Development of standard components for remote handling

International Nuclear Information System (INIS)

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

1998-01-01

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

Development of standard components for remote handling

Energy Technology Data Exchange (ETDEWEB)

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

1998-04-01

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

A Perspective on Equipment Design for Fusion Remote Handling

International Nuclear Information System (INIS)

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

2006-01-01

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

Conceptual design of CFETR divertor remote handling compatible structure

International Nuclear Information System (INIS)

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

2016-01-01

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

Conceptual design of CFETR divertor remote handling compatible structure

Energy Technology Data Exchange (ETDEWEB)

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

2016-11-15

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

Remote handling needs of the Princeton Plasma Physics Laboratory

International Nuclear Information System (INIS)

Smiltnieks, V.

1982-07-01

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

Advanced remote handling developments for high radiation applications

International Nuclear Information System (INIS)

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

1985-01-01

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

Trends in remote handling device development

International Nuclear Information System (INIS)

Raimondi, T.

1991-01-01

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

Remote technologies for handling spent fuel

International Nuclear Information System (INIS)

Ramakumar, M.S.

1999-01-01

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

Remote Inspection, Measurement and Handling for LHC

CERN Document Server

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

2007-01-01

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

ITER L 6 equatorial maintenance duct remote handling study

International Nuclear Information System (INIS)

Millard, J.

1996-09-01

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

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

Energy Technology Data Exchange (ETDEWEB)

Danny Anderson

2014-07-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2012-06-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-06-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-04-01

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

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

International Nuclear Information System (INIS)

Salminen, Karoliina

2009-01-01

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

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

International Nuclear Information System (INIS)

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

2000-01-01

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

Design of remote handling equipment for the ITER NBI

Energy Technology Data Exchange (ETDEWEB)

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

1999-08-01

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

Overhead remote handling systems for the process facility modifications project

International Nuclear Information System (INIS)

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

1987-01-01

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

Remote operational trials with the ITER FDR divertor handling equipment

International Nuclear Information System (INIS)

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

2003-01-01

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

Remote handling design for moderator-reflector maintenance in JSNS

International Nuclear Information System (INIS)

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

2005-05-01

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

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

Energy Technology Data Exchange (ETDEWEB)

Timothy Solack; Carol Mason

2012-03-01

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

Remote handling in ZEPHYR

International Nuclear Information System (INIS)

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

1982-04-01

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

Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2011-04-01

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

Remote-Handled Low Level Waste Disposal Project Alternatives Analysis

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2010-10-01

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

Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2011-03-01

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

Remote-Handled Low-Level Waste Disposal Project Alternatives Analysis

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2010-06-01

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

Development of nuclear fuel cycle remote handling technology

International Nuclear Information System (INIS)

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

2012-04-01

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

Development of remote handling techniques for the HLLW solidification plant

International Nuclear Information System (INIS)

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

1982-01-01

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

Development of remote handling tools for glove box

International Nuclear Information System (INIS)

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

1996-01-01

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

NET remote workstation

International Nuclear Information System (INIS)

Leinemann, K.

1990-10-01

The goal of this NET study was to define the functionality of a remote handling workstation and its hardware and software architecture. The remote handling workstation has to fulfill two basic functions: (1) to provide the man-machine interface (MMI), that means the interface to the control system of the maintenance equipment and to the working environment (telepresence) and (2) to provide high level (task level) supporting functions (software tools) during the maintenance work and in the preparation phase. Concerning the man-machine interface, an important module of the remote handling workstation besides the standard components of man-machine interfacing is a module for graphical scene presentation supplementing viewing by TV. The technique of integrated viewing is well known from JET BOOM and TARM control using the GBsim and KISMET software. For integration of equipment dependent MMI functions the remote handling workstation provides a special software module interface. Task level support of the operator is based on (1) spatial (geometric/kinematic) models, (2) remote handling procedure models, and (3) functional models of the equipment. These models and the related simulation modules are used for planning, programming, execution monitoring, and training. The workstation provides an intelligent handbook guiding the operator through planned procedures illustrated by animated graphical sequences. For unplanned situations decision aids are available. A central point of the architectural design was to guarantee a high flexibility with respect to hardware and software. Therefore the remote handling workstation is designed as an open system based on widely accepted standards allowing the stepwise integration of the various modules starting with the basic MMI and the spatial simulation as standard components. (orig./HP) [de

Application of advanced remote systems technology to future waste handling facilities

International Nuclear Information System (INIS)

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

1987-01-01

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

Remote systems and automation in radioactive waste package handling

International Nuclear Information System (INIS)

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

1987-01-01

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

Application of remote handling compatibility on ITER plant

International Nuclear Information System (INIS)

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

2011-01-01

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

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

International Nuclear Information System (INIS)

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

1998-01-01

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

Beginnings of remote handling at the RAL Spallation Neutron Source

International Nuclear Information System (INIS)

Liska, D.J.; Hirst, J.

1985-01-01

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

Automation and remote handling activities in BARC: an overview

International Nuclear Information System (INIS)

Badodkar, D.N.

2016-01-01

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

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

Science.gov (United States)

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

2018-03-01

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

Remote systems and automation in radioactive waste package handling

International Nuclear Information System (INIS)

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

1987-01-01

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

Remote handling in reprocessing plants

International Nuclear Information System (INIS)

Streiff, G.

1984-01-01

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

Man-machine cooperation in remote handling for fusion plants

International Nuclear Information System (INIS)

Leinemann, K.

1984-01-01

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

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

International Nuclear Information System (INIS)

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

1987-01-01

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

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

International Nuclear Information System (INIS)

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

1987-01-01

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

Remote handling equipment for SNS

International Nuclear Information System (INIS)

Poulten, B.H.

1983-01-01

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

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

International Nuclear Information System (INIS)

Harvego, Lisa

2009-01-01

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

Remote handling assessment of attachment concepts for DEMO blanket segments

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

Robotics and remote handling in the nuclear industry

Energy Technology Data Exchange (ETDEWEB)

1984-01-01

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

Development of spent fuel remote handling technology

Energy Technology Data Exchange (ETDEWEB)

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

2007-02-15

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

Failure of a yoke body pin of a remote handling device

International Nuclear Information System (INIS)

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

1984-01-01

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

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

NARCIS (Netherlands)

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

2013-01-01

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

Protecting worker health and safety using remote handling systems

International Nuclear Information System (INIS)

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

1995-03-01

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

Remotely-operated equipment for inspection, measurement and handling

CERN Document Server

Bertone, C; CERN. Geneva. TS Department

2008-01-01

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

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

International Nuclear Information System (INIS)

Obara, Henjiro; Kakudate, Satoshi; Oka, Kiyoshi

1994-08-01

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

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

International Nuclear Information System (INIS)

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

1986-01-01

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

Decommissioning Handbook

International Nuclear Information System (INIS)

Cusack, J.G.; Dalfonso, P.H.; Lenyk, R.G.

1994-01-01

The Decommissioning Handbook provides technical guidance on conducting decommissioning projects. Information presented ranges from planning logic, regulations affecting decommissioning, technology discussion, health and safety requirements, an developing a cost estimate. The major focus of the handbook are the technologies -- decontamination technologies, waste treatment, dismantling/segmenting/demolition, and remote operations. Over 90 technologies are discussed in the handbook providing descriptions, applications, and advantages/disadvantages. The handbook was prepared to provide a compendium of available or potentially available technologies in order to aid the planner in meeting the specific needs of each decommissioning project. Other subjects presented in the Decommissioning Handbook include the decommissioning plan, characterization, final project configuration based planning, environmental protection, and packaging/transportation. These discussions are presented to complement the technologies presented in the handbook

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

Energy Technology Data Exchange (ETDEWEB)

Lisa Harvego

2009-06-01

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

SNS Target Test Facility for remote handling design and verification

International Nuclear Information System (INIS)

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

1998-01-01

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

Examples of remote handling of irradiated fuel assemblies in Germany

International Nuclear Information System (INIS)

Peehs, M.; Knecht, K.

1999-01-01

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

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

International Nuclear Information System (INIS)

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

2009-01-01

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

Remote handling equipment for CANDU retubing

International Nuclear Information System (INIS)

Crawford, G.S.; Lowe, H.

1993-01-01

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

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

International Nuclear Information System (INIS)

Eccleston, M.J.

1990-01-01

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

Remote handling installation of diagnostics in the JET Tokamak

Energy Technology Data Exchange (ETDEWEB)

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

2011-10-15

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-10-15

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

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

International Nuclear Information System (INIS)

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

2011-01-01

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

Decommissioning Handbook

Energy Technology Data Exchange (ETDEWEB)

1994-03-01

The Decommissioning Handbook is a technical guide for the decommissioning of nuclear facilities. The decommissioning of a nuclear facility involves the removal of the radioactive and, for practical reasons, hazardous materials to enable the facility to be released and not represent a further risk to human health and the environment. This handbook identifies and technologies and techniques that will accomplish these objectives. The emphasis in this handbook is on characterization; waste treatment; decontamination; dismantling, segmenting, demolition; and remote technologies. Other aspects that are discussed in some detail include the regulations governing decommissioning, worker and environmental protection, and packaging and transportation of the waste materials. The handbook describes in general terms the overall decommissioning project, including planning, cost estimating, and operating practices that would ease preparation of the Decommissioning Plan and the decommissioning itself. The reader is referred to other documents for more detailed information. This Decommissioning Handbook has been prepared by Enserch Environmental Corporation for the US Department of Energy and is a complete restructuring of the original handbook developed in 1980 by Nuclear Energy Services. The significant changes between the two documents are the addition of current and the deletion of obsolete technologies and the addition of chapters on project planning and the Decommissioning Plan, regulatory requirements, characterization, remote technology, and packaging and transportation of the waste materials.

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

International Nuclear Information System (INIS)

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

1989-06-01

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

Recent advances in remote handling at LAMPF

International Nuclear Information System (INIS)

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

1985-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2010-10-01

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

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

International Nuclear Information System (INIS)

1987-09-01

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

Advantage of redundancy in the controllability of remote handling manipulator

International Nuclear Information System (INIS)

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

2011-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

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

International Nuclear Information System (INIS)

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

1984-09-01

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

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

International Nuclear Information System (INIS)

Agarwal, S.K.

1990-01-01

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

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

International Nuclear Information System (INIS)

McAffee, Douglas; Raczka, Norman; Schwartztrauber, Keith

1997-01-01

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

Development of a Remote Handling System in an Integrated Pyroprocessing Facility

Directory of Open Access Journals (Sweden)

Hyo Jik Lee

2013-10-01

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

Means for attaching remote handling tongs

International Nuclear Information System (INIS)

Kearney, A.S.

1982-01-01

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

Mobile retroreflectivity best practices handbook.

Science.gov (United States)

2009-07-01

This handbook documents best practices related to proper use of the mobile retroreflectometer, sampling of : sites for data collection, and handling of mobile retroreflectivity data. The best practices described in this : handbook are derived from th...

Crane handbook

CERN Document Server

Dickie, D E

1975-01-01

Crane Handbook offers extensive advice on how to properly handle a crane. The handbook highlights various safety requirements and rules. The aim of the book is to improve the readers' crane operating skills, which could eventually make the book a standard working guide for training operators. The handbook first reminds the readers that the machine should be carefully tested by a regulatory board before use. The text then notes that choosing the right crane for a particular job is vital and explains why this is the case. It then discusses how well-equipped and durable the crane should be. T

Design for high productivity remote handling

Energy Technology Data Exchange (ETDEWEB)

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

2011-10-15

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

Design for high productivity remote handling

International Nuclear Information System (INIS)

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

2011-01-01

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

Guidelines for Remote Handling Maintenance of ITER Neutral Beam Components

International Nuclear Information System (INIS)

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

2006-01-01

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

Low-level-waste-treatment handbook

International Nuclear Information System (INIS)

Clinton, S.D.; Goeller, H.E.; Holladay, D.W.; Donaldson, T.L.

1982-01-01

The initial draft of the Low-Level Waste Treatment Handbook has been prepared and submitted to the DOE Low-Level Waste Management Program for review and comment. A revised draft is scheduled to be delivered to DOE Headquarters in December 1982. The Handbook is designed to be useful to all individuals and groups concerned with low-level wastes. It is one of several volumes that will ultimately comprise a Low-Level Waste Technology Handbook. The objective of the Low-Level Waste Treatment Handbook is to present an overview of current practices related to the segregation, classification, volume reduction, solidification, handling, packaging, and transportation of LLW for disposal in a shallow land burial facility. The Handbook is intended to serve as a guide to individuals interested in the treatment and handling of low-level radioactive waste. The Handbook will not explicitly tell the user how to design and operate LLW treatment facilities, but rather will identify (1) kinds of information required to evaluate the options, (2) methods that may be used to evaluate these options, and (3) limitations associated with the selection of the treatment options. The focus of the Handbook is providing guidance on how to do waste treatment for disposal by shallow land burial

Canadian capabilities in fusion fuels technology and remote handling

International Nuclear Information System (INIS)

1987-10-01

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

Automatic refueling platform and CRD remote handling device for BWR plant

International Nuclear Information System (INIS)

Kato, Hiroaki; Takagi, Kaoru

1978-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1999-03-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

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

International Nuclear Information System (INIS)

Ferreira, João; Vale, Alberto; Ribeiro, Isabel

2013-01-01

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

Decommissioning handbook

Energy Technology Data Exchange (ETDEWEB)

Manion, W.J.; LaGuardia, T.S.

1980-11-01

This document is a compilation of information pertinent to the decommissioning of surplus nuclear facilities. This handbook is intended to describe all stages of the decommissioning process including selection of the end product, estimation of the radioactive inventory, estimation of occupational exposures, description of the state-of-the-art in re decontamination, remote csposition of wastes, and estimation of program costs. Presentation of state-of-the-art technology and data related to decommissioning will aid in consistent and efficient program planning and performance. Particular attention is focused on available technology applicable to those decommissioning activities that have not been accomplished before, such as remote segmenting and handling of highly activated 1100 MW(e) light water reactor vessel internals and thick-walled reactor vessels. A summary of available information associated with the planning and estimating of a decommissioning program is also presented. Summarized in particular are the methodologies associated with the calculation and measurement of activated material inventory, distribution, and surface dose level, system contamination inventory and distribution, and work area dose levels. Cost estimating techniques are also presented and the manner in which to account for variations in labor costs as impacting labor-intensive work activities is explained.

Decommissioning handbook

International Nuclear Information System (INIS)

Manion, W.J.; LaGuardia, T.S.

1980-11-01

This document is a compilation of information pertinent to the decommissioning of surplus nuclear facilities. This handbook is intended to describe all stages of the decommissioning process including selection of the end product, estimation of the radioactive inventory, estimation of occupational exposures, description of the state-of-the-art in re decontamination, remote csposition of wastes, and estimation of program costs. Presentation of state-of-the-art technology and data related to decommissioning will aid in consistent and efficient program planning and performance. Particular attention is focused on available technology applicable to those decommissioning activities that have not been accomplished before, such as remote segmenting and handling of highly activated 1100 MW(e) light water reactor vessel internals and thick-walled reactor vessels. A summary of available information associated with the planning and estimating of a decommissioning program is also presented. Summarized in particular are the methodologies associated with the calculation and measurement of activated material inventory, distribution, and surface dose level, system contamination inventory and distribution, and work area dose levels. Cost estimating techniques are also presented and the manner in which to account for variations in labor costs as impacting labor-intensive work activities is explained

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

International Nuclear Information System (INIS)

Tomizuka, Chiaki; Takeuchi, Yutaka

2006-01-01

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

Analysis of ITER upper port plug remote handling maintenance scenarios

International Nuclear Information System (INIS)

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

2012-01-01

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

Analysis of ITER upper port plug remote handling maintenance scenarios

Energy Technology Data Exchange (ETDEWEB)

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

2012-08-15

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

Remote handling facility and equipment used for space truss assembly

International Nuclear Information System (INIS)

Burgess, T.W.

1987-01-01

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

Development of spent fuel remote handling technology

International Nuclear Information System (INIS)

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

2004-02-01

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

Evaluating ITER remote handling middleware concepts

International Nuclear Information System (INIS)

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

2013-01-01

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

Evaluating ITER remote handling middleware concepts

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Advanced robotic remote handling system for reactor dismantlement

International Nuclear Information System (INIS)

Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

1991-01-01

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

ITER - TVPS remote handling critical design issues

International Nuclear Information System (INIS)

1990-09-01

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

Remote handling recognition and display device

International Nuclear Information System (INIS)

Kimura, Motohiko.

1979-01-01

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

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

International Nuclear Information System (INIS)

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

1995-01-01

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

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

International Nuclear Information System (INIS)

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

1984-01-01

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

Conceptual design report for a remotely operated cask handling system

International Nuclear Information System (INIS)

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

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

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

International Nuclear Information System (INIS)

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

2012-01-01

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

The remote handling systems for ITER

Energy Technology Data Exchange (ETDEWEB)

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

2011-10-15

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

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

Energy Technology Data Exchange (ETDEWEB)

NONE

1995-11-01

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

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

International Nuclear Information System (INIS)

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

2000-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

O. P. Mendiratta; D. K. Ploetz

2000-02-29

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

ITER - torus vacuum pumping system remote handling issues

International Nuclear Information System (INIS)

Stringer, J.

1992-11-01

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

Development of spent fuel remote handling technology

International Nuclear Information System (INIS)

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

1997-12-01

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

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

International Nuclear Information System (INIS)

Sanders, S.; Rolfe, A.C.

2003-01-01

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

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

International Nuclear Information System (INIS)

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

2009-01-01

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

Management of remote-handled defense transuranic wastes

International Nuclear Information System (INIS)

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

1988-01-01

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

Development of spent fuel remote handling technology

Energy Technology Data Exchange (ETDEWEB)

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

1997-12-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-03-15

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2010-10-01

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

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

International Nuclear Information System (INIS)

Cullen, S.; Thom, M.

1993-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

NARCIS (Netherlands)

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

2013-01-01

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

Shallow-land-burial handbook

International Nuclear Information System (INIS)

Boegly, W.J. Jr.; Davis, E.C.

1981-01-01

The initial draft of the Shallow-Land Burial Handbook has been prepared and submitted to the DOE Low-Level Waste Management Program for review and comment. The Handbook informs the reader of the current way in which low-level wastes are being handled, outlines the legal and institutional problems that would be involved in developing and licensing such a facility, and describes in some detail the considerations and data needs for siting, designing, operating, and closing such a facility. The initial draft is not a Handbook that provides answers to all questions, nor insures that following the steps detailed in the Handbook guarantees that the facility will be licensed. It does illustrate the types of actions that must be considered and the types of information required to achieve successful operations

A fiber optic link for the remote handling in nuclear environment

International Nuclear Information System (INIS)

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

1988-01-01

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

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

International Nuclear Information System (INIS)

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

1982-01-01

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

Three-dimensional television system for remote handling

International Nuclear Information System (INIS)

Dumbreck, A.A.; Abel, E.

1988-01-01

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

SP-100 reactor disassembly remote handling test program

International Nuclear Information System (INIS)

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

1991-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

Safety handling manual for high dose rate remote afterloading system

International Nuclear Information System (INIS)

1999-01-01

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

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

International Nuclear Information System (INIS)

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

1975-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Remote automated material handling of radioactive waste containers

International Nuclear Information System (INIS)

Greager, T.M.

1994-09-01

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

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

International Nuclear Information System (INIS)

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

1982-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2011-05-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-03-01

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

Structural acceptance criteria Remote Handling Building Tritium Extraction Facility

Energy Technology Data Exchange (ETDEWEB)

Mertz, G.

1999-12-16

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

Structural acceptance criteria Remote Handling Building Tritium Extraction Facility

International Nuclear Information System (INIS)

Mertz, G.

1999-01-01

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

Materials handbook for fusion energy systems

Science.gov (United States)

Davis, J. W.; Marchbanks, M. F.

A materials data book for use in the design and analysis of components and systems in near term experimental and commercial reactor concepts has been created by the Office of Fusion Energy. The handbook is known as the Materials Handbook for Fusion Energy Systems (MHFES) and is available to all organizations actively involved in fusion related research or system designs. Distribution of the MHFES and its data pages is handled by the Hanford Engineering Development Laboratory (HEDL), while its direction and content is handled by McDonnell Douglas Astronautics Company — St. Louis (MDAC-STL). The MHFES differs from other handbooks in that its format is geared more to the designer and structural analyst than to the materials scientist or materials engineer. The format that is used organizes the handbook by subsystems or components rather than material. Within each subsystem is information pertaining to material selection, specific material properties, and comments or recommendations on treatment of data. Since its inception a little more than a year ago, over 80 copies have been distributed to over 28 organizations consisting of national laboratories, universities, and private industries.

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

International Nuclear Information System (INIS)

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

2009-01-01

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

Remote-Handled Transuranic Content Codes

Energy Technology Data Exchange (ETDEWEB)

Washington TRU Solutions

2006-12-01

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

Remote waste handling and feed preparation for Mixed Waste Management

International Nuclear Information System (INIS)

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

1995-05-01

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

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

International Nuclear Information System (INIS)

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

1986-01-01

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

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

International Nuclear Information System (INIS)

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

2005-01-01

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

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

International Nuclear Information System (INIS)

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

1993-01-01

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

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

International Nuclear Information System (INIS)

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

1986-12-01

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

High-definition television evaluation for remote handling task performance

International Nuclear Information System (INIS)

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

1986-01-01

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

Radioactivity, shielding, radiation damage, and remote handling

International Nuclear Information System (INIS)

Wilson, M.T.

1975-01-01

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

Development of nuclear fuel cycle remote handling technology

International Nuclear Information System (INIS)

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

2010-04-01

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

Haptic shared control improves hot cell remote handling despite controller inaccuracies

NARCIS (Netherlands)

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

2013-01-01

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

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

International Nuclear Information System (INIS)

Steiner, E.W.

1992-01-01

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

Solution for remote handling in accelerator installations

International Nuclear Information System (INIS)

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

1977-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-10-15

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

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

International Nuclear Information System (INIS)

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

2011-01-01

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

Energy manager's handbook

Energy Technology Data Exchange (ETDEWEB)

Payne, G A

1977-01-01

The handbook provides sufficient guidance on the principles involved for readers to tailor a program to meet their own requirement. The following chapters are included: Energy Conservation; Management of Energy; Delivery, Storage, and Handling of Fuels; Boilers; Furnaces; Heat Distribution and Utilization; Industrial Space Heating; Electricity; Services; and Road Transport. (MCW)

Development of simulator for remote handling system of ITER blanket

International Nuclear Information System (INIS)

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

2007-01-01

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

ITER L 7 duct remote handling equipment design report

International Nuclear Information System (INIS)

Millard, J.

1996-09-01

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

Hot Laboratories and Remote Handling

International Nuclear Information System (INIS)

2007-01-01

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

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

NARCIS (Netherlands)

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

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

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

International Nuclear Information System (INIS)

Hourfar, D.

1989-01-01

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

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

International Nuclear Information System (INIS)

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

1986-01-01

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

ITER - torus vacuum pumping system remote handling issues

International Nuclear Information System (INIS)

Stringer, J.

1992-11-01

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Remote-handled transuranic waste study

International Nuclear Information System (INIS)

1995-10-01

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

Hot Laboratories and Remote Handling

International Nuclear Information System (INIS)

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

2003-01-01

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

Nuclear robotics and remote handling at Harwell Laboratory

International Nuclear Information System (INIS)

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

1988-01-01

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

Concept design of divertor remote handling system for the FAST machine

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

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

International Nuclear Information System (INIS)

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

1988-01-01

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

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

International Nuclear Information System (INIS)

Yagi, Toshiaki; Morita, Yousuke; Seguchi, Tadao

1995-03-01

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

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

International Nuclear Information System (INIS)

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

2008-01-01

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

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

International Nuclear Information System (INIS)

Hauptmann, J.P.

1985-09-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2012-08-15

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

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

International Nuclear Information System (INIS)

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

2012-01-01

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

Remote Handling behind port plug in ITER

International Nuclear Information System (INIS)

Bede, O.; Neuberger, H.

2006-01-01

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

Virtual reality applications in remote handling development for tokamaks in India

International Nuclear Information System (INIS)

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

2017-01-01

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

Virtual reality applications in remote handling development for tokamaks in India

Energy Technology Data Exchange (ETDEWEB)

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

2017-05-15

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

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

International Nuclear Information System (INIS)

King, Ryan; Hamilton, David

2009-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1984-11-01

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

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

International Nuclear Information System (INIS)

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

1962-01-01

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

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

International Nuclear Information System (INIS)

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

1980-01-01

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

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

International Nuclear Information System (INIS)

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

1990-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

International Nuclear Information System (INIS)

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

1994-03-01

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

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

International Nuclear Information System (INIS)

Callan, J.E.

1986-01-01

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

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

International Nuclear Information System (INIS)

Grundmann, J.G.

1974-01-01

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

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

International Nuclear Information System (INIS)

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

2010-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2010-04-15

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

Availability analysis of the ITER blanket remote handling system

International Nuclear Information System (INIS)

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

2015-01-01

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

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

Science.gov (United States)

2011-06-08

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

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

International Nuclear Information System (INIS)

Whitson, W.R.

1977-09-01

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

Sodium technology handbook

International Nuclear Information System (INIS)

2005-09-01

This document was published as a textbook for the education and training of personnel working for operations and maintenances of sodium facilities including FBR plants and those engaged in R and D activities related to sodium technology. This handbook covers the following technical areas. Properties of sodium. Compatibilities of sodium with materials. Thermalhydraulics and structural integrity. Sodium systems and components. Sodium instrumentations. Sodium handling technology. Sodium related accident evaluation and countermeasures for FBRs. Operation, maintenance and repair technology of sodium facilities. Safety measures related to sodium. Laws, regulations and internal rules related to sodium. The plannings and discussions of the handbook were made in the Sodium Technology Education Committee organized in O-arai Engineering Center consisting of the representatives of the related departments including Tsuruga headquarters. Experts in various departments participated in writing individual technical subjects. (author)

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

International Nuclear Information System (INIS)

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

2008-01-01

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

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

International Nuclear Information System (INIS)

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

2007-01-01

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

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

International Nuclear Information System (INIS)

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

2008-01-01

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

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

International Nuclear Information System (INIS)

Burgoyne, R.M.

1976-12-01

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

Remote Handled Transuranic Sludge Retrieval Transfer And Storage System At Hanford

International Nuclear Information System (INIS)

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

2012-01-01

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

Remote Handled Transuranic Sludge Retrieval Transfer And Storage System At Hanford

Energy Technology Data Exchange (ETDEWEB)

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

2012-10-18

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

Remote handling and automation in back end of fuel cycle

International Nuclear Information System (INIS)

Nair, K.N.S.

2010-01-01

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

Remote handling and robotic inspections of Palo Verde reactor vessel internals

International Nuclear Information System (INIS)

Ryder, W.

1998-01-01

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

Remote handling maintenance of ITER

International Nuclear Information System (INIS)

Haange, R.

1999-01-01

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

Equipment for the handling of thorium materials

International Nuclear Information System (INIS)

Heisler, S.W. Jr.; Mihalovich, G.S.

1988-01-01

The Feed Materials Production Center (FMPC) is the United States Department of Energy's storage facility for thorium. FMPC thorium handling and overpacking projects ensure the continued safe handling and storage of the thorium inventory until final disposition of the materials is determined and implemented. The handling and overpacking of the thorium materials requires the design of a system that utilizes remote handling and overpacking equipment not currently utilized at the FMPC in the handling of uranium materials. The use of remote equipment significantly reduces radiation exposure to personnel during the handling and overpacking efforts. The design system combines existing technologies from the nuclear industry, the materials processing and handling industry and the mining industry. The designed system consists of a modified fork lift truck for the transport of thorium containers, automated equipment for material identification and inventory control, and remote handling and overpacking equipment for material identification and inventory control, and remote handling and overpacking equipment for repackaging of the thorium materials

Handbook of mathematical analysis in mechanics of viscous fluids

CERN Document Server

Novotný, Antonín

2018-01-01

Mathematics has always played a key role for researches in fluid mechanics. The purpose of this handbook is to give an overview of items that are key to handling problems in fluid mechanics. Since the field of fluid mechanics is huge, it is almost impossible to cover many topics. In this handbook, we focus on mathematical analysis on viscous Newtonian fluid. The first part is devoted to mathematical analysis on incompressible fluids while part 2 is devoted to compressible fluids.

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

International Nuclear Information System (INIS)

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

1987-01-01

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

Handbook of satellite applications

CERN Document Server

Madry, Scott; Camacho-Lara, Sergio

2013-01-01

Top space experts from around the world have collaborated to produce this comprehensive, authoritative, and clearly illustrated reference guide to the fast growing, multi-billion dollar field of satellite applications and space communications. This handbook, done under the auspices of the International Space University based in France, addresses not only system technologies but also examines market dynamics, technical standards and regulatory constraints. The handbook is a completely multi-disciplinary reference book that covers, in an in-depth fashion, the fields of satellite telecommunications, Earth observation, remote sensing, satellite navigation, geographical information systems, and geosynchronous meteorological systems. It covers current practices and designs as well as advanced concepts and future systems. It provides a comparative analysis of the common technologies and design elements for satellite application bus structures, thermal controls, power systems, stabilization techniques, telemetry, com...

Radiation safety. Handbook for laboratory workers in the USA

International Nuclear Information System (INIS)

Hotte, E.D.; Krueger, D.J.; Connor, K.

2000-01-01

The aim of the Handbook is to provide a source of information on radiation safety for those who are involved in the use of ionizing radiation in the laboratory. The potential reader may be a laboratory worker in the university or biomedical setting or the safety professional who desires a basic understanding of radiation protection within the research environment. The Handbook may be used as a reference by the radiation protection specialist or Radiation Safety Officer. To this end, liberal use is made of Appendices to make the Handbook a source of reference for a wide spectrum of readership while avoiding complicating the main body of the text. Each chapter or appendix is designed to stand alone. A complete reading of the Handbook will show that topics may be covered more than once. For example, one may read about the hazards and protective measures on handling radioiodine in Chapter 5 on Practical Radiation Protection as well as in Appendix 19 on Safe Handling of 125 I. Extensive use of figures, rather than tables has been made to present data, in the belief that these produce a good visual representation to a level of precision which is sufficient for most purposes of radiation protection in laboratories. The reader must remember that this Handbook should be taken as a guide only to the applicable regulations. You must consult the appropriate state or federal regulation directly or receive advice of a qualified radiation safety professional. Also, some information in the Appendices, such as commercially available training institutions or radioactive waste brokers, may change with time. Telephone numbers are given for the reader to call directly and check the services provided

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

International Nuclear Information System (INIS)

2006-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2006-07-01

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

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

International Nuclear Information System (INIS)

Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi

1999-02-01

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1999-02-01

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

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

International Nuclear Information System (INIS)

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

2008-06-01

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

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

International Nuclear Information System (INIS)

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

1990-01-01

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

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

International Nuclear Information System (INIS)

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

1981-01-01

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

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

International Nuclear Information System (INIS)

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

1975-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

Optimized hardware design for the divertor remote handling control system

Energy Technology Data Exchange (ETDEWEB)

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

2009-06-15

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

Report of the remote-handled transuranic waste mock retrieval demonstration

International Nuclear Information System (INIS)

1987-05-01

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

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

International Nuclear Information System (INIS)

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

2006-03-01

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

Highly active vitrification plant remote handling operational experience and improvements

International Nuclear Information System (INIS)

Milgate, I.

1996-01-01

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

Versatile cable handling mechanisms for remote operator control

Energy Technology Data Exchange (ETDEWEB)

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

1996-12-31

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

Versatile cable handling mechanisms for remote operator control

International Nuclear Information System (INIS)

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

1996-01-01

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

Versatile cable handling mechanisms for remote operator control

International Nuclear Information System (INIS)

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

1996-01-01

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

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

Directory of Open Access Journals (Sweden)

Peihua Chen

2014-01-01

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

GfW-handbook for data compilation of irradiation tested electronic components

International Nuclear Information System (INIS)

Wulf, F.; Braeunig, D.; Gaebler, W.

1981-06-01

The present 2. edition of the Data Compilation of Irradiation Tested Electronic Components represents a continuation of the 1. edition and is published as a loose-leaf handbook. In addition to the 190 reports provided in the 1. issue the present handbook contains further 44 test reports of currently used semiconductor devices in a comprehensive but easily to handle graphical and tabular presentation. Statistical values are given in order to facilitate the parts life time evaluation in a radiative environment. (orig.) [de

Development of remote handling tools and equipment

International Nuclear Information System (INIS)

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

1997-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

International Nuclear Information System (INIS)

Heckendorn, F.M.

2001-01-01

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

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

International Nuclear Information System (INIS)

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

1981-01-01

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

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

International Nuclear Information System (INIS)

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

1995-01-01

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

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

International Nuclear Information System (INIS)

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

1984-01-01

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

Simulating and visualizing deflections of a remote handling mechanism

International Nuclear Information System (INIS)

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

2013-01-01

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

Simulating and visualizing deflections of a remote handling mechanism

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Handbook of purified gases

CERN Document Server

Schoen, Helmut

2015-01-01

Technical gases are used in almost every field of industry, science and medicine and also as a means of control by government authorities and institutions and are regarded as indispensable means of assistance. In this complete handbook of purified gases the physical foundations of purified gases and mixtures as well as their manufacturing, purification, analysis, storage, handling and transport are presented in a comprehensive way. This important reference work is accompanied with a large number of Data Sheets dedicated to the most important purified gases.  

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

International Nuclear Information System (INIS)

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

2008-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-07-01

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

Remote maintenance development for ITER

International Nuclear Information System (INIS)

Tada, Eisuke; Shibanuma, Kiyoshi

1997-01-01

This paper both describes the overall design concept of the ITER remote maintenance system, which has been developed mainly for use with in-vessel components such as divertor and blanket, and outlines of the ITER R and D program, which has been established to develop remote handling equipment/tools and radiation hard components. In ITER, the reactor structures inside cryostat have to be maintained remotely because of activation due to DT operation. Therefore, remote-handling technology is fundamental, and the reactor-structure design must be made consistent with remote maintainability. The overall maintenance scenario and design concepts of the required remote handling equipment/tools have been developed according to their maintenance classification. Technologies are also being developed to verify the feasibility of the maintenance design and include fabrication and testing of a fullscale remote-handling equipment/tools for in-vessel maintenance. (author)

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

International Nuclear Information System (INIS)

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

2014-01-01

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

Remote maintenance development for ITER

International Nuclear Information System (INIS)

Tada, Eisuke; Shibanuma, Kiyoshi

1998-01-01

This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

Remote maintenance development for ITER

Energy Technology Data Exchange (ETDEWEB)

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

1998-04-01

This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

The ITER remote maintenance system

International Nuclear Information System (INIS)

Tesini, A.; Palmer, J.

2007-01-01

ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning radwaste. A conceptual ITER Hot Cell Facility is described. (orig.)

The JET experience with remote handling equipment and future prospects

International Nuclear Information System (INIS)

Raimondi, T.

1989-01-01

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

The Jet experience with remote handling equipment and future prospects

International Nuclear Information System (INIS)

Raimondi, T.

1989-01-01

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

The JET experience with remote handling equipment and future prospects

International Nuclear Information System (INIS)

Raimondi, T.

1989-01-01

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

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

International Nuclear Information System (INIS)

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

1991-01-01

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

IRPhEP-handbook, International Handbook of Evaluated Reactor Physics Benchmark Experiments

International Nuclear Information System (INIS)

Sartori, Enrico; Blair Briggs, J.

2008-01-01

1 - Description: The purpose of the International Reactor Physics Experiment Evaluation Project (IRPhEP) is to provide an extensively peer-reviewed set of reactor physics-related integral data that can be used by reactor designers and safety analysts to validate the analytical tools used to design next-generation reactors and establish the safety basis for operation of these reactors. This work of the IRPhEP is formally documented in the 'International Handbook of Evaluated Reactor Physics Benchmark Experiments,' a single source of verified and extensively peer-reviewed reactor physics benchmark measurements data. The IRPhE Handbook is available on DVD. You may request a DVD by completing the DVD Request Form available at: http://irphep.inl.gov/handbook/hbrequest.shtml The evaluation process entails the following steps: 1. Identify a comprehensive set of reactor physics experimental measurements data, 2. Evaluate the data and quantify overall uncertainties through various types of sensitivity analysis to the extent possible, verify the data by reviewing original and subsequently revised documentation, and by talking with the experimenters or individuals who are familiar with the experimental facility, 3. Compile the data into a standardized format, 4. Perform calculations of each experiment with standard reactor physics codes where it would add information, 5. Formally document the work into a single source of verified and peer reviewed reactor physics benchmark measurements data. The International Handbook of Evaluated Reactor Physics Benchmark Experiments contains reactor physics benchmark specifications that have been derived from experiments that were performed at various nuclear experimental facilities around the world. The benchmark specifications are intended for use by reactor physics personal to validate calculational techniques. The 2008 Edition of the International Handbook of Evaluated Reactor Physics Experiments contains data from 25 different

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

Energy Technology Data Exchange (ETDEWEB)

Merrill, R.D.

1995-02-01

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

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

International Nuclear Information System (INIS)

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

1994-01-01

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

an appraisal of fish processing and handling in yola north local ...

African Journals Online (AJOL)

Ibrahim Ahmed

Sensory evaluation using Hedonic rating on a 7 point scale, the values of. 4.17, 3.11 and 2.11 were obtained .... Oman: Part1 Handling and Marketing System of. Fresh Fish. Journal of ... Ranganna, S., 1986. Handbook of Analysis and quality.

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

International Nuclear Information System (INIS)

Williams, R.E.

1985-01-01

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

Kepler: A Search for Terrestrial Planets - Kepler Data Characterization Handbook

Science.gov (United States)

Van Cleve, Jeffrey; Christiansen, J. L.; Jenkins, J. M.; Caldwell, D. A.; Barclay, T.; Bryson, S. T.; Burke, C. J.; Campbell, J.; Catanzarite, J.; Clarke, B. D.;

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

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

International Nuclear Information System (INIS)

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

2007-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

David Duncan

2011-05-01

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

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

International Nuclear Information System (INIS)

Duncan, David

2011-01-01

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

Brazing handbook

CERN Document Server

American Welding Society

2007-01-01

By agreement between the American Welding Society C3 Committee on Brazing and Soldering and the ASM Handbook Committee, the AWS Brazing Handbook has been formally adopted as part of the ASM Handbook Series. Through this agreement, the brazing content in the ASM Handbook is significantly updated and expanded. The AWS Brazing Handbook, 5th Edition provides a comprehensive, organized survey of the basics of brazing, processes, and applications. Addresses the fundamentals of brazing, brazement design, brazing filler metals and fluxes, safety and health, and many other topics. Includes new chapters on induction brazing and diamond brazing.

Development of radiation hard components for ITER blanket remote handling system

Energy Technology Data Exchange (ETDEWEB)

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

2016-11-01

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

Defense Remote Handled Transuranic Waste Cost/Schedule Optimization Study

International Nuclear Information System (INIS)

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

1986-11-01

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

The ITER Remote Maintenance Management System

International Nuclear Information System (INIS)

Tesini, Alessandro; Rolfe, A.C.

2009-01-01

A major challenge for the ITER project is to develop and implement a Remote Maintenance System, which can deliver high Tokamak availability within the constraints of the overall ITER programme objectives. Much of the maintenance of ITER will be performed using remote handling methods and some with combined manual and remote activities working together. The organization and management of the ITER remote handling facilities will be of a scale unlike any other remote handling application in the world. The ITER remote handling design and procurement activities will require co-ordination and management across many different sites throughout the world. It will be a major challenge for the ITER project to ensure a consistent quality and technical approach in all of the contributing parties. To address this issue the IO remote handling team are implementing the ITER Maintenance Management Plan (IMMP) comprising an overarching document defining the policies and methodologies (ITER Remote Maintenance Management System or IMMS) and an associated ITER remote handling code of practise (IRHCOP). The IMMS will be in document form available as a pdf file or similar. The IRHCOP will be implemented as a web based application and will provide access to the central resource of the entire code of practise from any location in the world. The IRHCOP data library will be centrally controlled in order that users can be assured of the data relevance and authenticity. This paper will describe the overall approach being taken to deal with this challenge and go on to detail the structure and content of both the IMMS and the IRHCOP.

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

International Nuclear Information System (INIS)

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

2011-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-11-15

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

Radioactivity Handbook

International Nuclear Information System (INIS)

Firestone, R.B.; Browne, E.

1985-01-01

The Radioactivity Handbook will be published in 1985. This handbook is intended primarily for applied users of nuclear data. It will contain recommended radiation data for all radioactive isotopes. Pages from the Radioactivity Handbook for A = 221 are shown as examples. These have been produced from the LBL Isotopes Project extended ENDSF data-base. The skeleton schemes have been manually updated from the Table of Isotopes and the tabular data are prepared using UNIX with a phototypesetter. Some of the features of the Radioactivity Handbook are discussed here

General Guidelines for Remote Operation and Maintenance of Pyroprocess Equipment

Energy Technology Data Exchange (ETDEWEB)

Kim, S. H.; Park, B. S.; Park, H. S.; Lee, H. J.; Choi, C. W.; Lee, J. K

2007-12-15

As the pyroprocess handle the high radioactive materials, a high radioactive material handling facility required high safety, radioactive shielding, strict quality control, and the remote handling equipment of high technology. This report describes the guidelines of for pyroprocess based the design guides for radioactive material handling facility and equipment from American Nuclear Society(ANS), design guidelines for remotely maintained equipment from Oak Ridge National Laboratory(ORNL), and the experience of design for ACP equipment installed at the ACPF(Advanced Conditioning Process Facility). The General guidelines in this report are as follows. The General guidelines for remote operation and maintenance of pyroprocess equipment: Pyroprocess, Remote handling equipment for pyroprocess, General guide for remote operation and maintenance, general guidelines for the design of remotely operated and maintained equipment, Estimation and analysis for remote maintenance.

Technology Development And Deployment Of Systems For The Retrieval And Processing Of Remote-Handled Sludge From Hanford K-West Fuel Storage Basin

International Nuclear Information System (INIS)

Raymond, R.E.

2011-01-01

In 2011, significant progress was made in developing and deploying technologies to remove, transport, and interim store remote-handled sludge from the 105-K West Fuel Storage Basin on the Hanford Site in south-central Washington State. The sludge in the 105-K West Basin is an accumulation of degraded spent nuclear fuel and other debris that collected during long-term underwater storage of the spent fuel. In 2010, an innovative, remotely operated retrieval system was used to successfully retrieve over 99.7% of the radioactive sludge from 10 submerged temporary storage containers in the K West Basin. In 2011, a full-scale prototype facility was completed for use in technology development, design qualification testing, and operator training on systems used to retrieve, transport, and store highly radioactive K Basin sludge. In this facility, three separate systems for characterizing, retrieving, pretreating, and processing remote-handled sludge were developed. Two of these systems were successfully deployed in 2011. One of these systems was used to pretreat knockout pot sludge as part of the 105-K West Basin cleanup. Knockout pot sludge contains pieces of degraded uranium fuel ranging in size from 600 μm to 6350 μm mixed with pieces of inert material, such as aluminum wire and graphite, in the same size range. The 2011 pretreatment campaign successfully removed most of the inert material from the sludge stream and significantly reduced the remaining volume of knockout pot product material. Removing the inert material significantly minimized the waste stream and reduced costs by reducing the number of transportation and storage containers. Removing the inert material also improved worker safety by reducing the number of remote-handled shipments. Also in 2011, technology development and final design were completed on the system to remove knockout pot material from the basin and transport the material to an onsite facility for interim storage. This system is scheduled

Handbook for Policymackers

DEFF Research Database (Denmark)

Jensen, Ulla Højmark

2016-01-01

The purpose of the handbook is to support policy makers / decision makers by enabling them to make informed decisions about funding for second chance education or the adoption of its methods into mainstream education. The Handbook makes policy recommendations and provides guidelines to structure...... a quality assurance system that evidences success factors of second chance education and the value of informal learning. The handbook draws on the results of the literature review, the development of the quality assurance system (SMS system), the Teachers Handbook and the Organisational Handbook...

Torus sector handling system

International Nuclear Information System (INIS)

Grisham, D.L.

1981-01-01

A remote handling system is proposed for moving a torus sector of the accelerator from under the cryostat to a point where it can be handled by a crane and for the reverse process for a new sector. Equipment recommendations are presented, as well as possible alignment schemes. Some general comments about future remote-handling methods and the present capabilities of existing systems will also be included. The specific task to be addressed is the removal and replacement of a 425 to 450 ton torus sector. This requires a horizontal movement of approx. 10 m from a normal operating position to a point where its further transport can be accomplished by more conventional means (crane or floor transporter). The same horizontal movement is required for reinstallation, but a positional tolerance of 2 cm is required to allow reasonable fit-up for the vacuum seal from the radial frames to the torus sector. Since the sectors are not only heavy but rather tall and narrow, the transport system must provide a safe, stable, and repeatable method fo sector movement. This limited study indicates that the LAMPF-based method of transporting torus sectors offers a proven method of moving heavy items. In addition, the present state of the art in remote equipment is adequate for FED maintenance

Setting up and managing a remote maintenance operation for fusion

International Nuclear Information System (INIS)

Haist, Bernhard

2008-01-01

Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development. - Remote handling task logistics and resource management. - Command, control and human-machine interface system. - Viewing and camera systems. - Virtual reality and Augmented Reality software. - Automatic path planning and collision avoidance. - Remote transfer of heavy loads. - Maintainability of RH equipment. - Reliability, redundant systems and safety. - Rationalisation and modularity in both hardware and software. - Recovery from failure modes. - Condition monitoring and fault detection/prediction. - Ability to deal with unforeseen problems. Oxford Technologies Ltd. has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd. also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET remote handling experience and the ITER Hot Cell design and layout are given throughout this paper

Setting up and managing a remote maintenance operation for fusion

International Nuclear Information System (INIS)

Haist, B.

2007-01-01

Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development - Remote handling task logistics and resource management - Command, control and human-machine interface system - Viewing and camera systems - Virtual Reality and Augmented Reality software - Automatic path planning and collision avoidance - Remote transfer of heavy loads - Maintainability of RH Equipment - Reliability, redundant systems and safety - Rationalisation and modularity in both hardware and software - Recovery from failure modes - Condition monitoring and fault detection/prediction - Ability to deal with unforeseen problems Oxford Technologies Ltd has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET Remote Handling experience and the ITER Hot Cell design and layout are given throughout this paper. (orig.)

Setting up and managing a remote maintenance operation for fusion

Energy Technology Data Exchange (ETDEWEB)

Haist, Bernhard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon, Oxon OX14 1RJ (United Kingdom)], E-mail: Bernhard.Haist@oxfordtechnologies.co.uk

2008-12-15

Trying to set up and manage a remote maintenance operation for a thermonuclear fusion reactor is a complex undertaking. There are many problems and challenges which need addressing. This paper tries to guide the reader through this process by composing a list of generic problems and by analysing possible solutions. The first challenge before setting up a remote maintenance operation for a fusion reactor is the systematic analysis of all the remote handling requirements. Based upon this the remote handling concept, including facility layout and equipment, can be defined. The following aspects have to be considered and incorporated into the remote handling concept: - Remote handling task development. - Remote handling task logistics and resource management. - Command, control and human-machine interface system. - Viewing and camera systems. - Virtual reality and Augmented Reality software. - Automatic path planning and collision avoidance. - Remote transfer of heavy loads. - Maintainability of RH equipment. - Reliability, redundant systems and safety. - Rationalisation and modularity in both hardware and software. - Recovery from failure modes. - Condition monitoring and fault detection/prediction. - Ability to deal with unforeseen problems. Oxford Technologies Ltd. has a proven track record in setting up and running the Remote Handling group at the JET Joint Undertaking in Culham, UK. Based on the unique experience gained at JET, Oxford Technologies Ltd. also developed the current design and remote handling concept of the ITER Hot Cell during a study in 2004. Examples of both the JET remote handling experience and the ITER Hot Cell design and layout are given throughout this paper.

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

International Nuclear Information System (INIS)

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

2016-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2016-06-15

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

Kepler: A Search for Terrestrial Planets. K2 Handbook

Science.gov (United States)

Van Cleve, Jeffrey; Bryson, Steve

2017-01-01

The Kepler spacecraft was repurposed for the K2 mission a year after the failure of the second of Kepler's four reaction wheels in 2013 May. The purpose of this document, the K2 Handbook (K2H), is to describe features of K2 operations, performance, data analysis, and archive products which are common to most K2 campaigns, but different in degree or kind from the corresponding features of the Kepler mission.The K2 Handbook is meant to be read with the following companion documents, which are all publicly available:1. Kepler Instrument Handbook (KSCI-19033) provides information about the design, performance and operational constraints of the instrument and an overview of the types of pixel data that are available.2. Kepler Data Processing Handbook (KSCI-19081) describes how pixels downloaded from the spacecraft are converted by the Kepler Data Processing Pipeline into the data products available at the MAST archive3. Kepler Archive Manual (KDMC-100008) describes the format and content of the data products and how to search for them.4. Kepler Data Characteristics Handbook (KSCI-19040) describes recurring non-astrophysical features of the Kepler data due to instrument signatures, spacecraft events or solar activity and explains how these characteristics are handled by the Kepler pipeline.5. The Ecliptic Plane Input Catalog describes the provenance of the positions and Kepler magnitudes used for target management and aperature photometry.6. K2 Data Release Notes (DRN) are on-line documents available on the K2 science website which describe the data inventory, instrumental signatures and events peculiar to individual observing campaigns.

Remote handling in nuclear fusion research

International Nuclear Information System (INIS)

Removille, J.

1989-01-01

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

Remote-Handled Transuranic Content Codes

International Nuclear Information System (INIS)

2001-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Semiconductors data handbook

CERN Document Server

Madelung, Otfried

2004-01-01

This volume Semiconductors: Data Handbook contains frequently used data from the corresponding larger Landolt-Börnstein handbooks in a low price book for the individual scientist working in the laboratory. The Handbook contain important information about a large number of semiconductors

PSA Review Handbook

International Nuclear Information System (INIS)

Hallman, Anders; Nyman, Ralph; Knochenhauer, Michael

2004-05-01

The Swedish Nuclear Power Inspectorate (SKI) expresses requirements on the performance of PSAs as well as on PSA activities in general in the the regulatory document 'Regulations Concerning Safety in Certain Nuclear Facilities', SKlFS 1998:1. The follow-up of these activities is part of the inspection tasks of the SKI. In view or this, there is a need for documented guidelines on now to perform these inspections and reviews. The SKI PSA Review Handbook is intended to be a support in the SKI inspection and control of the PSA activities or the licensees. These PSA activities include both the organisation and working procedures of the licensee, the layout and contents of the PSA, and its areas of application. Using the regulation SKIFS 1998:1 as a starting point, the review handbook presents important aspects to be considered when judging whether a licensee fulfils the requirements on PSA activities, including the performance of PSA:s or PSA applications. The handbook shall also be a guidance for the review of PSA:s. However, the intention of the PSA Review Handbook is not to be a handbook for how a PSA is performed. The PSA Review Handbook is applicable to all types or initiating events and all operating conditions, and has been structured in a way, which stresses the integrated characteristics of PSA in the creation of the risk picture of a plant. The PSA Review Handbook has been based on the requirements for PSA of nuclear power plants, as this is the most extensive application. However, the relevant parts of it are also applicable when analysing other nuclear installations. The PSA Review Handbook is published as a research report as its contents are judged to be of general interest, and the SKI welcomes comments to the handbook. An update or the PSA Review Handbook may be required as experience with the use of the handbook is acquired and if general PSA requirements change

TPX in-vessel remote maintenance tooling

International Nuclear Information System (INIS)

Rennich, M.J.; Silke, G.W.

1995-01-01

The Tokamak Physics Experiment (TPX) has used the lessons learned from successful remote maintenance and remote handling facilities to develop both a concept and philosophy for incorporation of remote design from the earliest phases of the project. Initiation of mockup testing during the conceptual design phase leads to significant improvements in the basic maintenance equipment configuration. In addition, remote handling features and capabilities have been incorporated into the design of the plasma-facing components (PFCs) as part of the total PFC design effort

Mechanical engineer's handbook

CERN Document Server

Marghitu, Dan B

2001-01-01

The Mechanical Engineer's Handbook was developed and written specifically to fill a need for mechanical engineers and mechanical engineering students throughout the world. With over 1000 pages, 550 illustrations, and 26 tables the Mechanical Engineer's Handbook is very comprehensive, yet affordable, compact, and durable. The Handbook covers all major areas of mechanical engineering with succinct coverage of the definitions, formulas, examples, theory, proofs, and explanations of all principle subject areas. The Handbook is an essential, practical companion for all mechanic

Critical element development of standard pipe connector for remote handling

International Nuclear Information System (INIS)

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

1994-08-01

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

Technical handbook on the National Arrangements for Incidents involving Radioactivity. NAIR technical handbook

International Nuclear Information System (INIS)

McColl, N.P.; Kruse, P.

2002-01-01

This Technical Handbook contains information for radiation specialists participating in the National Arrangements for Incidents involving Radioactivity (NAIR). Together with the NAIR Users Handbook 2000 edition, it updates and replaces the NAIR Handbook published in 1995. The Users Handbook was designed for those who might seek assistance through NAIR, principally the police or other emergency services. Both Handbooks are reproduced on the NRPB website (www.nrpb.org) and are available from NRPB

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

International Nuclear Information System (INIS)

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

2013-01-01

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

Remote handling procedures in JET

International Nuclear Information System (INIS)

Raimondi, T.; Huguet, M.

1976-01-01

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

Nuclear fuel handling apparatus

International Nuclear Information System (INIS)

Andrea, C.; Dupen, C.F.G.; Noyes, R.C.

1977-01-01

A fuel handling machine for a liquid metal cooled nuclear reactor in which a retractable handling tube and gripper are lowered into the reactor to withdraw a spent fuel assembly into the handling tube. The handling tube containing the fuel assembly immersed in liquid sodium is then withdrawn completely from the reactor into the outer barrel of the handling machine. The machine is then used to transport the spent fuel assembly directly to a remotely located decay tank. The fuel handling machine includes a decay heat removal system which continuously removes heat from the interior of the handling tube and which is capable of operating at its full cooling capacity at all times. The handling tube is supported in the machine from an articulated joint which enables it to readily align itself with the correct position in the core. An emergency sodium supply is carried directly by the machine to provide make up in the event of a loss of sodium from the handling tube during transport to the decay tank. 5 claims, 32 drawing figures

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

International Nuclear Information System (INIS)

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

1985-04-01

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

Remote operations in a Fusion Engineering Research Facility (FERF)

International Nuclear Information System (INIS)

Doggett, J.N.

1975-01-01

The proposed Fusion Engineering Research Facility (FERF) has been designed for the test and evaluation of materials that will be exposed to the hostile radiation environment created by fusion reactors. Because the FERF itself must create a very hostile radiation environment, extensive remote handling procedures will be required as part of its routine operations as well as for both scheduled and unscheduled maintenance. This report analyzes the remote-handling implications of a vertical- rather than horizontal-orientation of the FERF magnet, describes the specific remote-handling facilities of the proposed FERF installation and compares the FERF remote-handling system with several other existing and proposed facilities. (U.S.)

Handbook of fiber optics theory and applications

CERN Document Server

Yeh, Chai

2013-01-01

Dr. Yeh supplies a firm theoretical foundation in such topics as propagation of light through fibers, fiber fabrication, loss mechanisms, and dispersion properties. He then expands from this into such practical areas as fiber splicing, measuring loss in fibers, fiber-based communications networks, remote fiber sensors, and integrated optics. Whether involved in fiber optics research, design, or practical implementation of systems, this handbook will be extremely useful.Key Features* Here is a comprehensive, ""one-stop"" reference with state-of-the-art information on fiber optics Included is da

B cell remote-handled waste shipment cask alternatives study

International Nuclear Information System (INIS)

RIDDELLE, J.G.

1999-01-01

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

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

International Nuclear Information System (INIS)

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

2011-01-01

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

Development of blanket remote maintenance system

International Nuclear Information System (INIS)

Kakudate, Satoshi; Nakahira, Masataka; Oka, Kiyoshi; Taguchi, Kou

1998-01-01

ITER in-vessel components such as blankets are scheduled maintenance components, including complete shield blanket replacement for breeding blankets. In-vessel components are activated by 14 MeV neutrons, so blanket maintenance requires remote handling equipment and tools able to handle heavy payloads of about 4 tons within a positioning accuracy of 2 mm under intense gamma radiation. To facilitate remote maintenance, blankets are segmented into 730 modules and rail-mounted vehicle remote maintenance was developed. According to the ITER R and D program, critical technology related to blanket maintenance was developed extensively through joint efforts of the Japan, EU, and U.S. home teams. This paper summarizes current blanket maintenance technology conducted by the Japan Home Team, including development of full-scale remote handling equipment and tools for blanket maintenance. (author)

Development of blanket remote maintenance system

Energy Technology Data Exchange (ETDEWEB)

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

1998-04-01

ITER in-vessel components such as blankets are scheduled maintenance components, including complete shield blanket replacement for breeding blankets. In-vessel components are activated by 14 MeV neutrons, so blanket maintenance requires remote handling equipment and tools able to handle heavy payloads of about 4 tons within a positioning accuracy of 2 mm under intense gamma radiation. To facilitate remote maintenance, blankets are segmented into 730 modules and rail-mounted vehicle remote maintenance was developed. According to the ITER R and D program, critical technology related to blanket maintenance was developed extensively through joint efforts of the Japan, EU, and U.S. home teams. This paper summarizes current blanket maintenance technology conducted by the Japan Home Team, including development of full-scale remote handling equipment and tools for blanket maintenance. (author)

Measurement and control system for ITER remote maintenance equipment

Energy Technology Data Exchange (ETDEWEB)

Oka, Kiyoshi; Kakudate, Satoshi; Takeda, Nobukazu; Takiguchi, Yuji; Akou, Kentaro [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

1998-04-01

ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2 mm precision tolerance. Divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R and D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution. (author)

Measurement and control system for ITER remote maintenance equipment

International Nuclear Information System (INIS)

Oka, Kiyoshi; Kakudate, Satoshi; Takeda, Nobukazu; Takiguchi, Yuji; Akou, Kentaro

1998-01-01

ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2 mm precision tolerance. Divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R and D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution. (author)

The operational challenge of remote maintenance

International Nuclear Information System (INIS)

Forsythe, L.

2015-01-01

Full text of publication follows. With the declining supply of fossil fuels that are used in power stations today, and the ongoing concern over climate change, nuclear fusion is one of the most promising options for generating large amounts of carbon-free energy in the future. Fuel supplies for fusion will be available for millions of years, with 1 kg of fusion fuel providing the same amount of energy as 10 thousand tonnes of fossil fuel. Unlike conventional fission reactors, the radioactive waste produced from fusion is short-lived, and will be safe to dispose of conventionally within 100 years. Although fusion has the huge advantage of being a carbon free energy source, there are complexities when it comes to maintaining the machine. Due to the nature of the fusion reaction, the components within the area of the reactor vacuum vessel become radioactive, which requires maintenance and modifications to be conducted remotely to protect human operators. Remote maintenance is the use of manipulators to carry out tasks in challenging or hostile environments, which would otherwise cause harm to humans. Remote handling slave manipulators do the work of a human by mimicking the movements from a master robotic manipulator that is controlled by a human operator. This means that remote handling can be used in many other areas other too, such as space; fission power plants; sub-sea; and nuclear material handling or in adverse environments such as: low or high temperature; chemically contaminated; combustible and low oxygen environments. Remote maintenance requires specialist engineers to take into consideration many aspects normally taken for granted when carrying out a task manually. Constraints such as the space around us; viewing and lighting; the human body's dexterity and flexibility; the weight and centre of gravity of tools and components, and how we securely grip and handle them; and access to fixings and fastenings. All these are factors that require careful

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Hybrid microcircuit technology handbook materials, processes, design, testing and production

CERN Document Server

Licari, James J

1998-01-01

The Hybrid Microcircuit Technology Handbook integrates the many diverse technologies used in the design, fabrication, assembly, and testing of hybrid segments crucial to the success of producing reliable circuits in high yields. Among these are: resistor trimming, wire bonding, die attachment, cleaning, hermetic sealing, and moisture analysis. In addition to thin films, thick films, and assembly processes, important chapters on substrate selections, handling (including electrostatic discharge), failure analysis, and documentation are included. A comprehensive chapter of design guidelines will

Gen IV Materials Handbook Functionalities and Operation (2B) Handbook Version 2.0

International Nuclear Information System (INIS)

Ren, Weiju

2011-01-01

This document is prepared for navigation and operation of the Gen IV Materials Handbook, with architecture description and new user access initiation instructions. Development rationale and history of the Handbook is summarized. The major development aspects, architecture, and design principles of the Handbook are briefly introduced to provide an overview of its past evolution and future prospects. Detailed instructions are given with examples for navigating the constructed Handbook components and using the main functionalities. Procedures are provided in a step-by-step fashion for Data Upload Managers to upload reports and data files, as well as for new users to initiate Handbook access.

Gen IV Materials Handbook Functionalities and Operation (4A) Handbook Version 4.0

Energy Technology Data Exchange (ETDEWEB)

Ren, Weiju [ORNL

2013-09-01

This document is prepared for navigation and operation of the Gen IV Materials Handbook, with architecture description and new user access initiation instructions. Development rationale and history of the Handbook is summarized. The major development aspects, architecture, and design principles of the Handbook are briefly introduced to provide an overview of its past evolution and future prospects. Detailed instructions are given with examples for navigating the constructed Handbook components and using the main functionalities. Procedures are provided in a step-by-step fashion for Data Upload Managers to upload reports and data files, as well as for new users to initiate Handbook access.

Gen IV Materials Handbook Functionalities and Operation (2B) Handbook Version 2.0

Energy Technology Data Exchange (ETDEWEB)

Ren, Weiju [ORNL

2011-08-01

This document is prepared for navigation and operation of the Gen IV Materials Handbook, with architecture description and new user access initiation instructions. Development rationale and history of the Handbook is summarized. The major development aspects, architecture, and design principles of the Handbook are briefly introduced to provide an overview of its past evolution and future prospects. Detailed instructions are given with examples for navigating the constructed Handbook components and using the main functionalities. Procedures are provided in a step-by-step fashion for Data Upload Managers to upload reports and data files, as well as for new users to initiate Handbook access.

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

International Nuclear Information System (INIS)

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

1995-01-01

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

Remote controlled stud bolt handling device for reactor pressure vessel

International Nuclear Information System (INIS)

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

1988-01-01

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

Evaluating ITER remote handling middleware concepts

NARCIS (Netherlands)

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

2013-01-01

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

The Operational Auditing Handbook Auditing Business and IT Processes

CERN Document Server

Chambers, Andrew

2011-01-01

Never out of print since 1997, and substantially updated for this second edition, The Operational Auditing Handbook has earned an international reputation as a hands-on, practical manual for internal auditors and managers to enable them to carry out audits and reviews of a wide range of business activities including: Finance and accountingSarbanes-Oxley compliancePurchasingOperations and productionMarketing and salesDistributionPersonnel and management developmentResearch and developmentInformation technologySecurityEnvironmental responsibilitySubsidiaries and remote operating units The Opera

Conceptual design of Blanket Remote Handling System for CFETR

Energy Technology Data Exchange (ETDEWEB)

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

2015-11-15

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

Conceptual design of Blanket Remote Handling System for CFETR

International Nuclear Information System (INIS)

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

2015-01-01

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

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

International Nuclear Information System (INIS)

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

1995-01-01

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

Design, fabrication, and mockup testing in the remote maintenance development facility

International Nuclear Information System (INIS)

Carter, J.A.; Jacobs, R.T.; Bingham, G.E.

1978-01-01

The Remote Maintenance Development Facility at the Idaho National Engineering Laboratory was installed and used extensively for full-scale development, mockup, and testing of remote maintenance requirements for the New Waste Calcining Facility (NWCF). By performing remote handling tests, the NWCF handling concepts, techniques, and remote capabilities were proven workable prior to construction. A description of the RMDF and its purpose, functions, and handling capabilities as they were used in support of the NWCF is presented

Handbook of radiation effects

International Nuclear Information System (INIS)

Holmes-Siedle, A.; Adams, L.

1993-01-01

This handbook is intended to serve as a tool for designers of equipment and scientific instruments in cases where they are required to ensure the survival of the equipment in radiation environments. High-technology materials, especially semiconductors and optics, tend to degrade on exposure to radiation in many different ways. Intense high-energy radiation environments are found in nuclear reactors and accelerators, machines for radiation therapy, industrial sterilization, and space. Some engineers have to build equipment which will survive a nuclear explosion from a hostile source. Proper handling of a disaster with radioactive materials requires equipment which depends utterly on semiconductor microelectronics and imaging devices. Thus the technology of radiation-tolerant electronics is an instrument for good social spheres as diverse as disaster planning and the exploration of Mars. In order to design equipment for intense environments like those described above, then degradation from high-energy irradiation must be seen as a basic design parameter. The aim of this handbook is to assist the engineer or student in that thought; to make it possible to write intelligent specifications; to offer some understanding of the complex variety of effects which occur when high-technology components encounter high-energy radiation; and to go thoroughly into the balance of choices of how to alleviate the effects and hence achieve the design aims of the project. Separate abstracts were prepared for 15 chapters of this book

Haptic shared control improves hot cell remote handling despite controller inaccuracies

International Nuclear Information System (INIS)

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

2013-01-01

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

Haptic shared control improves hot cell remote handling despite controller inaccuracies

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

The ITER remote maintenance system

International Nuclear Information System (INIS)

Tesini, A.; Palmer, J.

2008-01-01

The aim of this paper is to summarize the ITER approach to machine components maintenance. A major objective of the ITER project is to demonstrate that a future power producing fusion device can be maintained effectively and offer practical levels of plant availability. During its operational lifetime, many systems of the ITER machine will require maintenance and modification; this can be achieved using remote handling methods. The need for timely, safe and effective remote operations on a machine as complex as ITER and within one of the world's most hostile remote handling environments represents a major challenge at every level of the ITER Project organization, engineering and technology. The basic principles of fusion reactor maintenance are presented. An updated description of the ITER remote maintenance system is provided. This includes the maintenance equipment used inside the vacuum vessel, inside the hot cell and the hot cell itself. The correlation between the functions of the remote handling equipment, of the hot cell and of the radwaste processing system is also described. The paper concludes that ITER has equipped itself with a good platform to tackle the challenges presented by its own maintenance and upgrade needs

Design, fabrication, and mockup testing in the Remote Maintenance Development Facility

International Nuclear Information System (INIS)

Carter, J.A.; Jacobs, R.T.; Bingham, G.E.

1978-01-01

The Remote Maintenance Development Facility (RMDF) at the Idaho National Engineering Laboratory (INEL) was installed and used extensively for full-scale development, mockup and testing of remote maintenance requirements for the New Waste Calcining Facility (NWCF). By performing remote handling tests, the NWCF handling concepts, techniques and remote capabilities were proven workable prior to construction. Presented in this paper is a description of the RMDF and its purpose, functions, and handling capabilities as they were used in support of the NWCF

Remote handling and accelerators

International Nuclear Information System (INIS)

Wilson, M.T.

1983-01-01

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

Employee Handbook

Energy Technology Data Exchange (ETDEWEB)

Bello, Madelyn

2008-09-05

Welcome to Berkeley Lab. You are joining or are already a part of a laboratory with a sterling tradition of scientific achievement, including eleven Nobel Laureates and thirteen National Medal of Science winners. No matter what job you do, you make Berkeley Lab the outstanding organization that it is. Without your hard work and dedication, we could not achieve all that we have. We value you and thank you for choosing to be part of our community. This Employee Handbook is designed to help you navigate the Lab. With over 3,000 employees, an additional 3,000 guests visiting from countries around the world, a 200-acre campus and many policies and procedures, learning all the ins and outs may seem overwhelming, especially if you're a new employee. However, even if you have been here for a while, this Handbook should be a useful reference tool. It is meant to serve as a guide, highlighting and summarizing what you need to know and informing you where you can go for more detailed information. The general information provided in this Handbook serves only as a brief description of many of the Lab's policies. Policies, procedures and information are found in the Lab's Regulations and Procedures Manual (RPM), Summary Plan Descriptions, University of California policies, and provisions of Contract 31 between the Regents of the University and the U.S. Department of Energy. In addition, specific terms and conditions for represented employees are found in applicable collective bargaining agreements. Nothing in this Handbook is intended to supplant, change or conflict with the previously mentioned documents. In addition, the information in this Handbook does not constitute a contract or a promise of continued employment and may be changed at any time by the Lab. We believe employees are happier and more productive if they know what they can expect from their organization and what their organization expects from them. The Handbook will familiarize you with the

Handbook of Memetic Algorithms

CERN Document Server

Cotta, Carlos; Moscato, Pablo

2012-01-01

Memetic Algorithms (MAs) are computational intelligence structures combining multiple and various operators in order to address optimization problems.  The combination and interaction amongst operators evolves and promotes the diffusion of the most successful units and generates an algorithmic behavior which can handle complex objective functions and hard fitness landscapes.   “Handbook of Memetic Algorithms” organizes, in a structured way, all the the most important results in the field of MAs since their earliest definition until now.  A broad review including various algorithmic solutions as well as successful applications is included in this book. Each class of optimization problems, such as constrained optimization, multi-objective optimization, continuous vs combinatorial problems, uncertainties, are analysed separately and, for each problem,  memetic recipes for tackling the difficulties are given with some successful examples. Although this book contains chapters written by multiple authors, ...

Development of commercial robots for radwaste handling

International Nuclear Information System (INIS)

Colborn, K.A.

1988-01-01

The cost and dose burden associated with low level radwaste handling activities is a matter of increasing concern to the commercial nuclear power industry. This concern is evidenced by the fact that many utilities have begun to revaluate waste generation, handling, and disposal activities at their plants in an effort to improve their overall radwaste handling operations. This paper reports on the project Robots for Radwaste Handling, to identify the potential of robots to improve radwaste handling operations. The project has focussed on the potential of remote or automated technology to improve well defined, recognizable radwaste operations. The project focussed on repetitive, low skill level radwaste handling and decontamination tasks which involve significant radiation exposure

Remote interest in the UK

International Nuclear Information System (INIS)

Watson, C.

1993-01-01

The United Kingdom nuclear industry has moved on from its low-technology solutions to remote handling problems which were popular in the 1950s and 1960s. A change in attitude has occurred which means that users are looking for high-technology solutions to today's remote handling problems. This review focuses on the ways in which their needs are being met and on the demands for future development which they are generating. (UK)

The remote exchange of the JET divertor

International Nuclear Information System (INIS)

Pick, M.

1999-01-01

In 1997 a series of experiments were performed in the JET machine using deuterium-tritium (D-T) mixtures and resulting in discharges with record breaking fusion power and fusion energy. The experiments demonstrated a key technology required for fusion, namely the on-line operation of a tritium fuel re-processing plant. These experiments left the inside of the JET vessel inaccessible to manned access for approximately one year. During this time, the complete Mark IIA divertor, a major system within the torus, was successfully removed and replaced with a new divertor design, the Mark II Gas Box divertor, using only remote handling techniques. This was the first application of the JET remote handling system and a demonstration of a further key ITER technology. The paper explains the methodology and operational approach taken to achieve the results using the remote handling system developed at JET. It describes the remote handling equipment including the force-reflecting servo-manipulator, the specialised tools designed, the facilities needed, and the trials, planning and training carried out to ensure the safe, reliable and rapid completion of the remote handling tasks. The planned tasks are outlined including the execution of the novel procedure for a remote, sub-millimetre precision, dimensional survey of the divertor support structure using digital photogrammetry. Furthermore the paper shows how the adaptability of the system was used to successfully undertake a large number of unplanned tasks including the removal of damaged tiles, a damaged diagnostic system and the vacuum cleaning of diagnostic windows. (author)

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

International Nuclear Information System (INIS)

MCKENNEY, D.E.

2000-01-01

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

Remote operation system for container

International Nuclear Information System (INIS)

Nakahara, Hirotaka; Hayata, Takashi; Kajiyama, Shigeru; Takahashi, Fuminobu

1998-01-01

The present invention provides a remote operation system for conducting operation with operation reaction for the inside of a container filled with water (liquid), such as of inner walls and inner structural materials of a BWR type reactor. Namely, a swimming robot comprises a swimming device swimming in the liquid and an attaching/detaching device for holding/releasing the handling robot. A control device remotely operate the swimming robot and the handling robot by way of a cable. A cable processing device takes up or dispenses the cable. In addition, when the swimming robot grasps the handling robot by the attaching/detaching device, the swimming robot transmits an operation instruction sent from the control device by way of the cable to the handling robot. After the attaching/detaching device of the swimming robot releases the handling robot, the handling robot operates based on the transmitted operation instruction. It is preferable that the handling robot has an adsorptive moving device for moving itself while being adsorbed on the wall surface of the container. (I.S.)

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

International Nuclear Information System (INIS)

RIDDELLE, J.G.

1999-01-01

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

Metallic Fuels Handbook

Energy Technology Data Exchange (ETDEWEB)

Janney, Dawn E. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Papesch, Cynthia A. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Burkes, Douglas E. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Cole, James I. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Fielding, Randall S. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Frank, Steven M. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Hartmann, Thomas [Idaho National Lab. (INL), Idaho Falls, ID (United States); Hyde, Timothy A. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Keiser, Jr., Dennis D. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Kennedy, J. Rory [Idaho National Lab. (INL), Idaho Falls, ID (United States); Maddison, Andrew [Idaho National Lab. (INL), Idaho Falls, ID (United States); Mariani, Robert D. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Middlemas, Scott C. [Idaho National Lab. (INL), Idaho Falls, ID (United States); O' Holleran, Thomas P. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Sencer, Bulent H. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Squires, Leah N. [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2017-08-07

This is not a typical External Report--It is a Handbook. No Abstract is involved. This includes both Parts 1 and 2. The Metallic Fuels Handbook summarizes currently available information about phases and phase diagrams, heat capacity, thermal expansion, and thermal conductivity of elements and alloys in the U-Pu-Zr-Np-Am-La-Ce-Pr-Nd system. Although many sections are reviews and updates of material in previous versions of the Handbook [1, 2], this revision is the first to include alloys with four or more elements. In addition to presenting information about materials properties, the handbook attempts to provide information about how well each property is known and how much variation exists between measurements. Although it includes some results from models, its primary focus is experimental data.

Remotely operated top loading filter housing

International Nuclear Information System (INIS)

Ross, M.J.; Carter, J.A.

1989-01-01

A high-efficiency particulate air (HEPA) filter system was developed for the Fuel Processing Facility at the Idaho Chemical Processing Plant. The system utilizes commercially available HEPA filters and allows in-cell filters to be maintained using operator-controlled remote handling equipment. The remote handling tasks include transport of filters before and after replacement, removal and replacement of the filter from the housing, and filter containment

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

International Nuclear Information System (INIS)

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

1990-01-01

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

Remote handling concept for the neutral beam system

International Nuclear Information System (INIS)

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

2011-01-01

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

The use of virtual reality and intelligent database systems for procedure planning, visualisation, and real-time component tracking in remote handling operations

International Nuclear Information System (INIS)

Robbins, Edward; Sanders, Stephen; Williams, Adrian; Allan, Peter

2009-01-01

The organisation of remote handling (RH) operations in fusion environments is increasingly critical as the number of tasks, components and tooling that RH operations teams must deal with inexorably rises. During the recent JET EP1 RH shutdown the existing virtual reality (VR) and procedural database systems proved essential for visualisation and tracking of operations, particularly due to the increasing complexity of remote tasks. A new task planning system for RH operations is in development, and is expected to be ready for use during the next major shutdown, planned for 2009. The system will make use of information available from the remote operations procedures, the RH equipment human-machine interfaces, the on-line RH equipment control systems and also the virtual reality (VR) system to establish a complete database for the location of plant items and RH equipment as RH operations progress. It is intended that the system be used during both preparation and implementation of shutdowns. In the preparations phase the system can be used to validate procedures and overall logistics by allowing an operator to increment through each operation step and to use the VR system to visualise the location and status of all components, manipulators and RH tools. During task development the RH operations engineers can plan and visualise movement of components and tooling to examine handling concepts and establish storage requirements. In the implementation of operations the daily work schedules information will be integrated with the RH operations procedures tracking records to enable the VR system to provide a visual representation of the status of remote operations in real time. Monitoring of the usage history of items will allow estimates of radiation dosage and contaminant exposure to be made. This paper describes the overall aims, structure and use of the system, discusses its application to JET and also considers potential future developments.

Handbook of energy

CERN Document Server

Cleveland, Cutler J

2013-01-01

Handbook of Energy, Volume II: Chronologies, Top Ten Lists, and Word Clouds draws together a comprehensive account of the energy field from the prestigious and award-winning authors of the Encyclopedia of Energy (2004), The Dictionary of Energy, Expanded Edition (2009), and the Handbook of Energy, Volume I (2013). Handbook of Energy, Volume II takes the wealth of information about historical aspects of energy spread across many books, journals, websites, disciplines, ideologies, and user communities and synthesizes the information in one central repository. This book meets the needs of a di

Development and implementation of automated radioactive materials handling systems

International Nuclear Information System (INIS)

Jacoboski, D.L.

1992-12-01

Material handling of radioactive and hazardous materials has forced the need to pursue remotely operated and robotic systems in light of operational safety concerns. Manual maneuvering, repackaging, overpacking and inspecting of containers which store radioactive and hazardous materials is the present mode of operation at the Department of Energy (DOE) Fernald Environmental Management Project (FEMP) in Fernald Ohio. The manual methods are unacceptable in the eyes of concerned site workers and influential community oversight committees. As an example to respond to the FEMP material handling needs, design efforts have been initiated to provide a remotely operated system to repackage thousands of degradated drums containing radioactive Thorium: Later, the repackaged Thorium will be shipped offsite to a predesignated repository again requiring remote operation

Industrial applications for remote operation in a processing plant

International Nuclear Information System (INIS)

Hermier, J.; Le Guennec, R.

1984-01-01

In the first part of this article, J. Hermier covers the use of remote handling equipment in the UP2-400 plant at La Hague near Cherbourg, in which for the most part master/slave mechanism remote handling units are used with a number of these employed in daily processing operations. As regards this subject, it is useful to remember that, at the time of the designing of this plant (UP2-400), this was the only equipment available on the market with remote-controlled remote handling equipment. In the second part, before speaking about the development of remote operation equipment in the plants now under construction and attempting to project what might be the remote operation role in future plants, R. Le Guennec reviews the problems faced by engineering in designing industrial-sized processing plants and, consequently, the motivations of engineering when faced with a choice between several possible solutions [fr

EURANOS. The Handbook Users Group (HUG)

DEFF Research Database (Denmark)

Nisbet, A.F.; Andersson, Kasper Grann; Carlé, B.

Three handbooks to assist in the management of contaminated food production systems, inhabited areas and drinking water supplies have been developed in conjunction with a wide range of stakeholders in Europe. These handbooks are living documents that will require updating from time to time.......eu-neris.net) to facilitate information exchange. Emergency centres in Member States not involved in the development of the handbooks were invited to take part in demonstration activities to establish whether the handbooks were useful for the purposes of contingency planning and accident management. Results from...... to remain state-of-the-art. To address this need, a handbook users’ group (HUG) was established in 2007 to provide a platform for maintaining the handbooks and to build a network of users for both the generic handbooks and any subsequently customised versions. A web site was set up (www...

Conceptual design of the handling and storage system for spent target vessel

Energy Technology Data Exchange (ETDEWEB)

Adachi, Junichi; Sasaki, Shinobu; Kaminaga, Masanori; Hino, Ryutaro [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

2001-03-01

A conceptual design of a handling and storage system for spent target vessels has been carried out, in order to establish spent target technology for the neutron scattering facility. The spent target vessels must be treated remotely with high reliability and safety, since they are highly activated and contain the poisonous mercury. The system is composed of a target exchange trolley to exchange the target vessel, remote handling equipment such as manipulators, airtight casks for the spent target vessel, storage pits and so on. This report presents the results of conceptual design study on a basic plan, a handling procedure, main devices and their arrangement of a handling and storage system for the spent target vessels. (author)

Remote material handling in the Plutonium Immobilization Project. Revision 1

International Nuclear Information System (INIS)

Brault, J.R.

2000-01-01

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

Handbook of systems toxicology

National Research Council Canada - National Science Library

Casciano, Daniel A; Sahu, Saura C

2011-01-01

"In the first handbook to comprehensively cover the emerging area of systems toxicology, the Handbook of Systems Toxicology provides an authoritative compilation of up-to-date developments presented...

Handbook of antenna technologies

CERN Document Server

Liu, Duixian; Nakano, Hisamatsu; Qing, Xianming; Zwick, Thomas

2016-01-01

The Handbook of Antenna Technologies aims to present the rapid development of antenna technologies, particularly in the past two decades, and also showcasing the newly developed technologies and the latest applications. The handbook will provide readers with the comprehensive updated reference information covering theory, modeling and optimization methods, design and measurement, new electromagnetic materials, and applications of antennas. The handbook will widely cover not only all key antenna design issues but also fundamentals, issues related to antennas (transmission, propagation, feeding structure, materials, fabrication, measurement, system, and unique design challenges in specific applications). This handbook will benefit the readers as a full and quick technical reference with a high-level historic review of technology, detailed technical descriptions and the latest practical applications.

Ewe (for Togo): Grammar Handbook. Peace Corps Language Handbook Series.

Science.gov (United States)

Kozelka, Paul R.

This handbook is composed of: (1) 20 grammar lessons; (2) an introduction to the handbook and to the Ewe language; (3) an appendix presenting the most important differences between Ewe and Mina, the lingua franca in the capital and in markets, offices, and work-sites throughout Togo; (4) answers to written summary exercises; (5) an Ewe-English…

FINODEX Handbook for Entrepreneurs

DEFF Research Database (Denmark)

The handbook provides short introductions to necessary knowledge for applicants in the two calls in October 2014 and June 2015 where they can present an idea for product development and apply for up to 10,000 Euro. Furthermore, the handbook is relevant for the next phase, where the selected approx....... 50 projects elaborate detailed technical and market plans. Last, the handbook provides links to further study and information about how to get help in later phases....

Energy Efficiency Governance: Handbook

Energy Technology Data Exchange (ETDEWEB)

NONE

2010-07-01

This handbook has been written to assist EE practitioners, government officials and stakeholders to establish effective EE governance structures for their country. The handbook provides readers with relevant information in an accessible format that will help develop comprehensive and effective governance mechanisms. For each of the specific topics dealt with (see Figure 1 in the Handbook), the IEA offers guidelines for addressing issues, or directs readers to examples of how such issues have been dealt with by specific countries.

DOE handbook: Integrated safety management systems (ISMS) verification. Team leader's handbook

International Nuclear Information System (INIS)

1999-06-01

The primary purpose of this handbook is to provide guidance to the ISMS verification Team Leader and the verification team in conducting ISMS verifications. The handbook describes methods and approaches for the review of the ISMS documentation (Phase I) and ISMS implementation (Phase II) and provides information useful to the Team Leader in preparing the review plan, selecting and training the team, coordinating the conduct of the verification, and documenting the results. The process and techniques described are based on the results of several pilot ISMS verifications that have been conducted across the DOE complex. A secondary purpose of this handbook is to provide information useful in developing DOE personnel to conduct these reviews. Specifically, this handbook describes methods and approaches to: (1) Develop the scope of the Phase 1 and Phase 2 review processes to be consistent with the history, hazards, and complexity of the site, facility, or activity; (2) Develop procedures for the conduct of the Phase 1 review, validating that the ISMS documentation satisfies the DEAR clause as amplified in DOE Policies 450.4, 450.5, 450.6 and associated guidance and that DOE can effectively execute responsibilities as described in the Functions, Responsibilities, and Authorities Manual (FRAM); (3) Develop procedures for the conduct of the Phase 2 review, validating that the description approved by the Approval Authority, following or concurrent with the Phase 1 review, has been implemented; and (4) Describe a methodology by which the DOE ISMS verification teams will be advised, trained, and/or mentored to conduct subsequent ISMS verifications. The handbook provides proven methods and approaches for verifying that commitments related to the DEAR, the FRAM, and associated amplifying guidance are in place and implemented in nuclear and high risk facilities. This handbook also contains useful guidance to line managers when preparing for a review of ISMS for radiological

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

International Nuclear Information System (INIS)

Hari, G. R. V.

2010-01-01

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

NASA Systems Engineering Handbook

Science.gov (United States)

Hirshorn, Steven R.; Voss, Linda D.; Bromley, Linda K.

2017-01-01

The update of this handbook continues the methodology of the previous revision: a top-down compatibility with higher level Agency policy and a bottom-up infusion of guidance from the NASA practitioners in the field. This approach provides the opportunity to obtain best practices from across NASA and bridge the information to the established NASA systems engineering processes and to communicate principles of good practice as well as alternative approaches rather than specify a particular way to accomplish a task. The result embodied in this handbook is a top-level implementation approach on the practice of systems engineering unique to NASA. Material used for updating this handbook has been drawn from many sources, including NPRs, Center systems engineering handbooks and processes, other Agency best practices, and external systems engineering textbooks and guides. This handbook consists of six chapters: (1) an introduction, (2) a systems engineering fundamentals discussion, (3) the NASA program project life cycles, (4) systems engineering processes to get from a concept to a design, (5) systems engineering processes to get from a design to a final product, and (6) crosscutting management processes in systems engineering. The chapters are supplemented by appendices that provide outlines, examples, and further information to illustrate topics in the chapters. The handbook makes extensive use of boxes and figures to define, refine, illustrate, and extend concepts in the chapters.

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

International Nuclear Information System (INIS)

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

1994-09-01

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

The design of in-cell crane handling systems for nuclear plants

International Nuclear Information System (INIS)

Hansford, S.M.; Scott, R.

1992-01-01

The reprocessing and waste management facilities at (BNFL's) British Nuclear Fuels Limited's Sellafield site make extensive use of crane handling systems. These range from conventional mechanical handling operations as used generally in industry to high integrity applications through to remote robotic handling operations in radiation environments. This paper describes the design methodologies developed for the design of crane systems for remote handling operations - in-cell crane systems. In most applications the in-cell crane systems are an integral part of the plant process equipment and reliable and safe operations are a key design parameter. Outlined are the techniques developed to achieve high levels of crane system availability for operations in hazardous radiation environments. These techniques are now well established and proven through many years of successful plant operation. A recent application of in-cell crane handling systems design for process duty application is described. The benefits of a systematic design approach and a functionally-based engineering organization are also highlighted. (author)

Java EE 7 handbook

CERN Document Server

Pilgrim, Peter A

2013-01-01

Java EE 7 Handbook is an example based tutorial with descriptions and explanations.""Java EE 7 Handbook"" is for the developer, designer, and architect aiming to get acquainted with the Java EE platform in its newest edition. This guide will enhance your knowledge about the Java EE 7 platform. Whether you are a long-term Java EE (J2EE) developer or an intermediate level engineer on the JVM with just Java SE behind you, this handbook is for you, the new contemporary Java EE 7 developer!

Plans for Managing Hanford Remote Handled Transuranic (TRU) Waste

International Nuclear Information System (INIS)

MCKENNEY, D.E.

2001-01-01

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

Gen IV Materials Handbook Implementation Plan

International Nuclear Information System (INIS)

Rittenhouse, P.; Ren, W.

2005-01-01

A Gen IV Materials Handbook is being developed to provide an authoritative single source of highly qualified structural materials information and materials properties data for use in design and analyses of all Generation IV Reactor Systems. The Handbook will be responsive to the needs expressed by all of the principal government, national laboratory, and private company stakeholders of Gen IV Reactor Systems. The Gen IV Materials Handbook Implementation Plan provided here addresses the purpose, rationale, attributes, and benefits of the Handbook and will detail its content, format, quality assurance, applicability, and access. Structural materials, both metallic and ceramic, for all Gen IV reactor types currently supported by the Department of Energy (DOE) will be included in the Gen IV Materials Handbook. However, initial emphasis will be on materials for the Very High Temperature Reactor (VHTR). Descriptive information (e.g., chemical composition and applicable technical specifications and codes) will be provided for each material along with an extensive presentation of mechanical and physical property data including consideration of temperature, irradiation, environment, etc. effects on properties. Access to the Gen IV Materials Handbook will be internet-based with appropriate levels of control. Information and data in the Handbook will be configured to allow search by material classes, specific materials, specific information or property class, specific property, data parameters, and individual data points identified with materials parameters, test conditions, and data source. Details on all of these as well as proposed applicability and consideration of data quality classes are provided in the Implementation Plan. Website development for the Handbook is divided into six phases including (1) detailed product analysis and specification, (2) simulation and design, (3) implementation and testing, (4) product release, (5) project/product evaluation, and (6) product

A Poetry Handbook.

Science.gov (United States)

Oliver, Mary

Intended to impart the basic ways a poem is constructed, this concise handbook is a prose guide to writing poetry. The handbook talks about meter and rhyme, form and diction, sound and sense, iambs and trochees, couplets and sonnets, and how and why this should matter to any person writing or reading poetry. Interspersing history and analysis with…

Remote maintenance development, July 1975--July 1976

International Nuclear Information System (INIS)

Fletcher, R.D.

1977-04-01

The results of the second year's efforts on remote handling development and studies for remote maintenance of failure-prone areas of the New Waste Calcining Facility (NWCF) are presented. Test arrangements and results for specific viewing situations and component remote installation and removal in the Remote Maintenance Development Facility (RMDF) and component material evaluations are discussed

76 FR 60474 - Commercial Item Handbook

Science.gov (United States)

2011-09-29

... DEPARTMENT OF DEFENSE Defense Acquisition Regulations System Commercial Item Handbook AGENCY.... SUMMARY: DoD has updated its Commercial Item Handbook. The purpose of the Handbook is to help acquisition personnel develop sound business strategies for procuring commercial items. DoD is seeking industry input on...

Remote sensing for wind power potential: a prospector's handbook

Energy Technology Data Exchange (ETDEWEB)

Wade, J.E.; Maule, P.A.; Bodvarsson, G.; Rosenfeld, C.L.; Woolley, S.G.; McClenahan, M.R.

1983-02-01

Remote sensing can aid in identifying and locating indicators of wind power potential from the terrestrial, marine, and atmospheric environments (i.e.: wind-deformed trees, white caps, and areas of thermal flux). It is not considered as a tool for determining wind power potential. A wide variety of remotely sensed evidence is described in terms of the scale at which evidence of wind power can be identified, and the appropriate remote sensors for finding such evidence. Remote sensing can be used for regional area prospecting using small-scale imagery. The information from such small-scale imagery is most often qualitative, and if it is transitory, examination of a number of images to verify presistence of the feature may be required. However, this evidence will allow rapid screening of a large area. Medium-scale imagery provides a better picture of the evidence obtained from small-scale imagery. At this level it is best to use existing imagery. Criteria relating to land use, accessibility, and proximity of candidate sites to nearby transmission lines can also be effectively evaluated from medium-scale imagery. Large-scale imagery provides the most quantitative evidence of the strength of wind. Wind-deformed trees can be identified at a large number of sites using only a few hours in locally chartered aircraft. A handheld 35mm camera can adequately document any evidence of wind. Three case studies that employ remote sensing prospecting techniques are described. Based on remotely sensed evidence, the wind power potential in three geographically and climatically diverse areas of the United States is estimated, and the estimates are compared to actual wind data in those regions. In addition, the cost of each survey is discussed. The results indicate that remote sensing for wind power potential is a quick, cost effective, and fairly reliable method for screening large areas for wind power potential.

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

International Nuclear Information System (INIS)

Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi

1996-03-01

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

Fuel handling machine and auxiliary systems for a fuel handling cell

International Nuclear Information System (INIS)

Suikki, M.

2013-10-01

This working report is an update for as well as a supplement to an earlier fuel handling machine design (Kukkola and Roennqvist 2006). A focus in the earlier design proposal was primarily on the selection of a mechanical structure and operating principle for the fuel handling machine. This report introduces not only a fuel handling machine design but also auxiliary fuel handling cell equipment and its operation. An objective of the design work was to verify the operating principles of and space allocations for fuel handling cell equipment. The fuel handling machine is a remote controlled apparatus capable of handling intensely radiating fuel assemblies in the fuel handling cell of an encapsulation plant. The fuel handling cell is air tight space radiation-shielded with massive concrete walls. The fuel handling machine is based on a bridge crane capable of traveling in the handling cell along wall tracks. The bridge crane has its carriage provided with a carousel type turntable having mounted thereon both fixed and telescopic masts. The fixed mast has a gripper movable on linear guides for the transfer of fuel assemblies. The telescopic mast has a manipulator arm capable of maneuvering equipment present in the fuel handling cell, as well as conducting necessary maintenance and cleaning operations or rectifying possible fault conditions. The auxiliary fuel handling cell systems consist of several subsystems. The subsystems include a service manipulator, a tool carrier for manipulators, a material hatch, assisting winches, a vacuum cleaner, as well as a hose reel. With the exception of the vacuum cleaner, the devices included in the fuel handling cell's auxiliary system are only used when the actual encapsulation process is not ongoing. The malfunctions of mechanisms or actuators responsible for the motion actions of a fuel handling machine preclude in a worst case scenario the bringing of the fuel handling cell and related systems to a condition appropriate for

Fuel handling machine and auxiliary systems for a fuel handling cell

Energy Technology Data Exchange (ETDEWEB)

Suikki, M. [Optimik Oy, Turku (Finland)

2013-10-15

This working report is an update for as well as a supplement to an earlier fuel handling machine design (Kukkola and Roennqvist 2006). A focus in the earlier design proposal was primarily on the selection of a mechanical structure and operating principle for the fuel handling machine. This report introduces not only a fuel handling machine design but also auxiliary fuel handling cell equipment and its operation. An objective of the design work was to verify the operating principles of and space allocations for fuel handling cell equipment. The fuel handling machine is a remote controlled apparatus capable of handling intensely radiating fuel assemblies in the fuel handling cell of an encapsulation plant. The fuel handling cell is air tight space radiation-shielded with massive concrete walls. The fuel handling machine is based on a bridge crane capable of traveling in the handling cell along wall tracks. The bridge crane has its carriage provided with a carousel type turntable having mounted thereon both fixed and telescopic masts. The fixed mast has a gripper movable on linear guides for the transfer of fuel assemblies. The telescopic mast has a manipulator arm capable of maneuvering equipment present in the fuel handling cell, as well as conducting necessary maintenance and cleaning operations or rectifying possible fault conditions. The auxiliary fuel handling cell systems consist of several subsystems. The subsystems include a service manipulator, a tool carrier for manipulators, a material hatch, assisting winches, a vacuum cleaner, as well as a hose reel. With the exception of the vacuum cleaner, the devices included in the fuel handling cell's auxiliary system are only used when the actual encapsulation process is not ongoing. The malfunctions of mechanisms or actuators responsible for the motion actions of a fuel handling machine preclude in a worst case scenario the bringing of the fuel handling cell and related systems to a condition appropriate for

Ex-vessel remote maintenance for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.; Macdonald, D.

1987-01-01

The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) requires the use of remote handling technology to carry out maintenance operations on the machine. These operations consist in removing and repairing such components as diagnostic modules by using remotely operated maintenance equipment. The major equipment being developed for maintenance external to the plasma chamber includes a bridge-mounted manipulator system for test cell operations, decontamination (decon) equipment, hot cell equipment, and solid-radiation-waste-handling equipment. Wherever possible, the project will use commercially available equipment. Several areas of the maintenance system design were addressed in fiscal year (FY) 1987, including conceptual designs of manipulator systems, the start of a remote equipment research and development (RandD) program, and definition of the hot cell, decon, and equipment repair facility requirements. R and D work included preliminary demonstrations of remote handling operations on full-size, partial mock-ups of the CIT machine at the Oak Ridge National Laboratory (ORNL) Remote Operations and Maintenance Development (ROMD) Facility. 1 ref., 6 figs

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

Development of divertor remote maintenance system

Energy Technology Data Exchange (ETDEWEB)

Takeda, Nobukazu; Oka, Kiyoshi; Akou, Kentaro; Takiguchi, Yuji [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

1998-04-01

The ITER divertor is categorized as a scheduled maintenance component because of extreme heat and particle loads it is exposed to by plasma. It is also highly activated by 14 MeV neutrons. Reliable remote handling equipment and tools are required for divertor maintenance under intense gamma radiation. To facilitate remote maintenance, the divertor is segmented into 60 cassettes, and each cassette weighing about 25 tons and maintained and replaced through four maintenance ports each 90 degrees. Divertor cassettes must be transported toroidally and radially for replacement through maintenance ports. Remote handling involving cassette movers and carriers for toroidal and radial transport has been developed. Under the ITER R and D program, technology critical to divertor cassette maintenance is being developed jointly by Japan, E.U., and U.S. home teams. This paper summarizes divertor remote maintenance design and the status of technology development by the Japan Home Team. (author)

Development of divertor remote maintenance system

International Nuclear Information System (INIS)

Takeda, Nobukazu; Oka, Kiyoshi; Akou, Kentaro; Takiguchi, Yuji

1998-01-01

The ITER divertor is categorized as a scheduled maintenance component because of extreme heat and particle loads it is exposed to by plasma. It is also highly activated by 14 MeV neutrons. Reliable remote handling equipment and tools are required for divertor maintenance under intense gamma radiation. To facilitate remote maintenance, the divertor is segmented into 60 cassettes, and each cassette weighing about 25 tons and maintained and replaced through four maintenance ports each 90 degrees. Divertor cassettes must be transported toroidally and radially for replacement through maintenance ports. Remote handling involving cassette movers and carriers for toroidal and radial transport has been developed. Under the ITER R and D program, technology critical to divertor cassette maintenance is being developed jointly by Japan, E.U., and U.S. home teams. This paper summarizes divertor remote maintenance design and the status of technology development by the Japan Home Team. (author)

Evaluation of the revised electrolytic reduction reactor from a remote operability aspect

Energy Technology Data Exchange (ETDEWEB)

Lee, Hyo Jik; Yoon, K. H.; Kim, K. H. (and others)

2008-01-15

This report presents an evaluation of the remote operability of the revised electrolytic reduction (ER) reactor installed in the ACP at KAERI. All operations have to be implemented in a fully remote manner since the ACPF is a hotcell for handling highly radioactive materials such as spent nuclear fuels. In particular, the ER process is a key process of the Advanced spent fuel Conditioning Process (ACP) and it needs a lot of other auxiliary equipment to perform it. Also, since the ER equipment is too big and complicated, and contrarily the ACPF is not big enough, and one common rail is allotted for a bridge transported servo manipulator, an in-cell crane and a gate crane, a remote handling of the ER reactor is accompanied by a difficulty for a remote operation. For an easy understanding, short overview of the ER process, the remote handling equipment, the structural configuration of the ACPF and the detail drawings of the ER equipment are presented. Through 4 month-remote operational tests, detailed operational procedures are presented along with pictures. The remote handling equipment and tools required in each operation are addressed in detail. Also, the procedure to implement each remote operation, and a task difficulty are evaluated from a remote operability aspect. All the remote tasks are distinguished according to whether a remote operation can be performed or not. Finally, partial improvement or an idea to solve the suggested problems is presented. This report will assist in modifying or scaling up the ER reactor.

Gen IV Materials Handbook Functionalities and Operation

International Nuclear Information System (INIS)

Ren, Weiju

2009-01-01

This document is prepared for navigation and operation of the Gen IV Materials Handbook, with architecture description and new user access initiation instructions. Development rationale and history of the Handbook is summarized. The major development aspects, architecture, and design principles of the Handbook are briefly introduced to provide an overview of its past evolution and future prospects. Detailed instructions are given with examples for navigating the constructed Handbook components and using the main functionalities. Procedures are provided in a step-by-step fashion for Data Upload Managers to upload reports and data files, as well as for new users to initiate Handbook access.

Gen IV Materials Handbook Functionalities and Operation

Energy Technology Data Exchange (ETDEWEB)

Ren, Weiju [ORNL

2009-12-01

This document is prepared for navigation and operation of the Gen IV Materials Handbook, with architecture description and new user access initiation instructions. Development rationale and history of the Handbook is summarized. The major development aspects, architecture, and design principles of the Handbook are briefly introduced to provide an overview of its past evolution and future prospects. Detailed instructions are given with examples for navigating the constructed Handbook components and using the main functionalities. Procedures are provided in a step-by-step fashion for Data Upload Managers to upload reports and data files, as well as for new users to initiate Handbook access.

Virtual analysis of the remote operation of the ACP

International Nuclear Information System (INIS)

Yoon, Ji Sup; Kim, Sung Hyun; Song, Tai Gil; Lim, Kwang Mook

2005-01-01

The remote operation of the Advanced Spent Fuel Conditioning Process (ACP) is analyzed by using the 3D graphic simulation tools. The ACP equipment operates in intense radiation fields as well as in a high temperature. Thus, the equipment should be designed in consideration of the remote handling and maintenance. As well as suitable remote handling and maintenance method needs to be provided. To provide such remote operation technology, we developed the graphic simulator which provides the capability of verifying the remote operability of the ACP without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in a computer, not in a real environment. In this way the graphic simulator and substantially reduce the design cost of the remote operation process and the equipment. Also it can provide new operation concept that is more reliable, easier to implement, and easier to understand

A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

Directory of Open Access Journals (Sweden)

Zhi-Ying Chen

2018-03-01

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

Procurement Career Management Handbook.

Science.gov (United States)

Department of the Treasury, Washington, DC.

This handbook is the result of the Treasury Department's efforts to increase professionalism among its procurement employees nationwide through its Procurement Career Management Program. First, the scope and objectives of the Procurement Career Management Program are discussed. The remaining sections of the handbook deal with the following program…

Warehouse Sanitation Workshop Handbook.

Science.gov (United States)

Food and Drug Administration (DHHS/PHS), Washington, DC.

This workshop handbook contains information and reference materials on proper food warehouse sanitation. The materials have been used at Food and Drug Administration (FDA) food warehouse sanitation workshops, and are selected by the FDA for use by food warehouse operators and for training warehouse sanitation employees. The handbook is divided…

Travel time data collection handbook

Science.gov (United States)

1998-03-01

This Travel Time Data Collection Handbook provides guidance to transportation : professionals and practitioners for the collection, reduction, and presentation : of travel time data. The handbook should be a useful reference for designing : travel ti...

Recommendations for waste disposal of phosphorus-32 and iodine-131 for medical users. Handbook 49

Energy Technology Data Exchange (ETDEWEB)

NONE

1951-11-02

With the increasing use of radioactive isotopes by industry, the medical profession, and research laboratories, it is essential that certain minimal precautions be taken to protect the users and the public. The recommendations contained in this Handbook represent what is believed to be the best available opinions on the subject as of this date. As our experience with radioisotopes broadens, we will undoubtedly be able to improve and strengthen the recommendations for their safe handling, utilization, and disposal of wastes. Comments on those recommendations will be welcomed by the committee. One of the greatest difficulties encountered in the preparation of this Handbook lay in the uncertainty regarding permissible radiation exposure levels, particularly for ingested radioactive materials. The establishment of sound figures for such exposure still remains a problem of high priority for many conditions and radioactive substances. Such figures as are used in this report represent the best available information today. If, in the future, these can be improved upon, appropriate corrections will be issued. The subject will be under continuous study by the subcommittees mentioned above. The best available information on permissible radiation levels and permissible quantities of ingested radioactive material may be found in the Recommendations of the International Commission on Radiological Protection and the Supplement to these recommendations in NBS Handbook 47. It should be borne in mind, however, that even the values given in that Handbook may be subject to change. As the problem of the disposal of radioactive wastes varies over such wide limits, depending upon the usage to which the isotopes are put, the committee has decided that it will not be feasible to incorporate in one volume broad recommendations covering all situations and materials. This is the first of a series of such reports. The present Handbook has been prepared by the Subcommittee on Waste Disposal and

Recommendations for waste disposal of phosphorus-32 and iodine-131 for medical users. Handbook 49

International Nuclear Information System (INIS)

1951-01-01

With the increasing use of radioactive isotopes by industry, the medical profession, and research laboratories, it is essential that certain minimal precautions be taken to protect the users and the public. The recommendations contained in this Handbook represent what is believed to be the best available opinions on the subject as of this date. As our experience with radioisotopes broadens, we will undoubtedly be able to improve and strengthen the recommendations for their safe handling, utilization, and disposal of wastes. Comments on those recommendations will be welcomed by the committee. One of the greatest difficulties encountered in the preparation of this Handbook lay in the uncertainty regarding permissible radiation exposure levels, particularly for ingested radioactive materials. The establishment of sound figures for such exposure still remains a problem of high priority for many conditions and radioactive substances. Such figures as are used in this report represent the best available information today. If, in the future, these can be improved upon, appropriate corrections will be issued. The subject will be under continuous study by the subcommittees mentioned above. The best available information on permissible radiation levels and permissible quantities of ingested radioactive material may be found in the Recommendations of the International Commission on Radiological Protection and the Supplement to these recommendations in NBS Handbook 47. It should be borne in mind, however, that even the values given in that Handbook may be subject to change. As the problem of the disposal of radioactive wastes varies over such wide limits, depending upon the usage to which the isotopes are put, the committee has decided that it will not be feasible to incorporate in one volume broad recommendations covering all situations and materials. This is the first of a series of such reports. The present Handbook has been prepared by the Subcommittee on Waste Disposal and

Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

International Nuclear Information System (INIS)

Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

2001-01-01

This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

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

International Nuclear Information System (INIS)

Damiani, Carlo; Irving, Mike; Semeraro, Luigi

2009-01-01

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

CRC handbook of modern telecommunications

CERN Document Server

Morreale, Patricia A

2001-01-01

This authoritative handbook, contributed to by a team of international experts, covers the most dynamic areas in the changing telecommunications landscape. Written for telecommunications specialists who implement the new technologies, The CRC Handbook of Modern Telecommunications is an excellent companion volume to the authors' The Telecommunications Handbook, but stands well on its own, as it extends the range of topics to include voice over Internet, traffic management, quality of service, and other dominant future trends. It is an indispensable reference for all professionals working in the

Overview of the 2014 Edition of the International Handbook of Evaluated Reactor Physics Benchmark Experiments (IRPhEP Handbook)

Energy Technology Data Exchange (ETDEWEB)

John D. Bess; J. Blair Briggs; Jim Gulliford; Ian Hill

2014-10-01

The International Reactor Physics Experiment Evaluation Project (IRPhEP) is a widely recognized world class program. The work of the IRPhEP is documented in the International Handbook of Evaluated Reactor Physics Benchmark Experiments (IRPhEP Handbook). Integral data from the IRPhEP Handbook is used by reactor safety and design, nuclear data, criticality safety, and analytical methods development specialists, worldwide, to perform necessary validations of their calculational techniques. The IRPhEP Handbook is among the most frequently quoted reference in the nuclear industry and is expected to be a valuable resource for future decades.

Present status of Japanese Criticality Safety Handbook

International Nuclear Information System (INIS)

Okuno, Hiroshi

1999-01-01

A draft of the second edition of Nuclear Criticality Safety Handbook has been finalized, and it is under examination by reviewing committee for JAERI Report. Working Group designated for revising the Japanese Criticality Safety Handbook, which is chaired by Prof. Yamane, is now preparing for 'Guide on Burnup Credit for Storage and Transport of Spent Nuclear Fuel' and second edition of 'Data Collection' part of Handbook. Activities related to revising the Handbook might give a hint for a future experiment at STACY. (author)

Safety and environmental health handbook

Science.gov (United States)

,

1989-01-01

This Safety Handbook (445-1-H.) supplements the Geological Survey Safety Management Program objectives set forth in Survey Manual 445.1. Specifically, it provides a compact source of basic information to assist management and employees in preventing motor vehicle accidents, personal injuries, occupational diseases, fire, and other property damage or loss. All work situations incidental to the Geological Survey cannot be discussed in a handbook, and such complete coverage is not intended in this document. However, a wide range of subjects are covered in which a "common sense" approach to safety has been expressed. These subjects have been organized such that Chapters 1-5 address administrative issues, Chapters 6-12 address activities usually conducted within a facility, and Chapters 13-20 address field activities. No information contained in the Handbook is intended to alter any provision of any Federal law or executive order, Department of the Interior or Survey directive, or collective bargaining agreement. Questions or suggestions regarding the content of the Safety Handbook may be directed to the Survey Safety Manager, Administrative Division, Office of Facilities and Management Services, National Center, Reston, Virginia, Mail Stop 246. The previous edition of the Safety Handbook is superseded.

SRV-automatic handling device

International Nuclear Information System (INIS)

Yamada, Koji

1987-01-01

Automatic handling device for the steam relief valves (SRV's) is developed in order to achieve a decrease in exposure of workers, increase in availability factor, improvement in reliability, improvement in safety of operation, and labor saving. A survey is made during a periodical inspection to examine the actual SVR handling operation. An SRV automatic handling device consists of four components: conveyor, armed conveyor, lifting machine, and control/monitoring system. The conveyor is so designed that the existing I-rail installed in the containment vessel can be used without any modification. This is employed for conveying an SRV along the rail. The armed conveyor, designed for a box rail, is used for an SRV installed away from the rail. By using the lifting machine, an SRV installed away from the I-rail is brought to a spot just below the rail so that the SRV can be transferred by the conveyor. The control/monitoring system consists of a control computer, operation panel, TV monitor and annunciator. The SRV handling device is operated by remote control from a control room. A trial equipment is constructed and performance/function testing is carried out using actual SRV's. As a result, is it shown that the SRV handling device requires only two operators to serve satisfactorily. The required time for removal and replacement of one SRV is about 10 minutes. (Nogami, K.)

Harwell emergency handbook

International Nuclear Information System (INIS)

1986-12-01

The Harwell Laboratory Emergency Handbook 1987 contains emergency procedures to deal with any incident which might occur at AERE Harwell involving radioactive or toxic material releases. The Handbook gives details of the duties of members of the Site Emergency Organization and other key members of staff, the methods by which incidents are controlled, the communication links and liaison arrangements with other organizations and the possible consequences and actions that may be needed following an emergency. (UK)

Head-end reprocessing equipment remote maintenance demonstration

International Nuclear Information System (INIS)

Evans, J.H.; Metz, C.F. III.

1989-01-01

Prototype equipment for reprocessing breeder reactor nuclear fuel was installed in the Remote Operation and Maintenance Demonstration (ROMD) area of the Consolidated Fuel Reprocessing Program (CFRP) facility at the Oak Ridge National Laboratory (ORNL) in order to evaluate the design of this equipment in a cold mock-up of a remotely maintained hot cell. This equipment included the Remote Disassembly System (RDS) and the Remote Shear System (RSS). These systems were disassembled and reassembled remotely by using the extensive remote handling systems that are installed in this simulated hot-cell environment. 5 refs., 5 figs

Mockup of an automated material transport system for remote handling

International Nuclear Information System (INIS)

Porter, M.L.

1992-01-01

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

Waste Isolation Pilot Plant remote-handled transuranic waste disposal strategy

International Nuclear Information System (INIS)

1995-01-01

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

The development of a packaging handbook

International Nuclear Information System (INIS)

Shappert, L.B.

1994-01-01

The Packaging Handbook, dealing with the development of packagings designed to carry radioactive material, is being written for DOE's Transportation and Packaging Safety Division. The primary goal of the Handbook is to provide sufficient technical information and guidance to improve the quality of Safety Analysis Reports on Type B Packagings (SARPs) that are submitted to DOE for certification. This paper provides an update on the status of the Handbook

A procedure for safety assessment of components with cracks - Handbook

International Nuclear Information System (INIS)

Andersson, P.; Bergman, M.; Brickstad, B.; Dahlberg, L.; Nilsson, F.; Sattari-Far, I.

1996-01-01

In this handbook a procedure is described which can be used both for assessment of detected cracks or crack like defects or for defect tolerance analysis. The procedure can be used to calculate possible crack growth due to fatigue or stress corrosion and to calculate the reserve margin for failure due to fracture and plastic collapse. For ductile materials, the procedure gives the reserve margin for initiation of stable crack growth. Thus, an extra reserve margin, unknown to size, exists for failure in components made of ductile materials. The procedure was developed for operative use with the following objectives in mind: The procedure should be able to handle both linear and non-linear problems without any a priori division; The procedure shall ensure uniqueness of the safety assessment; The procedure should be well defined and easy to use; The conservatism of the procedure should be well validated; The handbook that documents the procedure should be so complete that for most assessments access to any other fracture mechanics literature should not be necessary. The method utilized is based on the R6-method developed at Nuclear Electric plc. This method can in principle be used for all metallic materials. It is, however, more extensively verified for steel alloys only. The method is not intended for use in temperatures where creep deformation is of importance. The first edition of the handbook was released in 1990 and the second in 1991. This third edition has been extensively revised. A Windows-based program (SACC) has been developed which can perform the assessments described in the book including calculation of crack growth due to stress corrosion and fatigue. 52 refs., 27 figs., 35 tabs

Fusion reactor handling operations with cable-driven parallel robots

Energy Technology Data Exchange (ETDEWEB)

Izard, Jean-Baptiste, E-mail: jeanbaptiste.izard@tecnalia.com; Michelin, Micael; Baradat, Cédric

2015-10-15

Highlights: • CDPR allow 6DOF positioning of loads using cable as links without payload swag. • Conceptual design of a CDPR for carrying and positioning tokamak sectors is given. • A CDPR for threading stellarator coils (6D trajectory following) is provided. • Both designs are capable of fullfilling the required precision without tooling. - Abstract: Cable-driven parallel robots (CDPR) are in their concept cranes with inclined cables which allow control of all the degrees of freedom of its payload, and therefore stability of all the degrees of freedom, including rotations. The workspace of a CDPR is only limited by the length of the cables, and the payload capacity related to the mass of the whole robot is very important. Besides, the control being based on kinematic models, the behavior of a CDPR is really that of a robot capable of automated trajectories or remote handling. The present paper gives a presentation of two use case studies based on some of the assembly phases and remote handling actions as designed for the recent fusion machines. Based on the use cases already in place in fusion reactor baselines, the opportunity of using CDPR for assembly of structural elements and coils is discussed. Finally, prospects for remote handling equipment from the reactor in hot cells are envisioned based on current CDPR research.

Petra Governance Handbook - WP7 – Governance structures & business models : D7.3: Governance Handbook

NARCIS (Netherlands)

Veeneman, W.; Hirschhorn, F.; Klievink, A.J.; Steenhuisen, B.M.; van der Voort, H.G.

2017-01-01

This document represents the governance handbook on mobility data platforms for the PETRA project. The governance handbook provides metropolitan authorities contemplating the implementation of a mobility data platform in line with the PETRA project about governance issues and design.
The

Handbook for value-impact assessment

International Nuclear Information System (INIS)

Heaberlin, S.W.; Burnham, J.B.; Gallucci, R.H.V.

1983-12-01

The basic purpose of this handbook is to document a set of systematic procedures for providing information that can be used in performing value-impact assessments of Nuclear Regulatory Commission (NRC) regulatory actions. The handbook describes a structured but flexible process for performing the assessment. Chapter 1 is an introduction to the value-impact assessment process. Chapter 2 describes the attributes most frequently affected by proposed NRC actions, provides guidance concerningthe appropriate level of effort to be devoted to the assessment, suggests a standard format for documenting the assessment, and discusses the treatment of uncertainty. Chapter 3 contains detailed methods for evaluating each of the attributes affected by a regulatory action. The handbook has five appendixes containing background information, technical data, and example applications of the value-impact assessment procedures. This edition of the handbook focuses primarily on assessing nuclear power reactor safety issues

WIPP Project Records Management Handbook

International Nuclear Information System (INIS)

1991-01-01

The Waste Isolation Pilot Plant (WIPP) Records Management Handbook provides the WIPP Project Records Management personnel with a tool to use to fulfill the requirements of the WIPP Records Program and direct their actions in the important area of records management. The handbook describes the various project areas involved in records management, and how they function. The handbook provides the requirements for Record Coordinators and Master Record Center (MRC) personnel to follow in the normal course of file management, records scheduling, records turnover, records disposition, and records retrieval. More importantly, the handbook provides a single reference which encompasses the procedures set fourth in DOE Order 1324.2A, ''Records Disposition'' ASME NQA-1, ''Quality Assurance Program Requirements for Nuclear Facilities'' and DOE-AL 5700.6B, ''General Operations Quality Assurance.'' These documents dictate how an efficient system of records management will be achieved on the WIPP Project

Handbook of probability

CERN Document Server

Florescu, Ionut

2013-01-01

THE COMPLETE COLLECTION NECESSARY FOR A CONCRETE UNDERSTANDING OF PROBABILITY Written in a clear, accessible, and comprehensive manner, the Handbook of Probability presents the fundamentals of probability with an emphasis on the balance of theory, application, and methodology. Utilizing basic examples throughout, the handbook expertly transitions between concepts and practice to allow readers an inclusive introduction to the field of probability. The book provides a useful format with self-contained chapters, allowing the reader easy and quick reference. Each chapter includes an introductio

Cask system design guidance for robotic handling

International Nuclear Information System (INIS)

Griesmeyer, J.M.; Drotning, W.D.; Morimoto, A.K.; Bennett, P.C.

1990-10-01

Remote automated cask handling has the potential to reduce both the occupational exposure and the time required to process a nuclear waste transport cask at a handling facility. The ongoing Advanced Handling Technologies Project (AHTP) at Sandia National Laboratories is described. AHTP was initiated to explore the use of advanced robotic systems to perform cask handling operations at handling facilities for radioactive waste, and to provide guidance to cask designers regarding the impact of robotic handling on cask design. The proof-of-concept robotic systems developed in AHTP are intended to extrapolate from currently available commercial systems to the systems that will be available by the time that a repository would be open for operation. The project investigates those cask handling operations that would be performed at a nuclear waste repository facility during cask receiving and handling. The ongoing AHTP indicates that design guidance, rather than design specification, is appropriate, since the requirements for robotic handling do not place severe restrictions on cask design but rather focus on attention to detail and design for limited dexterity. The cask system design features that facilitate robotic handling operations are discussed, and results obtained from AHTP design and operation experience are summarized. The application of these design considerations is illustrated by discussion of the robot systems and their operation on cask feature mock-ups used in the AHTP project. 11 refs., 11 figs

Remote filter handling machine for Sizewell B

International Nuclear Information System (INIS)

Barker, D.

1993-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2012-05-01

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

Remote maintenance concepts for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Davis, F.C.; Hager, E.R.

1988-01-01

Because deuterium-tritium fuel will be used in the Compact Ignition Tokamak (CIT), remote handling technology is needed to carry out some maintenance operations on the machine. In keeping with the compact, low-cost nature of CIT, remote maintenance is provided only for systems with the highest probability of failure. Remote operations include removing, repairing (if feasible), and replacing such components as thermal protection tiles on the first wall, radio-frequency (rf) heating modules, and diagnostic modules. For maintenance inside the vacuum vessel, major pieces of equipment under development include an articulated boom manipulator with servomanipulators, an inspection manipulator, and special tooling. For maintenance outside the cryostat, remote equipment includes a bridge-mounted manipulator system, equipment for decontamination and hot cell activities, and for handling and packaging solid radioactive waste. The conceptual design phase of the CIT project is nearing completion; research and development activities in support of the project include demonstrations of remote maintenance operations on full-size partial mock-ups. 9 figs

Remote maintenance for fusion: Requirements vs technology gap

International Nuclear Information System (INIS)

Davis, F.C.; Kuban, D.P.

1989-01-01

Today's remote handling technology was developed in response to the remote maintenance (RM) requirements of the fission community's nuclear fuel recycle process. The needs of the fusion community present new challenges to the remote handling experts of the world. New difficulties are superimposed on the difficulties experienced in maintaining fission processes. Today's technology must be enhanced to respond to the RM needs of these future huge investments. This paper first discusses the current RM needs for fusion based on existing facilities and designs of future machines. It then exposes the gap between these requirements and existing RM technology and recommends ways to extend the state of the art to close this gap

Handbook of metaheuristics

CERN Document Server

Potvin, Jean-Yves

2010-01-01

“… an excellent book if you want to learn about a number of individual metaheuristics." (U. Aickelin, Journal of the Operational Research Society, Issue 56, 2005, on the First Edition) The first edition of the Handbook of Metaheuristics was published in 2003 under the editorship of Fred Glover and Gary A. Kochenberger. Given the numerous developments observed in the field of metaheuristics in recent years, it appeared that the time was ripe for a second edition of the Handbook. When Glover and Kochenberger were unable to prepare this second edition, they suggested that Michel Gendreau and Jean-Yves Potvin should take over the editorship, and so this important new edition is now available. Through its 21 chapters, this second edition is designed to provide a broad coverage of the concepts, implementations and applications in this important field of optimization. Original contributors either revised or updated their work, or provided entirely new chapters. The Handbook now includes updated chapters on the b...

Introduction to meteorological measurements and data handling for solar energy applications. Task IV-Development of an insolation handbook and instrument package

Energy Technology Data Exchange (ETDEWEB)

None

1980-10-01

Recognizing a need for a coordinated approach to resolve energy problems, certain members of the Organization for Economic Cooperation and Development (OECD) met in September 1974 and agreed to develop an International Energy Program. The International Energy Agency (IEA) was established within the OECD to administer, monitor and execute this International Energy Program. In July 1975, Solar Heating and Cooling was selected as one of the sixteen technology fields for multilateral cooperation. Five project areas, called tasks, were identified for cooperative activities within the IEA Program to Develop and Test Solar Heating and Cooling Systems. The objective of one task was to obtain improved basic resource information for the design and operation of solar heating and cooling systems through a better understanding of the required insolation (solar radiation) and related weather data, and through improved techniques for measurement and evaluation of such data. At the February 1976 initial experts meeting in Norrkoeping, Sweden, the participants developed the objective statement into two subtasks. (1) an insolation handbook; and (2) a portable meteorological instrument package. This handbook is the product of the first subtask. The objective of this handbook is to provide a basis for a dialogue between solar scientists and meteorologists. Introducing the solar scientist to solar radiation and related meteorological data enables him to better express his scientific and engineering needs to the meteorologist; and introducing the meteorologist to the special solar radiation and meteorological data applications of the solar scientist enables him to better meet the needs of the solar energy community.

Reference handbook: Level detectors

International Nuclear Information System (INIS)

1990-01-01

The purpose of this handbook is to provide Rocky Flats personnel with the information necessary to understand level measurement and detection. Upon completion of this handbook you should be able to do the following: List three reasons for measuring level. Describe the basic operating principles of the sight glass. Demonstrate proper techniques for reading a sight glass. Describe the basic operating principles of a float level detector. Describe the basic operating principles of a bubbler level indicating system. Explain the differences between a wet and dry reference leg indicating system, and describe how each functions. This handbook is designed for use by experienced Rocky Flats operators to reinforce and improve their current knowledge level, and by entry-level operators to ensure that they possess a minimum level of fundamental knowledge. Level Detectors is applicable to many job classifications and can be used as a reference for classroom work or for self-study. Although this reference handbook is by no means all-encompassing, you will gain enough information about this subject area to assist you in contributing to the safe operation of Rocky Flats Plant

Practical electronics handbook

CERN Document Server

Sinclair, Ian R

1988-01-01

Practical Electronics Handbook, Second Edition covers information useful in electronics, with focus on mathematical conventions. The handbook discusses the passive (resistors, capacitors, band coding, and inductors) and active discrete (diodes, transistors and negative feedback) components; discrete component circuits; and transferring digital data. Linear I.C.s, which are the single-chip arrangements of amplifier circuits that are intended to be biased and operated in a linear way, and digital I.C.s, which process signals and consist of two significant voltage levels, are also considered. T

Handbook of unmanned aerial vehicles

CERN Document Server

Vachtsevanos, George

2015-01-01

The Handbook of Unmanned Aerial Vehicles is a reference text for the academic and research communities, industry, manufacturers, users, practitioners, Federal Government, Federal and State Agencies, the private sector, as well as all organizations that are and will be using unmanned aircraft in a wide spectrum of applications. The Handbook covers all aspects of UAVs, from design to logistics and ethical issues. It is also targeting the young investigator, the future inventor and entrepreneur by providing an overview and detailed information of the state-of-the-art as well as useful new concepts that may lead to innovative research. The contents of the Handbook include material that addresses the needs and ‘know how’ of all of the above sectors targeting a very diverse audience. The Handbook offers a unique and comprehensive treatise of everything one needs to know about unmanned aircrafts, from conception to operation, from technologies to business activities, users, OEMs, reference sources, conferences, ...

Integrated Circuit Electromagnetic Immunity Handbook

Science.gov (United States)

Sketoe, J. G.

2000-08-01

This handbook presents the results of the Boeing Company effort for NASA under contract NAS8-98217. Immunity level data for certain integrated circuit parts are discussed herein, along with analytical techniques for applying the data to electronics systems. This handbook is built heavily on the one produced in the seventies by McDonnell Douglas Astronautics Company (MDAC, MDC Report E1929 of 1 August 1978, entitled Integrated Circuit Electromagnetic Susceptibility Handbook, known commonly as the ICES Handbook, which has served countless systems designers for over 20 years). Sections 2 and 3 supplement the device susceptibility data presented in section 4 by presenting information on related material required to use the IC susceptibility information. Section 2 concerns itself with electromagnetic susceptibility analysis and serves as a guide in using the information contained in the rest of the handbook. A suggested system hardening requirements is presented in this chapter. Section 3 briefly discusses coupling and shielding considerations. For conservatism and simplicity, a worst case approach is advocated to determine the maximum amount of RF power picked up from a given field. This handbook expands the scope of the immunity data in this Handbook is to of 10 MHz to 10 GHz. However, the analytical techniques provided are applicable to much higher frequencies as well. It is expected however, that the upper frequency limit of concern is near 10 GHz. This is due to two factors; the pickup of microwave energy on system cables and wiring falls off as the square of the wavelength, and component response falls off at a rapid rate due to the effects of parasitic shunt paths for the RF energy. It should be noted also that the pickup on wires and cables does not approach infinity as the frequency decreases (as would be expected by extrapolating the square law dependence of the high frequency roll-off to lower frequencies) but levels off due to mismatch effects.

Sodium-NaK engineering handbook. Volume III. Sodium systems, safety, handling, and instrumentation. [LMFBR

Energy Technology Data Exchange (ETDEWEB)

Foust, O J [ed.

1978-01-01

The handbook is intended for use by present and future designers in the Liquid Metals Fast Breeder Reactor (LMFBR) Program and by the engineering and scientific community performing other type investigation and exprimentation requiring high-temperature sodium and NaK technology. The arrangement of subject matter progresses from a technological discussion of sodium and sodium--potassium alloy (NaK) to discussions of varius categories and uses of hardware in sodium and NaK systems. Emphasis is placed on sodium and NaK as heat-transport media. Sufficient detail is included for basic understanding of sodium and NaK technology and of technical aspects of sodium and NaK components and instrument systems. Information presented is considered adequate for use in feasibility studies and conceptual design, sizing components and systems, developing preliminary component and system descriptions, identifying technological limitations and problem areas, and defining basic constraints and parameters.

Computer control of fuel handling activities at FFTF

International Nuclear Information System (INIS)

Romrell, D.M.

1985-03-01

The Fast Flux Test Facility near Richland, Washington, utilizes computer control for reactor refueling and other related core component handling and processing tasks. The computer controlled tasks described in this paper include core component transfers within the reactor vessel, core component transfers into and out of the reactor vessel, remote duct measurements of irradiated core components, remote duct cutting, and finally, transferring irradiated components out of the reactor containment building for off-site shipments or to long term storage. 3 refs., 16 figs

Springer Handbook of Acoustics

CERN Document Server

Rossing, Thomas D

2007-01-01

Acoustics, the science of sound, has developed into a broad interdisciplinary field encompassing the academic disciplines of physics, engineering, psychology, speech, audiology, music, architecture, physiology, neuroscience, and others. The Springer Handbook of Acoustics is an unparalleled modern handbook reflecting this richly interdisciplinary nature edited by one of the acknowledged masters in the field, Thomas Rossing. Researchers and students benefit from the comprehensive contents spanning: animal acoustics including infrasound and ultrasound, environmental noise control, music and human speech and singing, physiological and psychological acoustics, architectural acoustics, physical and engineering acoustics, signal processing, medical acoustics, and ocean acoustics. This handbook reviews the most important areas of acoustics, with emphasis on current research. The authors of the various chapters are all experts in their fields. Each chapter is richly illustrated with figures and tables. The latest rese...

Synthetic viewing: comprehensive work representation, making remote work clearer to the operator

International Nuclear Information System (INIS)

Leinemann, K.; Katz, F.; Knueppel, H.; Olbrich, W.; Maisonnier, D.

1995-01-01

Maintenance work in fusion plants such as the ITER plant will be carried out fully remotely, without any direct view on to the work scene. The basic sources of information about the state of the work are video monitors. In a first development step, this viewing channel was enhanced by three-dimensional computer graphics controlled by signals of motion sensors (such as joint angle sensors) of the real maintenance devices. However, experience has shown that more information is required about the status of all pieces of equipment involved and about the status of the entire handling task, if the work is to be done properly. Viewing for remote handling applications needs to include the display of such status information in a suitable form. Of special importance in this sense is the representation of the work procedures on the computer display, enabling the operator to grasp at a glance the actual state of the work and the details about the subtask to be executed next. The tool providing this ''synthetic'' viewing but also task-suited to planning, training and controlling support for the operator is the remote handling workstation. The prototype of a remote handling workstation was successfully used in the first complete Karlsruhe experiment for in-torus handling. (orig.)

Handbook of radioimmunoassay

International Nuclear Information System (INIS)

Abraham, G.E.

1977-01-01

This handbook provides clear, detailed descriptions of ways to set up radioimmunoassay procedures for a variety of polypeptides and low molecular weight compounds. It covers extensively the subjects of statistical evaluation of radioimmunoassay, instrumentation in radioimmunoassay, and radiation safety in the performance of radioimmunoassay. Related nonconventional methods are also discussed. Contributors to this handbook have presented their own procedures for performing the radioimmunoassay and their rationale for choosing particular reagents and conditions. Emphasis is on providing sufficient information to enable relatively inexperienced immunoassayists to set up assay systems with a minimum of difficulty

The small library manager's handbook

CERN Document Server

Graves, Alice

2014-01-01

The Small Library Manager's Handbook is for librarians working in all types of small libraries. It covers the everyday nuts-and-bolts operations that all librarians must perform. This handbook, written by experts who are small librarians themselves, will help all small librarians to do multiple jobs at the same time.

Handbook for TEAC Auditors, 2011

Science.gov (United States)

Teacher Education Accreditation Council, 2011

2011-01-01

This handbook is primarily for the Teacher Education Accreditation Council (TEAC) auditor. It is intended to help in preparing for audits of "Inquiry Briefs" and "Inquiry Brief Proposals" and to contribute to the writing of the audit report. This handbook contains a full description of the audit process, the responsibilities of…

Handbook of Technical Communication

OpenAIRE

Mehler , Alexander; Romary , Laurent; Gibbon , Dafydd

2012-01-01

International audience; The handbook "Technical Communication" brings together a variety of topics which range from the role of technical media in human communication to the linguistic, multimodal enhancement of present-day technologies. It covers the area of computer-mediated text, voice and multimedia communication as well as of technical documentation. In doing so, the handbook takes professional and private communication into account. Special emphasis is put on technical communication bas...

Handbook of the Economics of Education. Volume 2

Science.gov (United States)

Hanushek, Erik A., Ed.; Welch, F., Ed.

2006-01-01

The Handbooks in Economics series continues to provide the various branches of economics with handbooks which are definitive reference sources, suitable for use by professional researchers, advanced graduate students, or by those seeking a teaching supplement. With contributions from leading researchers, each Handbook presents an accurate,…

Design guides for radioactive-material-handling facilities and equipment

International Nuclear Information System (INIS)

Doman, D.R.; Barker, R.E.

1980-01-01

Fourteen key areas relating to facilities and equipment for handling radioactive materials involved in examination, reprocessing, fusion fuel handling and remote maintenance have been defined and writing groups established to prepare design guides for each areas. The guides will give guidance applicable to design, construction, operation, maintenance and safety, together with examples and checklists. Each guide will be reviewed by an independent review group. The guides are expected to be compiled and published as a single document

DOE handbook: Design considerations

International Nuclear Information System (INIS)

1999-04-01

The Design Considerations Handbook includes information and suggestions for the design of systems typical to nuclear facilities, information specific to various types of special facilities, and information useful to various design disciplines. The handbook is presented in two parts. Part 1, which addresses design considerations, includes two sections. The first addresses the design of systems typically used in nuclear facilities to control radiation or radioactive materials. Specifically, this part addresses the design of confinement systems and radiation protection and effluent monitoring systems. The second section of Part 1 addresses the design of special facilities (i.e., specific types of nonreactor nuclear facilities). The specific design considerations provided in this section were developed from review of DOE 6430.1A and are supplemented with specific suggestions and considerations from designers with experience designing and operating such facilities. Part 2 of the Design Considerations Handbook describes good practices and design principles that should be considered in specific design disciplines, such as mechanical systems and electrical systems. These good practices are based on specific experiences in the design of nuclear facilities by design engineers with related experience. This part of the Design Considerations Handbook contains five sections, each of which applies to a particular engineering discipline

DOE handbook: Design considerations

Energy Technology Data Exchange (ETDEWEB)

NONE

1999-04-01

The Design Considerations Handbook includes information and suggestions for the design of systems typical to nuclear facilities, information specific to various types of special facilities, and information useful to various design disciplines. The handbook is presented in two parts. Part 1, which addresses design considerations, includes two sections. The first addresses the design of systems typically used in nuclear facilities to control radiation or radioactive materials. Specifically, this part addresses the design of confinement systems and radiation protection and effluent monitoring systems. The second section of Part 1 addresses the design of special facilities (i.e., specific types of nonreactor nuclear facilities). The specific design considerations provided in this section were developed from review of DOE 6430.1A and are supplemented with specific suggestions and considerations from designers with experience designing and operating such facilities. Part 2 of the Design Considerations Handbook describes good practices and design principles that should be considered in specific design disciplines, such as mechanical systems and electrical systems. These good practices are based on specific experiences in the design of nuclear facilities by design engineers with related experience. This part of the Design Considerations Handbook contains five sections, each of which applies to a particular engineering discipline.

Development of radiation hardness components for ITER remote maintenance

Energy Technology Data Exchange (ETDEWEB)

Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Yagi, Toshiaki; Morita, Yousuke

1998-04-01

In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

Development of radiation hardness components for ITER remote maintenance

International Nuclear Information System (INIS)

Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira; Yagi, Toshiaki; Morita, Yousuke

1998-01-01

In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

Remote technology in the spent fuel route in the UK

International Nuclear Information System (INIS)

Webster, A.W.

1999-01-01

Remote technologies employed in front end (commercial) reprocessing operations of metallic and oxide fuel at Sellafield in the UK are described. An overview of the transportation, fuel receiving and preparation facilities are given together with the remote technology developments employed to improve operations. It is concluded that the facilities and remote technology used within them are mature and based upon simple and robust principles. Remote operations and maintenance in these facilities is often easier than in many facilities downstream of the dissolution stage. Fuel design considerations for shearing and handling are described and it is concluded that advanced and higher burnup fuel can be accommodated by existing reprocessing and interim storage routes with current remote technologies. Two different storage systems are available from UK companies which use existing spent fuel handling technology/equipment. The pace of remote technology development is currently being set by the demands of other nuclear process areas such as decommissioning and plant clean out; these will spin-off into front end processes. (author)

Springer handbook of acoustics

CERN Document Server

2014-01-01

Acoustics, the science of sound, has developed into a broad interdisciplinary field encompassing the academic disciplines of physics, engineering, psychology, speech, audiology, music, architecture, physiology, neuroscience, and electronics. The Springer Handbook of Acoustics is also in his 2nd edition an unparalleled modern handbook reflecting this richly interdisciplinary nature edited by one of the acknowledged masters in the field, Thomas Rossing. Researchers and students benefit from the comprehensive contents. This new edition of the Handbook features over 11 revised and expanded chapters, new illustrations, and 2 new chapters covering microphone arrays  and acoustic emission.  Updated chapters contain the latest research and applications in, e.g. sound propagation in the atmosphere, nonlinear acoustics in fluids, building and concert hall acoustics, signal processing, psychoacoustics, computer music, animal bioacousics, sound intensity, modal acoustics as well as new chapters on microphone arrays an...

Services Subcontract Technical Representative (STR) handbook

International Nuclear Information System (INIS)

Houston, D.H.

1997-06-01

The purpose of this handbook is to provide guidance to Bechtel Hanford, Inc. Subcontract Representatives in their assignments. It is the intention of this handbook to ensure that subcontract work is performed in accordance with the subcontract documents

Harvesting and handling agricultural residues for energy

Energy Technology Data Exchange (ETDEWEB)

Jenkins, B.M.; Summer, H.R.

1986-05-01

Significant progress in understanding the needs for design of agricultural residue collection and handling systems has been made but additional research is required. Recommendations are made for research to (a) integrate residue collection and handling systems into general agricultural practices through the development of multi-use equipment and total harvest systems; (b) improve methods for routine evaluation of agricultural residue resources, possibly through remote sensing and image processing; (c) analyze biomass properties to obtain detailed data relevant to engineering design and analysis; (d) evaluate long-term environmental, social, and agronomic impacts of residue collection; (e) develop improved equipment with higher capacities to reduce residue collection and handling costs, with emphasis on optimal design of complete systems including collection, transportation, processing, storage, and utilization; and (f) produce standard forms of biomass fuels or products to enhance material handling and expand biomass markets through improved reliability and automatic control of biomass conversion and other utilization systems. 118 references.

Development of radiation hard components for remote maintenance

International Nuclear Information System (INIS)

Oka, Kiyoshi; Obara, Kenjiro; Kakudate, Satoshi; Tominaga, Ryuichiro; Akada, Tamio; Morita, Hirosuke.

1997-01-01

In International Thermonuclear Experimental Reactor (ITER), in-vessel remote-handling is inevitably required to assemble and maintain activated in-vessel components due to D-T operation. The components of the in-vessel remote-handling system must have sufficient radiation hardness to allow for operation under an intense gamma-ray radiation of over 30 kGy/h for periods up to more than 1,000 hours. To this end, extensive irradiation tests and quality improvements including the optimization of material composition have been conducted through the ITER R and D program in order to develop radiation hard components which satisfy radiation doses from 10 MGy to 100 MGy at the dose rate of 10 kGy/h. This paper outlines the latest status of the radiation hard component development that has been conducted as the Japan Home Team's contribution to ITER. The remote-handling components tested are categorized into either robotics, viewing systems or common components. The irradiation tests include commercial base products for screening both modified and newly developed products to improve their radiation hardness. (author)

Proceedings of the international topical meeting on remote systems and robotics in hostile environments

International Nuclear Information System (INIS)

Anon.

1987-01-01

This book contains the proceedings of the International Topical Meeting on Remote Systems and Robotics in Hostile Environments. It is organized under the following sessions: Worldwide Applications Overview; Operating Mobile Systems; Sensors and Control Systems; Space Applications; Reactor Operations and Surveillance; Remote Equipment for Hazardous Operations; Future Mobile System; Mining and Construction Operations; Special Applications; Hot Cell Applications; Processing; Reactor Operations and Maintenance; Decontamination and Waste Handling; Remote Handling Development and Demonstration

Welding engineering handbook. Volume 1

International Nuclear Information System (INIS)

Sundarrajan, S.; Bhaskar, S.V.; Amarnath Kumar, G.C.

1992-11-01

In this Welding Engineering Handbook, we have brought key application areas of welding which are of technocommercial importance. These details are not normally available. Each author, highly specialized in these areas has spent considerable amount of time and covered the topic exhaustively giving valuable details. Each application area has different quality requirements which are brought out clearly. This handbook is designed to cater the information source for various professionals in core sector industries like fabrication, shipbuilding, automobiles, nuclear plants, machine building, fertilisers and chemical industry, pressure vessel manufactures etc. We are sure that this handbook will serve as a reference reckoner to all plant/works managers, maintenance, projects, engineers, R and D and students. (original)

System for handling and storing radioactive waste

Science.gov (United States)

Anderson, John K.; Lindemann, Paul E.

1984-01-01

A system and method for handling and storing spent reactor fuel and other solid radioactive waste, including canisters to contain the elements of solid waste, storage racks to hold a plurality of such canisters, storage bays to store these racks in isolation by means of shielded doors in the bays. This system also includes means for remotely positioning the racks in the bays and an access tunnel within which the remotely operated means is located to position a rack in a selected bay. The modular type of these bays will facilitate the construction of additional bays and access tunnel extension.

Remote maintenance demonstration tests at a pilot plant for high level waste vitrification

International Nuclear Information System (INIS)

Selig, M.

1984-01-01

The remote maintenance and replacement technique designed for a radioactive vitrification plant have been developed and tested in a full scale handling mockup and in an inactive pilot plants by the Central Engineering Department of the Karlsruhe Nuclear Research Center. As a result of the development work and the tests it has been proved that the remote maintenance technique and remote handling equipment can be used without any technical problems and are suited for application in a radioactive waste vitrification plant

Remote handling techniques in decommissioning - A report of the NEA Co-operative Programme on Decommissioning (CPD) project

International Nuclear Information System (INIS)

Borchardt, Ralf; Denissen, Luc; Desbats, Philippe; Jeanjacques, Michel; Nokhamzon, Jean-Guy; Valentin, Pierre; Slater, Steve; Valencia, Luis; Wittenauer, Stephan; Yamauchi, Toyoaki; Burton, Bob

2011-01-01

The NEA Co-operative Programme for the Exchange of Scientific and Technical Information Concerning Nuclear Installation Decommissioning Projects (CPD) is a joint undertaking of a limited number of organisations actively executing on planning the decommissioning of nuclear facilities. The objective of the CPD is to acquire information from operational experience in decommissioning nuclear installations that is useful for future projects. Although part of the information exchanged within CPD is confidential in nature and is restricted to programme participants, experience of general interest gained under the programme's auspices is released for broader use. Such information is brought to the attention of all NEA members through regular reports to the NEA Radioactive Waste Management Committee (RWMC), as well as through published studies. This report describes generic results obtained by a CPD Task Group analysing the needs for remote technologies. The existing technologies able to meet these needs, the lessons learned and showing where improvements or further developments should be made in this domain. During the D and D process, the handling of highly radioactive materials, the deployment of tools and sensors and the dismantling of components built from many different materials can be a long, labor-intensive process that has the potential for high exposure rates, heat stress and injury to personnel. Mobile robotics systems provide solutions to these hazards. Such remote handling systems are required to perform tasks within budget and on schedule while justifying the expense by a saving in cumulative doses received by project personnel. To reach this goal, the following are additional factors that need to be evaluated when preparing a project: - System and peripherals must be operator-friendly. Ideally, the system must be designed to allow personnel currently available for the D and D project to become trained as operators within a reasonable time frame. - The

Ex-vessel remote maintenance design for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.; Macdonald, D.

1987-01-01

The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) imposes a requirement for remote handling technology to carry out maintenance operations on auxiliary machine components. These operations consist of removing and repairing components such as diagnostics and radio frequency (rf) heating modules using remotely operated maintenance equipment. The major equipment that is being developed to accomplish maintenance external to the plasma chamber includes the bridge-mounted manipulator system for test cell operations, decontamination (decon) equipment, hot cell equipment, and solid rad-waste handling equipment. Wherever possible, the project will use commercially available equipment. Several areas of the maintenance system design have been addressed in fiscal year (FY) 1987. These included conceptual designs of manipulator systems, the start of a remote equipment research and development (R and D) program, and definition of the hot cell, decon, and equipment repair facility requirements. The manipulator work included investigating transporters and viewing/lighting subsystems. In each case, existing commercial units are being assessed initially, along with viable alternative approaches. R and D work also included demonstrations of remote handling operations on full-size, partial mock-ups of the CIT machine at the Oak Ridge National Laboratory (ORNL) Remote Operations and Maintenance Development Facility

DOE handbook electrical safety

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-01-01

Electrical Safety Handbook presents the Department of Energy (DOE) safety standards for DOE field offices or facilities involved in the use of electrical energy. It has been prepared to provide a uniform set of electrical safety guidance and information for DOE installations to effect a reduction or elimination of risks associated with the use of electrical energy. The objectives of this handbook are to enhance electrical safety awareness and mitigate electrical hazards to employees, the public, and the environment.

Handbook of Social Capital

DEFF Research Database (Denmark)

The Handbook of Social Capital balances the ‘troika' of sociology, political science and economics by offering important contributions to the study of bonding and bridging social capital networks. This inter-disciplinary Handbook intends to serve as a bridge for students and scholars within all...... the social sciences. The contributors explore the different scientific approaches that are all needed if international research is to embrace both the bright and the more shadowy aspects of social capital....

Soviet Space Program Handbook.

Science.gov (United States)

1988-04-01

in advance and some events were even broadcast live. Immediately following the first success- ful launch of their new Energia space launch vehicle in...early 1988. Just as a handbook written a couple of years ago would need updating with Mir, Energia , and the SL-16, this handbook will one day need up...1986. Johnson, Nicholas L. The Soviet Year in Space 1983. Colorado Springs, CO: Teledyne Brown Engineering, 1984. Lawton, A. " Energia - Soviet Super