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Sample records for remote handling operations

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

  2. 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

  3. 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...

  4. 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)

  5. 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

  6. 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).

  7. 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)

  8. 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)

  9. 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

  10. Remote handling at LAMPF

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  11. 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.

  12. 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

  13. 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

  14. 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

  15. Remote handling machines

    International Nuclear Information System (INIS)

    Sato, Shinri

    1985-01-01

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

  16. 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.)

  17. 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

  18. 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

  19. 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)

  20. Remote handling equipment

    International Nuclear Information System (INIS)

    Clement, G.

    1984-01-01

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

  1. 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

  2. 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

  3. Remotely handled and remotely operated valve, particularly for the hot part of radioactive plants

    International Nuclear Information System (INIS)

    Radovan, G.; Sandling, M.J.; Davidson, J.W.; Blaseck, K.; Hoffmeister, L.; Westendorf, H.

    1988-01-01

    The valve consists of a valve whose valve housing is built into a pipeline. The wear parts of the valve to be replaced, such as the valve body and valve seat, are combined into a replacement part. The replacement part and a clamp act together so that the replacement part is interlocked with the valve housing in the closed operating position. The exchange can be made by undoing a single central screw. (DG) [de

  4. Welding method by remote handling

    International Nuclear Information System (INIS)

    Hashinokuchi, Minoru.

    1994-01-01

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

  5. 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

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

    International Nuclear Information System (INIS)

    Ravishankar, A.; Balasubramanian, G.R.

    1990-01-01

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

  7. 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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-07-01

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

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

    International Nuclear Information System (INIS)

    Lopes, Pedro; Vale, Alberto; Ventura, Rodrigo

    2015-01-01

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

  10. 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...

  11. Remote handling for an ISIS target change

    International Nuclear Information System (INIS)

    Broome, T.A.; Holding, M.

    1989-01-01

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

  12. Getting to grips with remote handling and robotics

    Energy Technology Data Exchange (ETDEWEB)

    Mosey, D [Ontario Hydro, Toronto (Canada)

    1984-12-01

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

  13. 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)

  14. PREPD O and VE remote handling system

    International Nuclear Information System (INIS)

    Theil, T.N.

    1985-01-01

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

  15. 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

  16. 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

  17. 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

  18. 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)

  19. 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

  20. 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)

  1. Remote handling systems for the Pride application

    International Nuclear Information System (INIS)

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

    2010-10-01

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

  2. 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

  3. Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

    International Nuclear Information System (INIS)

    Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

    2009-01-01

    Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

  4. 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.

  5. Design of an overhead crane for the ITER NB cell remote handling maintenance operations

    Energy Technology Data Exchange (ETDEWEB)

    Taubmann, Gonzalo; Brochet, Laurent [IBERTEF A.I.E., Iberica de Tecnologia de Fusion, C/Magallanes 3, 28015 Madrid (Spain); Liniers, Macarena [Asociacion EURATOM-CIEMAT para la Fusion, Av. Complutense 22, 28040 Madrid (Spain)], E-mail: macarena.liniers@ciemat.es; Medrano, Mercedes; Sarasola, Xabier; Botija, Jose; Alonso, Javier [Asociacion EURATOM-CIEMAT para la Fusion, Av. Complutense 22, 28040 Madrid (Spain); Damiani, Carlo [FUSION FOR ENERGY, Josep Pla 2, Torres Diagonal Litoral Ed B3, 08019 Barcelona (Spain)

    2009-06-15

    In the neutral beam cell of ITER all the maintenance operations on the neutral beam components (BLC's) must be performed by an overhead crane of large payload capability (30-50 tonnes). A crane system is presented consisting of a monorail, a carriage, and a lifting mechanism. The monorail must give access to the BLC's in the beam line vessel, the front components connecting the NB vessel with the Tokamak, and a storage area at the north end of the NB cell. Rail switching points are required at the intersections between radial and toroidal branches. A translational switching mechanism is proposed. The crane carriage consists of two independent sub-carriages, each composed of four wheels. A set of four secondary wheels attached to the main carriage prevents the crane tilting due to the CoG misalignment of some loads. The elevation system proposed consists of an electromechanical crane of four independent drums and 50 tonnes payload. In parallel with the crane design, a logistics and space availability study has been carried out, leading to the detection of clearance or transport problems that could be taken into account in the final crane design.

  6. Design of an overhead crane for the ITER NB cell remote handling maintenance operations

    International Nuclear Information System (INIS)

    Taubmann, Gonzalo; Brochet, Laurent; Liniers, Macarena; Medrano, Mercedes; Sarasola, Xabier; Botija, Jose; Alonso, Javier; Damiani, Carlo

    2009-01-01

    In the neutral beam cell of ITER all the maintenance operations on the neutral beam components (BLC's) must be performed by an overhead crane of large payload capability (30-50 tonnes). A crane system is presented consisting of a monorail, a carriage, and a lifting mechanism. The monorail must give access to the BLC's in the beam line vessel, the front components connecting the NB vessel with the Tokamak, and a storage area at the north end of the NB cell. Rail switching points are required at the intersections between radial and toroidal branches. A translational switching mechanism is proposed. The crane carriage consists of two independent sub-carriages, each composed of four wheels. A set of four secondary wheels attached to the main carriage prevents the crane tilting due to the CoG misalignment of some loads. The elevation system proposed consists of an electromechanical crane of four independent drums and 50 tonnes payload. In parallel with the crane design, a logistics and space availability study has been carried out, leading to the detection of clearance or transport problems that could be taken into account in the final crane design.

  7. 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

  8. 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

  9. Remote handling technology for nuclear fuel cycle facilities

    International Nuclear Information System (INIS)

    Sakai, Akira; Maekawa, Hiromichi; Ohmura, Yutaka

    1997-01-01

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

  10. 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.

  11. 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.)

  12. 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.

  13. 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

  14. 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

  15. 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)

  16. 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)

  17. 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.

  18. 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

  19. 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

  20. 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

  1. 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

  2. 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

  3. 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

  4. 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.

  5. 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

  6. 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

  7. 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

  8. 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

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-11-01

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

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

    International Nuclear Information System (INIS)

    1995-11-01

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

  11. 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

  12. 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.)

  13. 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.)

  14. 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

  15. Design of remote handling equipment for the ITER NBI

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-08-01

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

  16. Remote 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.)

  17. 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.)

  18. 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)

  19. 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)

  20. 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

  1. 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)

  2. 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

  3. 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

  4. 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

  5. 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)

  6. 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

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

    International Nuclear Information System (INIS)

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

    1989-06-01

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

  8. Remote 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.

  9. 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

  10. 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)

  11. 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

  12. 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

  13. 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.)

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. 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

  20. 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)

  1. 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

  2. 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

  3. 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

  4. 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

  5. Remotely handled and remotely operated valve, particularly for the hot part of radioactive plants. Fernhantierbare und fernbedienbare Armatur, insbesondere fuer den heissen Bereich radioaktiver Anlagen

    Energy Technology Data Exchange (ETDEWEB)

    Radovan, G.; Sandling, M.J.; Davidson, J.W.; Blaseck, K.; Hoffmeister, L.; Westendorf, H.

    1988-01-21

    The valve consists of a valve whose valve housing is built into a pipeline. The wear parts of the valve to be replaced, such as the valve body and valve seat, are combined into a replacement part. The replacement part and a clamp act together so that the replacement part is interlocked with the valve housing in the closed operating position. The exchange can be made by undoing a single central screw.

  6. 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.)

  7. 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

  8. 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

  9. 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

  10. 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)

  11. 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

  12. 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)

  13. 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)

  14. 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

  15. 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

  16. 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.)

  17. 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

  18. 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

  19. 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)

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

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  1. 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

  2. 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)

  3. 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)

  4. 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

  5. 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

  6. 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.

  7. 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

  8. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

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

    2001-03-01

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

  9. 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

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. 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

  15. 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.)

  16. 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)

  17. 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)

  18. 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

  19. 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.)

  20. 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.

  1. 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

  2. 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.

  3. 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.

  4. Remote handling demonstration of ITER blanket module replacement

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  5. Realtime graphics support for remote handling operations in complex working environments within the framework of a control, simulation and off-line programming system

    International Nuclear Information System (INIS)

    Kuehnapfel, U.

    1992-05-01

    The application independent simulation system KISMET was developed. This tool gives a different approach compared to previously existing robot simulators. A hierarchical data structure approach is used for the definition of workcell geometry, assembly topology and mechanism kinematics. This database structure allows for presentation of interactively selectable levels of detail and is, therefore, especially useful for real-time rigid body simulation of complex RH-scenarios. With KISMET, assembly structures can be modelled in any number of detail levels. Workcell geometry, assembly topology and mechanisms can be defined interactively by means of the integrated modeller. The mechanism simulation allows for kinematical tree structures with any number of joints, planar closed chains, and interconnections between joints. Examples of novel simulation methods, data structures, and algorithms are presented for selected examples: the hidden surface problem, graphical presentation techniques, collision testing, and control of scene cameras (image simulation, fast positioning and tracking). Special attention is paid to the real-time problem. The way this system was realized within the UNIX world is shown as an example for geometric and kinematic modelling techniques that grant for the optimum use of the capabilities of high-performance graphics workstations. A further chapter is focussing on the use of standard interfaces for CAD model transfer (CAD * I, STEP) and robot programming (IRDATA). Examples of practical KISMET applications for remote handling in fusion reactors, in a nuclear fuel element reprocessing cell and in sensor based robotics are used to present the developed methods. (orig.) [de

  6. Computerised programming of the Dragon reactor fuel handling operations

    International Nuclear Information System (INIS)

    Butcher, P.

    1976-11-01

    Two suites of FORTRAN IV computer programs have been written to produce check lists for the operation of the two remote control fuel handling machines of the Dragon Reactor. This document describes the advantages of these programs over the previous manual system of writing check lists, and provides a detailed guide to the programs themselves. (author)

  7. 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.)

  8. 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)

  9. Progress in standardization for ITER Remote Handling control system

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  10. Progress in standardization for ITER Remote Handling control system

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

  11. Remote handling in the Plutonium Immobilization Project: Puck handling

    International Nuclear Information System (INIS)

    Brault, J.R.

    2000-01-01

    Since the break up of the Soviet Union at the end of the Cold War, the US and Russia have been negotiating ways to reduce their nuclear stockpiles. Economics is one of the reasons behind this, but another important reason is safeguarding these materials from unstable organizations and countries. With the downsizing of the nuclear stockpiles, large quantities of plutonium are being declared excess and must be safely disposed of. The Savannah River Site (SRS) has been selected as the site where the immobilization facility will be located. Conceptual design and process development commenced in 1998. SRS will immobilize excess plutonium in a ceramic waste form and encapsulate it in vitrified high level waste in the Defense Waste Processing Facility (DWPF) canister. These canisters will then be interred in the national repository at Yucca Mountain, New Mexico. The facility is divided into three distinct operating areas: Plutonium Conversion, First Stage Immobilization, and Second Stage Immobilization. This paper will discuss the first two operations

  12. 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

  13. 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

  14. 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

  15. 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.

  16. 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

  17. 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.

  18. 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

  19. Automated handling for SAF batch furnace and chemistry analysis operations

    International Nuclear Information System (INIS)

    Bowen, W.W.; Sherrell, D.L.; Wiemers, M.J.

    1981-01-01

    The Secure Automated Fabrication Program is developing a remotely operated breeder reactor fuel pin fabrication line. The equipment will be installed in the Fuels and Materials Examination Facility being constructed at Hanford, Washington. Production is scheduled to start in mid-1986. The application of small pneumatically operated industrial robots for loading and unloading product into and out of batch furnaces and for distribution and handling of chemistry samples is described

  20. 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.

  1. 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.

  2. 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

  3. 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)

  4. 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.

  5. 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)

  6. 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)

  7. 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.)

  8. 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

  9. 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

  10. A graphics based remote handling control system

    International Nuclear Information System (INIS)

    Leinemann, K.

    1984-08-01

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

  11. 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.

  12. 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)

  13. 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

  14. 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

  15. 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)

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  17. A remotely operated excavator [HAZ-TRAK

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    HAZ-TRAK is a remotely operated excavator and material handling system for nuclear waste site characterization, waste site remediation, and the decommissioning of nuclear facilities. HAZ-TRAK combines the power and mobility of a commercial excavator, with the dexterity and controllability of a force feedback manipulator system: when operating HAZ-TRAK as an excavator, the operator can feel buried objects. A master/slave control method enables the operator to intuitively control all the excavator arm functions with one hand. The main features of the excavator are described in this article. (author)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-10-15

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

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  20. 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

  1. 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.)

  2. 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

  3. 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)

  4. 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

  5. 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

  6. 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

  7. 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)

  8. 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

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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

  14. 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.

  15. 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.

  16. 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

  17. 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.

  18. 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.

  19. 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)

  20. 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

  1. Repository waste-handling operations, 1998

    International Nuclear Information System (INIS)

    Cottam, A.E.; Connell, L.

    1986-04-01

    The Civilian Radioactive Waste Management Program Mission Plan and the Generic Requirements for a Mined Geologic Disposal System state that beginning in 1998, commercial spent fuel not exceeding 70,000 metric tons of heavy metal, or a quantity of solidified high-level radioactive waste resulting from the reprocessing of such a quantity of spent fuel, will be shipped to a deep geologic repository for permanent storage. The development of a waste-handling system that can process 3000 metric tons of heavy metal annually will require the adoption of a fully automated approach. The safety and minimum exposure of personnel will be the prime goals of the repository waste handling system. A man-out-of-the-loop approach will be used in all operations including the receipt of spent fuel in shipping casks, the inspection and unloading of the spent fuel into automated hot-cell facilities, the disassembly of spent fuel assemblies, the consolidation of fuel rods, and the packaging of fuel rods into heavy-walled site-specific containers. These containers are designed to contain the radionuclides for up to 1000 years. The ability of a repository to handle more than 6000 pressurized water reactor spent-fuel rods per day on a production basis for approximately a 23-year period will require that a systems approach be adopted that combines space-age technology, robotics, and sophisticated automated computerized equipment. New advanced inspection techniques, maintenance by robots, and safety will be key factors in the design, construction, and licensing of a repository waste-handling facility for 1998

  2. Defense Waste Processing Facility -- Radioactive operations -- Part 3 -- Remote operations

    International Nuclear Information System (INIS)

    Barnes, W.M.; Kerley, W.D.; Hughes, P.D.

    1997-01-01

    The Savannah River Site's Defense Waste Processing Facility (DWPF) near Aiken, South Carolina is the nation's first and world's largest vitrification facility. Following a ten year construction period and nearly three years of non-radioactive testing, the DWPF began radioactive operations in March 1996. Radioactive glass is poured from the joule heated melter into the stainless steel canisters. The canisters are then temporarily sealed, decontaminated, resistance welded for final closure, and transported to an interim storage facility. All of these operations are conducted remotely with equipment specially designed for these processes. This paper reviews canister processing during the first nine months of radioactive operations at DWPF. The fundamental design consideration for DWPF remote canister processing and handling equipment are discussed as well as interim canister storage

  3. 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

  4. 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)

  5. 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)

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. US remote monitoring operational experience

    International Nuclear Information System (INIS)

    Dupree, S.A.; Sonnier, C.S.

    1997-01-01

    Under international partnerships and bilateral agreements with the U.S. Department of Energy, Sandia National Laboratories, other national laboratories, and international partner organizations have emplaced remote monitoring systems in nuclear facilities and laboratories in various parts of the world for the purpose of conducting field trials of remote monitoring. The purpose of the present report is to review the results from these field trials and draw general conclusions regarding the trials. Many thousands of hours of sensor and system operation have been logged, and data have been retrieved from many locations. In virtually all cases the system components have functioned as intended and data have been successfully collected and transmitted for review. Comparisons between front-end-triggered video and time-lapse video have shown that the triggered record has captured all relevant monitored operations at the various nuclear facilities included in the field trials. We believe the utility and functional reliability of remote monitoring for international safeguards has been shown. However, it should be kept in mind that openness and transparency, including some form of short-notice inspections, are likely to be prerequisites to the safeguards implementation of remote monitoring in any State

  13. Remote waste handling at the Hot Fuel Examination Facility

    International Nuclear Information System (INIS)

    Vaughn, M.E.

    1982-01-01

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

  14. 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

  15. 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.

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

    International Nuclear Information System (INIS)

    Porter, M.L.

    1992-01-01

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

  17. 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.

  18. Computer control for remote wind turbine operation

    Energy Technology Data Exchange (ETDEWEB)

    Manwell, J.F.; Rogers, A.L.; Abdulwahid, U.; Driscoll, J. [Univ. of Massachusetts, Amherst, MA (United States)

    1997-12-31

    Light weight wind turbines located in harsh, remote sites require particularly capable controllers. Based on extensive operation of the original ESI-807 moved to such a location, a much more sophisticated controller than the original one has been developed. This paper describes the design, development and testing of that new controller. The complete control and monitoring system consists of sensor and control inputs, the control computer, control outputs, and additional equipment. The control code was written in Microsoft Visual Basic on a PC type computer. The control code monitors potential faults and allows the turbine to operate in one of eight states: off, start, run, freewheel, low wind shut down, normal wind shutdown, emergency shutdown, and blade parking. The controller also incorporates two {open_quotes}virtual wind turbines,{close_quotes} including a dynamic model of the machine, for code testing. The controller can handle numerous situations for which the original controller was unequipped.

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

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  20. 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.

  1. 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

  2. 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.

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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.)

  8. 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.

  9. 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)

  10. 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

  11. 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

  12. 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.)

  13. 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.

  14. 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.

  15. 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

  16. 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.)

  17. 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.

  18. 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

  19. 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)

  20. 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.

  1. 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

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

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  3. 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

  4. 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

  5. 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

  6. 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.

  7. 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.

  8. 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.

  9. 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

  10. 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

  11. 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.

  12. 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.

  13. REMOTE OPERATIONS IN A GLOBAL ACCELERATOR NETWORK

    International Nuclear Information System (INIS)

    PEGGS, S.; SATOGATA, T.; AGARWAL, D.; RICE, D.

    2003-01-01

    The INTRODUCTION to this paper summarizes the history of the Global Accelerator Network (GAN) concept and the recent workshops that discussed the relationship between GAN and Remote Operations. The REMOTE OPERATIONS SCENARIOS section brings out the organizational philosophy embodied in GAN-like and to non-GAN-like scenarios. The set of major TOPICS RAISED AT THE WORKSHOPS are only partially resolved. COLLABORATION TOOLS are described and discussed, followed by examples of REMOTE ACCELERATOR CONTROL PROJECTS around the world

  14. Remote operations in a global accelerator network

    International Nuclear Information System (INIS)

    Peggs, Steve; Satogata, Todd; Agarwal, Deborah; Rice, David

    2003-01-01

    The INTRODUCTION to this paper summarizes the history of the Global Accelerator Network (GAN) concept and the recent workshops that discussed the relationship between GAN and Remote Operations. The REMOTE OPERATIONS SCENARIOS section brings out the organizational philosophy embodied in GAN-like and to non-GAN-like scenarios. The set of major TOPICS RAISED AT THE WORKSHOPS are only partially resolved. COLLABORATION TOOLS are described and discussed, followed by examples of REMOTE ACCELERATOR CONTROL PROJECTS around the world

  15. REMOTE OPERATIONS IN A GLOBAL ACCELERATOR NETWORK.

    Energy Technology Data Exchange (ETDEWEB)

    PEGGS,S.; SATOGATA,T.; AGARWAL,D.; RICE,D.

    2003-05-12

    The INTRODUCTION to this paper summarizes the history of the Global Accelerator Network (GAN) concept and the recent workshops that discussed the relationship between GAN and Remote Operations. The REMOTE OPERATIONS SCENARIOS section brings out the organizational philosophy embodied in GAN-like and to non-GAN-like scenarios. The set of major TOPICS RAISED AT THE WORKSHOPS are only partially resolved. COLLABORATION TOOLS are described and discussed, followed by examples of REMOTE ACCELERATOR CONTROL PROJECTS around the world.

  16. 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.

  17. Manipulator and materials handling systems for reactor decommissioning -Cooperation between the university and the plant operator

    International Nuclear Information System (INIS)

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

    1995-01-01

    Nuclear reactor dismantling requires suitable handling systems for tools and disassembled components, as well as qualified and reliable disassembly and cutting techniques. From the angle of radiation protection, remote-controlled handling techniques and underwater techniques are the methods of choice, the latter particularly in continuation of plant operating conditions, and this all the more the more disassembly work proceeds towards the reactor core. With the experience accumulated for 20 years now by the Institut fuer Werkstoffkunde (materials science) of Hannover University by basic research and application-oriented development work in the field of thermal cutting technology, especially plasma arc cutting techniques, as well as development work in the field of remote-controlled materials handling systems, the institute is the cut-out partner for disassembly tasks in reactor decommissioning. (Orig./DG) [de

  18. Design and operation of remote maintenance systems in JET

    International Nuclear Information System (INIS)

    Raimondi, T.

    1987-01-01

    The JET tokamak is a joint European project aimed at proving the viability of nuclear fusion as a source of energy. A remote handling system is being developed for this large experimental facility. Force feedback servomanipulators and TV cameras are positioned at work locations by large transporters. Positioning and tele-operation are computer-assisted. Special tools are being devised to facilitate difficult tasks

  19. 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.

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

    International Nuclear Information System (INIS)

    Metcalf, I.L.

    1984-09-01

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

  1. Spent fuel cask handling at an operating nuclear power plant

    International Nuclear Information System (INIS)

    Pal, A.C.

    1988-01-01

    The importance of spent fuel handling at operating nuclear power plants cannot be overstated. Because of its highly radioactive nature, however, spent fuel must be handled in thick, lead-lined containers or casks. Thus, all casks for spent fuel handling are heavy loads by the US Nuclear Regulatory Commission's definition, and any load-drop must be evaluated for its potential to damage safety-related equipment. Nuclear Regulatory Guide NUREG-0612 prescribes the regulatory requirements of alternative heavy-load-handling methodologies such as (a) by providing cranes that meet the requirements of NUREG-0554, which shall be called the soft path, or (b) by providing protective devices at all postulated load-drop areas to prevent any damage to safety-related equipment, which shall be called the hard path. The work reported in this paper relates to cask handling at New York Power Authority's James A. FitzPatrick (JAF) plant

  2. 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.

  3. Retrieval operators of remote sensing applications

    International Nuclear Information System (INIS)

    Ahmad, T.; Shah, A.

    2014-01-01

    A set of operators of remote sensing applications have been proposed to fulfill most of the Functional Requirements (FR). These operators capture the functions of the applications, which can be considered as the services provided by the applications. In general, a good application meets maximum FR from user. In this paper, we have defined a remote sensing application by a set, having all images created at dissimilar time instances, and each image is categorized into set of different layers. (author)

  4. 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

  5. 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.

  6. Facility operations transparency and remote monitoring

    International Nuclear Information System (INIS)

    Beddingfield, David

    2006-01-01

    Remote monitoring technologies offer many opportunities, not only to strengthen IAEA safeguards, but also to improve national, industrial and local oversight of various nuclear operations. Remote monitoring benefits in greater timeliness, reduced inspector presence and improved state-of-health awareness are well-known attributes. However, there is also the capability to organize data into a comprehensive knowledge of the 'normal operating envelope' of a facility. In considering future applications of remote monitoring there is also a need to develop a better understanding of the potential cost-savings versus higher up-front costs and potential long-term maintenance or upgrade costs. (author)

  7. 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.

  8. 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.

  9. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-11-01

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

  11. Remote operated valves - the Bolivian approach

    Energy Technology Data Exchange (ETDEWEB)

    Cuellar, O.; Arce, G.; Blanco, E.; Collazos, A.; Chavarria, E. [Transredes S.A., Transporte de Hidrocarburos, La Paz (Bolivia)

    2005-07-01

    For pipeline operators, the Remote Operated Valves (ROV) are tools to isolate pipe segments and contain any potential spill and they are also useful tools to provide data on operating conditions. Projects and articles about the locations and site layouts were developed to install Remote Operated Valves and the criteria for their use; each location has its own environmental, social and logistical particulars. This article describes the approach used to install ROV in Bolivia and the final design installed discussions and lessons learned about the: criteria to define the location, layout equipment installed and shelter and particulars of the location. (author)

  12. 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

  13. 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.

  14. 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.

  15. 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

  16. 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)

  17. 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

  18. 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

  19. A remote-operating laser

    International Nuclear Information System (INIS)

    Anon.

    2000-01-01

    A laser has been developed into an efficient tool for remote cutting of metal parts, that will be used for dismantling nuclear installations. The YAG-type laser was chosen because it allows the transfer of power through optical fibers instead of mirrors. The feasibility of the cutting of pipes (diameter: 40 mm,thickness: 3 mm) and 40 mm thick steel slates has been proven at a distance of 1 meter by using a continuous 4 kW-laser. 2 lasers have been coupled to allow the contact cutting of 60 mm thick slates (speed: 40 mm/mn) by using an equivalent power of 6 kW. A 100 mm thick slate has been cut by an equivalent power of 7 kW with a speed of 3 mm/mn. (A.C.)

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

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  1. Production optimization of remotely operated gas wells

    Energy Technology Data Exchange (ETDEWEB)

    Juell, Aleksander

    2012-07-01

    From the introduction: The Remote Operations in Oklahoma Intended for Education (ROOKIE) project is a remote field laboratory constructed as a part of this research project. ROOKIE was initiated to provide data in research on production optimization of low productivity gas wells. In addition to this, ROOKIE is used as a teaching tool. Much of the remote operations technology used in the ROOKIE project has been used by the industry for several decades. The first use of remote data acquisition in Oklahoma was in 1989, as described by Luppens [7]. Even though this, for the most part, is old technology, the ROOKIE project is the first remote operations project set up with research and teaching as the main focus. This chapter will discuss the process of establishing the remote field laboratory and the data storage facilities. Results from the project will also be discussed. All testing, instrumentation installation, and modifications to the wells discussed in this chapter was performed by the author. The communication system between the well and NTNU, and the storage database was installed and configured by the author.(Author)

  2. 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...

  3. 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

  4. 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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-10-01

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

  6. 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.

  7. 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.

  8. 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

  9. Operation and handling of a mobile robot with tricycle structure

    International Nuclear Information System (INIS)

    Segovia de los Rios, J.A.

    2003-01-01

    In this article the main cares that are for the appropriate operation of a designed mobile robot and built for the transport of radioactive materials are reported. In a same way, it is shown that the maneuverability of the vehicle is adapted for its tele operation in the atmospheres for where the irradiated charge should be made circulate, using for it the controls that have been designated of a remote control of general use. (Author)

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  11. 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.

  12. 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

  13. 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

  14. Development of wireless vehicle remote control for fuel lid operation

    Science.gov (United States)

    Sulaiman, N.; Jadin, M. S.; Najib, M. S.; Mustafa, M.; Azmi, S. N. F.

    2018-04-01

    Nowadays, the evolution of the vehicle technology had made the vehicle especially car to be equipped with a remote control to control the operation of the locking and unlocking system of the car’s door and rear’s bonnet. However, for the fuel or petrol lid, it merely can be opened from inside the car’s cabin by handling the fuel level inside the car’s cabin to open the fuel lid. The petrol lid can be closed by pushing the lid by hand. Due to the high usage of using fuel lever to open the fuel lid when refilling the fuel, the car driver might encounter the malfunction of fuel lid (fail to open) when pushing or pulling the fuel lever. Thus, the main aim of the research is to enhance the operation of an existing car remote control where the car fuel lid can be controlled using two techniques; remote control-based and smartphone-based. The remote control is constructed using Arduino microcontroller, wireless sensors and XCTU software to set the transmitting and receiving parameters. Meanwhile, the smartphone can control the operation of the fuel lid by communicating with Arduino microcontroller which is attached to the fuel lid using Bluetooth sensor to open the petrol lid. In order to avoid the conflict of instruction between wireless systems with the existing mechanical-based system, the servo motor will be employed to release the fuel lid merely after receiving the instruction from Arduino microcontroller and smartphone. As a conclusion, the prototype of the multipurpose vehicle remote control is successfully invented, constructed and tested. The car fuel lid can be opened either using remote control or smartphone in a sequential manner. Therefore, the outcome of the project can be used to serve as an alternative solution to solve the car fuel lid problem even though the problem rarely occurred.

  15. History of Robotic and Remotely Operated Telescopes

    Science.gov (United States)

    Genet, Russell M.

    2011-03-01

    While automated instrument sequencers were employed on solar eclipse expeditions in the late 1800s, it wasn't until the 1960s that Art Code and associates at Wisconsin used a PDP minicomputer to automate an 8-inch photometric telescope. Although this pioneering project experienced frequent equipment failures and was shut down after a couple of years, it paved the way for the first space telescopes. Reliable microcomputers initiated the modern era of robotic telescopes. Louis Boyd and I applied single board microcomputers with 64K of RAM and floppy disk drives to telescope automation at the Fairborn Observatory, achieving reliable, fully robotic operation in 1983 that has continued uninterrupted for 28 years. In 1985 the Smithsonian Institution provided us with a suburb operating location on Mt. Hopkins in southern Arizona, while the National Science Foundation funded additional telescopes. Remote access to our multiple robotic telescopes at the Fairborn Observatory began in the late 1980s. The Fairborn Observatory, with its 14 fully robotic telescopes and staff of two (one full and one part time) illustrates the potential for low operating and maintenance costs. As the information capacity of the Internet has expanded, observational modes beyond simple differential photometry opened up, bringing us to the current era of real-time remote access to remote observatories and global observatory networks. Although initially confined to smaller telescopes, robotic operation and remote access are spreading to larger telescopes as telescopes from afar becomes the normal mode of operation.

  16. Controlling fugitive dust emissions in material handling operations

    Energy Technology Data Exchange (ETDEWEB)

    Tooker, G E

    1992-05-01

    The primary mechanism of fugitive dust generation in bulk material handling transfer operations is by dispersion of dust in turbulent air induced to flow with falling or projected material streams. This paper returns to basic theories of particle dynamics and fluid mechanics to quantify the dust generating mechanism by rational analysis. Calculations involving fluid mechanisms are made easier by the availability of the personal computer and the many math manipulating programs. Rational analysis is much more cost effective when estimating collection air volumes to control fugitive emissions; especially in enclosed material handling transfers transporting large volumes of dusty material. Example calculations, using a typical enclosed conveyor-to-conveyor transfer operation are presented to illustrate and highlight the key parameters that determine the magnitude of induced air flow that must be controlled. The methods presented in this paper for estimating collection air volumes apply only enclosed material handling transfers, exhausted to a dust collector. Since some assistance to the control of dust emissions must be given by the material handling transfer chute design, a discussion of good transfer chute design practice is presented. 4 refs., 2 figs., 2 tabs.

  17. 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.

  18. An analysis of repository waste-handling operations

    International Nuclear Information System (INIS)

    Dennis, A.W.

    1990-09-01

    This report has been prepared to document the operational analysis of waste-handling facilities at a geologic repository for high-level nuclear waste. The site currently under investigation for the geologic repository is located at Yucca Mountain, Nye County, Nevada. The repository waste-handling operations have been identified and analyzed for the year 2011, a steady-state year during which the repository receives spent nuclear fuel containing the equivalent of 3000 metric tons of uranium (MTU) and defense high-level waste containing the equivalent of 400 MTU. As a result of this analysis, it has been determined that the waste-handling facilities are adequate to receive, prepare, store, and emplace the projected quantity of waste on an annual basis. In addition, several areas have been identified where additional work is required. The recommendations for future work have been divided into three categories: items that affect the total waste management system, operations within the repository boundary, and the methodology used to perform operational analyses for repository designs. 7 refs., 48 figs., 11 tabs

  19. 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

  20. 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

  1. 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.

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-10-15

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

  4. 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.)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-06-01

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

  6. 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).

  7. 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

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

    International Nuclear Information System (INIS)

    Callan, J.E.

    1986-01-01

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

  9. Alarm handling systems and techniques developed to match operator tasks

    Energy Technology Data Exchange (ETDEWEB)

    Bye, A; Moum, B R [Institutt for Energiteknikk, Halden (Norway). OECD Halden Reaktor Projekt

    1997-09-01

    This paper covers alarm handling methods and techniques explored at the Halden Project, and describes current status on the research activities on alarm systems. Alarm systems are often designed by application of a bottom-up strategy, generating alarms at component level. If no structuring of the alarms is applied, this may result in alarm avalanches in major plant disturbances, causing cognitive overload of the operator. An alarm structuring module should be designed using a top-down approach, analysing operator`s tasks, plant states, events and disturbances. One of the operator`s main tasks during plant disturbances is status identification, including determination of plant status and detection of plant anomalies. The main support of this is provided through the alarm systems, the process formats, the trends and possible diagnosis systems. The alarm system should both physically and conceptually be integrated with all these systems. 9 refs, 5 figs.

  10. 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

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

    International Nuclear Information System (INIS)

    Kinney, Kathryn A.

    2009-01-01

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

  12. Advanced operator interface design for CANDU-3 fuel handling system

    International Nuclear Information System (INIS)

    Arapakota, D.

    1995-01-01

    The Operator Interface for the CANDU 3 Fuel Handling (F/H) System incorporates several improvements over the existing designs. A functionally independent sit-down CRT (cathode-ray tube) based Control Console is provided for the Fuel Handling Operator in the Main Control Room. The Display System makes use of current technology and provides a user friendly operator interface. Regular and emergency control operations can be carried out from this control console. A stand-up control panel is provided as a back-up with limited functionality adequate to put the F/H System in a safe state in case of an unlikely non-availability of the Plant Display System or the F/H Control System'. The system design philosophy, hardware configuration and the advanced display system features are described in this paper The F/H Operator Interface System developed for CANDU 3 can be adapted to CANDU 9 as well as to the existing stations. (author)

  13. Advanced operator interface design for CANDU-3 fuel handling system

    Energy Technology Data Exchange (ETDEWEB)

    Arapakota, D [Atomic Energy of Canada Ltd., Saskatoon, SK (Canada)

    1996-12-31

    The Operator Interface for the CANDU 3 Fuel Handling (F/H) System incorporates several improvements over the existing designs. A functionally independent sit-down CRT (cathode-ray tube) based Control Console is provided for the Fuel Handling Operator in the Main Control Room. The Display System makes use of current technology and provides a user friendly operator interface. Regular and emergency control operations can be carried out from this control console. A stand-up control panel is provided as a back-up with limited functionality adequate to put the F/H System in a safe state in case of an unlikely non-availability of the Plant Display System or the F/H Control System`. The system design philosophy, hardware configuration and the advanced display system features are described in this paper The F/H Operator Interface System developed for CANDU 3 can be adapted to CANDU 9 as well as to the existing stations. (author).

  14. Reduced bandwidth video for remote vehicle operations

    Energy Technology Data Exchange (ETDEWEB)

    Noell, T.E.; DePiero, F.W.

    1993-08-01

    Oak Ridge National Laboratory staff have developed a video compression system for low-bandwidth remote operations. The objective is to provide real-time video at data rates comparable to available tactical radio links, typically 16 to 64 thousand bits per second (kbps), while maintaining sufficient quality to achieve mission objectives. The system supports both continuous lossy transmission of black and white (gray scale) video for remote driving and progressive lossless transmission of black and white images for remote automatic target acquisition. The average data rate of the resulting bit stream is 64 kbps. This system has been demonstrated to provide video of sufficient quality to allow remote driving of a High-Mobility Multipurpose Wheeled Vehicle at speeds up to 15 mph (24.1 kph) on a moguled dirt track. The nominal driving configuration provides a frame rate of 4 Hz, a compression per frame of 125:1, and a resulting latency of {approximately}1s. This paper reviews the system approach and implementation, and further describes some of our experiences when using the system to support remote driving.

  15. 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

  16. 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

  17. 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

  18. 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).

  19. 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)

  20. 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

  1. 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

  2. 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.

  3. 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

  4. 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.

  5. 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

  6. 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

  7. 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

  8. Remote methods for decontamination and decommissioning operations

    International Nuclear Information System (INIS)

    DeVore, J.R.

    1986-01-01

    Three methods for the decontamination and decommissioning of nuclear facilities are described along with operational experience associated with each method. Each method described in some way reduces radiation exposure to the operating personnel involved. Electrochemical decontamination of process tanks is described using an in-situ method. Descriptions of two processes, electropolishing and cerium redox decontamination, are listed. A method of essentially smokeless cutting of process piping using a plasma-arc cutting torch is described. In one technique, piping is cut remotely from a distance using a specially modified torch holder. In another technique, cutting is done with master-slave manipulators inside a hot cell. Finally, a method for remote cutting and scarification of contaminated concrete is described. This system, which utilizes high-pressure water jets, is coupled to a cutting head or rotating scarification head. The system is suited for cutting contaminated concrete for removal or removing a thin layer in a controlled manner for decontamination

  9. Interim design status and operational report for semiremote handling fixtures: size reduction system

    International Nuclear Information System (INIS)

    Ballard, A.S.

    1977-02-01

    Crushing of HTGR fuel elements is accomplished by a three-stage crushing system consisting of two overhead eccentric jaw crushers, a double-roll crusher, and an oversize reduction system to ensure complete reduction to the desired size. The crushing system is mounted in a special framework which enables gravity flow, eliminates material transport, and minimizes material holdup. The system has been designated UNIFRAME because of the integrated nature of the equipment. This report addresses the demonstration of semiremote maintenance of the crusher in a nonradioactive environment. Although the crusher maintenance system has some remote handling capability inherent in its design, the scope of this initial program is limited to the handling of selected components and allows for manual assistance in certain circumstances. This mode of operation is designated semiremote maintenance and is intended as an effort to gather experience

  10. 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

  11. Dedication of Fermilab's LHC Remote Operations Center

    CERN Multimedia

    Claudia Marcelloni

    2007-01-01

    Fermilab's Remote Operations Center will be dedicated simultaneously at Fermilab in the U.S. and from CMS (Point 5) in Cessy, France. Speakers will include: from the U.S. DOE Undersecretary for Science Raymond Orbach and Fermilab Director Pier Oddone (U.S.); and from CERN Director General Robert Aymar, CMS Spokesperson Jim Virdee, LHC Project Leader Lyn Evans and US CMS Project Manager Joel Butler.

  12. Alarm handling systems and techniques developed to match operator tasks

    International Nuclear Information System (INIS)

    Bye, A.; Moum, B.R.

    1997-01-01

    This paper covers alarm handling methods and techniques explored at the Halden Project, and describes current status on the research activities on alarm systems. Alarm systems are often designed by application of a bottom-up strategy, generating alarms at component level. If no structuring of the alarms is applied, this may result in alarm avalanches in major plant disturbances, causing cognitive overload of the operator. An alarm structuring module should be designed using a top-down approach, analysing operator's tasks, plant states, events and disturbances. One of the operator's main tasks during plant disturbances is status identification, including determination of plant status and detection of plant anomalies. The main support of this is provided through the alarm systems, the process formats, the trends and possible diagnosis systems. The alarm system should both physically and conceptually be integrated with all these systems. 9 refs, 5 figs

  13. Remote tool development for nuclear dismantling operations

    International Nuclear Information System (INIS)

    Craig, G.; Ferlay, J.C.; Ieracitano, F.

    2003-01-01

    Remote tool systems to undertake nuclear dismantling operations require careful design and development not only to perform their given duty but to perform it safely within the constraints imposed by harsh environmental conditions. Framatome ANP NUCLEAR SERVICES has for a long time developed and qualified equipment to undertake specific maintenance operations of nuclear reactors. The tool development methodology from this activity has since been adapted to resolve some very challenging reactor dismantling operations which are demonstrated in this paper. Each nuclear decommissioning project is a unique case, technical characterisation data is generally incomplete. The development of the dismantling methodology and associated equipment is by and large an iterative process combining design and simulation with feasibility and validation testing. The first stage of the development process involves feasibility testing of industrial tools and examining adaptations necessary to control and deploy the tool remotely with respect to the chosen methodology and environmental constraints. This results in a prototype tool and deployment system to validate the basic process. The second stage involves detailed design which integrates any remaining technical and environmental constraints. At the end of this stage, tools and deployment systems, operators and operating procedures are qualified on full scale mock ups. (authors)

  14. Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

    Science.gov (United States)

    1985-01-01

    The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

  15. 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

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

    International Nuclear Information System (INIS)

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

    1987-01-01

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

  17. 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.)

  18. 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

  19. 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.

  20. 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

  1. 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.

  2. 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

  3. 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)

  4. 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

  5. Remote methods for decontamination and decommissioning operations

    International Nuclear Information System (INIS)

    DeVore, J.R.

    1986-01-01

    Three methods for the decontamination and decommissioning of nuclear facilities are described along with operational experience associated with each method. Each method described in some way reduces radiation exposure to the operating personnel involved. Electrochemical decontamination of process tanks is described using an in-situ method. Descriptions of two processes, electropolishing and cerium redox decontamination, are listed. A method of essentially smokeless cutting of process piping using a plasma-arc cutting torch is described. In one technique, piping is cut remotely from a distance using a specially modified torch holder. In another technique, cutting is done with master-slave manipulators inside a hot cell. Finally, a method for remote cutting and scarification of contaminated concrete is described. This system, which utilizes high-pressure water jets, is coupled to a cutting head or rotating scarification head. The system is suited for cutting contaminated concrete for removal or removing a thin layer in a controlled manner for decontamination. 4 refs., 6 figs

  6. Design and operation of equipment used to develop remote coating capability for HTGR fuel particles

    International Nuclear Information System (INIS)

    Suchomel, R.R.; Stinton, D.P.; Preston, M.K.; Heck, J.L.; Bolfing, B.J.; Lackey, W.J.

    1978-12-01

    Refabrication of HTGR fuels is a manufacturing process that consists of preparation of fuel kernels, application of multiple layers of pyrolytic carbon and silicon carbide, preparation of fuel rods, and assembly of fuel rods into fuel elements. All the equipment for refabrication of 233 U-containing fuel must be designed for completely remote operation and maintenance in hot-cell facilities. Equipment to remotely coated HTGR fuel particles has been designed and operated. Although not all of the equipment development needed for a fully remote coating system has been completed, significant progress has been made. The most important component of the coating furnace is the gas distributor, which must be simple, reliable, and easily maintainable. Techniques for loading and unloading the coater and handling microspheres have been developed. An engineering-scale system, currently in operation, is being used to verify the workability of these concepts. Coating crucible handling components are used to remove the crucible from the furnace, remove coated particles, and exchange the crucible, if necessary. After the batch of particles has been unloaded, it is transferred, weighed, and sampled. The components used in these processes have been tested to ensure that no particle breakage or holdup occurs. Tests of the particle handling system have been very encouraging because no major problems have been encountered. Instrumentation that controls the equipment performed very smoothly and reliably and can be operated remotely

  7. Development of remote operated floor contamination monitor

    International Nuclear Information System (INIS)

    Sreekumar, K.; Gangamohan, M.; Kannan, R.K.; Rajan, S.

    2005-01-01

    Contamination check of floors and walkways in and around Reactor building areas forms an integral part of Radiation Protection Program in Power Stations. Though random swipe check method is adopted for the detection of loose contamination, this method has the disadvantage of leaving the fixed contamination and hotspots undetected. Hence, scanning the area with a sensitive detector, held close to the surface provides positive means for the detection of contamination. Checking large areas and walkways by holding the detector close to the surface involves physical work. Also, areas which are unapproachable due to congestion of equipment, may go uncovered by contamination monitoring in order to eliminate the physical strain involved in such contamination monitoring and to cover unapproachable areas, a small size prototype device that can be operated remotely was fabricated. This device detects contamination instantaneously and accurately. This paper describes design and fabrication of the device used for floor contamination monitoring. (author)

  8. Operational Use of Remote Sensing within USDA

    Science.gov (United States)

    Bethel, Glenn R.

    2007-01-01

    A viewgraph presentation of remote sensing imagery within the USDA is shown. USDA Aerial Photography, Digital Sensors, Hurricane imagery, Remote Sensing Sources, Satellites used by Foreign Agricultural Service, Landsat Acquisitions, and Aerial Acquisitions are also shown.

  9. Kinesthetic coupling between operator and remote manipulator

    Science.gov (United States)

    Bejczy, A. K.; Salisbury, J. K., Jr.

    1980-01-01

    A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

  10. 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)

  11. 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)

  12. 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

  13. Remote Operation and Maintenance Demonstration Facility at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Burgess, T.W.

    1986-01-01

    The Remote Operation and Maintenance Demonstration (ROMD) Facility at the Oak Ridge National Laboratory has been developed by the Consolidated Fuel Reprocessing Program to demonstrate remote handling concepts on advanced nuclear fuel reprocessing equipment and for other programs of national interest. The ROMD facility is a large-volume high-bay area that encloses a complete, technologically advanced remote maintenance system and full-scale development reprocessing equipment. 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 US Department of Energy (DOE), the Power Reactor and Nuclear Fuels Development Corporation of Japan, the US Navy, and the National Aeronautics and Space Administration. Extensive tests of manipulative systems and remote maintainability of process equipment have been performed. This paper describes the ROMD facility and key remote maintenance equipment and presents a summary of major experimental activities. 7 refs., 6 figs

  14. Handling and transfer operations for partially-spent nuclear fuel

    Energy Technology Data Exchange (ETDEWEB)

    Ibrahim, J K [PUSPATI, Kuala Lumpur (Malaysia)

    1983-12-01

    This project involved the handling and transfer of partially-spent reactor fuel from the Oregon State University TRIGA Reactor in Corvallis, Oregon to Hanford Engineering Development Laboratory in Richland, Washington. The method of handling is dependent upon the burn-up history of the fuel elements. Legal constraints imposed by standing U.S. nuclear regulations determine the selection of transport containers, transportation procedures, physical security arrangements in transit and nuclear material accountability documentation. Results of in-house safety evaluations of the project determine the extent of involvement of pertinent nuclear regulatory authorities. The actual handling activities and actual radiation dose rates are also presented.

  15. Handling and transfer operations for partially-spent nuclear fuel

    International Nuclear Information System (INIS)

    Ibrahim, J.K.

    1983-01-01

    This project involved the handling and transfer of partially-spent reactor fuel from the Oregon State University TRIGA Reactor in Corvallis, Oregon to Hanford Engineering Development Laboratory in Richland, Washington. The method of handling is dependent upon the burn-up history of the fuel elements. Legal constraints imposed by standing U.S. nuclear regulations determine the selection of transport containers, transportation procedures, physical security arrangements in transit and nuclear material accountability documentation. Results of in-house safety evaluations of the project determine the extent of involvement of pertinent nuclear regulatory authorities. The actual handling activities and actual radiation dose rates are also presented (author)

  16. 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.

  17. 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

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  19. 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.

  20. 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.

  1. 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.

  2. 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)

  3. 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.

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

    International Nuclear Information System (INIS)

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

    1987-01-01

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

  5. 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

  6. Remote operation and maintenance support services for nuclear power plants

    International Nuclear Information System (INIS)

    Yamamoto, Hiroki; Higuma, Koji; Shimizu, Shunichi; Sakuma, Masatake; Sonoda, Yukio; Kanemoto, Shigeru

    2004-01-01

    Toshiba Corporation constructed e-Toshiba Operating Plant Service (e-TOPS TM ) system and began remote operation and maintenance support service for nuclear power plants. The service put into practice remote operation and maintenance by harmony of information technologies such as internet and mobile, and nuclear power measurement/diagnostic technologies and security techniques. Outline of e-TOPS TM , remote-control service, -inspection system, -diagnostic service and technologies support service are explained. Construction, objects and application effects of e-TOPS TM , remote diagnostic system using image treatment techniques, construction of device record card control system are illustrated. (S.Y.)

  7. Synthetic viewing: Comprehensive work representation making remote work more transparent to the operator

    International Nuclear Information System (INIS)

    Leinemann, K.; Katz, F.; Knueppel, H.

    1994-01-01

    To support the operator remote handling a number of well-developed techniques is available like transmission of forces, movements, and dexterous skills in general using masterslave manipulators equipped with special tools. In addition several types of transporters are available to position manipulators and tools. But there is a serious bottle-neck in viewing: the number of cameras is restricted and the cameras may in most cases not be positioned as to provide sufficient information. In order to improve this situation an integration of closed-loop TV and artificial viewing by sensor controlled computer graphics has been introduced successfully by KfK at JET. This integrated viewing subsystem combines not only those two techniques by providing the two views but also enhances the conventional camera control by a computer graphics model-based control. Practical experience has shown that the concept of viewing needs to be extended. Just seeing where things are is insufficient for the operators to perform their remote handling task properly. More information is required about the status of all equipment pieces involved and about the status of the entire handling task. Viewing for remote handling applications needs to include the display of such status information in a suitable form

  8. A dynamic simulation to study NET in-vessel handling operations

    International Nuclear Information System (INIS)

    Fung, P.T.F.

    1989-01-01

    The inspection, maintenance and repair of the Next European Torus (NET) fusion machine will require the extensive use of remote handling equipment to minimise the human exposure to the high radiation environment. The use of efficient manipulators will reduce the NET downtime by reducing the preparation time for entry into the controlled area and by performing the task with reasonable area and by performing the task with reasonable dexterity and speed, consistent with safety. A high fidelity simulation is a valuable tool to assist in the manipulator design, operations, trajectory planning, parameter optimisation and system verification. A manipulator simulation package called ASAD was originally developed by Spar for space manipulator applications. It is now being adapted to simulate the in-Vessel HandlingUnit for the NET program. This terestrial version of ASAD has been name ASAD - T. Spar, through the services of the Canadian Fusion Fuels Technology Project, is under contract to the NET program for the performance of this activity. This paper describes the capabillities and underlying assumptions of ASAD - T, aling with description of the simulation development of the NET in-vessel manipulator. (author). 4 refs.; 7 figs

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

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1984-01-01

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

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

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1984-01-01

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

  11. 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.)

  12. Remote sensing in operational range management programs in Western Canada

    Science.gov (United States)

    Thompson, M. D.

    1977-01-01

    A pilot program carried out in Western Canada to test remote sensing under semi-operational conditions and display its applicability to operational range management programs was described. Four agencies were involved in the program, two in Alberta and two in Manitoba. Each had different objectives and needs for remote sensing within its range management programs, and each was generally unfamiliar with remote sensing techniques and their applications. Personnel with experience and expertise in the remote sensing and range management fields worked with the agency personnel through every phase of the pilot program. Results indicate that these agencies have found remote sensing to be a cost effective tool and will begin to utilize remote sensing in their operational work during ensuing seasons.

  13. Applications of Short Message Service and WAP in Operating Remotely Triggered Laboratories

    Directory of Open Access Journals (Sweden)

    Ananda Maiti

    2011-11-01

    Full Text Available Mobile devices are becoming more powerful, reliable and common every year. Hence we can use mobile devices for conducting laboratory sessions in distance education. This paper discusses issues of integrating Short Message Service (SMS to operate instruments of hardware-based remotely triggered laboratories. Components of the system include searching an experiment, performing experiment, result handling, error handling and method of exchanging information. It is designed using the National Instruments (NI Laboratory Virtual Instrument Engineering Workbench (LabVIEW development system and web services. The scheme will enable students to conduct hardware experiments with mobile devices using SMS from anywhere and anytime.

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

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  15. 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.)

  16. 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

  17. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-08-15

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

  19. Remote operated vehicle with carbon dioxide blasting (ROVCO2)

    International Nuclear Information System (INIS)

    Resnick, A.M.

    1995-01-01

    The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO 2 ), as shown in a front view, is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO 2 xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. Figure 2 shows a block diagram with the various subsystems labeled

  20. Handling device with grips operated by a servo-motor

    International Nuclear Information System (INIS)

    Sgarbi, F.; Detriche, J.M.

    1990-01-01

    On grip jaws are set up a detection circuit which allows the rocking of the control system from a control system in position to a control system in clamping strain when an object is held, and then which allows to use them by turns in order to keep only their advantages. A larger light touch handling is obtained. The application of this grip is recommended to catch brittle objects (for handicapped persons by example) [fr

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-10-15

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

  3. 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

  4. 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

  5. Remote operation of a fully shielded electron probe microanalyser

    International Nuclear Information System (INIS)

    Rowe, J.; Sparry, R.P.

    1977-11-01

    A 'Microscan 5' Cambridge Instrument Company electron probe micro-analyser has been equipped with full shielding to enable high radioactive materials to be examined. The transfer of controls for remote operation are described. (author)

  6. Remote Operation and Maintenance Demonstration Facility at ORNL

    International Nuclear Information System (INIS)

    Harvey, H.W.; Floyd, S.D; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

    1978-01-01

    The Remote Operation and Maintenance Facility is a versatile facility arranged to mock-up various hot-cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and the other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups. 6 figures

  7. Remote operation and maintenance demonstration facility at ORNL

    International Nuclear Information System (INIS)

    Harvey, H.W.; Floyd, S.D.; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

    1978-01-01

    The Remote Operation and Maintenance Facility is a versatile facility arranged to mock up various hot cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups

  8. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    International Nuclear Information System (INIS)

    Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

    2005-01-01

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

  9. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

    2005-11-15

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

  10. National safeguards system operations at a bulk-handling facility

    International Nuclear Information System (INIS)

    Anon.

    1981-01-01

    The presentation centers on the State System of Accounting and Control (SSAC) for bulk-handling facilities in the licenses sector of the US nuclear community. Details of those material control and accounting measures dealing with the national safeguards program are discussed in Session 6a. The concept and role of the Fundamental Nuclear Material Control (FNMC) Plan are discussed with the participants. In Session 6b, the lecture focusses on the international safeguards program of the US SSAC. The relationship of the national and international requirements is discussed as they relate to the IAEA INFCIRC/153 document. The purpose of this session is to enable participants to: (1) understand the basic MC and A elements in an SSAC; (2) understand which MC and A elements serve the country's national interests and those that serve IAEA safeguards

  11. Spacelab operations planning. [ground handling, launch, flight and experiments

    Science.gov (United States)

    Lee, T. J.

    1976-01-01

    The paper reviews NASA planning in the fields of ground, launch and flight operations and experiment integration to effectively operate Spacelab. Payload mission planning is discussed taking consideration of orbital analysis and the mission of a multiuser payload which may be either single or multidiscipline. Payload analytical integration - as active process of analyses to ensure that the experiment payload is compatible to the mission objectives and profile ground and flight operations and that the resource demands upon Spacelab can be satisfied - is considered. Software integration is touched upon and the major integration levels in ground operational processing of Spacelab and its experimental payloads are examined. Flight operations, encompassing the operation of the Space Transportation System and the payload, are discussed as are the initial Spacelab missions. Charts and diagrams are presented illustrating the various planning areas.

  12. A remotely operated robot for decontamination tasks

    International Nuclear Information System (INIS)

    Dudar, A.M.; Vandewalle, R.C.

    1994-01-01

    Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ''Remote Decon'' robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms

  13. Remote operations and viewing using the monitor system

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.; Baldwin, T.S.; Ekberg, E.L.; Hernandez, T.R.; Raybun, J.L.

    1984-01-01

    Over the past two years, major rebuilding operations were conducted at the Clinton P. Anderson Meson Physics Facility (LAMPF). These operations involved replacement of complex experimental apparatus in high-radiation areas using servomanipulators and video viewing. All remote tasks were completed on or ahead of allotted schedules. This success is attributed to continuing improvement of manipulators, viewing systems, and operating techniques

  14. Requirements for tokamak remote operation: Application to JT-60SA

    International Nuclear Information System (INIS)

    Innocente, Paolo; Barbato, Paolo; Farthing, Jonathan; Giruzzi, Gerardo; Ide, Shunsuke; Imbeaux, Frédéric; Joffrin, Emmanuel; Kamada, Yutaka; Kühner, Georg; Naito, Osamu; Urano, Hajime; Yoshida, Maiko

    2015-01-01

    Highlights: • We analyzed the data management system (DMS) appropriate for international collaboration. • We define the principal requirements for all components of the DMS. • We evaluated application of DMS requirements to the JT-60SA experiment. • We evaluated the role network bandwidth and time delay between EU and Japan. - Abstract: Remote operation and data analysis are becoming key requirements of any fusion devices. In this framework a well-conceived data management system integrated with a suite of analysis and support tools are essential components for an efficient remote exploitation of any fusion device. The following components must be considered: data archiving data model architecture; remote data and computers access; pulse schedule, data analysis software and support tools; remote control room specifications and security issues. The definition of a device-generic data model plays also important role in improving the ability to share solution and reducing learning time. As for the remote control room, the implementation of an Operation Request Gateway has been identified as an answer to security issues meanwhile remotely proving all the required features to effectively operate a device. Previous requirements have been analyzed for the new JT-60SA tokamak device. Remote exploitation is paramount in the JT-60SA case which is expected to be jointly operated between Japan and Europe. Due to the geographical distance of the two parties an optimal remote operation and remote data-analysis is considered as a key requirement in the development of JT-60SA. It this case the effects of network speed and delay have been also evaluated and tests have confirmed that the performance can vary significantly depending on the technology used.

  15. Requirements for tokamak remote operation: Application to JT-60SA

    Energy Technology Data Exchange (ETDEWEB)

    Innocente, Paolo, E-mail: paolo.innocente@igi.cnr.it [Consorzio RFX, Corso Stati Uniti 4, 35127 Padova (Italy); Barbato, Paolo [Consorzio RFX, Corso Stati Uniti 4, 35127 Padova (Italy); Farthing, Jonathan [CCFE, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Giruzzi, Gerardo [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Ide, Shunsuke [Japan Atomic Energy Agency, Naka, Ibaraki-ken 311-0193 (Japan); Imbeaux, Frédéric; Joffrin, Emmanuel [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Kamada, Yutaka [Japan Atomic Energy Agency, Naka, Ibaraki-ken 311-0193 (Japan); Kühner, Georg [Max-Planck-Institute for Plasma Physics, EURATOM Association, Wendelsteinstr. 1, 17491 Greifswald (Germany); Naito, Osamu; Urano, Hajime; Yoshida, Maiko [Japan Atomic Energy Agency, Naka, Ibaraki-ken 311-0193 (Japan)

    2015-10-15

    Highlights: • We analyzed the data management system (DMS) appropriate for international collaboration. • We define the principal requirements for all components of the DMS. • We evaluated application of DMS requirements to the JT-60SA experiment. • We evaluated the role network bandwidth and time delay between EU and Japan. - Abstract: Remote operation and data analysis are becoming key requirements of any fusion devices. In this framework a well-conceived data management system integrated with a suite of analysis and support tools are essential components for an efficient remote exploitation of any fusion device. The following components must be considered: data archiving data model architecture; remote data and computers access; pulse schedule, data analysis software and support tools; remote control room specifications and security issues. The definition of a device-generic data model plays also important role in improving the ability to share solution and reducing learning time. As for the remote control room, the implementation of an Operation Request Gateway has been identified as an answer to security issues meanwhile remotely proving all the required features to effectively operate a device. Previous requirements have been analyzed for the new JT-60SA tokamak device. Remote exploitation is paramount in the JT-60SA case which is expected to be jointly operated between Japan and Europe. Due to the geographical distance of the two parties an optimal remote operation and remote data-analysis is considered as a key requirement in the development of JT-60SA. It this case the effects of network speed and delay have been also evaluated and tests have confirmed that the performance can vary significantly depending on the technology used.

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-01-15

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

  18. 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

  19. Remote operation: a selective review of research into visual depth perception.

    Science.gov (United States)

    Reinhardt-Rutland, A H

    1996-07-01

    Some perceptual motor operations are performed remotely; examples include the handling of life-threatening materials and surgical procedures. A camera conveys the site of operation to a TV monitor, so depth perception relies mainly on pictorial information, perhaps with enhancement of the occlusion cue by motion. However, motion information such as motion parallax is not likely to be important. The effectiveness of pictorial information is diminished by monocular and binocular information conveying flatness of the screen and by difficulties in scaling: Only a degree of relative depth can be conveyed. Furthermore, pictorial information can mislead. Depth perception is probably adequate in remote operation, if target objects are well separated, with well-defined edges and familiar shapes. Stereoscopic viewing systems are being developed to introduce binocular information to remote operation. However, stereoscopic viewing is problematic because binocular disparity conflicts with convergence and monocular information. An alternative strategy to improve precision in remote operation may be to rely on individuals who lack binocular function: There is redundancy in depth information, and such individuals seem to compensate for the lack of binocular function.

  20. Reactor helium system, design specification, operation and handling

    International Nuclear Information System (INIS)

    Badrljica, R.

    1984-06-01

    Apart from detailed design specification of the helium cover gas system of the Ra reactor, this document includes description of the operating regime, instructions for manipulations in the system with the aim of achieving and maintaining stationary gas circulation [sr

  1. PV Charging System for Remote Area Operations

    Energy Technology Data Exchange (ETDEWEB)

    Ilsemann, Frederick [Coherent Systems International, Doylestown, PA (United States); Thompson, Roger [Coherent Systems International, Doylestown, PA (United States)

    2008-07-31

    The objective of this project is to provide the public with a study of new as well existing technology to recharge batteries used in the field. A new product(s) will also be built based upon the information ascertained. American Electric Vehicles, Inc. (AEV) developed systems and methods suitable for charging state-of-the-art lithium-ion batteries in remote locations under both ideal and cloudy weather conditions. Conceptual designs are described for existing and next generation technology, particularly as regards solar cells, peak power trackers and batteries. Prototype system tests are reported.

  2. 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.

  3. 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.

  4. Performance Evaluation and Suggestion of Upgraded Fuel Handling Equipment for Operating OPR1000

    International Nuclear Information System (INIS)

    Chang, Sang Gyoon; Hwang, Jeung Ki; Choi, Taek Sang; Na, Eun Seok; Lee, Myung Lyul; Baek, Seung Jin; Kim, Man Su; Kunik, Jack

    2011-01-01

    The purpose of this study is to evaluate the performance of upgraded FHE (Fuel Handling Equipment) for operating OPR 1000 (Optimized Power Reactor) by using data measured during the fuel reloading, and make some suggestions on enhancing the performance of the FHE. The fuel handling equipment, which serves critical processes in the refueling outage, has been upgraded to increase and improve the operational availability of the plant. The evaluation and suggestion of this study can be a beneficial tool related to the performance of the fuel handling equipment

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

    International Nuclear Information System (INIS)

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

    2007-01-01

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

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

    International Nuclear Information System (INIS)

    Removille, J.; Stephano, R.

    1983-01-01

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

  7. Developing and operating a remotely operated work system in hostile and emergency environments

    International Nuclear Information System (INIS)

    Thorne, P.M.

    1987-01-01

    The author presents an overview of the factors that a project manager considering the use of remote work systems must keep in mind during the planning and execution of operations in hostile environments. Interfacing of the remote work system to the task and understanding mission parameters is emphasized. The author's thesis is based on many years of technical operations and project management roles using remote work systems in the subsea oil industry, military and, most recently, space and nuclear applications

  8. Operating experiences in fuel handling system at KGS

    International Nuclear Information System (INIS)

    Reddy, G.P.; Nagabhushanam

    2006-01-01

    Refuelling operations were started at KGS in August, 2000. Rich and varied experience was gained during this period through internal discussion/Quality circles/Procedural reviews and analysis of various incidents that have taken place in KGS and other units of NPCIL Some of the unique jobs carried out at KGS include-Development of tools for in-situ replacement of FM front end cover in FM service area (which was done for the first time in NPCIL history), Modification of FM magazine rear end plate mounting screws to avoid the possibility of magazine rotation stalling, The incident of Stalling of B-Ram during installation of upstream shield plug in KGS - 1 has brought out many weakness that were existing in the system in a dormant manner. Review of maintenance procedures was carried out and a special underwater operated sensor was developed and installed in Transfer Magazine to sense the presence and proper positioning of fuel bundles in the Transfer magazine tube during fuel loading operation. Numerous modifications were carried out in the system to increase equipment reliability, ease of operation and maintenance, to reduce man-rem consumption. Most notable among these modifications include -zig saw panel modification, EFCV O-ring modification, Ram BF switch modification, provision for increase in SFSB level provision, snout clamp oil circuit modification, ball valve actuator modification, installation of additional switch for sensing STS carriage UP position etc, This paper focuses on the challenges tackled in achieving near perfect performance, innovations and improvements carried out in the system to strive for this goal and development of procedures for reducing man-rem consumption and life extension of critical components. (author)

  9. Completely contained and remotely operated digital density meter

    International Nuclear Information System (INIS)

    Goergen, C.R.

    1979-10-01

    A completely contained and remotely operated density determination system having unique features was designed, fabricated, and installed at the Savannah River Plant. The system, based on a Mettler calculating digital density meter, provides more precise and accurate results than the falling drop technique for measuring densities. The system is fast, simple, easy to operate, and has demonstrated both reliability and durability

  10. Operators' arrangement for handling nuclear accidents at power plants

    International Nuclear Information System (INIS)

    Bertron, L.; Meclot, B.

    1986-01-01

    Given the preventive measures adopted by Electricite de France (EDF), the probability of a nuclear accident occurring in a power plant is extremely low but cannot, even so, be considered to be zero. The operator must therefore be prepared for this possibility. Apart from dealing with the consequences of the accident, the organization he sets up must fulfil the double objective of preventing any worsening of the accident and ensuring that the social, political and economic effects remain in proportion to the seriousness of the accident. The paper describes the organization set up by EDF in co-operation with the public authorities, indicating the concepts on which it is based and the logistical resources brought into play, in particular for telecommunications. Reports on the TMI incident showed that public telecommunications services can well be saturated in the event of an emergency. EDF, relying on the combined advantages of all transmission systems which the French Postal and Telecommunications Office can place at its disposal, as well as private networks with a concession from the Government, has taken the necessary precautions to deal with this problem. The organization is also designed to respond to the requirements of the media and the population at large for correct information. These systems are naturally all tested during training exercises which ensure that the organization as a whole can cope, in terms both of manpower and equipment, with a very improbable event. (author)

  11. 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)

  12. Progress report on the development of remotely operated tools

    International Nuclear Information System (INIS)

    Smith, A.T.

    1984-08-01

    This report contains a number of individual trials reports based upon work conducted in aid of a programme of feasibility studies into the size reduction of radioactive contaminated solid waste. The work was directed towards the identification of acceptable remotely operated tools and the means of deploying them for dismantling operations in a radioactive environment. Reliability, ease of maintenance, change of tool bits and common power sources have been major considerations in the trials assessments. Alternative end effector drive systems have also been considered when defining suitable manipulative capabilities and attention has also been directed towards a remotely controlled tool changing capability. (author)

  13. Expert operator preferences in remote manipulator control systems

    International Nuclear Information System (INIS)

    Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

    1995-06-01

    This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation

  14. Operation of data acquisition and handling system in the INS-SF cyclotron

    International Nuclear Information System (INIS)

    Yasue, M.; Omata, K.

    1976-01-01

    Operations of following data processing routines are described. 1) One-dimensional multiplexer PHA. 2) Two-dimensional multiplexer PHA. 3) Two or three parameter data handling: Digital gating, dumping of raw data onto MT and processing in function modes. These processing routines are executed under the control of a real time disk operating system in TOSBAC-40C. (auth.)

  15. Remote Operation of the Fermilab/NICADD Photoinjector

    International Nuclear Information System (INIS)

    Barov, Nikolai

    2002-01-01

    The recognition that a new major HEP facility must receive international support and that its execution would benefit from worldwide interaction from design through operation has given rise to the term Global Accelerator Network (GAN). A welcome consequence has been a more permissive attitude toward remote operation of existing facilities.For roughly thirty years, the computer has been the principal operator interface to the beam,and, through the development of the Internet, the operator can be literally anywhere. In this note, the authors describe their approach to enabling a sufficient degree of operation of the photoinjector from afar in order to carry out investigations in beam physics. The goal was to do so on a time scale of a few months and at minimal cost. At this writing, remote shifts are routinely scheduled involving DESY and LBL, limited in frequency only by the requests of the collaborators and by the need for time to interpret the data

  16. Simulation for Remote Operation for REX10 Nuclear Reactor

    International Nuclear Information System (INIS)

    Lee, Sim Won; Kim, Dong Su; Na, Man Gyun; Lee, Yoon Joon; Lee, Yeon Gun; Park, Goon Cherl

    2010-01-01

    The newly designed REX10 (Regional Energy Reactor, 10MWth) is an environmentally-friendly and stable small nuclear reactor for a small-scale reactor based Multi-purpose regional energy system. The REX10 has been developed to maintain system safety in order to be placed in densely populated region, island, etc. In addition, it is significantly hard to recruit many operation and maintenance personnel for small power reactors differently from usual commercial reactors because of its remote location and of economic reasons. In order to overcome these constraints, to decrease the operation cost by reducing operation and maintenance personnel, and to increase plant reliability through autonomous plant control, it is needed to design the control system of the small power reactors and to establish its unmanned remote operation system. In this study, the REX10 reactor core thermal power controller is designed by using a REX10 code analyzer. The remote control facility through man-machine interface (MMI) design and interface between programming languages was established and it was used to verify remote operation of REX10

  17. Analysis of remote operating systems for space-based servicing operations, volume 1

    Science.gov (United States)

    1985-01-01

    A two phase study was conducted to analyze and develop the requirements for remote operating systems as applied to space based operations for the servicing, maintenance, and repair of satellites. Phase one consisted of the development of servicing requirements to establish design criteria for remote operating systems. Phase two defined preferred system concepts and development plans which met the requirements established in phase one. The specific tasks in phase two were to: (1) identify desirable operational and conceptual approaches for selected mission scenarios; (2) examine the potential impact of remote operating systems incorporated into the design of the space station; (3) address remote operating systems design issues, such as mobility, which are effected by the space station configuration; and (4) define the programmatic approaches for technology development, testing, simulation, and flight demonstration.

  18. ALARA for cask MRS by remote operations

    International Nuclear Information System (INIS)

    Wells, A.H.; Vick, D.E.

    1985-01-01

    Radiation dose rates in a monitored retrievable storage (MRS) facility are high enough to warrant the evaluation of robotic systems to achieve personnel dose reductions. Robots with sufficient mobility and dexterity to perform Health Physics surveys and maintenance are currently in use. The addition of artificial intelligence computer methods to the robot removes the need for a human operator for normal surveillance activities. Use of an Expert System creates a robot with sufficient flexibility to recognize and respond to off-normal conditions such as radiation leaks

  19. The development and operation of the international solar-terrestrial physics central data handling facility

    Science.gov (United States)

    Lehtonen, Kenneth

    1994-01-01

    The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) International Solar-Terrestrial Physics (ISTP) Program is committed to the development of a comprehensive, multi-mission ground data system which will support a variety of national and international scientific missions in an effort to study the flow of energy from the sun through the Earth-space environment, known as the geospace. A major component of the ISTP ground data system is an ISTP-dedicated Central Data Handling Facility (CDHF). Acquisition, development, and operation of the ISTP CDHF were delegated by the ISTP Project Office within the Flight Projects Directorate to the Information Processing Division (IPD) within the Mission Operations and Data Systems Directorate (MO&DSD). The ISTP CDHF supports the receipt, storage, and electronic access of the full complement of ISTP Level-zero science data; serves as the linchpin for the centralized processing and long-term storage of all key parameters generated either by the ISTP CDHF itself or received from external, ISTP Program approved sources; and provides the required networking and 'science-friendly' interfaces for the ISTP investigators. Once connected to the ISTP CDHF, the online catalog of key parameters can be browsed from their remote processing facilities for the immediate electronic receipt of selected key parameters using the NASA Science Internet (NSI), managed by NASA's Ames Research Center. The purpose of this paper is twofold: (1) to describe how the ISTP CDHF was successfully implemented and operated to support initially the Japanese Geomagnetic Tail (GEOTAIL) mission and correlative science investigations, and (2) to describe how the ISTP CDHF has been enhanced to support ongoing as well as future ISTP missions. Emphasis will be placed on how various project management approaches were undertaken that proved to be highly effective in delivering an operational ISTP CDHF to the Project on schedule and

  20. Integration of remotely operated manipulator systems for the nuclear industry

    International Nuclear Information System (INIS)

    Blight, J.; Cornec, G.

    2003-01-01

    There is no getting away from remotely operated manipulator systems in significant part in dismantling operations, because of the actual radioactive emitting level of installations. However, some main contractors, who have been involved in dismantling projects in the past few years are reluctant to use remotely operated systems because: - equipment characteristics are not suitable for the environment and the work to be performed; - There are some design problems; - Main components do not withstand operation any longer, after some time; - There are deficiencies in the management of quality, for critical equipment problems that degrade the productivity and increase direct and indirect labour cost. As a summary therefore, equipment available on this dismantling market are reputedly unreliable and not 'industrial' (sturdy) enough. However, numerous operations in maintenance in primary loops of nuclear reactors, or in the Offshore sector, are carried out remotely, to the satisfaction of the operators and the investors. In the dismantling sector, a thorough analysis of the difficulties encountered indicates that their origin is mostly due to a lack of methodology - that needs to be addressed -, rather than a technical problem. In that context, CYBERNETIX proposes to be involved in phases upstream and downstream of the equipment supply's. Upstream: Participate in developing/validating the scenarios to be used to optimise the constraints of remote operations/equipment. Downstream: Participate actively in supporting the client on-site, ensuring that equipment are available and maintained by competent and motivated people, and thus, getting experience in order to improve the State-of-the-Art of robotic in that field. Then, the contracting authority and CYBERNETIX jointly define the limits and the content of the involvement of each party, and also define the most appropriate type of 'partnership' between the main contactor and the participating companies, and in order to

  1. 47 CFR 78.51 - Remote control operation.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 4 2010-10-01 2010-10-01 false Remote control operation. 78.51 Section 78.51 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) BROADCAST RADIO SERVICES CABLE TELEVISION RELAY... shall also be equipped with suitable devices for observing the overall characteristics of the...

  2. Application of robotics in remote fuel fabrication operations

    International Nuclear Information System (INIS)

    Nyman, D.H.; Nagamoto, T.T.

    1984-01-01

    The Secure Automated Fabrication (SAF) line, an automated and remotely controlled manufacturing process, is scheduled for startup in 1987 and will produce mixed uranium/plutonium oxide fuel pins for the Fast Flux Test Facility (FFTF). The application of robotics in the fuel fabrication and supporting operations is described

  3. Construction and operation of replacement hazardous waste handling facility at Lawrence Berkeley Laboratory

    International Nuclear Information System (INIS)

    1992-09-01

    The US Department of Energy (DOE) has prepared an environmental assessment (EA), DOE/EA-0423, for the construction and operation of a replacement hazardous waste handling facility (HWHF) and decontamination of the existing HWHF at Lawrence Berkeley Laboratory (LBL), Berkeley, California. The proposed facility would replace several older buildings and cargo containers currently being used for waste handling activities and consolidate the LBL's existing waste handling activities in one location. The nature of the waste handling activities and the waste volume and characteristics would not change as a result of construction of the new facility. Based on the analysis in the EA, DOE has determined that the proposed action would not constitute a major Federal action significantly affecting the quality of the human environment within the meaning of the National Environmental Policy Act (NEPA) of 1969, 42 USC. 4321 et seq. Therefore, an environmental impact statement is not required

  4. Construction and operation of replacement hazardous waste handling facility at Lawrence Berkeley Laboratory. Environmental Assessment

    Energy Technology Data Exchange (ETDEWEB)

    1992-09-01

    The US Department of Energy (DOE) has prepared an environmental assessment (EA), DOE/EA-0423, for the construction and operation of a replacement hazardous waste handling facility (HWHF) and decontamination of the existing HWHF at Lawrence Berkeley Laboratory (LBL), Berkeley, California. The proposed facility would replace several older buildings and cargo containers currently being used for waste handling activities and consolidate the LBL`s existing waste handling activities in one location. The nature of the waste handling activities and the waste volume and characteristics would not change as a result of construction of the new facility. Based on the analysis in the EA, DOE has determined that the proposed action would not constitute a major Federal action significantly affecting the quality of the human environment within the meaning of the National Environmental Policy Act (NEPA) of 1969, 42 USC. 4321 et seq. Therefore, an environmental impact statement is not required.

  5. Remote operations and interactions for systems of arbitrary-dimensional Hilbert space: State-operator approach

    International Nuclear Information System (INIS)

    Reznik, Benni; Groisman, Berry; Aharonov, Yakir

    2002-01-01

    We present a systematic simple method for constructing deterministic remote operations on single and multiple systems of arbitrary discrete dimensionality. These operations include remote rotations, remote interactions, and measurements. The resources needed for an operation on a two-level system are one ebit and a bidirectional communication of two cbits, and for an n-level system, a pair of entangled n-level particles and two classical 'nits'. In the latter case, there are n-1 possible distinct operations per n-level entangled pair. Similar results apply for generating interaction between a pair of remote systems, while for remote measurements only one-directional classical communication is needed. We further consider remote operations on N spatially distributed systems, and show that the number of possible distinct operations increases here exponentially, with the available number of entangled pairs that are initially distributed between the systems. Our results follow from the properties of a hybrid state-operator object (stator), which describes quantum correlations between states and operations

  6. Operational programs in forest management and priority in the utilization of remote sensing

    Science.gov (United States)

    Douglass, R. W.

    1978-01-01

    A speech is given on operational remote sensing programs in forest management and the importance of remote sensing in forestry is emphasized. Forest service priorities in using remote sensing are outlined.

  7. Telemanipulation - a special activity in remotely controlled operations

    International Nuclear Information System (INIS)

    Rose, K.W.; Andre, Y.

    1992-01-01

    Work to be done in areas hostile to humans needs special and careful preparation. If short-term entry is possible, groups of men can be trained to do the necessary work. If not, special devices have to be designed, built, and tested on mockups before the real work can be executed. Based on experience gained from maintenance in car production and test programs for a reprocessing facility, it was decided to train a special group of men to do remotely controlled work in hostile areas without endangering them and to use their personal experience as the basis for future work. This is the old-fashioned way of all professions. Some needs to be able to do that remotely controlled work with normally existing operational means and combinations of them like cranes, mechanical and electromechanical master slave manipulators (MMSMs and EMSMs), saws, files, hammer, tig-welding equipment, etc., in air as well as underwater. This paper discusses use of a remote operator manipulator (ROM), remote operator welder (ROW), a test of underwater work, and the repair of two activated jets pumps of a boiling water reactor BWR with a fueling machine, reactor crane, EMSM, and conventional tools

  8. High-quality remote interactive imaging in the operating theatre

    Science.gov (United States)

    Grimstead, Ian J.; Avis, Nick J.; Evans, Peter L.; Bocca, Alan

    2009-02-01

    We present a high-quality display system that enables the remote access within an operating theatre of high-end medical imaging and surgical planning software. Currently, surgeons often use printouts from such software for reference during surgery; our system enables surgeons to access and review patient data in a sterile environment, viewing real-time renderings of MRI & CT data as required. Once calibrated, our system displays shades of grey in Operating Room lighting conditions (removing any gamma correction artefacts). Our system does not require any expensive display hardware, is unobtrusive to the remote workstation and works with any application without requiring additional software licenses. To extend the native 256 levels of grey supported by a standard LCD monitor, we have used the concept of "PseudoGrey" where slightly off-white shades of grey are used to extend the intensity range from 256 to 1,785 shades of grey. Remote access is facilitated by a customized version of UltraVNC, which corrects remote shades of grey for display in the Operating Room. The system is successfully deployed at Morriston Hospital, Swansea, UK, and is in daily use during Maxillofacial surgery. More formal user trials and quantitative assessments are being planned for the future.

  9. 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.

  10. Remote state preparation using positive operator-valued measures

    Energy Technology Data Exchange (ETDEWEB)

    Huang, Siendong, E-mail: sdhuang@mail.ndhu.edu.tw [Department of Applied Mathematics, National Dong Hwa University, Hualien 974, Taiwan (China)

    2013-02-04

    We consider the process of remote state preparation using a pure state |ψ〉 with the maximal Schmidt number n. For any given state σ, pure or mixed, a construction of a positive operator-valued measure {M_j}{sub j=0}{sup n} is provided. The classical outcome j=0 indicates the failure of a remote preparation of σ. All other classical outcomes j>0 correspond to unitary transformations of the receiver system such that σ can be prepared. The total probability of successful remote preparation depends on the state σ. Our protocol is a variation of conclusive teleportation and the classical bits required for this protocol are given by log{sub 2}(n+1), which is nearly half that of conclusive teleportation.

  11. History of remote operations and robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Herndon, J.N.

    1992-01-01

    The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures

  12. Remote control of restricted sets of operations: Teleportation of angles

    International Nuclear Information System (INIS)

    Huelga, S.F.; Vaccaro, J.A.; Plenio, M.B.

    2002-01-01

    We study the remote implementation of a unitary transformation on the state of a qubit. We show the existence of nontrivial protocols (i.e., using less resources than bidirectional state teleportation) that allow the perfect remote implementation of certain continuous sets of quantum operations. We prove that, up to a local change of basis, only two subsets exist that can be implemented remotely with a nontrivial protocol: Arbitrary rotations around a fixed direction n-vector and a π rotation about an arbitrary direction lying in a plane orthogonal to n-vector. The former operations effectively constitute the teleportation of arbitrary angles. The overall classical information and distributed entanglement cost required for the remote implementation depends on whether it is known, a priori, in which of the two teleportable subsets the transformation belongs. If it is known, the optimal protocol consumes one e-bit of entanglement and one c-bit in each direction. If it is not known in which subset the transformation belongs, two e-bits of entanglement need to be consumed and the classical channel becomes asymmetric with two c-bits being conveyed from Alice to Bob but only one from Bob to Alice

  13. Operative experience in handling enriched uranium compounds in an U3O8 production plant

    International Nuclear Information System (INIS)

    Friedenthal, M.; Cardenas Yucra, H.R.; Cinat, E.; Pino, H.F.; Surin, C.

    1987-01-01

    The design of a nuclear installation associated with chemical processes depends fundamentally on the risks derived from the materials and process used. The operative experience brings useful data mainly related to the ventilation and equipment design that allow to improve the handling of operational incidents and maintenance work. The paper presents the results extracted from a production campaign; ambient and personal monitoring results from monitorings performed routinely and during special interventions are commented. (Author)

  14. Remote handling prospects. Computer aided remote handling

    International Nuclear Information System (INIS)

    Vertut, J.

    1984-01-01

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

  15. Advantages and limitations of remotely operated sea floor drill rigs

    Science.gov (United States)

    Freudenthal, T.; Smith, D. J.; Wefer, G.

    2009-04-01

    A variety of research targets in marine sciences including the investigation of gas hydrates, slope stability, alteration of oceanic crust, ore formation and palaeoclimate can be addressed by shallow drilling. However, drill ships are mostly used for deep drillings, both because the effort of building up a drill string from a drill ship to the deep sea floor is tremendous and control on drill bit pressure from a movable platform and a vibrating drill string is poor especially in the upper hundred meters. During the last decade a variety of remotely operated drill rigs have been developed, that are deployed on the sea bed and operated from standard research vessels. These developments include the BMS (Bentic Multicoring System, developed by Williamson and Associates, operated by the Japanese Mining Agency), the PROD (Portable Remotely Operated Drill, developed and operated by Benthic Geotech), the Rockdrill 2 (developed and operated by the British geological Survey) and the MeBo (German abbreviation for sea floor drill rig, developed and operated by Marum, University of Bremen). These drill rigs reach drilling depths between 15 and 100 m. For shallow drillings remotely operated drill rigs are a cost effective alternative to the services of drill ships and have the major advantage that the drilling operations are performed from a stable platform independent of any ship movements due to waves, wind or currents. Sea floor drill rigs can be deployed both in shallow waters and the deep sea. A careful site survey is required before deploying the sea floor drill rig. Slope gradient, small scale topography and soil strength are important factors when planning the deployment. The choice of drill bits and core catcher depend on the expected geology. The required drill tools are stored on one or two magazines on the drill rig. The MeBo is the only remotely operated drill rig world wide that can use wire line coring technique. This method is much faster than conventional

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

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  17. The MEDEA/JASON remotely operated vehicle system

    Science.gov (United States)

    Ballard, Robert D.

    1993-08-01

    The remotely operated vehicle (ROV) system MEDEA/JASON has been under development for the last decade. Adter a number of engineering test cruises, including the discovery of the R.M.S. Titanic and the German Battleship Bismarck, this ROV system is now being implemented in oceanographic investigations. This paper explains its development history and its unique ability to carry out a broad range of scientific research.

  18. 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)

  19. 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)

  20. A remotely controlled CCTV system for nuclear reactor retube operations

    International Nuclear Information System (INIS)

    Stovman, J.A.

    1984-01-01

    This paper describes the CCTV Vault Observation Subsystem (VOS) under development for Ontario Hydro for the Pickering 'A' Nuclear Power Plant Large Scale Retubing program. This subsystem will be used by a supervisor and several operators to observe fuel channel replacement operations following plant shutdown and removal of the fuel bundles. VOS basically comprises 23 monochrome television camera driven circuits, a matrix switcher, 15 monitors, 9 tape recorders and 4 microphone driven sound circuits. Remote control of the camera's zoom lenses and mounts is via a digitally multiplexed control system. Design considerations include viewing requirements, reliability, radiation, redundance, and economic factors

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

    International Nuclear Information System (INIS)

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

    1984-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-05-15

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

  3. Experience with fuel damage caused by abnormal conditions in handling and transporting operations

    International Nuclear Information System (INIS)

    Bailey, W.J.

    1983-01-01

    Pacific Northwest Laboratory (PNL) conducted a study to determine the expected condition of spent USA light-water reactor (LWR) fuel upon arrival at interim storage or fuel reprocessing facilities or, if fuel is declared a waste, at disposal facilities. Initial findings were described in an earlier PNL paper at PATRAM '80 and in a report. Updated findings are described in this paper, which includes an evaluation of information obtained from the literature and a compilation of cases of known or suspected damage to fuel as a result of handling and/or transporting operations. To date, PNL has evaluated 123 actual cases (98 USA and 25 non-USA). Irradiated fuel was involved in all but 10 of the cases. From this study, it is calculated that the frequency of unusual occurrences involving fuel damage from handling and transporting operations has been low. The damage that did occur was generally minor. The current base of experience with fuel handling and transporting operations indicates that nearly all of these unusual occurrences had only a minor or negligible effect on spent fuel storage facility operations

  4. A new remote control room for tokamak operations

    Energy Technology Data Exchange (ETDEWEB)

    Schissel, D.P., E-mail: schissel@fusion.gat.com [General Atomics, P.O. Box 85608, San Diego, CA (United States); Abla, G.; Flanagan, S.; Kim, E.N. [General Atomics, P.O. Box 85608, San Diego, CA (United States)

    2012-12-15

    This paper presents a summary of a new remote tokamak control room constructed near the offices of DIII-D's scientific staff. This integrated system combines hardware, software, data, and control of the room (R-232) into a unified package that has been designed and constructed in a generic fashion so that it can be used with any tokamak operating worldwide. The room is approximately 300 ft{sup 2} and can accommodate up to 12 seated participants. Mounted on the wall facing each scientist are five 52 Double-Prime LCD televisions and mounted to the wall on their right are six 24 Double-Prime LCD monitors. Each seat has associated with it a 24 Double-Prime monitor, network connection, and power and the scientist is either provided with a computer or they can use their own. The room has been used for operation of DIII-D, EAST, and KSTAR. Due to the long distances, data from EAST and KSTAR was brought back to local DIII-D computers in one large parallel network transfer and subsequently served to scientists in the remote control room to other US collaborators. This parallel data transfer allowed the data to be available to US participants between pulses making remote experimental participation highly effective.

  5. 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

  6. Remotely operated facility for in situ solidification of fissile uranium

    International Nuclear Information System (INIS)

    McGinnis, C.P.; Collins, E.D.; Patton, B.D.

    1986-01-01

    A heavily shielded, remotely operated facility, located within the Radiochemical processing Plant at Oak Ridge National Laboratory (ORNL), has been designed and is being operated to convert approx.1000 kg of fissile uranium (containing approx.75% 235 U, approx.10% 233 U, and approx.140 ppM 232 U) from a nitrate solution (130 g of uranium per L) to a solid oxide form. This project, the Consolidated Edison Uranium Solidification Program (CEUSP), is being carried out in order to prepare a stable uranium form for longterm storage. This paper describes the solidification process selected, the equipment and facilities required, the experimental work performed to ensure successful operation, some problems that were solved, and the initial operations

  7. Design and development of remotely operated coolant channel cutting machine

    International Nuclear Information System (INIS)

    Suthar, R.L.; Sinha, A.K.; Srikrishnamurty, G.

    1994-01-01

    One of the coolant tubes of Narora Atomic Power Station (NAPS) reactor needs to be removed. To remove a coolant tube, four cutting operations, (liner tube cutting, end-fitting cutting, machining of seal weld of bellow ring and finally coolant tube cutting) are required to be carried out. A remotely operated cutting machine to carry out all these operations has been designed and developed by Central Workshops. This machine is able to cut at the exact location because of numerically controlled axial and radial travel of tool. Only by changing the tool head and tool holder, same machine can be used for various types of cutting/machining operations. This report details the design, manufacture, assembly and testing work done on the machine. (author). 4 figs

  8. Remote operation of the GOLEM tokamak for Fusion Education

    Energy Technology Data Exchange (ETDEWEB)

    Grover, O.; Kocman, J. [Faculty of Nuclear Sciences and Physical Engineering CTU Prague, CZ-115 19 (Czech Republic); Odstrcil, M. [University of Southampton, Southampton SO17 1BJ (United Kingdom); Odstrcil, T. [Max-Planck-Institut für Plasmaphysik, D-85748 Garching (Germany); Matusu, M. [Faculty of Nuclear Sciences and Physical Engineering CTU Prague, CZ-115 19 (Czech Republic); Stöckel, J. [Faculty of Nuclear Sciences and Physical Engineering CTU Prague, CZ-115 19 (Czech Republic); Institute of Plasma Physics AS CR, Prague CZ-182 21 (Czech Republic); Svoboda, V., E-mail: svoboda@fjfi.cvut.cz [Faculty of Nuclear Sciences and Physical Engineering CTU Prague, CZ-115 19 (Czech Republic); Vondrasek, G. [Faculty of Nuclear Sciences and Physical Engineering CTU Prague, CZ-115 19 (Czech Republic); Zara, J. [Faculty of Electrical Engineering CTU Prague, CZ-166 27 (Czech Republic)

    2016-11-15

    Highlights: • The remote operation of the tokamak GOLEM for educational purposes. - Abstract: Practically oriented education in the field of thermonuclear fusion is highly requested. However, the high complexity of appropriate experiments makes it difficult to develop and maintain laboratories where students can take part in hands-on experiments in this field of study. One possible solution is to establish centres with specific high temperature plasma experiments where students can visit such a laboratory and perform their experiments in-situ. With the advancements of IT technologies it naturally follows to make a step forward and connect these with necessary plasma physics technologies and thus allow to access even sophisticated experiments remotely. Tokamak GOLEM is a small, modest device with its infrastructure linked to web technologies allowing students to set-up necessary discharge parameters, submit them into a queue and within minutes obtain the results in the form of a discharge homepage.

  9. Remote operation of the GOLEM tokamak for Fusion Education

    International Nuclear Information System (INIS)

    Grover, O.; Kocman, J.; Odstrcil, M.; Odstrcil, T.; Matusu, M.; Stöckel, J.; Svoboda, V.; Vondrasek, G.; Zara, J.

    2016-01-01

    Highlights: • The remote operation of the tokamak GOLEM for educational purposes. - Abstract: Practically oriented education in the field of thermonuclear fusion is highly requested. However, the high complexity of appropriate experiments makes it difficult to develop and maintain laboratories where students can take part in hands-on experiments in this field of study. One possible solution is to establish centres with specific high temperature plasma experiments where students can visit such a laboratory and perform their experiments in-situ. With the advancements of IT technologies it naturally follows to make a step forward and connect these with necessary plasma physics technologies and thus allow to access even sophisticated experiments remotely. Tokamak GOLEM is a small, modest device with its infrastructure linked to web technologies allowing students to set-up necessary discharge parameters, submit them into a queue and within minutes obtain the results in the form of a discharge homepage.

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

    International Nuclear Information System (INIS)

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

    1990-01-01

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

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

    International Nuclear Information System (INIS)

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

    1994-09-01

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

  12. A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3D model morphing

    International Nuclear Information System (INIS)

    Kiviranta, Sauli; Saarinen, Hannu; Maekinen, Harri; Krassi, Boris

    2011-01-01

    A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant 'DTP2 test facility operation and upgrade preparation', the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due to its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-m long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.

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

    International Nuclear Information System (INIS)

    Rajagopalan, C.; Venugopal, S.

    2013-01-01

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

  14. 77 FR 11112 - Proposed Approval of the Central Characterization Project's Remote-Handled Transuranic Waste...

    Science.gov (United States)

    2012-02-24

    ... debris waste from the FB-Line at SRS. This waste was generated by glovebox operations, decontamination... summary category group solids (S3000) or soils and gravel (S4000) is characterized for WIPP disposal; and...

  15. Modified Brokk Demolition Machine with Remote Operator Console. Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    2001-01-01

    The Low-Cost D and D System modifies a commercially available BROKK demolition system for remote viewing and long tether remote operation that provides a portable facility camera pod and interfaces with the Compact Remote Operator Console (TMS Tech ID 2180) to extend the applicability of the BROKK system to projects that require removal of the operator from the work area due to exposure to radiological, chemical, or industrial hazards. The modified BROKK has been integrated with the Compact Remote Operator Console to provide a true remotely operated low-cost D and D system applicable to a wide range of small D and D demolition tasks across the DOE complex

  16. Remote operated systems for the management of nuclear processes

    International Nuclear Information System (INIS)

    Popa, I.

    1997-01-01

    The paper shortly presents the remote techniques and systems used regularly for the management of nuclear processes according to the variability and complexity of human operations and to the degree of automation. The paper contains a synthesis of the evolution of remote operating systems and advances the model of an adaptive and self-adaptive expert-robot equipment which is a very complex equipment used for integrated management of nuclear processes. Due to the complexity and variability of the technological operations and environment conditions, none of the techniques and systems presented in the paper do satisfy completely the management of the nuclear technologies as a whole. They must be utilized selectively according to the nature of the actual characteristics of the nuclear process. The expert and expert-robot systems offer a series of advantages among which one can mention: the continuity of the high quality expert's reports, easy extension, the explanation of the decision in detail, the elimination of the routine, the diagnosis of some equipment and process state, forecast of the future behaviour of equipment, processes, market, environment, etc., the multiplying of sources of information, pertinent comparison, the increasing of the performance of the user in general. The expert and expert-robot systems maintain some important drawbacks as: the possibility of taking wrong decision, the difficulty of using information from other expert systems similar to this one at present and not in the least, the high prices. (author)

  17. Remote operation for pipelines; Operacao remota para gasodutos

    Energy Technology Data Exchange (ETDEWEB)

    Teixeira, Paulo Lyra Borgerth [TBG - Transportadora Brasileira Gasoduto Bolivia Brasil S.A., Rio de Janeiro, RJ (Brazil)

    2003-07-01

    This paper describes pipeline GASBOL which are remotely monitored, operated and controlled from a central control station in Rio de Janeiro, Brazil. This is a result of TBG's experience in design, construction and operation of compressor stations and city gates that are built for unattended operation. Only a small maintenance crew is necessary for routine tasks. In this connection, a complete set of resources has been implemented in order to ensure the required reliability level. This includes monitoring instruments, redundant systems and protections, together with automatic control system for each of the relevant components. Equipment status signals, process variables as well as alarm and trip signals are exchanged via a SCADA system with the Control and Supervision Center, CSC, in Rio de Janeiro. In addition, the CSC is capable of performing all relevant control actions such as start / stop compressor units and station auxiliaries, also remotely setting the station pressure and flow control points. The paper describes also the architecture and configuration of the supervisory and control functions which are performed by means of a SCADA system, along with the pipeline telecommunications system. (author)

  18. An improved control system for a remotely operated vessel

    Science.gov (United States)

    Bachnak, Rafic; Mendez, Marc; Esparza, Jack; Fahed, Oliver

    2006-05-01

    Collecting environmental data in coastal bays presents several challenges to the scientist. One of the most pressing issues is how to efficiently and reliably gather data in shallow water areas-environments that often preclude the use of traditional boats. Obstacles that are encountered in such environments include difficulty in covering large territories and the presence of inaccessible areas due to a variety of reasons, such as soft bottoms or contamination. There is also a high probability of disturbing the test area while placing the sensors. This paper outlines the development of a remotely operated boat and its real-time control system.

  19. Progress report on the development of remotely operated tools

    International Nuclear Information System (INIS)

    Shenton, J.R.

    1985-02-01

    Various tools will be required during the size reduction of contaminated plant and equipment, necessitating the removal and replacement of tool modules on the remotely operated pantograph arm, and it is envisaged that there will be a carrier holding a range of tool modules which may be selected for use. This report covers the trials work carried out to date using the single module tool change station, which was manufactured in order to assess the problems likely to occur when disconnecting the existing interchangeable modules from the end effector. (author)

  20. 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)

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

    Science.gov (United States)

    Filippi, Anthony Matthew

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

  2. Remotely operated excavator needs assessment/site visit summary

    Energy Technology Data Exchange (ETDEWEB)

    Straub, J.; Haller, S.; Worsley, R. [Westinghouse Environmental Management Co. of Ohio, Cincinnati, OH (United States); King, M. [THETA Technology Inc. (United States)

    1992-12-02

    The Uranium in Soils Integrated Demonstration requested an assessment of soil excavation needs relative to soil remediation. The following list identifies the DOE sites assessed: Mound Laboratory, Paducah Gaseous Diffusion Plant, Portsmouth Gaseous Diffusion Plant, Nevada Test Site, Lawrence Livermore National Laboratory, Rocky Flats Plant, Los Alamos National Laboratory, Sandia National Laboratory, Idaho National Engineering Laboratory, Hanford Site, and Fernald Site. The reviewed sites fall into one or more of the following three categories: production, EPA National Priorities List, or CERCLA (superfund) designation. Only three of the sites appear to have the need for a remotely operated excavator rope. Hanford and Idaho Falls have areas of high-level radioactive contamination either buried or in/under buildings. The Fernald site has a need for remote operated equipment of different types. It is their feeling that remote equipment can be used to remove the health dangers to humans by removing them from the area. Most interviewees stated that characterization technologies needs are more immediate concern over excavation. In addition, the sites do not have similar geographic conditions which would aid in the development of a generic precision excavator. The sites visited were not ready to utilize or provide the required design information necessary to draft a performance specification. This creates a strong case against the development of one type of ROPE for use at these sites. Assuming soil characterization technology/methodology is improved sufficiently to allow accurate and real time field characterization then development of a precision excavator might be pursued based on FEMP needs, since the FEMP`s sole scope of work is remediation. The excavator could then be used/tested and then later modified for other sites as warranted.

  3. Measuring robustness of port plug maintenance schedules in fusion remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Schoen, P.W., E-mail: p.w.schoen@heemskerk-innovative.nl [Heemskerk Innovative Technology, Sassenheim (Netherlands); Thomas, J. [CCFE EURATOM/CCFE Fusion Association, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Boessenkool, H. [FOM Institute DIFFER, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology, Sassenheim (Netherlands)

    2015-12-15

    Unexpected events during maintenance operations of a fusion plant like JET or ITER may require rescheduling, suspending the execution of the current procedure to pick it up later. In this paper, we look at how the introduction of slack influences the port plug maintenance schedule robustness. We introduce a metrics to measure the robustness. Simulating disruptions we evaluate the effect on a schedule. Finally, we show how the robustness is affected when introducing different amounts of slack.

  4. Measuring robustness of port plug maintenance schedules in fusion remote handling

    International Nuclear Information System (INIS)

    Schoen, P.W.; Thomas, J.; Boessenkool, H.; Heemskerk, C.J.M.

    2015-01-01

    Unexpected events during maintenance operations of a fusion plant like JET or ITER may require rescheduling, suspending the execution of the current procedure to pick it up later. In this paper, we look at how the introduction of slack influences the port plug maintenance schedule robustness. We introduce a metrics to measure the robustness. Simulating disruptions we evaluate the effect on a schedule. Finally, we show how the robustness is affected when introducing different amounts of slack.

  5. Design of Omni Directional Remotely Operated Vehicle (ROV)

    Science.gov (United States)

    Rahimuddin; Hasan, Hasnawiya; Rivai, Haryanti A.; Iskandar, Yanu; Claudio, P.

    2018-02-01

    Nowadays, underwater activities are increased with the increase of oil resources finding. The gap between demand and supply of oil and gas cause engineers to find oil and gas resources in deep water. In other side, high risk of working in deep underwater environment can cause a dangerous situation for human. Therefore, many research activities are developing an underwater vehicle to replace the human’s work such as ROV or Remotely Operated Vehicles. The vehicle operated using tether to transport the signals and electric power from the surface vehicle. Arrangements of weight, buoyancy, and the propeller placements are significant aspect in designing the vehicle’s performance. This paper presents design concept of ROV for survey and observation the underwater objects with interaction vectored propellers used for vehicle’s motions.

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  7. Experience of the remote dismantling of the Windscale advanced gas-cooled reactor and Windscale pile chimneys

    International Nuclear Information System (INIS)

    Wright, E.M.

    1993-01-01

    This paper gives brief descriptions of some of the remote dismantling work and equipment used on two large decommissioning projects: the BNFL Windscale Pile Chimneys Project (remote handling machine, waste packaging machine, remotely controlled excavator, remotely controlled demolition machine) and the AEA Windscale Advanced Gas-cooled Reactor Project (remote dismantling machine, operational waste, bulk removal techniques, semi-remote cutting operations)

  8. Remote handling in the Plutonium Immobilization Project: Plutonium conversion and first stage immobilization

    International Nuclear Information System (INIS)

    Brault, J.R.

    2000-01-01

    Since the break up of the Soviet Union at the end of the Cold War, the United States and Russia have been negotiating ways to reduce their nuclear stockpiles. Economics is one of the reasons behind this, but another important reason is safeguarding these materials from unstable organizations and countries. With the downsizing of the nuclear stockpiles, large quantities of plutonium are being declared excess and must be safely disposed of. The Savannah River Site (SRS) has been selected as the site where the immobilization facility will be located. Conceptual design and process development commenced in 1998. SRS will immobilize excess plutonium in a ceramic waste form and encapsulate it in vitrified high level waste in the Defense Waste Processing Facility (DWPF) canister. These canisters will then be interred in the national repository at Yucca Mountain, New Mexico. The facility is divided into three distinct operating areas: Plutonium Conversion, First Stage Immobilization, and Second Stage Immobilization. This paper will discuss the first two operations

  9. The Remote Handled Immobilization Low-Activity Waste Disposal Facility Environmental Permits and Approval Plan

    International Nuclear Information System (INIS)

    DEFFENBAUGH, M.L.

    2000-01-01

    The purpose of this document is to revise Document HNF-SD-ENV-EE-003, ''Permitting Plan for the Immobilized Low-Activity Waste Project, which was submitted on September 4, 1997. That plan accounted for the interim storage and disposal of Immobilized-Low Activity Waste at the existing Grout Treatment Facility Vaults (Project W-465) and within a newly constructed facility (Project W-520). Project W-520 was to have contained a combination of concrete vaults and trenches. This document supersedes that plan because of two subsequent items: (1) A disposal authorization that was received on October 25, 1999, in a U. S. Department of Energy-Headquarters, memorandum, ''Disposal Authorization Statement for the Department of Energy Hanford site Low-Level Waste Disposal facilities'' and (2) ''Breakthrough Initiative Immobilized Low-Activity Waste (ILAW) Disposal Alternative,'' August 1999, from Lucas Incorporated, Richland, Washington. The direction within the U. S. Department of Energy-Headquarters memorandum was given as follows: ''The DOE Radioactive Waste Management Order requires that a Disposal authorization statement be obtained prior to construction of new low-level waste disposal facility. Field elements with the existing low-level waste disposal facilities shall obtain a disposal authorization statement in accordance with the schedule in the complex-wide Low-Level Waste Management Program Plan. The disposal authorization statement shall be issued based on a review of the facility's performance assessment and composite analysis or appropriate CERCLA documentation. The disposal authorization shall specify the limits and conditions on construction, design, operations, and closure of the low-level waste facility based on these reviews. A disposal authorization statement is a part of the required radioactive waste management basis for a disposal facility. Failure to obtain a disposal authorization statement or record of decision shall result in shutdown of an operational

  10. The Remote Handled Immobilization Low Activity Waste Disposal Facility Environmental Permits & Approval Plan

    Energy Technology Data Exchange (ETDEWEB)

    DEFFENBAUGH, M.L.

    2000-08-01

    The purpose of this document is to revise Document HNF-SD-ENV-EE-003, ''Permitting Plan for the Immobilized Low-Activity Waste Project, which was submitted on September 4, 1997. That plan accounted for the interim storage and disposal of Immobilized-Low Activity Waste at the existing Grout Treatment Facility Vaults (Project W-465) and within a newly constructed facility (Project W-520). Project W-520 was to have contained a combination of concrete vaults and trenches. This document supersedes that plan because of two subsequent items: (1) A disposal authorization that was received on October 25, 1999, in a U. S. Department of Energy-Headquarters, memorandum, ''Disposal Authorization Statement for the Department of Energy Hanford site Low-Level Waste Disposal facilities'' and (2) ''Breakthrough Initiative Immobilized Low-Activity Waste (ILAW) Disposal Alternative,'' August 1999, from Lucas Incorporated, Richland, Washington. The direction within the U. S. Department of Energy-Headquarters memorandum was given as follows: ''The DOE Radioactive Waste Management Order requires that a Disposal authorization statement be obtained prior to construction of new low-level waste disposal facility. Field elements with the existing low-level waste disposal facilities shall obtain a disposal authorization statement in accordance with the schedule in the complex-wide Low-Level Waste Management Program Plan. The disposal authorization statement shall be issued based on a review of the facility's performance assessment and composite analysis or appropriate CERCLA documentation. The disposal authorization shall specify the limits and conditions on construction, design, operations, and closure of the low-level waste facility based on these reviews. A disposal authorization statement is a part of the required radioactive waste management basis for a disposal facility. Failure to obtain a disposal authorization statement

  11. Assessment of Geochemical Environment for the Proposed INL Remote-Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    D. Craig Cooper

    2011-11-01

    Conservative sorption parameters have been estimated for the proposed Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility. This analysis considers the influence of soils, concrete, and steel components on water chemistry and the influence of water chemistry on the relative partitioning of radionuclides over the life of the facility. A set of estimated conservative distribution coefficients for the primary media encountered by transported radionuclides has been recommended. These media include the vault system, concrete-sand-gravel mix, alluvium, and sedimentary interbeds. This analysis was prepared to support the performance assessment required by U.S. Department of Energy Order 435.1, 'Radioactive Waste Management.' The estimated distribution coefficients are provided to support release and transport calculations of radionuclides from the waste form through the vadose zone. A range of sorption parameters are provided for each key transport media, with recommended values being conservative. The range of uncertainty has been bounded through an assessment of most-likely-minimum and most-likely-maximum distribution coefficient values. The range allows for adequate assessment of mean facility performance while providing the basis for uncertainty analysis.

  12. INNOVATIVE TECHNIQUES AND TECHNOLOGY APPLICATION IN MANAGEMENT OF REMOTE HANDLED AND LARGE SIZED MIXED WASTE FORMS

    International Nuclear Information System (INIS)

    BLACKFORD LT

    2008-01-01

    CH2M HILL Hanford Group, Inc. (CH2M HILL) plays a critical role in Hanford Site cleanup for the U. S. Department of Energy, Office of River Protection (ORP). CH2M HILL is responsible for the management of 177 tanks containing 53 million gallons of highly radioactive wastes generated from weapons production activities from 1943 through 1990. In that time, 149 single-shell tanks, ranging in capacity from 50,000 gallons to 500,000 gallons, and 28 double-shell tanks with a capacity of 1 million gallons each, were constructed and filled with toxic liquid wastes and sludges. The cleanup mission includes removing these radioactive waste solids from the single-shell tanks to double-shell tanks for staging as feed to the Waste Treatment Plant (WTP) on the Hanford Site for vitrification of the wastes and disposal on the Hanford Site and Yucca Mountain repository. Concentrated efforts in retrieving residual solid and sludges from the single-shell tanks began in 2003; the first tank retrieved was C-106 in the 200 East Area of the site. The process for retrieval requires installation of modified sluicing systems, vacuum systems, and pumping systems into existing tank risers. Inherent with this process is the removal of existing pumps, thermo-couples, and agitating and monitoring equipment from the tank to be retrieved. Historically, these types of equipment have been extremely difficult to manage from the aspect of radiological dose, size, and weight of the equipment, as well as their attendant operating and support systems such as electrical distribution and control panels, filter systems, and mobile retrieval systems. Significant effort and expense were required to manage this new waste stream and resulted in several events over time that were both determined to be unsafe for workers and potentially unsound for protection of the environment. Over the last four years, processes and systems have been developed that reduce worker exposures to these hazards, eliminate violations

  13. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

    The paper discusses the application of H∞ control techniques to the design of a control system for a remotely operated underwater vehicle. As the main problem in defining a control strategy for such vehicles is the nonlinear and uncertain nature of the modeled dynamics, the robustness properties of H∞ controllers can in principle be used to provide stability and nominal performances for the closed loop system. Therefore, a control strategy based on a scheduling of such controllers has been proposed, and the overall performance of the closed loop system have been evaluated by means of nonlinear simulation in a broad range of working conditions, with particular attention to the effects of the underwater current that acts on the vehicle

  14. Working underwater: new Remotely Operated Vehicles (ROVs) tackle subsea economics

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

    Modular construction is helping to cut remotely operated vehicle (ROV) costs, while work performance is improved by techniques for holding the vehicles onstation. The upper power house contains the propulsion units and electronics, with work modules slung beneath. The solution of a long standing problem of how to hold the maintenance unit steady against a jacket or similar tubular structure has led to two methods currently undergoing testing. The first employs suction and uses a hydraulic clamp; the second fits the ROV with massive mechanical grabs. The new technology saves diving time as well as costs. Other advances are self-propelled ROVs,the use of miniature low-light color TV cameras, and a free-swimming ROV for use where ice may be a problem. 5 figures.

  15. Development of a Remotely Operated Vehicle Test-bed

    Directory of Open Access Journals (Sweden)

    Biao WANG

    2013-06-01

    Full Text Available This paper presents the development of a remotely operated vehicle (ROV, designed to serve as a convenient, cost-effective platform for research and experimental validation of hardware, sensors and control algorithms. Both of the mechanical and control system design are introduced. The vehicle with a dimension 0.65 m long, 0.45 m wide has been designed to have a frame structure for modification of mounted devices and thruster allocation. For control system, STM32 based MCU boards specially designed for this project, are used as core processing boards. And an open source, modular, flexible software is developed. Experiment results demonstrate the effectiveness of the test-bed.

  16. Towards operational environmental applications using terrestrial remote sensing

    NARCIS (Netherlands)

    Veldkamp JG; Velde RJ van de; LBG

    1996-01-01

    Dit rapport beschrijft de resultaten van het Beleidscommissie Remote Sensing (BCRS) project 'Verankering van toepassingen van terrestrische remote sensing bij RIVM'. Het had ten eerste tot doel te voldoen aan de voorwaarden, zoals gesteld in de inventarisatie van remote sensing als

  17. An innovative concept for handling and operation of the wastewater treatment plant of Cottbus

    International Nuclear Information System (INIS)

    Spiller, K.; Schmitt, J.

    1994-01-01

    A new concept for handling and operating the wastewater treatment plant of Cottbus, with computerized modelling and an expert system as integral parts of process analysis and decision-making, is developed. Optimized plant operation and process stability is to be achieved by conrolling process-dependent dosage of wastewater coming from sludge treatment and from faecal wastewater. With the treatment plant still being built, a thorough analysis of the influent and the resulting process conditions is done, using the computerized model. Results and consequences for process optimization are presented in this article. Special attention has to be given to load smoothing and optimization of denitrification, influencing process stability and quality. Thereby not only the legal requirements can be fulfilled but improvement of effluent quality also could be achieved, reducing total nitrogen in the effluent by as much as 50%, lowering wastewater treatment costs by allowing lower control levels and fees to be payed. (orig.) [de

  18. [Handling modern imaging procedures in a high-tech operating room].

    Science.gov (United States)

    Hüfner, T; Citak, M; Imrecke, J; Krettek, C; Stübig, T

    2012-03-01

    Operating rooms are the central unit in the hospital network in trauma centers. In this area, high costs but also high revenues are generated. Modern operating theater concepts as an integrated model have been offered by different companies since the early 2000s. Our hypothesis is that integrative concepts for operating rooms, in addition to improved operating room ergonomics, have the potential for measurable time and cost savings. In our clinic, an integrated operating room concept (I-Suite, Stryker, Duisburg) was implemented after analysis of the problems. In addition to the ceiling-mounted arrangement, the system includes an endoscopy unit, a navigation system, and a voice control system. In the first 6 months (9/2005 to 2/2006), 112 procedures were performed in the integrated operating room: 34 total knee arthroplasties, 12 endoscopic spine surgeries, and 66 inpatient arthroscopic procedures (28 shoulder and 38 knee reconstructions). The analysis showed a daily saving of 22-45 min, corresponding to 15-30% of the daily changeover times, calculated to account for potential savings in the internal cost allocation of 225-450 EUR. A commercial operating room concept was evaluated in a pilot phase in terms of hard data, including time and cost factors. Besides the described effects further savings might be achieved through the effective use of voice control and the benefit of the sterile handle on the navigation camera, since waiting times for an additional nurse are minimized. The time of the procedure of intraoperative imaging is also reduced due to the ceiling-mounted concept, as the C-arm can be moved freely in the operating theater without hindering cables. By these measures and ensuing improved efficiency, the initial high costs for the implementation of the system may be cushioned over time.

  19. Thermal and mechanical properties of aluminized fabrics for use in ferrous metal handling operations.

    Science.gov (United States)

    Wren, J E; Scott, W D; Bates, C E

    1977-11-01

    Protective garments are normally worn in molten handling operations to provide some protection against molten metal splashes. These garments are also intended to provide protection against radiant heat, and they should be as heat resistant and comfortable as possible. Asbestos-based fabrics have been employed for many years, but recently some concern has been expressed over possible asbestos exposure. This program was undertaken to explore the ability of several types of fabrics to resist heat transfer during molten metal impact. A molten metal splash test, along with standard methods for determining tensile strength, flame resistance, and abrasion-flexing resistance were used to evaluate several classes of protective fabrics. The results indicate that there are materials available that offer equal or better mechanical properties and thermal protection compared to aluminized asbestos.

  20. 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.)

  1. Operation room tool handling and miscommunication scenarios: an object-process methodology conceptual model.

    Science.gov (United States)

    Wachs, Juan P; Frenkel, Boaz; Dori, Dov

    2014-11-01

    Errors in the delivery of medical care are the principal cause of inpatient mortality and morbidity, accounting for around 98,000 deaths in the United States of America (USA) annually. Ineffective team communication, especially in the operation room (OR), is a major root of these errors. This miscommunication can be reduced by analyzing and constructing a conceptual model of communication and miscommunication in the OR. We introduce the principles underlying Object-Process Methodology (OPM)-based modeling of the intricate interactions between the surgeon and the surgical technician while handling surgical instruments in the OR. This model is a software- and hardware-independent description of the agents engaged in communication events, their physical activities, and their interactions. The model enables assessing whether the task-related objectives of the surgical procedure were achieved and completed successfully and what errors can occur during the communication. The facts used to construct the model were gathered from observations of various types of operations miscommunications in the operating room and its outcomes. The model takes advantage of the compact ontology of OPM, which is comprised of stateful objects - things that exist physically or informatically, and processes - things that transform objects by creating them, consuming them or changing their state. The modeled communication modalities are verbal and non-verbal, and errors are modeled as processes that deviate from the "sunny day" scenario. Using OPM refinement mechanism of in-zooming, key processes are drilled into and elaborated, along with the objects that are required as agents or instruments, or objects that these processes transform. The model was developed through an iterative process of observation, modeling, group discussions, and simplification. The model faithfully represents the processes related to tool handling that take place in an OR during an operation. The specification is at

  2. Summary of Conceptual Models and Data Needs to Support the INL Remote-Handled Low-Level Waste Disposal Facility Performance Assessment and Composite Analysis

    International Nuclear Information System (INIS)

    Sondrup, A. Jeff; Schafter, Annette L.; Rood, Arthur S.

    2010-01-01

    An overview of the technical approach and data required to support development of the performance assessment, and composite analysis are presented for the remote handled low-level waste disposal facility on-site alternative being considered at Idaho National Laboratory. Previous analyses and available data that meet requirements are identified and discussed. Outstanding data and analysis needs are also identified and summarized. The on-site disposal facility is being evaluated in anticipation of the closure of the Radioactive Waste Management Complex at the INL. An assessment of facility performance and of the composite performance are required to meet the Department of Energy's Low-Level Waste requirements (DOE Order 435.1, 2001) which stipulate that operation and closure of the disposal facility will be managed in a manner that is protective of worker and public health and safety, and the environment. The corresponding established procedures to ensure these protections are contained in DOE Manual 435.1-1, Radioactive Waste Management Manual (DOE M 435.1-1 2001). Requirements include assessment of (1) all-exposure pathways, (2) air pathway, (3) radon, and (4) groundwater pathway doses. Doses are computed from radionuclide concentrations in the environment. The performance assessment and composite analysis are being prepared to assess compliance with performance objectives and to establish limits on concentrations and inventories of radionuclides at the facility and to support specification of design, construction, operation and closure requirements. Technical objectives of the PA and CA are primarily accomplished through the development of an establish inventory, and through the use of predictive environmental transport models implementing an overarching conceptual framework. This document reviews the conceptual model, inherent assumptions, and data required to implement the conceptual model in a numerical framework. Available site-specific data and data sources

  3. Inspection-Class Remotely Operated Vehicles—A Review

    Directory of Open Access Journals (Sweden)

    Romano Capocci

    2017-03-01

    Full Text Available This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs. The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.

  4. Human systems integration in remotely piloted aircraft operations.

    Science.gov (United States)

    Tvaryanas, Anthony P

    2006-12-01

    The role of humans in remotely piloted aircraft (RPAs) is qualitatively different from manned aviation, lessening the applicability of aerospace medicine human factors knowledge derived from traditional cockpits. Aerospace medicine practitioners should expect to be challenged in addressing RPA crewmember performance. Human systems integration (HSI) provides a model for explaining human performance as a function of the domains of: human factors engineering; personnel; training; manpower; environment, safety, and occupational health (ESOH); habitability; and survivability. RPA crewmember performance is being particularly impacted by issues involving the domains of human factors engineering, personnel, training, manpower, ESOH, and habitability. Specific HSI challenges include: 1) changes in large RPA operator selection and training; 2) human factors engineering deficiencies in current RPA ground control station design and their impact on human error including considerations pertaining to multi-aircraft control; and 3) the combined impact of manpower shortfalls, shiftwork-related fatigue, and degraded crewmember effectiveness. Limited experience and available research makes it difficult to qualitatively or quantitatively predict the collective impact of these issues on RPA crewmember performance. Attending to HSI will be critical for the success of current and future RPA crewmembers. Aerospace medicine practitioners working with RPA crewmembers should gain first-hand knowledge of their task environment while the larger aerospace medicine community needs to address the limited information available on RPA-related aerospace medicine human factors. In the meantime, aeromedical decisions will need to be made based on what is known about other aerospace occupations, realizing this knowledge may have only partial applicability.

  5. 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

  6. Remote Sensing and Modeling for Improving Operational Aquatic Plant Management

    Science.gov (United States)

    Bubenheim, Dave

    2016-01-01

    The California Sacramento-San Joaquin River Delta is the hub for California’s water supply, conveying water from Northern to Southern California agriculture and communities while supporting important ecosystem services, agriculture, and communities in the Delta. Changes in climate, long-term drought, water quality changes, and expansion of invasive aquatic plants threatens ecosystems, impedes ecosystem restoration, and is economically, environmentally, and sociologically detrimental to the San Francisco Bay/California Delta complex. NASA Ames Research Center and the USDA-ARS partnered with the State of California and local governments to develop science-based, adaptive-management strategies for the Sacramento-San Joaquin Delta. The project combines science, operations, and economics related to integrated management scenarios for aquatic weeds to help land and waterway managers make science-informed decisions regarding management and outcomes. The team provides a comprehensive understanding of agricultural and urban land use in the Delta and the major water sheds (San Joaquin/Sacramento) supplying the Delta and interaction with drought and climate impacts on the environment, water quality, and weed growth. The team recommends conservation and modified land-use practices and aids local Delta stakeholders in developing management strategies. New remote sensing tools have been developed to enhance ability to assess conditions, inform decision support tools, and monitor management practices. Science gaps in understanding how native and invasive plants respond to altered environmental conditions are being filled and provide critical biological response parameters for Delta-SWAT simulation modeling. Operational agencies such as the California Department of Boating and Waterways provide testing and act as initial adopter of decision support tools. Methods developed by the project can become routine land and water management tools in complex river delta systems.

  7. 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

  8. 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

  9. Remote control scanning electron microscope with Web operation

    International Nuclear Information System (INIS)

    Yamada, A.; Hirahara, O.; Date, M.; Lozbin, V.; Tsuchida, T.; Sugano, N.

    2002-01-01

    Full text: Recently, SEM (Scanning Electron Microscope) and the other observation instruments are coming to use a LAN (Local Area Network) to save the image in the database. We developed a remote control system in which SEM image and Control interface is indicated on the WEB Browser. In this system, SEM can be controlled by an external (client) PC installed in a general WEB Browser (Internet Explorer). Accordingly, operation interface can be indicated on the WEB browser. A JSM-6700F is connected to a LAN, and so a client PC can control the microscope. The JSM-6700F has two lines to the LAN for image transfer and communication with the SEM control. In order to transfer the image, the image size squeezes from 1280 x 1024-pixels (SEM image size) to 640x480-pixels for quick transfer. The image signal (640 x 480-pixels) is connected to the video server only, and then the image transfers to the client PC via LAN. The SEM control communicates with client PC for external command. On the other hand, the SEM control interface and the image are indicated on WEB Browser (Internet explorer). The SEM control interface is composed of the SEM image area and the SEM control part. The SEM image indicates the 640x480-pixels live image. This live image is being used as a high resolution live image transfer in the image transfer technology which a network is used for at present. If it is LAN beyond 10 base, this indication of an image can be transferred fully. When it is connected in the small line of the capacity, the refresh speed of the image becomes slow because of image data doesn't finish transferring it. In such a case, image size can be changed smaller by the LAN conditions. When a high quality image is necessary, the image of 1280 x 1024-pixels is saved on a SEM (server) side by choosing the image save button. At the same time, the file kept in SEM (server) is transferred to the client PC automatically, so that we can display a high quality image on the client PC side. The

  10. First operation of the wide-area remote experiment system

    International Nuclear Information System (INIS)

    Furukawa, Y.; Hasegawa, K.; Ueno, G.

    2012-01-01

    The Wide-area Remote Experiment System (WRES) at Spring-8 has been successfully developed. The system communicates with remote users on the basis of SSL/TLS with bi-directional authentication to avoid interference from unauthorized access to the system. The system has a message-filtering system to allow remote users access only to the corresponding beamline equipment and safety interlock system. This is to protect persons inside the experimental station from injury from any accidental motion of heavy equipment. The system also has a video streaming system to monitor samples or experimental equipment. We have tested the system from the point of view of safety, stability, reliability etc. and successfully performed the first experiment from a remote site, i.e., RIKEN's Wako campus, which is 480 km away from Spring-8, at the end of October 2010. (authors)

  11. A remotely operated drug delivery system with dose control

    KAUST Repository

    Yi, Ying; Kosel, Jü rgen

    2017-01-01

    include an effective actuation stimulus and a controllable dose release mechanism. This work focuses on remotely powering an implantable drug delivery system and providing a high degree of control over the released dose. This is accomplished by integration