all will benefit from a diode pumped primary laser. To date the "gold standard" diode pumped Nd laser has been the laser of choice for most of these concepts. This paper discusses an alternate 1 micron laser, the YB:YAG laser, and its potential relevance for lidar applications. Conceptual design analysis and, to the extent possible at the time of the conference, preliminary experimental data on the performance of a bread board YB:YAG oscillator will be presented. The paper centers on application of YB:YAG for altimetry, but extension to other applications will be discussed.

  13. SIMON: Remote collaboration system based on large scale simulation

    International Nuclear Information System (INIS)

    Sugawara, Akihiro; Kishimoto, Yasuaki

    2003-01-01

    Development of SIMON (SImulation MONitoring) system is described. SIMON aims to investigate many physical phenomena of tokamak type nuclear fusion plasma by simulation and to exchange information and to carry out joint researches with scientists in the world using internet. The characteristics of SIMON are followings; 1) decrease load of simulation by trigger sending method, 2) visualization of simulation results and hierarchical structure of analysis, 3) decrease of number of license by using command line when software is used, 4) improvement of support for using network of simulation data output by use of HTML (Hyper Text Markup Language), 5) avoidance of complex built-in work in client part and 6) small-sized and portable software. The visualization method of large scale simulation, remote collaboration system by HTML, trigger sending method, hierarchical analytical method, introduction into three-dimensional electromagnetic transportation code and technologies of SIMON system are explained. (S.Y.)

  14. Internet-Based Device-Assisted Remote Monitoring of Cardiovascular Implantable Electronic Devices

    Science.gov (United States)

    Pron, G; Ieraci, L; Kaulback, K

    2012-01-01

    Executive Summary Objective The objective of this Medical Advisory Secretariat (MAS) report was to conduct a systematic review of the available published evidence on the safety, effectiveness, and cost-effectiveness of Internet-based device-assisted remote monitoring systems (RMSs) for therapeutic cardiac implantable electronic devices (CIEDs) such as pacemakers (PMs), implantable cardioverter-defibrillators (ICDs), and cardiac resynchronization therapy (CRT) devices. The MAS evidence-based review was performed to support public financing decisions. Clinical Need: Condition and Target Population Sudden cardiac death (SCD) is a major cause of fatalities in developed countries. In the United States almost half a million people die of SCD annually, resulting in more deaths than stroke, lung cancer, breast cancer, and AIDS combined. In Canada each year more than 40,000 people die from a cardiovascular related cause; approximately half of these deaths are attributable to SCD. Most cases of SCD occur in the general population typically in those without a known history of heart disease. Most SCDs are caused by cardiac arrhythmia, an abnormal heart rhythm caused by malfunctions of the heart’s electrical system. Up to half of patients with significant heart failure (HF) also have advanced conduction abnormalities. Cardiac arrhythmias are managed by a variety of drugs, ablative procedures, and therapeutic CIEDs. The range of CIEDs includes pacemakers (PMs), implantable cardioverter-defibrillators (ICDs), and cardiac resynchronization therapy (CRT) devices. Bradycardia is the main indication for PMs and individuals at high risk for SCD are often treated by ICDs. Heart failure (HF) is also a significant health problem and is the most frequent cause of hospitalization in those over 65 years of age. Patients with moderate to severe HF may also have cardiac arrhythmias, although the cause may be related more to heart pump or haemodynamic failure. The presence of HF, however

  15. Big data in wildlife research: remote web-based monitoring of hibernating black bears.

    Science.gov (United States)

    Laske, Timothy G; Garshelis, David L; Iaizzo, Paul A

    2014-12-11

    Numerous innovations for the management and collection of "big data" have arisen in the field of medicine, including implantable computers and sensors, wireless data transmission, and web-based repositories for collecting and organizing information. Recently, human clinical devices have been deployed in captive and free-ranging wildlife to aid in the characterization of both normal physiology and the interaction of animals with their environment, including reactions to humans. Although these devices have had a significant impact on the types and quantities of information that can be collected, their utility has been limited by internal memory capacities, the efforts required to extract and analyze information, and by the necessity to handle the animals in order to retrieve stored data. We surgically implanted miniaturized cardiac monitors (1.2 cc, Reveal LINQ™, Medtronic Inc.), a newly developed human clinical system, into hibernating wild American black bears (N = 6). These devices include wireless capabilities, which enabled frequent transmissions of detailed physiological data from bears in their remote den sites to a web-based data storage and management system. Solar and battery powered telemetry stations transmitted detailed physiological data over the cellular network during the winter months. The system provided the transfer of large quantities of data in near-real time. Observations included changes in heart rhythms associated with birthing and caring for cubs, and in all bears, long periods without heart beats (up to 16 seconds) occurred during each respiratory cycle. For the first time, detailed physiological data were successfully transferred from an animal in the wild to a web-based data collection and management system, overcoming previous limitations on the quantities of data that could be transferred. The system provides an opportunity to detect unusual events as they are occurring, enabling investigation of the animal and site shortly

  16. Web-based Java application to advanced JT-60 Man-Machine Interfacing System for remote experiments

    International Nuclear Information System (INIS)

    Totsuka, Toshiyuki; Suzuki, Yoshio; Sakata, Shinya; Oshima, Takayuki; Iba, Katsuyuki

    2008-01-01

    Since remote participation in ITER experiments is planned, it is expected to demonstrate that the JT-60SA experiment is controlled from a Japanese remote experiment center located in Rokkasho-mura, Aomori-ken, Japan as a part of the ITER-BA project. Functions required for this experiment are monitoring of the discharge sequence status, handling of the discharge parameter, checking of experiment data, and monitoring of plant data, all of which are included in the existing JT-60 Man-Machine Interfacing System (MMIF). The MMIF is now only available to on-site users at the Naka site due to network safety. The motivation for remote MMIF is prompted by the issue of developing and achieving compatibility with network safety. The Java language has been chosen to implement this task. This paper deals with details of the JT-60 MMIF for the remote experim