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Sample records for controlling uranium mobility

  1. Microbiological, Geochemical and Hydrologic Processes Controlling Uranium Mobility: An Integrated Field-Scale Subsurface Research Challenge Site at Rifle, Colorado, Quality Assurance Project Plan

    Energy Technology Data Exchange (ETDEWEB)

    Fix, N. J.

    2008-01-07

    The U.S. Department of Energy (DOE) is cleaning up and/or monitoring large, dilute plumes contaminated by metals, such as uranium and chromium, whose mobility and solubility change with redox status. Field-scale experiments with acetate as the electron donor have stimulated metal-reducing bacteria to effectively remove uranium [U(VI)] from groundwater at the Uranium Mill Tailings Site in Rifle, Colorado. The Pacific Northwest National Laboratory and a multidisciplinary team of national laboratory and academic collaborators has embarked on a research proposed for the Rifle site, the object of which is to gain a comprehensive and mechanistic understanding of the microbial factors and associated geochemistry controlling uranium mobility so that DOE can confidently remediate uranium plumes as well as support stewardship of uranium-contaminated sites. This Quality Assurance Project Plan provides the quality assurance requirements and processes that will be followed by the Rifle Integrated Field-Scale Subsurface Research Challenge Project.

  2. Microbiological, Geochemical and Hydrologic Processes Controlling Uranium Mobility: An Integrated Field-Scale Subsurface Research Challenge Site at Rifle, Colorado, Quality Assurance Project Plan

    International Nuclear Information System (INIS)

    Fix, N. J.

    2008-01-01

    The U.S. Department of Energy (DOE) is cleaning up and/or monitoring large, dilute plumes contaminated by metals, such as uranium and chromium, whose mobility and solubility change with redox status. Field-scale experiments with acetate as the electron donor have stimulated metal-reducing bacteria to effectively remove uranium [U(VI)] from groundwater at the Uranium Mill Tailings Site in Rifle, Colorado. The Pacific Northwest National Laboratory and a multidisciplinary team of national laboratory and academic collaborators has embarked on a research proposed for the Rifle site, the object of which is to gain a comprehensive and mechanistic understanding of the microbial factors and associated geochemistry controlling uranium mobility so that DOE can confidently remediate uranium plumes as well as support stewardship of uranium-contaminated sites. This Quality Assurance Project Plan provides the quality assurance requirements and processes that will be followed by the Rifle Integrated Field-Scale Subsurface Research Challenge Project

  3. Laboratory simulation studies of uranium mobility in natural waters

    International Nuclear Information System (INIS)

    Giblin, A.M.; Swaine, D.J.; Batts, B.D.

    1981-01-01

    The effects of imposed variations of pH and Eh on aqueous uranium mobility at 25 0 C have been studied in three simulations of natural water systems. Constituents tested for their effect on uranium mobility were: (a) hydrous ferric oxide, to represent adsorptive solids which precipitate or dissolve in response to variations in pH and Eh; (b) kaolinite, representing minerals which, although modified by pH and Eh changes, are present as solids over the pH-Eh range of natural waters; and (c) carbonate, to represent a strong uranium-complexing species. Uranium mobility measurements from each simulation were regressed against pH and Eh within a range appropriate to natural waters. Hydrous ferric oxide and kaolinite each affected uranium mobility, but in separate pH-Eh domains. Aqueous carbonate increased mobility of uranium, and adsorption of UO 2 (CO 3 ) 3 4- caused colloidal dispersion of hydrous ferric oxide, possibly explaining the presence of 'hydrothermal hematite' in some uranium deposits. Enhanced uranium mobility observed in the pH-Eh domains of thermodynamically insoluble uranium oxides could be explained if the oxides were present as colloids. Uranium persisting as a mobile species, even after reduction, has implications for the near surface genesis of uranium ores. (author)

  4. Study of the Reactions Controlling the Mobility of Uranium in Ground and Surface Water Systems in Contact with Apatite

    International Nuclear Information System (INIS)

    Taffet, M

    2004-01-01

    The objective of this project was to define the mechanisms, equilibria, kinetics, and extent of sorption of aqueous uranium onto hydroxyapatite (Ca 5 (PO 4 ) 3 (OH)) for a range of pH, ionic strength, aqueous uranium concentration, dissolved carbon/air CO 2 , and mineral surface area. We conducted chemical modeling, batch and flow-through experiments, chemical analysis, x-ray absorption and diffraction measurement, and electron microscopy. Our motivation was the need to immobilize U in water and soil to prevent it's entry into water supplies and ultimately, biological systems. Applying hydroxyapatite to in-situ treatment of uranium-bearing ground water could be an effective, low cost technology. We found that hydroxyapatite quickly, effectively, and reversibly sorbed uranium at a high capacity by inner-sphere complexation over a wide range of conditions. Our results indicate that at aqueous uranium concentrations below 10-20 ppb: (1) equilibrium sorption of uranium to hydroxyapatite occurs in hours, regardless of pH; (2) in ambient and CO 2 -free atmospheres, over 98% of initial uranium is sorbed to hydroxyapatite, (3) in waters in equilibrium with higher air CO 2 concentrations, sorption removed over 97% of aqueous uranium, except above pH 9, where aqueous uranium concentrations were reduced by less than 40%, and (4) at near-neutral pH, bicarbonate alkalinities in excess of 500 slightly retarded sorption of uranium to hydroxyapatite, relative to lower alkalinities. Uranium sorption and precipitation are reversible and are not appreciably affected by ionic strength. The reversibility of these reactions requires that in situ treatment be carefully monitored to avoid breakthrough and de-sorption of uranium unto ground water. At typical surface conditions, sorption is the only mode of uranium sequestration below 20-50 ppb U - above this range, precipitation of uranium phosphate minerals begins to dominate sequestration processes. We verified that one m 2 of

  5. Mobilization of uranium isotopes in Brazilian aquifers

    International Nuclear Information System (INIS)

    Bonotto, Daniel Marcos

    1994-01-01

    The uranium isotopes 234 U and 238 U have been extensively used to study geochemical problems, mainly related to the hydrological medium. Active dissolution of these isotopes is occurring in groundwaters from several aquifers at southeastern region of Brazil. The dissolved uranium concentration showed variability related to the rainwater infiltration with the U content of groundwaters increasing during wet periods. The amount of uranium mobilized during rainwater infiltration showed an inverse correlation with the thickness of unsaturated silty clay at Morro do Ferro area. The experimental data favour the possibility of formation of soluble complexes of U and dissolved organic compounds at Morro do Ferro area, and also some absorption of U by clays during rainwater infiltration. Enhanced 234 U/ 238 U activity ratios for dissolved uranium have been found and explained in terms of combined chemical etch and leach processes for groundwaters of the Pocos de Caldas alkaline complex. These processes are considered responsible for the bulk dissolution of rock matrix rather then alpha-recoil effects. Several direct correlations have been found for groundwaters of Agua da Prata, which supported the effectiveness of etch/lead mechanisms, for example, between 234 U/ 238 U activity ratio and dissolved solids, ionic strength, C O 2 partial pressure, 'traditional' index of base exchange and 'new' index of base exchange (involving the anion fluoride). A higher 234 U/ 238 U activity ratio was found to be directly related to a higher value of dissolution rate and a higher value of 222 Rn content was found to be related with a higher value of specific surface area. These relationships explained a good inverse logarithmic correlation between 234 U/ 238 U activity ratio and 222 Rn content of the spring waters of Aguas da Prata. (author)

  6. Uranium control in phosphogypsum

    International Nuclear Information System (INIS)

    Hurst, F.J.; Arnold, W.D.

    1980-01-01

    In wet-process phosphoric acid plants, both previous and recent test results show that uranium dissolution from phosphate rock is significantly higher when the rock is acidulated under oxidizing conditions than under reducing conditions. Excess sulfate and excess fluoride further enhance the distribution of uranium to the cake. Apparently the U(IV) present in the crystal lattice of the apatite plus that formed by reduction of U(IV) by FE(II) during acidulation is trapped or carried into the crystal lattice of the calcium sulfate crystals as they form and grow. The amount of uranium that distributes to hemihydrate filter cake is up to seven times higher than the amount that distributes to the dihydrate cake. About 60% of the uranium in hemihydrate cakes can be readily leached after hydration of the cake, but the residual uranium (20 to 30%) is very difficult to remove economically. Much additional research is needed to develop methods for minimizing uranium losses to calcium filter cakes

  7. Uranium mobilization from low-grade ore by cyanobacteria

    International Nuclear Information System (INIS)

    Lorenz, M.G.; Krumbein, W.E.

    1985-01-01

    Three cyanobacterial isolates (two LPP-B forms and one Anabaena or Nostoc species) from different environments could mobilize uranium from low-grade ores. After 80 days, up to 18% uranium had been extracted from coal and 51% from a carbonate rock by the filamentous cyanobacterium OL3, a LPP-B form. Low growth requirements with regard to light and temperature optima make this strain a possible candidate for leaching neutral and alkaline low-grade uranium ores. (orig.)

  8. Uranium mobilization from low-grade ore by cyanobacteria

    Energy Technology Data Exchange (ETDEWEB)

    Lorenz, M.G.; Krumbein, W.E.

    1985-04-01

    Three cyanobacterial isolates (two LPP-B forms and one Anabaena or Nostoc species) from different environments could mobilize uranium from low-grade ores. After 80 days, up to 18% uranium had been extracted from coal and 51% from a carbonate rock by the filamentous cyanobacterium OL3, a LPP-B form. Low growth requirements with regard to light and temperature optima make this strain a possible candidate for leaching neutral and alkaline low-grade uranium ores.

  9. Biogeochemical Processes Regulating the Mobility of Uranium in Sediments

    Energy Technology Data Exchange (ETDEWEB)

    Belli, Keaton M.; Taillefert, Martial

    2016-07-01

    This book chapters reviews the latest knowledge on the biogeochemical processes regulating the mobility of uranium in sediments. It contains both data from the literature and new data from the authors.

  10. Control of uranium hazards - Portsmouth uranium enrichment plant

    International Nuclear Information System (INIS)

    Wagner, E.R.

    1985-01-01

    This report summarizes the Environmental, Safety and Health programs to control uranium hazards at the Portsmouth Gaseous Diffusion Plant. A description of the physical plant, the facility processes and the attendant uranium flows and effluents are provided. The hazards of uranium are discussed and the control systems are outlined. Finally, the monitoring programs are described and summaries of recent data are provided. 11 figs., 20 tabs

  11. Biotechnology for uranium extraction and environmental control

    International Nuclear Information System (INIS)

    Natarajan, K.A.

    2012-01-01

    India is looking forward to augmenting mining and extraction of uranium mineral for its nuclear energy needs. Being a radio-active mineral, mining and processing of uranium ore deposits need be carried out in an environmentally acceptable fashion. In this respect, a biotechnological approach holds great promise since it is environment-friendly, cost-effective and energy-efficient. There are several types of microorganisms which inhabit uranium ore bodies and biogenesis plays an important role in the mineralisation and transport of uranium-bearing minerals under the earth's crust. Uranium occurrences in India are only meagre and it becomes essential to tap effectively all the available resources. Uraninite and pitchblende occurring along with sulfide mineralisation such as pyrite are ideal candidates for bioleaching. Acidithiobacillus ferrooxidans present ubiquitously in the ore deposits can be isolated, cultured and utilised to bring about efficient acidic dissolution of uranium. Many such commercial attempts to extract uranium from even lean ores using acidophilic autotrophic bacteria have been made in different parts of the world. Anaerobes such a Geobacter and Sulfate Reducing Bacteria (SRB) can be effectively used in uranium mining for environmental control. Radioactive uranium mined wastes and tailing dumps can be cleaned and protected using microorganisms. In this lecture use of biotechnology in uranium extraction and bioremediation is illustrated with practical examples. Applicability of environment-friendly biotechnology for mining and extraction of uranium from Indian deposits is outlined. Commercial potentials for bioremediation in uranium-containing wastes are emphasised. (author)

  12. Identification of chemical processes influencing constituent mobility during in-situ uranium leaching

    International Nuclear Information System (INIS)

    Sherwood, D.R.; Hostetler, C.J.; Deutsch, W.J.

    1984-07-01

    In-situ leaching of uranium has become a widely accepted method for production of uranium concentrate from ore zones that are too small, too deep, and/or too low in grade to be mined by conventional techniques. One major environmental concern that exists with in-situ leaching of uranium is the possible adverse effects mining might have on regional ground water quality. The leaching solution (lixiviant), which extracts uranium from the ore zone, might also mobilize other potential contaminants (As, Se, Mo, and SO 4 ) associated with uranium ore. Column experiments were performed to investigate the geochemical interactions between a lixiviant and a uranium ore during in-situ leaching and to identify chemical processes that might influence contaminant mobility. The analytical composition data for selected column effluents were used with the MINTEQ code to develop a computerized geochemical model of the system. MINTEQ was used to calculate saturation indices for solid phases based on the composition of the solution. A potential constraint on uranium leaching efficiency appears to be the solubility control of schoepite. Gypsum and powellite solubilities may limit the mobilities of sulfate and molybdenum, respectively. In contrast, the mobilities of arsenic and selenium were not limited by solubility constraints, but were influenced by other chemical interaction between the solution and sediment, perhaps adsorption. Bulk chemical and mineralogical analyses were performed on both the original and leached ores. Using these analyses together with the column effluent data, mass balance calculations were performed on five constituents based on solution chemical analysis and bulk chemical and γ-spectroscopy analysis for the sediment. 6 references, 10 figures, 10 tables

  13. Modeling of geochemical processes related to uranium mobilization in the groundwater of a uranium mine

    International Nuclear Information System (INIS)

    Gomez, P.; Garralon, A.; Buil, B.; Turrero, Ma.J.; Sanchez, L.; Cruz, B. de la

    2006-01-01

    This paper describes the processes leading to uranium distribution in the groundwater of five boreholes near a restored uranium mine (dug in granite), and the environmental impact of restoration work in the discharge area. The groundwater uranium content varied from < 1 μg/L in reduced water far from the area of influence of the uranium ore-containing dyke, to 104 μg/L in a borehole hydraulically connected to the mine. These values, however, fail to reflect a chemical equilibrium between the water and the pure mineral phases. A model for the mobilization of uranium in this groundwater is therefore proposed. This involves the percolation of oxidized waters through the fractured granite, leading to the oxidation of pyrite and arsenopyrite and the precipitation of iron oxyhydroxides. This in turn leads to the dissolution of the primary pitchblende and, subsequently, the release of U(VI) species to the groundwater. These U(VI) species are retained by iron hydroxides. Secondary uranium species are eventually formed as reducing conditions are re-established due to water-rock interactions

  14. Uranium

    International Nuclear Information System (INIS)

    Poty, B.; Cuney, M.; Bruneton, P.; Virlogeux, D.; Capus, G.

    2010-01-01

    With the worldwide revival of nuclear energy comes the question of uranium reserves. For more than 20 years, nuclear energy has been neglected and uranium prospecting has been practically abandoned. Therefore, present day production covers only 70% of needs and stocks are decreasing. Production is to double by 2030 which represents a huge industrial challenge. The FBR-type reactors technology, which allows to consume the whole uranium content of the fuel, is developing in several countries and will ensure the long-term development of nuclear fission. However, the implementation of these reactors (the generation 4) will be progressive during the second half of the 21. century. For this reason an active search for uranium ores will be necessary during the whole 21. century to ensure the fueling of light water reactors which are huge uranium consumers. This dossier covers all the aspects of natural uranium production: mineralogy, geochemistry, types of deposits, world distribution of deposits with a particular attention given to French deposits, the exploitation of which is abandoned today. Finally, exploitation, ore processing and the economical aspects are presented. Contents: 1 - the uranium element and its minerals: from uranium discovery to its industrial utilization, the main uranium minerals (minerals with tetravalent uranium, minerals with hexavalent uranium); 2 - uranium in the Earth's crust and its geochemical properties: distribution (in sedimentary rocks, in magmatic rocks, in metamorphic rocks, in soils and vegetation), geochemistry (uranium solubility and valence in magmas, uranium speciation in aqueous solution, solubility of the main uranium minerals in aqueous solution, uranium mobilization and precipitation); 3 - geology of the main types of uranium deposits: economical criteria for a deposit, structural diversity of deposits, classification, world distribution of deposits, distribution of deposits with time, superficial deposits, uranium

  15. Integrated mobile robot control

    Science.gov (United States)

    Amidi, Omead; Thorpe, Chuck E.

    1991-03-01

    This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

  16. Isotopic investigation of the colloidal mobility of depleted uranium in a podsolic soil

    International Nuclear Information System (INIS)

    Harguindeguy, S.; Crancon, P.; Pointurier, F.; Potin-Gautier, M.; Lespes, G.

    2014-01-01

    The mobility and colloidal migration of uranium were investigated in a soil where limited amounts of anthropogenic uranium (depleted in the "2"3"5U isotope) were deposited, adding to the naturally occurring uranium. The colloidal fraction was assumed to correspond to the operational fraction between 10 kDa and 1.2 μm after (ultra)filtration. Experimental leaching tests indicate that approximately 8-15% of uranium is desorbed from the soil. Significant enrichment of the leachate in the depleted uranium (DU) content indicates that uranium from recent anthropogenic DU deposit is weakly bound to soil aggregates and more mobile than geologically occurring natural uranium (NU). Moreover, 80% of uranium in leachates was located in the colloidal fractions. Nevertheless, the percentage of DU in the colloidal and dissolved fractions suggests that NU is mainly associated with the non-mobile coarser fractions of the soil. A field investigation revealed that the calculated percentages of DU in soil and groundwater samples result in the enhanced mobility of uranium downstream from the deposit area. Colloidal uranium represents between 10% and 32% of uranium in surface water and between 68% and 90% of uranium in groundwater where physicochemical parameters are similar to those of the leachates. Finally, as observed in batch leaching tests, the colloidal fractions of groundwater contain slightly less DU than the dissolved fraction, indicating that DU is primarily associated with macromolecules in dissolved fraction. (authors)

  17. Field Testing of Downgradient Uranium Mobility at an In-Situ Recovery Uranium Mine

    Science.gov (United States)

    Reimus, P. W.; Clay, J. T.; Rearick, M.; Perkins, G.; Brown, S. T.; Basu, A.; Chamberlain, K.

    2015-12-01

    In-situ recovery (ISR) mining of uranium involves the injection of O2 and CO2 (or NaHCO3) into saturated roll-front deposits to oxidize and solubilize the uranium, which is then removed by ion exchange at the surface and processed into U3O8. While ISR is economical and environmentally-friendly relative to conventional mining, one of the challenges of extracting uranium by this process is that it leaves behind a geochemically-altered aquifer that is exceedingly difficult to restore to pre-mining geochemical conditions, a regulatory objective. In this research, we evaluated the ability of the aquifer downgradient of an ISR mining area to attenuate the transport of uranium and other problem constituents that are mobilized by the mining process. Such an evaluation can help inform both regulators and the mining industry as to how much restoration of the mined ore zone is necessary to achieve regulatory compliance at various distances downgradient of the mining zone even if complete restoration of the ore zone proves to be difficult or impossible. Three single-well push-pull tests and one cross-well test were conducted in which water from an unrestored, previously-mined ore zone was injected into an unmined ore zone that served as a geochemical proxy for the downgradient aquifer. In all tests, non-reactive tracers were injected with the previously-mined ore zone water to allow the transport of uranium and other constituents to be compared to that of the nonreactive species. In the single-well tests, it was shown that the recovery of uranium relative to the nonreactive tracers ranged from 12-25%, suggesting significant attenuation capacity of the aquifer. In the cross-well test, selenate, molybdate and metavanadate were injected with the unrestored water to provide information on the transport of these potentially-problematic anionic constituents. In addition to the species-specific transport information, this test provided valuable constraints on redox conditions within

  18. Thermogravimetric control of intermediate compounds in uranium metallurgy

    International Nuclear Information System (INIS)

    Gasco Sanchez, L.; Fernandez Cellini, R.

    1959-01-01

    The thermal decomposition of some intermediate compounds in the metallurgy of the uranium as uranium peroxide, ammonium uranate, uranium and ammonium penta-fluoride, uranium tetrafluoride and uranous oxide has been study by means of the Chevenard's thermo balance. Some data on pyrolysis of synthetic mixtures of intermediate compounds which may occasionally appear during the industrial process, are given. Thermogravimetric methods of control are suggested, usable in interesting products in the uranium metallurgy. (Author) 20 refs

  19. Uranium Mobility During In Situ Redox Manipulation of the 100 Areas of the Hanford Site

    International Nuclear Information System (INIS)

    Resch, C.T.; Szecsody, J.E.; Fruchter, J.S.; Cantrell, K.J.; Krupka, K.M.; Williams, M.D.

    1998-01-01

    A series of laboratory experiments and computer simulations was conducted to assess the extent of uranium remobilization that is likely to occur at the end of the life cycle of an in situ sediment reduction process. The process is being tested for subsurface remediation of chromate- and chlorinated solvent-contaminated sediments at the Hanford Site in southeastern Washington. Uranium species that occur naturally in the +6 valence state ∼(VI) at 10 ppb in groundwater at Hanford will accumulate as U(N) through the reduction and subsequent precipitation conditions of the permeable barrier created by in situ redox manipulation. The precipitated uranium will W remobilized when the reductive capacity of the barrier is exhausted and the sediment is oxidized by the groundwater containing dissolved oxygen and other oxidants such as chromate. Although U(N) accumulates from years or decades of reduction/precipitation within the reduced zone, U(W) concentrations in solution are only somewhat elevated during aquifer oxidation because oxidation and dissolution reactions that release U(N) precipitate to solution are slow. The release rate of uranium into solution was found to be controlled mainly by the oxidation/dissolution rate of the U(IV) precipitate (half-life 200 hours) and partially by the fast oxidation of adsorbed Fe(II) (half- life 5 hours) and the slow oxidation of Fe(II)CO 3 (half-life 120 hours) in the reduced sediment. Simulations of uranium transport that incorporated these and other reactions under site-relevant conditions indicated that 35 ppb U(VI) is the maximum concentration likely to result from mobilization of the precipitated U(IV) species. Experiments also indicated that increasing the contact time between the U(IV) precipitates and the reduced sediment, which is likely to occur in the field, results in a slower U(IV) oxidation rate, which, in turn, would lower the maximum concentration of mobilized U(W). A six-month-long column experiment confirmed that

  20. Airborne effluent control at uranium mills

    International Nuclear Information System (INIS)

    Sears, M.B.

    1976-01-01

    The Oak Ridge National Laboratory has made an engineering cost--environmental benefit study of radioactive waste treatment systems for decreasing the amount of radioactive materials released from uranium ore processing mills. This paper summarizes the results of the study which pertain to the control and/or abatement of airborne radioactive materials from the mill processes. The tailings area is not included. Present practices in the uranium milling industry, with particular emphasis on effluent control and waste management, have been surveyed. A questionnaire was distributed to each active mill in the United States. Replies were received from about 75 percent of the mill operators. Visits were made to six operating uranium mills that were selected because they represented the different processes in use today and the newest, most modern in mill designs. Discussions were held with members of the Region IV Office of NRC and the Grand Junction Office of ERDA. Nuclear Science Abstracts, as well as other sources, were searched for literature pertinent to uranium mill processes, effluent control, and waste management

  1. Uranium enrichment export control guide: Gaseous diffusion

    Energy Technology Data Exchange (ETDEWEB)

    1989-09-01

    This document was prepared to serve as a guide for export control officials in their interpretation, understanding, and implementation of export laws that relate to the Zangger International Trigger List for gaseous diffusion uranium enrichment process components, equipment, and materials. Particular emphasis is focused on items that are especially designed or prepared since export controls are required for these by States that are party to the International Nuclear Nonproliferation Treaty.

  2. Use of an ion mobility spectrometer for detecting uranium compounds.

    Science.gov (United States)

    McLain, Derek R; Steeb, Jennifer L; Smith, Nicholas A

    2018-07-01

    The safeguards community currently lacks a method to rapidly determine the chemical form of radioactive and non-radioactive compounds in real time during inspection activities. Chemical speciation identification can provide important information on both the types of materials that are collected during environmental sampling and can inform inspectors as to where to focus efforts during inspections or complementary access visits. Ion Mobility Spectrometry (IMS) is an established field technique for the detection of explosives, narcotics, and other organic compounds. More recently, electrospray ionization (ESI) has been used to introduce inorganic compounds to IMS instruments for analysis. These techniques have shown the ability to supply chemical information on the compounds analyzed. Although these laboratory based instruments use a liquid-based injection system, there is evidence in the literature of unaltered and intact pharmaceutical tablets being volatilized and ionized in open atmosphere using heat and a Ni-63 source. This work determined that a commercial-off-the-shelf (COTS) IMS could be used for the identification of solid uranium compounds directly after sampling using a COTS sample swipe. Copyright © 2018 Elsevier B.V. All rights reserved.

  3. Uranium casting furnace automatic temperature control development

    International Nuclear Information System (INIS)

    Lind, R.F.

    1992-01-01

    Development of an automatic molten uranium temperature control system for use on batch-type induction casting furnaces is described. Implementation of a two-color optical pyrometer, development of an optical scanner for the pyrometer, determination of furnace thermal dynamics, and design of control systems are addressed. The optical scanning system is shown to greatly improve pyrometer measurement repeatability, particularly where heavy floating slag accumulations cause surface temperature gradients. Thermal dynamics of the furnaces were determined by applying least-squares system identification techniques to actual production data. A unity feedback control system utilizing a proportional-integral-derivative compensator is designed by using frequency-domain techniques. 14 refs

  4. Uranium

    Energy Technology Data Exchange (ETDEWEB)

    Williams, R M

    1976-01-01

    Evidence of expanding markets, improved prices and the short supply of uranium became abundantly clear in 1975, providing the much needed impetus for widespread activity in all phases of uranium operations. Exploration activity that had been at low levels in recent years in Canada was evident in most provinces as well as the Northwest Territories. All producers were in the process of expanding their uranium-producing facilities. Canada's Atomic Energy Control Board (AECB) by year-end had authorized the export of over 73,000 tons of U/sub 3/0/sub 8/ all since September 1974, when the federal government announced its new uranium export guidelines. World production, which had been in the order of 25,000 tons of U/sub 3/0/sub 8/ annually, was expected to reach about 28,000 tons in 1975, principally from increased output in the United States.

  5. Uranium mobility in the natural environment - evidence from sedimentary roll-front deposits

    International Nuclear Information System (INIS)

    Deutsch, W.J.; Serne, R.J.

    1983-04-01

    Roll-front deposits consist of naturally occurring ore-grade uranium in selected sandstone aquifers throughout the world. The geochemical environment of these roll-front deposits is analogous to the environment of a radioactive waste repository containing redox-sensitive elements during its post-thermal period. The ore deposits are formed by a combination of dissolution, complexation, sorption/precipitation, and mineral formation processes. The uranium, leached from the soil by percolating rainwater, complexes with dissolved carbonate and moves in the oxidizing ground water at very low concentration (parts per billion) levels. The uranium is extracted from the leaching solution by the chemical processes, over long periods of time, at the interfaces between oxidized and reduced sediments. The Eh of the ground water associated with the reduced sediments (Eh = -100 mv to +100 mv) is higher than the Eh expected for most waste repository environments (Eh = -100 mv to -300 mv); this suggests that uranium solids will not be very soluble in the repositories. Data from in-situ leach mining and restoration of roll-front uranium deposits also provide information on the potential mobility of the waste if oxidizing ground water should enter the repository. Uranium solids probably will be initially very soluble in carbonate ground water; however, as reducing conditions are re-estblished through water/rock interactions, the uranium will reprecipitate and the amount of uranium in solution will again equilibrate with the reduced uranium minerals

  6. Modeling the mobility of uranium from NORM-rich bedrock using multivariate statistical techniques - The mobility of uranium from U-containing bedrock materials as a function of pH: Implications for tunnel construction

    Energy Technology Data Exchange (ETDEWEB)

    Helmers, Tari; Fjermestad, Halldis; Salbu, Brit; Skipperud, Lindis [Norwegian University of Life Sciences, P.O. Box 5003, 1432 Aas (Norway); Meland, Sondre; Hagelia, Per [Norwegian Public Roads Administration, P.O. Box 8142, 0033 Oslo (Norway)

    2014-07-01

    According to amendments made to the Norwegian Pollution Control Act in 2011, naturally occurring radioactive material is now to be considered as an environmental contaminant, in addition to organic pollutants and trace metals. Environmental contamination is strongly correlated with the mobility and bioavailability of metals and radionuclides in natural systems. In order to determine the risk of environmental contamination from e.g. uranium (U) in alum shale areas, it is of particular importance to determine the mobility of U and trace metals found in the rock materials and their binding mechanisms. By determining the speciation and mobility of uranium and trace metals, better predictions can be made on the transport of contaminants in the environment from intervention like road and tunnel construction. The substrate media analyzed in this work was collected from a future tunnel construction site that is being built in the Gran municipality on National road Rv4 in Norway. The bedrock in the Gran municipality is rich in U-bearing minerals. Therefore, there is high potential for environmental contamination from the rock material removed for tunnel construction purposes. The present work focuses upon the effects of pH and the contact time (substrate media: solution) on the mobility of uranium. In order to identify the effects of pH and contact time on mobility, sample cores collected from an area rich in alum shale were subjected to an extended leaching experiment. In this experiment, the substrate materials were treated with five different pH solutions and were analyzed for different contact times. In addition, the results were compared to data from a sequential extraction experiment. In the leaching experiment, the mobilization of uranium in all of the substrate material was affected by the pH of solution. All of the samples were capable of quickly buffering pH solutions with a pH as low as 4 to neutral-alkaline conditions, attributed to the carbonate minerals

  7. Alternative repository criticality-control strategies for fissile uranium wastes

    International Nuclear Information System (INIS)

    Forsberg, C.W.

    1998-01-01

    Methods to prevent long term, disposal site nuclear criticality from fissile uranium isotopes in wastes were investigated. Long term refers to the time period after waste package (WP) failure and the subsequent loss of geometry and chemistry control within the WP. The preferred method of control was found to be the addition of sufficient depleted uranium to each WP so that the uranium enrichment is reduced to 235 U and 233 U in 238 U

  8. Practical considerations of pyrite oxidation control in uranium tailings

    International Nuclear Information System (INIS)

    1984-05-01

    The problems posed by the oxidation of pyrite in uranium tailings include the generation of sulfuric acid and acid sulfate metal salts. These have substantial negative impacts on watercourse biota by themselves, and the lowered pH levels tend to mobilize heavy metals present in the tailings the rate of oxidation of pyrite at lower pH levels is catalyzed by sulfur and iron oxidizing bacteria present in soils. No single clear solution to the problems came from this study. Exclusion of air is a most important preventative of bacterial catalysis of oxidation. Bactericides, chemically breaking the chain of integrated oxidation reactions, maintaining anaerobic conditions, or maintaining a neutral or alkaline pH all reduce the oxidation rate. Removal of pyrite by flotation will reduce but not eliminate the impact of pyrite oxidation. Controlled oxidation of the remaining sulfide in the flotation tails would provide an innocuous tailing so far as acidity generation is concerned

  9. Mobility of elevated levels of uranium in the environment

    International Nuclear Information System (INIS)

    Miera, F.R. Jr.; Hanson, W.C.; Gladney, E.S.; Jose, P.

    1980-01-01

    Studies of the long-term consequences of exposing terrestrial ecosystems to aged deposits of natural and depleted uranium at Los Alamos Scientific Laboratory (LASL) have been conducted over the past 3 years. The E-F explosive testing site at LASL was selected for intensive study of uranium redistribution during its 24-year use. The highest surface-soil (0 to 2.5 cm) uranium concentrations occurred 0 to 10 m from the detonation point and average 4500 μg/g. Concentrations in surface soil 50 and 200 m from the detonation point were generally less than 15% of that value. The uranium distribution to 30-cm depths for the 0- to 50-m distant sampling locations and to 10-cm depths at 50- to 200-m sampling distances showed significant penetration into the soil profile. Ratios of plant/soil uranium concentrations varied from 0.05 to 0.08. Internal tissues from two species of small mammals had tissue/soil ratios of 10 -3 and 10 -4

  10. Treatment of uranium turning with the controllable oxidizing process

    International Nuclear Information System (INIS)

    Shen Bingyi; Zhang Yonggang; Zhen Huikuan

    1989-02-01

    The concept, procedure and safety measures of the controllable oxidizing for uranium turning is described. The feasibility study on technological process has been made. The process provided several advantages such as: simplicity of operation, no pollution environment, safety, high efficiency and low energy consumption. The process can yield nuclear pure uranium dioxide under making no use of a great number of chemical reagent. It may supply raw material for fluoration and provide a simply method of treatment for safe store of uranium turning

  11. In situ mobility of uranium in the presence of nitrate following sulfate-reducing conditions.

    Science.gov (United States)

    Paradis, Charles J; Jagadamma, Sindhu; Watson, David B; McKay, Larry D; Hazen, Terry C; Park, Melora; Istok, Jonathan D

    2016-04-01

    Reoxidation and mobilization of previously reduced and immobilized uranium by dissolved-phase oxidants poses a significant challenge for remediating uranium-contaminated groundwater. Preferential oxidation of reduced sulfur-bearing species, as opposed to reduced uranium-bearing species, has been demonstrated to limit the mobility of uranium at the laboratory scale yet field-scale investigations are lacking. In this study, the mobility of uranium in the presence of nitrate oxidant was investigated in a shallow groundwater system after establishing conditions conducive to uranium reduction and the formation of reduced sulfur-bearing species. A series of three injections of groundwater (200 L) containing U(VI) (5 μM) and amended with ethanol (40 mM) and sulfate (20 mM) were conducted in ten test wells in order to stimulate microbial-mediated reduction of uranium and the formation of reduced sulfur-bearing species. Simultaneous push-pull tests were then conducted in triplicate well clusters to investigate the mobility of U(VI) under three conditions: 1) high nitrate (120 mM), 2) high nitrate (120 mM) with ethanol (30 mM), and 3) low nitrate (2 mM) with ethanol (30 mM). Dilution-adjusted breakthrough curves of ethanol, nitrate, nitrite, sulfate, and U(VI) suggested that nitrate reduction was predominantly coupled to the oxidation of reduced-sulfur bearing species, as opposed to the reoxidation of U(IV), under all three conditions for the duration of the 36-day tests. The amount of sulfate, but not U(VI), recovered during the push-pull tests was substantially more than injected, relative to bromide tracer, under all three conditions and further suggested that reduced sulfur-bearing species were preferentially oxidized under nitrate-reducing conditions. However, some reoxidation of U(IV) was observed under nitrate-reducing conditions and in the absence of detectable nitrate and/or nitrite. This suggested that reduced sulfur-bearing species may not be fully effective at

  12. Uranium

    International Nuclear Information System (INIS)

    Hamdoun, N.A.

    2007-01-01

    The article includes a historical preface about uranium, discovery of portability of sequential fission of uranium, uranium existence, basic raw materials, secondary raw materials, uranium's physical and chemical properties, uranium extraction, nuclear fuel cycle, logistics and estimation of the amount of uranium reserves, producing countries of concentrated uranium oxides and percentage of the world's total production, civilian and military uses of uranium. The use of depleted uranium in the Gulf War, the Balkans and Iraq has caused political and environmental effects which are complex, raising problems and questions about the effects that nuclear compounds left on human health and environment.

  13. Depleted uranium (DU) mobility in the natural environment

    International Nuclear Information System (INIS)

    Ragnarsdottir, K.V.

    2002-01-01

    In 1999 the Balkan's conflict lead NATO war planes to leave 10x10 3 kg of depleted uranium (DU) in the environment of Kosovo and neighbouring states (UNEP, 2001). DU behaves in the same manner in the environment as natural uranium and it can be traced with isotopic analysis due to the fact that DU has the isotopic composition of 0.2% 235 U and 99.8% 2 38 U as opposed to natural uranium which has 0.7% 2 35 U and 99.3% 2 38 U. DU is a waste product of the nuclear industry which enrich nuclear fuel by 2 35 U. Large stock piles of DU therefore exist in countries that produce nuclear energy and/or nuclear weapons. The DU is given to the weapons industry for free (or cheap) and has been a popular choice for armour penetrating arsenal due to the high density of uranium (19 g cm -3 ) and therefore its high penetrating power. Indeed the arsenal used in Kosovo consisted of DU penetrators that were shot from A-10 aeroplanes. They weigh roughly 300 g and have the shape of a fat 9 cm long pencil. (author)

  14. Influence of Uranium on Bacterial Communities: A Comparison of Natural Uranium-Rich Soils with Controls

    Science.gov (United States)

    Mondani, Laure; Benzerara, Karim; Carrière, Marie; Christen, Richard; Mamindy-Pajany, Yannick; Février, Laureline; Marmier, Nicolas; Achouak, Wafa; Nardoux, Pascal; Berthomieu, Catherine; Chapon, Virginie

    2011-01-01

    This study investigated the influence of uranium on the indigenous bacterial community structure in natural soils with high uranium content. Radioactive soil samples exhibiting 0.26% - 25.5% U in mass were analyzed and compared with nearby control soils containing trace uranium. EXAFS and XRD analyses of soils revealed the presence of U(VI) and uranium-phosphate mineral phases, identified as sabugalite and meta-autunite. A comparative analysis of bacterial community fingerprints using denaturing gradient gel electrophoresis (DGGE) revealed the presence of a complex population in both control and uranium-rich samples. However, bacterial communities inhabiting uraniferous soils exhibited specific fingerprints that were remarkably stable over time, in contrast to populations from nearby control samples. Representatives of Acidobacteria, Proteobacteria, and seven others phyla were detected in DGGE bands specific to uraniferous samples. In particular, sequences related to iron-reducing bacteria such as Geobacter and Geothrix were identified concomitantly with iron-oxidizing species such as Gallionella and Sideroxydans. All together, our results demonstrate that uranium exerts a permanent high pressure on soil bacterial communities and suggest the existence of a uranium redox cycle mediated by bacteria in the soil. PMID:21998695

  15. Uranium

    International Nuclear Information System (INIS)

    Cuney, M.; Pagel, M.; Leroy, J.

    1992-01-01

    First, this book presents the physico-chemical properties of Uranium and the consequences which can be deduced from the study of numerous geological process. The authors describe natural distribution of Uranium at different scales and on different supports, and main Uranium minerals. A great place in the book is assigned to description and classification of uranium deposits. The book gives also notions on prospection and exploitation of uranium deposits. Historical aspects of Uranium economical development (Uranium resources, production, supply and demand, operating costs) are given in the last chapter. 7 refs., 17 figs

  16. Automated controlled-potential coulometric determination of uranium

    International Nuclear Information System (INIS)

    Knight, C.H.; Clegg, D.E.; Wright, K.D.; Cassidy, R.M.

    1982-06-01

    A controlled-potential coulometer has been automated in our laboratory for routine determination of uranium in solution. The CRNL-designed automated system controls degassing, prereduction, and reduction of the sample. The final result is displayed on a digital coulometer readout. Manual and automated modes of operation are compared to show the precision and accuracy of the automated system. Results are also shown for the coulometric titration of typical uranium-aluminum alloy samples

  17. Bioreduction of Uranium(VI) Complexed with Citric Acid by Clostridia Affects its Structure and Mobility

    International Nuclear Information System (INIS)

    Francis, A.; Dodge, C.

    2008-01-01

    Uranium contamination of the environment from mining and milling operations, nuclear-waste disposal, and ammunition use is a widespread global problem. Natural attenuation processes such as bacterial reductive precipitation and immobilization of soluble uranium is gaining much attention. However, the presence of naturally occurring organic ligands can affect the precipitation of uranium. Here, we report that the anaerobic spore-forming bacteria Clostridia, ubiquitous in soils, sediments, and wastes, capable of reduction of Fe(III) to Fe(II), Mn(IV) to Mn(II), U(VI) to U(IV), Pu(IV) to Pu(III), and Tc(VI) to Tc(IV); reduced U(VI) associated with citric acid in a dinuclear 2:2 U(VI):citric acid complex to a biligand mononuclear 1:2 U(IV):citric acid complex, which remained in solution, in contrast to reduction and precipitation of uranium. Our findings show that U(VI) complexed with citric acid is readily accessible as an electron acceptor despite the inability of the bacterium to metabolize the complexed organic ligand. Furthermore, it suggests that the presence of organic ligands at uranium-contaminated sites can affect the mobility of the actinide under both oxic and anoxic conditions by forming such soluble complexes.

  18. The role of ionic strength on the mobility of uranium at ore-water interface

    International Nuclear Information System (INIS)

    Singh, Sarjan; Rout, S.; Kumar, Ajay; Ravi, P.M.; Tripathi, R.M.

    2016-01-01

    Uranium contamination of soil and groundwater is a legacy of past activities associated with the nuclear fuel cycle, continuing concern associated with current mining operations as well as weathering of uranium bearing minerals. Considerable radio-toxicity is one of the challenges for environmentalist therefore; efforts have been given in recent years to understand 'U' behavior with respect to soil-water and rock-water chemistry for safety assessment of radioactive waste disposal program. Recent studies indicate that U mobility increases at soil-water interface with increase in salinity of the water. If salinization results in increased mobility of U significantly, this would be an important additional adverse phenomenon. It should then be taken into account when evaluating the effects of salinization in the context of environmental risk assessments. Nowadays, groundwater salinization is one of the main problems in arid and semi arid regions. The objective of the study was to evaluate the role of ionic strength of the water in uranium mobilization and speciation in the binary (Ore-Water) system

  19. Pollution control -- Recovery of uranium from phosphatic fertilizer industry

    International Nuclear Information System (INIS)

    Trivedi, R.N.; Pachaiyappan, V.

    1979-01-01

    Various uranium recovery processes, viz. Brazilian process (HCL leaching), selective extraction of U, Japanese process, ORNL process and the Indian methods, recently developed, pertaining to the fertilizer industry are reviewed and their relative merits are discussed. Special attention has been paid to the recovery of uranium from the Indian and imported phosphatic rocks, showing the advantages, both from the pollution control and nuclear energy aspects. (K.B.)

  20. Uranium

    International Nuclear Information System (INIS)

    Anon.

    1984-01-01

    The article briefly discusses the Australian government policy and the attitude of political party factions towards the mining and exporting of the uranium resources in Australia. Australia has a third of the Western World's low-cost uranium resources

  1. 10 CFR 760.1 - Uranium leases on lands controlled by DOE. (Domestic Uranium Program Circular No. 760.1, formerly...

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 4 2010-01-01 2010-01-01 false Uranium leases on lands controlled by DOE. (Domestic Uranium Program Circular No. 760.1, formerly (AEC) Domestic Uranium Program Circular 8, 10 CFR 60.8). 760.1 Section 760.1 Energy DEPARTMENT OF ENERGY DOMESTIC URANIUM PROGRAM § 760.1 Uranium leases on lands...

  2. Uranium

    International Nuclear Information System (INIS)

    Mackay, G.A.

    1978-01-01

    The author discusses the contribution made by various energy sources in the production of electricity. Estimates are made of the future nuclear contribution, the future demand for uranium and future sales of Australian uranium. Nuclear power growth in the United States, Japan and Western Europe is discussed. The present status of the six major Australian uranium deposits (Ranger, Jabiluka, Nabarlek, Koongarra, Yeelerrie and Beverley) is given. Australian legislation relevant to the uranium mining industry is also outlined

  3. Uranium

    International Nuclear Information System (INIS)

    1982-01-01

    The development, prospecting, research, processing and marketing of South Africa's uranium industry and the national policies surrounding this industry form the headlines of this work. The geology of South Africa's uranium occurences and their positions, the processes used in the extraction of South Africa's uranium and the utilisation of uranium for power production as represented by the Koeberg nuclear power station near Cape Town are included in this publication

  4. Modelling and Control of a Mobile Robot

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    1998-01-01

    In order to control a mobile robot, kinematic odels as well as dynamic models are required. This parer describes these basic models for an experimental mobile robot under construction at the Department of Control and Engineering Design. A description of a set of trajectory control rules is given...

  5. Uranium

    International Nuclear Information System (INIS)

    Stewart, E.D.J.

    1974-01-01

    A discussion is given of uranium as an energy source in The Australian economy. Figures and predictions are presented on the world supply-demand position and also figures are given on the added value that can be achieved by the processing of uranium. Conclusions are drawn about Australia's future policy with regard to uranium (R.L.)

  6. Uranium

    International Nuclear Information System (INIS)

    Toens, P.D.

    1981-03-01

    The geological setting of uranium resources in the world can be divided in two basic categories of resources and are defined as reasonably assured resources, estimated additional resources and speculative resources. Tables are given to illustrate these definitions. The increasing world production of uranium despite the cutback in the nuclear industry and the uranium requirements of the future concluded these lecture notes

  7. The mobility of radioactive elements in a Uranium exploitation zone

    International Nuclear Information System (INIS)

    Bragea, M.; Toro, L.

    2002-01-01

    One of the purposes of this study is to gain knowledge on the possibilities of accumulations of the radioelements (2 38U , 2 32T h, 2 26R a) in a given ecosystem, and, particularly, the knowledge of the mechanisms implied in the transfer of these radioelements around the abandoned mining exploitations. The final purpose is the evaluation of the quantity of the radioelements susceptible to reach the man. The research is directed towards a quantitative evaluation of the transport rate of the contaminating element in the soil. There have been studied the surroundings of ore mines in the Boul Massif in Poiana Rusca Mountains in Romania. These exploitations had been closed and abandoned in 1990. From a geological point of view, the region is formed from crystalline schists, banat eruptive and sedimentary rocks. The iron deposit is totally situated in crystalline rocks in Poiana Rusca Mountains. The concentration of magnetite in the deposit is 25% with a relatively uniform dissemination in the ore. Brannerite (UCaThY)(TiFe) 2 O 6 , was also found in the same place. It is an ore should contain UO3 in proportion of up to about 33%. In 1963 there were stood out areas with radioactive minerals with gamma doses in the range of 500-9100 nGy/hour. In the same time, there were also identified a few points in which the concentration of thorium and uranium were significant. The areas with radioactive mineralizations were generally limited and strictly located in the limit of the iron ores deposit. By closing the mining activities huge quantities of waste rock stored in unprotected dump remained abandoned. As a result of the process of ore extraction, the waste rock and a very low percentage of metallic minerals were stored in tailing ponds, with a clay liner necessary to isolate the tailing from the reast of the aquifer

  8. Uranium Mining (Environment Control) Act 1979 No 46 of 1979

    International Nuclear Information System (INIS)

    1979-01-01

    The purpose of this Act is to control the mining of uranium in the Alligator Rivers Region with a view to lessening any damage which may be caused to the environment. The Act provides for the control of mining of certain substances, for an authorization system for construction and use of facilities, equipment and processes as well as for environmental protection requirements. (NEA) [fr

  9. Uranium mobility across annual growth rings in three deciduous tree species.

    Science.gov (United States)

    McHugh, Kelly C; Widom, Elisabeth; Spitz, Henry B; Wiles, Gregory C; Glover, Sam E

    2018-02-01

    Black walnut (Juglans nigra), slippery elm (Ulmus rubra), and white ash (Fraxinus americana) trees were evaluated as potential archives of past uranium (U) contamination. Like other metals, U mobility in annual growth rings of trees is dependent on the tree species. Uranium concentrations and isotopic compositions (masses 234, 235, 236, and 238) were analyzed by thermal ionization mass spectrometry to test the efficacy of using tree rings to retroactively monitor U pollution from the FFMPC, a U purification facility operating from 1951 to 1989. This study found non-natural U (depleted U and detectable 236 U) in growth rings of all three tree species that pre-dated the start of operations at FFMPC and compositional trends that did not correspond with known contamination events. Therefore, the annual growth rings of these tree species cannot be used to reliably monitor the chronology of U contamination. Copyright © 2017 Elsevier Ltd. All rights reserved.

  10. Ultraviolet-B radiation mobilizes uranium from uranium-dissolved organic carbon complexes in aquatic systems, demonstrated by asymmetrical flow field-flow fractionation.

    Science.gov (United States)

    Nehete, Sachin Vilas; Christensen, Terje; Salbu, Brit; Teien, Hans-Christian

    2017-05-05

    Humic substances have a tendency to form complexes with metal ions in aquatic medium, impacting the metal mobility, decreasing bioavailability and toxicity. Ultraviolet-B (UV-B) radiation exposure degrades the humic substance, changes their molecular weight distribution and their metal binding capacity in aquatic medium. In this study, we experimented the effect of UV-B radiation on the uranium complexed with fulvic acids and humic acids in a soft water system at different pH, uranium concentrations and radiant exposure. The concentration and distribution of uranium in a complexed form were investigated by asymmetrical flow field-flow fractionation coupled to multi detection technique (AsFlFFF-UV-ICP-MS). The major concentration of uranium present in complexes was primarily associated with average and higher molecular weight fulvic and humic acids components. The concentration of uranium in a complexed form increased with increasing fulvic and humic acid concentrations as well as pH of the solution. The higher molecular weight fraction of uranium was degraded due to the UV-B exposure, transforming about 50% of the uranium-dissolved organic carbon complexes into low molecular weight uranium species in complex form with organic ligands and/or free form. The result also suggests AsFlFFF-UV-ICP-MS to be an important separation and detection technique for understanding the interaction of radionuclides with dissolved organic matter, tracking size distribution changes during degradation of organic complexes for understanding mobility, bioavailability and ecosystem transfer of radionuclides as well as metals. Copyright © 2017 Elsevier B.V. All rights reserved.

  11. Effects of organic carbon supply rates on uranium mobility in a previously bioreduced contaminated sediment.

    Science.gov (United States)

    Wan, Jiamin; Tokunaga, Tetsu K; Kim, Yongman; Brodie, Eoin; Daly, Rebecca; Hazen, Terry C; Firestone, Mary K

    2008-10-15

    Bioreduction-based strategies for remediating uranium (U)-contaminated sediments face the challenge of maintaining the reduced status of U for long times. Because groundwater influxes continuously bring in oxidizing terminal electron acceptors (O2, NO3(-)), it is necessary to continue supplying organic carbon (OC) to maintain the reducing environment after U bioreduction is achieved. We tested the influence of OC supply rates on mobility of previously microbial reduced uranium U(IV) in contaminated sediments. We found that high degrees of U mobilization occurred when OC supply rates were high, and when the sediment still contained abundant Fe(III). Although 900 days with low levels of OC supply minimized U mobilization, the sediment redox potential increased with time as did extractable U(VI) fractions. Molecular analyses of total microbial activity demonstrated a positive correlation with OC supply and analyses of Geobacteraceae activity (RT-qPCR of 16S rRNA) indicated continued activity even when the effluent Fe(II) became undetectable. These data support our hypothesis on the mechanisms responsible for remobilization of U under reducing conditions; that microbial respiration caused increased (bi)carbonate concentration and formation of stable uranyl carbonate complexes, thereby shifted U(IV)/U(VI) equilibrium to more reducing potentials. The data also suggested that low OC concentrations could not sustain the reducing condition of the sediment for much longer time. Bioreduced U(IV) is not sustainable in an oxidizing environment for a very long time.

  12. Uranium

    International Nuclear Information System (INIS)

    Whillans, R.T.

    1981-01-01

    Events in the Canadian uranium industry during 1980 are reviewed. Mine and mill expansions and exploration activity are described, as well as changes in governmental policy. Although demand for uranium is weak at the moment, the industry feels optimistic about the future. (LL)

  13. Characterization of groundwater composition in Punjab state with special emphasis on uranium content, speciation and mobility

    Energy Technology Data Exchange (ETDEWEB)

    Kumar, Ajay; Rout, Sabyasachi; Mishra, Manish K.; Ravi, P.M. [Bhabha Atomic Reseach Centre, Mumbai (India). Health Physics Div.; Tripathi, R.M. [Bhabha Atomic Reseach Centre, Mumbai (India). Environmental Assessment Div.; Ghosh, A.K. [Bhabha Atomic Reseach Centre, Mumbai (India). Health, Safety and Environmental Group

    2014-04-01

    Groundwaters (borewell and handpump) were sampled from two districts (Bathinda and Mansa) of Punjab state and analyzed for their major ionic concentrations and uranium isotope compositions in order to assess the possible origins of the waters and water-rock interactions that occurred in the deep aquifer system. The major ionic concentrations of waters were plotted on a Piper diagram and grouped into four dominant hydrochemical facies as (Na+K)-SO{sub 4}+Cl type (69%-73%), (Ca+Mg)-SO{sub 4}+Cl type (6% - 21%), (Ca+Mg)-HCO{sub 3} type (4% - 6%) and (Na+K)-HCO{sub 3} type (2% - 19%). It was observed that mobility of uranium in groundwater was very much influenced by TDS (total dissolved solids). To investigate the various mechanisms for deriving the elevated uranium concentrations in groundwater, {sup 234}U/{sup 238}U activity ratios (ARs) were calculated using the determined activity levels of {sup 234}U and {sup 238}U. The mean ARs was found to be near unity (i.e. secular equilibrium) in the study regions confirmed that uranium in groundwaters was mainly resulted from its host/parent rocks through weathering processes. The concentration of HCO{sub 3}{sup -} in ground water showed one order of magnitude higher than the total dissolved SiO{sub 2} indicates that carbonate weathering was the dominant process due to major water-rock interaction. The uranium speciation in groundwaters was investigated by an equilibrium model calculation using MEDUSA (make equilibrium diagrams using sophisticated algorithms) under the influence of redox conditions and complexant concentration. At the observed range of pH values, the predominant redox speciation of uranium was observed as hydroxo-carbonato complexes of (UO{sub 2}){sub 2}(CO{sub 3})(OH){sub 3}{sup -} and hydroxyl complexes of UO{sub 2}(OH){sub 3}{sup -} which might be caused for increasing the solubility of uranium. Due to very low concentration of phosphate in groundwater, its effects on U(VI)-aqueous speciation was

  14. Interaction control of a redundant mobile manipulator

    International Nuclear Information System (INIS)

    Chung, J.H.; Velinsky, S.A.; Hess, R.A.

    1998-01-01

    This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Simulation results show the promise of the developed algorithm

  15. Material control and accounting requirements for uranium enrichment facilities

    International Nuclear Information System (INIS)

    Ting, P.

    1991-01-01

    This paper reports that the U.S. Nuclear Regulatory Commission has defined material control and accounting (MC and A) requirement for low-enriched uranium enrichment plants licensed under 10 CFR parts 40 and 70. Following detailed assessment of potential safeguards issues relevant to these facilities, a new MC and A rule was developed. The primary safeguards considerations are detection of the loss of special nuclear material, detection of clandestine production of special nuclear material of low strategic significance for unauthorized use or distribution, and detection of unauthorized production of uranium enriched to ≥10 wt % U-235. The primary safeguards concerns identified were the large absolute limit of error associated with the material balance closing, the inability to shutdown some uranium enrichment technologies to perform a cleanout inventory of the process system, and the flexibility of some of these technologies to produce higher enrichments. Unauthorized production scenarios were identified for some technologies that could circumvent the detection of the production and removal of 5 kilograms of U-235 as high-enriched uranium through conventional material control and accounting programs. Safeguards techniques, including the use of production and process control information, measurements, and technical surveillance, were identified to compensate for these concerns

  16. Thermogravimetric control of intermediate compounds in uranium metallurgy; Control termogravimetrico de productos intermedios de la metalurgia del uranio

    Energy Technology Data Exchange (ETDEWEB)

    Gasco Sanchez, L; Fernandez Cellini, R

    1959-07-01

    The thermal decomposition of some intermediate compounds in the metallurgy of the uranium as uranium peroxide, ammonium uranate, uranium and ammonium penta-fluoride, uranium tetrafluoride and uranous oxide has been study by means of the Chevenard's thermo balance. Some data on pyrolysis of synthetic mixtures of intermediate compounds which may occasionally appear during the industrial process, are given. Thermogravimetric methods of control are suggested, usable in interesting products in the uranium metallurgy. (Author) 20 refs.

  17. Thermogravimetric control of intermediate compounds in uranium metallurgy; Control termogravimetrico de productos intermedios de la metalurgia del uranio

    Energy Technology Data Exchange (ETDEWEB)

    Gasco Sanchez, L.; Fernandez Cellini, R.

    1959-07-01

    The thermal decomposition of some intermediate compounds in the metallurgy of the uranium as uranium peroxide, ammonium uranate, uranium and ammonium penta-fluoride, uranium tetrafluoride and uranous oxide has been study by means of the Chevenard's thermo balance. Some data on pyrolysis of synthetic mixtures of intermediate compounds which may occasionally appear during the industrial process, are given. Thermogravimetric methods of control are suggested, usable in interesting products in the uranium metallurgy. (Author) 20 refs.

  18. Adaptive control theory of concentration in the uranium enrichment plant

    International Nuclear Information System (INIS)

    Sugitsue, Noritake; Miyagawa, Hiroshi; Yokoyama, Kaoru; Nakakura, Hiroyuki

    1999-01-01

    This paper presents the new adaptive control of concentration in the uranium enrichment plant. The purpose of this control system is average concentration control in production tram. As a result the accuracy and practical use of this control system have already been confirmed by the operation of the uranium enrichment demonstration plant. Three elements of technology are required to this method. The first is the measurement of the concentration using product flow quantity change. This technology shall be called 'Qp difference to Xp transform method'. The second is the relationship between temperature change and flow quantity using G.M.D.H. (Groupe Method of Data Handling) and the third is the estimation of temperature change using AR (Auto-regressive) model. (author)

  19. A computer controlled potentiometric titrator for quantitative determination of uranium

    International Nuclear Information System (INIS)

    Verdingh, V.; Michiels, A.

    1988-01-01

    The modified Davies and Gray methods is frequently used for the potentiometric titration of uranium. It is based upon the reduction of U(VI) to U(IV) with a reductant (e.g. Fe ++ ) followed by a selective oxidation of the excess of reductant and subsequent titration of U(IV) with potassium dichromate (K 2 Cr 2 O 7 ). Interference from other elements is low, but the method is rather cumbersome due to the number of reactants to be added before the titration is started. The timing of these additions also plays a role. In order to render the titration less dependent on human factors and with the aim of reaching high reproducibility, a computer controlled system has been designed and set-up. Reagents are added by five computer controlled burettes. A program allows the choice of volumes and waiting times, and commands the start of the final titration which is followed by the microprocessor of the automatic potentiometric titrator. In this way a routine uranium titration can be completed in about twelve minutes. Reproducibilities of the order of ±15% are achievable in routine operation. For high precision work, the titrator is used as an end-point detector. Titrant is added manually by mass, so as to react with > 99% of the uranium. The residual uranium is then titrated automatically by colume with diluted titrant. The precision can be improved by a factor of approximately ten. (orig.)

  20. Controlled synthesis of thorium and uranium oxide nano-crystals

    International Nuclear Information System (INIS)

    Hudry, Damien; Apostolidis, Christos; Walter, Olaf; Gouder, Thomas; Courtois, Eglantine; Kubel, Christian; Meyer, Daniel

    2013-01-01

    Very little is known about the size and shape effects on the properties of actinide compounds. As a consequence, the controlled synthesis of well-defined actinide-based nano-crystals constitutes a fundamental step before studying their corresponding properties. In this paper, we report on the non-aqueous surfactant-assisted synthesis of thorium and uranium oxide nano-crystals. The final characteristics of thorium and uranium oxide nano-crystals can be easily tuned by controlling a few experimental parameters such as the nature of the actinide precursor and the composition of the organic system (e.g., the chemical nature of the surfactants and their relative concentrations). Additionally, the influence of these parameters on the outcome of the synthesis is highly dependent on the nature of the actinide element (thorium versus uranium). By using optimised experimental conditions, monodisperse isotropic uranium oxide nano-crystals with different sizes (4.5 and 10.7 nm) as well as branched nano-crystals (overall size ca. 5 nm), nano-dots (ca. 4 nm) and nano-rods (with ultra-small diameters of 1 nm) of thorium oxide were synthesised. (authors)

  1. Atomic Energy Control Board and its role in the regulation of uranium and thorium mining

    International Nuclear Information System (INIS)

    Zgola, M.B.

    1981-02-01

    This brief, presented to the Northwest Territories legislative hearings into uranium exploration, provides an overview of the jurisdictional role and regulatory philosophy of the Atomic Energy Control Board in uranium mining in Canada

  2. Uranium

    International Nuclear Information System (INIS)

    Perkin, D.J.

    1982-01-01

    Developments in the Australian uranium industry during 1980 are reviewed. Mine production increased markedly to 1841 t U 3 O 8 because of output from the new concentrator at Nabarlek and 1131 t of U 3 O 8 were exported at a nominal value of $37.19/lb. Several new contracts were signed for the sale of yellowcake from Ranger and Nabarlek Mines. Other developments include the decision by the joint venturers in the Olympic Dam Project to sink an exploration shaft and the release of an environmental impact statement for the Honeymoon deposit. Uranium exploration expenditure increased in 1980 and additions were made to Australia's demonstrated economic uranium resources. A world review is included

  3. Uranium

    International Nuclear Information System (INIS)

    Gabelman, J.W.; Chenoweth, W.L.; Ingerson, E.

    1981-01-01

    The uranium production industry is well into its third recession during the nuclear era (since 1945). Exploration is drastically curtailed, and many staffs are being reduced. Historical market price production trends are discussed. A total of 3.07 million acres of land was acquired for exploration; drastic decrease. Surface drilling footage was reduced sharply; an estimated 250 drill rigs were used by the uranium industry during 1980. Land acquisition costs increased 8%. The domestic reserve changes are detailed by cause: exploration, re-evaluation, or production. Two significant discoveries of deposits were made in Mohave County, Arizona. Uranium production during 1980 was 21,850 short tons U 3 O 8 ; an increase of 17% from 1979. Domestic and foreign exploration highlights were given. Major producing areas for the US are San Juan basin, Wyoming basins, Texas coastal plain, Paradox basin, northeastern Washington, Henry Mountains, Utah, central Colorado, and the McDermitt caldera in Nevada and Oregon. 3 figures, 8 tables

  4. Control synchronization of differential mobile robots

    NARCIS (Netherlands)

    Nijmeijer, H.; Rodriguez Angeles, A.; Allgoewer, F.

    2004-01-01

    In this paper a synchronization controller for differential mobile robots is proposed. The synchronization goal is to control the angular position of each wheel to a desired trajectory and at the same time the differential (or synchronization) error between the angular positions of the two wheels.

  5. Evaluation and control of radon daughter hazards in uranium mines

    International Nuclear Information System (INIS)

    Holaday, D.A.

    1974-11-01

    This monograph discusses primarily those health hazards to uranium miners which are produced by exposure to ionizing radiation. Emphasis is placed on the areas of evaluation of exposures to the radioactive gas radon-222 and its short-lived transformation products, and methods of controlling such exposures. A limited discussion of the biological effects of radon and radon daughters is undertaken, and some procedures are given for evaluating hazards created by other common contaminants of mine atmospheres. A large amount of information exists on these topics, some of which is unpublished or is not readily available. While efforts were made to obtain data from all sources, undoubtedly some valuable work was overlooked. The monograph is an endeavor to assemble pertinent information and make it available to those who are concerned with producing uranium at minimal risks. Where they were available, a variety of procedures for evaluating hazards are given, and examples of systems for controlling hazards are included. 154 references

  6. Uranium solubility and solubility controls in selected Needle's Eye groundwaters

    International Nuclear Information System (INIS)

    Falck, W.E.; Hooker, P.J.

    1991-01-01

    The solubility control of uranium in selected groundwater samples from the cliff and sediments at the Needle's Eye natural analogue site is investigated using the speciation code PHREEQE and the CHEMVAL thermodynamic database (release 3). Alkali-earth bearing uranyl carbonate secondary minerals are likely to exert influence on the solubility . Other candidates are UO 2 and arsenates, depending on the prevailing redox conditions. In the absence of literature data, solubility products for important arsenates have been estimated from analogy with other arsenates and phosphates. Phosphates themselves are unlikely to exert control owing to their comparatively high solubilities. The influence of seawater flooding into the sediments is also discussed. The importance of uranyl arsenates in the retardation of uranium in shallow sediments has been demonstrated in theory, but there are some significant gaps in the thermodynamic databases used. (author)

  7. The Atomic Energy Control Board and the uranium mining industry

    International Nuclear Information System (INIS)

    Duncan, R.M.

    The Atomic Energy Control Board controls prescribed substances and nuclear facilities through a licensing system. It is only recently that this system has been applied to the uranium industry. There are four stages in the licensing procedure before a Mine-Mill Facility Operating Licence is issued: exploration requires an underground exploration permit; site approval is needed before the start of the development stage; development approval is required before the construction of the mill and waste management facilities and depends on the information in a preliminary safety report; the granting of a final operating licence occurs after the Board is satisfied with the final safety report, operating policies and principles, tailings management, and decommissioning plans. The Board has resource management policies designed to ensure that uranium reserves are available to meet Canada's needs. The administration of safeguards is also the Board's responsibility. (LL)

  8. Features of spherical uranium-graphite HTGR fuel elements control

    International Nuclear Information System (INIS)

    Kreindlin, I.I.; Oleynikov, P.P.; Shtan, A.S.

    1985-01-01

    Control features of spherical HTGR uranium-graphite fuel elements with spherical coated fuel particles are mainly determined by their specific construction and fabrication technology. The technology is chiefly based on methods of ceramic fuel (fuel microspheres fabrication) and graphite production practice it is necessary to deal with a lot of problems from determination of raw materials properties to final fuel elements testing. These procedures are described

  9. Features of spherical uranium-graphite HTGR fuel elements control

    Energy Technology Data Exchange (ETDEWEB)

    Kreindlin, I I; Oleynikov, P P; Shtan, A S

    1985-07-01

    Control features of spherical HTGR uranium-graphite fuel elements with spherical coated fuel particles are mainly determined by their specific construction and fabrication technology. The technology is chiefly based on methods of ceramic fuel (fuel microspheres fabrication) and graphite production practice it is necessary to deal with a lot of problems from determination of raw materials properties to final fuel elements testing. These procedures are described.

  10. 36Cl production and mobility in the Cigar Lake uranium deposit

    International Nuclear Information System (INIS)

    Cornett, R.J.; Fabryka-Martin, J.; Cramer, J.J.; Andrew, H.R.; Koslowsky, V.T.

    2010-01-01

    Can accelerator mass spectrometry (AMS) studies validate risk assessments of the long-term behaviour of contaminants such as radionuclides? AMS measurements on samples from the 1.3 billion-year-old Cigar Lake uranium ore deposit provide one approach to address this question. In Cigar Lake, elevated concentrations of uranium enhance the in situ neutron flux that produces 36 Cl and other radionuclides. We calculated the production of 36 Cl using a Monte Carlo neutron transport code. We then tested for the loss of 36 Cl from ore samples collected from an 8 m stratigraphic section through the deposit by comparing the predicted values (assuming equilibrium between production and decay) with the concentrations measured by AMS. The 36 Cl:Cl atom ratios within the ore were more than two orders of magnitude higher than in the surrounding host rock and ranged from 4 to 64 x 10 -12 . The 36 Cl concentrations in the ore, rock, clay and fracture infilling minerals all agree with the values predicted by the Monte Carlo simulations. We conclude that 36 Cl has very limited mobility. Even in matrix adjacent to more permeable fractures, there is no evidence that the measured isotopic ratios deviate significantly from the predicted values.

  11. Uranium

    International Nuclear Information System (INIS)

    Anon.

    1983-01-01

    Recent decisions by the Australian Government will ensure a significant expansion of the uranium industry. Development at Roxby Downs may proceed and Ranger may fulfil two new contracts but the decision specifies that apart from Roxby Downs, no new mines should be approved. The ACTU maintains an anti-uranium policy but reaction to the decision from the trade union movement has been muted. The Australian Science and Technology Council (ASTEC) has been asked by the Government to conduct an inquiry into a number of issues relating to Australia's role in the nuclear fuel cycle. The inquiry will examine in particular Australia's nuclear safeguards arrangements and the adequacy of existing waste management technology. In two additional decisions the Government has dissociated itself from a study into the feasibility of establishing an enrichment operation and has abolished the Uranium Advisory Council. Although Australian reserves account for 20% of the total in the Western World, Australia accounts for a relatively minor proportion of the world's uranium production

  12. Uranium

    International Nuclear Information System (INIS)

    Anon.

    1981-01-01

    The French Government has decided to freeze a substantial part of its nuclear power programme. Work has been halted on 18 reactors. This power programme is discussed, as well as the effect it has on the supply of uranium by South Africa

  13. Studies of the mobility of uranium and thorium in Nevada Test Site tuff

    Energy Technology Data Exchange (ETDEWEB)

    Wollenberg, H.A.; Flexser, S.; Smith, A.R. [Lawrence Berkeley Lab., CA (United States)

    1991-06-01

    Hydro-geochemical processes must be understood if the movement of radionuclides away from a breached radioactive waste canister is to be modeled and predicted. In this respect, occurrences of uranium and thorium in hydrothermal systems are under investigation in tuff and in rhyolitic tuff that was heated to simulate the effects of introduction of radioactive waste. In these studies, high-resolution gamma spectrometry and fission-track radiography are coupled with observations of alteration mineralogy and thermal history to deduce the evidence of, or potential for movement of, U and Th in response to the thermal environment. Observations to date suggest that U was mobile in the vicinity of the heater but that localized reducing environments provided by Fe-Ti-Mn-oxide minerals concentrated U and thus attenuated its migration.

  14. Analysis on ore-controlling factors of Zhajistan uranium deposit, Xinjiang

    International Nuclear Information System (INIS)

    A Zhongming

    2000-01-01

    The geologic-structural background where the Zhajistan uranium deposit is located, and sedimentary features of the basin, as well as ore-controlling factors such as the uranium source, the reductant, hydrogeologic conditions and development features of interlayer oxidation zone in Zhajistan, are analysed. Then the author proposes the most favourable sedimentary cycle for uranium metallogenesis and the most favourable prospecting areas

  15. Robot motion control in mobile environment

    Institute of Scientific and Technical Information of China (English)

    Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

    2003-01-01

    With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

  16. Inventory control through gamma spectrometry at the enriched uranium laboratory

    International Nuclear Information System (INIS)

    Vicens, H.E.; Korob, R.O.; Goldschmidt, A.E.

    1987-01-01

    The enriched uranium laboratory processes alternatively uranium 90% and 20% enriched in U-235. The control of the isotopic composition of lots is made through mass spectrometry. In the laboratory operation wastes of both enrichments are generated and the recovery is performed with a time delay. To strengthen the administrative controls, avoid errors related to personnel replacement and/or deferred operations, it seemed suitable to adjust the gamma spectrometry as a fast, simple and available method to determine the enrichment. The laboratory work includes a wet and a dry process. The waste recovery necessarily involves the handling of liquid samples. For this reason, it was decided to determine the calibration curve for uranyl nitrate samples of fixed concentration and geometry. The samples were prepared from material purified through double precipitation of uranium peroxide and subsequent ignition to U 3 O 8 in platinum crucible, in tubular oven during 8 hours at 720 deg C. The preparation of samples, the measurement description, the discussion of results and the analysis of errors due to the presence of insoluble material and concentration changes are included. (Author)

  17. Occupational control of the uranium mine industrial facility in Brazil

    International Nuclear Information System (INIS)

    Neto, C.A.; Figueiredo, N.; Py, J.; Azevedo, D. de; Torrico, J.M.

    1996-01-01

    This Occupational Radiation Protection Plan is applied to uranium ore mining and milling, for uranium concentrate production in form of ammonium diuranate (DUA), in 'Complexo Minero-industrial do Planalto de Pocos de Caldas' - CIPC, in 'Caldas', sited in the southwest of Minas Gerais State. The aims of this program are: to estimate the exposure doses of workers by applying dose calculation models; to control the workplace conditions based on monitoring results, variation studies, and to minimize the radiological risks, with available radiation protection resources optimization. The utilized techniques are: talks, area and individual monitoring, individual protection clothes and equipment, use and application of proper conducts in the workplace, according to the radiation protection norms. (authors)

  18. CRITICALITY CONTROL DURING THE DISMANTLING OF A URANIUM CONVERSION PLANT

    International Nuclear Information System (INIS)

    LADURELLE, Laurent; LISBONNE, Pierre

    2003-01-01

    Within the Commissariat a l'Energie Atomique, in the Cadarache Research Center in southern France, the production at the Enriched Uranium Treatment Workshops started in 1965 and ended in 1995. The dismantling is in progress and will last until 2006. The decommissioning is planned in 2007. Since the authorized enrichment in 235U was 10% in some parts of the plant, and unlimited in others, the equipment and procedures were designed for criticality control during the operating period. Despite the best previous removing of the uranium in the inner parts of the equipment, evaluation of the mass of remaining fissile material by in site gamma spectrometry measurement shows that the safety of the ''clean up'' operations requires specific criticality control procedures, this mass being higher than the safe mass. The chosen method is therefore based on the mapping of fissile material in the contaminated parts of the equipment and on the respect of particular rules set for meeting the criticality control standards through mass control. The process equipment is partitioned in separated campaign, and for each campaign the equipment dismantling is conducted with a precise traceability of the pieces, from the equipment to the drum of waste, and the best final evaluation of the mass of fissile material in the drum. The first results show that the mass of uranium found in the dismantled equipment is less than the previous evaluation, and they enable us to confirm that the criticality was safely controlled during the operations. The mass of fissile material remaining in the equipment can be then carefully calculated, when it is lower than the minimal critical mass, and on the basis of a safety analysis, we will be free of any constraints regarding criticality control, this allowing to make procedures easier, and to speed up the operations

  19. Uranium geochemistry in a calcareous peat: mineral-organic-microorganisms interactions and implications on uranium mobility in a contaminated soil

    International Nuclear Information System (INIS)

    Phrommavanh, V.; Descostes, M.; L'Orphelin, J.M.; Beaucaire, C.; Gaudet, J.P.

    2009-01-01

    The authors discuss the different approaches and techniques which have been implemented to study the behaviour of uranium in an as complex medium as a natural peat, in this case, a calcareous peat located on an old industrial site which was dedicated to uranium processing and which is now being decontaminated. They report and comment a chemical and mineralogical characterization of this peat, its hydrochemical characterization, and a microbial flora characterization

  20. Uranium Mill Tailings Radiation Control Act of 1978

    International Nuclear Information System (INIS)

    Magee, J.

    1980-01-01

    The long-term environmental effects of the Uranium Mill Tailings Radiation Control Act of 1978 address the public health hazards of radioactive wastes and recognize the significance of this issue to public acceptance of nuclear energy. Title I of the Act deals with stabilizing and controlling mill tailings at inactive sites and classifies the sites by priority. It represents a major Federal commitment. Title II changes and strengthens Nuclear Regulatory Commission authority, but it will have little overall impact. It is not possible to assess the Act's effect because there is no way to know if current technology will be adequate for the length of time required. 76 references

  1. Review of fugitive dust control for uranium mill tailings

    International Nuclear Information System (INIS)

    Li, C.T.; Elmore, M.R.; Hartley, J.N.

    1983-01-01

    An immediate concern associated with the disposal of uranium mill tailings is that wind erosion of the tailings from an impoundment area will subsequently deposit tailings on surrounding areas. Pacific Northwest Laboratory (PNL), under contract to the U.S. Nuclear Regulatory Commission, is investigating the current technology for fugitive dust control. Different methods of fugitive dust control, including chemical, physical, and vegetative, have been used or tested on mill tailings piles. This report presents the results of a literature review and discussions with manufacturers and users of available stabilization materials and techniques

  2. Review of fugitive dust control for uranium mill tailings

    Energy Technology Data Exchange (ETDEWEB)

    Li, C.T.; Elmore, M.R.; Hartley, J.N.

    1983-01-01

    An immediate concern associated with the disposal of uranium mill tailings is that wind erosion of the tailings from an impoundment area will subsequently deposit tailings on surrounding areas. Pacific Northwest Laboratory (PNL), under contract to the U.S. Nuclear Regulatory Commission, is investigating the current technology for fugitive dust control. Different methods of fugitive dust control, including chemical, physical, and vegetative, have been used or tested on mill tailings piles. This report presents the results of a literature review and discussions with manufacturers and users of available stabilization materials and techniques.

  3. Model predictive Controller for Mobile Robot

    OpenAIRE

    Alireza Rezaee

    2017-01-01

    This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is...

  4. Controller Design Of Unicycle Mobile Robot

    Directory of Open Access Journals (Sweden)

    Mohd Zamzuri Abd Rashid

    2012-10-01

    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  5. Comparative analysis of the mobility of uranium and artificial radionuclides in the ecosystem of the Yenisei River

    Energy Technology Data Exchange (ETDEWEB)

    Bolsunovsky, Alexander; Medvedeva, Marina [Institute of Biophysics SB Russian Academy of Sciences, 660036, Krasnoyarsk (Russian Federation)

    2014-07-01

    The Yenisei River is one of the largest rivers in the world, which had been subjected to radioactive contamination for over 50 years, due to operation of the Mining-and-Chemical Combine (MCC) of Rosatom at Zheleznogorsk, which had been producing weapons-grade plutonium. Bottom sediments and flood plain of the Yenisei River are contaminated by artificial radionuclides, including transuranium ones, both close to the MCC and at a considerable distance downstream. The MCC is also a source of uranium isotopes in the Yenisei. Thus, the Yenisei River basin is a unique environment for studying the mobility of both uranium isotopes and artificial radionuclides in all components of the aquatic ecosystem. The purpose of this study was to compare the mobility of uranium and artificial radionuclides in the ecosystem of the Yenisei River. Samples of water, sediments, and aquatic organisms were used as study material. Aquatic organisms were represented by submerged plants, benthic-feeding fish, and zoo-benthos. The submerged plants (macrophytes) analyzed were of five species: Fontinalis antipyretica, Potamogeton lucens, Ceratophyllum demersum, Myriophyllum spicatum, and Elodea canadensis. Grayling (Timalus arcticus) represented benthic-feeding fish, and zoo-benthos species were represented by Philolimnogammarus viridis, which forms the major part of the grayling's diet. Samples were collected at positions in the vicinity of the MCC discharge point, at a distance of 110 km downstream of Krasnoyarsk, and upstream of the MCC, during sampling campaigns in 2008-2012. Radionuclide measurements were performed using a wide range of instrumental methods: gamma-spectrometry with a 'Canberra' spectrometer (U.S.), mass spectrometry with an 'Agilent' spectrometer (U.S.), neutron activation analysis, and beta-alpha radiometry. The results obtained in this study suggest that the part of the Yenisei River ecosystem contaminated due to MCC radioactive discharges contains

  6. In Situ Microbial Community Control of the Stability of Bio-reduced Uranium

    International Nuclear Information System (INIS)

    Baldwin, Brett R.; Peacock, Aaron D.; Resch, Charles T.; Arntzen, Evan; Smithgall, Amanda N.; Pfiffner, Susan; Gan, M.; McKinley, James P.; Long, Philip E.; White, David C.

    2008-01-01

    In aerobic aquifers typical of many Department of Energy (DOE) legacy waste sites, uranium is present in the oxidized U(VI) form which is more soluble and thus more mobile. Field experiments at the Old Rifle UMTRA site have demonstrated that biostimulation by electron donor addition (acetate) promotes biological U(VI) reduction (2). However, U(VI) reduction is reversible and oxidative dissolution of precipitated U(IV) after the cessation of electron donor addition remains a critical issue for the application of biostimulation as a treatment technology. Despite the potential for oxidative dissolution, field experiments at the Old Rifle site have shown that rapid reoxidation of bio-reduced uranium does not occur and U(VI) concentrations can remain at approximately 20% of background levels for more than one year. The extent of post-amendment U(VI) removal and the maintenance of bioreduced uranium may result from many factors including U(VI) sorption to iron-containing mineral phases, generation of H2S or FeS0.9, or the preferential sorption of U(VI) by microbial cells or biopolymers, but the processes controlling the reduction and in situ reoxidation rates are not known. To investigate the role of microbial community composition in the maintenance of bioreduced uranium, in-well sediment incubators (ISIs) were developed allowing field deployment of amended and native sediments during on-going experiments at the site. Field deployment of the ISIs allows expedient interrogation of microbial community response to field environmental perturbations and varying geochemical conditions.

  7. In Situ Microbial Community Control of the Stability of Bio-reduced Uranium

    Energy Technology Data Exchange (ETDEWEB)

    Baldwin, Brett, R.; Peacock, Aaron, D.; Resch, Charles, T.; Arntzen, Evan; Smithgall, Amanda, N.; Pfiffner, Susan; Gan, M.; McKinley, James, P.; Long, Philip, E.; White, David, C.

    2008-03-28

    In aerobic aquifers typical of many Department of Energy (DOE) legacy waste sites, uranium is present in the oxidized U(VI) form which is more soluble and thus more mobile. Field experiments at the Old Rifle UMTRA site have demonstrated that biostimulation by electron donor addition (acetate) promotes biological U(VI) reduction (2). However, U(VI) reduction is reversible and oxidative dissolution of precipitated U(IV) after the cessation of electron donor addition remains a critical issue for the application of biostimulation as a treatment technology. Despite the potential for oxidative dissolution, field experiments at the Old Rifle site have shown that rapid reoxidation of bio-reduced uranium does not occur and U(VI) concentrations can remain at approximately 20% of background levels for more than one year. The extent of post-amendment U(VI) removal and the maintenance of bioreduced uranium may result from many factors including U(VI) sorption to iron-containing mineral phases, generation of H2S or FeS0.9, or the preferential sorption of U(VI) by microbial cells or biopolymers, but the processes controlling the reduction and in situ reoxidation rates are not known. To investigate the role of microbial community composition in the maintenance of bioreduced uranium, in-well sediment incubators (ISIs) were developed allowing field deployment of amended and native sediments during on-going experiments at the site. Field deployment of the ISIs allows expedient interrogation of microbial community response to field environmental perturbations and varying geochemical conditions.

  8. Uranium dioxide sintering Kinetics and mechanisms under controlled oxygen potentials

    International Nuclear Information System (INIS)

    Freitas, C.T. de.

    1980-06-01

    The initial, intermediate, and final sintering stages of uranium dioxide were investigated as a function of stoichiometry and temperature by following the kinetics of the sintering reaction. Stoichiometry was controlled by means of the oxygen potential of the sintering atmosphere, which was measured continuously by solid-state oxygen sensors. Included in the kinetic study were microspheres originated from UO 2 gels and UO 2 pellets produced by isostatic pressing ceramic grade powders. The microspheres sintering behavior was examined using hot-stage microscopy and a specially designed high-temperature, controlled atmosphere furnace. This same furnace was employed as part of an optical dilatometer, which was utilized in the UO 2 pellet sintering investigations. For controlling the deviations from stoichiometry during heat treatment, the oxygen partial pressure in the sintering atmosphere was varied by passing the gas through a Cu-Ti-Cu oxygen trap. The trap temperature determined the oxygen partial pressure of the outflowing mixture. Dry hydrogen was also used in some of the UO sub(2+x) sintering experiments. The determination of diametrial shrinkages and sintering indices was made utilizing high-speed microcinematography and ultra-microbalance techniques. It was observed that the oxygen potential has a substantial influence on the kinetics of the three sintering stages. The control of the sintering atmosphere oxygen partial pressure led to very fast densification of UO sub(2+x). Values in the interval 95.0 to 99.5% of theoretical density were reached in less than one minute. Uranium volume diffusion is the dominant mechanism in the initial and intermediate sintering stages. For the final stage, uranium grain boundary diffusion was found to be the main sintering mechanism. (Author) [pt

  9. Trace metal distribution and mobility in drill cuttings and produced waters from Marcellus Shale gas extraction: Uranium, arsenic, barium

    International Nuclear Information System (INIS)

    Phan, Thai T.; Capo, Rosemary C.; Stewart, Brian W.; Graney, Joseph R.; Johnson, Jason D.; Sharma, Shikha; Toro, Jaime

    2015-01-01

    Highlights: • Distributions of U, As, and Ba in Marcellus Shale were determined. • As is primarily associated with sulfide minerals, Ba with exchange sites. • Most U is in the silicate minerals, but up to 20% is partitioned into carbonate. • Low [U] and [As] in produced water are consistent with reducing downhole conditions. • Proper waste management should account for potential mobilization of U and As. - Abstract: Development of unconventional shale gas wells can generate significant quantities of drilling waste, including trace metal-rich black shale from the lateral portion of the drillhole. We carried out sequential extractions on 15 samples of dry-drilled cuttings and core material from the gas-producing Middle Devonian Marcellus Shale and surrounding units to identify the host phases and evaluate the mobility of selected trace elements during cuttings disposal. Maximum whole rock concentrations of uranium (U), arsenic (As), and barium (Ba) were 47, 90, and 3333 mg kg −1 , respectively. Sequential chemical extractions suggest that although silicate minerals are the primary host for U, as much as 20% can be present in carbonate minerals. Up to 74% of the Ba in shale was extracted from exchangeable sites in the shale, while As is primarily associated with organic matter and sulfide minerals that could be mobilized by oxidation. For comparison, U and As concentrations were also measured in 43 produced water samples returned from Marcellus Shale gas wells. Low U concentrations in produced water (<0.084–3.26 μg L −1 ) are consistent with low-oxygen conditions in the wellbore, in which U would be in its reduced, immobile form. Arsenic was below detection in all produced water samples, which is also consistent with reducing conditions in the wellbore minimizing oxidation of As-bearing sulfide minerals. Geochemical modeling to determine mobility under surface storage and disposal conditions indicates that oxidation and/or dissolution of U

  10. Comparison of numerical and physico-chemical models for on-line spectrophotometric control of uranium

    International Nuclear Information System (INIS)

    Corriou, J.P.; Boisde, G.

    1986-04-01

    In view of on-line spectrophotometric control of fuel reprocessing streams, a physico-chemical model able to predict uranium and nitric acid concentrations in an uranyl nitrate-nitric acid system has been searched. Thus the influences of the following parameters: uranium, nitrate, hydrogen ion concentrations, ionic strength, on the equilibria of complexation of uranium (VI) nitrate have been evaluated. Extinction coefficients for the uranium mononitrate and uranium dinitrate complexes are given between 410 and 440 nm. The apparent equilibrium constants are determined as a function of the ionic strength. The limitations of this predictive model are emphasized and comparisons with numerical models are discussed. (16 refs)

  11. Mobility of fertiliser-derived uranium in arable soils and its contribution to uranium concentrations in groundwater and tap water

    International Nuclear Information System (INIS)

    Smidt, Geerd Ahlrich

    2011-01-01

    Phosphorus (P) mineral fertilisers are found to contain high concentrations of uranium (U) (up to 206 mg U kg -1 ) and other trace elements (TE), such as Cd, Pb, Ni, Cu, Zn, Th, Nb, Sr, V, and rare earth elements. The content of U and other trace elements is depended on the sedimentary of igneous origin of the rock phosphate. In this study, the production of P fertilisers has been shown to contaminate top soil horizons with U and other trace elements in the close vicinity of a factory located in Southern Brazil. In contrast to this point source, agricultural P fertilisation leads to a diffuse contamination of the agro-ecosystem with U and other fertiliser-derived trace elements on a large scale. Top soil horizons of arable land accumulate fertiliser-derived U. According to the geochemical behaviour of U(VI) species under oxidising conditions, the mobilisation capacity for U in top soil horizons is considered to be high, contrary to other fertiliser-derived heavy metals (e.g. Cd). Hence, it is assumed that U can be leached to shallow groundwater and can reach fresh water resources potentially used for drinking water supply. The aims of this study were to investigate the concentration of U and other contaminants in P fertilisers, to identify geochemical processes of fertiliser-derived U mobility and mobilisation from arable top soil horizons to the groundwater, and to evaluate the origin of U in German groundwater and tap water. This study presents the broadest recent data set on regional distribution of U concentrations in German tap water to which 76 % of the German population has access. The mean U concentration was 0.68 μg L -1 , the median 0.50 μg L -1 . 1.3 % or 1 million of the 80.6 million inhabitants in Germany are exposed to U concentrations in tap water which are higher than the German drinking water threshold limit of 10 μg L -1 . The regional distribution of U concentrations largely agrees with the geological setting reported for mineral waters

  12. Mobility of fertiliser-derived uranium in arable soils and its contribution to uranium concentrations in groundwater and tap water

    Energy Technology Data Exchange (ETDEWEB)

    Smidt, Geerd Ahlrich

    2011-12-20

    Phosphorus (P) mineral fertilisers are found to contain high concentrations of uranium (U) (up to 206 mg U kg{sup -1}) and other trace elements (TE), such as Cd, Pb, Ni, Cu, Zn, Th, Nb, Sr, V, and rare earth elements. The content of U and other trace elements is depended on the sedimentary of igneous origin of the rock phosphate. In this study, the production of P fertilisers has been shown to contaminate top soil horizons with U and other trace elements in the close vicinity of a factory located in Southern Brazil. In contrast to this point source, agricultural P fertilisation leads to a diffuse contamination of the agro-ecosystem with U and other fertiliser-derived trace elements on a large scale. Top soil horizons of arable land accumulate fertiliser-derived U. According to the geochemical behaviour of U(VI) species under oxidising conditions, the mobilisation capacity for U in top soil horizons is considered to be high, contrary to other fertiliser-derived heavy metals (e.g. Cd). Hence, it is assumed that U can be leached to shallow groundwater and can reach fresh water resources potentially used for drinking water supply. The aims of this study were to investigate the concentration of U and other contaminants in P fertilisers, to identify geochemical processes of fertiliser-derived U mobility and mobilisation from arable top soil horizons to the groundwater, and to evaluate the origin of U in German groundwater and tap water. This study presents the broadest recent data set on regional distribution of U concentrations in German tap water to which 76 % of the German population has access. The mean U concentration was 0.68 μg L{sup -1}, the median 0.50 μg L{sup -1}. 1.3 % or 1 million of the 80.6 million inhabitants in Germany are exposed to U concentrations in tap water which are higher than the German drinking water threshold limit of 10 μg L{sup -1}. The regional distribution of U concentrations largely agrees with the geological setting reported for

  13. Uranium

    International Nuclear Information System (INIS)

    Battey, G.C.; McKay, A.D.

    1988-01-01

    Production for 1986 was 4899 t U 3 O 8 (4154 t U), 30% greater than in 1985, mainly because of a 39% increase in production at Ranger. Exports for 1986 were 4166 t U 3 O 8 at an average f.o.b. unit value of $40.57/lb U 3 O 8 . Private exploration expenditure for uranium in Australia during the 1985-86 fiscal year was $50.2 million. Plans were announced to increase the nominal capacity of the processing plant at Ranger from 3000 t/year U 3 O 8 to 4500 t and later to 6000 t/year. Construction and initial mine development at Olympic Dam began in March. Production is planned for mid 1988 at an annual rate of 2000 t U 3 O 8 , 30 000 t Cu, and 90 000 oz (2800 kg) Au. The first long-term sales agreement was concluded in September 1986. At the Manyingee deposit, testing of the alkaline solution mining method was completed, and the treatment plant was dismantled. Spot market prices (in US$/lb U 3 O 8 ) quoted by Nuexco were generally stable. From January-October the exchange value fluctuated from US$17.00-US$17.25; for November and December it was US$16.75. Australia's Reasonably Assured Resources of uranium recoverable at less than US$80/kg U at December 1986 were estimated as 462 000 t U, 3000 t U less than in 1985. This represents 30% of the total low-cost RAR in the WOCA (World Outside the Centrally Planned Economy Areas) countries. Australia also has 257 000 t U in the low-cost Estimated Additional Resources Category I, 29% of the WOCA countries' total resources in this category

  14. Commonwealth and state controls over uranium exploration and production

    International Nuclear Information System (INIS)

    Nicholson, R.D.

    1979-01-01

    This survey of Commonwealth and State controls relating to uranium exploration and production in Australia shows that legal controls can be imposed at the following points: on licensing or on the grant of an authority to mine by the Commonwealth; by application of a Commonwealth Code of Practice if it is applicable; by the Commonwealth as a condition to approval for export; by the Commonwealth with respect to foreign investment approval; by the Commonwealth or a state in a government agreement relating to the particular development; by the application of a state code of practice where legislation is made on that behalf and by the application of local government requirements to the extent they are not modified by government agreement. There is potential for much overlap and duplication

  15. Uranium deposits in Africa

    International Nuclear Information System (INIS)

    Wilpolt, R.H.; Simov, S.D.

    1979-01-01

    Africa is not only known for its spectacular diamond, gold, copper, chromium, platinum and phosphorus deposits but also for its uranium deposits. At least two uranium provinces can be distinguished - the southern, with the equatorial sub-province; and the south Saharan province. Uranium deposits are distributed either in cratons or in mobile belts, the first of sandstone and quartz-pebble conglomerate type, while those located in mobile belts are predominantly of vein and similar (disseminated) type. Uranium deposits occur within Precambrian rocks or in younger platform sediments, but close to the exposed Precambrian basement. The Proterozoic host rocks consist of sediments, metamorphics or granitoids. In contrast to Phanerozoic continental uranium-bearing sediments, those in the Precambrian are in marginal marine facies but they do contain organic material. The geology of Africa is briefly reviewed with the emphasis on those features which might control the distribution of uranium. The evolution of the African Platform is considered as a progressive reduction of its craton area which has been affected by three major Precambrian tectonic events. A short survey on the geology of known uranium deposits is made. However, some deposits and occurrences for which little published material is available are treated in more detail. (author)

  16. Controlling factors of uranium mineralization and prospect prediction in Qimantage area

    International Nuclear Information System (INIS)

    Yao Chunling; Zhu Pengfei; Cai Yuqi; Zhang Wenming; Zhao Yong'an; Song Jiye; Zhang Xiaojin

    2011-01-01

    Based on the analysis of regional geology in Qimantage area, the condition for uranium mineralization is summarized in regional geology setting, volcanic, granite and faults. This study shows that this area has favorable prospect for uranium mineralization. The metallogenic model is built up according to the controlling factors over uranium mineralization. Under this model, six potential areas are predicted in MRAS software with mineralization factors of synthetically geological information method. (authors)

  17. Diurnal urinary volume and uranium output in uranium workers and unexposed controls

    International Nuclear Information System (INIS)

    Medley, D.W.; Kathren, R.L.; Miller, A.G.

    1994-01-01

    Volume and uranium content were determined in individual urine voids over a 76-h (3.25-d) period from six unexposed normal male subjects and three male uranium workers. Uranium analyses were accomplished by a newly developed high-precision kinetic phosphorescence analysis technique with a lower level of detection of 0.007 ng mL -1 . Urinary uranium concentrations in individual voids varied by a factor of 2 or less for any one unexposed subject, although there was an order of magnitude variation among the group of unexposed men. The fractional urinary volume excreted in the open-quotes standardclose quotes so-called simulated 24-h sample was the same for both the unexposed and exposed groups and averaged 0.42 ± 0.13 of the total daily urine volume. The fraction of uranium in the simulated 24-h samples was 0.43 ± 0.15 in the unexposed group but only 0.31 ± 0.13 in the uranium worker group, suggesting that the use of the simulated 24-h urine sample would underestimate the total daily urinary uranium output by approximately a factor of 2 in the uranium workers. Daily urinary excretion relative to intake from drinking water (essentially equal to the gastrointestinal uptake fraction) among the unexposed group ranged from 0.002-0.028, averaging 0.011 ± 0.008, with an indication that the gastrointestinal uptake factor was inversely proportional to total intake via drinking water. 11 refs., 1 fig., 6 tabs

  18. Uranium absorption study pile; Empilement pour le controle de l'absorption de l'uranium

    Energy Technology Data Exchange (ETDEWEB)

    Raievski, V; Sautiez, B [Commissariat a l' Energie Atomique, Saclay (France).Centre d' Etudes Nucleaires

    1959-07-01

    The report describes a pile designed to measure the absorption of fuel slugs. The pile is of graphite and comprises a central section composed of uranium rods in a regular lattice. RaBe sources and BF{sub 3} counters are situated on either side of the center. A given uranium charge is compared with a specimen charge of about 560 kg, and the difference in absorption between the two noted. The sensitivity of the equipment will detect absorption variations of about a few ppm boron (10{sup -6} boron per gr. of uranium) or better. (author) [French] Nous decrivons un dispositif permettant de mesurer l'absorption des elements combustibles d'une pile. Ce dispositif est constitue par un empilement de graphite dont la region centrale est formee par un reseau regulier de barres d'uranium. Des sources de RaBe et des compteurs a BF{sub 3} sont places de part et d'autre de cette region. En comparant un chargement d'uranium a un chargement etalon d'environ 560 kg, on peut determiner la difference d'absorption entre ces deux chargements. La sensibilite permettrait de deceler une variation d'absorption de l'ordre du ppm de bore (10{sup -6} g de bore par gramme d'uranium) et peut-etre mieux. (auteur)

  19. The effect of crystal structure stability on the mobility of gas bubbles in intermetallic uranium compounds

    International Nuclear Information System (INIS)

    Rest, J.; Hofman, G.L.; Birtcher, R.C.

    1988-01-01

    Irradiation experiments with certain low-enrichment, high-density, uranium-base intermetallic alloys that are candidate reactor fuel materials, such as U 3 Si and U 6 Fe, have revealed extraordinarily large voids at low and medium fuel burnup. This phenomenon of breakaway swelling does not occur in other fuel types, such as U 3 Si 2 and UAl 3 , where a distribution of relatively small and stable fission gas bubbles forms. In situ transmission electron microscope observations of ion radiation-induced rapid swelling of intermetallic materials are consistent with growth by plastic flow. Large radiation enhancement of plastic flow in amorphous materials has been observed in several independent experiments and is thought to be a general materials phenomenon. The basis for a microscopic theory of fission gas bubble behavior in irradiated amorphous compounds has been formulated. The assumption underlying the overall theory is that the evolution of the porosity from that observed in the crystalline material to that observed in irradiated amorphous U 3 Si as a function of fluence is due to a softening of the irradiated amorphous material. Bubble growth in the low-viscosity material has been approximated by an effective enhanced diffusivity. Mechanisms are included for the radiation-induced softening of the amorphous material, and for a relation between gas atom mobilities and radiation-induced (defect-generated) changes in the material. Results of the analysis indicate that the observed rapid swelling in U 3 Si arises directly from enhanced bubble migration and coalescence due to plastic flow. 34 refs., 11 figs

  20. Atomic Energy Control Board and its role in the regulation of uranium and thorium mines

    International Nuclear Information System (INIS)

    Dory, A.B.

    1980-05-01

    Laws governing the Atomic Energy Control Board (AECB), its structure and functions is described in the context of the Board's role in uranium and thorium mining. The licensing and compliance procedures are described as they pertain to the objectives of the AECB in protecting workers, the public and the environment during construction, operating and closure of uranium and thorium mining and milling facilities. (OT)

  1. Rare-earth, yttrium and zirconium mobility associated with the uranium mineralisation at Okrouhla Radoun, Bohemian Massif, Czech Republic

    Energy Technology Data Exchange (ETDEWEB)

    Milos, Rene [Academy of Sciences of the Czech Republic, Prague (Czech Republic). Inst. of Rock Structure and Mechanics

    2015-01-15

    The mobility of rare-earth elements (REE), Y and Zr during the Late-Variscan and post-Variscan mineralisation event in the Okrouhla Radoun. uranium deposit has been investigated to elucidate their behaviour during the hydrothermal alteration of leucogranites and high-grade metamorphic rocks in the Moldanubian Zone (Bohemian Massif). The alteration of leucogranites has caused enrichment in Na, Ca, Fe{sup 3+}, Zr and the bulk of REE while depleting K, Fe{sup 2+}, Si, Th, Rb and Ba. The alteration of high-grade metasediments has also led to an enrichment in Na and Ca while depleting K, Si, Rb and Ba. However, this change is connected to the depletion of REE, as well as the enrichment of P and Th in the bulk. The high mobility of Y and Zr during formation of the uranium mineralisation is supported by the occurrence of Y- and Zr-rich coffinite (up to 3.4 wt.% Y{sub 2}O{sub 3} and 13.8 wt.% ZrO{sub 2}). The massive hydrothermal alteration of host rocks, as well as the high mobility of REE, Y and Zr indicate an influx of oxidised basinal fluids in the Permian to the crystalline rocks of the Moldanubian Zone.

  2. Adaptive learning fuzzy control of a mobile robot

    International Nuclear Information System (INIS)

    Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

    1989-11-01

    In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

  3. Control of wheeled mobile robot in restricted environment

    Science.gov (United States)

    Ali, Mohammed A. H.; En, Chang Yong

    2018-03-01

    This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

  4. Uranium mineralization rules controlled by sedimentation in Bayanwula region in Erlian basin

    International Nuclear Information System (INIS)

    Lu Chao

    2012-01-01

    Uranium mineralization is closely related to sedimentation in Bayanwula region in Erlian Basin. Clarifying the relation of sedimentation and Uranium Mineralization Through detailed analysis of vertical sequences, stratigraphic correlation and the heterogeneity of sand body. Study show that the of development characteristics of sequences of Bayanwula region control the vertical positioning of favorable sand, the skeleton sand bodies of LST in upper Saihan formation is the most favorable reservoir space for uranium. Uranium mineralization is closely related with the heterogeneity of the sand bodies of upper Saihan formation. the heterogeneity of Sand body is mainly reflected in plane and vertical. In plane, with the research of the sand distributed system of upper Saihan formation, the change position of sandstone thickness and sand rate, the position of the variation of shape and trend of sand body, and the change position of sand body character and genesis are most favorable for uranium mineralization. In vertical, the number of layers and thickness of isolated barrier bed not only control the thickness of oxide sandstone. but also they are associated with the distribution of uranium mineralization; The evolution of sedimentary basins created Bayanwula uranium deposits. There is a second order sequence boundary between the upper Saihan formation and the Erlian formation of Late Cretaceous, which is a long-term exposure and erosion unconformity, resulting in the partly erosion of the upper Saihan formation, providing the best conditions of the penetration of the uranium-bearing oxygen water and the development of phreatic oxidation and interlayer oxidation zone. (author)

  5. Formal-Language-Theoretic Control & Coordination of Mobile Robots

    National Research Council Canada - National Science Library

    Ray, Asok

    2007-01-01

    .... The research has formulated and experimentally validated robust adaptive algorithms and software codes for decision and control of mobile robotic platforms, as applied to real-time computation...

  6. Effect of uranium concentrations on plant growth - a control study

    International Nuclear Information System (INIS)

    Verma, P.C.; Hegde, A.G.; Arey, N.C.

    2010-01-01

    This paper presents the details of pot culture experiments carried out to study the migration of uranium in soil to plant system. The effect of varying concentration and chemical forms of uranium on shoot and root length, shoot and root weight, leaf area, water potential, chlorophyll contents, soluble protein, total phenol etc. of two test crops were studied. In case of barley crop, the effect of uranium on seed yield and modulation were also studied. 100% germination could be achieved respectively after a period of 36 hours and 28 hours in uranyl acetate and uranyl nitrate in case of cowpea, whereas it is and 48 hours and 24 hours respectively for barley crop. Higher doses of uranium retarded both the speed as well as germination of seeds for tested crops

  7. Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

    International Nuclear Information System (INIS)

    Saquib, Syed M Taha; Hameed, Sarmad; Jafri, Raza; Usman Ali, Syed M; Amin, Imran

    2013-01-01

    This work is based upon electronic automation and Smart Control techniques, which constitute the basis of Control Area Network (CAN) and Personal Area Network (PAN). Bluetooth technology has been interfaced with a programmable controller to provide multi-dimensional vehicle control. A network is proposed which contains a remote, mobile host controller and an android operating system based mobile set (Client). The client communicates with a host controller through a Bluetooth device. The system incorporates duplex communication after successful confirmation between the host and the client; the android based mobile unit controls the vehicle through the Bluetooth module

  8. Uranium mobility in mine areas: evaluation of the water-rock interaction

    Energy Technology Data Exchange (ETDEWEB)

    Zuddas, P. [UFR Sciences de la Terre. PEPS. Universite Claude Bernard. Lyon (France); Rocha Scislewski, A.; Faivre, D.; Lopez, O. [Institut de Physique du Globe de Paris (France)

    2005-07-01

    Full text of publication follows: Toxicity and natural radioactivity of uranium are among the main environmental concerns for exploitation and processing of uranium ore. Weathering processes and potential contamination paths of these areas have to be identified to preserve the water resources. In this work, leaching experiments were carried out in flow-through reactors. Approximately 750 g of crushed rock of selected grain size between 0.35 and 0.80 mm were introduced into a Pyrex column. Distilled and deionized water, saturated with 5% CO{sub 2}/95% air mixture, was introduced through a glass inlet fitted at the base of the column. Input solution pH was constantly equal to 4.2 while the low flow rate was obtained from a peristaltic pump. The output solution was sampled periodically for about 1 year. Three different rock samples were used: an untreated granite rock with high levels of uranium minerals, a rock with low uranium content and a rock rejected after the lixiviation process for uranium industrial extraction. For untreated rocks pH and silica decrease by 1-2 orders of magnitude while sodium decreases by 2-3 orders of magnitude. This indicates the strong albitite dissolution. Total dissolved uranium has a rather constant level indicating the constant dissolution rate of the uranium mineral assemblage. Thermodynamic modelling of the interacting output solutions indicates that 80% of the dissolved uranium content is under the form of two main carbonate complexes (i.e. UO{sub 2}(CO{sub 3}){sub 2}{sup 2-} and UO{sub 2}(CO{sub 3}){sub 3}{sup 4-}), while solutions are saturated on chalcedony, kaolinite and calcium clay minerals. Solutions are under saturated with respect to uraninite and low-temperature albite. In experiments where material was treated with sulphuric acid in the plant, pH is constantly equal to 4 indicating the lack of rock buffering properties. Na, Ca, and SO{sub 4} decrease by several orders of magnitude (from some initial mmol/kg) reaching

  9. Fractal character of structural control on uranium mineralization in south china

    International Nuclear Information System (INIS)

    Zhou Quanyu; Tan Kaixuan; Xie Yanshi

    2009-01-01

    South China is the most important uranium producer in the country. Most uranium ore deposits in south China are strictly controlled by NE-NNE trending regional fracture structure. Fractal analyses on spatial distribution of uranium ore deposits and regional fracture structure in south China have been done in this paper. It indicates that the spatial distribution of both uranium ore deposits and regional fracture structure in south China show fractal character. The fractal dimension D=1.414 2 for the spatial distribution of regional fracture structure in the whole area indicate a higher ripening degree in the fracture structure evolution and an advantages to fluid flow and uranium mineralization. The fractal dimension D=1.052 7 for the spatial distribution of uranium ore deposits in south China show a lower complexity than regional fracture structure. The fractal dimensions in three sub-areas in south China on spatial distribution of uranium ore deposits show a positive correlation to which of regional fracture structure. The fractal spatial distribution of uranium ore deposits in south China is the result of the evolution of the fractal fracture structure system. (authors)

  10. EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

    Directory of Open Access Journals (Sweden)

    Michal KOPČÍK

    2017-09-01

    Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

  11. Interdiffusion, Intrinsic Diffusion, Atomic Mobility, and Vacancy Wind Effect in γ(bcc) Uranium-Molybdenum Alloy

    Science.gov (United States)

    Huang, Ke; Keiser, Dennis D.; Sohn, Yongho

    2013-02-01

    U-Mo alloys are being developed as low enrichment uranium fuels under the Reduced Enrichment for Research and Test Reactor (RERTR) Program. In order to understand the fundamental diffusion behavior of this system, solid-to-solid pure U vs Mo diffusion couples were assembled and annealed at 923 K, 973 K, 1073 K, 1173 K, and 1273 K (650 °C, 700 °C, 800 °C, 900 °C, and 1000 °C) for various times. The interdiffusion microstructures and concentration profiles were examined via scanning electron microscopy and electron probe microanalysis, respectively. As the Mo concentration increased from 2 to 26 at. pct, the interdiffusion coefficient decreased, while the activation energy increased. A Kirkendall marker plane was clearly identified in each diffusion couple and utilized to determine intrinsic diffusion coefficients. Uranium intrinsically diffused 5-10 times faster than Mo. Molar excess Gibbs free energy of U-Mo alloy was applied to calculate the thermodynamic factor using ideal, regular, and subregular solution models. Based on the intrinsic diffusion coefficients and thermodynamic factors, Manning's formalism was used to calculate the tracer diffusion coefficients, atomic mobilities, and vacancy wind parameters of U and Mo at the marker composition. The tracer diffusion coefficients and atomic mobilities of U were about five times larger than those of Mo, and the vacancy wind effect increased the intrinsic flux of U by approximately 30 pct.

  12. Solid state cloaking for electrical charge carrier mobility control

    Science.gov (United States)

    Zebarjadi, Mona; Liao, Bolin; Esfarjani, Keivan; Chen, Gang

    2015-07-07

    An electrical mobility-controlled material includes a solid state host material having a controllable Fermi energy level and electrical charge carriers with a charge carrier mobility. At least one Fermi level energy at which a peak in charge carrier mobility is to occur is prespecified for the host material. A plurality of particles are distributed in the host material, with at least one particle disposed with an effective mass and a radius that minimize scattering of the electrical charge carriers for the at least one prespecified Fermi level energy of peak charge carrier mobility. The minimized scattering of electrical charge carriers produces the peak charge carrier mobility only at the at least one prespecified Fermi level energy, set by the particle effective mass and radius, the charge carrier mobility being less than the peak charge carrier mobility at Fermi level energies other than the at least one prespecified Fermi level energy.

  13. Estimation of uranium isotopes in soil affected by Fukushima nuclear power plant accident and its mobility based on distribution coefficient and soil properties

    Energy Technology Data Exchange (ETDEWEB)

    Sahoo, S.K. [National Institute of Radiological Sciences (Japan); Mishra, S. [Bhabha Atomic Research Centre (India); Sorimachi, A.; Hosoda, M.; Tokonami, S. [Hirosaki University (Japan); Kritsananuwat, R. [Tokyo Metropolitan University (Japan); Ishikawa, T. [Fukushima Medical University (Japan)

    2014-07-01

    An extraordinary earthquake of magnitude 9.0 followed by Tsunami on 11 March 2011 caused serious nuclear accident at the Fukushima Daiichi Nuclear Power Plant (FDNPP) about 250 km north to Tokyo, capital of Japan. This resulted in radioactive contamination due to deposition of long-lived radionuclides. Contaminated soil can cause an enhanced radiation exposure even after many years. Depending upon environmental conditions radionuclides can be mobilized to aquatic systems. Therefore, the fate and transfer of these radionuclides in the soil water system is very important for radiation protection and dose assessment. In the present study, emphasis has been given on isotope ratio measurement of uranium that may give some idea about its contamination during accident. Soil and water samples were collected from contaminated areas around FDNPP. Inductively coupled plasma mass spectrometry (ICPMS) is used for total uranium concentration and thermal ionization mass spectrometry (TIMS) has been used for uranium isotopes measurement. Extraction chromatography has been used for the separation of uranium. We have observed, isotope ratio {sup 235}U/{sup 238}U is of natural origin, however in a few soil samples {sup 236}U has been detected. For the migration behavior, its distribution coefficient (K{sub d}) has been determined using laboratory batch method. Depleted uranium is used as tracer for uranium K{sub d} estimation. Chemical characterization of soil with respect to different parameters has been carried out. The effect of these soil parameters on distribution coefficient of uranium has been studied in order to explain the radionuclide mobility in this particular area. The distribution coefficient values for uranium are found to vary from 30-35679 L/Kg. A large variation in the distribution coefficient values shows the retention or mobility of uranium is highly dependent on soil characteristics in the particular area. This variation is explained with respect to pH, Fe, Mn

  14. Biogeochemical Controls on Technetium Mobility in Biogeochemical Controls on Technetium Mobility in FRC Sediments

    International Nuclear Information System (INIS)

    Lloyd, J.R.; McBeth, J.M.; Livens, F.R.; Bryan, N.D.; Ellis, B.; Sharma, H.; Burke, I.T.; Morris, K.

    2004-01-01

    Technetium-99 is a priority pollutant at numerous DOE sites, due to its long half-life (2.1 x 10 5 years), high mobility as Tc(VII) in oxic waters, and bioavailability as a sulfate analog. 99 Tc is far less mobile under anaerobic conditions, forming insoluble Tc(IV) precipitates. As anaerobic microorganisms can reduce soluble Tc(VII) to insoluble Tc(IV), microbial metabolism may have the potential to treat sediments and waters contaminated with Tc. Baseline studies of fundamental mechanisms of Tc(VII) bioreduction and precipitation (reviewed by Lloyd et al, 2002) have generally used pure cultures of metal-reducing bacteria, in order to develop conceptual models for the biogeochemical cycling of Tc. There is, however, comparatively little known about interactions of metal-reducing bacteria with environmentally relevant trace concentrations of Tc, against a more complex biogeochemical background provided by mixed microbial communities in the subsurface. The objective of this new NABIR project is to probe the site specific biogeochemical conditions that control the mobility of Tc at the FRC (Oak Ridge, TN). This information is required for the rational design of in situ bioremediation strategies for technetium-contaminated subsurface environments. We will use a combination of geochemical, mineralogical, microbiological and spectroscopic techniques to determine the solubility and phase associations of Tc in FRC sediments, and characterize the underpinning biogeochemical controls. A key strength of this project is that many of the techniques we are using have already been optimized by our research team, who are also studying the biogeochemical controls on Tc mobility in marine and freshwater sediments in the UK in a NERC funded companion study.

  15. Trace Element Mobility in Water and Sediments in a Hyporheic Zone Adjacent to an Abandoned Uranium Mine

    Science.gov (United States)

    Roldan, C.; Blake, J.; Cerrato, J.; Ali, A.; Cabaniss, S.

    2015-12-01

    The legacy of abandoned uranium mines lead to community concerns about environmental and health effects. This study focuses on a cross section of the Rio Paguate, adjacent to the Jackpile Mine on the Laguna Reservation, west-central New Mexico. Often, the geochemical interactions that occur in the hyporheic zone adjacent to these abandoned mines play an important role in trace element mobility. In order to understand the mobility of uranium (U), arsenic (As), and vanadium (V) in the Rio Paguate; surface water, hyporheic zone water, and core sediment samples were analyzed using inductively coupled plasma mass spectroscopy (ICP-MS). All water samples were filtered through 0.45μm and 0.22μm filters and analyzed. The results show that there is no major difference in concentrations of U (378-496μg/L), As (0.872-6.78μg/L), and V (2.94-5.01μg/L) between the filter sizes or with depth (8cm and 15cm) in the hyporheic zone. The unfiltered hyporheic zone water samples were analyzed after acid digestion to assess the particulate fraction. These results show a decrease in U concentration (153-202μg/L) and an increase in As (33.2-219μg/L) and V (169-1130μg/L) concentrations compared to the filtered waters. Surface water concentrations of U(171-184μg/L) are lower than the filtered hyporheic zone waters while As(1.32-8.68μg/L) and V(1.75-2.38μg/L) are significantly lower than the hyporheic zone waters and particulates combined. Concentrations of As in the sediment core samples are higher in the first 15cm below the water-sediment interface (14.3-3.82μg/L) and decrease (0.382μg/L) with depth. Uranium concentrations are consistent (0.047-0.050μg/L) at all depths. The over all data suggest that U is mobile in the dissolved phase and both As and V are mobile in the particular phase as they travel through the system.

  16. Hierarchical coordination control of mobile robots

    NARCIS (Netherlands)

    Adinandra, S.

    2012-01-01

    In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

  17. Mechanisms controlling radionuclide mobility in forest soils

    International Nuclear Information System (INIS)

    Delvaux, B.; Kruyts, N.; Maes, E.; Agapkina, G.I.; Kliashtorin, A.; Bunzl, K.; Rafferty, B.

    1996-01-01

    Soil processes strongly influence the radionuclide mobility in soils. The mobility of radionuclides in forest soils is governed by several processes involving both abiotic and biotic factors. The sorption-desorption process chiefly governs the activity of radionuclides in the soil solution, hence thereby their mobility and biological availability. Radiocaesium exhibits a very low mobility in mineral soils. Both mobility and bioavailability however increase as the thickness of organic layers and their content in organic matter increases. Clay minerals of micaceous origin strongly act as slinks for radiocaesium in forest soils. The magnitude of cesium mineral fixation in topsoils is expected to be the highest in mineral soils of Eutric cambisol type, and, to a lesser extent, of type of Distric cambisol and Podzoluvisol. A low mobility of radiocaesium in the surface horizons of forest soils may also be partially explained by a biological mobilization: fungi absorb radiocaesium and transport it to upper layers, thereby contributing to constantly recycle the radioelement in the organic horizons. This mechanism is probably important in soils with thick organic layers (Podsol, Histosol, and, to a lesser extent, Distric cambisol and Podzoluvisol). Radionuclides can be associated with soluble organic anions in the soil solution of forest acid soils. Such associations are highly mobile: they are stable in conditions of poor biological activity (low temperatures, acid soil infertility, water excess, etc.). Their magnitude is expected to be the highest in thick acid organic layers (soils of type Podzol and Histosol)

  18. Residential Mobility, Inhibitory Control, and Academic Achievement in Preschool

    Science.gov (United States)

    Schmitt, Sara A.; Finders, Jennifer K.; McClelland, Megan M.

    2015-01-01

    Research Findings: The present study investigated the direct effects of residential mobility on children's inhibitory control and academic achievement during the preschool year. It also explored fall inhibitory control and academic skills as mediators linking residential mobility and spring achievement. Participants included 359 preschool children…

  19. Research on wireless remote control scheme for the water source well of a uranium mine

    International Nuclear Information System (INIS)

    Wang Yun; Bao Feng

    2013-01-01

    Traditional wired electrical control method is applicable to simple control for the short-distance industrial equipment, but it is not suitable for the water source well of uranium mines requiring remote control. A kind of wireless remote control system based on high-speed radio modem communication technology was presented for the water source wells of a uranium mine, and the water source wells can be remotely controlled with the system. The component, implementation and characteristics of the control system are introduced. (authors)

  20. Performance evaluation of indigenous controlled potential coulometer for the determination of uranium and plutonium

    International Nuclear Information System (INIS)

    Sharma, H.S.; Jisha, V.; Noronha, D.M.; Sharma, M.K.; Aggarwal, S.K.

    2007-09-01

    We have carried out performance evaluation of indigenously manufactured controlled potential coulometer for the determination of uranium and plutonium respectively in Rb 2 U(SO 4 ) 3 and K 4 Pu(SO 4 ) 4 chemical assay standards. The coulometric results obtained on uranium determination showed an insignificant difference as compared with the biamperometric results at 95% and 99.9% confidence levels while for plutonium determination showed a difference of -0.4% at 95% with respect to expected value. The results obtained show that indigenous coulometer is suitable for uranium and plutonium determination in chemical assay standards. (author)

  1. Mobile robot navigation in unknown static environments using ANFIS controller

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2016-09-01

    Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

  2. Design of a hybrid command and control mobile botnet

    CSIR Research Space (South Africa)

    Pieterse, H

    2013-05-01

    Full Text Available and control mobile botnet. The hybrid design explores the efficiency of multiple command and control channels against the following objectives: no single point of failure within the topology, low cost for command dissemination, limited network activities...

  3. Synergy between Security and Safeguards in Uranium Concentrate Export Control

    International Nuclear Information System (INIS)

    Soumana, T.

    2010-01-01

    This paper is a proposal to the government of Niger and all national institutions involved in the ISSAS and INSSERV Missions held in Niger to optimally coordinate they activities in nuclear field. It is essential to notice that Niger has significant nuclear activities, mainly in uranium prospecting, mining, milling, and export. In Niger, there are also many radioactive sources in non nuclear use. The safeguards agreement of Niger, infcirc/664, is in force since 16 February 2005 and its relating additional protocol since 2 May 2007. For the safeguards implementation in Niger, Government has requested to the IAEA an ISSAS Mission which was completed in February 2008. A main recommendation of this mission is to consider an overall plan for security measures and in this regards, an INSSERV Mission was completed in December 2008. Nuclear safeguards conclusions focus on correctness and completeness of declarations provided by operators. Nuclear security activities (prevention, detection and response) are useful contributions to confirm safeguards conclusions specially, a good detection strategy at national level can help to confirm the absence of undeclared activities in a country like Niger. Many governmental institutions are involved in nuclear activities and there are lacks of communication between them. Creating a synergy between safeguards and security can federate the mechanisms of control at national level and have impact in many aspects specially in (i) awareness of decision makers (ii) optimal use of the equipments (iii) organizing training activities and human resource management and (iv) designing national strategic plans. The institution which hosted the two IAEA consultative missions (Directorate of Peaceful Use of Nuclear Techniques-DUPTN for the ISSAS Mission and Civil Defence for INSSERV Mission) in consultation with other national institutions had to create a framework for this synergy. This framework must be submitted to the IAEA for observation and

  4. Moderation control in low enriched 235U uranium hexafluoride packaging operations and transportation

    International Nuclear Information System (INIS)

    Dyer, R.H.; Kovac, F.M.; Pryor, W.A.

    1993-01-01

    Moderation control is the basic parameter for ensuring nuclear criticality safety during the packaging and transport of low 235 U enriched uranium hexafluoride before its conversion to nuclear power reactor fuel. Moderation control has permitted the shipment of bulk quantities in large cylinders instead of in many smaller cylinders and, therefore, has resulted in economies without compromising safety. Overall safety and uranium accountability have been enhanced through the use of the moderation control. This paper discusses moderation control and the operating procedures to ensure that moderation control is maintained during packaging operations and transportation

  5. Anomalous rare earth element, yttrium and zirconium mobility associated with uranium mineralization

    Czech Academy of Sciences Publication Activity Database

    René, Miloš

    2008-01-01

    Roč. 20, č. 1 (2008), s. 52-58 ISSN 0954-4879 Institutional research plan: CEZ:AV0Z30460519 Keywords : Moldanubian Zone * uranium * geochemistry Subject RIV: DB - Geology ; Mineralogy Impact factor: 1.899, year: 2008 www.blackwell-synergy.com/loi/ter

  6. Solubility measurement of uranium in uranium-contaminated soils

    International Nuclear Information System (INIS)

    Lee, S.Y.; Elless, M.; Hoffman, F.

    1993-08-01

    A short-term equilibration study involving two uranium-contaminated soils at the Fernald site was conducted as part of the In Situ Remediation Integrated Program. The goal of this study is to predict the behavior of uranium during on-site remediation of these soils. Geochemical modeling was performed on the aqueous species dissolved from these soils following the equilibration study to predict the on-site uranium leaching and transport processes. The soluble levels of total uranium, calcium, magnesium, and carbonate increased continually for the first four weeks. After the first four weeks, these components either reached a steady-state equilibrium or continued linearity throughout the study. Aluminum, potassium, and iron, reached a steady-state concentration within three days. Silica levels approximated the predicted solubility of quartz throughout the study. A much higher level of dissolved uranium was observed in the soil contaminated from spillage of uranium-laden solvents and process effluents than in the soil contaminated from settling of airborne uranium particles ejected from the nearby incinerator. The high levels observed for soluble calcium, magnesium, and bicarbonate are probably the result of magnesium and/or calcium carbonate minerals dissolving in these soils. Geochemical modeling confirms that the uranyl-carbonate complexes are the most stable and dominant in these solutions. The use of carbonate minerals on these soils for erosion control and road construction activities contributes to the leaching of uranium from contaminated soil particles. Dissolved carbonates promote uranium solubility, forming highly mobile anionic species. Mobile uranium species are contaminating the groundwater underlying these soils. The development of a site-specific remediation technology is urgently needed for the FEMP site

  7. 232Th/238U in a uranium mobility estimate in an agricultural area in the municipality of Pedra-Pernambuco - Brazil

    International Nuclear Information System (INIS)

    Santos Junior, Jose Araujo dos; Amaral, Romilton dos Santos; Bezerra, Jairo Dias; Damascena, Kennedy Francys Rodrigues; Oliveira, Jose Valdez Monterazo de; Bispo, Rodrigo Cesar Bezerra; Silva, Cleomacio Miguel da; Rocha, Edilson Accioly

    2011-01-01

    The mobility of the radionuclides in soil depends primarily on the physic-chemical parameters. The uranium is easily oxidized in aqueous environment, which allows its characterization with higher mobility. The Thorium is practically insoluble, mainly if the environment has organic matter and sulfates. The geochemical characteristics of the rocks, associated with the weather and metamorphism produce alterations in the concentration diagrams of the natural radionuclides in different types of soil. The ratio 232 Th/ 238 U has been used as an indicator of oxidizing and reducing conditions. Th/U less than 2 suggests that the uranium is in its concentrated form abundantly when compared to the thorium. In reducing conditions, the value Th/U higher than 7 indicates a removal of the uranium. In this work it was possible to analyze the agricultural soil in the municipality of Pedra, Pernambuco, Brazil where there are uranium anomaly and thorium in rocky outcrops. Sixty-two samples of the horizon C soil were collected, in an area of 2 km 2 , where the main uranium occurrences are located. The analyses were done by High-Resolution Gamma-Spectroscopy. In the analyses the secular equilibrium was assumed and the 238 U and the 232 Th specific activities were used to estimate the oxidizing and reducing conditions defining the uranium mobility in the soil. The obtained findings show that the ratio Th/U varied from 0.3 to 13.4, with average of 4.6. The biggest 238 U fraction was fix (80.3%), with low mobility; the smallest fraction concentrated (6.6%) and a lixiviated intermediate fraction (13.1%). (author)

  8. Self-control and problematic mobile phone use in Chinese college students: the mediating role of mobile phone use patterns

    OpenAIRE

    Jiang, Zhaocai; Zhao, Xiuxin

    2016-01-01

    Background With the popularity of mobile phones, problematic mobile phone use is getting increasing attention in recent years. Although self-control was found to be a critical predictor of problematic mobile phone use, no study has ever explored the association between self-control and mobile phone use patterns as well as the possible pathway how self-control affects problematic mobile phone use. Methods Four hundred sixty-eight college students were randomly selected in this study. Data were...

  9. Simulation and control synthesis for a pulse column separation system for plutonium--uranium recovery

    International Nuclear Information System (INIS)

    McCutcheon, E.B.

    1975-05-01

    Control of a plutonium-uranium partitioning column was studied using a mathematical model developed to simulate the dynamic response and to test postulated separation mechanisms. The column is part of a plutonium recycle flowsheet developed for the recovery of plutonium and uranium from metallurgical scrap. In the first step of the process, decontamination from impurities is achieved by coextracting plutonium and uranium in their higher oxidation states. In the second step, reduction of the plutonium to a lower oxidation state allows partitioning of the plutonium and uranium. The use of hydroxylamine for the plutonium reduction in this partitioning column is a unique feature of the process. The extraction operations are carried out in pulse columns. (U.S.)

  10. Aftermath of Uranium Ore Processing on Floodplains: Lasting Effects of Uranium on Soil and Microbes

    Science.gov (United States)

    Tang, H.; Boye, K.; Bargar, J.; Fendorf, S. E.

    2016-12-01

    A former uranium ore processing site located between the Wind River and the Little Wind River near the city of Riverton, Wyoming, has generated a uranium plume in the groundwater within the floodplain. Uranium is toxic and poses a threat to human health. Thus, controlling and containing the spread of uranium will benefit the human population. The primary source of uranium was removed from the processing site, but a uranium plume still exists in the groundwater. Uranium in its reduced form is relatively insoluble in water and therefore is retained in organic rich, anoxic layers in the subsurface. However, with the aid of microbes uranium becomes soluble in water which could expose people and the environment to this toxin, if it enters the groundwater and ultimately the river. In order to better understand the mechanisms controlling uranium behavior in the floodplains, we examined sediments from three sediment cores (soil surface to aquifer). We determined the soil elemental concentrations and measured microbial activity through the use of several instruments (e.g. Elemental Analyzer, X-ray Fluorescence, MicroResp System). Through the data collected, we aim to obtain a better understanding of how the interaction of geochemical factors and microbial metabolism affect uranium mobility. This knowledge will inform models used to predict uranium behavior in response to land use or climate change in floodplain environments.

  11. Uranium facilitated transport by water-dispersible colloids in field and soil columns

    International Nuclear Information System (INIS)

    Crancon, P.; Pili, E.; Charlet, L.

    2010-01-01

    The transport of uranium through a sandy podzolic soil has been investigated in the field and in column experiments. Field monitoring, numerous years after surface contamination by depleted uranium deposits, revealed a 20 cm deep uranium migration in soil. Uranium retention in soil is controlled by the 238 U initially present in the soil column and 233 U brought by input solution are desorbed. The mobilization process observed experimentally after a drop of ionic strength may account for a rapid uranium migration in the field after a rainfall event, and for the significant uranium concentrations found in deep soil horizons and in groundwater, 1 km downstream from the pollution source.

  12. In Situ Community Control of the Stability of Bioreduced Uranium

    International Nuclear Information System (INIS)

    White, David C.

    2006-01-01

    The overall objective of this research is to understand the mechanisms for maintenance of bio-reduced uranium in an aerobic to microaerophylic aquifer under actual field conditions after electron donor addition for biostimulation has ended. Primary Objectives: (1) Determine the relative importance of microbial communities and/or chemical and physical environments mediating uranium reduction/oxidation after cessation of donor addition in an aerobic aquifer. (2) Determine, after cessation of donor addition, the linkages between microbial functions and abiotic processes mediating. Initial Hypotheses: (1) The typical bio-reduced subsurface environments that maintain U(VI) reduction rates after biostimulation contain limited amounts of oxidized iron on mineral surfaces. Therefore, the non sulfate-reducing dissimilatory iron reducing bacteria will move to more conducive areas or be out-competed by more versatile microbes. (2) Microbes capable of sulfate reduction play an important role in the post-treatment maintenance of bio-reduced uranium because these bacteria either directly reduce U(VI) or generate H2S, and/or FeS0.9 which act as oxygen sinks maintaining U(IV) in a reduced state. (3) The presence of bioprecipitated amorphous FeS0.9 in sediments will maintain low U(IV) reoxidation rates under conditions of low biomass, but FeS0.9 by itself is not sufficient to remove U(VI) from groundwater by abiotic reduction. FIELD SCALE EXPERIMENTS: Field-scale electron donor amendment experiments were conducted in 2002, 2003, and 2004 at the Old Rifle Uranium Mill Tailings Remedial Action (UMTRA) site in Rifle, Colorado

  13. Design of a hybrid command and control mobile botnet: Presentation

    CSIR Research Space (South Africa)

    Pieterse, H

    2013-03-01

    Full Text Available smartphones controlled by a botmaster through a command and control network to serve a malicious purpose. This study presents the design of a hybrid command and control mobile botnet. It describes the propagation vectors, command and control channels...

  14. Flexible and Safe Control of Mobile Surface Systems, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The primary innovation of this work is a novel approach for flexible and safe control of highly capable mobile surface systems, such as long-duration science rovers,...

  15. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  16. Flexible and Safe Control of Mobile Surface Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The primary innovation of this work is a novel Petri net based approach for safe and flexible control of highly capable mobile surface systems, such as long-duration...

  17. Waste management and environmental controls in the Australian uranium mining industry

    International Nuclear Information System (INIS)

    Walker, D.G.; Morison, I.W.

    1982-01-01

    The development of the waste management and related environmental controls applied to uranium mining and processing in Australia is described. Major uranium deposits occur in the Alligator Rivers Region of the Northern Territory, a world heritage tropical wetland area with deep significance to Aboriginal people. The formulation of environmental controls took into consideration the unique features of the region in addition to experiences from earlier uranium mining operations. A description is given of the operations at Rum Jungle, the pollutants released and their effects on the environment. Commonwealth and State responsibilities for waste management and environmental control and the establishment of Codes of Practice are noted and proposed water management and tailings management programs at the four Alligator Rivers sites are described

  18. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

    Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

  19. Bake-Out Mobile Controls for Large Vacuum Systems

    CERN Document Server

    Blanchard, S; Gomes, P; Pereira, H; Kopylov, L; Merker, S; Mikheev, M

    2014-01-01

    Large vacuum systems at CERN (Large Hadron Collider - LHC, Low Energy Ion Rings - LEIR...) require bake-out to achieve ultra-high vacuum specifications. The bake-out cycle is used to decrease the outgassing rate of the vacuum vessel and to activate the Non-Evaporable Getter (NEG) thin film. Bake-out control is a Proportional-Integral-Derivative (PID) regulation with complex recipes, interlocks and troubleshooting management and remote control. It is based on mobile Programmable Logic Controller (PLC) cabinets, fieldbus network and Supervisory Control and Data Acquisition (SCADA) application. The CERN vacuum installations include more than 7 km of baked vessels; using mobile cabinets reduces considerably the cost of the control system. The cabinets are installed close to the vacuum vessels during the time of the bake-out cycle. Mobile cabinets can be used in any of the CERN vacuum facilities. Remote control is provided through a fieldbus network and a SCADA application

  20. Rethinking the economics of capital mobility and capital controls

    Directory of Open Access Journals (Sweden)

    Thomas I. Palley

    2009-09-01

    Full Text Available This paper reexamines the issue of international financial capital mobility, which is today's economic orthodoxy. Discussion is often framed in terms of the impossible trinity. That framing distorts discussion by representing capital mobility as having equal significance with sovereign monetary policy and control over exchange rates. It also distorts discussion by ignoring possibilities for coordinated monetary policy and exchange rates, and for managed capital flows. The case for capital mobility rests on neo-classical economic efficiency arguments and neo-liberal political arguments. The case against capital mobility is based on Keynesian macroeconomic inefficiency arguments, neo-Walrasian market failure arguments, and neo-Marxian arguments regarding distortion of the social structure of accumulation. Close examination shows the case for capital mobility to be extremely flimsy, pointing to the ideological dimension behind today's policy orthodoxy.

  1. Methods of supervision in the uranium industry; Les methodes de controle dans l'industrie de l'uranium

    Energy Technology Data Exchange (ETDEWEB)

    Prugnard, J [Commissariat a l' Energie Atomique, Saclay (France).Centre d' Etudes Nucleaires

    1961-07-01

    In its broad sense the supervision applied to uranium refining is not appreciably different from that found in ordinary industry. It should be noted however that the main preoccupation will be exceptional purity in the final product, and constant vigilance must be directed towards conforming with the accepted safety standards in such an organisation. The various problems at issue and the steps taken to solve them will be discussed successively. (author) [French] L'aspect general du controle dans le raffinage de l'uranium ne differe pas sensiblement de celui que l'on peut rencontrer dans les industries classiques. Il conviendra cependant de remarquer que le souci dominant visera plus a l'obtention d'un produit final de purete exceptionnelle et qu'une vigilance de tous les instants sera necessaire pour respecter les normes de securite dans une telle entreprise. On etudiera successivement les divers objectifs a atteindre et l'organisation mise en oeuvre pour les realiser. (auteur)

  2. Main types and metallogenetic characteristics of sandstone-type uranium deposits in central asian mobile belt and its neighbouring area, and the study on prospecting direction of northwest China

    International Nuclear Information System (INIS)

    Fu Chengming

    2007-01-01

    Based on the study of geotectonic setting, formation evolution model and metallogenic characteristics of uranium productive basins, important sandstone-type uranium deposits in Central Asian mobile belt and neighbouring area are divided into five types. The statial distribution pattern of different sandstone-type uranium deposits is analyzed in detail. Geotectonic setting and metallogenetic characteristics are discussed. Finally, the characteristics of basin geodynamics, prospecting type and ore-bearing stratigraphy in Northwest China have been proposed. (authors)

  3. A mobile console for local access to accelerator control systems.

    CERN Multimedia

    1981-01-01

    Microprocessors were installed as auxiliary crate controllers (ACCs) in the CAMAC interface of control systems for various accelerators. The same ACC was also at the hearth of a stand-alone system in the form of a mobile console. This was also used for local access to the control systems for tests and development work (Annual Report 1981, p. 80, Fig. 10).

  4. Application of controlled release technology to uranium mill tailings stabilization

    International Nuclear Information System (INIS)

    Burton, F.G.; Cataldo, D.A.; Cline, J.F.; Skiens, W.E.

    1981-01-01

    A trifluralin (herbicide) releasing device was developed with a theoretical effective lifetime in excess of 100 years. When placed in a layer in soil, the PCD system will prevent root penetration through that layer without harming the overlying vegetation. Equilibrium concentrations of trifluralin in soil can be adjusted (along with the theoretical life of the device) to suit specific needs. The present system was designed specifically to protect the asphalt layer or clay/aggregate barriers on uranium mill tailings piles; PCD devices composed of pellets could also be implanted over burial sites for radioactive and/or toxic materials, preventing translocation of those materials to plant shoots, and thence into the biosphere

  5. Waste management and environmental controls in the Australian uranium mining industry

    International Nuclear Information System (INIS)

    Walker, D.G.; Morison, I.W.

    1983-01-01

    An outline is given of the development of the waste management and related environmental controls currently applied to uranium mining and processing in Australia, reflecting three decades of experience. The Ranger Uranium Environmental Inquiry of the mid-1970s was, inter alia, a focus for the expression of public concerns over the environmental effects of uranium mining. The report of the Inquiry established a framework for controls over uranium mining in the Northern Territory and, by association, in other States of the Commonwealth. The interaction between Federal and State jurisdictions, and the establishment of Codes of Practice and their implications are briefly described. Current procedures are based on the experience of other countries but are much influenced by studies of the environmental impact of uranium production in Australia during the 1950s and 1960s. In addition, laboratory investigations have been made of specific processes, such as the impact of heavy metal contaminants on biota and the uptake of radium in the human food cycle. Such studies are continuing and research is being expanded, particularly in relation to Northern Territory developments. Australia is contributing the results of this work to appropriate international forums. (author)

  6. 40 CFR 23.8 - Timing of Administrator's action under Uranium Mill Tailings Radiation Control Act of 1978.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Timing of Administrator's action under Uranium Mill Tailings Radiation Control Act of 1978. 23.8 Section 23.8 Protection of Environment... Administrator's action under Uranium Mill Tailings Radiation Control Act of 1978. Unless the Administrator...

  7. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  8. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  9. Exception detection and handling in mission control for mobile robots

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

  10. Connection adaption for control of networked mobile chaotic agents.

    Science.gov (United States)

    Zhou, Jie; Zou, Yong; Guan, Shuguang; Liu, Zonghua; Xiao, Gaoxi; Boccaletti, S

    2017-11-22

    In this paper, we propose a strategy for the control of mobile chaotic oscillators by adaptively rewiring connections between nearby agents with local information. In contrast to the dominant adaptive control schemes where coupling strength is adjusted continuously according to the states of the oscillators, our method does not request adaption of coupling strength. As the resulting interaction structure generated by this proposed strategy is strongly related to unidirectional chains, by investigating synchronization property of unidirectional chains, we reveal that there exists a certain coupling range in which the agents could be controlled regardless of the length of the chain. This feature enables the adaptive strategy to control the mobile oscillators regardless of their moving speed. Compared with existing adaptive control strategies for networked mobile agents, our proposed strategy is simpler for implementation where the resulting interaction networks are kept unweighted at all time.

  11. Controlled Delegation Protocol in Mobile RFID Networks

    Directory of Open Access Journals (Sweden)

    Yang MingHour

    2010-01-01

    Full Text Available To achieve off-line delegation for mobile readers, we propose a delegation protocol for mobile RFID allowing its readers access to specific tags through back-end server. That is to say, reader-tag mutual authentication can be performed without readers being connected to back-end server. Readers are also allowed off-line access to tags' data. Compared with other delegation protocols, our scheme uniquely enables back-end server to limit each reader's reading times during delegation. Even in a multireader situation, our protocol can limit reading times and reading time periods for each of them and therefore makes back-end server's delegation more flexible. Besides, our protocol can prevent authorized readers from transferring their authority to the unauthorized, declining invalid access to tags. Our scheme is proved viable and secure with GNY logic; it is against certain security threats, such as replay attacks, denial of service (DoS attacks, Man-in-the-Middle attacks, counterfeit tags, and breaches of location and data privacy. Also, the performance analysis of our protocol proves that current tags can afford the computation load required in this scheme.

  12. Field-Portable Immunoassay Instruments and Reagents to Measure Chelators and Mobile Forms of Uranium

    International Nuclear Information System (INIS)

    Blake, Diane A.

    2003-01-01

    The goals for the 3-year project period are (1) to test and validate the present uranium sensor and develop protocols for its use at the NABIR Field Research Center; (2) to develop new reagents that will provide superior performance for the present hand-held immunosensor; and (3) to develop new antibodies that will permit this sensor to also measure other environmental contaminants (chromium, mercury, and/or DTPA). Sensor design modifications are underway via international collaborations. New reagents that will provide superior performance for the present hand-held immunosensor are being prepared and tested. New methods have been developed, to produce recombinant forms of metal-specific monoclonal antibodies for use with the sensor. Site-directed mutagenesis experiments are underway to determine the mechanisms of binding. Immunization experiments with sheep and rabbits to develop new recombinant forms of antibodies to metal-chelate complexes (chromium, mercury, and/or DTPA) have been initiated

  13. Speciation and mobility of trace elements and uranium in a river/groundwater infiltration system

    International Nuclear Information System (INIS)

    Gunten, H.R. von

    1994-01-01

    The infiltration and migration behaviour of dissolved species from the river Glatt, Switzerland, into a hydrologically connected shallow groundwater aquifer was investigated for more than 10 years. Seasonal cycles of the concentrations of several species were observed in the sediments of the riverbed and in the groundwater. The bacteria-mediated oxidation of organic matter and aquatic biota in the riverbed sediments governed related chemical and redox processes which led to significant changes in the composition and properties of the infiltrating water. Up to 1990, significant peaks of manganese, cadmium, uranium and other trace elements appeared each summer in the interstitial water of the sediments and in the groundwater. Recently, these peaks disappeared completely. The authors attribute these drastic changes in the water chemistry to a more efficient removal of the nutrient phosphate from surface waters

  14. Controlled area for mobile medical X-ray equipment

    Energy Technology Data Exchange (ETDEWEB)

    Menzel, B; Taschner, P; Koenig, W [Staatliches Amt fuer Atomsicherheit und Strahlenschutz, Berlin (German Democratic Republic); Fuehr, K P; Kucharz, R [Rostock Univ. (German Democratic Republic). Radiologische Klinik

    1976-10-01

    On the basis of dose rate measurements the radiation protection situation during operation of mobile X-ray machines is described. According to these results, the controlled area has been definitely fixed by the National Board of Nuclear Safety and Radiation Protection with respect to the following fields of application: stomatology, mobile radiography of patients confined to bed as well as performing radiological examinations in the operating theatre.

  15. Regulatory philosophy and requirements for radiation control in Canadian uranium mine-mill facilities

    International Nuclear Information System (INIS)

    Dory, A.B.

    1981-10-01

    With the point made that radiation exposure is one of the health hazards of uranium mining and accordingly has to be controlled, the Canadian regulatory philosophy is outlined as it pertains to the uranium mining industry. Two extremes in regulatory approach are examined, and the joint regulatory process is explained. Two examples of poor management performance are given, and the role of mine unions in the regulatory process is touched upon. The development of new regulations to cover ventilation and employee training is sketched briefly. The author concludes with a general expression of objectives for the eighties which include improved personal dosimetry

  16. Characteristics of Chongan ring structure and its controlling role on uranium mineralization

    International Nuclear Information System (INIS)

    Liu Linqing

    2001-01-01

    A large ring structure has been discovered in Chong'an region on the basis of geological interpretation of remote sensing images. The data acquired from analysis of regional geology and in-situ investigation indicate that the ring structure is initiated during caledonian and activated for several times afterwards; It displays the highest activity during Yanshanian. Under the effect of this structure, Gulou-Masha lenticular geological body was firmed, controlling the regional distribution of uranium mineralization and anomalies occur in forms of central and bilateral symmetry. The data indicate that it is prospective to prospect uranium deposit in this region; therefore, more work should be placed on the deep levels

  17. FUZZY CONTROLLER FOR THE CONTROL OF THE MOBILE PLATFORM OF THE CORBYS ROBOTIC GAIT REHABILITATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Maria Kyrarini

    2014-12-01

    Full Text Available In this paper, an inverse kinematics based control algorithm for the joystick control of the mobile platform of the novel mobile robot-assisted gait rehabilitation system CORBYS is presented. The mobile platform has four independently steered and driven wheels. Given the linear and angular velocities of the mobile platform, the inverse kinematics algorithm gives as its output the steering angle and the driving angular velocity of each of the four wheels. The paper is focused on the steering control of the platform for which a fuzzy logic controller is developed and implemented. The experimental results of the real-world steering of the platform are presented in the paper.

  18. Uranium solubility and solubility controls in selected Needle's Eye groundwaters

    International Nuclear Information System (INIS)

    Falck, W.E.; Hooker, P.J.

    1992-01-01

    The British Geological Survey (BGS) has been co-ordinating a research programme centred on the Needle's Eye natural analogue site in Dumfries and Galloway District, southwest Scotland. This study of a natural radioactive geochemical system has been carried out with the aim of improving confidence in using geochemical and predictive models of radionuclide (uranium) migration in the geosphere. The Needle's Eye site is located on the Solway Coat within the Southwick Coast Reserve of the Scottish Wildlife Trust who gave permission to sample for soils, sediments and waters for analysis. This report is one of a series and covers the period from June 1989 to June 1990. It presents the results of applying the PHREEQE code to the hydrochemistry of the site using the CHEMVAL thermodynamic database. (author)

  19. Air leakage control in chief tunnel of uranium mines using air screen

    International Nuclear Information System (INIS)

    Xiao Gengsheng

    1987-01-01

    In this paper the results of air leakage control are described using air screen in the chief tunnels of some uranium mines. The air leakage decreases by 79-91% after using air screen. On the basis of mathematical treatment, the formulas for calculating the air resistance efficiency of air screen are presented

  20. The application of controlled source audio frequency magnetotelluric method to prospecting for uranium and gold

    International Nuclear Information System (INIS)

    Guan Taiping

    1992-01-01

    The controlled source audio frequency magnetotelluric method is a new geophysical method which is rapid, effective and economical and can be used for studying the structural pattern of underground strata (rock bodies). This method provides the basis for the determination of the deeper part and structures within the unconformity-related uranium deposit in North China Platform and the result of application is optimal

  1. Environmental control technology for mining and milling low-grade uranium resources

    International Nuclear Information System (INIS)

    Weakley, S.A.; Blahnik, D.E.; Long, L.W.; Bloomster, C.H.

    1981-04-01

    This study examined the type and level of wastes that would be generated in the mining and milling of U 3 O 8 from four potential domestic sources of uranium. The estimated costs of the technology to control these wastes to different degrees of stringency are presented

  2. Dynamic Modelling and Adaptive Traction Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    A. Albagul

    2004-09-01

    Full Text Available Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low’ level controller. The second level is developed to take care of path planning and trajectory generation.

  3. Can ionic liquids be used as templating agents for controlled design of uranium-containing nanomaterials?

    International Nuclear Information System (INIS)

    Visser, Ann E.; Bridges, Nicholas J.; Tosten, Michael H.

    2013-01-01

    Graphical abstract: - Highlights: • Uranium oxides nanoparticles prepared using ionic liquids. • IL cation alkyl length impacts oxide morphology. • Low temperature UO 2 synthesis. - Abstract: Nanostructured uranium oxides have been prepared in ionic liquids as templating agents. Using the ionic liquids as reaction media for inorganic nanomaterials takes advantage of the pre-organized structure of the ionic liquids which in turn controls the morphology of the inorganic nanomaterials. Variation of ionic liquid cation structure was investigated to determine the impact on the uranium oxide morphologies. For two ionic liquid cations, increasing the alkyl chain length increases the aspect ratio of the resulting nanostructured oxides. Understanding the resulting metal oxide morphologies could enhance fuel stability and design

  4. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

    Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

    1996-01-01

    This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

  5. Field-Portable Immunoassay Instruments and Reagents to Measure Chelators and Mobile Forms of Uranium

    International Nuclear Information System (INIS)

    Blake, Diane A.

    2006-01-01

    Progress Report Date: 01/23/06 (report delayed due to Hurricane Katrina) Report of results to date: The goals of this 3-year project are to: (1) update and successfully deploy our present immunosensors at DOE sites; (2) devise immunosensor-based assays for Pb(II), Hg(II), chelators, and/or Cr(III) in surface and groundwater; and (3) develop new technologies in antibody engineering that will enhance this immunosensor program. Note: Work on this project was temporarily disrupted when Hurricane Katrina shut down the University on August 29, 2005. While most of the reagents stored in our refrigerators and freezers were destroyed, all of our hybridoma cell lines were saved because they had been stored in liquid nitrogen. We set up new tissue culture reactors with the hybridomas that synthesize the anti-uranium antibodies, and are purifying new monoclonal antibodies from these culture supernatants. Both the in-line and the field-portable sensor were rescued from our labs in New Orleans in early October, and we continued experiments with these sensors in the temporary laboratory we set up in Hammond, LA at Southeastern Louisiana University

  6. INTERACTIONS AMONG PHOSPHATE AMENDMENTS, MICROBES AND URANIUM MOBILITY IN CONTAMINATED SEDIMENTS

    Energy Technology Data Exchange (ETDEWEB)

    Knox, A

    2007-08-30

    The use of sequestering agents for the transformation of radionuclides in low concentrations in contaminated soils/sediments offers considerable potential for long-term environmental cleanup. This study evaluated the influence of four phosphate amendments and two microbial amendments on U availability. The synchrotron X-ray fluorescence mapping of the untreated U-contaminated sediment showed that U was closely associated with Mn. All tested phosphate amendments reduced aqueous U concentration more than 90%, likely due to formation of insoluble phosphate precipitates. The addition of A. piechaudii and P. putida alone were found to reduce U concentrations 63% and 31% respectively. Uranium sorption in phosphate treatments was significantly reduced in the presence of microbes. However, increased microbial activity in the treated sediment led to reduction of phosphate effectiveness. The average U concentration in 1 M MgCl{sub 2} extract from U amended sediment was 437 {micro}g/kg, but in the same sediment without microbes (autoclaved sediment), the extractable U concentration was only 103 {micro}g/kg. When the autoclaved amended sediment was treated with autoclaved biological apatite, U concentration in the 1 M MgCl{sub 2} extract was {approx}0 {micro}g/kg. Together these tests suggest that microbes may enhance U leaching and reduce phosphate amendment remedial effectiveness.

  7. Association of the Purana basins and the middle Proterozoic mobile belts in peninsular India: implications on targeting uranium deposits

    International Nuclear Information System (INIS)

    Kale, V.S.

    1995-01-01

    The disparate Archaean Cratonic Nuclei of the Indian peninsular shield coalesced together through late Archaean - Palaeoproterozoic accretionary tectonic events. The subsequent Mesoproterozoic and Neoproterozoic sequences are preserved either in the Purana basins or in the middle Proterozoic mobile belts (MPMB). The latter contain deformed and metamorphosed supracrustal sequences; and can be ascribed to compressive tectonic regimes. The Purana basins on the other hand represent shallow marine, epicratonic, passive-margin sequences deposited in an extensional tectonic regime. Major deformational events and metamorphism of the MPMB are known to have taken place around 1600 ±200 Ma and 900 ± 100 Ma. These two periods coincide with the ages of initiation and major intrabasinal breaks in the growth of the Purana basins. The contemporary juxtapositioning of these two dissimilar tectonic regimes in peninsular India, is examined within the framework of the available data on them and the current models of Proterozoic tectonics. Its implications on uranium mineralization and possible regions for targeting exploration activities are discussed on this basis. (author). 112 refs., 4 figs

  8. Autonomous Visual Control of a Mobile Robot

    National Research Council Canada - National Science Library

    Blackburn, Michael

    1994-01-01

    .... We propose that efficient and extensible solutions to the target acquisition and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed...

  9. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  10. Wireless Sensor/Actuator Network Design for Mobile Control Applications

    Directory of Open Access Journals (Sweden)

    Youxian Sung

    2007-10-01

    Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

  11. 31 CFR 540.317 - Uranium feed; natural uranium feed.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false Uranium feed; natural uranium feed... (Continued) OFFICE OF FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY HIGHLY ENRICHED URANIUM (HEU) AGREEMENT ASSETS CONTROL REGULATIONS General Definitions § 540.317 Uranium feed; natural uranium feed. The...

  12. Evaluation of chemical stabilizers and windscreens for wind erosion control of uranium mill tailings

    International Nuclear Information System (INIS)

    Elmore, M.R.; Hartley, J.N.

    1984-08-01

    Potential wind erosion of uranium mill tailings is a concern for the surface disposal of tailings at uranium mills. Wind-blown tailings may subsequently be redeposited on areas outside the impoundment. Pacific Northwest Laboratory (PNL) is investigating techniques for fugitive dust control at uranium mill tailings piles. Laboratory tests, including wind tunnel studies, were conducted to evaluate the relative effectiveness of 43 chemical stabilizers. Seventeen of the more promising stabilizers were applied to test plots on a uranium tailings pile at the American Nuclear Corporation-Gas Hills Project mill site in central Wyoming. The durabilities of these materials under actual site conditions were evaluated over time. In addition, field testing of commercially available windscreens was conducted. Test panels were constructed of eight different materials at the Wyoming test site to compare their durability. A second test site was established near PNL to evaluate the effectiveness of windscreens at reducing wind velocity, and thereby reduce the potential for wind erosion of mill tailings. Results of the laboratory land field tests of the chemical stabilizers and windscreens are presented, along with costs versus effectiveness of these techniques for control of wind erosion at mill tailings piles. 12 references, 4 figures, 6 tables

  13. The development of the microcomputer controlling system for micro uranium on-line analyser

    CERN Document Server

    Ye Guo Qiang

    2002-01-01

    The author presents the microcomputer controlling system for micro uranium on-line analyser under Windows 3.2 system (Chinese). The user program is designed with Visual Basic 4.0, the program of controlling the hardware interface with Windows Dynamic Linking Library (DLL) which is programmed by Borland C sup + sup + 4.5, and the date processing is with Access 2.0 database

  14. DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Y. A. Kapitanyuk

    2014-03-01

    Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

  15. Fuzzy Behaviors for Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Saleh Zein-Sabatto

    2003-02-01

    Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

  16. Mobile Interfaces for Building Control Surveyors

    OpenAIRE

    Chmielewski , Jacek; Walczak , Krzysztof; Wiza , Wojciech

    2010-01-01

    International audience; The problem of integrating heterogeneous back-end platforms used in public administration has been widely addressed in a number of research and development projects. In such a complex and heterogeneous environment, application of the SOA paradigm can be particularly beneficial. However, in some application domains - such as the Building Control Administration - there is an additional requirement: integration of heterogeneous front-end platforms - including access throu...

  17. A Metal Stable Isotope Approach to Understanding Uranium Mobility Across Roll Front Redox Boundaries

    Science.gov (United States)

    Brown, S. T.; Basu, A.; Christensen, J. N.; DePaolo, D. J.; Heikoop, J. M.; Reimus, P. W.; Maher, K.; Weaver, K. L.

    2015-12-01

    Sedimentary roll-front uranium (U) ore deposits are the principal source of U for nuclear fuel in the USA and an important part of the current all-of-the-above energy strategy. Mining of roll-front U ore in the USA is primarily by in situ alkaline oxidative dissolution of U minerals. There are significant environmental benefits to in situ mining including no mine tailings or radioactive dust, however, the long-term immobilization of U in the aquifer after the completion of mining remains uncertain. We have utilized the metal stable isotopes U, Se and Mo in groundwater from roll-front mines in Texas and Wyoming to quantify the aquifer redox conditions and predict the onset of U reduction after post mining aquifer restoration. Supporting information from the geochemistry of groundwater and aquifer sediments are used to understand the transport of U prior to and after in situ mining. Groundwater was collected across 4 mining units at the Rosita mine in the Texas coastal plain and 2 mining units at the Smith Ranch mine in the Powder River Basin, Wyoming. In general, the sampled waters are moderately reducing and ore zone wells contain the highest aqueous U concentrations. The lowest U concentrations occur in monitoring wells downgradient of the ore zone. 238U/235U is lowest in downgradient wells and is correlated with aqueous U concentrations. Rayleigh distillation models of the 238U/235U are consistent with U isotope fractionation factors of 1.0004-1.001, similar to lab-based studies. Based on these results we conclude that redox reactions continue to affect U distribution in the ore zone and downgradient regions. We also measured aqueous selenium isotope (δ82Se) and molybdenum isotope (δ98Mo) compositions in the Rosita groundwater. Se(VI) primarily occurs in the upgradient wells and is absent in most ore zone and downgradient wells. Rayleigh distillation models suggest reduction of Se(VI) along the groundwater flow path and when superimposed on the U isotope data

  18. Tracking control of mobile robots: a case study in backstepping

    NARCIS (Netherlands)

    Jiang, Zhong-Ping; Nijmeijer, Henk

    1997-01-01

    A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small.

  19. Remote-controlled vision-guided mobile robot system

    Science.gov (United States)

    Ande, Raymond; Samu, Tayib; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

  20. The use of laser diodes for control of uranium vaporization rates

    International Nuclear Information System (INIS)

    Hagans, K.; Galkowski, J.

    1993-09-01

    Within the Atomic Vapor Laser Isotope Separation (AVLIS) program we have successfully used the laser absorption spectroscopy technique (LAS) to diagnose process physics performance and control vaporization rate. In the LAS technique, a narrow line-width laser is tuned to an absorption line of the species to be measured. The laser light that is propagated through the sample is and, from this data, the density of the species can be calculated. These laser systems have exclusively consisted of expensive, cumbersome, and difficult to maintain argon-ion-pumped ring dye lasers. While the wavelength flexibility of dye lasers is very useful in a laboratory environment, these laser systems are not well suited for the industrial process control system under development for an AVLIS plant. Diode-lasers offer lower system costs, reduced man power requirements, reduced space requirements, higher system availability, and improved operator safety. We report the. successful deployment and test of a prototype laser diode based uranium vapor rate control system. Diode-laser generated LAS data was used to control the uranium vaporization rate in a hands-off mode for greater than 50 hours. With one minor adjustment the system successfully controlled the vaporization rate for greater than 147 hours. We report excellent agreement with ring dye laser diagnostics and uranium weigh-back measurements

  1. Report on the NAT-9 quality control exercise on uranium isotopes in two soil samples

    International Nuclear Information System (INIS)

    Bleise, Andreas

    2001-04-01

    The International Atomic Energy Agency (IAEA) section of Nutritional and Health related Environmental Studies (NAHRES) organized a quality control study for laboratories analysing samples from the UNEP field mission to Kosovo. Quality control was the major responsibility of the IAEA in the UN field assessment team. The NAT-9 quality control study consists of two soil materials from the IAEA Laboratories in Seibersdorf. The scope of this exercise was to determine the content of the uranium isotopes U-234, U-235 and U-238. The IAEA did not provide specific instructions, the participants were encouraged to apply their established analytical procedures to the samples. Five laboratories were invited to participate, four laboratories submitted results. For each soil sample 10 laboratory mean values were reported, using ICP-MS (3 laboratories) and α-spectrometry (1 laboratory). The participating laboratories were capable to distinguish the different uranium isotopes. All laboratories obtained the natural uranium ratio between U-235 and U-238. However, the results highlight a particular analytical weak spot. Although the methods of measuring the analytical signals are highly dependable, the sample preparation steps, in particular the sample dissolution procedure, appears to be lacking total quality control and has contributed to the deviations from the reported target values. One laboratory has documented evidence that extensive and well-controlled digestion methods can yield measurement results close to the target values. (author)

  2. RoCoMAR: Robots’ Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

    Directory of Open Access Journals (Sweden)

    Seokhoon Yoon

    2013-07-01

    Full Text Available In a practical deployment, mobile sensor network (MSN suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots’ Controllable Mobility Aided Routing that uses robotic nodes’ controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay.

  3. RoCoMAR: Robots' Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

    Science.gov (United States)

    Van Le, Duc; Oh, Hoon; Yoon, Seokhoon

    2013-01-01

    In a practical deployment, mobile sensor network (MSN) suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots' Controllable Mobility Aided Routing) that uses robotic nodes' controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay. PMID:23881134

  4. Effluent controls and environmental monitoring programs for uranium milling operations

    International Nuclear Information System (INIS)

    Maixner, R.D.

    1979-01-01

    Controls will reduce gaseous, particulate, and liquid discharges. Monitoring programs are used to determine effectiveness. The controls and programs discussed are used at Cotter Corporation's Canon City Mill in Colorado. 3 refs

  5. Measurement system analysis (MSA) of the isotopic ratio for uranium isotope enrichment process control

    Energy Technology Data Exchange (ETDEWEB)

    Medeiros, Josue C. de; Barbosa, Rodrigo A.; Carnaval, Joao Paulo R., E-mail: josue@inb.gov.br, E-mail: rodrigobarbosa@inb.gov.br, E-mail: joaocarnaval@inb.gov.br [Industrias Nucleares do Brasil (INB), Rezende, RJ (Brazil)

    2013-07-01

    Currently, one of the stages in nuclear fuel cycle development is the process of uranium isotope enrichment, which will provide the amount of low enriched uranium for the nuclear fuel production to supply 100% Angra 1 and 20% Angra 2 demands. Determination of isotopic ration n({sup 235}U)/n({sup 238}U) in uranium hexafluoride (UF{sub 6} - used as process gas) is essential in order to control of enrichment process of isotopic separation by gaseous centrifugation cascades. The uranium hexafluoride process is performed by gas continuous feeding in separation unit which uses the centrifuge force principle, establishing a density gradient in a gas containing components of different molecular weights. The elemental separation effect occurs in a single ultracentrifuge that results in a partial separation of the feed in two fractions: an enriched on (product) and another depleted (waste) in the desired isotope ({sup 235}UF{sub 6}). Industrias Nucleares do Brasil (INB) has used quadrupole mass spectrometry (QMS) by electron impact (EI) to perform isotopic ratio n({sup 235}U)/n({sup 238}U) analysis in the process. The decision of adjustments and change te input variables are based on the results presented in these analysis. A study of stability, bias and linearity determination has been performed in order to evaluate the applied method, variations and systematic errors in the measurement system. The software used to analyze the techniques above was the Minitab 15. (author)

  6. Management and control of radioactive wastes from uranium-milling operations

    International Nuclear Information System (INIS)

    Kennedy, R.H.; Deal, L.J.; Haywood, F.F.; Goldsmith, W.A.

    1977-01-01

    Of the 39 privately owned mills that produced and sold uranium to the U.S. Government during 1948 to 1971, 22 have closed down either due to exhaustion of reserves or lack of market. On the inactive mill sites there remains 24 million metric tons of tailings containing 14,000 curies of radium. Success in stabilization has been variable. In the past, theoretical models have had to be used in estimation of the environmental effects of uranium milling for lack of a sufficient factual base. ERDA in cooperation with the Environmental Protection Agency and the states involved is undertaking a comprehensive radiological assessment at each site. The results of this assessment should provide valuable basic information on the environmental impact of uranium ore processing. The current studies reveal that the inactive sites are a cause of small public exposure to radiation, primarily from radon-222 from the tailings piles. This paper reviews radioactivity management in uranium ore processing to control spread of radioactive materials, including methods used for stabilization to prevent wind and water erosion. Recent measurements of radioactivity levels in soils, ground and surface waters, and in air near tailings piles are summarized, and public health implications are evaluated. Guidelines have been developed for land decontamination, and procedures evaluated for long-term management of contaminated material to minimize future human exposure. Alternative methods for long-term tailings stabilization, their costs and benefits in terms of serious health effects avoided are presented

  7. Oxygen potential of uranium--plutonium oxide as determined by controlled-atmosphere thermogravimetry

    International Nuclear Information System (INIS)

    Swanson, G.C.

    1975-10-01

    The oxygen-to-metal atom ratio, or O/M, of solid solution uranium-plutonium oxide reactor fuel is a measure of the concentration of crystal defects in the oxide which affect many fuel properties, particularly, fuel oxygen potential. Fabrication of a high-temperature oxygen electrode, employing an electro-active tip of oxygen-deficient solid-state electrolyte, intended to confirm gaseous oxygen potentials is described. Uranium oxide and plutonium oxide O/M reference materials were prepared by in situ oxidation of high purity metals in the thermobalance. A solid solution uranium-plutonium oxide O/M reference material was prepared by alloying the uranium and plutonium metals in a yttrium oxide crucible at 1200 0 C and oxidizing with moist He at 250 0 C. The individual and solid solution oxides were isothermally equilibrated with controlled oxygen potentials between 800 and 1300 0 C and the equilibrated O/M ratios calculated with corrections for impurities and buoyancy effects. Use of a reference oxygen potential of -100 kcal/mol to produce an O/M of 2.000 is confirmed by these results. However, because of the lengthy equilibration times required for all oxides, use of the O/M reference materials rather than a reference oxygen potential is recommended for O/M analysis methods calibrations. (auth)

  8. Study on automatic control of high uranium concentration solvent extraction with pulse sieve-plate column

    International Nuclear Information System (INIS)

    You Wenzhi; Xing Guangxuan; Long Maoxiong; Zhang Jianmin; Zhou Qin; Chen Fuping; Ye Lingfeng

    1998-01-01

    The author mainly described the working condition of the automatic control system of high uranium concentration solvent extraction with pulse sieve-plate column on a large scale test. The use of the automatic instrument and meter, automatic control circuit, and the best feedback control point of the solvent extraction processing with pulse sieve-plate column are discussed in detail. The writers point out the success of this experiment on automation, also present some questions that should be cared for the automatic control, instruments and meters in production in the future

  9. Radiation-induced defects in clay minerals, markers of the mobility of the uranium in solution in the unconformity-type uranium deposits

    International Nuclear Information System (INIS)

    Morichon, E.

    2008-10-01

    This study presents the works driven on three groups of clay minerals (kaolins, illite, sudoite (di-tri-octahedral chlorites)) characteristics of the alteration halos surrounding unconformity-type uranium deposits, in order to reveal uranium paleo-circulations in the intra-cratonic meso-Proterozoic basins (1,2 - 1,6 Ga). Thanks to Electron Paramagnetic Resonance Spectroscopy (EPR), we were able to highlight the persistence of structural defects in kaolin-group minerals contemporaneous of the basin diagenesis, and demonstrate the existence of relatively stable defects in illites and sudoites contemporaneous of the uranium deposits setting. Thus, the main defect in illite (Ai centre) and the main defect in sudoite (As centre) are characterized by their g components such as, respectively, gt = 2,003 et g// = 2,051 for illite and gt = 2,008 et g// = 2,051 for sudoite. As the main defect in kaolins (kaolinite/dickite), the main defects in illite and sudoite are perpendicularly oriented according to the (ab) plane, on the tetrahedral Si-O bound. However, their thermal stabilities seem different. The observation of samples from different zones (background, anomal or mineralized) of the Athabasca basin (Canada) allowed to identify a parallel evolution between actual defects concentration measured in the different clay minerals and the proximity of the mineralisation zones. Consequently, clays minerals can be considered as potential plotters of zones where uranium-rich solutions have circulated. (author)

  10. Processing used nuclear fuel with nanoscale control of uranium and ultrafiltration

    Energy Technology Data Exchange (ETDEWEB)

    Wylie, Ernest M.; Peruski, Kathryn M.; Prizio, Sarah E. [Department of Civil and Environmental Engineering and Earth Sciences, University of Notre Dame, Notre Dame, IN 46556 (United States); Bridges, Andrea N.A.; Rudisill, Tracy S.; Hobbs, David T. [Savannah River National Laboratory, Aiken, SC 29808 (United States); Phillip, William A. [Department of Chemical and Biomolecular Engineering, University of Notre Dame, Notre Dame, IN 46556 (United States); Burns, Peter C., E-mail: pburns@nd.edu [Department of Civil and Environmental Engineering and Earth Sciences, University of Notre Dame, Notre Dame, IN 46556 (United States); Department of Chemistry and Biochemistry, University of Notre Dame, Notre Dame, IN 46556 (United States)

    2016-05-15

    Current separation and purification technologies utilized in the nuclear fuel cycle rely primarily on liquid–liquid extraction and ion-exchange processes. Here, we report a laboratory-scale aqueous process that demonstrates nanoscale control for the recovery of uranium from simulated used nuclear fuel (SIMFUEL). The selective, hydrogen peroxide induced oxidative dissolution of SIMFUEL material results in the rapid assembly of persistent uranyl peroxide nanocluster species that can be separated and recovered at moderate to high yield from other process-soluble constituents using sequestration-assisted ultrafiltration. Implementation of size-selective physical processes like filtration could results in an overall simplification of nuclear fuel cycle technology, improving the environmental consequences of nuclear energy and reducing costs of processing. - Highlights: • Nanoscale control in irradiated fuel reprocessing. • Ultrafiltration to recover uranyl cage clusters. • Alternative to solvent extraction for uranium purification.

  11. Nuclear material control and accounting system evaluation in uranium conversion operations

    International Nuclear Information System (INIS)

    Moreira, Jose Pontes

    1994-01-01

    The Nuclear Material Control and Accounting Systems in uranium conversion operations are described. The conversion plant, uses ammonium diuranate (ADU), as starting material for the production of uranium hexafluoride. A combination of accountability and verification measurement is used to verify physical inventory quantities. Two types of inspection are used to minimize the measurements uncertainty of the Material Unaccounted For (MUF) : Attribute inspection and Variation inspection. The mass balance equation is the base of an evaluation of a Material Balance Area (MBA). Statistical inference is employed to facilitate rapid inventory taking and enhance material control of Safeguards. The calculation of one sampling plan for a MBA and the methodology of inspection evaluation are also described. We have two kinds of errors : no detection and false delation. (author)

  12. Subsurface Conditions Controlling Uranium Incorporation in Iron Oxides: A Redox Stable Sink

    International Nuclear Information System (INIS)

    Fendorf, Scott

    2016-01-01

    Toxic metals and radionuclides throughout the U.S. Department of Energy Complex pose a serious threat to ecosystems and to human health. Of particular concern is the redox-sensitive radionuclide uranium, which is classified as a priority pollutant in soils and groundwaters at most DOE sites owing to its large inventory, its health risks, and its mobility with respect to primary waste sources. The goal of this research was to contribute to the long-term mission of the Subsurface Biogeochemistry Program by determining reactions of uranium with iron (hydr)oxides that lead to long-term stabilization of this pervasive contaminant. The research objectives of this project were thus to (1) identify the (bio)geochemical conditions, including those of the solid-phase, promoting uranium incorporation in Fe (hydr)oxides, (2) determine the magnitude of uranium incorporation under a variety of relevant subsurface conditions in order to quantify the importance of this pathway when in competition with reduction or adsorption; (3) identify the mechanism(s) of U(VI/V) incorporation in Fe (hydr)oxides; and (4) determine the stability of these phases under different biogeochemical (inclusive of redox) conditions. Our research demonstrates that redox transformations are capable of achieving U incorporation into goethite at ambient temperatures, and that this transformation occurs within days at U and Fe(II) concentrations that are common in subsurface geochemical environments with natural ferrihydrites - inclusive of those with natural impurities. Increasing Fe(II) or U concentration, or initial pH, made U(VI) reduction to U(IV) a more competitive sequestration pathway in this system, presumably by increasing the relative rate of U reduction. Uranium concentrations commonly found in contaminated subsurface environments are often on the order of 1-10 μM, and groundwater Fe(II) concentrations can reach exceed 1 mM in reduced zones of the subsurface. The redox-driven U(V) incorporation

  13. Subsurface Conditions Controlling Uranium Incorporation in Iron Oxides: A Redox Stable Sink

    Energy Technology Data Exchange (ETDEWEB)

    Fendorf, Scott [Stanford Univ., CA (United States)

    2016-04-05

    Toxic metals and radionuclides throughout the U.S. Department of Energy Complex pose a serious threat to ecosystems and to human health. Of particular concern is the redox-sensitive radionuclide uranium, which is classified as a priority pollutant in soils and groundwaters at most DOE sites owing to its large inventory, its health risks, and its mobility with respect to primary waste sources. The goal of this research was to contribute to the long-term mission of the Subsurface Biogeochemistry Program by determining reactions of uranium with iron (hydr)oxides that lead to long-term stabilization of this pervasive contaminant. The research objectives of this project were thus to (1) identify the (bio)geochemical conditions, including those of the solid-phase, promoting uranium incorporation in Fe (hydr)oxides, (2) determine the magnitude of uranium incorporation under a variety of relevant subsurface conditions in order to quantify the importance of this pathway when in competition with reduction or adsorption; (3) identify the mechanism(s) of U(VI/V) incorporation in Fe (hydr)oxides; and (4) determine the stability of these phases under different biogeochemical (inclusive of redox) conditions. Our research demonstrates that redox transformations are capable of achieving U incorporation into goethite at ambient temperatures, and that this transformation occurs within days at U and Fe(II) concentrations that are common in subsurface geochemical environments with natural ferrihydrites—inclusive of those with natural impurities. Increasing Fe(II) or U concentration, or initial pH, made U(VI) reduction to U(IV) a more competitive sequestration pathway in this system, presumably by increasing the relative rate of U reduction. Uranium concentrations commonly found in contaminated subsurface environments are often on the order of 1-10 μM, and groundwater Fe(II) concentrations can reach exceed 1 mM in reduced zones of the subsurface. The redox-driven U(V) incorporation

  14. Determination of uranium by controlled-potential coulometry with platinum electrode

    International Nuclear Information System (INIS)

    Eppis, M.R.; Adelfang, P.

    1990-01-01

    In this work it was investigated the process by which is possible to determine uranium by means of a controlled-potential coulometry with a platinum electrode, using a reversible method, in presence of Pu(III) or Fe(II), that permits to analyze uranium and plutonium jointly with the same work electrode. The method has been adapted to be used in a standard electrochemical cell, without any modification. The determination occurs in five stages: 1) Uranium and iron reduction, with an electrolysis at -250mV vs standard calomel electrode (S.C.E.). 2) Electrolysis at +200 mV vs S.C.E. to remove the hydrogen generated in the former stage. 3) Oxidation of U(IV) to U(VI) and Fe(II) to Fe(III) by an electrolysis at +650 mV vs S.C.E. 4) Reduction of Fe(III) to Fe(II) at +200 mV vs S.C.E. 5) A new oxidation of Fe(II) to Fe(III) at +650 mV vs S.C.E. By difference between the integrated charge in the steps 3) and 5), the integrated charge corresponding to the uranium oxidation is obtained. It was necessary to determine: a) the potential and the time that is necessary to apply to realize quantitative electrochemical reduction of uranium. b) the dependence of the U/Fe concentration ratios. c) the weight of U contained in the aliqout and its influence on the method. The accuracy and precision of the method was studied and results with a standard deviation of 0.03% was obtained. Moreover, the method presents the following advantages: a) it is possible to determine U and Pu on the same aliquot; b) the process is reversible; c) the use of mercury in glove-box is avoided. (Author) [es

  15. The controlling role of positive structures over the metallogenesis and emplacement of inter layer oxidation sandstone type uranium deposits

    International Nuclear Information System (INIS)

    Gu Kangheng; Chen Zuyi

    2010-01-01

    The positive structures in this paper mean the geological structures related to the occurrence of U-metallogenic zones or U-deposit such as anticlines, uplifts and uplifted fault-blocks. Occurrence features of interlayer oxidation sandstone type deposit at the southern margin of Yili basin and southwestern margin of Turpan-Hami basin, the northeastern margin of Jiudong basin illustrate that the sandstone-hosted uranium deposits, the U-mineralized sections and the uranium occurrences are always selectively emplaced on/in positive structures. The reasons for this lie in the formation mechanism of sandstone-hosted U-deposits. The positive structures raised the elevation of ore-hosting sandstone horizon and make it close to ground surface or exposed at the ground surface, which result in the infiltration of uranium and oxygen bearing groundwater from recharge area into host sandstone horizon, and the interlayer oxidation of host sandstone, as well as the dissolution and the migration of uranium in host sandstone, and the reduction mineralization at the oxidation-reduction interface. Sufficient attention should be paid to the controlling role of positive structures over the metallogenesis and emplacement of sandstone-hosted uranium deposits. They could act as an important criterion for recognizing and prognosticating potential uranium mineralized areas in uranium metallogenic zones or uranium-productive sedimentary basins. (authors)

  16. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

  17. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  18. An experimental stack for the control of uranium enrichment; Empilement pour le controle de l'enrichissement de l'uranium

    Energy Technology Data Exchange (ETDEWEB)

    Bailly du Bois, B; Raievski, V; Tretiakoff, O [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires

    1957-07-01

    An apparatus is described for controlling the enrichment of the uranium in a fuel element at all stages in its fabrication. The apparatus consists of a stack of graphite surrounded by cadmium, in which a thermal neutron density is maintained by a Ra-Be source placed in the stack. The fuel element to be controlled is placed in the stack at 16 cm from the cadmium wall and at 70 cm from the source. The fast neutrons produced in this fuel element are slowed down and detected by a BF{sub 3} counter placed in a second graphite stack adjacent to the first. The enrichment is obtained by comparing the counting rate measured with the element to be controlled, with that of a geometrically similar standard element, previously calibrated. (author) [French] On decrit un dispositif permettant de controler l'enrichissement de l'uranium contenu dans un element de combustible a tous les stades de sa fabrication. Le dispositif est constitue par un empilement de graphite entoure de cadnium dans lequel regne une densite de neutrons thermiques entretenus par une source de Ra-Be placee dans l'empilement. L'element de combustible a contr er est place dans cet empilement a 16 cm de la paroi de cadmium et a 70 cm de la source. Les neutrons rapides produits dans cet element de combustible sont ralentis et detectes par un compteur a BF{sub 3} place dans un deuxieme empilement de graphite contigu au premier. L'enrichissement est obtenu en comparant les taux de comptage mesures arec l'element a controler et un element standard geometriquement semblable, prealablement etalonne. (auteur)

  19. Case-control study of lung cancer among workers at a uranium processing plant

    International Nuclear Information System (INIS)

    Cookfair, D.L.

    1982-01-01

    The purpose of this case-control study was to investigate the relationship between exposure to radiation resulting from the inhalation of uranium dust and the dust of uranium-bearing compounds and death due to lung cancer. Cases and controls were chosen from a cohort of white male workers employed at one uranium processing plant during World War II. The 330 cases consisted of all lung cancer deaths occurring in the cohort between 1943 and 1973. Level of exposure to radiation and other potential workplace carcinogens was determined for each worker using process manuals, industrial hygiene reports, air monitoring data and individual work histories. Smoking status and information regarding medical variables was determined from employee medical records. Cumulative radiation lung dose among study population members ranged from 0 to 75 rads. Data were analyzed using Mantel-Haenszel stratified analysis and logistic regression. Relative risk was found to increase with increasing level of lung dose exposure even after controlling for age, smoking status and other workplace exposures, but only for those who were over the age of 44 when first exposed. A statistically significant excess in risk was found for men in this hire age group with a cumulative lung dose of 20 rads or more. The risk associated with the overall work environment was also investigated using a summary measure of total workplace exposure called chemical rank. A similar relationship existed between chemical rank and lung cancer to that found for cumulative lung dose and lung cancer

  20. Initial results of uranium prospecting in Baluchistan, Iran

    International Nuclear Information System (INIS)

    Hemmer, C.

    1980-01-01

    Uranium prospecting in Baluchistan, SE-Iran, led to the discovery of uranium occurrences at the northern rim of the undrained Jaz Murian Depression. All known uranium occurrences are epigenetic local enrichments of no economic significance which originate from mobilization of uranium from Tertiary acidic magmatic rocks. The great extent of both the uranium source and the host areas indicate significant uranium mobilization and a possible economic potential for the area as a uranium province in the future. (orig.) [de

  1. New interpretation of the dominant ore-controlling factor of the uranium ore field No. 322

    International Nuclear Information System (INIS)

    Liu Xiang; Yang Chongqiu

    1996-01-01

    The NE-trending fault structures in ore field NO. 322 are characterized by compress-shearing, left-Lateral left-slipping, having an obvious control over the Localisation of the ore field No. 322, and are the dominant ore-controlling factor of the ore field NO.322. Resulting from the sinistral displacement of the NE-trending fault, there is a pull-apart basin in the Feng Zhou area. The formation and evolution of the NE-trending fault zone and the Feng Zhou basin control the formation of uranium deposits of ore field No. 322

  2. Discussion on environment control technology of escaping cavern to uranium mines

    International Nuclear Information System (INIS)

    Cao Yongkai

    2012-01-01

    As the important refuge of Uranium Mines, the environment of Escaping Cavern is important to the miner's life. In order to attain the standard of Environment Control, the paper gave the method of Environment Control to the fire danger, pervious, collapse; Gave the isolating prevention time; represented the scheme of compressed-air self-help system, high pressure oxygen system, emergency oxygen system; Introduced the air purge equipment to handle the CO, CO 2 , bacterium and other harmful gas. At the same time, gave the method to control the temperature with the phase-change materials and private prevention. (author)

  3. In situ Microbial Community Control of the Stability of Bio-Reduced Uranium

    International Nuclear Information System (INIS)

    Long, Phillip E.; McKinley, James P.; White, David C.

    2006-01-01

    In aerobic aquifers typical of many Department of Energy (DOE) legacy waste sites, uranium is present in the oxidized U(VI) form which is soluble and thus mobile compared to U(IV). Previous work at the Old Rifle Uranium Mill Tailings Remedial Action (UMTRA) site demonstrated that biostimulation by acetate injection promoted growth of Geobacteraceae and stimulated the microbial reduction of U(VI) to less soluble U(IV) (1, 4). Despite the potential for oxidative dissolution of bio-reduced U(IV), field experiments at the Old Rifle site show that although the rate of U(VI) reduction decreases following the on-set of sulfate reduction, U(VI) reduction continues even following the cessation of acetate injection (1, 4). However, U(VI) reduction is reversible and the basis for the observed maintenance of U(VI) reduction post-stimulation is a critical but as yet unresolved issue for the application of biostimulation as a treatment technology. The continued U(VI) reduction and the maintenance of reduced U(IV) may result from many factors including U(VI) reduction by sulfate reducing bacteria (SRB), generation of H2S or FeS0.9 which serves as an oxygen sink, or the preferential sorption of U(VI) by microbial cells or biopolymers. The overall goal of the project is to develop an understanding of the mechanisms for the maintenance of bio-reduced uranium in an aerobic aquifer under field conditions following the cessation of electron donor addition

  4. Biogeochemical controls of uranium bioavailability from the dissolved phase in natural freshwaters

    Science.gov (United States)

    Croteau, Marie-Noele; Fuller, Christopher C.; Cain, Daniel J.; Campbell, Kate M.; Aiken, George R.

    2016-01-01

    To gain insights into the risks associated with uranium (U) mining and processing, we investigated the biogeochemical controls of U bioavailability in the model freshwater speciesLymnaea stagnalis (Gastropoda). Bioavailability of dissolved U(VI) was characterized in controlled laboratory experiments over a range of water hardness, pH, and in the presence of complexing ligands in the form of dissolved natural organic matter (DOM). Results show that dissolved U is bioavailable under all the geochemical conditions tested. Uranium uptake rates follow first order kinetics over a range encompassing most environmental concentrations. Uranium uptake rates in L. stagnalis ultimately demonstrate saturation uptake kinetics when exposure concentrations exceed 100 nM, suggesting uptake via a finite number of carriers or ion channels. The lack of a relationship between U uptake rate constants and Ca uptake rates suggest that U does not exclusively use Ca membrane transporters. In general, U bioavailability decreases with increasing pH, increasing Ca and Mg concentrations, and when DOM is present. Competing ions did not affect U uptake rates. Speciation modeling that includes formation constants for U ternary complexes reveals that the aqueous concentration of dicarbonato U species (UO2(CO3)2–2) best predicts U bioavailability to L. stagnalis, challenging the free-ion activity model postulate.

  5. Situation analysis in the field of control and management of uranium tailings in Kyrgyzstan

    International Nuclear Information System (INIS)

    Tolongutov, B.

    2012-01-01

    This article is devoted to situation analysis in the field of control and management of uranium tailings in Kyrgyzstan. The basic sites for control in Kyrgyzstan are: HMP P C 'KGRK', specialized on uranium oxide production (status operating) RSH; storage for low-activity waste (tailings and rock piles) former uranium industry; site for disposal of ionizing radiation sources and radioactive waste in Bishkek city; ionizing radiation sources; medical institutions (X-rays diagnostics, radiotherapy); natural anomaly (local sites with high radiation background). It was concluded that: in existing legislative basis there is a necessity to amend requirements for accepting regulatory provisions on radiation safety; it is necessary to continue working on combination of country's policy and strategy with Fundamental Safety Principles and with International instruments, agreements, codes which were ratified by State; legislative basis documental hierarchy on radiation safety issues is not a complete system, significant number of gaps are defined (more than 60 % from the whole system), basically, related to low stages of hierarchical structure (rules, norms, regulations, instructions and etc.); it is necessary to review existing leading documents with the purpose of inaccuracy correcting, especially in the field of safety statements (especially, it relates to new basic regulation on radiation safety, where contradicting to each other criteria are available, mixing to one 'pile' the concepts of 'dose threshold' and 'dose limits', incomplete and scrappy Radioactive Wastes classification, absence of instructions on ionizing radiation sources categorization and etc.

  6. Uranium in granites from the Southwestern United States: actinide parent-daughter systems, sites and mobilization. First year report

    Energy Technology Data Exchange (ETDEWEB)

    Silver, L T; Williams, I S; Woodhead, J A

    1980-10-01

    Some of the principal findings of the study on the Lawler Peak Granite are: the granite is dated precisely by this work at 1411 +- 3 m.y., confirming its synchroneity with a great regional terrane of granites. Uranium is presently 8-10 times crustal abundance and thorium 2-3 times in this granite. Uranium is found to be enriched in at least eight, possibly ten, primary igneous mineral species over the whole-rock values. Individual mineral species show distinct levels in, and characteristics ranges of, uranium concentration. It appears that in a uraniferous granite such as this, conventional accuracy mineral suites probably cannot account for most of the uranium in the rock, and more rare, high U-concentration phases also are present and are significant uranium hosts. It appears that at least two different geological episodes have contributed to the disturbance of the U-Th-Pb isotope systems. Studies of various sites for transient dispersal of uranium, thorium, and radiogenic lead isotopes indicate a non-uniform dispersal of these components. It appears that the bulk rock has lost at least 24 percent of its original uranium endowment, accepting limited or no radiogenic lead or thorium migration from the sample.

  7. Uranium in granites from the Southwestern United States: actinide parent-daughter systems, sites and mobilization. First year report

    International Nuclear Information System (INIS)

    Silver, L.T.; Williams, I.S.; Woodhead, J.A.

    1980-10-01

    Some of the principal findings of the study on the Lawler Peak Granite are: the granite is dated precisely by this work at 1411 +- 3 m.y., confirming its synchroneity with a great regional terrane of granites. Uranium is presently 8-10 times crustal abundance and thorium 2-3 times in this granite. Uranium is found to be enriched in at least eight, possibly ten, primary igneous mineral species over the whole-rock values. Individual mineral species show distinct levels in, and characteristics ranges of, uranium concentration. It appears that in a uraniferous granite such as this, conventional accuracy mineral suites probably cannot account for most of the uranium in the rock, and more rare, high U-concentration phases also are present and are significant uranium hosts. It appears that at least two different geological episodes have contributed to the disturbance of the U-Th-Pb isotope systems. Studies of various sites for transient dispersal of uranium, thorium, and radiogenic lead isotopes indicate a non-uniform dispersal of these components. It appears that the bulk rock has lost at least 24 percent of its original uranium endowment, accepting limited or no radiogenic lead or thorium migration from the sample

  8. Control of a mobile robot through brain computer interface

    Directory of Open Access Journals (Sweden)

    Robinson Jimenez Moreno

    2015-07-01

    Full Text Available This paper poses a control interface to command the movement of a mobile robot according to signals captured from the user's brain. These signals are acquired and interpreted by Emotiv EPOC device, a 14-electrode type sensor which captures electroencephalographic (EEG signals with high resolution, which, in turn, are sent to a computer for processing. One brain-computer interface (BCI was developed based on the Emotiv software and SDK in order to command the mobile robot from a distance. Functionality tests are performed with the sensor to discriminate shift intentions of a user group, as well as with a fuzzy controller to hold the direction in case of concentration loss. As conclusion, it was possible to obtain an efficient system for robot movements by brain commands.

  9. Control of an automated mobile manipulator using artificial immune system

    Science.gov (United States)

    Deepak, B. B. V. L.; Parhi, Dayal R.

    2016-03-01

    This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

  10. Alcohol control: Mobile sensor system and numerical signal analysis

    OpenAIRE

    Seifert, Rolf; Keller, Hubert B.; Conrad, Thorsten; Peter, Jens

    2016-01-01

    An innovative mobile sensor system for alcohol control in the respiratory air is introduced. The gas sensor included in the sensor system is thermo-cyclically operated. Ethanol is the leading component in this context. However, other components occur in the breathing air which can influence the concentration determination of ethanol. Therefore, mono- ethanol samples and binary gas mixtures are measured by the sensor system and analyzed with a new calibration and evaluation procedure which is ...

  11. Research on ore-controlling factors and prospecting targets in Shihongtan uranium deposit area, turpan-hami basin

    International Nuclear Information System (INIS)

    Fu Chengming

    2005-01-01

    Based on analyzing the controlling role of geologic structure, host formation and hydrodynamic environments on interlayer oxidation zone and uranium mineralization, the author suggests that the Aiding structural slope, block-faulting structure, and subsidiary faults and folds are indications of uranium mineralization emplacement, sand bodies of braided stream facies provide favorable space for the development of interlayer oxidation zone and uranium mineralization, and variation sites of interlayer artesian water and geochemical environments are important places for the precipitation of ore material. Based on the above-mentioned a prediction of favorable metallogenic targets is made. (author)

  12. DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Osama Elshazly

    2016-06-01

    Full Text Available In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR is presented. A Linear Quadratic Regulator (LQR control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

  13. Experimental substantiation of separation techniques of lead and uranium microamounts using isotopic dilution method as control method

    International Nuclear Information System (INIS)

    Agapova, A.A.; Shcherbinina, N.K.

    1983-01-01

    Methods,ensuring at low levels of contamination a high degree of lead and uranium microamount separation from solutions of geological samples, have been selected and subjected to the detailed testing. The method of isotope dilution, , combining high accuracy and sensitivity of determinations, is used as the main control methods, is used as the main control method. Using the method, processe es of uranium extpaction are traced, special attention is paid to the detailed description of lead extraction at all the stages of the methods selected. Opera ations of ion exchange for lead and uranium in microcolumns with the Bio-Rad r sin are considered, as well as operations of lead electrolytic separation. The chemical procedures suggested permit to solve one of the main methodical tasks f sample preparation, containing microgram amounts of lead and uranium, for high h-prcision measurement of their isotope composition using mass-spectrometric method

  14. Applying virtual reality to remote control of mobile robot

    Directory of Open Access Journals (Sweden)

    Chen Chin-Shan

    2017-01-01

    Full Text Available The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

  15. Evaluation of a measurement system for Uranium electrodeposition control to radiopharmaceuticals production

    International Nuclear Information System (INIS)

    Tufic Madi Filho; Adonis Marcelo Saliba Silva; Jose Patricio Nahuel Cardenas; Maria da Conceicao Costa Pereira; Valdir Maciel Lopes; Alexandre, P. S.; Diogo, F. S.; Rafael, T. P.; Vitor, O. A; Anderson, F. L.; Lucas, R. S.; Brianna, S.; Eduardo, L. C.

    2015-01-01

    For 2016, studies by international bodies forecast a crisis in the supply of Molybdenum ( 99 Mo), which is the generator of 99m Tc, widely used for medical diagnoses and treatments. As a result, many countries are making efforts to prevent this crisis. Brazil is developing the Brazilian Multipurpose Reactor (RMB) project, under the responsibility of the National Nuclear Energy Commission (CNEN). The RMB is a nuclear reactor for research and production of radioisotopes used in the production of radiopharmaceuticals and radioactive sources, broadly used in industrial and research areas in Brazil. Electrodeposition of uranium is a common practice to create samples for alpha spectrometry and this methodology may be an alternative way to produce targets of low enriched uranium (LEU) to fabricate radiopharmaceuticals, as 99 Mo, used for cancer diagnosis. To study the electrodeposition, a solution of 10 mM uranyl nitrate, in 2-propanol, containing uranium enriched to 2.4% in 235 U, with pH = 1, was prepared and measurements with an alpha spectrometer were performed. These studies are justified by the need to produce 99 Mo since, despite using molybdenum in bulk, Brazil is totally dependent on its import. In this project, we intend to obtain a process that may be technologically feasible to control the radiation targets for 99 Mo production. (authors)

  16. Evaluation of a measurement system for Uranium electrodeposition control to radiopharmaceuticals production

    Energy Technology Data Exchange (ETDEWEB)

    Tufic Madi Filho; Adonis Marcelo Saliba Silva; Jose Patricio Nahuel Cardenas; Maria da Conceicao Costa Pereira; Valdir Maciel Lopes; Alexandre, P. S.; Diogo, F. S.; Rafael, T. P.; Vitor, O. A; Anderson, F. L.; Lucas, R. S.; Brianna, S.; Eduardo, L. C. [Nuclear and Energy Research Institute, IPEN-CNEN/SP, Av. Prof. Lineu Prestes 2242 Cid Univers. CEP: 05508-000- Sao Paulo-SP, (Brazil)

    2015-07-01

    For 2016, studies by international bodies forecast a crisis in the supply of Molybdenum ({sup 99}Mo), which is the generator of {sup 99m}Tc, widely used for medical diagnoses and treatments. As a result, many countries are making efforts to prevent this crisis. Brazil is developing the Brazilian Multipurpose Reactor (RMB) project, under the responsibility of the National Nuclear Energy Commission (CNEN). The RMB is a nuclear reactor for research and production of radioisotopes used in the production of radiopharmaceuticals and radioactive sources, broadly used in industrial and research areas in Brazil. Electrodeposition of uranium is a common practice to create samples for alpha spectrometry and this methodology may be an alternative way to produce targets of low enriched uranium (LEU) to fabricate radiopharmaceuticals, as {sup 99}Mo, used for cancer diagnosis. To study the electrodeposition, a solution of 10 mM uranyl nitrate, in 2-propanol, containing uranium enriched to 2.4% in {sup 235}U, with pH = 1, was prepared and measurements with an alpha spectrometer were performed. These studies are justified by the need to produce {sup 99}Mo since, despite using molybdenum in bulk, Brazil is totally dependent on its import. In this project, we intend to obtain a process that may be technologically feasible to control the radiation targets for {sup 99}Mo production. (authors)

  17. Evolution of Xihulitu basin and its control to uranium ore-formation

    International Nuclear Information System (INIS)

    Guo Qingyin; Li Ziying; Dong Wenming

    2003-01-01

    There is a close relationship between basin filling succession and evolution of the basin. Characteristics of basin evolution can be studied by analyzing the basin filling succession. Two major periods are recognized according to the filling succession and subsequent alteration of the Xihulitu Basin. Evolutionary characteristics of each stage of the basin formation and alteration have been discussed in details. The types and special distribution of uranium metallization are controlled by the scale, connection degree and distribution of sandstone units and impermeable mudstone beds. The environment of uranium ore-formation became favorable as the faults modified the hydrodynamic condition. The basin had been uplifted for a long time after it was filled. Intergranular pores are not destroyed due to the weak mechanical compaction, which is beneficial to groundwater penetrating. Montmorillonitization and zeolitization in some sandstone units are strong because of the high content of volcanic fragments. The major uranium metallization is the phreatic oxidation type. The northern zone of the second sub-basin in the central section of the basin is regarded as the first perspective target for subsequent exploration. (authors)

  18. Radiation hazard surveillance in spanish uranium mines; Control de los peligros de la radiactividad en las minas de uranio espanolas

    Energy Technology Data Exchange (ETDEWEB)

    Iranzo, E; Liarte, J

    1963-07-01

    The regulations applied in the uranium mines which belong to the Junta de Energia Nuclear to control the radioactive hazards, and to get the personal protection avoiding overexposures in the external radiation and inhalation of radioactive dust and gases are given. The Radon daughters concentration in the atmosphere of Avery one of the mines and the external radiation exposure and uranium excretion in urine of the miners during 1962 are specified. (Author) 9 refs.

  19. Augmented models for improving vision control of a mobile robot

    DEFF Research Database (Denmark)

    Andersen, Gert Lysgaard; Christensen, Anders C.; Ravn, Ole

    1994-01-01

    obtain good performance even when using standard low cost equipment and a comparatively low sampling rate. The plant model is a compound of kinematic, dynamic and sensor submodels, all integrated into a discrete state space representation. An intelligent strategy is applied for the vision sensor......This paper describes the modelling phases for the design of a path tracking vision controller for a three wheeled mobile robot. It is shown that, by including the dynamic characteristics of vision and encoder sensors and implementing the total system in one multivariable control loop, one can...

  20. Remote Control of a Mobile Robot for Indoor Patrol

    Directory of Open Access Journals (Sweden)

    Shih-Yao Juang

    2016-03-01

    Full Text Available This study applies smartphone, Bluetooth, and Wi-Fi wireless network to control a wheeled mobile robot (WMR remotely. The first part of this study demonstrates that the WMR can be controlled manually by a smartphone. The smartphone can remotely control the WMR for forward, backward, left-turn, and right-turn operations. The second part of this article presents object tracking. The WMR can follow a moving object through the use of image processing for object tracking and distance detection. In the third part, infrared sensor and fuzzy system algorithms are integrated into the control scheme. Through wall-following and obstacle-avoidance control, the WMR can successfully perform indoor patrol.

  1. Cooperative control of a squad of mobile vehicles

    International Nuclear Information System (INIS)

    Lewis, C.; Feddema, J.; Klarer, P.

    1998-01-01

    Tasks such as the localization of chemical sources, demining, perimeter control, surveillance and search and rescue missions are usually performed by teams of people. At least conceptually, large groups of relatively cheap mobile vehicles outfitted with sensors should be able to automatically accomplish some of these tasks. Sandia National Labs is currently developing a swarm of semi-autonomous all terrain vehicles for remote cooperative sensing applications. This paper will describe the capabilities of this system and outline some of its possible applications. Cooperative control and sensing strategies will also be described. Eight Roving All Terrain Lunar Explorer Rovers (RATLERs) have been built at Sandia as a test platform for cooperative control and sensing applications. This paper will first describe the hardware capabilities of the RATLER system. Then it will describe the basic control algorithm for GPS based navigation and obstacle avoidance. A higher level cooperative control task will then be described

  2. Control of mobility in molecular organic semiconductors by dendrimer generation

    Science.gov (United States)

    Lupton, J. M.; Samuel, I. D.; Beavington, R.; Frampton, M. J.; Burn, P. L.; Bässler, H.

    2001-04-01

    Conjugated dendrimers are of interest as novel materials for light-emitting diodes. They consist of a luminescent chromophore at the core with highly branched conjugated dendron sidegroups. In these materials, light emission occurs from the core and is independent of generation. The dendron branching controls the separation between the chromophores. We present here a family of conjugated dendrimers and investigate the effect of dendron branching on light emission and charge transport. We apply a number of transport measurement techniques to thin films of a conjugated dendrimer in a light-emitting diode configuration to determine the effect of chromophore spacing on charge transport. We find that the mobility is reduced by two orders of magnitude as the size of the molecule doubles with increased branching or dendrimer generation. The degree of branching allows a unique control of mobility by molecular structure. An increase in chromophore separation also results in a reduction of intermolecular interactions, which reduces the red emission tail in film photoluminescence. We find that the steady-state charge transport is well described by a simple device model incorporating the effect of generation, and use the materials to shed light on the interpretation of transient electroluminescence data. We demonstrate the significance of the ability to tune the mobility in bilayer devices, where a more balanced charge transport can be achieved.

  3. Independent regulatory control and monitoring of the environment at the uranium legacy sites under reclamation

    International Nuclear Information System (INIS)

    Shandala, N.K.; Titov, A.V.; Kiselev, S.M.; Isaev, D.V.; Aladova, R.A.

    2012-01-01

    Full text: Radiation safety at areas affected by the natural uranium mining and milling facilities is very important for the environment protection and human health. For this purpose the close operator-regulator contact is required during remedial operations. One of the key mechanisms of the operating regulatory supervision of radiation safety at uranium legacy sites is organization of independent radiation control and monitoring in the course of reclamation and after its completion. The main stages of this strategy include: detailed radiation survey at the area and in the vicinity of the former uranium mining sites; threat assessment in order to identify the regulatory priorities; environmental radiation control and monitoring. Tailings and shallow disposal sites of the uranium mining wastes are the most critical areas in terms of potential hazard for the environment. Tailings are the source of contamination of the near-land air due to the radionuclide dust resuspension from the tailing surface; surface and ground water due to washing out from by precipitation and surface streams of toxic and radioactive elements. Frequently, contamination of surface and ground waters results in some problems, especially when using the leaching fluids for the solution mining and draining hydraulic fluids. Radiation risk for the residents of areas near not operating uranium mining and milling facilities depends on the following factors: radon exhalation from the surface of dumps and tailing; radioactive dust transfer; using radioactive material in building; contamination of surface water streams and aquifers used for drinking water supply; contamination of open ponds used for fish breeding and catching; contamination of foodstuffs grown in the nuclear legacy areas. Radiation monitoring is necessary for the up-to-date response to changing radiation situation during reclamation and arrangement of adequate countermeasures. We mean here comprehensive dynamic surveillance including long

  4. Mobile source pollution control in the United States and China

    International Nuclear Information System (INIS)

    Menz, Fredric C

    2002-01-01

    This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

  5. Mobile source pollution control in the United States and China

    Energy Technology Data Exchange (ETDEWEB)

    Menz, Fredric C

    2002-07-01

    This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

  6. Landscape control of uranium and thorium in boreal streams – spatiotemporal variability and the role of wetlands

    Directory of Open Access Journals (Sweden)

    F. Lidman

    2012-11-01

    Full Text Available The concentrations of uranium and thorium in ten partly nested streams in the boreal forest region were monitored over a two-year period. The investigated catchments ranged from small headwaters (0.1 km2 up to a fourth-order stream (67 km2. Considerable spatiotemporal variations were observed, with little or no correlation between streams. The fluxes of both uranium and thorium varied substantially between the subcatchments, ranging from 1.7 to 30 g km−2 a−1 for uranium and from 3.2 to 24 g km−2 a−1 for thorium. Airborne gamma spectrometry was used to measure the concentrations of uranium and thorium in surface soils throughout the catchment, suggesting that the concentrations of uranium and thorium in mineral soils are similar throughout the catchment. The fluxes of uranium and thorium were compared to a wide range of parameters characterising the investigated catchments and the chemistry of the stream water, e.g. soil concentrations of these elements, pH, TOC (total organic carbon, Al, Si and hydrogen carbonate, but it was concluded that the spatial variabilities in the fluxes of both uranium and thorium mainly were controlled by wetlands. The results indicate that there is a predictable and systematic accumulation of both uranium and thorium in boreal wetlands that is large enough to control the transport of these elements. On the landscape scale approximately 65–80% of uranium and 55–65% of thorium entering a wetland were estimated to be retained in the peat. Overall, accumulation in mires and other types of wetlands was estimated to decrease the fluxes of uranium and thorium from the boreal forest landscape by 30–40%, indicating that wetlands play an important role for the biogeochemical cycling of uranium and thorium in the boreal forest landscape. The atmospheric deposition of uranium and thorium was also quantified, and its contribution to boreal streams was

  7. Seasonal Hydrologic Controls on Uranium and Iron Biogeochemistry in a Riparian Aquifer

    Science.gov (United States)

    Wilkins, M.; Williams, K. H.; Danczak, R. E.; Yabusaki, S.; Fang, Y.; Hobson, C.

    2015-12-01

    The maintenance of geochemically reducing conditions is generally optimal for the formation and preservation of reduced metals and mineral phases that can limit contaminant fate and transport. At a riparian aquifer near Rifle, CO, we tracked over six months the biogeochemical response within the aquifer to an annual pulse of dissolved oxygen (DO) that results from snowmelt-driven changes in Colorado River stage. In reduced portions of the aquifer (naturally reduced zones; NRZs) the re-oxidation of abundant iron sulfide minerals was the dominant oxygen-consuming process, and resulted in little DO intrusion into the deeper aquifer. In less reduced areas, DO intruded through the entire vertical profile of the aquifer. Across both regions, these perturbations resulted in changes to the microbial community structure, and aqueous metal pools. Two potentially different mechanisms of uranium mobilization were observed; (1) re-oxidation of reduced U(IV) phases in response to DO intrusion, and (2) mobilization of U(VI) from the vadose zone during water table rise. This high-resolution, long-term monitoring of aquifer biogeochemistry at the Rifle site has revealed dynamic microbial and geochemical responses to predictable, annual hydrologic perturbations, and offers an opportunity to further refine modeling approaches for such regions.

  8. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    OpenAIRE

    Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

    2017-01-01

    A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

  9. Mobility of Ra-226 and Heavy Metals (U, Th and Pb) from Pyritic Uranium Mine Tailings under Sub-aqueous Disposal Conditions - 59283

    International Nuclear Information System (INIS)

    Dave, Nand K.

    2012-01-01

    All uranium mines in the Elliot Lake uranium mining district of north-central Ontario, Canada, have been closed due to low ore grade and prevailing market conditions. A majority of the waste management facilities have been rehabilitated and decommissioned with in-situ shallow water covers to minimize sulphide oxidation, and hence acid generation and release of metal enriched effluents. Laboratory lysimeter studies were undertaken to evaluate the leaching characteristics and mobility of Ra-226 and other heavy metals (U, Th and Pb) from pyritic uranium mine tailings under sub-aqueous disposal conditions for assessing the long-term radiological stability of such waste repositories. The experiments were conducted using three types of un-oxidized tailings: fine, coarse and gypsum depleted mill total tailings. Shallow water covers of depth ∼ 0.3 m were established using natural lake water. The leaching characteristics of radium and other major and trace metals were determined by monitoring both surface and pore water qualities as a function of time. The results showed that Ra-226 was leached from surface of the submerged tailings and released to both surface water and shallow zone pore water during initial low sulphate ion concentration of the surface water cover in all three cases. The release of Ra-226 was further enhanced with the onset of weak acidic conditions in the surface water covers of both coarse and gypsum depleted mill total tailings. With additional acid generation and increasing sulphate and iron concentrations, the dissolved Ra-226 concentrations in the water covers of these tailings gradually decreased back to low levels. Pb was also leached and mobilized with the development of moderate acidic conditions at the surface of the submerged coarse and gypsum deplete tailings. No leaching of U and Th was observed. (authors)

  10. Mobilities

    DEFF Research Database (Denmark)

    to social networks, personal identities, and our relationship to the built environment. The omnipresence of mobilities within everyday life, high politics, technology, and tourism (to mention but a few) all point to a key insight harnessed by the ‘mobilities turn’. Namely that mobilities is much more than......The world is on the move. This is a widespread understanding by many inhabitants of contemporary society across the Globe. But what does it actually mean? During over one decade the ‘mobilities turn’ within the social sciences have provided a new set of insights into the repercussions of mobilities...... and environmental degradation. The spaces and territories marked by mobilities as well as the sites marked by the bypassing of such are explored. Moreover, the architectural and technological dimensions to infrastructures and sites of mobilities will be included as well as the issues of power, social exclusion...

  11. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  12. The Bluetooth Based LED Control For Arduino Test Platform By Using Mobile APP

    OpenAIRE

    Yi-Jen Mon

    2015-01-01

    Abstract The Bluetooth is a commonly known convenient and famous communication protocol. In this paper it is used to control LED mounted on Arduino test platform by using the APP of mobile phone. At first the control program is completed by Arduino development software environment then the Android APP is installed in mobile phone. Finally by using the Bluetooth of mobile phone the test platform will be connected. The LED can be controlled by APP of mobile phone. The experiment results are dem...

  13. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

  14. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2005-09-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

  15. Environmental control and radioprotection in Itataia and Lagoa Real uranium mines

    International Nuclear Information System (INIS)

    Cenachi, N.C.

    1988-01-01

    Monitoring Programs in Itataia and Lagoa Real uranium mines were initiated in 1982. In the actual pre-operational phase of this Programs, are being collected samples of air, surface and underground waters, stream sediments, soil, field products, and milk. Environmental contamination of air is controlled by thermoluminescent dosimeters, distributed around the mines. Instantaneous radiation measures in this stations are made with scintillometer calibrated in Radioprotection Laboratory Department-CDTN. Photographic dosimeters are used for monitoring external radiation exposures in workers. Radiation levels evaluation, air and surface contamination measures, were effectuated in installations, trenches, and research galleries. Another factors which are now being studied: climate, meteorology, and hidrology. (author) [pt

  16. Setting for technological control of vibropacked uranium-plutonium fuel pins

    International Nuclear Information System (INIS)

    Golushko, V.V.; Semenov, A.L.; Chukhlova, O.P.; Kuznetsov, A.M.; Korchkov, Yu.N.; Kandrashina, T.A.

    1991-01-01

    Scanning set-up providing for control of fuel pins by quality of fuel distribution in them is described. The gamma absorption method of fuel density measurement and the method of its own radiation registration are applied. Scintillation detection blocks are used in the measuring equipment mainly consisting of standard CAMAC blocks. Automation of measurements is performed on the basis of the computer complex MERA-60. A complex of programs for automation of the procedures under way is developed, when the facility operates within the test production line of vibroracked uranium-plutonium fuel pins. 6 refs.; 4 figs.; 1 tabs

  17. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  18. Controlled thermolysis of uranium (alkoxy)siloxy complexes: a route to polymetallic complexes of Low-Valent uranium

    Energy Technology Data Exchange (ETDEWEB)

    Camp, Clement; Pecaut, Jacques; Mazzanti, Marinella [Laboratoire de Reconnaissance Ionique et Chimie de Coordination, SCIB, UMR-E3 CEA-UJF, INAC, CEA-Grenoble (France); Kefalidis, Christos E.; Maron, Laurent [LPCNO, CNRS et INSA, UPS, Universite de Toulouse (France)

    2013-07-01

    Decomposition into higher species: Intramolecular U{sup III}-mediated homolytic C-O bond cleavage in U{sup III} (alkoxy)siloxy complexes at low temperature and subsequent reduction with KC{sub 8} led to unprecedented polymetallic complexes containing siloxy, silanediolate, and silanetriolate ligands. Such compounds may be useful precursors to uranium ceramics relevant for catalysis and the storage of spent nuclear fuel. (Copyright copyright 2013 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

  19. Alcohol Control: Mobile Sensor System and Numerical Signal Analysis

    Directory of Open Access Journals (Sweden)

    Rolf SEIFERT

    2016-10-01

    Full Text Available An innovative mobile sensor system for alcohol control in the respiratory air is introduced. The gas sensor included in the sensor system is thermo-cyclically operated. Ethanol is the leading component in this context. However, other components occur in the breathing air which can influence the concentration determination of ethanol. Therefore, mono- ethanol samples and binary gas mixtures are measured by the sensor system and analyzed with a new calibration and evaluation procedure which is also incorporated in the system. The applications demonstrate a good substance identification capability of the sensor system and a very good concentration determination of the components.

  20. Non linear predictive control of a LEGO mobile robot

    Science.gov (United States)

    Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.

    2014-10-01

    Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.

  1. Autonomous Power Control MAC Protocol for Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available Battery energy limitation has become a performance bottleneck for mobile ad hoc networks. IEEE 802.11 has been adopted as the current standard MAC protocol for ad hoc networks. However, it was developed without considering energy efficiency. To solve this problem, many modifications on IEEE 802.11 to incorporate power control have been proposed in the literature. The main idea of these power control schemes is to use a maximum possible power level for transmitting RTS/CTS and the lowest acceptable power for sending DATA/ACK. However, these schemes may degrade network throughput and reduce the overall energy efficiency of the network. This paper proposes autonomous power control MAC protocol (APCMP, which allows mobile nodes dynamically adjusting power level for transmitting DATA/ACK according to the distances between the transmitter and its neighbors. In addition, the power level for transmitting RTS/CTS is also adjustable according to the power level for DATA/ACK packets. In this paper, the performance of APCMP protocol is evaluated by simulation and is compared with that of other protocols.

  2. Uranium recovery from slags of metallic uranium

    International Nuclear Information System (INIS)

    Fornarolo, F.; Frajndlich, E.U.C.; Durazzo, M.

    2006-01-01

    The Center of the Nuclear Fuel of the Institute of Nuclear Energy Research - IPEN finished the program of attainment of fuel development for research reactors the base of Uranium Scilicet (U 3 Si 2 ) from Hexafluoride of Uranium (UF 6 ) with enrichment 20% in weight of 235 U. In the process of attainment of the league of U 3 Si 2 we have as Uranium intermediate product the metallic one whose attainment generates a slag contend Uranium. The present work shows the results gotten in the process of recovery of Uranium in slags of calcined slags of Uranium metallic. Uranium the metallic one is unstable, pyrophoricity and extremely reactive, whereas the U 3 O 8 is a steady oxide of low chemical reactivity, what it justifies the process of calcination of slags of Uranium metallic. The calcination of the Uranium slag of the metallic one in oxygen presence reduces Uranium metallic the U 3 O 8 . Experiments had been developed varying it of acid for Uranium control and excess, nitric molar concentration gram with regard to the stoichiometric leaching reaction of temperature of the leaching process. The 96,0% income proves the viability of the recovery process of slags of Uranium metallic, adopting it previous calcination of these slags in nitric way with low acid concentration and low temperature of leaching. (author)

  3. Process control of a gaseous diffusion cascade for isotopic separation of uranium

    International Nuclear Information System (INIS)

    Bilous, Olegh; Doneddu, F.

    1986-01-01

    Various aspects of dynamics and process control of a gaseous diffusion cascade are described. The cascade enriches uranium hexafluoride gas (HEX) in the light isotope of uranium in a countercurrent flow. The linearized equations describing the equipment models are derived. One can then write the mass balances on the high and low pressure sides of a stage and the overall heat balance of a stage. These heat and mass balances are linear difference equations on the stage number with time derivatives which are then replaced by jω factors to examine the effects of cyclic perturbations. The mass balances are first treated for a cascade section of 12 stages with temperatures assumed constant. The effect of a perturbation of pressure on one of the stages is described first for ω=0 (that is for steady state). Then Nyquist diagrams are obtained. The effect of transport change is also studied. Then temperature is introduced, assuming pressures to be constant. The cases of a section of 12 stages and a cascade of 120 stages are examined. Again Nyquist diagrams of temperature frequency response to a perturbation on one stage are calculated. Process control of the heat exchangers is introduced. The method used to solve the difference equations may be applied to other types of perturbations and to the complete scheme of process control. (author)

  4. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  5. Analytical control of reducing agents on uranium/plutonium partitioning at purex process

    International Nuclear Information System (INIS)

    Araujo, Izilda da Cruz de

    1995-01-01

    Spectrophotometric methods for uranium (IV), hydrazine (N 2 H 4 ) and its decomposition product hydrazoic acid(HN 3 ), and hydroxylamine (NH 2 OH) determinations were developed aiming their applications for the process control of CELESTE I installation at IPEN/CNEN-SP. These compounds are normally present in the U/Pu partitioning phase of the spent nuclear treatment via PUREX process. The direct spectrophotometry was used for uranium (IV) analysis in nitric acid-hydrazine solutions based on the absorption measurement at 648 nm. The azomethine compound formed by reaction of hydrazine and p-dimethylamine benzaldehyde with maximum absorption at 457 nm was the basis for the specific analytical method for hydrazine determination. The hydrazoic acid analysis was performed indirectly by its conversion into ferric azide complex with maximum absorption at 465 nm. The hydroxylamine detection was accomplished based on its selective oxidation to nitrous acid which is easily analyzed by the reaction with Griess reagent. The resulted azocompound gas a maximum absorption at 520 nm. The sensibility of 1,4x10 -6 M for U(IV) with 0,8% of precision, 1,6x10 -6 M for hydrazine with 0,8% of precision, 2,3x10 -6 M hydrazoic acid with 0,9% of precision and 2,5x10 -6 M for hydroxylamine with 0,8% of precision were achieved. The interference studies have shown that each reducing agent can be determined in the presence of each other without any interference. Uranium(VI) and plutonium have also shown no interference in these analysis. The established methods were adapted to run inside glove-boxes by using an optical fiber colorimetry and applied to process control of the CELESTE I installation. The results pointed out that the methods are reliable and safety in order to provide just-in-time information about process conditions. (author)

  6. Situation analysis in the field of control and management of uranium tailings in Kyrgyzstan

    International Nuclear Information System (INIS)

    Tolongutov, B.

    2012-01-01

    This article is devoted to situation analysis in the field of control and management of uranium tailings in Kyrgyzstan. The basic sites for control in Kyrgyzstan are: HMP P C 'KGRK', specialized on uranium oxide production (status operating) RSH; storage for low-activity waste (tailings and rock piles) former uranium industry; site for disposal of ionizing radiation sources and radioactive waste in Bishkek city; ionizing radiation sources; medical institutions (X-rays diagnostics, radiotherapy); natural anomaly (local sites with high radiation background). It was concluded that: in existing legislative basis there is a necessity to amend requirements for accepting regulatory provisions on radiation safety; it is necessary to continue working on combination of country's policy and strategy with Fundamental Safety Principles and with International instruments, agreements, codes which were ratified by State; legislative basis documental hierarchy on radiation safety issues is not a complete system, significant number of gaps are defined (more than 60 % from the whole system), basically, related to low stages of hierarchical structure (rules, norms, regulations, instructions and etc.); it is necessary to review existing leading documents with the purpose of inaccuracy correcting, especially in the field of safety statements (especially, it relates to new basic regulation on radiation safety, where contradicting to each other criteria are available, mixing to one 'pile' the concepts of 'dose threshold' and 'dose limits', incomplete and scrappy Radioactive Wastes classification, absence of instructions on ionizing radiation sources categorization and etc.

  7. Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

    Directory of Open Access Journals (Sweden)

    Ameer L. Saleh

    2018-02-01

    Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

  8. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  9. Potentiation of cigarette smoking and radiation: evidence from a sputum cytology survey among uranium miners and controls

    International Nuclear Information System (INIS)

    Band, P.; Feldstein, M.; Saccomanno, G.; Watson, L.; King, G.

    1980-01-01

    To assess the effect of cigarette smoking and of exposure to radon daughters, a prospective survey consisting of periodic sputum cytology evaluation was initiated among 249 underground uranium miners and 123 male controls. Sputum cytology specimens showing moderate atypia, marked atypia, or cancer cells were classified as abnormal. As compared to control smokers, miners who smoke had a significantly higher incidence of abnormal cytology (P = 0.025). For miner smokers, the observed frequencies of abnormal cytology were linearly related to cumulative exposure to radon daughters and to the number of years of uranium mining. A statistical model relating the probability of abnormal cytology to the risk factors was investigated using a binary logistic regression. The estimated frequency of abnormal cytology was significantly dependent, for controls, on the duration of cigarette smoking, and for miners, on the duration of cigarette smoking and of uranium mining

  10. Using real-time stereopsis for mobile robot control

    Science.gov (United States)

    Bonasso, R. P.; Nishihara, H. K.

    1991-02-01

    This paper describes on-going work in using range and motion data generated at video-frame rates as the basis for long-range perception in a mobile robot. A current approach in the artificial intelligence community to achieve timecritical perception for situated reasoning is to use low-level perception for motor reflex-like activity and higher-level but more computationally intense perception for path planning reconnaissance and retrieval activities. Typically inclinometers and a compass or an infra-red beacon system provide stability and orientation maintenance and ultrasonic or infra-red sensors serve as proximity detectors for obstacle avoidance. For distant ranging and area occupancy determination active imaging systems such as laser scanners can be prohibitivtly expensive and heretofore passive systems typically performed more slowly than the cycle time of the control system causing the robot to halt periodically along its way. However a recent stereo system developed by Nishihara known as PRISM (Practical Real-time Imaging Stereo Matcher) matches stereo pairs using a sign-correlation technique that gives range and motion at video frame rates. We are integrating this technique with constant-time control software for distant ranging and object detection at a speed that is comparable with the cycle-times of the low-level sensors. Possibilities for a variety of uses in a leader-follower mobile robot situation are discussed.

  11. 77 FR 60482 - Regulatory Guide 5.67, Material Control and Accounting for Uranium Enrichment Facilities...

    Science.gov (United States)

    2012-10-03

    ... Accounting for Uranium Enrichment Facilities Authorized To Produce Special Nuclear Material of Low Strategic... Accounting for Uranium Enrichment Facilities Authorized to Produce Special Nuclear Material of Low Strategic... and is applicable to the Paducah GDP and other uranium enrichment facilities that have been licensed...

  12. 10 CFR 74.33 - Nuclear material control and accounting for uranium enrichment facilities authorized to produce...

    Science.gov (United States)

    2010-01-01

    ... and special nuclear material in the accounting records are based on measured values; (3) A measurement... 10 Energy 2 2010-01-01 2010-01-01 false Nuclear material control and accounting for uranium... Section 74.33 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) MATERIAL CONTROL AND ACCOUNTING OF SPECIAL...

  13. Australian uranium today

    International Nuclear Information System (INIS)

    Fisk, B.

    1978-01-01

    The subject is covered in sections, entitled: Australia's resources; Northern Territory uranium in perspective; the government's decision [on August 25, 1977, that there should be further development of uranium under strictly controlled conditions]; Government legislation; outlook [for the Australian uranium mining industry]. (U.K.)

  14. Controlling intake of uranium in the workplace: Applications of biokinetic modeling and occupational monitoring data

    Energy Technology Data Exchange (ETDEWEB)

    Leggett, Richard Wayne [ORNL; Eckerman, Keith F [ORNL; McGinn, Wilson [ORNL; Meck, Dr. Robert A. [U.S. Nuclear Regulatory Commission

    2012-01-01

    This report provides methods for interpreting and applying occupational uranium monitoring data. The methods are based on current international radiation protection guidance, current information on the chemical toxicity of uranium, and best available biokinetic models for uranium. Emphasis is on air monitoring data and three types of bioassay data: the concentration of uranium in urine; the concentration of uranium in feces; and the externally measured content of uranium in the chest. Primary Reference guidance levels for prevention of chemical effects and limitation of radiation effects are selected based on a review of current scientific data and regulatory principles for setting standards. Generic investigation levels and immediate action levels are then defined in terms of these primary guidance levels. The generic investigation and immediate actions levels are stated in terms of radiation dose and concentration of uranium in the kidneys. These are not directly measurable quantities, but models can be used to relate the generic levels to the concentration of uranium in air, urine, or feces, or the total uranium activity in the chest. Default investigation and immediate action levels for uranium in air, urine, feces, and chest are recommended for situations in which there is little information on the form of uranium taken into the body. Methods are prescribed also for deriving case-specific investigation and immediate action levels for uranium in air, urine, feces, and chest when there is sufficient information on the form of uranium to narrow the range of predictions of accumulation of uranium in the main target organs for uranium: kidneys for chemical effects and lungs for radiological effects. In addition, methods for using the information herein for alternative guidance levels, different from the ones selected for this report, are described.

  15. Uranium material removing and recovering device

    International Nuclear Information System (INIS)

    Takita, Shin-ichi.

    1997-01-01

    A uranium material removing and recovering device for use in removing surplus uranium heavy metal (UO 2 ) generated in a uranium handling facility comprises a uranium material removing device and a uranium material recovering device. The uranium material removing device comprises an adsorbing portion filled with a uranium adsorbent, a control portion for controlling the uranium adsorbent of the uranium adsorbing portion by a controlling agent, a uranium adsorbing device connected thereto and a jetting device for jetting the adsorbing liquid to equipments deposited with uranium. The recovering device comprises a recovering apparatus for recovering uranium materials deposited with the adsorbent liquid removed by the jetting device and a recovering tank for storing the recovered uranium materials. The device of the present invention can remove surplus uranium simply and safely, mitigate body's load upon removing and recovering operations, facilitate the processing for the exchange of the adsorbent and reduces the radioactive wastes. (T.M.)

  16. Control of radon and daughters in uranium mines and calculations on biologic effects

    International Nuclear Information System (INIS)

    Holaday, Duncan A.; Rushing, David E.; Coleman, Richard D.; Woolrich, Paul F.; Kusnetz, Howard L.; Bale, William F.

    2006-01-01

    A long range study under way by the Public Health Service since 1950 seeks to define the effects of uranium mining operations on the health of the miners and to derive data leading to the establishment of a healthful working environment. Although no evidence of health damage has been found among American miners, the European experience points to possible serious health effects. As a preventive measure, steps were therefore taken early in the industry's growth to safeguard the health of the miners. The current bulletin describes the results of the environmental study to date, together with the work of other investigators, with reference to methods of measuring atmospheric concentrations of radon and daughter products, the establishment of a safe working level for radon daughter products, and the development of effective control measures. It is believed that the material presented will be found useful by the industry and others, particularly in evaluating health hazards and in deriving economically feasible control methods

  17. Case-control study communities with uranium ores deposit/examining versus communities without uranium, or other ores

    International Nuclear Information System (INIS)

    Letkovicova, M.; Letkovic, M.; Daniel, J.; Licivjansky, J.

    2008-01-01

    That is why the present study has been carried out to show, by means of both classical epidemiological and up-to-date mathematical methods, whether there is a difference in the health status of people living in areas with occurrence of pitchblende and those living in areas without any territorial contact with coal or ore mining or with deposits of any known exploitable minerals. The present study on differences in demography and health of population in municipalities with deposits or even with a history of stopping of uranium in comparison with municipalities without any mining or stopping past has been worked out in cooperation of URANPRES in Spisska Nova Ves and the company ENVIRONMENT in Nitra, Slovakia. The background data were provided by the fund ( database ) of the geological data of Uranpres as well as by the author' s databases of Environment, Inc., and the Statistical Office of the Slovak republic in Bratislava. The methods used for comparison have been either the common epidemiological ones, or the up-to-date mathematical methods. There was no difference between municipalities with and without occurrence of pitchblende within their cadastre. On the contrary, municipalities with a uranium extraction history seem to be balanced in respect of all indicators observed, with a long life expectancy, without any impairment of reproduction, with a lower incidence of cancer, and with a decidedly acceptable index of growth. The inhabitants neither have any health troubles nor do they think so and they do not intend to leave their municipalities. (authors)

  18. Evaluation of spectral shift controlled reactors operating on the uranium fuel cycle. Final report

    International Nuclear Information System (INIS)

    Matzie, R.A.; Sider, F.M.

    1979-08-01

    The performance of the spectral shift controlled reactor (SSCR) operating on uranium fuel cycles was evaluated and compared with the conventional pressurized water reactor (PWR). In order to analyze the SSCR, the PSR design methodology was extended to include systems moderated by mixtures of light water and heavy water and these methods were validated by comparison with experimental results. Once the design methods had been formulated, the resouce requirements and power costs were determined for the uranium-fueled SSCR. The ore requirements of the UO 2 once-through fuel cycle and the UO 2 fuel cycle with self-generated recycle (SGR) of plutonium were found to be 10% and 19% less than those of similarly fueled PWRs, respectively. A fuel cycle optimization study was performed for the UO 2 once-through SSCR and the SGR SSCR. By individually altering lattice parameters, discharge exposure or number of in-core batches, savings of less than 8% in resource requirements and less than 1% in power costs were obtained

  19. 31 CFR 540.309 - Natural uranium.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false Natural uranium. 540.309 Section 540... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY HIGHLY ENRICHED URANIUM (HEU) AGREEMENT ASSETS CONTROL REGULATIONS General Definitions § 540.309 Natural uranium. The term natural uranium means uranium found in...

  20. Chemical changes of minerals trapped in the lichen Trapelia involuta. Implication for lichen effect on mobility of uranium and toxic metals

    International Nuclear Information System (INIS)

    Kasama, Takeshi; Murakami, Takashi; Ohnuki, Toshihiko

    2002-01-01

    To elucidate development of minerals trapped in a lichen, we examined the lichen Trapelia involuta growing directly on secondary uranyl minerals and U-enriched Fe oxide and hydroxide minerals. Sericite and other minerals in the underlying rock are trapped in the lichen T. involuta during its biological growth and chemically changed by lichen activities. The presence of chemically changed sericite accompanied by an Fe-bearing mineral in the lichen suggests that dissolution of sericite is promoted mainly by polysaccharides excreted by the lichen. Oxalic acid or lichen acids absent in the medulla may not play an important role in the dissolution. Our results suggest that lichens on metal-rich surface affect the mobility of uranium and other toxic metals through dissolution followed by trap of minerals from the underlying rock. (author)

  1. Controlled thermolysis of uranium (alkoxy)siloxy complexes. A route to polymetallic complexes of low-valent uranium

    Energy Technology Data Exchange (ETDEWEB)

    Camp, Clement; Pecaut, Jacques; Mazzanti, Marinella [CEA-Grenoble (France). Lab. de Reconnaissance Ionique et Chimie de Coordination; Kefalidis, Christos E.; Maron, Laurent [Toulouse Univ. (France). LPCNO, CNRS et INSA, UPS

    2013-11-25

    Decomposition into higher species: Intramolecular U{sup III}-mediated homolytic C-O bond cleavage in U{sup III} (alkoxy)siloxy complexes at low temperature and subsequent reduction with KC{sub 8} led to unprecedented polymetallic complexes containing siloxy, silanediolate, and silanetriolate ligands (see example: U green, Si yellow, K blue, O red). Such compounds may be useful precursors to uranium ceramics relevant for catalysis and the storage of spent nuclear fuel. [German] Zerfall in hoehere Spezies: Die intramolekulare U{sup III}-vermittelte homolytische C-O-Spaltung in U{sup III}-(Alkoxy)siloxy-Komplexen bei tiefer Temperatur mit nachfolgender Reduktion mit KC{sub 8} fuehrte zu ungewoehnlichen Polymetallkomplexen mit Siloxy-, Silandiolat- und Silantriolatliganden (siehe Beispiel: U gruen, Si gelb, K blau, O rot). Solche Verbindungen sind nuetzliche Vorstufen von Urankeramiken, die fuer die Katalyse und fuer die Speicherung verbrauchter Kernbrennstoffe wichtig sind.

  2. Types of ore-controlling zonations at uranium deposits in sedimentary rocks; their main features and methods for identification

    International Nuclear Information System (INIS)

    Maksimova, M.F.; Sergeev, I.P.; Strelyanov, N.P.; Shevchenko, O.E.

    1985-01-01

    Classes of uranium mineralization controlling zonations, singled out in agreement with lithogenesis stages, are considered. They are as follows: facial zonation zonation of geochemical facies of early diagenesis (monofacial lateral zonation, interfacial frontal and lateral zonations), epigenetic geochemical zonation, hypergenous geochemical zonation. The latter comprises complete oxidation zone, partial oxidation and cementation zone, non-oxidated rocks. When studying zonations the mineralogo-geochemical mapping is conducted, as a result of which a number of profiles is constructed: lithological, autogenetic mineralization propagation, epigenetic zonation. As a result of lithological, structural, hydrogeochemical and epigenetic profiling and mapping the map of uranium mineralization prediction is drawn up

  3. Robust tracking control of two-degrees-of-freedom mobile robots

    NARCIS (Netherlands)

    Oelen, W.; Oelen, W.; van Amerongen, J.

    1994-01-01

    A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of

  4. Influence of a photochemical reaction on the controlled potential coulometric determination of plutonium in a mixture with uranium

    International Nuclear Information System (INIS)

    Le Duigou, Y.; Leidert, W.

    1976-01-01

    Data are provided in support of a photochemical reaction which takes place simultaneously with the electrochemical reduction of quadrivalent plutonium during the controlled potential coulometric determination of plutonium in a mixture with uranium. The interfering effect of this reaction is overcome by placing the cell in a dark environment. (orig.) [de

  5. Developed methodology for the geologic control of the secondary uranium concentrations in Osamu Utsumi, Pocos de Caldas (MG)

    International Nuclear Information System (INIS)

    Magno Junior, L.B.

    1982-01-01

    It was developed a methodology for the geologic control of the mining of the secondary uranium concentrations in the Osamu Utsumi mine, Pocos de Caldas. A sequential systematization with the definitions and objectives of the operational phases of the mining explotation is shown, in addition of a scheme and flow charts of them. (A.B.) [pt

  6. A dynamic uranium-leaching model for process-control studies

    International Nuclear Information System (INIS)

    Vetter, D.A.; Barker, I.J.; Turner, G.A.

    1989-01-01

    The modelling of the uranium-leaching process, and the logging of data from a plant for the evaluation of the model, are reported. A phenomenological approach was adopted in the development of the model. A set of eight chemical reactions was chosen to represent the complex chemistry of the process, and kinetic expressions for these reactions were incorporated in differential equations representing mass and energy balances. These equations were coded in FORTRAN to form a program that simulated the process, and that allowed averaged and continuous data from the plant to be compared with the model. This allowed the model to be 'tuned', and to reveal a number of minor problems with the control infrastructure on the plant. 7 figs., 21 refs

  7. Regulatory philosophy and requirements for radiation control in Canadian uranium mine-mill facilities

    International Nuclear Information System (INIS)

    Dory, A.B.

    1981-10-01

    The approach the Canadian Atomic Energy Control Board takes in licensing uranium mine/mill facilities is based on a minimum of rigidly set regulatory requirements. The regulations state only the basic objectives: the obligation to acquire a licence, some administrative and reporting requirements, and exposure limits. The regulations are supported by a set of regulatory guides. The operator always has the option of following different procedures if he can demonstrate that they will produce the same or better results. Good relationships exist between the AECB and mine management as well as trade unions. Under this approach, however, it is difficult to take action against uncooperative parties. The Board has decided that a somewhat more formalized system is necessary. New regulations are being drafted, giving more detailed licensing and administrative requirements and covering the areas of ventilation and worker and supervisor education more thoroughly

  8. The application of expandable polystyrene pellets as filter media to controlled filter in a uranium mill

    International Nuclear Information System (INIS)

    Mao Ruiguo; Liu Mingde; Li Chunhua

    1987-11-01

    Expandable polystyrene pellets as filter media are used for controlled filter of uranium ore processing. Results from bench scale tests, pilot plant tests and full scale tests are satisfactory. The filter used in the full scale tests is 4 m in diameter, and the capacity is from 75 to 100 m 3 per hour. The soild content in the pregnant solution which overflowing the first thichener contains about 250 ppm of suspended solid can be reduced to 5 ∼ 10 ppm. The filter bed is backflushed with the feed liquors and the backflush returns to the countercurrent decantation circuit. The entrainment loss of the organic phase in the raffinate from solvnet extraction can be decreased by about 60% with treating the filtrated solution

  9. Local system for control by console-mobile crane for russian depository of fissionable materials

    International Nuclear Information System (INIS)

    Troshchenko, V.G.; Kapustin, V.N.; Zinina, N.V.; Derbyshev, S.A.

    2005-01-01

    Description of crane of console-mobile type used for transportation of fissionable materials in depository with local control system is represented. Local control system realizes program control in real time [ru

  10. Control and prevention of seepage from uranium mill waste disposal facilities

    International Nuclear Information System (INIS)

    Williams, R.E.

    1978-01-01

    This paper constitutes an analysis of the technologies which are available for the prevention of movement of waste waters out of uranium mill waste disposal facilities via sub-surface routes. Hydrogeologic criteria for potential uranium mill waste disposal sites and mathematical modeling of contaminant migration in ground water are presented. Methods for prevention of seepage from uranium mill waste disposal facilities are investigated: liners, clay seals, synthetic polymeric membranes (PVC, polyethylene, chlorinated polyethylene, hypalon, butyl rubber, neoprene, elasticized polyolefin)

  11. Experimental study of the uranium mobility due to the weathering action at the uraniferous district of Caetite/Lagoa Real, Bahia, Brazil

    International Nuclear Information System (INIS)

    Scislewski, Alexandro Rocha

    2004-01-01

    In the present research, the proposal was to develop a preliminary study about the geochemical behavior of determined chemical elements, mainly the uranium, during the action of weathering processes in the rocks that bear the uranium mineralizations of the Caetite-Lagoa Real region, State of Bahia, more specifically of the Jazida Cachoeira uranium mine. To reach this purpose were used samples that represent several stages of the milling process of the uranium ore, so selecting representatives of the host rock, the ore and the treated ore (waste from the milling plant) to be used in the laboratory-controlled experiments. The samples were dried, sieved and finally introduced in the reactors, these adapted from the Flow-Through Reactor of Brantley and Chen. In the geochemical point of view, the results of the experiments showed a distinct behavior between the samples. It was observed that the treated ore, in relation to the host rocks of the ore and the own ore, shown a faster and homogeneous interaction with the leaching solution; it was also noted that in the output solution of the treated ore samples existed a significant complexation of the uranium by the sulfate (S0 4 -2 ), ), instead of the non treated samples (host rock and ore) that were complexed mainly by the carbonate (C0 3 -2 ). These different results are attributed to the alterations imposed to the rock during the milling process, and occur mainly, during the acid attack in the leaching process of the milling plant. The results and conclusions of this research, in spite of been preliminary, are essential to understand the behavior of the geochemical speciation of the effluent solutions; to understand the alterations of a rock matrix, and finally, to understand the migration chemical behavior of the related chemical elements. It is expected that these results contribute, in the future, to a deeper knowledge of the processes that control the chemical composition of the natural waters from this region in

  12. Three omni-directional wheels control on a mobile robot

    OpenAIRE

    Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

    2004-01-01

    Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant...

  13. Uranium enrichment using gas centrifugation. An analysis focusing export control; Urananrikning med gascentrifugering. En analys med fokus paa exportkontroll

    Energy Technology Data Exchange (ETDEWEB)

    Oliver, Lena; Peterson, Jenny; Wilhelmsen, Katarina [Swedish Defense Research Inst., Stockholm (Sweden)

    2005-08-01

    The Swedish Defence Research Agency, FOI, has performed a study on uranium enrichment by gas centrifugation. The theory and principles of gas centrifugation is described in this report and relevant equipment used in the process has been identified. Different aspects of operating a gas centrifuge facility - and its indicators - are also presented. The separation efficiency and the flow of material through a centrifuge are very small, and therefore, a large number of centrifuges in cascades is needed to produce a larger amount of enriched uranium within a reasonable time. Countries with nuclear weapons ambitions often show an interest in gas centrifuges to produce weapons grade uranium - if they have managed to acquire the technology - because of the efficiency of the process and since it is relatively easy to conceal. Most equipment used in gas centrifuge facilities is under export control to prevent clandestine uranium enrichment. The Nuclear Suppliers' Group has compiled lists of nuclear related equipment and components that are of importance to export control. The control lists have also been included in the EU legislation.

  14. Characterization of the geochemical processes present in the radionuclides and metals mobilization in the tailing dam at the Uranium Mining and Milling Facilities - Pocos de Caldas, MG, Brazil

    International Nuclear Information System (INIS)

    Pinto, Patricia Freitas

    1995-08-01

    In Brazil, the first step of nuclear fuel cycle - the mining and milling of the uranium ore - is developed at the Uranium Mining and Milling Facilities of Pocos de Caldas, Minas Gerais state. The wastes management is a very important aspect of the process. The understanding of the geochemical processes that occur in the tailings dam is a key question to define a plan of action concerning the decommissioning strategy of the facility. The objective of the present work was to give some issues to help in the adoption of the remedial actions concerning the decommissioning of the facility. It focused on the characterization of the most important geochemical processes regulating the mobilization of radionuclides and heavy metals in the tailings dam. Two cores from the tailings dam (uncovered area) were collected. Seepage and drainage waters were sampled, the same being true for the tailings dam lake. Groundwater form an aquifer bellow the tailings dam and superficial waters from a river that receives the effluents of the dam (Soberbo River) were also sampled. Data from the mining company were used to calculate the inventory of radionuclides and heavy metals deposited in the waste dam.The obtained results showed that pyrite oxidation is the key process in the mobilization of radionuclides and heavy metals from the wastes. Pyrite oxidation is a process regulated by oxygen diffusion and water. In the studied scenario it could be shown that the process was limited to a one meter deep layer in the uncovered part of the waste dam. Because of this, Fe, Al, Mn, Zn, Th and 238 U showed higher concentrations in the bottom layers of the cores in relation to the upper ones. 226 Ra and 210 Pb showed opposite patterns. The coprecipitation with Ca SO 4 was the most relevant mechanism in both radionuclides immobilization in the wastes. Sulfate was the only chemical species that could be assigned as a contaminant in aquifer bellow the waste dam. As a conclusion, the target environmental

  15. Biostimulation of Iron Reduction and Uranium Immobilization: Microbial and Mineralogical Controls

    International Nuclear Information System (INIS)

    Joel E. Kostka; Lainie Petrie; Nadia North; David L. Balkwill; Joseph W. Stucki; Lee Kerkhof

    2004-01-01

    The overall objective of our project is to understand the microbial and geochemical mechanisms controlling the reduction and immobilization of U(VI) during biostimulation in subsurface sediments of the Field Research Center (FRC) which are cocontaminated with uranium and nitrate. The focus will be on activity of microbial populations (metal- and nitrate-reducing bacteria) and iron minerals which are likely to make strong contributions to the fate of uranium during in situ bioremediation. The project will: (1) quantify the relationships between active members of the microbial communities, iron mineralogy, and nitrogen transformations in the field and in laboratory incubations under a variety of biostimulation conditions, (2) purify and physiologically characterize new model metal-reducing bacteria isolated from moderately acidophilic FRC subsurface sediments, and (3) elucidate the biotic and abiotic mechanisms by which FRC aluminosilicate clay minerals are reduced and dissolved under environmental conditions resembling those during biostimulation. Active microbial communities will be assessed using quantitative molecular techniques along with geochemical measurements to determine the different terminal-electron-accepting pathways. Iron minerals will be characterized using a suite of physical, spectroscopic, and wet chemical methods. Monitoring the activity and composition of the denitrifier community in parallel with denitrification intermediates during nitrate removal will provide a better understanding of the indirect effects of nitrate reduction on uranium speciation. Through quantification of the activity of specific microbial populations and an in-depth characterization of Fe minerals likely to catalyze U sorption/precipitation, we will provide important inputs for reaction-based biogeochemical models which will provide the basis for development of in situ U bioremediation strategies. In collaboration with Jack Istok and Lee Krumholz, we have begun to study the

  16. Analysis and exploitation of bacterial population from natural uranium-rich soils: selection of a model specie

    International Nuclear Information System (INIS)

    Mondani, L.

    2010-01-01

    It is well known that soils play a key role in controlling the mobility of toxic metals and this property is greatly influenced by indigenous bacterial communities. This study has been conducted on radioactive and controls soils, collected in natural uraniferous areas (Limousin). A physico-chemical and mineralogical analysis of soils samples was carried out.The structure of bacterial communities was estimated by Denaturing Gradient Gel Electrophoresis (DGGE). The community structure is remarkably more stable in the uranium-rich soils than in the control ones, indicating that uranium exerts a high selection from the soils was constructed and screened for uranium resistance in order to study bacteria-uranium interactions. Scanning electron microscopy revealed that a phylo-genetically diverse set of uranium-resistant species ware able to chelate uranium at the cell surface. (author) [fr

  17. Ore-concentrating structures with telescoped uranium mineralization

    International Nuclear Information System (INIS)

    Shchetochkin, V.N.; Dmitriyev, V.I.; Tkachenko, I.I.

    1986-01-01

    Deep faults are the main controlling elements in uranium ore fields, although the immediate geologic environments may be quite varied. Within the fault zones, the uranium fields are usually associated with areas where major transverse and diagonal faults intersect or link, and with points of splitting or change in strike in disjunctive zones. Another distinctive feature of the mineralized structure is their long history, with a combination of tectonic elements differing in age and type, usually associated with retrograde dislocation metamorphism. The specific features of these structures control the uranium mineralization, which is usually localized in foci with telescoped tectonic, magmatic, hydrothermal, metasomatic, and sometimes exogenous processes. The unnamed area (in the Ukraine?) furnishes a good example of how successive stages of a complex geologic history affect the occurrence of such a highly mobile element as uranium. 12 references, 4 figures

  18. A study on oxidation treatment of uranium metal chip under controlling atmosphere for safe storage

    International Nuclear Information System (INIS)

    Kim, Chang Kyu; Ji, Chul Goo; Bae, Sang Oh; Woo, Yoon Myeoung; Kim, Jong Goo; Ha, Yeong Keong

    2011-01-01

    The U metal chips generated in developing nuclear fuel and a gamma radioisotope shield have been stored under immersion of water in KAERI. When the water of the storing vessels vaporizes or drains due to unexpected leaking, the U metal chips are able to open to air. A new oxidation treatment process was raised for a long time safe storage with concepts of drying under vacuum, evaporating the containing water and organic material with elevating temperature, and oxidizing the uranium metal chips at an appropriate high temperature under conditions of controlling the feeding rate of oxygen gas. In order to optimize the oxidation process the uranium metal chips were completely dried at higher temperature than 300 .deg. C and tested for oxidation at various temperatures, which are 300 .deg. C, 400 .deg. C, and 500 .deg. C. When the oxidation temperature was 400 .deg. C, the oxidized sample for 7 hours showed a temperature rise of 60 .deg. C in the self-ignition test. But the oxidized sample for 14 hours revealed a slight temperature rise of 7 .deg. C representing a stable behavior in the self-ignition test. When the temperature was 500 .deg. C, the shorter oxidation for 7 hours appeared to be enough because the self-ignition test represented no temperature rise. By using several chemical analyses such as carbon content determination, X-ray deflection (XRD), Infrared spectra (IR) and Thermal gravimetric analysis (TGA) on the oxidation treated samples, the results of self-ignition test of new oxidation treatment process for U metal chip were interpreted and supported

  19. Modelling of radon control and air cleaning requirements in underground uranium mines

    International Nuclear Information System (INIS)

    El Fawal, M.; Gadalla, A.

    2014-01-01

    As a part of a comprehensive study concerned with control workplace short-lived radon daughter concentration in underground uranium mines to safe levels, a computer program has been developed and verified, to calculate ventilation parameters e.g. local pressures, flow rates and radon daughter concentration levels. The computer program is composed of two parts, one part for mine ventilation and the other part for radon daughter levels calculations. This program has been validated in an actual case study to calculate radon concentration levels, pressure and flow rates required to maintain acceptable levels of radon concentrations in each point of the mine. The required fan static pressure and the approximate energy consumption were also estimated. The results of the calculations have been evaluated and compared with similar investigation. It was found that the calculated values are in good agreement with the corresponding values obtained using ''REDES'' standard ventilation modelling software. The developed computer model can be used as an available tool to help in the evaluation of ventilation systems proposed by mining authority, to assist the uranium mining industry in maintaining the health and safety of the workers underground while efficiently achieving economic production targets. It could be used also for regulatory inspection and radiation protection assessments of workers in the underground mining. Also with using this model, one can effectively design, assess and manage underground mine ventilation systems. Values of radon decay products concentration in units of working level, pressures drop and flow rates required to reach the acceptable radon concentration relative to the recommended levels, at different extraction points in the mine and fan static pressure could be estimated which are not available using other software. (author)

  20. Determination of the density of active uranium

    Energy Technology Data Exchange (ETDEWEB)

    Piercy, G R

    1958-03-15

    A procedure was found to measure the density of irradiated uranium to an accuracy of 0.06% by measuring the weight of the sample in air and in n-octyl alcohol. The measurements were made using a gramatic balance that was readily adapted for remote control in the 'cave'. Since the n-octyl alcohol was inside the balance for all measurements, the complete apparatus was mobile. (author)

  1. Determination of the density of active uranium

    International Nuclear Information System (INIS)

    Piercy, G.R.

    1958-03-01

    A procedure was found to measure the density of irradiated uranium to an accuracy of 0.06% by measuring the weight of the sample in air and in n-octyl alcohol. The measurements were made using a gramatic balance that was readily adapted for remote control in the 'cave'. Since the n-octyl alcohol was inside the balance for all measurements, the complete apparatus was mobile. (author)

  2. SMR-CL, A Real-time Control Language for Mobile Robots

    DEFF Research Database (Denmark)

    Andersen, Nils Axel; Ravn, Ole

    2004-01-01

    The paper describes requirements and implementation of a tactical control lan¬guage for mobile robots. Emphasis is given to the real-time issues of the language especially the isolation of the hard real-time and the soft real-time layers of the mobile robot control system. The language may be used...

  3. Uranium mine ventilation

    International Nuclear Information System (INIS)

    Katam, K.; Sudarsono

    1982-01-01

    Uranium mine ventilation system aimed basically to control and decreasing the air radioactivity in mine caused by the radon emanating from uranium ore. The control and decreasing the air ''age'' in mine, with adding the air consumption volume, increasing the air rate consumption, closing the mine-out area; using closed drainage system. Air consumption should be 60m 3 /minute for each 9m 2 uranium ore surfaces with ventilation rate of 15m/minute. (author)

  4. Bacterial Community Succession During in situ Uranium Bioremediation: Spatial Similarities Along Controlled Flow Paths

    International Nuclear Information System (INIS)

    Hwang, Chiachi; Wu, Weimin; Gentry, Terry J.; Carley, Jack; Corbin, Gail A.; Carroll, Sue L.; Watson, David B.; Jardine, Phil M.; Zhou, Jizhong; Criddle, Craig S.; Fields, Matthew W.

    2009-01-01

    Bacterial community succession was investigated in a field-scale subsurface reactor formed by a series of wells that received weekly ethanol additions to re-circulating groundwater. Ethanol additions stimulated denitrification, metal reduction, sulfate reduction, and U(VI) reduction to sparingly soluble U(IV). Clone libraries of SSU rRNA gene sequences from groundwater samples enabled tracking of spatial and temporal changes over a 1.5 y period. Analyses showed that the communities changed in a manner consistent with geochemical variations that occurred along temporal and spatial scales. Canonical correspondence analysis revealed that the levels of nitrate, uranium, sulfide, sulfate, and ethanol strongly correlated with particular bacterial populations. As sulfate and U(VI) levels declined, sequences representative of sulfate-reducers and metal-reducers were detected at high levels. Ultimately, sequences associated with sulfate-reducing populations predominated, and sulfate levels declined as U(VI) remained at low levels. When engineering controls were compared to the population variation via canonical ordination, changes could be related to dissolved oxygen control and ethanol addition. The data also indicated that the indigenous populations responded differently to stimulation for bio-reduction; however, the two bio-stimulated communities became more similar after different transitions in an idiosyncratic manner. The strong associations between particular environmental variables and certain populations provide insight into the establishment of practical and successful remediation strategies in radionuclide-contaminated environments with respect to engineering controls and microbial ecology.

  5. Bacterial Community Succession During in situ Uranium Bioremediation: Spatial Similarities Along Controlled Flow Paths

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, Chiachi; Wu, Weimin; Gentry, Terry J.; Carley, Jack; Corbin, Gail A.; Carroll, Sue L.; Watson, David B.; Jardine, Phil M.; Zhou, Jizhong; Criddle, Craig S.; Fields, Matthew W.

    2009-05-22

    Bacterial community succession was investigated in a field-scale subsurface reactor formed by a series of wells that received weekly ethanol additions to re-circulating groundwater. Ethanol additions stimulated denitrification, metal reduction, sulfate reduction, and U(VI) reduction to sparingly soluble U(IV). Clone libraries of SSU rRNA gene sequences from groundwater samples enabled tracking of spatial and temporal changes over a 1.5 y period. Analyses showed that the communities changed in a manner consistent with geochemical variations that occurred along temporal and spatial scales. Canonical correspondence analysis revealed that the levels of nitrate, uranium, sulfide, sulfate, and ethanol strongly correlated with particular bacterial populations. As sulfate and U(VI) levels declined, sequences representative of sulfate-reducers and metal-reducers were detected at high levels. Ultimately, sequences associated with sulfate-reducing populations predominated, and sulfate levels declined as U(VI) remained at low levels. When engineering controls were compared to the population variation via canonical ordination, changes could be related to dissolved oxygen control and ethanol addition. The data also indicated that the indigenous populations responded differently to stimulation for bio-reduction; however, the two bio-stimulated communities became more similar after different transitions in an idiosyncratic manner. The strong associations between particular environmental variables and certain populations provide insight into the establishment of practical and successful remediation strategies in radionuclide-contaminated environments with respect to engineering controls and microbial ecology.

  6. Effluent control for the uranium mine area at Pocos de Caldas, Brazil

    International Nuclear Information System (INIS)

    Rochedo, E.R.R.; Vasconcellos, L.M.H.

    2005-01-01

    Derived levels for effluents control for the Industrial Complex of Pocos de Caldas - CIPC, Brazil were set based on the IAEA recommendation for the dose assessment of critical groups. Although the industry has stopped the uranium extraction in 1988, the installation is kept under regulatory control, as it has not yet been decommissioned. A screening procedure was set to control the effluent releases from the three main areas, the open pit mine area, the tailings dam and the waste rock piles. To each one of these areas, the dose restriction of 0,3 mSv/a was adopted, since each effluent refers to a different critical group. Monthly-composed samples are collected weekly at each outflow and sent to IRD. The radionuclides analyzed are 238 U, 226 Ra, 210 Pb, 232 Th and 228 Ra. If the activity concentration for any of these nuclides surpasses the established reference level to that particular source, a complete dose assessment for the critical group is performed using the computer program, Monitor, built based on IAEA recommendations for dose assessment to critical groups. The results show that Brazilian regulations related to public exposure are being accomplished by the installation operation. It is pointed out the relevance of maintaining the current treatment to the acid drainages and effluents from the tailings dam, until the whole area is properly decommissioned. (author)

  7. Final environmental impact statement for standards for the control of byproduct materials from uranium ore processing (40 CFR 192). Volume 1

    International Nuclear Information System (INIS)

    1983-09-01

    The Environmental Protection Agency is establishing public health and environmental standards (40 CFR 192) for uranium and thorium mill tailings at licensed mill sites under the Uranium Mill Tailings Radiation Control Act of 1978 (PL. 95-604). Mills are currently located in Colorado, New Mexico, South Dakota, Texas, Utah, Washington and Wyoming. These standards are issued to reduce and control the hazards associated with uranium and thorium mill Tailings. Controls are required both during the operational period of mills and for disposal of the tailings piles, to assure environmentally sound, long-term protection of public health and stabilization of the tailings

  8. Kinematics, dynamics and control design of 4WIS4WID mobile robots

    Directory of Open Access Journals (Sweden)

    Ming-Han Lee

    2015-01-01

    Full Text Available Kinematic and dynamic modelling and corresponding control design of a four-wheel-independent steering and four-wheel-independent driving (4WIS4WID mobile robot are presented in this study. Different from the differential or car-like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non-linear kinematic control and dynamic sliding-mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations.

  9. Migration control for mobile agents based on passport and visa

    OpenAIRE

    Guan, SU; Wang, T; Ong, SH

    2003-01-01

    Research on mobile agents has attracted much attention as this paradigm has demonstrated great potential for the next-generation e-commerce. Proper solutions to security-related problems become key factors in the successful deployment of mobile agents in e-commerce systems. We propose the use of passport and visa (P/V) for securing mobile agent migration across communities based on the SAFER e-commerce framework. P/V not only serves as up-to-date digital credentials for agent-host authentica...

  10. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  11. The fluorimetry for control of internal contamination of exposed workers to natural and enriched uranium

    International Nuclear Information System (INIS)

    Gaburo, J.C.; Todo, A.S.; Sordi, G.M.A.A.

    2000-01-01

    This study is a part of bioassay program revision applied to the uranium processing plants at IPEN-CNEN/SP. The workers of these facilities handle both natural uranium and uranium compounds with different isotopic composition which could reach up to 20% in 235 U. The most commonly employed techniques for the determination of uranium in urine at IPEN are fluorimetry and alpha spectrometry with detection limit of 1.0 mgL-1. and 1,0 mBqL-1 , respectively. Based in advantages and disadvantages of each technique it is very important to identify the workers groups that should be submitted for these analysis. In this report a limiting value of uranium concentration in urine, mgL-1, obtained by fluorimetry is proposed. All the results greater than these limiting value indicate the necessity to carry out a additional measurement by alpha spectroscopy. The uranium mass that result in a pre-determined limit committed effective dose is function of isotopic composition. Consequently, the predicted value of the measured of urinary excretion is function of isotopic composition also and depends of absorption characteristics when inhaled and of the monitoring interval considered. In this report the uranium concentration values for reference levels and limits doses are determined. Based on these results the procedures to use the fluorimetry or both fluorimetry and alpha-spectrometry were adopted. (author)

  12. Long-term criticality control in radioactive waste disposal facilities using depleted uranium

    International Nuclear Information System (INIS)

    Forsberg, C.W.

    1997-01-01

    Plant photosynthesis has created a unique planetary-wide geochemistry - an oxidizing atmosphere with oxidizing surface waters on a planetary body with chemically reducing conditions near or at some distance below the surface. Uranium is four orders of magnitude more soluble under chemically oxidizing conditions than it is under chemically reducing conditions. Thus, uranium tends to leach from surface rock and disposal sites, move with groundwater, and concentrate where chemically reducing conditions appear. Earth's geochemistry concentrates uranium and can separate uranium from all other elements except oxygen, hydrogen (in water), and silicon (silicates, etc). Fissile isotopes include 235 U, 233 U, and many higher actinides that eventually decay to one of these two uranium isotopes. The potential for nuclear criticality exists if the precipitated uranium from disposal sites has a significant fissile enrichment, mass, and volume. The earth's geochemistry suggests that isotopic dilution of fissile materials in waste with 238 U is a preferred strategy to prevent long-term nuclear criticality in and beyond the boundaries of waste disposal facilities because the 238 U does not separate from the fissile uranium isotopes. Geological, laboratory, and theoretical data indicate that the potential for nuclear criticality can be minimized by diluting fissile materials with- 238 U to 1 wt % 235 U equivalent

  13. Structural control and correlation of uranium distribution and mineralogy of meta-pelites in Ogcheon terrain, Korea

    International Nuclear Information System (INIS)

    Park, B.S.; So, C.S.

    1980-01-01

    The rock units of Goesan area in the Ogcheon metamorphic terrain established on the basis of field criteria should be redefined into following sequence. Based on shear senses in secondary small structures which are usually observable in the investigated area, the stratigraphy can be lithologically divided into the lower pelite, pebbly mudstone, upper pelite, quartzite and psammite unit in ascending order. This conclusion is in discordance with a previous opinion; Munjuri formation and Guryongsan formation may be equivalent to upper pelite unit, Iwonri formation and Hwanggangri formation to pebbly mudstone. From this, it may be inferred that isoclinal overtuned folds repeatedly occur in the area. The uranium bearing coaly thin layers in upper pelite unit have relatively broad exposures in Deogpyeongri block of Goesan area along culmination zone in the central part of the investigated area. It is believed that structural feature in the block recognized complexly refolded synform plunging to southwest. Mineralogical and radiometric studies were made on 135 representative samples from the Ogcheon Group of Korea. The mineralogy of all black slate samples is qualitatively similar but quantitatively different. The uranium distribution in the studied area show approximately log normal. Uranium in the black slates of the Ogcheon Group was deposited together under same physico-chemical environmental conditions. The chemical and geological factors that controlled the abundance of organic carbon and iron oxides also controlled the uranium content. The relationship of the major components to uranium can be expressed by the following regression equation: Log(Ux10 4 +1)=1.70999-0.00367(quartz)-0.00512(micas)-0.00930(other silicates)+0.01911(iron oxides)-0.03389(other opaques)+0.02062(organic carbon). (author)

  14. Spread and Control of Mobile Benign Worm Based on Two-Stage Repairing Mechanism

    Directory of Open Access Journals (Sweden)

    Meng Wang

    2014-01-01

    Full Text Available Both in traditional social network and in mobile network environment, the worm is a serious threat, and this threat is growing all the time. Mobile smartphones generally promote the development of mobile network. The traditional antivirus technologies have become powerless when facing mobile networks. The development of benign worms, especially active benign worms and passive benign worms, has become a new network security measure. In this paper, we focused on the spread of worm in mobile environment and proposed the benign worm control and repair mechanism. The control process of mobile benign worms is divided into two stages: the first stage is rapid repair control, which uses active benign worm to deal with malicious worm in the mobile network; when the network is relatively stable, it enters the second stage of postrepair and uses passive mode to optimize the environment for the purpose of controlling the mobile network. Considering whether the existence of benign worm, we simplified the model and analyzed the four situations. Finally, we use simulation to verify the model. This control mechanism for benign worm propagation is of guiding significance to control the network security.

  15. Mortality from Circulatory System Diseases among French Uranium Miners: A Nested Case-Control Study.

    Science.gov (United States)

    Drubay, Damien; Caër-Lorho, Sylvaine; Laroche, Pierre; Laurier, Dominique; Rage, Estelle

    2015-05-01

    A significant association has been observed between radon exposure and cerebrovascular disease (CeVD) mortality among French uranium miners, but risk factors for circulatory system diseases (CSD) have not been previously considered. We conducted new analyses in the recently updated (through 2007) French cohort of uranium miners (n = 5,086), which included 442 deaths from CSD, 167 of them from ischemic heart disease (IHD) and 105 from CeVD. A nested case-control study was then set up to collect and investigate the influence of these risk factors on the relationships between mortality from CSD and occupational external gamma ray and internal ionizing radiation exposure (radon and long-lived radionuclides) in this updated cohort. The nested case-control study included miners first employed after 1955, still employed in 1976 and followed up through 2007. Individual information about CSD risk factors was collected from medical files for the 76 deaths from CSD (including 26 from IHD and 16 from CeVD) and 237 miners who had not died of CSD by the end of follow-up. The exposure-risk relationships were assessed with a Cox proportional hazard model weighted by the inverse sampling probability. A significant increase in all CSD and CeVD mortality risks associated with radon exposure was observed in the total cohort [hazard ratios: HRCSD/100 working level months (WLM) = 1.11, 95% confidence interval (1.01; 1.22) and HRCeVD/100 WLM = 1.25 (1.09; 1.43), respectively]. A nonsignificant exposure-risk relationship was observed for every type of cumulative ionizing radiation exposure and every end point [e.g., HRCSD/100WLM = 1.43 (0.71; 2.87)]. The adjustment for each CSD risk factor did not substantially change the exposure-risk relationships. When the model was adjusted for overweight, hypertension, diabetes, hypercholesterolemia and smoking status, the HR/100WLM for CSD, for example, was equal to 1.21 (0.54; 2.75); and when it was adjusted for risk factors selected with the

  16. Microbial bioremediation of Uranium: an overview

    International Nuclear Information System (INIS)

    Acharya, Celin

    2015-01-01

    Uranium contamination is a worldwide problem. Preventing uranium contamination in the environment is quite challenging and requires a thorough understanding of the microbiological, ecological and biogeochemical features of the contaminated sites. Bioremediation of uranium is largely dependent on reducing its bioavailability in the environment. In situ bioremediation of uranium by microbial processes has been shown to be effective for immobilizing uranium in contaminated sites. Such microbial processes are important components of biogeochemical cycles and regulate the mobility and fate of uranium in the environment. It is therefore vital to advance our understanding of the uranium-microbe interactions to develop suitable bioremediation strategies for uranium contaminated sites. This article focuses on the fundamental mechanisms adopted by various microbes to mitigate uranium toxicity which could be utilized for developing various approaches for uranium bioremediation. (author)

  17. Uranium facilitated transport by water-dispersible colloids in field and soil columns

    Energy Technology Data Exchange (ETDEWEB)

    Crancon, P.; Pili, E. [CEA Bruyeres-le-Chatel, DIF, 91 (France); Charlet, L. [Univ Grenoble 1, Lab Geophys Interne and Tectonophys LGIT OSUG, CNRS, UJF, UMR5559, F-38041 Grenoble 9 (France)

    2010-07-01

    The transport of uranium through a sandy podsolic soil has been investigated in the field and in column experiments. Field monitoring, numerous years after surface contamination by depleted uranium deposits, revealed a 20 cm deep uranium migration in soil. Uranium retention in soil is controlled by the {<=} 50 {mu}m mixed humic and clayey coatings in the first 40 cm i.e. in the E horizon. Column experiments of uranium transport under various conditions were run using isotopic spiking. After 100 pore volumes elution, 60% of the total input uranium is retained in the first 2 cm of the column. Retardation factor of uranium on E horizon material ranges from 1300 (column) to 3000 (batch). In parallel to this slow uranium migration, we experimentally observed a fast elution related to humic colloids of about 1-5% of the total-uranium input, transferred at the mean pore-water velocity through the soil column. In order to understand the effect of rain events, ionic strength of the input solution was sharply changed. Humic colloids are retarded when ionic strength increases, while a major mobilization of humic colloids and colloid-borne uranium occurs as ionic strength decreases. Isotopic spiking shows that both {sup 238}U initially present in the soil column and {sup 233}U brought by input solution are desorbed. The mobilization process observed experimentally after a drop of ionic strength may account for a rapid uranium migration in the field after a rainfall event, and for the significant uranium concentrations found in deep soil horizons and in groundwater, 1 km downstream from the pollution source. (authors)

  18. Uranium facilitated transport by water-dispersible colloids in field and soil columns

    Energy Technology Data Exchange (ETDEWEB)

    Crancon, P., E-mail: pierre.crancon@cea.fr [CEA, DAM, DIF, F-91297 Arpajon (France); Pili, E. [CEA, DAM, DIF, F-91297 Arpajon (France); Charlet, L. [Laboratoire de Geophysique Interne et Tectonophysique (LGIT-OSUG), University of Grenoble-I, UMR5559-CNRS-UJF, BP53, 38041 Grenoble cedex 9 (France)

    2010-04-01

    The transport of uranium through a sandy podzolic soil has been investigated in the field and in column experiments. Field monitoring, numerous years after surface contamination by depleted uranium deposits, revealed a 20 cm deep uranium migration in soil. Uranium retention in soil is controlled by the < 50 {mu}m mixed humic and clayey coatings in the first 40 cm i.e. in the E horizon. Column experiments of uranium transport under various conditions were run using isotopic spiking. After 100 pore volumes elution, 60% of the total input uranium is retained in the first 2 cm of the column. Retardation factor of uranium on E horizon material ranges from 1300 (column) to 3000 (batch). In parallel to this slow uranium migration, we experimentally observed a fast elution related to humic colloids of about 1-5% of the total-uranium input, transferred at the mean porewater velocity through the soil column. In order to understand the effect of rain events, ionic strength of the input solution was sharply changed. Humic colloids are retarded when ionic strength increases, while a major mobilization of humic colloids and colloid-borne uranium occurs as ionic strength decreases. Isotopic spiking shows that both {sup 238}U initially present in the soil column and {sup 233}U brought by input solution are desorbed. The mobilization process observed experimentally after a drop of ionic strength may account for a rapid uranium migration in the field after a rainfall event, and for the significant uranium concentrations found in deep soil horizons and in groundwater, 1 km downstream from the pollution source.

  19. Collect method of uranium hexafluoride

    International Nuclear Information System (INIS)

    Moura, S.C.; Bustillos, O.W.V.

    1991-01-01

    A collect method of uranium hexafluoride was designed, constructed and assembled in Analytical Laboratory from Instituto de Energia Atomica, Sao Paulo, Brazil. This method of collect is main for quality control of uranium hexafluoride. (author)

  20. Multimodal exercise training in multiple sclerosis: A randomized controlled trial in persons with substantial mobility disability.

    Science.gov (United States)

    Sandroff, Brian M; Bollaert, Rachel E; Pilutti, Lara A; Peterson, Melissa L; Baynard, Tracy; Fernhall, Bo; McAuley, Edward; Motl, Robert W

    2017-10-01

    Mobility disability is a common, debilitating feature of multiple sclerosis (MS). Exercise training has been identified as an approach to improve MS-related mobility disability. However, exercise randomized controlled trials (RCTs) on mobility in MS have generally not selectively targeted those with the onset of irreversible mobility disability. The current multi-site RCT compared the efficacy of 6-months of supervised, multimodal exercise training with an active control condition for improving mobility, gait, physical fitness, and cognitive outcomes in persons with substantial MS-related mobility disability. 83 participants with substantial MS-related mobility disability underwent initial mobility, gait, fitness, and cognitive processing speed assessments and were randomly assigned to 6-months of supervised multimodal (progressive aerobic, resistance, and balance) exercise training (intervention condition) or stretching-and-toning activities (control condition). Participants completed the same outcome assessments halfway through and immediately following the 6-month study period. There were statistically significant improvements in six-minute walk performance (F(2158)=3.12, p=0.05, η p 2 =0.04), peak power output (F(2150)=8.16, pmobility disability. This is critical for informing the development of multi-site exercise rehabilitation programs in larger samples of persons with MS-related mobility disability. Copyright © 2017 Elsevier Inc. All rights reserved.

  1. Role of Sulfhydryl Sites on Bacterial Cell Walls in the Biosorption, Mobility and Bioavailability of Mercury and Uranium

    Energy Technology Data Exchange (ETDEWEB)

    Myneni, Satish C. [Princeton Univ., NJ (United States); Mishra, Bhoopesh [Princeton Univ., NJ (United States); Fein, Jeremy [Princeton Univ., NJ (United States)

    2009-04-01

    The goal of this exploratory study is to provide a quantitative and mechanistic understanding of the impact of bacterial sulfhydryl groups on the bacterial uptake, speciation, methylation and bioavailability of Hg and redox changes of uranium. The relative concentration and reactivity of different functional groups present on bacterial surfaces will be determined, enabling quantitative predictions of the role of biosorption of Hg under the physicochemical conditions found at contaminated DOE sites.The hypotheses we propose to test in this investigation are as follows- 1) Sulfhydryl groups on bacterial cell surfaces modify Hg speciation and solubility, and play an important role, specifically in the sub-micromolar concentration ranges of metals in the natural and contaminated systems. 2) Sulfhydryl binding of Hg on bacterial surfaces significantly influences Hg transport into the cell and the methylation rates by the bacteria. 3) Sulfhydryls on cell membranes can interact with hexavalent uranium and convert to insoluble tetravalent species. 4) Bacterial sulfhydryl surface groups are inducible by the presence of metals during cell growth. Our studies focused on the first hypothesis, and we examined the nature of sulfhydryl sites on three representative bacterial species: Bacillus subtilis, a common gram-positive aerobic soil species; Shewanella oneidensis, a facultative gram-negative surface water species; and Geobacter sulfurreducens, an anaerobic iron-reducing gram-negative species that is capable of Hg methylation; and at a range of Hg concentration (and Hg:bacterial concentration ratio) in which these sites become important. A summary of our findings is as follows- Hg adsorbs more extensively to bacteria than other metals. Hg adsorption also varies strongly with pH and chloride concentration, with maximum adsorption occurring under circumneutral pH conditions for both Cl-bearing and Cl-free systems. Under these conditions, all bacterial species tested exhibit

  2. Difficulties in controlling mobilization pain using a standardized patient-controlled analgesia protocol in burns.

    Science.gov (United States)

    Nilsson, Andreas; Kalman, Sigga; Sonesson, Lena Karin; Arvidsson, Anders; Sjöberg, Folke

    2011-01-01

    The aim of this study was to evaluate pain relief for patients with burns during rest and mobilization with morphine according to a standard protocol for patient-controlled analgesia (PCA). Eighteen patients with a mean (SD) burned TBSA% of 26 (20) were studied for 10 days. Using a numeric rating scale (NRS, 0 = no pain and 10 = unbearable pain), patients were asked to estimate their acceptable and worst experienced pain by specifying a number on a scale and at what point they would like additional analgesics. Patients were allowed free access to morphine with a PCA pump device. Bolus doses were set according to age, (100 - age)/24 = bolus dose (mg), and 6 minutes lockout time. Degrees of pain, morphine requirements, doses delivered and demanded, oral intake of food, and antiemetics given were used as endpoints. Acceptable pain (mean [SD]) was estimated to be 3.8 (1.3) on the NRS, and additional treatment was considered necessary at scores of 4.3 (1.6) or more. NRS at rest was 2.7 (2.2) and during mobilization 4.7 (2.6). Required mean morphine per day was 81 (15) mg, and the number of doses requested increased during the first 6 days after the burn. The authors found no correlation between dose of morphine required and any other variables. Background pain can be controlled adequately with a standard PCA protocol. During mobilization, the pain experienced was too intense, despite having the already high doses of morphine increased. The present protocol must be refined further to provide analgesia adequate to cover mobilization as well.

  3. Depleted uranium

    International Nuclear Information System (INIS)

    Huffer, E.; Nifenecker, H.

    2001-02-01

    This document deals with the physical, chemical and radiological properties of the depleted uranium. What is the depleted uranium? Why do the military use depleted uranium and what are the risk for the health? (A.L.B.)

  4. Considerations on the analytic control of sulphide tracks in metal uranium

    International Nuclear Information System (INIS)

    Fernandez Cellini, R.; Gasco Sanchez, C.

    1956-01-01

    Volumetric and colorimetric determinations of sulphur (sulphide) in uranium have been carried out by acid treatment and evaluation of SH 2 . According to the experimental results a discussion of both methods has been made. (Author)

  5. Characteristics of sandstone-type uranium mineralization and ore-controlling factors in Wukurqi ore district at southern margin of Yili basin, Xinjiang

    International Nuclear Information System (INIS)

    Li Xigen

    2002-01-01

    With the theories of hydrogenic uranium deposit in the nineties, Wukurqi ore district as a new area was found by the regional prediction and prospecting. Specially, through uranium ore prospecting of about three years, certain prospective reserves are generally controlled in the area. These reserves are hosted in V cyclothem of Middle-Lower Jurassic series, and some prospective reserves are hosted in II and VII cyclothems. By analyzing and summarizing characteristics of sandstone-type uranium mineralization and its ore-controlling factors in Wukurqi ore district, the author provides a foundation for developing further prospecting in this area

  6. Uranium geochemistry in estuarine sediments: Controls on removal and release processes

    International Nuclear Information System (INIS)

    Barnes, C.E.; Cochran, J.K.

    1993-01-01

    Porewater uranium profiles from Long Island Sound (LIS) and Amazon shelf sediments and LIS sediment incubation experiments indicate that both removal and release processes control U geochemistry in estuarine sediments. Release of U from sediments occurs in association with Fe reduction. A correlation between U and Fe (and Mn) observed in sediment incubation experiments suggests that there is release of U from Fe-Mn-oxides as they are reduced, consistent with data from the Amazon shelf. In both sediment porewater profiles (LIS and Amazon) and sediment incubation experiments (LIS), there is removal of U from porewater under conditions of sulfate reduction. Sediment incubation experiments indicate that the removal rate is first-order with respect to U concentration, and the rate constant is linearly correlated to sulfate reduction rates. The link between U removal and sulfate reduction (a measure of diagenetic microbial activity) is consistent with a microbial mediation of U reduction. The diffusion flux of U into LIS sediments is estimated from porewater profiles. The inclusion of this estuarine removal term in the oceanic U balance increases the importance of the sediment sink. 62 refs., 12 figs., 2 tabs

  7. Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

    Science.gov (United States)

    dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

    2017-01-01

    Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

  8. Difficulties in Controlling Mobilization Pain Using a Standardized Patient-Controlled Analgesia Protocol in Burns

    OpenAIRE

    Nilsson, Andreas; Kalman, Sigga; Arvidsson, Anders; Sjöberg, Folke

    2011-01-01

    The aim of this study was to evaluate pain relief for patients with burns during rest and mobilization with morphine according to a standard protocol for patient-controlled analgesia (PCA). Eighteen patients with a mean (SD) burned TBSA% of 26 (20) were studied for 10 days. Using a numeric rating scale (NRS, 0 = no pain and 10 = unbearable pain), patients were asked to estimate their acceptable and worst experienced pain by specifying a number on a scale and at what point they would like addi...

  9. Radiation dose control in the mining of high grade uranium ores

    International Nuclear Information System (INIS)

    Webster, S.T.; Brown, L.D.

    1996-01-01

    The control of radiation doses received by uranium miners is an unusually complex procedure, as three separate components of their total effective dose may be significant and may have to be evaluated separately. Apart from external and internal doses evaluated in the usual way, it is also necessary to evaluate the inhalation dose from radon progeny separately. Although this essentially forms part of the internal dose received, it is not evaluated in the conventional way since the associated dose equivalent must be derived from conversion factors based on epidemiological studies, instead of by the usual approach of calculating the dose to tissue from the inhaled activity and multiplying this by a recognized conversion factor to derive a whole body effective dose. Historically the traditional unit used for monitoring the concentration of radon progeny in a workplace is the Working Level (WL), this is now defined as a concentration such that the potential alpha emission from all the short lived progeny present in the sample will total 1.3 x 108 MeV per m 3 . The corresponding unit of exposure is the Working Level Month (WLM) and is the exposure that would be received by a reference man working in such an atmosphere for a standard working month lasting 170 hours. Unfortunately the relationship between exposures, measured in WLM, and the conventional radiation dose to the target tissues is complex and calculated values depend greatly upon the assumptions made in the lung model that must be used. Risks are therefore still controlled by limiting exposures in WLM on the basis of epidemiological studies of lung cancer incidence among miners employed at a time when the magnitude of the risk was not fully appreciated, and cancer incidence was high enough to permit reasonably accurate risk estimates to be derived directly from exposures in WLM. (author)

  10. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  11. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  12. Control design for a mobile robot Including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2008-01-01

    In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the

  13. Control design for a mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2008-01-01

    In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the

  14. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin...

  15. Interface-controlled, high-mobility organic transistors

    NARCIS (Netherlands)

    Jurchescu, Oana D.; Popinciuc, Mihaita; van Wees, Bart J.; Palstra, Thomas T. M.

    2007-01-01

    The achievement of high mobilities in field-effect transistors (FETs) is one of the main challenges for the widespread application of organic conductors in devices. Good device performance of a single-crystal pentacene FET requires both removal of impurity molecules from the bulk and the

  16. Uranium Mill Tailings Management

    International Nuclear Information System (INIS)

    Nelson, J.D.

    1982-01-01

    This book presents the papers given at the Fifth Symposium on Uranium Mill Tailings Management. Advances made with regard to uranium mill tailings management, environmental effects, regulations, and reclamation are reviewed. Topics considered include tailings management and design (e.g., the Uranium Mill Tailings Remedial Action Project, environmental standards for uranium mill tailings disposal), surface stabilization (e.g., the long-term stability of tailings, long-term rock durability), radiological aspects (e.g. the radioactive composition of airborne particulates), contaminant migration (e.g., chemical transport beneath a uranium mill tailings pile, the interaction of acidic leachate with soils), radon control and covers (e.g., radon emanation characteristics, designing surface covers for inactive uranium mill tailings), and seepage and liners (e.g., hydrologic observations, liner requirements)

  17. International trade in uranium

    International Nuclear Information System (INIS)

    Two reports are presented; one has been prepared by the Uranium Institute and is submitted by the United Kingdom delegation, the other by the United States delegation. The report of the Uranium Institute deals with the influence of the government on international trade in uranium. This influence becomes apparent predominantly by export and import restrictions, as well as by price controls. The contribution submitted by the United States is a uranium market trend analysis, with pricing methods and contracting modes as well as the effect of government policies being investigated in the light of recent developments

  18. Decentralized coverage control problems for mobile robotic sensor and actuator networks

    CERN Document Server

    Savkin, A; Xi, Z; Javed, F; Matveev, A; Nguyen, H

    2015-01-01

    This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are abl...

  19. Issues and considerations on the development of an institutional controls policy for uranium mines within Northern Saskatchewan

    International Nuclear Information System (INIS)

    Sigurdson, B.E.; Bilokury, M.R.; Snider, R.C.

    2002-01-01

    Institutional control of a mine site is required to ensure long-term public safety and environmental protection once responsibility for a decommissioned uranium mine site reverts back to the Crown. During the exploration, development, operation and decommissioning phases of a uranium mine's life cycle, public safety and environmental protection are ensured through the Federal and Provincial Environmental Assessment Review process, regulatory permitting and compliance monitoring by the province. However, at present, there is no clear provincial policy with respect to a proponent's application for release from a reclaimed and decommissioned site, and the resulting provincial responsibility for the long-term management and maintenance of the site once a release has been granted. Another policy issue has been identified with respect to the long-term institutional control of previously abandoned uranium mine sites. A number of issues are being considered by the Government of Saskatchewan in developing a policy which addresses the needs of the people of Saskatchewan and which is consistent with the intent of the commitments made by Canada through its ratification of the International Atomic Energy Agency's (IAEA) Joint Convention on the Safety of Spent Fuel Management and on the Safety of Radioactive Waste Management. (author)

  20. Nuclear criticality safety controls for uranium deposits during D and D at the Oak Ridge Gaseous Diffusion Plant

    International Nuclear Information System (INIS)

    Haire, M.J.; Jordan, W.C.; Jollay, L.J. III; Dahl, T.L.

    1997-01-01

    The US Department of Energy (DOE) Deputy Assistant Secretary of Energy for Environmental Management has issued a challenge to complete DOE environmental cleanup within a decade. The response for Oak Ridge facilities is in accordance with the DOE ten-year plan which calls for completion of > 95% of environmental management work by the year 2006. This will result in a 99% risk reduction and in a significant savings in base line costs in waste management (legacy waste); remedial action (groundwater, soil, etc.); and decontamination and decommissioning (D and D). It is assumed that there will be long-term institutional control of cascade equipment, i.e., there will be no walk away from sites, and that there will be firm radioactivity release limits by 1999 for recycle metals. An integral part of these plants is the removal of uranium deposits which pose nuclear criticality safety concerns in the shut down of the Oak Ridge Gaseous Diffusion Plant. DOE has initiated the Nuclear Criticality Stabilization Program to improve nuclear criticality safety by removing the larger uranium deposits from unfavorable geometry equipment. Nondestructive assay (NDA) measurements have identified the location of these deposits. The objective of the K-25 Site Nuclear Criticality Stabilization Program is to remove and place uranium deposits into safe geometry storage containers to meet the double contingency principle. Each step of the removal process results in safer conditions where multiple controls are present. Upon completion of the Program, nuclear criticality risks will be greatly reduced

  1. Ore controlling oxidized zonation epigenetic uranium-coal deposits and regularities in lignite transformations

    International Nuclear Information System (INIS)

    Uspenskij, V.A.; Kulakova, Ya.M.

    1982-01-01

    Complex of analytical methods was used to study epigenetic transformations in uranium-coal ore manifestation. To clarify the principle scheme of oxidized zonation in coals the materials, related to three similar objects were used. When comparing obtained epigenetic column with columns of similar ore objects the principle scheme of oxidized epigenetic zonation for ancient infiltration uranium-coal deposits was specified; general regularities of eignite transformations and characteristics of profile distribution of uranium and accessory metal zonations were revealed. Infiltration processes, proceeded in coal measureses, formed the steady epigenetic oxidized zonation: O - zone of barren unoxidized coals, 1 - zone of ore-bearing unoxidized coals, 2 - zone of weakly ore-bearing oxidized coals, 3 - zone of oxidized terrigenous rocks with zonules of development of yellow and red iron hydroxides. Capacities of some zones and zonules reflect the intensity and duration of ore-forming processes. Distribution of U and accessory elements obeys completely epigenetic zonation. It is assumed, that ancient infiltration uranium-coal deposits formed due to weakly uranium-bearing oxygen-containing waters

  2. Path tracking control of mobile robots with techniques based on the use of curved abscissa

    International Nuclear Information System (INIS)

    Micaelli, A.

    1992-01-01

    The paper describes a particular method, developed by the CEA, for the control of mobile robot trajectories based on Cornu's spiral, i.e; sections of trajectories with constant curvature. New approaches are discussed for methods more convenient

  3. Learning Mobility: Adaptive Control Algorithms for the Novel Unmanned Ground Vehicle (NUGV)

    National Research Council Canada - National Science Library

    Blackburn, Mike

    2003-01-01

    Mobility is a serious limiting factor in the usefulness of unmanned ground vehicles, This paper contains a description of our approach to develop control algorithms for the Novel Unmanned Ground Vehicle (NUGV...

  4. Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

    Directory of Open Access Journals (Sweden)

    Long Sheng

    2012-01-01

    for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

  5. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  6. Effects of joint mobilization on chronic ankle instability: a randomized controlled trial.

    Science.gov (United States)

    Cruz-Díaz, David; Lomas Vega, Rafael; Osuna-Pérez, Maria Catalina; Hita-Contreras, Fidel; Martínez-Amat, Antonio

    2015-01-01

    To evaluate the effects of joint mobilization, in which movement is applied to the ankle's dorsiflexion range of motion, on dynamic postural control and on the self-reported instability of patients with chronic ankle instability (CAI). A double-blind, placebo-controlled, randomized trial with repeated measures and a follow-up period. Ninety patients with a history of recurrent ankle sprain, self-reported instability, and a limited dorsiflexion range of motion, were randomly assigned to either the intervention group (Joint Mobilizations, 3 weeks, two sessions per week) the placebo group (Sham Mobilizations, same duration as joint mobilization) or the control group, with a 6 months follow-up. Dorsiflexion Range of Motion (DFROM), Star Excursion Balance Test (SEBT) and CAI Tool (CAIT) were outcome measures. A separate 3 × 4 mixed model analysis of variance was performed to examine the effect of treatment conditions and time, and intention-to-treat (ITT) analysis was applied to evaluate the effect of the independent variable. The application of joint mobilization resulted in better scores of DFROM, CAIT, and SEBTs in the intervention group when compared with the placebo or the control groups (p ankle DFROM, postural control, and self-reported instability. These results suggest that joint mobilization could be applied to patients with recurrent ankle sprain to help restore their functional stability. Implications for Rehabilitation Functional instability is a very common sequela in patients with CAI, resulting in reduced quality of living due to the limitations it imposes on daily life activities. The mobilization with movement technique presented by Mulligan, and based on the joint mobilization accompanied by active movement, appears as a valuable tool to be employed by physical therapists to restore ankle function after a recurrent ankle sprain history. ROM restriction, subjective feeling of instability and dynamic postural control are benefiting from the joint

  7. Ore-controlling mechanism of carbonaceous-siliceous-pelitic rock type uranium deposits with down-faulted red basins in the southeast continental margin of Yangtze plate

    International Nuclear Information System (INIS)

    Zhang Zilong; Qi Fucheng; He Zhongbo; Li Zhixing; Wang Wenquan; Yu Jinshui

    2012-01-01

    One of the important ore-concentrated areas of carbonaceous-siliceous-pelitic rock type uranium deposits is the Southeast continental margin of Yangtze plate. Sedimentary-exogenously transformed type and sedimentary- hydrothermal superimposed transformed type uranium deposits are always distributed at or near the edge of down-faulted red ba sins. In this paper, the distributions of the deposits are analyzed with the relation to down-faulted red basins. The connective effect and ore-controlling mechanism are proposed of carbonaceous-siliceous-pelitic rock type uranium deposits with marginal fractures of red basins. (authors)

  8. Investigating Uranium Mobility Using Stable Isotope Partitioning of 238U/235U and a Reactive Transport Model

    Science.gov (United States)

    Bizjack, M.; Johnson, T. M.; Druhan, J. L.; Shiel, A. E.

    2015-12-01

    We report a numerical reactive transport model which explicitly incorporates the effectively stable isotopes of uranium (U) and the factors that influence their partitioning in bioactive systems. The model reproduces trends observed in U isotope ratios and concentration measurements from a field experiment, thereby improving interpretations of U isotope ratios as a tracer for U reactive transport. A major factor contributing to U storage and transport is its redox state, which is commonly influenced by the availability of organic carbon to support metal-reducing microbial communities. Both laboratory and field experiments have demonstrated that biogenic reduction of U(VI) fractionates the stable isotope ratio 238U/235U, producing an isotopically heavy solid U(IV) product. It has also been shown that other common reactive transport processes involving U do not fractionate isotopes to a consistently measurable level, which suggests the capacity to quantify the extent of bioreduction occurring in groundwater containing U using 238U/235U ratios. A recent study of a U bioremediation experiment at the Rifle IFRC site (Colorado, USA) applied Rayleigh distillation models to quantify U stable isotope fractionation observed during acetate amendment. The application of these simplified models were fit to the observations only by invoking a "memory-effect," or a constant source of low-concentration, unfractionated U(VI). In order to more accurately interpret the measured U isotope ratios, we present a multi-component reactive transport model using the CrunchTope software. This approach is capable of quantifying the cycling and partitioning of individual U isotopes through a realistic network of transport and reaction pathways including reduction, oxidation, and microbial growth. The model incorporates physical heterogeneity of the aquifer sediments through zones of decreased permeability, which replicate the observed bromide tracer, major ion chemistry, U concentration, and U

  9. Robust balancing and position control of a single spherical wheeled mobile platform

    OpenAIRE

    Yavuz, Fırat; Yavuz, Firat; Ünel, Mustafa; Unel, Mustafa

    2016-01-01

    Self-balancing mobile platforms with single spherical wheel, generally called ballbots, are suitable example of underactuated systems. Balancing control of a ballbot platform, which aims to maintain the upright orientation by rejecting external disturbances, is important during station keeping or trajectory tracking. In this paper, acceleration based balancing and position control of a single spherical wheeled mobile platform that has three single-row omniwheel drive m...

  10. Central Vehicle Dynamics Control of the Robotic Research Platform ROboMObil

    OpenAIRE

    Bünte, Tilman; Ho, Lok Man; Satzger, Clemens; Brembeck, Jonathan

    2014-01-01

    The ROboMObil is DLR’s space-robotics driven by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, and autonomous driving (DLR = German Aerospace Center). Due to its four highly integrated identical Wheel Robots it exhibits an extraordinary manoeuvrability even allowing for driving sideward or rotating on the spot. Topics related to vehicle dynamics control are addressed in this article.

  11. An Optimal Mobile Service for Telecare Data Synchronization using a Role-based Access Control Model and Mobile Peer-to-Peer Technology.

    Science.gov (United States)

    Ke, Chih-Kun; Lin, Zheng-Hua

    2015-09-01

    The progress of information and communication technologies (ICT) has promoted the development of healthcare which has enabled the exchange of resources and services between organizations. Organizations want to integrate mobile devices into their hospital information systems (HIS) due to the convenience to employees who are then able to perform specific healthcare processes from any location. The collection and merage of healthcare data from discrete mobile devices are worth exploring possible ways for further use, especially in remote districts without public data network (PDN) to connect the HIS. In this study, we propose an optimal mobile service which automatically synchronizes the telecare file resources among discrete mobile devices. The proposed service enforces some technical methods. The role-based access control model defines the telecare file resources accessing mechanism; the symmetric data encryption method protects telecare file resources transmitted over a mobile peer-to-peer network. The multi-criteria decision analysis method, ELECTRE (Elimination Et Choice Translating Reality), evaluates multiple criteria of the candidates' mobile devices to determine a ranking order. This optimizes the synchronization of telecare file resources among discrete mobile devices. A prototype system is implemented to examine the proposed mobile service. The results of the experiment show that the proposed mobile service can automatically and effectively synchronize telecare file resources among discrete mobile devices. The contribution of this experiment is to provide an optimal mobile service that enhances the security of telecare file resource synchronization and strengthens an organization's mobility.

  12. Uranium conversion

    International Nuclear Information System (INIS)

    Oliver, Lena; Peterson, Jenny; Wilhelmsen, Katarina

    2006-03-01

    FOI, has performed a study on uranium conversion processes that are of importance in the production of different uranium compounds in the nuclear industry. The same conversion processes are of interest both when production of nuclear fuel and production of fissile material for nuclear weapons are considered. Countries that have nuclear weapons ambitions, with the intention to produce highly enriched uranium for weapons purposes, need some degree of uranium conversion capability depending on the uranium feed material available. This report describes the processes that are needed from uranium mining and milling to the different conversion processes for converting uranium ore concentrate to uranium hexafluoride. Uranium hexafluoride is the uranium compound used in most enrichment facilities. The processes needed to produce uranium dioxide for use in nuclear fuel and the processes needed to convert different uranium compounds to uranium metal - the form of uranium that is used in a nuclear weapon - are also presented. The production of uranium ore concentrate from uranium ore is included since uranium ore concentrate is the feed material required for a uranium conversion facility. Both the chemistry and principles or the different uranium conversion processes and the equipment needed in the processes are described. Since most of the equipment that is used in a uranium conversion facility is similar to that used in conventional chemical industry, it is difficult to determine if certain equipment is considered for uranium conversion or not. However, the chemical conversion processes where UF 6 and UF 4 are present require equipment that is made of corrosion resistant material

  13. The Spectral Shift Control Reactor as an option for much improved uranium utilisation in single-batch SMRs

    Energy Technology Data Exchange (ETDEWEB)

    Lindley, B.A., E-mail: bal29@cam.ac.uk; Parks, G.T.

    2016-12-01

    Highlights: • A PWR with mixed D{sub 2}O/H{sub 2}O moderator/coolant is investigated for SMR applications. • Heavy water concentration varied over the cycle to give ‘spectral shift’ operation. • Much wetter lattice than normal is neutronically favourable. • Taller fuel stack is thus needed to ensure acceptable MDNBR. • 35–43% increase in uranium utilisation for single batch reactor is possible. - Abstract: The Spectral Shift Control Reactor (SSCR) uses a mix of D{sub 2}O and H{sub 2}O to moderate and cool the reactor. Initially, a high proportion of D{sub 2}O is used, such that the reactor is substantially under-moderated, with excess neutrons being primarily captured in {sup 238}U, breeding {sup 239}Pu. Towards the end of the cycle (EOC), the coolant is predominantly H{sub 2}O, thermalising the neutron spectrum and increasing reactivity. Recently, small modular reactors (SMRs) have gained significant interest as a means of providing a power source that requires little maintenance and refuelling. This motivates long cycles and reduced batch operation. For a single-batch reactor, there is typically a 33% penalty to uranium utilisation compared to a 3-batch reactor. Lattice calculations demonstrate the potential of the SSCR to greatly improve uranium utilisation in single-batch reactors over a range of enrichments. A relatively ‘wet’ lattice is employed which further improves uranium utilisation. Cases with 5% and 15% fissile loading are considered, for which it is respectively possible to achieve 47% and 39% increases in natural uranium utilisation using the SSCR relative to a ‘reference’ light water reactor. In the latter case, if 25% thorium is mixed into the fuel, the improvement in uranium utilisation increases to a total of 49%. Hence, in both cases, it is possible to in effect eliminate the penalty of using a single fuel batch. The ‘wet’ lattice introduces substantial thermal-hydraulic challenges due to the significantly higher fuel

  14. Reduction and immobilization of uranium in the subsurface: controls, mechanisms, and implications for in situ bioremediation

    Energy Technology Data Exchange (ETDEWEB)

    Stylo, M. A.

    2015-07-01

    Decades of uranium (U) mining, milling and military use left a legacy of U contamination around the world. The radioactivity and chemical toxicity of U at contaminated sites pose an acute and long-term hazard to human health and the surrounding environment. In order to diminish the risk, in situ bioremediation methods, which contribute to contaminant immobilization, are proposed. Nevertheless, the reported prevalent formation of labile and non-crystalline U(IV) species as a result of microbial U(VI) reduction, in contrast to more stable and crystalline uraninite, undermines the effectiveness of the applied bioremediation. Therefore, a holistic understanding of the controls and mechanisms that govern the formation of non-crystalline U(IV) in the environment is at the core of this thesis. Presence of common groundwater solutes (sulfate, silicate and phosphate) were shown to induce the production of bacterial extracellular polymeric substances (biofilm matrix components), which in turn increases the formation of non-crystalline U(IV) as a result of microbial U reduction. In contrast, a field study suggested that non-crystalline U(IV) was a product of abiotic U reduction followed by the sequestration of U(IV) ions by the biofilm matrix. Those contrasting theories, motivated us to look for an indicator capable of differentiating between biotic and abiotic U reduction in the environment. Uranium isotope fractionation proved to be an excellent tool. Based on our results, the isotopic signature of biotic U reduction (accumulation of {sup 238}U in the reduced phase) is easily distinguishable from the abiotic U reduction signature (either no isotopic fractionation or fractionation in the opposite direction). When contrasted with U isotope signatures recorded in the sediments, the findings of this study indicated that biological activity contributed to the formation of many ancient and modern U(IV) deposits. Equipped with a tool capable of assessing the origin of the U

  15. Reduction and immobilization of uranium in the subsurface: controls, mechanisms, and implications for in situ bioremediation

    International Nuclear Information System (INIS)

    Stylo, M. A.

    2015-01-01

    Decades of uranium (U) mining, milling and military use left a legacy of U contamination around the world. The radioactivity and chemical toxicity of U at contaminated sites pose an acute and long-term hazard to human health and the surrounding environment. In order to diminish the risk, in situ bioremediation methods, which contribute to contaminant immobilization, are proposed. Nevertheless, the reported prevalent formation of labile and non-crystalline U(IV) species as a result of microbial U(VI) reduction, in contrast to more stable and crystalline uraninite, undermines the effectiveness of the applied bioremediation. Therefore, a holistic understanding of the controls and mechanisms that govern the formation of non-crystalline U(IV) in the environment is at the core of this thesis. Presence of common groundwater solutes (sulfate, silicate and phosphate) were shown to induce the production of bacterial extracellular polymeric substances (biofilm matrix components), which in turn increases the formation of non-crystalline U(IV) as a result of microbial U reduction. In contrast, a field study suggested that non-crystalline U(IV) was a product of abiotic U reduction followed by the sequestration of U(IV) ions by the biofilm matrix. Those contrasting theories, motivated us to look for an indicator capable of differentiating between biotic and abiotic U reduction in the environment. Uranium isotope fractionation proved to be an excellent tool. Based on our results, the isotopic signature of biotic U reduction (accumulation of 238 U in the reduced phase) is easily distinguishable from the abiotic U reduction signature (either no isotopic fractionation or fractionation in the opposite direction). When contrasted with U isotope signatures recorded in the sediments, the findings of this study indicated that biological activity contributed to the formation of many ancient and modern U(IV) deposits. Equipped with a tool capable of assessing the origin of the U(IV) product

  16. Analyses on the Bayintala basin tectonic movement control of the uranium mineralization

    International Nuclear Information System (INIS)

    Guo Funeng; Yao Rongyan; Cai Jianfang; Zhou Wenbo

    2014-01-01

    Ban Tara tectonic evolution, analysis of the relationship between depression of ore-bearing layer deposition system and epigenetic alteration and uranium mineralization, forms of uranium precipitation and enrichment in each movement stage, thus mineralization regularity in the area and oreprospecting direction. Depression experienced extensional Early Cretaceous warped fault, pull-apart sedimentary, four main stages of evolution inversion uplifting since the late Cretaceous sedimentary and. Deposition of the Tenggeer group and the Saihan group two prospecting target layer, the fan delta Tenggeer formation is sand body and Saihan group of braided river facies sand body, as the main prospecting target layer. According to the analysis of faulted depression-depression sedimentary stage of the formation of the grey clastic rocks are the important ore-bearing horizon, and inversion uplifting the strata with relatively open environment, to provide the necessary conditions for the later formation of uranium deposits. (authors)

  17. Power control algorithms for mobile ad hoc networks

    Directory of Open Access Journals (Sweden)

    Nuraj L. Pradhan

    2011-07-01

    We will also focus on an adaptive distributed power management (DISPOW algorithm as an example of the multi-parameter optimization approach which manages the transmit power of nodes in a wireless ad hoc network to preserve network connectivity and cooperatively reduce interference. We will show that the algorithm in a distributed manner builds a unique stable network topology tailored to its surrounding node density and propagation environment over random topologies in a dynamic mobile wireless channel.

  18. Grade control and the determination of ore reserves at a low-grade uranium mine

    International Nuclear Information System (INIS)

    Reid, J.A.F.; Robertson, B.

    1982-01-01

    In 1966 an intensive exploration programme was conducted by Rio Tinto South Africa Ltd, involving airborne and ground radiometric surveys, percussion and diamond drilling, and pilot-plant tests. This investigation established the presence of a large deposit of low-grade uranium that could be mined on a large scale by open-pitting. Soon after production started in June 1974, it was realized that the original presentation of the ore reserves did not give a true reflection of the orebody. A comparison between the estimates and the ore mined from reserve blocks over the period 1975 to 1977 showed that the reserve grades were over-optimistic. In 1977 Rio Tinto Zinc Consultants were commissioned to re-evaluate the ore reserves from exploration diamond-drill data with the help of The Centre de Geostatistique at Fontainebleau, France. A new global reserve using disjunctive kriging techniques was developed, and is now the long-term reserve used for planning purposes at the Roessing Mine. For short-term planning, ore-reserve data are replaced by information from an intermediate drilling programme and blast-hole assays if these are available. A computerized short-term planning system has been established that reconciles the ore mined against the reserve blocks, as well as a system by which composited blast-hole assays are analysed for grade-control purposes. Owing to the complexity of the orebody, additional monitoring is achieved by the scanning of each truckload of ore with a group of scintillation crystal heads that evaluate the material mined

  19. Uranium exploration

    International Nuclear Information System (INIS)

    De Voto, R.H.

    1984-01-01

    This paper is a review of the methodology and technology that are currently being used in varying degrees in uranium exploration activities worldwide. Since uranium is ubiquitous and occurs in trace amounts (0.2 to 5 ppm) in virtually all rocks of the crust of the earth, exploration for uranium is essentially the search of geologic environments in which geologic processes have produced unusual concentrations of uranium. Since the level of concentration of uranium of economic interest is dependent on the present and future price of uranium, it is appropriate here to review briefly the economic realities of uranium-fueled power generation. (author)

  20. Uranium-233 waste definition: Disposal options, safeguards, criticality control, and arms control

    International Nuclear Information System (INIS)

    Forsberg, C.W.; Storch, S.N.; Lewis, L.C.

    1998-01-01

    The US investigated the use of 233 U for weapons, reactors, and other purposes from the 1950s into the 1970s. Based on the results of these investigations, it was decided not to use 233 U on a large scale. Most of the 233 U-containing materials were placed in long-term storage. At the end of the cold war, the US initiated, as part of its arms control policies, a disposition program for excess fissile materials. Other programs were accelerated for disposal of radioactive wastes placed in storage during the cold war. Last, potential safety issues were identified related to the storage of some 233 U-containing materials. Because of these changes, significant activities associated with 233 U-containing materials are expected. This report is one of a series of reports to provide the technical bases for future decisions on how to manage this material. A basis for defining when 233 U-containing materials can be managed as waste and when they must be managed as concentrated fissile materials has been developed. The requirements for storage, transport, and disposal of radioactive wastes are significantly different than those for fissile materials. Because of these differences, it is important to classify material in its appropriate category. The establishment of a definition of what is waste and what is fissile material will provide the guidance for appropriate management of these materials. Wastes are defined in this report as materials containing sufficiently small masses or low concentrations of fissile materials such that they can be managed as typical radioactive waste. Concentrated fissile materials are defined herein as materials containing sufficient fissile content such as to warrant special handling to address nuclear criticality, safeguards, and arms control concerns

  1. Uranium determination in natural U O2 samples for the laboratory intercomparison program of Agencia Brasileiro-Argentina de Contabilidade e Controle de Materiais Nucleares (ABACC)

    International Nuclear Information System (INIS)

    Avelar, Marta M.; Palmieri, Helena E.L.; Reis Fagundes, Oliene dos

    1997-01-01

    The modified Davies and Gray method for uranium titration to analyse nuclear materials is the procedure used by the CDTN's chemical laboratory. Its analytical performance was evaluated through the participation in the intercomparison program with the Brazilian - Argentine Agency for Accountability and Control of Nuclear Materials (ABACC). One sample of natural uranium dioxide was analysed. The precision and accuracy of the measurements are reported and discussed in this paper. (author). 7 refs., 1 fig., 2 tabs

  2. Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

    OpenAIRE

    Marcin Szuster; Zenon Hendzel

    2014-01-01

    Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal...

  3. Controlled Source Audio Magneto Telluric (CSAMT) studies for uranium exploration in Durgi area, Palnad sub-basin, Cuddapah basin, India

    International Nuclear Information System (INIS)

    Kumar, Indresh; Kumar, S. Vijaya; Ramesh Babu, V.; Kumar, B.V.L.; Dash, J.K.; Chaturvedi, A.K.

    2017-01-01

    Cuddapah basin is known for hosting unconformity proximal uranium deposits viz., Lambapur, Peddagattu, Chitirial and Koppunuru along the northern margin of the basin. It is well known that these deposits are mostly associated with basement granitoids in Srisailam Sub-basin, and with cover sediments in Palnad subbasin where basement topography and fault/fracture system influence the fluid flow causing basement alteration and ore deposition. Geological setup, surface manifestation of uranium anomalies and association of the hydro-uranium anomalies near Durgi area in southern part of the Palnad sub-basin, have prompted detail investigation by geophysical methods to probe greater depths. Controlled Source Audio Magneto Telluric (CSAMT) survey conducted over five decades of frequency (0.1-9600 Hz) delineated the various lithounits of Kurnool and Nallamalai Groups along with their thicknesses as there exist an appreciable resistivity contrast. Interpretation of CSAMT sounding data are constrained by resistivity logs and litholog data obtained from the boreholes drilled within the basin indicated three to four layered structure. Sub-surface 2-D and 3-D geo-electrical models are simulated by stitching 1-D layered inverted resistivity earth models. Stitched 1-D inverted resistivity sections revealed the unconformity between the Kurnool Group and Nallamalai Group along with basement undulations. The faults/fractures delineated from the CSAMT data corroborated well with the results of gravity data acquired over the same area. Simulated 3-D voxel resistivity model helped in visualising the faults/fractures, their depth extent, thickness of the Banganapalle quartzite and basement configuration. Integrated interpretation of CSAMT, gravity and borehole data facilitated in delineating the unconformity and the structural features favourable for uranium mineralisation in deeper parts of the Palnad sub-basin. (author)

  4. Analytical method development and validation for quantification of uranium by Fourier Transform Infrared Spectroscopy (FTIR) for routine quality control analysis

    International Nuclear Information System (INIS)

    Pereira, Elaine; Silva, Ieda de S.; Gomide, Ricardo G.; Pires, Maria Aparecida F.

    2015-01-01

    This work presents a low cost, simple and new methodology for direct determination uranium in different matrices uranium: organic phase (UO 2 (NO 3 ) 2 .2TBP - uranyl nitrate complex) and aqueous phase (UO 2 (NO 3 ) 2 - NTU - uranyl nitrate), based on Fourier Transform Infrared spectroscopy (FTIR) using KBr pellets technique. The analytical validation is essential to define if a developed methodology is completely adjusted to the objectives that it is destined and is considered one of the main instruments of quality control. The parameters used in the validation process were: selectivity, linearity, limits of detection (LD) and quantitation (LQ), precision (repeatability and intermediate precision), accuracy and robustness. The method for uranium in organic phase (UO 2 (NO 3 ) 2 .2TBP in hexane/embedded in KBr) was linear (r=0.9989) over the range of 1.0 g L -1 a 14.3 g L -1 , LD were 92.1 mg L -1 and LQ 113.1 mg L -1 , precision (RSD < 1.6% and p-value < 0.05), accurate (recovery of 100.1% - 102.9%). The method for uranium aqueous phase (UO 2 (NO 3 )2/embedded in KBr) was linear (r=0.9964) over the range of 5.4 g L -1 a 51.2 g L -1 , LD were 835 mg L -1 and LQ 958 mg L -1 , precision (RSD < 1.0% and p-value < 0.05), accurate (recovery of 99.1% - 102.0%). The FTIR method is robust regarding most of the variables analyzed, as the difference between results obtained under nominal and modified conditions were lower than the critical value for all analytical parameters studied. Some process samples were analyzed in FTIR and compared with gravimetric and x ray fluorescence (XRF) analyses showing similar results in all three methods. The statistical tests (Student-t and Fischer) showed that the techniques are equivalent. (author)

  5. Uranium deposits in granitic rocks

    International Nuclear Information System (INIS)

    Nishimori, R.K.; Ragland, P.C.; Rogers, J.J.W.; Greenberg, J.K.

    1977-01-01

    This report is a review of published data bearing on the geology and origin of uranium deposits in granitic, pegmatitic and migmatitic rocks with the aim of assisting in the development of predictive criteria for the search for similar deposits in the U.S. Efforts were concentrated on the so-called ''porphyry'' uranium deposits. Two types of uranium deposits are primarily considered: deposits in pegmatites and alaskites in gneiss terrains, and disseminations of uranium in high-level granites. In Chapter 1 of this report, the general data on the distribution of uranium in igneous and metamorphic rocks are reviewed. Chapter 2 contains some comments on the classification of uranium deposits associated with igneous rocks and a summary of the main features of the geology of uranium deposits in granites. General concepts of the behavior of uranium in granites during crustal evolution are reviewed in Chapter 3. Also included is a discussion of the relationship of uranium mineralization in granites to the general evolution of mobile belts, plus the influence of magmatic and post-magmatic processes on the distribution of uranium in igneous rocks and related ore deposits. Chapter 4 relates the results of experimental studies on the crystallization of granites to some of the geologic features of uranium deposits in pegmatites and alaskites in high-grade metamorphic terrains. Potential or favorable areas for igneous uranium deposits in the U.S.A. are delineated in Chapter 5. Data on the geology of specific uranium deposits in granitic rocks are contained in Appendix 1. A compilation of igneous rock formations containing greater than 10 ppM uranium is included in Appendix 2. Appendix 3 is a report on the results of a visit to the Roessing area. Appendix 4 is a report on a field excursion to eastern Canada

  6. Redox control of arsenic mobilization in Bangladesh groundwater

    International Nuclear Information System (INIS)

    Zheng, Y.; Stute, M.; Geen, A. van; Gavrieli, I.; Dhar, R.; Simpson, H.J.; Schlosser, P.; Ahmed, K.M.

    2004-01-01

    Detailed hydrochemical measurements, δ 34 S SO4 and 3 H analyses were performed on 37 groundwater samples collected during February 1999, January and March 2000 from 6 locations in eastern and southeastern Bangladesh to examine redox processes that lead to As mobilization in groundwater. The study sites were chosen based on available nation-wide As surveys to span the entire spectrum of As concentrations in Bangladesh groundwater, and to represent 3 of 5 major geological units of the Ganges-Brahmaputra Delta: uplifted Pleistocene terrace, fluvial flood plain and delta plain. Arsenic was found to be mobilized under Fe-reducing conditions in shallow aquifers ( 4 -reducing conditions, suggesting that authigenic sulfide precipitation does not constitute a significant sink for As in these groundwaters. The redox state of the water was characterized by a variety of parameters including dissolved O 2 , NO 3 - , Mn 2+ , Fe 2+ concentrations, and SO 4 2- /Cl - ratios. High dissolved [As] (> 50 μg/l; or > 0.7 μM ) were always accompanied by high dissolved [HCO 3 - ] (> 4 mM), and were close to saturation with respect to calcite. Groundwater enriched in As (200-800 μg/l; or 2.7-10.7 μM) and phosphate (30-100 μM) but relatively low in dissolved Fe (5-40 μM) probably resulted from re-oxidation of reducing, As and Fe enriched water. This history was deduced from isotopic signatures of δ 34 S SO4 and 3 H 2 O ( 3 H) to delineate the nature of redox changes for some of the reducing groundwaters. In contrast, As is not mobilized in presumed Pleistocene aquifers, both shallow (30-60 m) and deep (150-270 m), because conditions were not reducing enough due to lack of sufficient O 2 demand

  7. Authenticated Blind Issuing of Symmetric Keys for Mobile Access Control System without Trusted Parties

    Directory of Open Access Journals (Sweden)

    Shin-Yan Chiou

    2013-01-01

    Full Text Available Mobile authentication can be used to verify a mobile user’s identity. Normally this is accomplished through the use of logon passwords, but this can raise the secret-key agreement problem between entities. This issue can be resolved by using a public-key cryptosystem, but mobile devices have limited computation ability and battery capacity and a PKI is needed. In this paper, we propose an efficient, non-PKI, authenticated, and blind issued symmetric key protocol for mobile access control systems. An easy-to-deploy authentication and authenticated key agreement system is designed such that empowered mobile devices can directly authorize other mobile devices to exchange keys with the server upon authentication using a non-PKI system without trusted parties. Empowered mobile users do not know the key value of the other mobile devices, preventing users from impersonating other individuals. Also, for security considerations, this system can revoke specific keys or keys issued by a specific user. The scheme is secure, efficient, and feasible and can be implemented in existing environments.

  8. Unexpected Effects of a System-Distributed Mobile Application in Maternity Care: A Randomized Controlled Trial.

    Science.gov (United States)

    Ledford, Christy J W; Womack, Jasmyne J; Rider, Heather A; Seehusen, Angela B; Conner, Stephen J; Lauters, Rebecca A; Hodge, Joshua A

    2018-06-01

    As pregnant mothers increasingly engage in shared decision making regarding prenatal decisions, such as induction of labor, the patient's level of activation may influence pregnancy outcomes. One potential tool to increase patient activation in the clinical setting is mobile applications. However, research is limited in comparing mobile apps with other modalities of patient education and engagement tools. This study was designed to test the effectiveness of a mobile app as a replacement for a spiral notebook guide as a patient education and engagement tool in the prenatal clinical setting. This randomized controlled trial was conducted in the Women's Health Clinic and Family Health Clinic of three hospitals. Repeated-measures analysis of covariance was used to test intervention effects in the study sample of 205 patients. Mothers used a mobile app interface to more frequently record information about their pregnancy; however, across time, mothers using a mobile app reported a significant decrease in patient activation. The unexpected negative effects in the group of patients randomized to the mobile app prompt these authors to recommend that health systems pause before distributing their own version of mobile apps that may decrease patient activation. Mobile apps can be inherently empowering and engaging, but how a system encourages their use may ultimately determine their adoption and success.

  9. Environmental protection uranium recovery issues in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Peake, R.T.; Cherepy, A.; Rosnick, R.; Schultheisz, D.; Setlow, L. [U.S. Environmental Protection Agency, Washington, DC (United States)

    2011-07-01

    Uranium recovery activities in the United States were at a standstill just a few years ago. Demand for processed uranium yellowcake has increased, as has its price, though the price is down since the Fukushima reactor accident. Interest in producing uranium has increased, too. Currently the most preferred, low-cost uranium extraction method in the United States is in-situ leach (ISL) recovery where the geohydrology is conducive to injection, mobilization and pumping. A number of applications for new ISL and conventional mills have recently been submitted or are expected to be submitted for licensing by the Nuclear Regulatory Commission (NRC). In the United States, the Environmental Protection Agency (EPA) has developed Health and Environmental Protection Standards for Uranium and Thorium Mill Tailings under the authority of the Uranium Mill Tailings Radiation Control Act of 1978 (UMTRCA). These standards are found in the Code of Federal Regulations, Title 40, Part 192 (40 CFR Part 192). The NRC develops implementing regulations for 40 CFR Part 192 and then NRC or delegated States enforce the NRC and EPA regulations. Facilities regulated under 40 CFR Part 192 include conventional uranium and thorium mills as well as in-situ leach operations, which are considered to be 'milling underground' for regulatory purposes. However, there are no explicit standards for ISL operations in 40 CFR Part 192. In addition, EPA has determined that portions of the operations at uranium recovery operations, specifically the radon emissions from tailings impoundments, are covered by Section 112 of the Clean Air Act as a source of hazardous air pollutants (HAPs). EPA addresses these operations in 40 CFR Part 61, Subpart W. EPA is in the process of reviewing both 40 CFR Part 192 and 40 CFR Part 61, Subpart W for possible revision. This paper presents some of the issues related to uranium recovery that are being considered in the current regulatory review. (author)

  10. THE REMOTE AND MOBILE AIR TRAFFIC CONTROL TOWER AND ITS POSSIBLE APPLICATION TO THE OPERATIONAL AREA

    Directory of Open Access Journals (Sweden)

    Tímea VAS

    2014-10-01

    Full Text Available The concept of remote and mobile Air Traffic Control Tower (ATC TWR and its development has started in Europe, Australia and also in the USA, in order to improve the efficiency of Air Traffic Management (ATM systems in terms of air transportation safety. These new technologies are applicable in many countries in peace time, but on mobility reasons these are promoted to achieve commitments in the operational area. This article describes the devices and range of equipment of mobile and remote tower, and their specifications, which can even serve a medium sized airport, furthermore examines, whether how can those provide the air traffic services at an operational airfield.

  11. The new realized mobile device for extremal control research and presentation

    Directory of Open Access Journals (Sweden)

    Matej URBANSKÝ

    2015-12-01

    Full Text Available At our department we deal with torsional oscillating mechanical systems (TOMS continuous tuning during its operation in terms of torsional oscillation size. Therefore was build the new mobile device for research and presentation purposes of the TOMS continuous tuning using extremal control method. This paper deals mainly with design of the mobile device and its special compressed air distribution system, which is necessary for its regular function.

  12. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Hongbin Wang

    2016-01-01

    Full Text Available We propose an iterative learning control algorithm (ILC that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.

  13. Calibration and control for range imaging in mobile robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Dorum, O.H. [Norges Tekniske Hoegskole, Trondheim (Norway). Div. of Computer Systems and Telematics; Hoover, A. [University of South Florida, Tampa, FL (United States). Dept. of Computer Science and Engineering; Jones, J.P. [Oak Ridge National Lab., TN (United States)

    1994-06-01

    This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of view and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.

  14. Mobile soak pits improve spray team mobility, productivity and safety of PMI malaria control programs.

    Science.gov (United States)

    Mitchell, David F; Brown, Annie S; Bouare, Sory Ibrahima; Belemvire, Allison; George, Kristen; Fornadel, Christen; Norris, Laura; Longhany, Rebecca; Chandonait, Peter J

    2016-09-15

    In the President's Malaria Initiative (PMI)-funded Africa Indoor Residual Spraying Project (AIRS), end-of-day clean-up operations require the safe disposal of wash water resulting from washing the exterior of spray tanks and spray operators' personal protective equipment. Indoor residual spraying (IRS) programs typically use soak pits - large, in-ground filters - to adsorb, filter and then safely degrade the traces of insecticide found in the wash water. Usually these soak pits are permanent installations serving 30 or more operators, located in a central area that is accessible to multiple spray teams at the end of their workday. However, in remote areas, it is often impractical for teams to return to a central soak pit location for cleanup. To increase operational efficiency and improve environmental compliance, the PMI AIRS Project developed and tested mobile soak pits (MSP) in the laboratory and in field applications in Madagascar, Mali, Senegal, and Ethiopia where the distance between villages can be substantial and the road conditions poor. Laboratory testing confirmed the ability of the easily-assembled MSP to reduce effluent concentrations of two insecticides (Actellic 300-CS and Ficam VC) used by the PMI AIRS Project, and to generate the minimal practicable environmental "footprint" in these remote areas. Field testing in the Mali 2014 IRS campaign demonstrated ease of installation and use, resulted in improved and more consistent standards of clean-up, decreased transportation requirements, improved spray team working conditions, and reduced potential for operator exposure to insecticide. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

  15. Development of an aging integrator for uranium-0.75 weight percent titanium alloy part aging control

    International Nuclear Information System (INIS)

    Howington, L.C.

    1977-12-01

    An instrumentation system (Aging Integrator) has been developed to provide more precise control of the heat-treatment process used on uranium-0.75 wt.% titanium alloy material. The Aging Integrator calculates the integral of a predetermined aging function to control the aging period in the heat-treatment process. This control was employed to compensate for discrepancies caused by variations in heatup times, furnace-control fluctuations, and disagreement as to the temperature at which aging actually starts. Although the Aging Integrator hardware has been installed and satisfactorily tested on a production-area furnace, sufficient data to estimate a statistically sound aging integration function will not be available for approximately one year

  16. Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

    Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of D-type ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

  17. Evaluation of environmental control technologies for commercial uranium nuclear fuel fabrication facilities

    International Nuclear Information System (INIS)

    Perkins, B.L.

    1983-01-01

    At present in the United States, there are seven commercial light-water reactor uranium fuel fabrication facilities. Effluent wastes from these facilities include uranium, nitrogen, fluorine, and organic-containing compounds. These effluents may be either discharged to the ambient environment, treated and recycled internally, stored or disposed of on-site, sent off-site for treatment and/or recovery, or sent off-site for disposal (including disposal in low-level waste burial sites). Quantities of waste generated and treatment techniques vary greatly depending on the facility and circuits used internally at the facility, though in general all the fluorine entering the facility as UF 6 is discharged as waste. Further studies to determine techniques and procedures that might minimize dose (ALARA) and to give data on possible long-term effects of effluent discharge and waste disposal are needed

  18. Utilization of a hydraulic barrier to control migration of a uranium plume

    International Nuclear Information System (INIS)

    Brettschneider, D.J.; Simmons, R.A. Jr.; Kappa, J.D.; Stover, J.A.

    1995-01-01

    A uranium plume emanating from the U.S. Department of Energy's Fernald Environmental Management Project (FEMP) in Fernald, Ohio had migrated off site and the leading edge of the plume had already mixed with an organic and inorganic plume emanating from two industries south of the FEMP. A method was needed to prevent the further southern migration of the plume, minimize any impacts to the geometry, concentrations, distribution or flow patterns of the organic and inorganic plumes emanating from the off-site industries, while meeting the ultimate cleanup goals for the FEMP. This paper discusses the use of a hydraulic barrier created to meet these goals by pumping a five well recovery system and the problems associated with the disposition of over 2 million gallons per day of water with low concentrations of uranium

  19. Case history of natural analogue research on sandstone type uranium occurrences, Japan

    International Nuclear Information System (INIS)

    Sakamaki, Y.; Kanai, Y.

    1991-01-01

    Previous fundamental studies on the ore genesis of uranium occurrences chiefly in Cenozoic sandstone formations in Japan, have been re-examined as the case history on natural analogue of radionuclides in high-level radioactive wastes (HLRW). Two principal mode of occurrences have been distinguished among Cenozoic uranium localities in Japan. In the Setouchi (Inland Sea) subregion, hot-spots are found in lacustrine to shallow sea facies of calm environment, corresponding to the first stage of formation of tectonic basins. As observed in Ningyo-toge and Tono area, stratabound ore bodies are generally arranged into paleo-channels. Another type of sporadic uranium indications are found within collapse basins in the 'Green-tuff' subregion, where intense volcanisms and block movements had been taken places throughout Middle miocene age. Well-developed fractures were to be favorable paths for uraniferous groundwater, as well as the suitable site for deposition of uranium. In both cases, the source material of uranium is granitic basement. Under oxidizing environment, uranium anomalies have been occasionally detected in surface- or fracture waters which passing through decomposed granite. In contrast to the behavior of uranium, one of the adequate analogues for mobile nuclides, thorium and REE are relatively immobile even under the same geologic and geochemical circumstances. In ore horizon, where reducing condition has still been kept, geochronological age of tetravalent uranium mineral is in concordance with the age of the host rock. Analysis of structural control shows that the principal factors for uranium concentration are the layout of redox front related to paleo-water tables. 234U/238U disequilibrium method has been proved to be the powerful tool for detecting mobility of uranium in the host rock throughout diagenesis and weathering process. The result of field and laboratory works on this is reported as an example. (author)

  20. Design and control of mobile traction energy storage system; Auslegung und Steuerung mobiler Traktionsenergiespeicher

    Energy Technology Data Exchange (ETDEWEB)

    Lehnert, Martin; Klausner, Sven [Fraunhofer-Institut fuer Verkehrs- und Infrastruktursysteme IVI, Dresden (Germany). Abt. fuer Fahrzeug- und Verkehrssystemtechnik

    2009-07-01

    Energy storage systems in trams may contribute to a noticeable reduction of energy consumption. Whether this or another operating purpose is to be pursued by the use of an energy store, major importance must in any case be attached to the type of storage technology to be selected, the design of the storage system and the kind of storage control strategy to be used. The latter has an influence on the efficiency of the store usage. It is especially predicative control strategies that offer a high potential to this effect. (orig.)

  1. Adaptive training of neural networks for control of autonomous mobile robots

    NARCIS (Netherlands)

    Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

    2017-01-01

    We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

  2. A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

    NARCIS (Netherlands)

    Sadowska, A.D.; van den Broek, T.H.A.; Huijberts, H.J.C.; Wouw, van de N.; Kostic, D.; Nijmeijer, H.

    2011-01-01

    In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional

  3. G-CSF maintains controlled neutrophil mobilization during acute inflammation by negatively regulating CXCR2 signaling

    Science.gov (United States)

    Bajrami, Besnik; Zhu, Haiyan; Zhang, Yu C.

    2016-01-01

    Cytokine-induced neutrophil mobilization from the bone marrow to circulation is a critical event in acute inflammation, but how it is accurately controlled remains poorly understood. In this study, we report that CXCR2 ligands are responsible for rapid neutrophil mobilization during early-stage acute inflammation. Nevertheless, although serum CXCR2 ligand concentrations increased during inflammation, neutrophil mobilization slowed after an initial acute fast phase, suggesting a suppression of neutrophil response to CXCR2 ligands after the acute phase. We demonstrate that granulocyte colony-stimulating factor (G-CSF), usually considered a prototypical neutrophil-mobilizing cytokine, was expressed later in the acute inflammatory response and unexpectedly impeded CXCR2-induced neutrophil mobilization by negatively regulating CXCR2-mediated intracellular signaling. Blocking G-CSF in vivo paradoxically elevated peripheral blood neutrophil counts in mice injected intraperitoneally with Escherichia coli and sequestered large numbers of neutrophils in the lungs, leading to sterile pulmonary inflammation. In a lipopolysaccharide-induced acute lung injury model, the homeostatic imbalance caused by G-CSF blockade enhanced neutrophil accumulation, edema, and inflammation in the lungs and ultimately led to significant lung damage. Thus, physiologically produced G-CSF not only acts as a neutrophil mobilizer at the relatively late stage of acute inflammation, but also prevents exaggerated neutrophil mobilization and the associated inflammation-induced tissue damage during early-phase infection and inflammation. PMID:27551153

  4. Uranium speciation in the environment: study of opals from Nopal I (Mexico) and mill tailings from Gunnar (Canada)

    International Nuclear Information System (INIS)

    Othmane, G.

    2012-01-01

    Understanding the processes of uranium migration and sequestration is an important issue for the prediction of radionuclide retardation in the vicinity of uranium mine tailings sites or for the safety assessment of potential high-level nuclear waste repositories. Uranium speciation, controlled by biotic and abiotic factors, represents a key parameter for the control of uranium transfer in the environment. This study firstly deals with uranium speciation in opals from the Nopal I uranium deposit (Mexico). Microscopic observations of opals at the nano-scale revealed the occurrence of vorlanite, cubic CaUO 4 . This was the first time this rare calcium uranate has been found displaying a cubic morphology, in agreement with its crystal structure. Nopal I opals have been further investigated through time-resolved laser fluorescence spectroscopy. The opals spectra and their comparison with those of experimentally produced standards indicate occurrence of mono- or polymeric uranyl complexes (associated or not with calcium or phosphate) sorbed onto internal surface of opal around pH 7-8. Finally, the speciation of uranium was studied in mill tailings from Gunnar (Canada). In the first tailings site, uranium primarily occurs as monomeric, inner-sphere uranyl complexes sharing edges with Fe(O,OH) 6 octahedral sites of iron-oxy-hydroxides and chlorite. Our results suggested that U(VI) co-precipitates with iron (oxy-hydr)oxides predominate in the second tailings sites. Therefore uranium mobility in Gunnar is governed by sorption/desorption and dissolution/(co)precipitation processes. (author)

  5. Visually and force controlled opening and closing of doors by means of a mobile robot arm

    OpenAIRE

    Milighetti, G.; Hoffmann, E.; Fetzner, Angelika; Kuntze, Helge-Björn

    2012-01-01

    A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobi...

  6. Uranium(VI) transport modeling: geochemical data and submodels

    International Nuclear Information System (INIS)

    Tripathi, V.S.

    1984-01-01

    Understanding the geochemical mobility of U(VI) and modeling its transport is important in several contexts including ore genesis, uranium exploration, nuclear and mill-tailings waste management, and solution mining of uranium ores. Adsorption is a major control on partitioning of solutes at the mineral/solution interface. The effect of carbonate, fluoride, and phosphate complexing on adsorption of uranium was investigated. A critical compilation of stability constants of inorganic complexes and solid compounds of U(VI) necessary for proper design of experiment and for modeling transport of uranium was prepared. The general features of U(VI) adsorption in ligand-free systems are similar to those characteristic of other hydrolyzable metal ions. The adsorption processes studied were found to be reversible. The adsorption model developed in ligand-free systems, when solution complexing is taken into account, proved remarkably successful in describing adsorption of uranium in the presence of carbonate and fluoride. The presence of phosphate caused a much smaller decrease in the extent of adsorption than expected; however, a critical reassessment of the stability of UO 2 2+ .HPO 4 2- complexes, showed that phosphato complexes, if any, are extremely weak under experimental conditions. Removal of uranium may have occurred due to precipitation of sodium uranyl phosphates in addition to adsorption

  7. Fault rocks and uranium mineralization

    International Nuclear Information System (INIS)

    Tong Hangshou.

    1991-01-01

    The types of fault rocks, microstructural characteristics of fault tectonite and their relationship with uranium mineralization in the uranium-productive granite area are discussed. According to the synthetic analysis on nature of stress, extent of crack and microstructural characteristics of fault rocks, they can be classified into five groups and sixteen subgroups. The author especially emphasizes the control of cataclasite group and fault breccia group over uranium mineralization in the uranium-productive granite area. It is considered that more effective study should be made on the macrostructure and microstructure of fault rocks. It is of an important practical significance in uranium exploration

  8. Review of experience gained in fabricating nuclear grade uranium and thorium compounds and their analytical quality control at the Instituto de Energia Atomica, Sao Paulo, Brazil

    International Nuclear Information System (INIS)

    Abrao, A.; Franca, J.M. Jr.; Ikuta, A.; Pueschel, C.R.; Federgruen, L.; Lordello, A.R.; Tomida, E.K.; Moraes, S.; Brito, J. de; Gomes, R.P.; Araujo, J.A.; Floh, B.; Matsuda, H.T.

    1977-01-01

    This paper summarizes the main activities dealing with the fabrication of nuclear grade uranium and thorium compounds at the Instituto de Energia Atomica, Sao Paulo. Identification of problems and their resolutions, the experience gained in plant operation, the performance characteristics of an ion-exchange facility and a solvent extraction unit (a demonstration plant based on pulsed columns for purification of uranium and production of ammonium diuranate) are described. A moving-bed facility for UF 4 preparation and its operation is discussed. A pilot plant for uranium and thorium oxide microsphere preparation based on internal gelation for HTGR fuel type is also described. A solvent extraction pilot plant for thorium purification based on a compound extraction-scrubbing column and a mixer-settler battery and the involved technology for thorium purification are commented. The main products, namely ammonium diuranate, uranyl amonium tricarbonate, uranium trioxide, uranium tetrafluoride, thorium nitrate and thorium oxalate and their quality are commented. The development of necessary analytical procedures for the quality control of the mentioned nuclear grade products is summarized. A great majority of such procedures was particularly suitable for analyzing traces impurities. Designed for installation are the units for denitration of uranyl nitrate solutions and pilot plants for elemental fluorine and UF 6 . The installation of a laboratory-scale plant designed for reprocessing irradiated uranium and an experimental unit for the recovery of protactinium from irradiated thorium is in progress

  9. Application of the remote microphone method to active noise control in a mobile phone.

    Science.gov (United States)

    Cheer, Jordan; Elliott, Stephen J; Oh, Eunmi; Jeong, Jonghoon

    2018-04-01

    Mobile phones are used in a variety of situations where environmental noise may interfere with the ability of the near-end user to communicate with the far-end user. To overcome this problem, it might be possible to use active noise control technology to reduce the noise experienced by the near-end user. This paper initially demonstrates that when an active noise control system is used in a practical mobile phone configuration to minimise the noise measured by an error microphone mounted on the mobile phone, the attenuation achieved at the user's ear depends strongly on the position of the source generating the acoustic interference. To help overcome this problem, a remote microphone processing strategy is investigated that estimates the pressure at the user's ear from the pressure measured by the microphone on the mobile phone. Through an experimental implementation, it is demonstrated that this arrangement achieves a significant improvement in the attenuation measured at the ear of the user, compared to the standard active control strategy. The robustness of the active control system to changes in both the interfering sound field and the position of the mobile device relative to the ear of the user is also investigated experimentally.

  10. Sensory feedback in artificial control of human mobility

    NARCIS (Netherlands)

    Veltink, Petrus H.

    1999-01-01

    Artificial motor control systems may reduce the handicap of motor impaired individuals. Sensors are essential components in feedback control of these systems and in the information exchange with the user. The objective of this paper is to give an overview of the applications of sensors in the

  11. Remotely controlled working equipment and mobile systems for damage assessment

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1975-01-01

    All functions of the MF3 vehicle with its variable geometry chassis were verified in accordance with specifications. Fixed price bids have now been submitted by industries on the action control system and the EMSM II manipulators. Tests of the EMSM I manipulator with supplements especially the remotely controlled application of tools, have been started. (orig.) [de

  12. Understanding Uranium Behavior in a Reduced Aquifer

    Science.gov (United States)

    Janot, N.; Lezama-Pacheco, J. S.; Williams, K. H.; Bernier-Latmani, R.; Long, P. E.; Davis, J. A.; Fox, P. M.; Yang, L.; Giammar, D.; Cerrato, J. M.; Bargar, J.

    2012-12-01

    Uranium contamination of groundwater is a concern at several US Department of Energy sites, such Old Rifle, CO. Uranium transport in the environment is mainly controlled by its oxidation state, since oxidized U(VI) is relatively mobile, whereas U(IV) is relatively insoluble. Bio-remediation of contaminated aquifers aims at immobilizing uranium in a reduced form. Previous laboratory and field studies have shown that adding electron donor (lactate, acetate, ethanol) to groundwater stimulates the activity of metal- and sulfate-reducing bacteria, which promotes U(VI) reduction in contaminated aquifers. However, obtaining information on chemical and physical forms of U, Fe and S species for sediments biostimulated in the field, as well as kinetic parameters such as U(VI) reduction rate, is challenging due to the low concentration of uranium in the aquifers (typically bio-remediation experiment at the Old Rifle site, CO, from early iron-reducing conditions to the transition to sulfate-reducing conditions. Several in-well chromatographic columns packed with sediment were deployed and were sampled at different days after the start of bio-reduction. X-ray absorption spectroscopy and X-ray microscopy were used to obtain information on Fe, S and U speciation and distribution. Chemical extractions of the reduced sediments have also been performed, to determine the rate of Fe(II) and U(IV) accumulation.

  13. Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

    International Nuclear Information System (INIS)

    Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F.

    2013-01-01

    Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing

  14. Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

    Energy Technology Data Exchange (ETDEWEB)

    Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F., E-mail: c.hogan@latrobe.edu.au

    2013-08-06

    Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing.

  15. Managing mobility outcomes in vulnerable seniors ( MMOVeS): a randomized controlled pilot study.

    Science.gov (United States)

    Figueiredo, Sabrina; Morais, Jose A; Mayo, Nancy

    2017-12-01

    To estimate feasibility and potential for efficacy of an individualized, exercise-focused, self-management program (i.e. Managing Mobility Outcomes In Vulnerable Seniors ( MMOVeS)), in comparison to exercise information in improving mobility after six months among seniors recently discharged from hospital. Randomized pilot study. Two McGill University-teaching hospitals. Community dwelling seniors, aged 70 years and older, recently discharged from either participating hospitals. The physiotherapy-facilitated intervention consisted of (1) evaluation of mobility capacity, (2) setting short- and long-term goals, (3) delineation of an exercise treatment plan, (4) an educational booklet to enhance mobility self-management skills, and (5) six monthly telephone calls. Control group received a booklet with information on exercises targeting mobility limitations in seniors. Mobility, pain, and health status were assessed at baseline and at six months using multiple indicators drawn from Disabilities of the Arm, Shoulder, and Hand (DASH) Score, Lower Extremity Functional Scale (LEFS) and Short-Form (SF)-36. In all, 26 people were randomized to the intervention (mean age: 81 ± 8; 39% women), and 23 were randomized to the control (mean age: 79 ± 7; 33% women). The odds ratio for the mobility outcomes combined was 3.08 and the 95% confidence interval excluded 1 (1.65-5.77). The odds ratio for pain and health perception favored the MMOVeS group, but the 95% confidence interval included the null value. This feasibility study highlights the potential for efficacy of an individualized, exercise-focused, self-management program in comparison to exercise information in improving mobility outcome for seniors. Furthermore, a home-program combining self-management skills and exercise taught with minimal supervision prove to be feasible. Finally, data from this study can be used to estimate sample size for a confirmatory trial.

  16. Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

    Directory of Open Access Journals (Sweden)

    Zhaoxia Peng

    2014-01-01

    Full Text Available This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

  17. Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review

    International Nuclear Information System (INIS)

    Krishnan, N Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei

    2016-01-01

    Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions. (paper)

  18. Method of preparing uranium nitride or uranium carbonitride bodies

    International Nuclear Information System (INIS)

    Wilhelm, H.A.; McClusky, J.K.

    1976-01-01

    Sintered uranium nitride or uranium carbonitride bodies having a controlled final carbon-to-uranium ratio are prepared, in an essentially continuous process, from U 3 O 8 and carbon by varying the weight ratio of carbon to U 3 O 8 in the feed mixture, which is compressed into a green body and sintered in a continuous heating process under various controlled atmospheric conditions to prepare the sintered bodies. 6 claims, no drawings

  19. Method for Reading Sensors and Controlling Actuators Using Audio Interfaces of Mobile Devices

    Science.gov (United States)

    Aroca, Rafael V.; Burlamaqui, Aquiles F.; Gonçalves, Luiz M. G.

    2012-01-01

    This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks. PMID:22438726

  20. Epigenetic control of mobile DNA as an interface between experience and genome change

    Directory of Open Access Journals (Sweden)

    James A. Shapiro

    2014-04-01

    Full Text Available Mobile DNA in the genome is subject to RNA-targeted epigenetic control. This control regulates the activity of transposons, retrotransposons and genomic proviruses. Many different life history experiences alter the activities of mobile DNA and the expression of genetic loci regulated by nearby insertions. The same experiences induce alterations in epigenetic formatting and lead to trans-generational modifications of genome expression and stability. These observations lead to the hypothesis that epigenetic formatting directed by non-coding RNA provides a molecular interface between life history events and genome alteration.

  1. Method for reading sensors and controlling actuators using audio interfaces of mobile devices.

    Science.gov (United States)

    Aroca, Rafael V; Burlamaqui, Aquiles F; Gonçalves, Luiz M G

    2012-01-01

    This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks.

  2. Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

    OpenAIRE

    P. Wu; W. Wu

    2012-01-01

    Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

  3. A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

    Science.gov (United States)

    Shibata, Tsuyoshi; Murakami, Toshiyuki

    This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

  4. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  5. The study on microb and organic metallogenetic process of the interlayer oxidized zone uranium deposit. A case study of the Shihongtan uranium deposit in Turpan-Hami basin

    International Nuclear Information System (INIS)

    Qiao Haiming; Shang Gaofeng

    2010-01-01

    Microbial and organic process internationally leads the field in the study of metallogenetic process presently. Focusing on Shi Hongtan uranium deposit, a typical interlayer oxidized zone sandstone-type deposit, this paper analyzes the geochemical characteristics of microb and organic matter in the deposit, and explores the interaction of microb and organic matter. It considers that the anaerobic bacterium actively takes part in the formation of the interlayer oxidized zone, as well as the mobilization and migration of uranium. In the redox (oxidation-reduction) transition zone, sulphate-reducing bacteria reduced sulphate to stink damp, lowing Eh and acidifying pH in the groundwater, which leads to reducing and absorbing of uranium, by using light hydrocarbon which is the product of the biochemical process of organism and the soluble organic matter as the source of carbon. The interaction of microb and organic matter controls the metallogenetic process of uranium in the deposit. (authors)

  6. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Science.gov (United States)

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  7. Mobile-Based Video Learning Outcomes in Clinical Nursing Skill Education: A Randomized Controlled Trial.

    Science.gov (United States)

    Lee, Nam-Ju; Chae, Sun-Mi; Kim, Haejin; Lee, Ji-Hye; Min, Hyojin Jennifer; Park, Da-Eun

    2016-01-01

    Mobile devices are a regular part of daily life among the younger generations. Thus, now is the time to apply mobile device use to nursing education. The purpose of this study was to identify the effects of a mobile-based video clip on learning motivation, competence, and class satisfaction in nursing students using a randomized controlled trial with a pretest and posttest design. A total of 71 nursing students participated in this study: 36 in the intervention group and 35 in the control group. A video clip of how to perform a urinary catheterization was developed, and the intervention group was able to download it to their own mobile devices for unlimited viewing throughout 1 week. All of the students participated in a practice laboratory to learn urinary catheterization and were blindly tested for their performance skills after participation in the laboratory. The intervention group showed significantly higher levels of learning motivation and class satisfaction than did the control. Of the fundamental nursing competencies, the intervention group was more confident in practicing catheterization than their counterparts. Our findings suggest that video clips using mobile devices are useful tools that educate student nurses on relevant clinical skills and improve learning outcomes.

  8. Mobile phone intervention to improve diabetes care in rural areas of Pakistan: a randomized controlled trial.

    Science.gov (United States)

    Shahid, Muhammad; Mahar, Saeed Ahmed; Shaikh, Shiraz; Shaikh, Zuhaib-u-ddin

    2015-03-01

    To determine the effect of mobile phone intervention on HbA1c in type-2 Diabetes Mellitus (DM) patients living in rural areas of Pakistan. Randomized controlled trial. Department of Endocrinology, Liaquat National Hospital, Karachi, from December 2013 to June 2014. A total of 440 patients in intervention and control groups were enrolled. All patients between 18 - 70 years of age, residing in rural areas of Pakistan, HbA1c ³ 8.0% and having personal functional mobile phone were included. The intervention group patients were called directly on mobile phone after every 15 days for a period of 4 months. They were asked about the self-monitoring blood glucose, intake of medications, physical activity, healthy eating and were physically examined after 4 months. However, the control group was examined initially and after 4 months physically in the clinic and there were no mobile phone contacts with these patients. Patients in intervention group showed improvement (p Mobile phone technology in rural areas of Pakistan was helpful in lowering HbA1c levels in intervention group through direct communication with the diabetic patients. Lowering LDL and following diabetic diet plan can reduce HbA1c in these patients and help in preventing future complications.

  9. Pituitary tumor risk in relation to mobile phone use: A case-control study.

    Science.gov (United States)

    Shrestha, Mithila; Raitanen, Jani; Salminen, Tiina; Lahkola, Anna; Auvinen, Anssi

    2015-01-01

    The number of mobile phone users has grown rapidly, which has generated mounting public concern regarding possible health hazards. This study aims to assess pituitary tumor risk, as it has rarely been investigated. A case-control study was conducted with 80 eligible cases identified from all five university hospitals in Finland and frequency-matched 240 controls from the national population register. Controls were matched to cases by age, sex, region of residence and date of interview. A detailed history of mobile phone use was obtained using a structured interview. Several indicators of mobile phone use were assessed using conditional logistic regression. A reduced odds ratio was seen among regular mobile phone users [OR 0.39, 95% confidence interval (CI) 0.21, 0.72] relative to never/non-regular users, possibly reflecting methodological limitations. Pituitary tumor risk was not increased after 10 or more years since first use (OR 0.69, 95% CI 0.25, 1.89). The risk was not increased in relation to duration, cumulative hours of use, or cumulative number of calls. The results were similar for analog and digital phones. We found no excess risk associated with self-reported short- or medium-term use of mobile phones. This is consistent with most of the published studies. However, uncertainties remained for longer duration of use, as a very small proportion of study participants reported use beyond 10 years.

  10. The geochemical immobilization of uranium in a spent fuel repository in the Canadian Shield: Evidence from natural analogue investigations

    International Nuclear Information System (INIS)

    Bottomley, D.J.

    1996-04-01

    Natural analogue studies of uranium ore deposits provide valuable information on the geochemical conditions that control the mobilization of uranium and associated radionuclides in groundwaters. At Cigar Lake in northern Saskatchewan, the Pocos de Caldas site in Brazil, and at Palmottu in Finland, groundwaters are sufficiently reducing to prevent significant oxidation of U +4 to the more soluble U +6 oxidation state. Despite being one of the richest uranium deposits in the world, uranium concentrations in the groundwaters around the Cigar Lake ore are less than 5 x 10 -8 M. Even under oxiding conditions uranium may not necessarily be highly mobilized by groundwaters. Studies of the relatively shallow uranium ore deposits in the Alligator Rivers region of Australia have shown that uranium transport by groundwater can be limited because of uranium sorption onto secondary iron oxides within the aquifer. However, studies at 'negative analgoue' sites indicate that where the host rocks contain low concentrations of reductants such as iron sulphides, strongly reducing conditions are not established and high concentrations of dissolved uranium can result, even in areas where uranium ore deposits are not known to occur. The release rate of radionuclides from a spent fuel repository will be strongly dependent on the redox conditions that are established following resaturation of the repository. Groundwater at depths of 500 m in a granitic pluton may not be sufficiently reducing to prevent oxidative dissolution of uranium or oxidation of associated radionuclides such as 99 Tc. Accordingly other shield rocks richer in reductants, such as greenstone belts, should be considered as potential host rocks for a repository or the repository should be constructed at depths closer to 1000 m in granitic rock where more reducing conditions are likely to prevail. Alternatively, addition of reductants to the waste containers may be feasible as a means of maintaining reducing conditions

  11. Uranium distribution in Brazilian granitic rocks. Identification of uranium provinces

    International Nuclear Information System (INIS)

    Tassinari, C.G.G.

    1993-01-01

    The research characterized and described uranium enriched granitoids in Brazil. They occur in a variety of tectonic environments and are represented by a variety granite types of distinct ages. It may be deduced that in general they have been generated by partial melting process of continental crust. However, some of them, those with tonality composition, indicate a contribution from mantle derived materials, thus suggesting primary uranium enrichment from the upper mantle. Through this study, the identification and characterization of uranium enriched granite or uranium provinces in Brazil can be made. This may also help identify areas with potential for uranium mineralization although it has been note that uranium mineralization in Brazil are not related to the uranium enrichment process. In general the U-anomalous granitoids are composed of granites with alkaline composition and granite ''sensu strictu'' which comprise mainly of syenites, quartz-syenites and biotite-hornblende granites, with ages between 1,800 - 1,300 M.a. The U-anomalous belongings to this period present high Sr initial ratios values, above 0.706, and high Rb contents. Most of the U-enriched granitoids occur within ancient cratonic areas, or within Early to Mid-Proterozoic mobile belts, but after their cratonization. Generally, these granitoids are related to the border zones of the mobile belts or deep crustal discontinuity. Refs, 12 figs, 3 tabs

  12. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  13. Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots

    Directory of Open Access Journals (Sweden)

    Carlos López-Franco

    2015-01-01

    Full Text Available We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.

  14. Remotely controlled working gear and mobile systems for damage assessment

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.; Selig, M.

    1975-01-01

    The chassis of the light MF3 manipulator vehicle and the necessary electric control system have reached and advanced stage of construction. Bids will soon be invited for the mission control system with multiplexers of whole MF3 unit and for simple equipment for damage assessment. All major problems have been clarified in the course of the design phase of the light electric EMSM II Master-Slave manipulators intended for this service. The prototype of the electric EMSM I Master-Slave manipulator has been equipped with some of the supplementary tools required for test missions. (orig.) [de

  15. The politics of uranium

    International Nuclear Information System (INIS)

    Moss, N.

    1981-01-01

    The subject is covered in chapters, entitled: what God hath joined (historical and technical summary of the atomic bomb project and the post-war attempt at international control of atomic energy); finding uranium and using it; atoms for peace; nuclear optimists (development of nuclear power); the Treaty brake (Non-Proliferation Treaty); bending the rules; plowshares and swords; the club and the gambler (uranium production industry); turnabout (government policies); the uranium cycle; nuclear conflict; tiger in the nursery (radiation hazards; nuclear controversy); breaking the rules (proliferation); new answers, old questions. (U.K.)

  16. Optimizing a mobile robot control system using GPU acceleration

    Science.gov (United States)

    Tuck, Nat; McGuinness, Michael; Martin, Fred

    2012-01-01

    This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

  17. Position control of a wheeled mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2009-01-01

    Advanced driver assistance systems are increasingly available on road vehicles. These systems require a thorough development procedure, an important part of which consists of hardware-in-the-loop experiments in a controlled environment. To this end, a facility called Vehicle Hardware-In-the-Loop

  18. Remote control and motion coordination of mobile robots

    NARCIS (Netherlands)

    Alvarez Aguirre, A.

    2011-01-01

    As robots destined for personal and professional applications advance towards becoming part of our daily lives, the importance and complexity of the control algorithms which regulate them should not be underestimated. This thesis is related to two fields within robotics which are of major importance

  19. An overview on real-time control schemes for wheeled mobile robot

    Science.gov (United States)

    Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

    2018-04-01

    The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

  20. Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

    Science.gov (United States)

    Xu, Bing; Cheng, Min

    2018-06-01

    This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

  1. Control of arsenic mobilization in paddy soils by manganese and iron oxides.

    Science.gov (United States)

    Xu, Xiaowei; Chen, Chuan; Wang, Peng; Kretzschmar, Ruben; Zhao, Fang-Jie

    2017-12-01

    Reductive mobilization of arsenic (As) in paddy soils under flooded conditions is an important reason for the relatively high accumulation of As in rice, posing a risk to food safety and human health. The extent of As mobilization varies widely among paddy soils, but the reasons are not well understood. In this study, we investigated As mobilization in six As-contaminated paddy soils (total As ranging from 73 to 122 mg kg -1 ) in flooded incubation and pot experiments. Arsenic speciation in the solution and solid phases were determined. The magnitude of As mobilization into the porewater varied by > 100 times among the six soils. Porewater As concentration correlated closely with the concentration of oxalate-extractable As, suggesting that As associated with amorphous iron (oxyhydr)oxides represents the potentially mobilizable pool of As under flooded conditions. Soil containing a high level of manganese oxides showed the lowest As mobilization, likely because Mn oxides retard As mobilization by slowing down the drop of redox potential upon soil flooding and maintaining a higher arsenate to arsenite ratio in the solid and solution phases. Additions of a synthetic Mn oxide (hausmannite) to two paddy soils increased arsenite oxidation, decreased As mobilization into the porewater and decreased As concentrations in rice grain and straw. Consistent with previous studies using simplified model systems or pure mineral phases, the present study shows that Mn oxides and amorphous Fe (oxyhydr)oxides are important factors controlling reductive As mobilization in As-contaminated paddy soils. In addition, this study also suggests a potential mitigation strategy using exogenous Mn oxides to decrease As uptake by rice in paddy soils containing low levels of indigenous Mn oxides, although further work is needed to verify its efficacy and possible secondary effects under field conditions. Copyright © 2017 Elsevier Ltd. All rights reserved.

  2. Current uranium activities in Pakistan

    International Nuclear Information System (INIS)

    Moghal, M.Y.

    2001-01-01

    The rocks of Siwaliks group in Pakistan, extending from Kashmir in the east through Potwar Plateau, Bannu Basin and Sulaiman range up to the Arabian Sea in the west have been extensively explored for uranium. The Dhok Pathan Formation, which is younger member of the middle Siwaliks has been aeroradiometrically surveyed and extensively prospected on foot. A large number of anomalies were encountered in Kashmir, Potwar Plateau, Bannu Basin and Sulaiman range. While exploratory work in Sulaiman range and Bannu Basin yielded a few workable deposits, none of the anomalous areas yielded an ore grade concentration in Potwar Plateau. As conventional exploration activities in Potwar Plateau did not yield any ore grade concentration therefore a resource potential evaluation programme through geological modeling was started under the guidance of an IAEA expert. The volcanic material found in the middle Siwaliks is considered to be the main source of uranium and siliceous cement in the sandstones. These findings have considerably increased uranium potential in Siwaliks. The tectonic deformation during and after the deposition of Siwaliks is considered to be the main reason for mobilization of uranium, while permeability barriers and upward movement of oil products may provide trappings for the mobilized uranium. Through this survey south western part of Potwar Plateau being relatively less deformed is considered to provide conducive environments for concentration of uranium. Low grade uranium concentrations have also been discovered in carbonatites in northern part of Pakistan. Preliminary exploration in Sallai Patti carbonatite through drilling supplemented by trenching, pitting and aditing, subsurface continuation of surface concentrations has been confirmed. The ore contains about 200 ppm of uranium and 3 to 4% phosphate in addition to magnetite, rare metals and rare earths. It has been demonstrated on laboratory/pilot scale that the concentrations of uranium and phosphate

  3. Cooperative Control of Mobile Sensor Networks for Environmental Monitoring: An Event-Triggered Finite-Time Control Scheme.

    Science.gov (United States)

    Lu, Qiang; Han, Qing-Long; Zhang, Botao; Liu, Dongliang; Liu, Shirong

    2017-12-01

    This paper deals with the problem of environmental monitoring by developing an event-triggered finite-time control scheme for mobile sensor networks. The proposed control scheme can be executed by each sensor node independently and consists of two parts: one part is a finite-time consensus algorithm while the other part is an event-triggered rule. The consensus algorithm is employed to enable the positions and velocities of sensor nodes to quickly track the position and velocity of a virtual leader in finite time. The event-triggered rule is used to reduce the updating frequency of controllers in order to save the computational resources of sensor nodes. Some stability conditions are derived for mobile sensor networks with the proposed control scheme under both a fixed communication topology and a switching communication topology. Finally, simulation results illustrate the effectiveness of the proposed control scheme for the problem of environmental monitoring.

  4. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    International Nuclear Information System (INIS)

    Fukushima, Edwardo F.; Hirose, Shigeo

    2000-01-01

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  5. Mobile monitoring and embedded control system for factory environment.

    Science.gov (United States)

    Lian, Kuang-Yow; Hsiao, Sung-Jung; Sung, Wen-Tsai

    2013-12-17

    This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine) core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT) approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC) technology is used to carry out the actual electricity load experiments using smart phones.

  6. Lower limb control and mobility following exercise training

    Directory of Open Access Journals (Sweden)

    Kim Sukwon

    2012-02-01

    Full Text Available Abstract The objective of the present study was to evaluate the effects of 8-week balance or weight training on ankle joint stiffness and limb stability for older adults, furthermore, on outcomes of slips while walking. Eighteen older adults volunteered for the study and randomly were assigned to the three groups, such as, weight, balance, or control group. While walking on a walking track, three-dimensional posture data were sampled and ankle joint stiffness and limb stability were computed to evaluate the effects of training. 2 (pre and post × 3 (weight, balance, and control × 2 (dominant and non-dominant legs mixed factor repeated ANOVA was performed. The results indicated that only balance training group showed an improvement in joint stiffness and both the training groups showed improvements in limb stability. Also, fall frequency results suggested that joint stiffness and limb stability had an effect on the likelihood of slip-induced falls. In conclusion, training can facilitate improvements in joint and limb control mechanism for older adults contributing to an improvement in the likelihood of slip-induced falls.

  7. Controlling Oxygen Mobility in Ruddlesden–Popper Oxides

    Directory of Open Access Journals (Sweden)

    Dongkyu Lee

    2017-03-01

    Full Text Available Discovering new energy materials is a key step toward satisfying the needs for next-generation energy conversion and storage devices. Among the various types of oxides, Ruddlesden–Popper (RP oxides (A2BO4 are promising candidates for electrochemical energy devices, such as solid oxide fuel cells, owing to their attractive physicochemical properties, including the anisotropic nature of oxygen migration and controllable stoichiometry from oxygen excess to oxygen deficiency. Thus, understanding and controlling the kinetics of oxygen transport are essential for designing optimized materials to use in electrochemical energy devices. In this review, we first discuss the basic mechanisms of oxygen migration in RP oxides depending on oxygen nonstoichiometry. We then focus on the effect of changes in the defect concentration, crystallographic orientation, and strain on the oxygen migration in RP oxides. We also briefly review their thermal and chemical stability. Finally, we conclude with a perspective on potential research directions for future investigation to facilitate controlling oxygen ion migration in RP oxides.

  8. Mobile Monitoring and Embedded Control System for Factory Environment

    Science.gov (United States)

    Lian, Kuang-Yow; Hsiao, Sung-Jung; Sung, Wen-Tsai

    2013-01-01

    This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine) core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT) approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC) technology is used to carry out the actual electricity load experiments using smart phones. PMID:24351642

  9. Mobile Monitoring and Embedded Control System for Factory Environment

    Directory of Open Access Journals (Sweden)

    Kuang-Yow Lian

    2013-12-01

    Full Text Available This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC technology is used to carry out the actual electricity load experiments using smart phones.

  10. Admission Control for Multiservices Traffic in Hierarchical Mobile IPv6 Networks by Using Fuzzy Inference System

    Directory of Open Access Journals (Sweden)

    Jung-Shyr Wu

    2012-01-01

    Full Text Available CAC (Call Admission Control plays a significant role in providing QoS (Quality of Service in mobile wireless networks. In addition to much research that focuses on modified Mobile IP to get better efficient handover performance, CAC should be introduced to Mobile IP-based network to guarantee the QoS for users. In this paper, we propose a CAC scheme which incorporates multiple traffic types and adjusts the admission threshold dynamically using fuzzy control logic to achieve better usage of resources. The method can provide QoS in Mobile IPv6 networks with few modifications on MAP (Mobility Anchor Point functionality and slight change in BU (Binding Update message formats. According to the simulation results, the proposed scheme presents good performance of voice and video traffic at the expenses of poor performance on data traffic. It is evident that these CAC schemes can reduce the probability of the handoff dropping and the cell overload and limit the probability of the new call blocking.

  11. A case-control study of risk of leukaemia in relation to mobile phone use.

    Science.gov (United States)

    Cooke, R; Laing, S; Swerdlow, A J

    2010-11-23

    Mobile phone use is now ubiquitous, and scientific reviews have recommended research into its relation to leukaemia risk, but no large studies have been conducted. In a case-control study in South East England to investigate the relation of acute and non-lymphocytic leukaemia risk to mobile phone use, 806 cases with leukaemia incident 2003-2009 at ages 18-59 years (50% of those identified as eligible) and 585 non-blood relatives as controls (provided by 392 cases) were interviewed about mobile phone use and other potentially aetiological variables. No association was found between regular mobile phone use and risk of leukaemia (odds ratio (OR)=1.06, 95% confidence interval (CI)=0.76, 1.46). Analyses of risk in relation to years since first use, lifetime years of use, cumulative number of calls and cumulative hours of use produced no significantly raised risks, and there was no evidence of any trends. A non-significantly raised risk was found in people who first used a phone 15 or more years ago (OR=1.87, 95% CI=0.96, 3.63). Separate analyses of analogue and digital phone use and leukaemia subtype produced similar results to those overall. This study suggests that use of mobile phones does not increase leukaemia risk, although the possibility of an effect after long-term use, while biologically unlikely, remains open.

  12. Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard

    This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...

  13. Performance of high-level and low-level control for coordination of mobile robots

    NARCIS (Netherlands)

    Adinandra, S.; Caarls, J.; Kostic, D.; Nijmeijer, H.

    2010-01-01

    We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two

  14. Mobile Phone-Delivered Cognitive Behavioral Therapy for Insomnia : A Randomized Waitlist Controlled Trial

    NARCIS (Netherlands)

    Horsch, C.H.G.; Lancee, J.; Griffioen-Both, F.; Spruit, S.; Fitrianie, S.; Neerincx, M.A.; Beun, R.J.; Brinkman, W.-P.

    Background: This study is one of the first randomized controlled trials investigating cognitive behavioral therapy for insomnia (CBT-I) delivered by a fully automated mobile phone app. Such an app can potentially increase the accessibility of insomnia treatment for the 10% of people who have

  15. Mobile Phone-Delivered Cognitive Behavioral Therapy for Insomnia : A Randomized Waitlist Controlled Trial

    NARCIS (Netherlands)

    Horsch, C.H.G.; Lancee, J; Griffioen-Both, Fiemke; Spruit, Sandor; Fitrianie, S.; Neerincx, M.A.; Beun, RJ; Brinkman, W.P.

    2017-01-01

    Background: This study is one of the first randomized controlled trials investigating cognitive behavioral therapy for insomnia (CBT-I) delivered by a fully automated mobile phone app. Such an app can potentially increase the accessibility of insomnia treatment for the 10% of people who have

  16. Nonlinear smith-predictor based control strategy for a unicycle mobile robot subject to transport delay

    NARCIS (Netherlands)

    Alvarez Aguirre, A.; Velasco-Villa, M.; Del Muro Cuellar, B.

    2008-01-01

    This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the

  17. Design of an arbitrary path-following controller for a non-holonomic mobile platform

    CSIR Research Space (South Africa)

    Sabatta, DG

    2009-11-01

    Full Text Available required for the platform to asymptotically track the path. The controller derived in this paper is implemented on the Seekur platform from Mobile Robots. Results showing the following of a pre-recorded path from differential GPS are discussed....

  18. Production of uranium dioxide

    International Nuclear Information System (INIS)

    Hart, J.E.; Shuck, D.L.; Lyon, W.L.

    1977-01-01

    A continuous, four stage fluidized bed process for converting uranium hexafluoride (UF 6 ) to ceramic-grade uranium dioxide (UO 2 ) powder suitable for use in the manufacture of fuel pellets for nuclear reactors is disclosed. The process comprises the steps of first reacting UF 6 with steam in a first fluidized bed, preferably at about 550 0 C, to form solid intermediate reaction products UO 2 F 2 , U 3 O 8 and an off-gas including hydrogen fluoride (HF). The solid intermediate reaction products are conveyed to a second fluidized bed reactor at which the mol fraction of HF is controlled at low levels in order to prevent the formation of uranium tetrafluoride (UF 4 ). The first intermediate reaction products are reacted in the second fluidized bed with steam and hydrogen at a temperature of about 630 0 C. The second intermediate reaction product including uranium dioxide (UO 2 ) is conveyed to a third fluidized bed reactor and reacted with additional steam and hydrogen at a temperature of about 650 0 C producing a reaction product consisting essentially of uranium dioxide having an oxygen-uranium ratio of about 2 and a low residual fluoride content. This product is then conveyed to a fourth fluidized bed wherein a mixture of air and preheated nitrogen is introduced in order to further reduce the fluoride content of the UO 2 and increase the oxygen-uranium ratio to about 2.25

  19. Ranger uranium environmental enquiry

    International Nuclear Information System (INIS)

    1976-07-01

    The submission is divided into three sections. Section A considers the international implications of the development of uranium resources including economic and resource aspects and environmental and social aspects. Section B outlines the government's position on export controls over uranium and its effect on the introduction of nuclear power in Australia. Section C describes the licensing and regulatory functions that would be needed to monitor the environmental and health aspects of the Ranger project. (R.L.)

  20. Czechoslovak uranium

    International Nuclear Information System (INIS)

    Pluskal, O.

    1992-01-01

    Data and knowledge related to the prospecting, mining, processing and export of uranium ores in Czechoslovakia are presented. In the years between 1945 and January 1, 1991, 98,461.1 t of uranium were extracted. In the period 1965-1990 the uranium industry was subsidized from the state budget to a total of 38.5 billion CSK. The subsidies were put into extraction, investments and geologic prospecting; the latter was at first, ie. till 1960 financed by the former USSR, later on the two parties shared costs on a 1:1 basis. Since 1981 the prospecting has been entirely financed from the Czechoslovak state budget. On Czechoslovak territory uranium has been extracted from deposits which may be classified as vein-type deposits, deposits in uranium-bearing sandstones and deposits connected with weathering processes. The future of mining, however, is almost exclusively being connected with deposits in uranium-bearing sandstones. A brief description and characteristic is given of all uranium deposits on Czechoslovak territory, and the organization of uranium mining in Czechoslovakia is described as is the approach used in the world to evaluate uranium deposits; uranium prices and actual resources are also given. (Z.S.) 3 figs

  1. Analytical control of reducing agents on uranium/plutonium partitioning at purex process; Controle analitico dos agentes redutores na particao uranio/plutonio no processo purex

    Energy Technology Data Exchange (ETDEWEB)

    Araujo, Izilda da Cruz de

    1995-07-01

    Spectrophotometric methods for uranium (IV), hydrazine (N{sub 2}H{sub 4}) and its decomposition product hydrazoic acid(HN{sub 3}), and hydroxylamine (NH{sub 2} OH) determinations were developed aiming their applications for the process control of CELESTE I installation at IPEN/CNEN-SP. These compounds are normally present in the U/Pu partitioning phase of the spent nuclear treatment via PUREX process. The direct spectrophotometry was used for uranium (IV) analysis in nitric acid-hydrazine solutions based on the absorption measurement at 648 nm. The azomethine compound formed by reaction of hydrazine and p-dimethylamine benzaldehyde with maximum absorption at 457 nm was the basis for the specific analytical method for hydrazine determination. The hydrazoic acid analysis was performed indirectly by its conversion into ferric azide complex with maximum absorption at 465 nm. The hydroxylamine detection was accomplished based on its selective oxidation to nitrous acid which is easily analyzed by the reaction with Griess reagent. The resulted azocompound gas a maximum absorption at 520 nm. The sensibility of 1,4x10{sup -6}M for U(IV) with 0,8% of precision, 1,6x10{sup -6}M for hydrazine with 0,8% of precision, 2,3x10{sup -6}M hydrazoic acid with 0,9% of precision and 2,5x10{sup -6}M for hydroxylamine with 0,8% of precision were achieved. The interference studies have shown that each reducing agent can be determined in the presence of each other without any interference. Uranium(VI) and plutonium have also shown no interference in these analysis. The established methods were adapted to run inside glove-boxes by using an optical fiber colorimetry and applied to process control of the CELESTE I installation. The results pointed out that the methods are reliable and safety in order to provide just-in-time information about process conditions. (author)

  2. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  3. Geochemical methods for identification of formations being prospective for uranium

    International Nuclear Information System (INIS)

    Zhukova, A.M.; Komarova, N.I.; Spiridonov, A.A.; Shor, G.M.

    1985-01-01

    Geochemical methods of uranium content evaluation in metamorphic, ultrametamorphic and sedimentary formations are considered. At that, the following four factors are of the highest importance: 1) average uranium content-geochemical background; 2) character of uranium distribution; 3) forms of uranium presence; 4) the value of thorium-uranium ratio. A complex of radiogeochemical criteria, favourable for uranium presence is formulated: high average background content of total and '' mobile''uranium and high value of variation coefficient (80-100% and above); low (approximately one or lower) thorium-uranium ratio; sharp increase in uranium concentration in accessory minerals. Radiogeochemical peculiarities of metamorphic and ultrametamorphic formations prospective for uranium are enumerated. The peculiarities condition specificity of geochemical prospecting methods. Prospecting methods first of all must be directed at the evaluation of radioelement distribution parameters and specification of the forms of their presence

  4. EPA's role in uranium mining and milling

    International Nuclear Information System (INIS)

    Smith, P.B.

    1980-01-01

    EPA's role and actions in regulating uranium mining and milling are reviewed and updated. Special emphasis is given to EPA's current activities under the Uranium Mill Tailings Radiation Control Act of 1978

  5. Suitability of vegetation for erosion control on uranium mill tailings: a regional analysis

    International Nuclear Information System (INIS)

    Beedlow, P.A.; McShane, M.C.

    1983-11-01

    Inactive uranium mill tailings (UMTRAP sites) in the West were grouped into three major climatic regions to evaluate the adequacy of vegetation for long-term stabilization: the Colorado Plateau, the West Slope of the Rocky Mountains, and the Northern Great Plains. Four general vegetation types were found at western sites: grasslands, shrub-steppe, and saltshrub and woodland. Soil-loss rates, calculated using the Universal Soil Loss Equation, were variable within regions and vegetation types, but trends were apparent. Calculations indicated that vegetation or vegetation plus a layer of surface rock provided adequate stabilization against long-term average soil loss for slopes less than 10% at the UMTRAP sites evaluated. However, detailed analyses of erosion due to severe storm events, gully formation and channel cutting is necessary for designing protective covers at each site. 11 references, 3 figures, 3 tables

  6. The suitability of vegetation for erosion control on uranium mill tailings: A regional analysis

    International Nuclear Information System (INIS)

    Beedlow, P.A.; McShane, M.C.

    1984-01-01

    Inactive uranium mill tailings (UMTRAP sites) in the West were grouped into three major climatic regions to evaluate the suitability of vegetation for long-term stabilization: the Colorado Plateau, the West Slope of the Rocky Mountains, and the Northern Great Plains. Four general vegetation types were found at western sites: grassland, shrub, salt shrub and woodland. Soil-loss rates, calculated using the Universal Soil Loss Equation, were variable within regions and vegetation types, but trends were apparent. Calculations indicated that vegetation or vegetation plus a layer of surface rock provided adequate stabilization against long-term average soil loss on slopes of less than 10%. However, at each site, detailed analyses of erosion caused by severe storm events, gully formation and channel cutting is necessary for designing protective covers

  7. Control of radiological impacts in deactivated uranium mine - the portuguese experience

    International Nuclear Information System (INIS)

    Pereira, Alcides; Neves, Luis

    2011-01-01

    The exploration of radioactive ores occurred in Portugal during around 100 years, and on that period 4370 tons were produced of uranium concentrate, and an estimated total of 13 millions of tons of residues, of various type and variable dangerous grade. From the year 2000 that the government has been performed studies on environmental characterization at the mining areas and remediation project as well. The precise evaluation of the environmental impacts implies the the knowledge of prior work situation, nonexistent for the case of Portuguese mines. This work proposes a methodology for exceeding that limitation focused on selection of area sited at the same metallogenetic province, and considered representative of background. The radiological impacts are checked by the effective dose calculated for reference groups of the exposed population, at this region and in the principal mining area at Portugal (Urgeirica), at the end of exploration and after the finalization of some remediation works

  8. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2016-01-01

    Full Text Available Bioinspired intelligent algorithm (BIA is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

  9. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X

    2016-01-01

    Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

  10. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X.

    2016-01-01

    Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research. PMID:26819582

  11. Channel Access and Power Control for Mobile Crowdsourcing in Device-to-Device Underlaid Cellular Networks

    Directory of Open Access Journals (Sweden)

    Yue Ma

    2018-01-01

    Full Text Available With the access of a myriad of smart handheld devices in cellular networks, mobile crowdsourcing becomes increasingly popular, which can leverage omnipresent mobile devices to promote the complicated crowdsourcing tasks. Device-to-device (D2D communication is highly desired in mobile crowdsourcing when cellular communications are costly. The D2D cellular network is more preferable for mobile crowdsourcing than conventional cellular network. Therefore, this paper addresses the channel access and power control problem in the D2D underlaid cellular networks. We propose a novel semidistributed network-assisted power and a channel access control scheme for D2D user equipment (DUE pieces. It can control the interference from DUE pieces to the cellular user accurately and has low information feedback overhead. For the proposed scheme, the stochastic geometry tool is employed and analytic expressions are derived for the coverage probabilities of both the cellular link and D2D links. We analyze the impact of key system parameters on the proposed scheme. The Pareto optimal access threshold maximizing the total area spectral efficiency is obtained. Unlike the existing works, the performances of the cellular link and D2D links are both considered. Simulation results show that the proposed method can improve the total area spectral efficiency significantly compared to existing schemes.

  12. 2015 Uranium Mill Tailings Radiation Control Act (UMTRCA) Title ll Annual Report, L-Bar, New Mexico Disposal Site

    Energy Technology Data Exchange (ETDEWEB)

    Frazier, William [USDOE Office of Legacy Management, Washington, DC (United States); Johnson, Dick [Navarro Research and Engineering, Inc., Las Vegas, NV (United States)

    2015-11-01

    The L-Bar, New Mexico, Uranium Mill Tailings Radiation Control Act (UMTRCA) Title II Disposal Site was inspected on August 18, 2015. The tailings impoundment was in excellent condition. Erosion and vegetation measurements to monitor the condition of the impoundment cover indicated that no erosion is occurring, and perennial vegetation foliar cover at the measurement plots increased substantially compared to previous years due to above-average precipitation for the year. A short segment of the perimeter fence near the site entrance was realigned in spring 2015 because a gully was undermining the fence corner. Loose fence strands at another location were repaired during the inspection, and a section of fence needs to be realigned to avoid areas affected by deep gullies and sediment deposition. Inspectors identified no other maintenance needs or cause for a follow-up inspection. Groundwater monitoring is required every 3 years. The next monitoring event will be in 2016.

  13. Radon-222 emissions and control practices for licensed uranium mills and their associated tailings piles. Final report

    International Nuclear Information System (INIS)

    1985-06-01

    The report is organized into five main sections. The conclusions of the effort are summarized in Chapter 2. A general description of current milling and tailings management practices and a summary of the site-specific characteristics of operating and standby uranium mills are contained in Chapter-3. The sources and emission rates of radon-222 at licensed mills and their associated tailings piles are contained in Chapter 4 along with the results of an effort to develop generic procedures to estimate radon-222 emissions for milling operations and tailings disposal. Control practices that are being or could be applied to the milling operation and tailings disposal areas and their estimated cost and effectiveness in reducing radon-222 emissions are presented in Chapter 5. The appendices contain detailed information on mill site data and emission estimates

  14. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  15. Promise of a low power mobile CPU based embedded system in artificial leg control.

    Science.gov (United States)

    Hernandez, Robert; Zhang, Fan; Zhang, Xiaorong; Huang, He; Yang, Qing

    2012-01-01

    This paper presents the design and implementation of a low power embedded system using mobile processor technology (Intel Atom™ Z530 Processor) specifically tailored for a neural-machine interface (NMI) for artificial limbs. This embedded system effectively performs our previously developed NMI algorithm based on neuromuscular-mechanical fusion and phase-dependent pattern classification. The analysis shows that NMI embedded system can meet real-time constraints with high accuracies for recognizing the user's locomotion mode. Our implementation utilizes the mobile processor efficiently to allow a power consumption of 2.2 watts and low CPU utilization (less than 4.3%) while executing the complex NMI algorithm. Our experiments have shown that the highly optimized C program implementation on the embedded system has superb advantages over existing PC implementations on MATLAB. The study results suggest that mobile-CPU-based embedded system is promising for implementing advanced control for powered lower limb prostheses.

  16. Quantifying the impact of selection bias caused by nonparticipation in a case-control study of mobile phone use

    DEFF Research Database (Denmark)

    Vrijheid, Martine; Richardson, Lesley; Armstrong, Bruce K

    2009-01-01

    To quantitatively assess the impact of selection bias caused by nonparticipation in a multinational case-control study of mobile phone use and brain tumor.......To quantitatively assess the impact of selection bias caused by nonparticipation in a multinational case-control study of mobile phone use and brain tumor....

  17. The uranium in Kvanefjeld

    International Nuclear Information System (INIS)

    Nielsen, J.S.

    1983-08-01

    The report is a final thesis at the study of biology at the University of Copenhagen. It examines on a theoretical basis a number of possible environmental effects from a uranium mining and milling project under consideration at the Kvanefjeld site near Narssaq in South Greenland. An introductory description and discussion of the advantages and limitations of ecological baseline studies and dose committment assessments as a tool for planning and decision making is given. The leaching and atmospheric dispersion of particles, heavy metals, radionuclides and other elements from future waste rock and ore piles as well as from mill tailings at the Kvanefjeld site are analysed and discussed. Also, the mobility, transport and accumulation of potentially toxic elements in local terrestrial and aquatic ecosystems and food chains are examined. The resulting human burden are discussed with special attention given to the impact on the local population from eating lamb and seafood. A special quantitative analysis of the dispersion and biological uptake of fluoride, which is found in high concentrations in the ore, is given, focusing on the possible human intake of fluoride-polluted arctic char (Salvelinus alpinus) caught in Narrssaq River. The report at the end gives consideration to the long term problems of controlling mill tailings, discussing among other things the long term human exposure to radon and thoron daughters. (author)

  18. The seat of ground water discharge as ore-mabilizing factor in the formatian of hydrogenic uranium deposits

    International Nuclear Information System (INIS)

    Natal'chenko, B.I.; Gol'dshtejn, R.I.

    1982-01-01

    The role of structural-hydrogeological factor in the process of ore-controlling zoning development during hydrogeneous deposit formation is discussed, as reflecting in the most objective way the spreading of stratal oxidation zones and morphology of uranium mineralization as regards discharge seats because there are only they which mobilize stratal waters for active displacement. The types of discharge seats of stratal waters and their effect on formation of ore-controlling zones of stratal oxidation with uranium mineralization are presented. The conclusion is drawn that local and regional discharge seats of stratal waters dictate both the spacing of regional fronts of stratal-oxidized rocks and their ore content degree. The displacement of discharge seats or their growing into local regions of alimentation results in reorganization of the total ore-controlling zoning, which enables to consider the seats of water discharge as ore-mobilizing structures in the formation of hydrogenic uranium deposits

  19. Mobile application as a prenatal education and engagement tool: A randomized controlled pilot.

    Science.gov (United States)

    Ledford, Christy J W; Canzona, Mollie Rose; Cafferty, Lauren A; Hodge, Joshua A

    2016-04-01

    Research has shown that mobile applications provide a powerful alternative to traditional paper diaries; however, little data exists in comparing apps to the traditional mode of paper as a patient education and engagement tool in the clinical setting. This study was designed to compare the effectiveness of a mobile app versus a spiral-notebook guide throughout prenatal care. This randomized (n=173) controlled pilot was conducted at an East Coast community hospital. Chi-square and repeated-measures analysis of variance was used to test intervention effects in the sample of 127 pregnant mothers who completed their prenatal care in the healthcare system. Patients who were distributed the mobile application used the tool to record information about pregnancy more frequently (p=.04) and developed greater patient activation (p=.02) than patients who were distributed notebooks. No difference was detected on interpersonal clinical communication. A mobile application successfully activated a patient population in which self-management is a critical factor. This study shows that mobile apps can prompt greater use and result in more activated patients. Findings may be translated to other patient populations who receive recurring care for chronic disease. Published by Elsevier Ireland Ltd.

  20. A leptin-regulated circuit controls glucose mobilization during noxious stimuli.

    Science.gov (United States)

    Flak, Jonathan N; Arble, Deanna; Pan, Warren; Patterson, Christa; Lanigan, Thomas; Goforth, Paulette B; Sacksner, Jamie; Joosten, Maja; Morgan, Donald A; Allison, Margaret B; Hayes, John; Feldman, Eva; Seeley, Randy J; Olson, David P; Rahmouni, Kamal; Myers, Martin G

    2017-08-01

    Adipocytes secrete the hormone leptin to signal the sufficiency of energy stores. Reductions in circulating leptin concentrations reflect a negative energy balance, which augments sympathetic nervous system (SNS) activation in response to metabolically demanding emergencies. This process ensures adequate glucose mobilization despite low energy stores. We report that leptin receptor-expressing neurons (LepRb neurons) in the periaqueductal gray (PAG), the largest population of LepRb neurons in the brain stem, mediate this process. Application of noxious stimuli, which often signal the need to mobilize glucose to support an appropriate response, activated PAG LepRb neurons, which project to and activate parabrachial nucleus (PBN) neurons that control SNS activation and glucose mobilization. Furthermore, activating PAG LepRb neurons increased SNS activity and blood glucose concentrations, while ablating LepRb in PAG neurons augmented glucose mobilization in response to noxious stimuli. Thus, decreased leptin action on PAG LepRb neurons augments the autonomic response to noxious stimuli, ensuring sufficient glucose mobilization during periods of acute demand in the face of diminished energy stores.

  1. 2013 Annual Site Inspection and Monitoring Report for Uranium Mill Tailings Radiation Control Act Title I Disposal Sites

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2014-03-01

    This report, in fulfillment of a license requirement, presents the results of long-term surveillance and maintenance activities conducted by the U.S. Department of Energy (DOE) Office of Legacy Management (LM) in 2013 at 19 uranium mill tailings disposal sites established under Title I of the Uranium Mill Tailings Radiation Control Act (UMTRCA) of 1978.1 These activities verified that the UMTRCA Title I disposal sites remain in compliance with license requirements. DOE operates 18 UMTRCA Title I sites under a general license granted by the U.S. Nuclear Regulatory Commission (NRC) in accordance with Title 10 Code of Federal Regulations Part 40.27 (10 CFR 40.27). As required under the general license, a long-term surveillance plan (LTSP) for each site was prepared by DOE and accepted by NRC. The Grand Junction, Colorado, Disposal Site, one of the 19 Title I sites, will not be included under the general license until the open, operating portion of the cell is closed. The open portion will be closed either when it is filled or in 2023. This site is inspected in accordance with an interim LTSP. Long-term surveillance and maintenance services for these disposal sites include inspecting and maintaining the sites; monitoring environmental media and institutional controls; conducting any necessary corrective actions; and performing administrative, records, stakeholder relations, and other regulatory stewardship functions. Annual site inspections and monitoring are conducted in accordance with site-specific LTSPs and procedures established by DOE to comply with license requirements. Each site inspection is performed to verify the integrity of visible features at the site; to identify changes or new conditions that may affect the long-term performance of the site; and to determine the need, if any, for maintenance, follow-up or contingency inspections, or corrective action in accordance with the LTSP. LTSPs and site compliance reports are available on the Internet at http://www.lm.doe.gov/.

  2. 2013 Annual Site Inspection and Monitoring Report for Uranium Mill Tailings Radiation Control Act Title II Disposal Sites

    International Nuclear Information System (INIS)

    2013-01-01

    This report, in fulfillment of a license requirement, presents the results of long-term surveillance and maintenance activities conducted by the U.S. Department of Energy (DOE) Office of Legacy Management in 2013 at six uranium mill tailings disposal sites reclaimed under Title II of the Uranium Mill Tailings Radiation Control Act (UMTRCA) of 1978. These activities verified that the UMTRCA Title II disposal sites remain in compliance with license requirements. DOE manages six UMTRCA Title II disposal sites under a general license granted by the U.S. Nuclear Regulatory Commission (NRC) established at Title 10 Code of Federal Regulations Part 40.28. Reclamation and site transition activities continue at other sites, and DOE ultimately expects to manage approximately 27 Title II disposal sites. Long-term surveillance and maintenance activities and services for these disposal sites include inspecting and maintaining the sites; monitoring environmental media and institutional controls; conducting any necessary corrective action; and performing administrative, records, stakeholder services, and other regulatory functions. Annual site inspections and monitoring are conducted in accordance with site-specific long-term surveillance plans (LTSPs) and procedures established by DOE to comply with license requirements. Each site inspection is performed to verify the integrity of visible features at the site; to identify changes or new conditions that may affect the long-term performance of the site; and to determine the need, if any, for maintenance, follow-up inspections, or corrective action. LTSPs and site compliance reports are available online at http://www.lm.doe.gov

  3. 2013 Annual Site Inspection and Monitoring Report for Uranium Mill Tailings Radiation Control Act Title II Disposal Sites

    Energy Technology Data Exchange (ETDEWEB)

    None

    2013-11-01

    This report, in fulfillment of a license requirement, presents the results of long-term surveillance and maintenance activities conducted by the U.S. Department of Energy (DOE) Office of Legacy Management in 2013 at six uranium mill tailings disposal sites reclaimed under Title II of the Uranium Mill Tailings Radiation Control Act (UMTRCA) of 1978. These activities verified that the UMTRCA Title II disposal sites remain in compliance with license requirements. DOE manages six UMTRCA Title II disposal sites under a general license granted by the U.S. Nuclear Regulatory Commission (NRC) established at Title 10 Code of Federal Regulations Part 40.28. Reclamation and site transition activities continue at other sites, and DOE ultimately expects to manage approximately 27 Title II disposal sites. Long-term surveillance and maintenance activities and services for these disposal sites include inspecting and maintaining the sites; monitoring environmental media and institutional controls; conducting any necessary corrective action; and performing administrative, records, stakeholder services, and other regulatory functions. Annual site inspections and monitoring are conducted in accordance with site-specific long-term surveillance plans (LTSPs) and procedures established by DOE to comply with license requirements. Each site inspection is performed to verify the integrity of visible features at the site; to identify changes or new conditions that may affect the long-term performance of the site; and to determine the need, if any, for maintenance, follow-up inspections, or corrective action. LTSPs and site compliance reports are available online at http://www.lm.doe.gov

  4. Effect of a mobile app intervention on vegetable consumption in overweight adults: a randomized controlled trial.

    Science.gov (United States)

    Mummah, Sarah; Robinson, Thomas N; Mathur, Maya; Farzinkhou, Sarah; Sutton, Stephen; Gardner, Christopher D

    2017-09-15

    Mobile applications (apps) have been heralded as transformative tools to deliver behavioral health interventions at scale, but few have been tested in rigorous randomized controlled trials. We tested the effect of a mobile app to increase vegetable consumption among overweight adults attempting weight loss maintenance. Overweight adults (n=135) aged 18-50 years with BMI=28-40 kg/m 2 near Stanford, CA were recruited from an ongoing 12-month weight loss trial (parent trial) and randomly assigned to either the stand-alone, theory-based Vegethon mobile app (enabling goal setting, self-monitoring, and feedback and using "process motivators" including fun, surprise, choice, control, social comparison, and competition) or a wait-listed control condition. The primary outcome was daily vegetables servings, measured by an adapted Harvard food frequency questionnaire (FFQ) 8 weeks post-randomization. Daily vegetable servings from 24-hour dietary recalls, administered by trained, certified, and blinded interviewers 5 weeks post-randomization, was included as a secondary outcome. All analyses were conducted according to principles of intention-to-treat. Daily vegetable consumption was significantly greater in the intervention versus control condition for both measures (adjusted mean difference: 2.0 servings; 95% CI: 0.1, 3.8, p=0.04 for FFQ; and 1.0 servings; 95% CI: 0.2, 1.9; p=0.02 for 24-hour recalls). Baseline vegetable consumption was a significant moderator of intervention effects (p=0.002) in which effects increased as baseline consumption increased. These results demonstrate the efficacy of a mobile app to increase vegetable consumption among overweight adults. Theory-based mobile interventions may present a low-cost, scalable, and effective approach to improving dietary behaviors and preventing associated chronic diseases. ClinicalTrials.gov NCT01826591. Registered 27 March 2013.

  5. COGEMA's UMF [Uranium Management Facility

    International Nuclear Information System (INIS)

    Lamorlette, G.; Bertrand, J.P.

    1988-01-01

    The French government-owned corporation, COGEMA, is responsible for the nuclear fuel cycle. This paper describes the activities at COGEMA's Pierrelatte facility, especially its Uranium Management Facility. UF6 handling and storage is described for natural, enriched, depleted, and reprocessed uranium. UF6 quality control specifications, sampling, and analysis (halocarbon and volatile fluorides, isotopic analysis, uranium assay, and impurities) are described. In addition, the paper discusses the filling and cleaning of containers and security at UMF

  6. Building Conceptual Models of Field-Scale Uranium Reactive Transport in a Dynamic Vadose Zone-Aquifer-River System

    International Nuclear Information System (INIS)

    Yabusaki, Steven B.; Fang, Yilin; Waichler, Scott R.

    2008-01-01

    Subsurface simulation is being used to build, test, and couple conceptual process models to better understand controls on a 0.4 km by 1.0 km uranium plume that has persisted above the drinking water standard in the groundwater of the Hanford 300 Area over the last 15 years. At this site, uranium-contaminated sediments in the vadose zone and aquifer are subject to significant variations in water levels and velocities driven by the diurnal, weekly, seasonal, and episodic Columbia River stage dynamics. Groundwater flow reversals typically occur twice a day with significant exchange of river water and groundwater in the near-river aquifer. Mixing of the dilute solution chemistry of the river with the groundwater complicates the uranium sorption behavior as the mobility of U(VI) has been shown experimentally to be a function of pH, carbonate, calcium, and uranium. Furthermore, uranium mass transfer between solid and aqueous phases has been observed to be rate-limited in the context of the high groundwater velocities resulting from the river stage fluctuations and the highly transmissive sediments (hydraulic conductivities ∼1500 m/d). One- and two-dimensional vertical cross-sectional simulations of variably-saturated flow and reactive transport, based on laboratory-derived models of distributed rate mass transfer and equilibrium multicomponent surface complexation, are used to assess uranium transport at the dynamic vadose zone aquifer interface as well as changes to uranium mobility due to incursions of river water into the aquifer

  7. Uranium ores

    International Nuclear Information System (INIS)

    Poty, B.; Roux, J.

    1998-01-01

    The processing of uranium ores for uranium extraction and concentration is not much different than the processing of other metallic ores. However, thanks to its radioactive property, the prospecting of uranium ores can be performed using geophysical methods. Surface and sub-surface detection methods are a combination of radioactive measurement methods (radium, radon etc..) and classical mining and petroleum prospecting methods. Worldwide uranium prospecting has been more or less active during the last 50 years, but the rise of raw material and energy prices between 1970 and 1980 has incited several countries to develop their nuclear industry in order to diversify their resources and improve their energy independence. The result is a considerable increase of nuclear fuels demand between 1980 and 1990. This paper describes successively: the uranium prospecting methods (direct, indirect and methodology), the uranium deposits (economical definition, uranium ores, and deposits), the exploitation of uranium ores (use of radioactivity, radioprotection, effluents), the worldwide uranium resources (definition of the different categories and present day state of worldwide resources). (J.S.)

  8. Uranium market

    International Nuclear Information System (INIS)

    Rubini, L.A.; Asem, M.A.D.

    1990-01-01

    The historical development of the uranium market is present in two periods: The initial period 1947-1970 and from 1970 onwards, with the establishment of a commercial market. The world uranium requirements are derived from the corresponding forecast of nuclear generating capacity, with, particular emphasis to the brazilian requirements. The forecast of uranium production until the year 2000 is presented considering existing inventories and the already committed demand. The balance between production and requirements is analysed. Finally the types of contracts currently being used and the development of uranium prices in the world market are considered. (author)

  9. Uranium enrichment

    International Nuclear Information System (INIS)

    1990-01-01

    This report looks at the following issues: How much Soviet uranium ore and enriched uranium are imported into the United States and what is the extent to which utilities flag swap to disguise these purchases? What are the U.S.S.R.'s enriched uranium trading practices? To what extent are utilities required to return used fuel to the Soviet Union as part of the enriched uranium sales agreement? Why have U.S. utilities ended their contracts to buy enrichment services from DOE?

  10. Rare-earth, yttrium and zirkonium mobility associated with the uranium mineralisation at Okrouhlá Radouň, Bohemian Massif, Czech Republic

    Czech Academy of Sciences Publication Activity Database

    René, Miloš

    2015-01-01

    Roč. 27, č. 1 (2015), s. 57-70 ISSN 0935-1221 R&D Projects: GA MŠk ME10083 Institutional support: RVO:67985891 Keywords : uranium mineralisation * geochemistry * mineralogy * aceite Subject RIV: DB - Geology ; Mineralogy Impact factor: 1.464, year: 2015

  11. Automated uranium titration system

    International Nuclear Information System (INIS)

    Takahashi, M.; Kato, Y.

    1983-01-01

    An automated titration system based on the Davies-Gray method has been developed for accurate determination of uranium. The system consists of a potentiometric titrator with precise burettes, a sample changer, an electronic balance and a desk-top computer with a printer. Fifty-five titration vessels are loaded in the sample changer. The first three contain the standard solution for standardizing potassium dichromate titrant, and the next two and the last two contain the control samples for data quality assurance. The other forty-eight measurements are carried out for sixteen unknown samples. Sample solution containing about 100 mg uranium is taken in a titration vessel. At the pretreatment position, uranium (VI) is reduced to uranium (IV) by iron (II). After the valency adjustment, the vessel is transferred to the titration position. The rate of titrant addition is automatically controlled to be slower near the end-point. The last figure (0.01 mL) of the equivalent titrant volume for uranium is calculated from the potential change. The results obtained with this system on 100 mg uranium gave a precision of 0.2% (RSD,n=3) and an accuracy of better than 0.1%. Fifty-five titrations are accomplished in 10 hours. (author)

  12. MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

    Directory of Open Access Journals (Sweden)

    Kiattisin Kanjanawanishkul

    2015-01-01

    Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

  13. Hierarchical Brokering with Feedback Control Framework in Mobile Device-Centric Clouds

    Directory of Open Access Journals (Sweden)

    Chao-Lieh Chen

    2016-01-01

    Full Text Available We propose a hierarchical brokering architecture (HiBA and Mobile Multicloud Networking (MMCN feedback control framework for mobile device-centric cloud (MDC2 computing. Exploiting the MMCN framework and RESTful web-based interconnection, each tier broker probes resource state of its federation for control and management. Real-time and seamless services were developed. Case studies including intrafederation energy-aware balancing based on fuzzy feedback control and higher tier load balancing are further demonstrated to show how HiBA with MMCN relieves the embedding of algorithms when developing services. Theoretical performance model and real-world experiments both show that an MDC2 based on HiBA features better quality in terms of resource availability and network latency if it federates devices with enough resources distributed in lower tier hierarchy. The proposed HiBA realizes a development platform for MDC2 computing which is a feasible solution to User-Centric Networks (UCNs.

  14. Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2014-01-01

    Full Text Available Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal. The structure of the supervisory term derives from the stability analysis realised using the Lyapunov stability theorem. The globalised dual heuristic dynamic programming algorithm consists of two structures: the actor and the critic, realised in a form of neural networks. The actor generates the suboptimal control law, while the critic evaluates the realised control strategy by approximation of value function from the Bellman’s equation. The presented discrete tracking control system works online, the neural networks’ weights adaptation process is realised in every iteration step, and the neural networks preliminary learning procedure is not required. The performance of the proposed control system was verified by a series of computer simulations and experiments realised using the wheeled mobile robot Pioneer 2-DX.

  15. Factors controlling localization of uranium deposits in the Dakota Sandstone, Gallup and Ambrosia Lake mining districts, McKinley County, New Mexico

    Science.gov (United States)

    Pierson, Charles Thomas; Green, Morris W.

    1977-01-01

    Geologic studies were made at all of the uranium mines and prospects in the Dakota Sandstone of Early(?) and Late Cretaceous age in the Gallup mining district, McKinley County, New Mexico. Dakota mines in the adjacent Ambrosia Lake mining district were visited briefly for comparative purposes. Mines in the eastern part of the Gallup district, and in the Ambrosia Lake district, are on the Chaco slope of the southern San Juan Basin in strata which dip gently northward toward the central part of the basin. Mines in the western part of the Gallup district are along the Gallup hogback (Nutria monocline) in strata which dip steeply westward into the Gallup sag. Geologic factors which controlled formation of the uranium deposits in the Dakota Sandstone are: (1) a source of uranium, believed to be uranium deposits of the underlying Morrison Formation of Late Jurassic age; (2) the accessibility to the Dakota of uranium-bearing solutions from the Morrison; (3) the presence in the Dakota of permeable sandstone beds overlain by impermeable carbonaceous shale beds; and (4) the occurrence within the permeable Dakota sandstone beds of carbonaceous reducing material as bedding-plane laminae, or as pockets of carbonaceous trash. Most of the Dakota uranium deposits are found in the lower part of the formation in marginal-marine distributary-channel sandstones which were deposited in the backshore environment. However, the Hogback no. 4 (Hyde) Mine (Gallup district) occurs in sandy paludal shale of the backshore environment, and another deposit, the Silver Spur (Ambrosia Lake district), is found in what is interpreted to be a massive beach or barrier-bar sandstone of the foreshore environment in the upper part of the Dakota. The sedimentary depositional environment most favorable for the accumulation of uranium is that of backshore areas lateral to main distributary channels, where levee, splay, and some distributary-channel sandstones intertongue with gray carbonaceous shales and

  16. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

    Directory of Open Access Journals (Sweden)

    José Rafael García-Sánchez

    2017-01-01

    Full Text Available The trajectory tracking task in a wheeled mobile robot (WMR is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR, actuators (DC motors, and power stage (DC/DC Buck power converters. The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ–Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

  17. End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2012-12-01

    Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

  18. Lung cancer risk, exposure to radon and tobacco consumption in a nested case-control study of French uranium miners

    International Nuclear Information System (INIS)

    Leuraud, K.; Billon, S.; Bergot, D.; Tirmarche, M.; Laurier, D.; Caer, S.; Quesne, B.

    2006-01-01

    Introduction: A nested case-control study was conducted among the French uranium miners cohort in order to assess the effect of protract ed radon exposure on lung cancer risk taking into account tobacco consumption. Material and methods: One hundred uranium miners employed by the French company CEA-COGEMA and who died of a lung cancer between 1980 and 1994 were identified as cases among the cohort. For each case, five controls were randomly matched on birth period and attained age at the time of death of the corresponding case. Cumulated radon exposure during employment was reconstructed for each of these 100 cases and 500 controls. Smoking habits were retrospectively determined from three complementary sources: 1) medical files, 2) forms filled in by occupational physicians and 3) questionnaires applied in face-to-face interviews, phone calls or mailings. Analysis was performed by conditional logistic regression using a linear excess relative risk (ERR) model. A multiplicative model was fitted to assess the joint effect of radon exposure and smoking on lung cancer risk. Results: Smoking status was established for 62 cases and 320 controls and two categories ('ever smokers' vs. 'never smokers') were defined. Ninety percent of the cases and 73% of the controls were classified as 'ever smokers'. Mean five-year lagged cumulated radon exposures were 82.0 and 47.6 working level months (WLM) for the cases and the controls, respectively. The excess relative risk per WLM (ERR/WLM) was 1.1% with a 95%-confidence interval (CI) of 0.2-2.0%. When adjusting for smoking, radon exposure effect was little modified (ERR/WLM = 0.8%, 95% -CI = 0.1- 2.8%). The effect of smoking on lung cancer risk was comparable to results reported in previous miners cohorts (OR = 3.04, 95% -CI = 1.20-7.70). Discussion: A consequent effort was carried out to collect smoking status from three sources for the miners included in this nested case-control study. This analysis shows that, when adjusting on

  19. Uranium: Memories of the Little Big Horn

    International Nuclear Information System (INIS)

    White, G. Jr.

    1985-01-01

    In this work the author discusses the future of the uranium industry. The author believes that uranium prices are unlikely to rise to a level that predicates the rebirth of the uranium industry, and doubts that U.S. production of uranium will exceed 30 to 35 percent of U.S. requirements. The author doubts that the U.S. government will take any action toward protecting the U.S. uranium production industry, but he does believe that a U.S. uranium production industry will survive and include in-situ and by product producers and producers with higher grades and rigorous cost control

  20. 31 CFR 540.315 - Uranium-235 (U235).

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false Uranium-235 (U235). 540.315 Section... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY HIGHLY ENRICHED URANIUM (HEU) AGREEMENT ASSETS CONTROL REGULATIONS General Definitions § 540.315 Uranium-235 (U235). The term uranium-235 or U235 means the fissile...

  1. Geochemical and sedimentologic problems of uranium deposits of Texas Gulf Coastal Plain

    International Nuclear Information System (INIS)

    Huang, W.H.

    1978-01-01

    Exploration targets for sedimentary uranium ore bodies in the Texas Gulf Coastal Plain include: (1) favorable source rocks for uranium, (2) favorable conditions for uranium leached and transported out of the source rocks, and (3) favorable geologic characteristics of the host rocks for the accumulation of uranium of economic importance. However, data available from known deposits point out more questions of research than answers. Mobility and accumulation of uranium of economic importance in host rocks are controlled by at least three factors - physical, chemical-mineralogic, and hydrologic - that interact dynamically. Physical factors include the nature (viscosity) of the transporting fluid, the permeability of host rock with respect to transporting solution in terms of medium rate, potential differentials, and temperature of the uranium-bearing solution in the macroenvironment. Chemical-mineralogic factors include the ionic strength of solution, chemical activities of species in the solution, chemical activities of pore water in host rocks, surface activity and surface energy of mineral constituents in host rocks, solubilities of ore and gangue minerals, pH, and Eh in the microenvironment. Hydrologic factors include fluctuation of the depth of the oxidation-reduction interfaces in the paleoaquifer host rocks, and their subsequent modification by present hydrologic factors. Geochemical mechanisms that are likely to have been in operation for uranium accumulation are precipitation, adsorption, and/or complexing. 4 figures

  2. Mobile phones improve antenatal care attendance in Zanzibar: a cluster randomized controlled trial

    Science.gov (United States)

    2014-01-01

    Background Applying mobile phones in healthcare is increasingly prioritized to strengthen healthcare systems. Antenatal care has the potential to reduce maternal morbidity and improve newborns’ survival but this benefit may not be realized in sub-Saharan Africa where the attendance and quality of care is declining. We evaluated the association between a mobile phone intervention and antenatal care in a resource-limited setting. We aimed to assess antenatal care in a comprehensive way taking into consideration utilisation of antenatal care as well as content and timing of interventions during pregnancy. Methods This study was an open label pragmatic cluster-randomised controlled trial with primary healthcare facilities in Zanzibar as the unit of randomisation. 2550 pregnant women (1311 interventions and 1239 controls) who attended antenatal care at selected primary healthcare facilities were included at their first antenatal care visit and followed until 42 days after delivery. 24 primary health care facilities in six districts were randomized to either mobile phone intervention or standard care. The intervention consisted of a mobile phone text-message and voucher component. Primary outcome measure was four or more antenatal care visits during pregnancy. Secondary outcome measures were tetanus vaccination, preventive treatment for malaria, gestational age at last antenatal care visit, and antepartum referral. Results The mobile phone intervention was associated with an increase in antenatal care attendance. In the intervention group 44% of the women received four or more antenatal care visits versus 31% in the control group (OR, 2.39; 95% CI, 1.03-5.55). There was a trend towards improved timing and quality of antenatal care services across all secondary outcome measures although not statistically significant. Conclusions The wired mothers’ mobile phone intervention significantly increased the proportion of women receiving the recommended four antenatal care

  3. Limited mobility of target pests crucially lowers controllability when sterile insect releases are spatiotemporally biased.

    Science.gov (United States)

    Ikegawa, Yusuke; Himuro, Chihiro

    2017-05-21

    The sterile insect technique (SIT) is a genetic pest control method wherein mass-reared sterile insects are periodically released into the wild, thereby impeding the successful reproduction of fertile pests. In Okinawa Prefecture, Japan, the SIT has been implemented to eradicate the West Indian sweet potato weevil Euscepes postfasciatus (Fairmaire), which is a flightless agricultural pest of sweet potatoes. It is known that E. postfasciatus is much less mobile than other insects to which the SIT has been applied. However, previous theoretical studies have rarely examined effects of low mobility of target pests and variation in the spatiotemporal evenness of sterile insect releases. To theoretically examine the effects of spatiotemporal evenness on the regional eradication of less mobile pests, we constructed a simple two-patch population model comprised of a pest and sterile insect moving between two habitats, and numerically simulated different release strategies (varying the number of released sterile insects and release intervals). We found that spatially biased releases allowed the pest to spatially escape from the sterile insect, and thus intensively lowered its controllability. However, we showed that the temporally counterbalancing spatially biased releases by swapping the number of released insects in the two habitats at every release (called temporal balancing) could greatly mitigate this negative effect and promote the controllability. We also showed that the negative effect of spatiotemporally biased releases was a result of the limited mobility of the target insect. Although directed dispersal of the insects in response to habitats of differing quality could lower the controllability in the more productive habitat, the temporal balancing could promote and eventually maximize the controllability as released insects increased. Copyright © 2017 Elsevier Ltd. All rights reserved.

  4. Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

    Science.gov (United States)

    Zheng, Li; Yi, Ruan

    2009-11-01

    Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  5. Mobile diabetes intervention study: testing a personalized treatment/behavioral communication intervention for blood glucose control.

    Science.gov (United States)

    Quinn, Charlene C; Gruber-Baldini, Ann L; Shardell, Michelle; Weed, Kelly; Clough, Suzanne S; Peeples, Malinda; Terrin, Michael; Bronich-Hall, Lauren; Barr, Erik; Lender, Dan

    2009-07-01

    National data find glycemic control is within target (A1ccommunication system, using mobile phones and patient/physician portals to allow patient-specific treatment and communication. All physicians receive American Diabetes Association (ADA) Guidelines for diabetes care. Patients with poor diabetes control (A1c> or =7.5%) at baseline (n=260) are enrolled in study groups based on PCP randomization. All study patients receive blood glucose (BG) meters and a year's supply of testing materials. Patients in three treatment groups select one of two mobile phone models, receive one-year unlimited mobile phone data and service plan, register on the web-based individual patient portal and receive study treatment phone software based on study assignment. Control group patients receive usual care from their PCP. The primary outcome is mean change in A1c over a 12-month intervention period. Traditional methods of disease management have not achieved adequate control for BG and other conditions important to persons with diabetes. Tools to improve communication between patients and PCPs may improve patient outcomes and be satisfactory to patients and physicians. This RCT is ongoing.

  6. Uranium mining

    International Nuclear Information System (INIS)

    Lange, G.

    1975-01-01

    The winning of uranium ore is the first stage of the fuel cycle. The whole complex of questions to be considered when evaluating the profitability of an ore mine is shortly outlined, and the possible mining techniques are described. Some data on uranium mining in the western world are also given. (RB) [de

  7. Methodology for oversizing marginal quality riprap for erosion control at uranium mill tailings sites

    International Nuclear Information System (INIS)

    Staub, W.P.; Abt, S.R.

    1987-01-01

    Properly selected and oversized local sources of riprap may provide superior erosion protection compared with revegetation at a number of uranium mill tailings sites in arid regions of the United States. Whereas highly durable rock is appropriate for protecting diversion channels to the height of the 5-year flood, marginal quality rock may be adequate for protecting infrequently flooded side slopes of diversion channels, tailings embankments and caps. Marginal quality rock may require oversizing to guarantee that design size specifications are met at the end of the performance period (200 to 1000 years). This paper discusses a methodology for oversizing marginal quality rock. Results of cyclic freezing and thawing tests are used to determine oversizing requirements as functions of the performance period and environment. Test results show that marginal quality rock may be used in frequently saturated areas but in some cases oversizing will be substantial and in other cases marginal quality rock may be disqualified. Oversizing of marginal quality rock appears to be a practical reality in occasionally saturated areas (between the 5-year and 100-year floods). Furthermore, oversizing will not generally be required on slopes from the 100-year flood. 6 refs., 4 tabs

  8. Prediction based active ramp metering control strategy with mobility and safety assessment

    Science.gov (United States)

    Fang, Jie; Tu, Lili

    2018-04-01

    Ramp metering is one of the most direct and efficient motorway traffic flow management measures so as to improve traffic conditions. However, owing to short of traffic conditions prediction, in earlier studies, the impact on traffic flow dynamics of the applied RM control was not quantitatively evaluated. In this study, a RM control algorithm adopting Model Predictive Control (MPC) framework to predict and assess future traffic conditions, which taking both the current traffic conditions and the RM-controlled future traffic states into consideration, was presented. The designed RM control algorithm targets at optimizing the network mobility and safety performance. The designed algorithm is evaluated in a field-data-based simulation. Through comparing the presented algorithm controlled scenario with the uncontrolled scenario, it was proved that the proposed RM control algorithm can effectively relieve the congestion of traffic network with no significant compromises in safety aspect.

  9. Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

    Directory of Open Access Journals (Sweden)

    Ollin Peñaloza-Mejía

    2015-01-01

    Full Text Available A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.

  10. New Control Paradigms for Resources Saving: An Approach for Mobile Robots Navigation

    Directory of Open Access Journals (Sweden)

    Rafael Socas

    2018-01-01

    Full Text Available In this work, an event-based control scheme is presented. The proposed system has been developed to solve control problems appearing in the field of Networked Control Systems (NCS. Several models and methodologies have been proposed to measure different resources consumptions. The use of bandwidth, computational load and energy resources have been investigated. This analysis shows how the parameters of the system impacts on the resources efficiency. Moreover, the proposed system has been compared with its equivalent discrete-time solution. In the experiments, an application of NCS for mobile robots navigation has been set up and its resource usage efficiency has been analysed.

  11. New Control Paradigms for Resources Saving: An Approach for Mobile Robots Navigation.

    Science.gov (United States)

    Socas, Rafael; Dormido, Raquel; Dormido, Sebastián

    2018-01-18

    In this work, an event-based control scheme is presented. The proposed system has been developed to solve control problems appearing in the field of Networked Control Systems (NCS). Several models and methodologies have been proposed to measure different resources consumptions. The use of bandwidth, computational load and energy resources have been investigated. This analysis shows how the parameters of the system impacts on the resources efficiency. Moreover, the proposed system has been compared with its equivalent discrete-time solution. In the experiments, an application of NCS for mobile robots navigation has been set up and its resource usage efficiency has been analysed.

  12. Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems.

    Science.gov (United States)

    Jayasiri, Awantha; Mann, George K I; Gosine, Raymond G

    2011-10-01

    In order to incorporate the uncertainty and impreciseness present in real-world event-driven asynchronous systems, fuzzy discrete event systems (DESs) (FDESs) have been proposed as an extension to crisp DESs. In this paper, first, we propose an extension to the supervisory control theory of FDES by redefining fuzzy controllable and uncontrollable events. The proposed supervisor is capable of enabling feasible uncontrollable and controllable events with different possibilities. Then, the extended supervisory control framework of FDES is employed to model and control several navigational tasks of a mobile robot using the behavior-based approach. The robot has limited sensory capabilities, and the navigations have been performed in several unmodeled environments. The reactive and deliberative behaviors of the mobile robotic system are weighted through fuzzy uncontrollable and controllable events, respectively. By employing the proposed supervisory controller, a command-fusion-type behavior coordination is achieved. The observability of fuzzy events is incorporated to represent the sensory imprecision. As a systematic analysis of the system, a fuzzy-state-based controllability measure is introduced. The approach is implemented in both simulation and real time. A performance evaluation is performed to quantitatively estimate the validity of the proposed approach over its counterparts.

  13. Uranium enrichment

    International Nuclear Information System (INIS)

    1989-01-01

    GAO was asked to address several questions concerning a number of proposed uranium enrichment bills introduced during the 100th Congress. The bill would have restructured the Department of Energy's uranium enrichment program as a government corporation to allow it to compete more effectively in the domestic and international markets. Some of GAO's findings discussed are: uranium market experts believe and existing market models show that the proposed DOE purchase of a $750 million of uranium from domestic producers may not significantly increase production because of large producer-held inventories; excess uranium enrichment production capacity exists throughout the world; therefore, foreign producers are expected to compete heavily in the United States throughout the 1990s as utilities' contracts with DOE expire; and according to a 1988 agreement between DOE's Offices of Nuclear Energy and Defense Programs, enrichment decommissioning costs, estimated to total $3.6 billion for planning purposes, will be shared by the commercial enrichment program and the government

  14. Uranium resources

    International Nuclear Information System (INIS)

    1976-01-01

    This is a press release issued by the OECD on 9th March 1976. It is stated that the steep increases in demand for uranium foreseen in and beyond the 1980's, with doubling times of the order of six to seven years, will inevitably create formidable problems for the industry. Further substantial efforts will be needed in prospecting for new uranium reserves. Information is given in tabular or graphical form on the following: reasonably assured resources, country by country; uranium production capacities, country by country; world nuclear power growth; world annual uranium requirements; world annual separative requirements; world annual light water reactor fuel reprocessing requirements; distribution of reactor types (LWR, SGHWR, AGR, HWR, HJR, GG, FBR); and world fuel cycle capital requirements. The information is based on the latest report on Uranium Resources Production and Demand, jointly issued by the OECD's Nuclear Energy Agency (NEA) and the International Atomic Energy Agency. (U.K.)

  15. Mobility of Cs137 and Sr90 in organic soils and its control

    International Nuclear Information System (INIS)

    Rovdan, E.

    2002-01-01

    In the management of the radionuclide contaminated areas and application of a countermeasure strategy for reduction of both the external and internal doses to the population it is extremely important to know the environmental mechanisms governing the behaviour of radionuclides in soil ecosystems. The purpose of work is to investigate by means of laboratory, field experiments and mathematical modelling the mechanisms and dynamics of radionuclide transfer in the organic soil to propose measures for control their mobility. The Chernobyl radionuclides behaviour was studied for ameliorated peat-mire soil (peat deposit Pogonyanskoye, 21 km off the ChNPP). To control the mobility of radionuclides in soils the characteristics of the migration and sorption of Cs 137 and Sr 90 in sedge peat, quartz sand, bentonite, kaolin, sapropel as well as the electrolytes impact upon the radionuclide behaviour have been experimentally investigated

  16. Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot

    Directory of Open Access Journals (Sweden)

    Wu Peizhang

    2017-01-01

    Full Text Available This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.

  17. Web-Based and Mobile Stress Management Intervention for Employees: A Randomized Controlled Trial

    OpenAIRE

    Heber, Elena; Lehr, Dirk; Ebert, David Daniel; Berking, Matthias; Riper, Heleen

    2016-01-01

    Background: Work-related stress is highly prevalent among employees and is associated with adverse mental health consequences. Web-based interventions offer the opportunity to deliver effective solutions on a large scale; however, the evidence is limited and the results conflicting. Objective: This randomized controlled trial evaluated the efficacy of guided Web-and mobile-based stress management training for employees. Methods: A total of 264 employees with elevated symptoms of stress (Perce...

  18. Investigation of humidity control via membrane separation for advanced Extravehicular Mobility Unit (EMU) application

    Science.gov (United States)

    Newbold, D. D.; Ray, R. J.; Pledger, W. A.; Mccray, S. B.; Brown, M. F.

    1989-01-01

    This paper describes the development of a membrane-based process for dehumidifying the Extravehicular Mobility Unit (EMU). The membrane process promises to be smaller, lighter, and more energy efficient than the other technologies for dehumidification. The dehydration membranes were tested for 90 days at conditions expected to be present in the EMU. The results of these tests indicate that membrane-based technology can effectively control humidity in the EMU.

  19. A Universal Communication Framework and Navigation Control Software for Mobile Prototyping Platforms

    Directory of Open Access Journals (Sweden)

    Andreas Mitschele-Thiel

    2010-09-01

    Full Text Available In our contribution we would like to describe two new aspects of our low-cost mobile prototyping platform concept: a new hardware communication framework as well as new software features for navigation and control of our mobile platform. The paper is an extension of the ideas proposed in REV2009 [1] and is based on the therein used hardware platform and the monitoring and management software. This platform is based on the Quadrocopter concept – autonomous flying helicopter-style robots – and includes additional off-the-shelf parts. This leads to a universal mobile prototyping platform for communication tasks providing both mobile phone and WiFi access. However, the platform can provide these functions far more quickly than a technician on the ground might be able to. We will show that with our concept we can easily adapt the platform to the individual needs of the user, which leads to a very flexible and semi-autonomous system.

  20. Control and accountancy of nuclear materials in a uranium enrichment plant

    International Nuclear Information System (INIS)

    Hurt, N.H.

    1985-01-01

    A nuclear material control and accountancy system has been developed by Goodyear Atomic Corporation to meet safeguards and security requirements. It comprises three major elements: physical security, nuclear material control, and nuclear material accounting. This safeguards system is called Dynamic Material Control and Accountancy System (DYMCAS). The system approaches real-time computer control on a transaction-by-transaction basis

  1. Positioning and tracking control system analysis for mobile free space optical network

    Science.gov (United States)

    Li, Yushan; Refai, Hazem; Sluss, , James J., Jr.; Verma, Pramode; LoPresti, Peter

    2005-08-01

    Free Space Optical (FSO) communication has evolved to be applied to the mobile network, because it can provide up to 2.5Gbps or higher data rate wireless communication. One of the key challenges with FSO systems is to maintain the Line of Sight (LOS) between transmitter and receiver. In this paper, the feasibility and performance of applying the FSO technology to the mobile network is explored, and the design plan of the attitude positioning and tracking control system of the FSO transceiver is investigated. First, the system architecture is introduced, the requirements for the control system are analyzed, the involved reference frames and frame transformation are presented. Second, the control system bandwidth is used to evaluate the system performance in controlling a positioning system consisting of a gimbal and a steering mirror, some definitions to describe the positioning accuracy and tracking capacity are given. The attitude control of a FSO transceiver is split into 2 similar channels: pitch and yaw. Using an equivalent linear control system model, the simulations are carried out, with and without the presence of uncertainties that includes GPS data errors and sensor measurement errors. Finally, based on the simulation results in the pitch channel, the quantitative evaluation on the performance of the control system is given, including positioning accuracy, tracking capability and uncertainty tolerance.

  2. Uranium supply and demand

    Energy Technology Data Exchange (ETDEWEB)

    Spriggs, M J

    1976-01-01

    Papers were presented on the pattern of uranium production in South Africa; Australian uranium--will it ever become available; North American uranium resources, policies, prospects, and pricing; economic and political environment of the uranium mining industry; alternative sources of uranium supply; whither North American demand for uranium; and uranium demand and security of supply--a consumer's point of view. (LK)

  3. Congestion Control and Traffic Scheduling for Collaborative Crowdsourcing in SDN Enabled Mobile Wireless Networks

    Directory of Open Access Journals (Sweden)

    Dawei Shen

    2018-01-01

    Full Text Available Currently, a number of crowdsourcing-based mobile applications have been implemented in mobile networks and Internet of Things (IoT, targeted at real-time services and recommendation. The frequent information exchanges and data transmissions in collaborative crowdsourcing are heavily injected into the current communication networks, which poses great challenges for Mobile Wireless Networks (MWN. This paper focuses on the traffic scheduling and load balancing problem in software-defined MWN and designs a hybrid routing forwarding scheme as well as a congestion control algorithm to achieve the feasible solution. The traffic scheduling algorithm first sorts the tasks in an ascending order depending on the amount of tasks and then solves it using a greedy scheme. In the proposed congestion control scheme, the traffic assignment is first transformed into a multiknapsack problem, and then the Artificial Fish Swarm Algorithm (AFSA is utilized to solve this problem. Numerical results on practical network topology reveal that, compared with the traditional schemes, the proposed congestion control and traffic scheduling schemes can achieve load balancing, reduce the probability of network congestion, and improve the network throughput.

  4. Unconformity-related uranium deposits

    International Nuclear Information System (INIS)

    Ewers, G.R.; Ferguson, J.

    1985-01-01

    Documentation of ore deposit characterisation is being undertaken to assess the controls of uranium mineralisation associated with Proterozoic unconformities. The Turee Creek uranium prospect in Western Australia is associated with a faulted contact between the Middle Proterozoic Kunderong Sandstone and the Lower Proterozoic Wyloo Group

  5. Mobilities Mobilities

    Directory of Open Access Journals (Sweden)

    César Pompeyo

    2011-12-01

    Full Text Available Urry, John (2007 Mobilities.Oxford: Polity Press.Urry, John (2007 Mobilities.Oxford: Polity Press.John Urry (1946-, profesor en la Universidad de Lancaster, es un sociólogo de sobra conocido y altamente reputado en el panorama internacional de las ciencias sociales. Su dilatada carrera, aparentemente dispersa y diversificada, ha seguido senderos bastante bien definidos dejando tras de sí un catálogo extenso de obras sociológicas de primer nivel. Sus primeros trabajos se centraban en el campo de la teoría social y la filosofía de las ciencias sociales o de la sociología del poder [...

  6. Uranium deposits of Australia to 1975

    International Nuclear Information System (INIS)

    Spannari, S.

    1979-01-01

    This bibliography provides a retrospective account of Australian uranium deposits, particularly the unpublished materials in the Australian Capital Territory. Some abstracts are included. Occurrences, mineralogy, ore genesis, structural controls and the eonomic geology of uranium deposits are covered but the mining of uranium, exploration reports, surveys, environmental aspects and controversial materials are not

  7. Control of remediation of uranium deposit Straz with use of numerical modelling approach

    International Nuclear Information System (INIS)

    Novak, J.; Muzak, J.; Smetana, R.

    2002-01-01

    The chemical mining of uranium on the deposit Straz has caused large contamination of groundwater of cretaceous collectors in Straz block of Northbohemian cretaceous table. The low cenomanian aquifer where the uranium deposit is placed is mainly afflicted. In the cenomanian collector there is now more than 4.8 mil. t dissolved solids mainly SO 4 2- , Al, Fe, NH 4 + etc. The total salinity reaches up to 80 g/l. The upper laying turonian collector is drinking water reservoir for larger region. Its contamination is weaker than in cenomanian collector. Use of complex 3D Transport - Reaction Model can be divided into two separate parts. First modelling step is a quantification of overflow between individual mesh elements calculated out of calibrated mixed-hybrid flow model. Two different types of mathematical models are used to accomplish the task: Flow model based on a primary formulation of finite element method, which calculates spatial distribution of piezometric head and flow velocity vectors in selected points of area considered (finite element mesh nodes). This model exactly describes hydraulic situation in area studied; Flow model based on mixed-hybrid formulation of finite element method. This model strictly complies with exact water balance at inter-element faces. In the second part transport-reaction model based on finite volume method is used for calculations using pre-calculated advective velocity field in the area considered. The finite-element mesh covering about 40 km 2 consists of about 16,000 spatial elements. In the leaching fields area the length of the triangular edge is 100-150 meters, vertically the horizon is split into 9-13 layers. The geological boundary-lines were constructed from a database containing information about almost 10 thousand wells. Permeability parameters are defined on the bases of hydrogeological model calculations (calibration) and their vertical distribution is defined more precisely using the GTIS (Geotechnological

  8. Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

    Science.gov (United States)

    Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

    2016-11-01

    Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

  9. The role of sleep in the relation between young children’s mobile media use and effortful control

    NARCIS (Netherlands)

    Nathanson, A.I.; Beyens, I.

    We explored the relations among young children's mobile media use, sleep, and a form of self‐regulation, temperamental effortful control (EC), among a national sample of 402 mothers who completed an online survey. We found that the relation between mobile media use and EC was moderated by children's

  10. Mobile phone intervention reduces perinatal mortality in zanzibar: secondary outcomes of a cluster randomized controlled trial.

    Science.gov (United States)

    Lund, Stine; Rasch, Vibeke; Hemed, Maryam; Boas, Ida Marie; Said, Azzah; Said, Khadija; Makundu, Mkoko Hassan; Nielsen, Birgitte Bruun

    2014-03-26

    Mobile phones are increasingly used in health systems in developing countries and innovative technical solutions have great potential to overcome barriers of access to reproductive and child health care. However, despite widespread support for the use of mobile health technologies, evidence for its role in health care is sparse. We aimed to evaluate the association between a mobile phone intervention and perinatal mortality in a resource-limited setting. This study was a pragmatic, cluster-randomized, controlled trial with primary health care facilities in Zanzibar as the unit of randomization. At their first antenatal care visit, 2550 pregnant women (1311 interventions and 1239 controls) who attended antenatal care at selected primary health care facilities were included in this study and followed until 42 days after delivery. Twenty-four primary health care facilities in six districts were randomized to either mobile phone intervention or standard care. The intervention consisted of a mobile phone text message and voucher component. Secondary outcome measures included stillbirth, perinatal mortality, and death of a child within 42 days after birth as a proxy of neonatal mortality. Within the first 42 days of life, 2482 children were born alive, 54 were stillborn, and 36 died. The overall perinatal mortality rate in the study was 27 per 1000 total births. The rate was lower in the intervention clusters, 19 per 1000 births, than in the control clusters, 36 per 1000 births. The intervention was associated with a significant reduction in perinatal mortality with an odds ratio (OR) of 0.50 (95% CI 0.27-0.93). Other secondary outcomes showed an insignificant reduction in stillbirth (OR 0.65, 95% CI 0.34-1.24) and an insignificant reduction in death within the first 42 days of life (OR 0.79, 95% CI 0.36-1.74). Mobile phone applications may contribute to improved health of the newborn and should be considered by policy makers in resource-limited settings. Clinical

  11. A review of the environmental behavior of uranium derived from depleted uranium alloy penetrators

    Energy Technology Data Exchange (ETDEWEB)

    Erikson, R.L.; Hostetler, C.J.; Divine, J.R.; Price, K.R.

    1990-01-01

    The use of depleted uranium (DU) penetrators as armor-piercing projectiles in the field results in the release of uranium into the environment. Elevated levels of uranium in the environment are of concern because of radioactivity and chemical toxicity. In addition to the direct contamination of the soil with uranium, the penetrators will also chemically react with rainwater and surface water. Uranium may be oxidized and leached into surface water or groundwater and may subsequently be transported. In this report, we review some of the factors affecting the oxidation of the DU metal and the factors influencing the leaching and mobility of uranium through surface water and groundwater pathways, and the uptake of uranium by plants growing in contaminated soils. 29 refs., 10 figs., 3 tabs.

  12. Uniform deposition of uranium hexafluoride (UF6): Standardized mass deposits and controlled isotopic ratios using a thermal fluorination method

    Energy Technology Data Exchange (ETDEWEB)

    McNamara, Bruce K.; O’Hara, Matthew J.; Casella, Andrew M.; Carter, Jennifer C.; Addleman, R. Shane; MacFarlan, Paul J.

    2016-07-01

    Abstract: We report a convenient method for the generation of volatile uranium hexafluoride (UF6) from solid uranium oxides and other uranium compounds, followed by uniform deposition of low levels of UF6 onto sampling coupons. Under laminar flow conditions, UF6 is shown to interact with surfaces within the chamber to a highly predictable degree. We demonstrate the preparation of uranium deposits that range between ~0.01 and 470±34 ng∙cm-2. The data suggest the method can be extended to creating depositions at the sub-picogram∙cm-2 level. Additionally, the isotopic composition of the deposits can be customized by selection of the uranium source materials. We demonstrate a layering technique whereby two uranium solids, each with a different isotopic composition, are employed to form successive layers of UF6 on a surface. The result is an ultra-thin deposit of UF6 that bears an isotopic signature that is a composite of the two uranium sources. The reported deposition method has direct application to the development of unique analytical standards for nuclear safeguards and forensics.

  13. A sub-target approach to the kinodynamic motion control of a wheeled mobile robot

    Science.gov (United States)

    Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

    2018-02-01

    A mobile robot with two independently driven wheels is popular, but it is difficult to stabilize it by a continuous controller with a constant gain, due to its nonholonomic property. It is guaranteed that a nonholonomic controlled object can always be converged to an arbitrary point using a switching control method or a quasi-continuous control method based on an invariant manifold in a chained form. From this, the authors already proposed a kinodynamic controller to converge the states of such a two-wheeled mobile robot to the arbitrary target position while avoiding obstacles, by combining the control based on the invariant manifold and the harmonic potential field (HPF). On the other hand, it was confirmed in the previous research that there is a case that the robot cannot avoid the obstacle because there is no enough space to converge the current state to the target state. In this paper, we propose a method that divides the final target position into some sub-target positions and moves the robot step by step, and it is confirmed by the simulation that the robot can converge to the target position while avoiding obstacles using the proposed method.

  14. NHS connecting for health: healthcare professionals, mobile technology, and infection control.

    Science.gov (United States)

    Brady, Richard R W; Chitnis, Shruti; Stewart, Ross W; Graham, Catriona; Yalamarthi, Satheesh; Morris, Keith

    2012-05-01

    Mobile phones improve the efficiency of clinical communication and are increasingly involved in all areas of healthcare delivery. Despite this, healthcare workers' mobile phones provide a known reservoir of pathogenic bacteria, with the potential to undermine infection control efforts aimed at the reducing bacterial cross-contamination in hospitals. This potential could be amplified further when employers require doctors to carry additional electronic devices for communication, without concurrently providing appropriate guidance on decontamination or use. Eighty-seven on-call doctors' mobile phones were sampled for bacterial growth prior to, and 12 h after, a cleaning intervention involving 70% isopropyl alcohol. Seventy-eight percent of doctors were aware that mobile phones could carry pathogenic bacteria, but only 8% cleaned their phones regularly. The cleaning intervention reduced the number of phones that grew bacteria by 79% (55% [48 of 87] before versus 16% [14 of 87] after cleaning). Eight percent of the phones grew Staphyloccus aureus, and 44.8% of phones grew Gram-positive cocci. All S. aureus isolates were methicillin-sensitive. Bacterial contamination was not associated with gender, specialty, or seniority of the phone user (p>0.05). Simple cleaning interventions can reduce the surface bioburden of hospital-provided doctors' mobile phones and therefore the potential for cross-contamination. This cleaning intervention is inexpensive, easily instituted, and effective. Healthcare workers should carry the minimum number of electronic devices on their person, maintain good hand hygiene, and clean their device appropriately in order to minimize the potential for cross-contamination in the work place.

  15. Uranium, depleted uranium, biological effects; Uranium, uranium appauvri, effets biologiques

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-07-01

    Physicists, chemists and biologists at the CEA are developing scientific programs on the properties and uses of ionizing radiation. Since the CEA was created in 1945, a great deal of research has been carried out on the properties of natural, enriched and depleted uranium in cooperation with university laboratories and CNRS. There is a great deal of available data about uranium; thousands of analyses have been published in international reviews over more than 40 years. This presentation on uranium is a very brief summary of all these studies. (author)

  16. Uranium toxicology

    International Nuclear Information System (INIS)

    Ferreyra, Mariana D.; Suarez Mendez, Sebastian

    1997-01-01

    In this paper are presented the methods and procedures optimized by the Nuclear Regulatory Authority (ARN) for the determination of: natural uranium mass, activity of enriched uranium in samples of: urine, mucus, filters, filter heads, rinsing waters and Pu in urine, adopted and in some cases adapted, by the Environmental Monitoring and Internal Dosimetry Laboratory. The analyzed material corresponded to biological and environmental samples belonging to the staff professionally exposed that work in plants of the nuclear fuel cycle. For a better comprehension of the activities of this laboratory, it is included a brief description of the uranium radiochemical toxicity and the limits internationally fixed to preserve the workers health

  17. Wearable computer for mobile augmented-reality-based controlling of an intelligent robot

    Science.gov (United States)

    Turunen, Tuukka; Roening, Juha; Ahola, Sami; Pyssysalo, Tino

    2000-10-01

    An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal- the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

  18. Visual Trajectory-Tracking Model-Based Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Andrej Zdešar

    2013-09-01

    Full Text Available In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the

  19. SREBP controls oxygen-dependent mobilization of retrotransposons in fission yeast.

    Directory of Open Access Journals (Sweden)

    Alfica Sehgal

    2007-08-01

    Full Text Available Retrotransposons are mobile genetic elements that proliferate through an RNA intermediate. Transposons do not encode transcription factors and thus rely on host factors for mRNA expression and survival. Despite information regarding conditions under which elements are upregulated, much remains to be learned about the regulatory mechanisms or factors controlling retrotransposon expression. Here, we report that low oxygen activates the fission yeast Tf2 family of retrotransposons. Sre1, the yeast ortholog of the mammalian membrane-bound transcription factor sterol regulatory element binding protein (SREBP, directly induces the expression and mobilization of Tf2 retrotransposons under low oxygen. Sre1 binds to DNA sequences in the Tf2 long terminal repeat that functions as an oxygen-dependent promoter. We find that Tf2 solo long terminal repeats throughout the genome direct oxygen-dependent expression of adjacent coding and noncoding sequences, providing a potential mechanism for the generation of oxygen-dependent gene expression.

  20. Cross-Layer Design Approach for Power Control in Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    A. Sarfaraz Ahmed

    2015-03-01

    Full Text Available In mobile ad hoc networks, communication among mobile nodes occurs through wireless medium The design of ad hoc network protocol, generally based on a traditional “layered approach”, has been found ineffective to deal with receiving signal strength (RSS-related problems, affecting the physical layer, the network layer and transport layer. This paper proposes a design approach, deviating from the traditional network design, toward enhancing the cross-layer interaction among different layers, namely physical, MAC and network. The Cross-Layer design approach for Power control (CLPC would help to enhance the transmission power by averaging the RSS values and to find an effective route between the source and the destination. This cross-layer design approach was tested by simulation (NS2 simulator and its performance over AODV was found to be better.