WorldWideScience

Sample records for underwater facilities inspections

  1. Remote-Controlled Inspection Robot for Nuclear Facilities in Underwater Environment

    International Nuclear Information System (INIS)

    Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose

    2002-01-01

    A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)

  2. Development of a handling technology for underwater inspection and dismantling

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

    For the purpose of underwater inspection and dismantling of nuclear facilities, a prototype of a freely submersible, remote-controlled handling system was developed and tested under laboratory conditions. Particular interest was taken in the specific boundary conditions of the area of application and the methodological concept. The system was developed in three phases; in each phase, a prototype was constructed and tested. (orig.) [de

  3. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

    In order to demonstrate the possibility of identifying the material within ship's underwater hull, sunken ships and other objects on the sea floor tests with the 14 MeV sealed tube neutron generator incorporated inside a small submarine submerged in the test basin filled with sea water have been performed. Results obtained for inspection of diesel fuel and explosive presence behind single and double hull constructions are presented.

  4. Underwater inspection training in intense radiation field

    International Nuclear Information System (INIS)

    Taniguchi, Ryoichi

    2017-01-01

    Osaka Prefecture University has a large dose cobalt 60 gamma ray source of about 2 PBq, and is engaged in technological training and human resource development. It is assumed that the decommissioning underwater operation of Fukushima Daiichi Nuclear Power Station would be the focus. The university aims at acquisition of the basic of underwater inspection work under radiation environment that is useful for the above purpose, radiation measurement under water, basic training in image measurement, and aims as well to evaluate the damage of imaging equipment due to radiation, and master practical knowledge for the use of inspection equipment under a large dose. In particular, it is valuable to train in the observation of Cherenkov light emitted from a large dose cobalt radiation source in water using a high sensitivity camera. The measurement of radiation dose distribution in water had difficulty in remote measurement due to water shielding effect. Although it took much time before, the method using high sensitivity camera is easy to sequentially perform two-dimensional measurement, and its utility value is large. Its effect on the dose distribution measurement of irregularly shaped sources is great. The contents of training includes the following: radiation source imaging in water, use of a laser rangefinder in water, dose distribution measurement in water and Cherenkov light measurement, judgment of equipment damage due to irradiation, weak radiation measurement, and measurement and decontamination of surface contamination. (A.O.)

  5. Improvements in or relating to the inspection of underwater structures

    International Nuclear Information System (INIS)

    Caldecourt, L.R.; Evans, G.V.; Parsons, T.V.

    1980-01-01

    A radiation detector is described, for use in the inspection of underwater structures, which is capable of withstanding high pressures and arduous marine conditions. The ingress of water into the body of the radiation detector tube is prevented by the use of a resilient waterproof compound. Marine structures incorporating such radiation detectors are described, whereby the presence or density of flowing cement grout in the legs of an offshore platform may be determined. (U.K.)

  6. Regulatory inspection of BARC facilities

    International Nuclear Information System (INIS)

    Rajdeep; Jayarajan, K.

    2017-01-01

    Nuclear and radiation facilities are sited, constructed, commissioned, operated and decommissioned, in conformity with the current safety standards and codes. Regulatory bodies follow different means to ensure compliance of the standards for the safety of the personnel, the public and the environment. Regulatory Inspection (RI) is one of the important measures employed by regulatory bodies to obtain the safety status of a facility or project and to verify the fulfilment of the conditions stipulated in the consent

  7. Underwater inspection and maintenance programs within nuclear and non-nuclear related operating systems

    International Nuclear Information System (INIS)

    Vallance, C.; Goulet, B.; Black, S.

    2008-01-01

    The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)

  8. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  9. Underwater inspection, repair and reconstitution of water reactor fuel

    International Nuclear Information System (INIS)

    1988-06-01

    On-site fuel examination plays an important role for evaluation of fuel irradiation performance under reactor operating conditions. Also fuel assembly repairs are economically very attractive for operating nuclear utilities. The status of the processes of examination and repair, equipment used and research plans in Member States are reviewed in these Proceedings. All presentations were divided into three sessions: inspection diagnostic: facilities, techniques, and programmes (8 papers); repair and reconstitution techniques (6 papers); power plant experience (6 papers). A separate abstract was prepared for each of these 20 papers. Refs, figs and tabs

  10. Autonomous underwater handling system for service, measurement and cutting tasks for the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    Hahn, M.; Haferkamp, H.; Bach, W.; Rose, N.

    1992-01-01

    For about 10 years the Institute for Material Science at the Hanover University has worked on projects of underwater cutting and welding. Increasing tasks to be done in nuclear facilities led to the development of special handling systems to support and handle the cutting tools. Also sensors and computers for extensive and complex tasks were integrated. A small sized freediving handling system, equipped with 2 video cameras, ultrasonic and radiation sensors and a plasma cutting torch for inspection and decommissioning tasks in nuclear facilities is described in this paper. (Author)

  11. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  12. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  13. Development and application of underwater robot vehicle for close inspection of spent fuels

    Energy Technology Data Exchange (ETDEWEB)

    Yun, J. S.; Park, B. S.; Song, T. G.; Kim, S. H.; Cho, M. W.; Ahn, S. H.; Lee, J. Y.; Oh, S. C.; Oh, W. J.; Shin, K. W.; Woo, D. H.; Kim, H. G.; Park, J. S

    1999-12-01

    The research and development efforts of the underwater robotic vehicle for inspection of spent fuels are focused on the development of an robotic vehicle which inspects spent fuels in the storage pool through remotely controlled actuation. For this purpose, a self balanced vehicle actuated by propellers is designed and fabricated, which consists of a radiation resistance camera, two illuminators, a pressure transducer and a manipulator. the algorithm for autonomous navigation is developed and its performance is tested at the swimming pool. The results of the underwater vehicle shows that the vehicle can easily navigate into the arbitrary directions while maintaining its balanced position. The camera provides a clear view of working environment by using the macro and zoom functions. The camera tilt device provides a wide field of view which is enough for monitoring the operation of manipulator. Also, the manipulator can pick up the dropped objects up to 4 kgf of weight. (author)

  14. Waste Calcining Facility remote inspection report

    International Nuclear Information System (INIS)

    Patterson, M.W.; Ison, W.M.

    1994-08-01

    The purpose of the Waste Calcining Facility (WCF) remote inspections was to evaluate areas in the facility which are difficult to access due to high radiation fields. The areas inspected were the ventilation exhaust duct, waste hold cell, adsorber manifold cell, off-gas cell, calciner cell and calciner vessel. The WCF solidified acidic, high-level mixed waste generated during nuclear fuel reprocessing. Solidification was accomplished through high temperature oxidation and evaporation. Since its shutdown in 1981, the WCFs vessels, piping systems, pumps, off-gas blowers and process cells have remained contaminated. Access to the below-grade areas is limited due to contamination and high radiation fields. Each inspection technique was tested with a mock-up in a radiologically clean area before the equipment was taken to the WCF for the actual inspection. During the inspections, essential information was obtained regarding the cleanliness, structural integrity, in-leakage of ground water, indications of process leaks, indications of corrosion, radiation levels and the general condition of the cells and equipment. In general, the cells contain a great deal of dust and debris, as well as hand tools, piping and miscellaneous equipment. Although the building appears to be structurally sound, the paint is peeling to some degree in all of the cells. Cracking and spalling of the concrete walls is evident in every cell, although the east wall of the off-gas cell is the worst. The results of the completed inspections and lessons learned will be used to plan future activities for stabilization and deactivation of the facility. Remote clean-up of loose piping, hand tools, and miscellaneous debris can start immediately while information from the inspections is factored into the conceptual design for deactivating the facility

  15. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  16. Robotic inspection of nuclear waste storage facilities

    International Nuclear Information System (INIS)

    Fulbright, R.; Stephens, L.M.

    1995-01-01

    The University of South Carolina and the Westinghouse Savannah River Company have developed a prototype mobile robot designed to perform autonomous inspection of nuclear waste storage facilities. The Stored Waste Autonomous Mobile Inspector (SWAMI) navigates and inspects rows of nuclear waste storage drums, in isles as narrow as 34 inches with drums stacked three high on each side. SWAMI reads drum barcodes, captures drum images, and monitors floor-level radiation levels. The topics covered in this article reporting on SWAMI include the following: overall system design; typical mission scenario; barcode reader subsystem; video subsystem; radiation monitoring subsystem; position determination subsystem; onboard control system hardware; software development environment; GENISAS, a C++ library; MOSAS, an automatic code generating tool. 10 figs

  17. Development of self-running underwater cleaner for nuclear facilities

    International Nuclear Information System (INIS)

    Ito, Haruo; Mizutani, Takeshi; Miki, Masamichi

    1979-01-01

    A self-running underwater cleaner for removing sediment accumulated on the bottoms of water tanks in nuclear power stations by remote operation was developed. This cleaner is used in the state maintaining the shielding effect of water against radiation as water is filled in equipment pits, and by the remote operation using cables, it runs freely in water and sucks bottom sediment. The sediment is transported through a drain hose to a treating facility in a power station, and treated in a lump. The cleaner is composed of the carriage with electric steering wheels and driving wheels and a high head submerged pump. Front and rear suction mouths are provided, and suck sediment with high speed water flow while scraping with rubber boards. The cleaner can be used in the water depth of 7 m, and as the results of practical test, it was confirmed that the decontaminating effect and maneuverability were very good so that the sediment at the corner was scarcely left behind, and the effects of labor saving and the reduction of exposure of employees were large. The fundamental experiments were carried out on the running mechanism, the coefficient of friction in water, and the construction of suction mouth. The trial manufacture of the under water cleaner, the water tank experiment and the test in the Mamaoka No. 1 plant are reported. (Kako, I.)

  18. Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

    International Nuclear Information System (INIS)

    Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

    2002-01-01

    In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

  19. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  20. Development of inspection equipment for fuel bundles of CANDU-PHWR using R981 underwater radiation tolerant camera

    Energy Technology Data Exchange (ETDEWEB)

    Koo, Dae-Seo; Cho, Moon-Sung; Jo, Chang-Keun; Jun, Ji-Su; Jung, Jong Yeob; Park, Kwang-June; Suk, Ho-Chun

    2005-03-15

    The inspection equipment of fuel bundles was developed, which could perform visual inspection and dimensional measurement on fuel bundles of CANDU-PHWR, to evaluate, analyze the defective behavior of fuel bundles and inner surface of pressure tubes of inherent two-phase flow over 24kg/s in CANDU-6. The R981 radiation tolerant camera system with pan and tilt function was ordered and manufactured, which was waterproof, shielding radiation in underwater 10m in depth. The performance test, of the system ,due to camera-object distance was carried out in air/underwater atmosphere. The results of performance test of R981 radiation tolerant camera system are good. The inspection equipment of fuel bundles using R981 radiation tolerant camera system and underwater-radiation tolerant LVDT sensor(D5/200AW) was fabricated, which could perform visual inspection and dimensional measurement on fuel bundles of CANDU-PHWR with measurement accuracy 10{mu}m. This equipment will be utilizable integrity evaluation of fuel bundles which are irradiated in pressure tube of CANDU-PHWR.

  1. Allegheny County Restaurant/Food Facility Inspection Violations

    Data.gov (United States)

    Allegheny County / City of Pittsburgh / Western PA Regional Data Center — Facilities located within Allegheny County that produce, distribute and sell food products are subject to mandatory, routine inspection by one of the health...

  2. The construction of solid waste form test and inspection facility

    International Nuclear Information System (INIS)

    Park, Hun Hwee; Lee, Kang Moo; Jung, In Ha; Kim, Sung Hwan; Yoo, Jeong Woo; Lee, Jong Youl; Bae, Sang Min

    1988-01-01

    The solid waste form test and inspection facility is a facility to test and inspect the characteristics of waste forms, such as homogenity, mechanical structure, thermal behaviour, water resistance and leachability. Such kinds of characteristics in waste forms are required to meet a certain conditions for long-term storage or for final disposal of wastes. The facility will be used to evaluate safety for the disposal of wastes by test and inspection. At this moment, the efforts to search the most effective management of the radioactive wastes generated from power plants and radioisotope user are being executed by the people related to this field. Therefore, the facility becomes more significant tool because of its guidance of sucessfully converting wastes into forms to give a credit to the safety of waste disposal for managing the radioactive wastes. In addition the overall technical standards for inspecting of waste forms such as the standardized equipment and processes in the facility will be estabilished in the begining of 1990's when the project of waste management will be on the stream. Some of the items of the project have been standardized for the purpose of localization. In future, this facility will be utilized not only for the inspection of waste forms but also for the periodic decontamination apparatus by remote operation techniques. (Author)

  3. Inspection methods for safeguards systems at nuclear facilities

    International Nuclear Information System (INIS)

    Minichino, C.; Richard, E.W.

    1981-01-01

    A project team at Lawrence Livermore National Laboratory has been developing inspection procedures and training materials for the NRC inspectors of safeguards systems at licensed nuclear facilities. This paper describes (1) procedures developed for inspecting for compliance with the Code of Federal Regulations, (2) training materials for safeguards inspectors on technical topics related to safeguards systems, such as computer surety, alarm systems, sampling techniques, and power supplies, and (3) an inspector-oriented methodology for evaluating the overall effectiveness of safeguards systems

  4. GRI testing facility available for pipeline inspection devices

    International Nuclear Information System (INIS)

    Anon.

    1990-01-01

    As part of a program to help improve detection and characterization of defects that may occur in pipelines, the Gas Research Institute has announced the completion of the first phase of a testing facility for the evaluation of new and existing pipeline inspection technologies. GRI is a private, not-for-profit membership organization based in Chicago. The first phase of the facility consists of a pull rig which includes four 300-foot lengths of pipe with diameters of 12, 24, 30, and 36 inches. NDE inspection devices can be pulled through these pipe segments by a winch at speeds up to 25 miles per hour

  5. Hanford Facility resource conservation and recovery act permit general inspection plan

    International Nuclear Information System (INIS)

    Beagles, D.B.

    1995-12-01

    The Hanford Facility Resource Conservation and Recovery Act Permit, General Inspection Requirements, includes a requirement that general facility inspections be conducted of the 100, 200 East, 200 West, 300, 400, and 1100 Areas and the banks of the Columbia River. This inspection plan describes the activities that shall be conducted for a general inspection of the Hanford Facility

  6. Magnox Electric Littlebrook reactor inspection and repair rehearsal facility

    International Nuclear Information System (INIS)

    Barnes, S.A.; Clayton, R.; Gaydon, B.G.; Ramsey, B.H.

    1996-01-01

    Magnox reactors, although designed to be maintenance free during their operational life, have nevertheless highlighted the need for test rig facilities to train operators in the methods and techniques of reactor inspection and repair. The history of the facility for reactor engineering development (FRED) is described and its present role as a repair rehearsal facility noted. Advances in computer graphics may, in future, mean that such operator training will be virtual reality rather than analog reality based; however the need for such rigs to commission techniques and equipment and to establish performance and reliability is likely to continue. (UK)

  7. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

    1994-12-31

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

  8. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author)

  9. Design of underwater work systems

    International Nuclear Information System (INIS)

    Lovelace, R.B.

    1980-01-01

    In the near future, underwater vehicles will replace divers as the principal means for inspection and maintenance work. These vehicles will provide a maneuverable work platform for an underwater viewing system and manipulator/tool package. Some of the problems faced by the underwater designer, and some areas to consider in the design of an integrated underwater work system, are considered

  10. Hanford Facility Resource Conservation and Recovery Act Permit General Inspection Plan

    International Nuclear Information System (INIS)

    Beagles, D.S.

    1995-02-01

    This inspection plan describes the activities that shall be conducted for a general inspection of the Hanford Facility. RCRA includes a requirement that general facility inspections be conducted of the 100, 200 East, 200 West, 300, 400, and 1100 areas and the banks of the Columbia River. This plan meets the RCRA requirements and also provides for scheduling of inspections and defines general and specific items to be noted during the inspections

  11. Summary engineering description of underwater fuel storage facility for foreign research reactor spent nuclear fuel

    Energy Technology Data Exchange (ETDEWEB)

    Dahlke, H.J.; Johnson, D.A.; Rawlins, J.K.; Searle, D.K.; Wachs, G.W.

    1994-10-01

    This document is a summary description for an Underwater Fuel Storage Facility (UFSF) for foreign research reactor (FRR) spent nuclear fuel (SNF). A FRR SNF environmental Impact Statement (EIS) is being prepared and will include both wet and dry storage facilities as storage alternatives. For the UFSF presented in this document, a specific site is not chosen. This facility can be sited at any one of the five locations under consideration in the EIS. These locations are the Idaho National Engineering Laboratory, Savannah River Site, Hanford, Oak Ridge National Laboratory, and Nevada Test Site. Generic facility environmental impacts and emissions are provided in this report. A baseline fuel element is defined in Section 2.2, and the results of a fission product analysis are presented. Requirements for a storage facility have been researched and are summarized in Section 3. Section 4 describes three facility options: (1) the Centralized-UFSF, which would store the entire fuel element quantity in a single facility at a single location, (2) the Regionalized Large-UFSF, which would store 75% of the fuel element quantity in some region of the country, and (3) the Regionalized Small-UFSF, which would store 25% of the fuel element quantity, with the possibility of a number of these facilities in various regions throughout the country. The operational philosophy is presented in Section 5, and Section 6 contains a description of the equipment. Section 7 defines the utilities required for the facility. Cost estimates are discussed in Section 8, and detailed cost estimates are included. Impacts to worker safety, public safety, and the environment are discussed in Section 9. Accidental releases are presented in Section 10. Standard Environmental Impact Forms are included in Section 11.

  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. CPP-603 Underwater Fuel Storage Facility Site Integrated Stabilization Management Plan (SISMP), Volume I

    International Nuclear Information System (INIS)

    Denney, R.D.

    1995-10-01

    The CPP-603 Underwater Fuel Storage Facility (UFSF) Site Integrated Stabilization Management Plan (SISMP) has been constructed to describe the activities required for the relocation of spent nuclear fuel (SNF) from the CPP-603 facility. These activities are the only Idaho National Engineering Laboratory (INEL) actions identified in the Implementation Plan developed to meet the requirements of the Defense Nuclear Facilities Safety Board (DNFSB) Recommendation 94-1 to the Secretary of Energy regarding an improved schedule for remediation in the Defense Nuclear Facilities Complex. As described in the DNFSB Recommendation 94-1 Implementation Plan, issued February 28, 1995, an INEL Spent Nuclear Fuel Management Plan is currently under development to direct the placement of SNF currently in existing INEL facilities into interim storage, and to address the coordination of intrasite SNF movements with new receipts and intersite transfers that were identified in the DOE SNF Programmatic and INEL Environmental Restoration and Waste Management Environmental Impact Statement Record, of Decision. This SISMP will be a subset of the INEL Spent Nuclear Fuel Management Plan and the activities described are being coordinated with other INEL SNF management activities. The CPP-603 relocation activities have been assigned a high priority so that established milestones will be meet, but there will be some cases where other activities will take precedence in utilization of available resources. The Draft INEL Site Integrated Stabilization Management Plan (SISMP), INEL-94/0279, Draft Rev. 2, dated March 10, 1995, is being superseded by the INEL Spent Nuclear Fuel Management Plan and this CPP-603 specific SISMP

  14. 32 CFR 2001.44 - Reciprocity of use and inspection of facilities.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 6 2010-07-01 2010-07-01 false Reciprocity of use and inspection of facilities. 2001.44 Section 2001.44 National Defense Other Regulations Relating to National Defense INFORMATION... INFORMATION Safeguarding § 2001.44 Reciprocity of use and inspection of facilities. (a) Once a facility is...

  15. Repairs on underwater spent fuel transfer buggy and review of other underwater facilities of Cirus rod cutting building

    International Nuclear Information System (INIS)

    Rao, D.V.H.; Ganeshan, P.; Khadilkar, M.G.

    1994-01-01

    Cirus rod cutting building is a pool of water in concrete unlined bays. This houses several equipment required for processing of spent fuel and other experimental assemblies. These have been in use for over three decades. Recently the fuel transfer buggy had a major breakdown and the repair involved elaborate planning preparation and special methods to ensure safe working condition and to minimise manrem consumption. This also provided an opportunity to assess the condition of other underwater components in radiation environment which were hitherto inaccessible. This paper highlights the repair work carried on buggy and also the effect of ageing on some of the equipment vis a vis the possibility of their life extension. (author). 7 figs

  16. 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)

  17. Opinions of the well-informed persons about the nuclear reactor facility periodical inspection

    International Nuclear Information System (INIS)

    Aeba, Yoichi; Ishikawa, Michio; Enomoto, Toshiaki; Oomori, Katsuyoshi

    2005-01-01

    Falsifications of self-inspection records in the shrouds and of leakage rates for containment vessels at TEPCO nuclear power plants destroyed public trust in nuclear safety. The Nuclear Reactor Regulation Law and Electric Utility Law were amended to enhance the nuclear safety regulation system. The major improvements are that operators are legally required to conduct inspection (periodical operator inspection) and recording and keeping inspection results. The operator performs 'periodical operator inspection' regularly, and Nuclear and Industrial Safety Agency (NISA) performs periodical inspection' about particularly important facilities/function in safety. Sixteen opinions of well-informed persons about the nuclear reactor facility periodical inspection were presented in this special number. Interval of periodical inspection less than thirteen months was disputed. Maintenance activities should be more rationalized based on risk information. (T. Tanaka)

  18. Regulatory inspection of nuclear facilities and enforcement by the regulatory body. Safety guide

    International Nuclear Information System (INIS)

    2002-01-01

    The purpose of this Safety Guide is to provide recommendations for regulatory bodies on the inspection of nuclear facilities, regulatory enforcement and related matters. The objective is to provide the regulatory body with a high level of confidence that operators have the processes in place to ensure compliance and that they do comply with legal requirements, including meeting the safety objectives and requirements of the regulatory body. However, in the event of non-compliance, the regulatory body should take appropriate enforcement action. This Safety Guide covers regulatory inspection and enforcement in relation to nuclear facilities such as: enrichment and fuel manufacturing plants; nuclear power plants; other reactors such as research reactors and critical assemblies; spent fuel reprocessing plants; and facilities for radioactive waste management, such as treatment, storage and disposal facilities. This Safety Guide also covers issues relating to the decommissioning of nuclear facilities, the closure of waste disposal facilities and site rehabilitation. Section 2 sets out the objectives of regulatory inspection and enforcement. Section 3 covers the management of regulatory inspections. Section 4 covers the performance of regulatory inspections, including internal guidance, planning and preparation, methods of inspection and reports of inspections. Section 5 deals with regulatory enforcement actions. Section 6 covers the assessment of regulatory inspections and enforcement activities. The Appendix provides further details on inspection areas for nuclear facilities

  19. 77 FR 18272 - Uranium Enrichment Fuel Cycle Facility Inspection Reports Regarding Louisiana Energy Services LLC...

    Science.gov (United States)

    2012-03-27

    ... NUCLEAR REGULATORY COMMISSION [Docket No. 70-3103; NRC-2010-0264] Uranium Enrichment Fuel Cycle Facility Inspection Reports Regarding Louisiana Energy Services LLC, National Enrichment Facility, Eunice... Louisiana Energy Services (LES), LLC, National enrichment Facility in Eunice, New Mexico, and has verified...

  20. 77 FR 65729 - Uranium Enrichment Fuel Cycle Facility Inspection Reports Regarding Louisiana Energy Services LLC...

    Science.gov (United States)

    2012-10-30

    ... NUCLEAR REGULATORY COMMISSION [Docket No. 70-3103; NRC-2010-0264] Uranium Enrichment Fuel Cycle Facility Inspection Reports Regarding Louisiana Energy Services LLC, National Enrichment Facility, Eunice... Services (LES), LLC, National Enrichment Facility in Eunice, New Mexico, and has verified that cascades...

  1. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  2. Report of third regular inspection of Tokai reprocessing facilities, Power Reactor and Nuclear Fuel Development Corp

    International Nuclear Information System (INIS)

    Anon.

    1987-01-01

    The reprocessing facilities passed the inspection before use on December 25, 1980, and started the full operation. Since then, this is the third regular inspection. It was begun on April 1, 1986, and finished on August 18, 1986, with the inspection of the rate of recovery of products. The reprocessing facilities which became the object of inspection were the facilities for accepting and storing spent fuel, the reprocessing facilities proper (the facilities of shearing, dissolution, separation, refining, denitration and recovery of acid and solvent), the facilities for storing products, measurement and control system, radioactive waste facilities, radiation control facilities and attached facilities (power, water, steam and testing). The main works carried out during the period of this regular inspection were the repair of an enriched uranium dissolution tank by welding, the renewal of a piping for a low activity waste liquid storing tank, and the removal of a washing tank. The total exposure dose in the first half of fiscal year 1986 was about 30.81 man-rem. (Kako, I.)

  3. 40 CFR 59.698 - May EPA enter my facilities for inspections?

    Science.gov (United States)

    2010-07-01

    ... PROGRAMS (CONTINUED) NATIONAL VOLATILE ORGANIC COMPOUND EMISSION STANDARDS FOR CONSUMER AND COMMERCIAL..., you may need to help us arrange an inspection with the facility's managers, including clerical support... countries, we expect you to locate them in places where local law does not keep us from inspecting as...

  4. Periodic inspections of lightning protection systems in intermediate storage facilities of nuclear technological plants

    International Nuclear Information System (INIS)

    Witzel, Andre; Schulz, Olav

    2013-01-01

    Especially for nuclear technological plants, periodic inspections of lightning protection systems are of great importance. This article shows the sequence of maintenance programs using the examples of the intermediate storage facilities of the nuclear technological plants Grohnde and Unterweser as well as the central intermediate storage facility in Gorleben and gives a description of the extensive measures of inspecting the external and internal lightning protection and the global earth termination system.

  5. Calculation of parameters for inspection planning and evaluation: mixed-oxide fuel fabrication facilities

    International Nuclear Information System (INIS)

    Reardon, P.T.; Mullen, M.F.

    1982-08-01

    As part of Task C.35 (Calculation of Parameters for Inspection Planning and Evaluation) of the US Program of Technical Assistance to IAEA Safeguards, Pacific Northwest Laboratory has performed some quantitative analyses of IAEA inspection activities for mixed-oxide fuel fabrication facilities. There were four distinct efforts involved in this task. These were as follows: show the effect on a material balance verification of using two variables measurement methods in some strata; perform additional calculations for the reference facility described in STR-89; modify the INSPECT computer programs to be used as an after-inspection analysis tool, as well as a preinspection planning tool; provide written comments and explantations of text and graphs of the first draft of STR-89, Safeguards Considerations for Mixed-Oxide Fuel Element Fabrication Facilities, by W. Bahm, T. Shea, and D. Tolchenkov, System Studies Section, IAEA

  6. Feasibility study of the underwater neutron radiography facility using the University of Utah 100 kW TRIGA (UUTR) reactor

    International Nuclear Information System (INIS)

    Choe, D.; Xiao, S.; Jevremovic, T.; Yang, X.

    2010-01-01

    The University of Utah 100 kW TRIGA (UUTR) reactor provides usable neutron yields for neutron radiography. Currently, UUTR reactor has three irradiators (Central, Pneumatic, and Thermal irradiators) and one Fast neutron Irradiation Facility (FNIF). These irradiators are very small so they are not suitable for neutron radiography. UUTR has three beam ports but they are not available due to the structure of the core. All sides of the core are occupied by FNIF, Thermal Irradiator, and three ion chambers. The only available position for underwater vertical beam port is on the top of the FNIF. There are two factors necessary to fulfill to be able to realize vertical underwater beam port: noninterruption to other facilities and radiation shielding. Designing the vertical beam port as movable ensures good access to the core and pool, while still providing a good neutron radiography environment. Keeping the top of the beam port below the surface of the pool the water represents biological shield. Neutron radiographs, with a simple setup of efficient neutron converters and digital camera systems, can produce acceptable resolution with an exposure time as short as a few minutes. It is important to validate the design with calculations before constructing the beam port. The design of the beam port is modeled using the MCNP5 transport code. A minimum of 10 5 neutrons/cm 2 -sec thermal neutron flux is required for high resolution neutron radiography. Currently, the UUTRIGA is in the process of upgrading its power from 100 kW to 250 kW. Upon the completion of the upgrading, the maximum neutron flux in the core will be ∼7x10 12 neutrons/cm 2 -sec. This paper discusses a modeling and evaluation of capability for a neutron radiography facility. (author)

  7. Acceptance inspection plan 105KE Facility modifications for fuel retrieval subproject

    International Nuclear Information System (INIS)

    Shen, E.J.

    1998-01-01

    The acceptance inspection of construction by Fluor Daniel Hanford (FDH) is performed to provide assurance that fabrication, construction, and installation are in accordance with approved contract documents. Approved contract documents used to perform inspections may include specifications, drawings, and contractor submittals such as fabrication drawings, procedures, etc. The amount or degree of inspection activity is tailored to the project as determined by the project team so that the effort and cost expended are commensurate with the importance of the facility in terms of function and safety. Inspections are documented to provide verification of the acceptability of the work performed. This document identifies the inspections and documentation forms to be provided. It is prepared and implemented with the understanding that the construction contractor is fully responsible for compliance with contract documents and for the quality of work performed. Inspections performed are in accordance with approved procedures. The Manager of Acceptance Inspection is responsible for the implementation of this plan and assignment of personnel for the work. Inspections are conducted by personnel who are qualified and certified, to perform their assigned task. The Acceptance Inspection Plan is organized in the Construction Specification Institute (CSI) format to cross reference design specification sections with sections of the AI Plan. In each AI Plan section the applicable specification section subject will be identified followed by the appropriate inspection requirements. General surveillances will be listed when applicable. Acceptance Inspection Reports are provided to document inspections not documented on a test report (i.e., Soil Test Data, Concrete Test Report, NDE/Weld Record, Leak/Pressure Test Certification, Backflow Device Test Report, Nonconformance Report, Deficiency Report, and/or Contractors testing forms)

  8. Acceptance inspection plan 105KW Facility modifications for fuel retrieval subproject

    International Nuclear Information System (INIS)

    Shen, E.J.

    1998-01-01

    The acceptance inspection of construction by Fluor Daniel Hanford (FDH) is performed to provide assurance that fabrication, construction, and installation are in accordance with approved contract documents. Approved contract documents used to perform inspections may include specifications, drawings, and contractor submittals such as fabrication drawings, procedures, etc. The amount or degree of inspection activity is tailored to the project as determined by the project team so that the effort and cost expended are commensurate with the importance of the facility in terms of function and safety. Inspections are documented to provide verification of the acceptability of the work performed. This document identifies the inspections and documentation forms to be provided. It is prepared and implemented with the understanding that the construction contractor is fully responsible for compliance with contract documents and for the quality of.work performed. Inspections performed are in accordance with approved procedures. The Manager of Acceptance Inspection is responsible for the implementation of this plan and assignment of personnel for the work. Inspections are conducted by personnel who are qualified and certified to perform their assigned task. The Acceptance Inspection Plan is organized in the Construction Specification Institute (CSI) format to cross reference design specification sections with sections of the AI Plan. In each AI Plan section the applicable specification section subject will be identified followed by the appropriate inspection requirements. General surveillances will be listed when applicable. Acceptance Inspection Reports are provided to document inspections not documented on a test report (i.e., Soil Test Data, Concrete Test Report, NDE/Weld Record, Leak/Pressure Test Certification, Backflow Device Test Report, Nonconformance Report, Deficiency Report, and/or Contractors testing forms)

  9. Present state of inspection robot technology in nuclear power facilities. Case of fast breeder reactors

    International Nuclear Information System (INIS)

    Ara, Kuniaki

    1995-01-01

    In the maintenance works in nuclear power facilities such as checkup, inspection and repair, for the main purpose of radiation protection, remote operation technology was introduced since relatively early stage, and at present, the robots that carry out the inspection works for confirming the soundness of main equipment have been developed and put to practical use. At the time of introducing these technologies, in addition to the research and development of robots proper, the coordination with the design of plant machinery and equipment facilities as the premise of introducing robots is an important requirement. In this report, the present state of the development of remote inspection technology for fast breeder reactors is introduced, and the matters to which attention is paid in the plant design for introducing robots are explained. First, fast breeder reactors are described. The needs of robotizing and adopting remote operation in nuclear power facilities are explained, using the examples of the inspection system for a reactor vessel and the inspection system for steam generator heat transfer tubes. (K.I.)

  10. MC ampersand A policy issues for international inspections at DOE nuclear facilities

    International Nuclear Information System (INIS)

    Crawford, D.W.; Zack, N.R.

    1994-01-01

    Recent initiatives and executive decisions within the US have included an offer to place certain special nuclear materials from the former weapons stockpile under international safeguards inspections. The nuclear materials at issue are excess materials; other materials characterized as strategic reserve will not be subject to these international activities. Current Department of Energy requirements and procedures to account for and control these nuclear materials may need to be modified to accommodate these inspections. Safeguards issues, such as physical inventory frequency and verification requirements, may rise from the collateral safeguards activities in support of both domestic and international safeguards. This paper will discuss Office of Safeguards and Security policy and views on these international inspection activities at former nuclear weapons facilities, including implications for current domestic safeguards approaches currently implemented at these facilities

  11. Calculation of parameters for inspection planning and evaluation: low enriched uranium conversion and fuel fabrication facilities

    International Nuclear Information System (INIS)

    Reardon, P.T.; Mullen, M.F.; Harms, N.L.

    1981-02-01

    As part of Task C.35 (Calculation of Parameters for Inspection Planning and Evaluation) of the US Program of Technical Assistance to IAEA Safeguards, Pacific Northwest Laboratory has performed some quantitative analyses of IAEA inspection activities at low-enriched uranium (LEU) conversion and fuel fabrication facilities. This report presents the results and conclusions of those analyses. Implementation of IAEA safeguards at LEU conversion and fuel fabrication facilities must take into account a variety of practical problems and constraints. One of the key concerns is the problem of flow verification, especially product verification. The objective of this report is to help put the problem of flow verification in perspective by presenting the results of some specific calculations of inspection effort and probability of detection for various product measurement strategies. In order to provide quantitative information about the advantages and disadvantages of the various strategies, eight specific cases were examined

  12. Evaluating physical protection systems of licensed nuclear facilities using systems engineered inspection guidance

    International Nuclear Information System (INIS)

    Bradley, R.T.; Olson, A.W.; Rogue, F.; Scala, S.; Richard, E.W.

    1980-01-01

    The Lawrence Livermore National Laboratory (LLNL) and the US Nuclear Regulatory Commission (NRC) Office of Nuclear Regulatory Research (RES) have applied a systems engineering approach to provide the NRC Office of Inspection and Enforcement (IE) with improved methods and guidance for evaluating the physical protection systems of licensed nuclear facilities

  13. Czech interim spent fuel storage facility: operation experience, inspections and future plans

    International Nuclear Information System (INIS)

    Fajman, V.; Bartak, L.; Coufal, J.; Brzobohaty, K.; Kuba, S.

    1999-01-01

    The paper describes the situation in the spent fuel management in the Czech Republic. The interim Spent Fuel Storage Facility (ISFSF) at Dukovany, which was commissioned in January 1997 and is using dual transport and storage CASTOR - 440/84 casks, is briefly described. The authors deal with their experience in operating and inspecting the ISFSF Dukovany. The structure of the basic safety document 'Limits and Conditions of Normal Operation' is also mentioned, including the experience of the performance. The inspection activities focused on permanent checking of the leak tightness of the CASTOR 440/84 casks, the maximum cask temperature and inspections monitoring both the neutron and gamma dose rate as well as the surface contamination. The results of the inspections are mentioned in the presentation as well. The operator's experience with re-opening partly loaded and already dried CASTOR-440/84 cask, after its transport from NPP Jaslovske Bohunice to the NPP Dukovany is also described. The paper introduces briefly the concept of future spent fuel storage both from the NPP Dukovany and the NPP Temelin, as prepared by the CEZ. The preparatory work for the Central Interim Spent Nuclear Fuel Storage Facility (CISFSF) in the Czech Republic and the information concerning the planned storage technology for this facility is discussed in the paper as well. The authors describe the site selection process and the preparatory steps concerning new spent fuel facility construction including the Environmental Impact Assessment studies. (author)

  14. Summary Report - Inspections of DoD Facilities and Military Housing and Audits of Base Operations and Support Services Contracts

    Science.gov (United States)

    2016-10-14

    drinking water quality, radon, pest management, mold, and radiation. In addition, during the Japan and Korea inspections, we evaluated the management...Components responsible for facilities management conduct such analyses and use the results of these root cause analyses to improve facility management...water quality, radon, mold, pest infestation, lead-based paint, asbestos, and radiation) requirements. These inspections should be conducted by

  15. Results of activities at the upgraded inspection and repair facility in Temelin NPP

    International Nuclear Information System (INIS)

    Samojlov, O.B.; Romanov, A.I.; Sholin, E.V.; Molchanov, V.L.

    2010-01-01

    Based on a contract signed between JSC TVEL and CEZ a.s., JSC TVEL provided additional equipment for the VVantage6 FA inspection and repair facility at the Temelin NPP to switch to TVSA-T inspection and repair. JSC TVEL analyzed the equipment (modules) of the Temelin NPP inspection and repair facility with focus on the compatibility of the current facility design and modules with the TVSA-T design. Based on the analysis, a set of modules and systems was identified, which were developed and manufactured or upgraded to ensure TVSA-T inspection and repair in the Temelin NPP facility. The set of modules and systems for TVSA-T inspection and repair included: (i) A guide to point the FA headpiece manipulator at the guide thimbles and to point the Cladding Integrity Monitoring (CIM) manipulator (which is part of the CIM System) at the upper end plugs; (ii) A guide grip to install the guide on the facility workstation table; (iii) An FA headpiece manipulator to detach, remove, install and attach the TVSA-T headpiece; (iv) A jig to point the upgraded fuel rod extraction tool at the upper end plug of the extracted fuel rod; (v) A colette and a locking tube to extract a fuel rod and install a displacer using the fuel rod extraction tool, which is part of the Temelin facility; (vi) A CIM system to detect leaky fuel rods. Pictures of the modules and of the fuel rod extraction tools are displayed, and the CIM system is described. The principle to detect leaky fuel rods is explained. In 2010, TVSA-T mockup repair tests were conducted in the Temelin NPP facility using earlier manufactured modules and systems. The following operations were performed during the tests: detaching and removal of the TVSA-T headpiece; detection of leaky fuel rod mockups; extraction of the fuel rod mockup and installation of the displacer in its place; installation and attaching of the TVSA-T headpiece. The installation of the following 2 TV systems is planned for 2011: a color non

  16. Visualization of target inspection data at the National Ignition Facility

    Energy Technology Data Exchange (ETDEWEB)

    Potter, Daniel, E-mail: potter15@llnl.gov [Lawrence Livermore National Laboratory (United States); Antipa, Nick, E-mail: antipa1@llnl.gov [Lawrence Livermore National Laboratory (United States)

    2012-12-15

    Highlights: Black-Right-Pointing-Pointer Target surfaces are measured using a phase-shifting diffraction interferometer. Black-Right-Pointing-Pointer Datasets are several gigabytes that consist of tens to hundreds of files. Black-Right-Pointing-Pointer Software tools that provide a high-level overview of the entire dataset. Black-Right-Pointing-Pointer Single datasets loaded into the visualization session can be individually rotated. Black-Right-Pointing-Pointer Multiple datasets with common features are found then datasets can be aligned. - Abstract: As the National Ignition Facility continues its campaign to achieve ignition, new methods and tools will be required to measure the quality of the target capsules used to achieve this goal. Techniques have been developed to measure capsule surface features using a phase-shifting diffraction interferometer and Leica Microsystems confocal microscope. These instruments produce multi-gigabyte datasets which consist of tens to hundreds of files. Existing software can handle viewing a small subset of an entire dataset, but none can view a dataset in its entirety. Additionally, without an established mode of transport that keeps the target capsules properly aligned throughout the assembly process, a means of aligning the two dataset coordinate systems is needed. The goal of this project is to develop web based software utilizing WebGL which will provide high level overview visualization of an entire dataset, with the capability to retrieve finer details on demand, in addition to facilitating alignment of multiple datasets with one another based on common features that have been visually identified by users of the system.

  17. The effects of the Brazilian regulatory inspection programme on nuclear medicine facilities

    Energy Technology Data Exchange (ETDEWEB)

    Alves, C E G R; Azevedo, E M; Mendes, L C G; Franca, W F L; Gutterres, R F; Goncalves, M [Comissao Nacional de Energia Nuclear-CGMI/CNEN, Rua General Severiano 90, 22290-901, Rio de Janeiro (Brazil); De Sa, L V; Da Rosa, L A R [Instituto de Radioprotecao e Dosimetria-IRD/CNEN, Avenida Salvador Allende s/n, 22780-160, Rio de Janeiro (Brazil)], E-mail: telo@xexeu.org

    2009-12-01

    This paper aims to demonstrate the importance of the regulatory inspections carried out by the Brazilian regulatory body in the area of nuclear medicine. The main aspects observed during the inspections are presented as well as the time evolution of the non-compliances, according to their occurrence by type. We also evaluate factors concerning the working of the nuclear medicine facility responsible for solving the non-compliances. The results suggest a decrease of occurrence of non-compliances with time that can be related to the strictness of the inspections and the awareness of the personnel in the nuclear medicine facilities. An analysis of radiation dose exposure levels for the professionals involved in nuclear medicine was carried out; although dose values are below regulatory dose limits, their occurrence is not decreasing satisfactorily. Results indicate the need for staff training and commitment of the responsible nuclear medicine facility staff to the radiological protection procedures. Our results also emphasise the importance of continuous coercive actions to improve the level of radiological protection in nuclear medicine facilities in compliance with the standards established by the national regulatory authority and international recommendations.

  18. Underwater Sound Levels at a Wave Energy Device Testing Facility in Falmouth Bay, UK.

    Science.gov (United States)

    Garrett, Joanne K; Witt, Matthew J; Johanning, Lars

    2016-01-01

    Passive acoustic monitoring devices were deployed at FaBTest in Falmouth Bay, UK, a marine renewable energy device testing facility during trials of a wave energy device. The area supports considerable commercial shipping and recreational boating along with diverse marine fauna. Noise monitoring occurred during (1) a baseline period, (2) installation activity, (3) the device in situ with inactive power status, and (4) the device in situ with active power status. This paper discusses the preliminary findings of the sound recording at FabTest during these different activity periods of a wave energy device trial.

  19. Radioactive waste storage facilities, involvement of AVN in inspection and safety assessment

    International Nuclear Information System (INIS)

    Simenon, R.; Smidts, O.

    2006-01-01

    The legislative and regulatory framework in Belgium for the licensing and the operation of radioactive waste storage buildings are defined by the Royal Decree of 20 July 2001 (hereby providing the general regulations regarding to the protection of the population, the workers and the environment against the dangers of ionising radiation). This RD introduces in the Belgian law the radiological protection and ALARA-policy concepts. The licence of each nuclear facility takes the form of a Royal Decree of Authorization. It stipulates that the plant has to be in conformity with its Safety Analysis Report. This report is however not a public document but is legally binding. Up to now, the safety assessment for radioactive waste storage facilities, which is implemented in this Safety Analysis Report, has been judged on a case-by-case basis. AVN is an authorized inspection organisation to carry out the surveillance of the Belgian nuclear installations and performs hereby nuclear safety assessments. AVN has a role in the nuclear safety and radiation protection during all the phases of a nuclear facility: issuance of licenses, during design and construction phase, operation (including reviewing and formal approval of modifications) and finally the decommissioning. Permanent inspections are performed on a regular basis by AVN, this by a dedicated site inspector, who is responsible for a site of an operator with nuclear facilities. Besides the day-to-day inspections during operation there are also the periodic safety reviews. AVN assesses the methodological approaches for the analyses, reviews and approves the final studies and results. The conditioned waste in Belgium is stored on the Belgoprocess' sites (region Mol-Dessel) for an intermediate period (about 80 years). In the meantime, a well-defined inspection programme is being implemented to ensure that the conditioned waste continues to be stored safely during this temporary storage period. This programme was draw up by

  20. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

    This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

  1. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, W.D.

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  2. Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

    Digital Repository Service at National Institute of Oceanography (India)

    Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

  3. Underwater Ranging

    OpenAIRE

    S. P. Gaba

    1984-01-01

    The paper deals with underwater laser ranging system, its principle of operation and maximum depth capability. The sources of external noise and methods to improve signal-to-noise ratio are also discussed.

  4. 49 CFR 195.575 - Which facilities must I electrically isolate and what inspections, tests, and safeguards are...

    Science.gov (United States)

    2010-10-01

    ... electrical transmission tower footings, ground cables, or counterpoise, or in other areas where it is... Corrosion Control § 195.575 Which facilities must I electrically isolate and what inspections, tests, and... other structures as a single unit. (b) You must install one or more insulating devices where electrical...

  5. Operational experience in underwater photogrammetry

    Science.gov (United States)

    Leatherdale, John D.; John Turner, D.

    Underwater photogrammetry has become established as a cost-effective technique for inspection and maintenance of platforms and pipelines for the offshore oil industry. A commercial service based in Scotland operates in the North Sea, USA, Brazil, West Africa and Australia. 70 mm cameras and flash units are built for the purpose and analytical plotters and computer graphics systems are used for photogrammetric measurement and analysis of damage, corrosion, weld failures and redesign of underwater structures. Users are seeking simple, low-cost systems for photogrammetric analysis which their engineers can use themselves.

  6. On the efforts (man-day) concerned with inspection in uranium fuel fabrication facility

    International Nuclear Information System (INIS)

    Watanabe, T.; Tanaka, T.; Seki, Y.

    1990-01-01

    Taking notice of inspection efforts (man·day) of STA·IAEA and those of MNF concerned with them, their change and various factors affecting the change have been studied. Namely, first, main topics concerning inspection in our Tokai plant are mentioned and secondly the relation between the inspection efforts and such factors as PIV period, number of items, number of DA sampling and NDA measurements, and so forth is studied. According to our study, though efforts of STA·IAEA and MNF required for both routine FLOW inspection and PIT have been nearly unchanged each year, our efforts for PIV have been increasing gradually. The factors relating to this increase of our efforts are the PIV period, inspection efforts of STA·IAEA for PIV and the number of DA sampling and NDA measurements. Finally, a suggestion on the future inspection system has been mentioned and then some items for improvement under the current inspection system have been exemplified. (author)

  7. Underwater running device

    International Nuclear Information System (INIS)

    Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

    1996-01-01

    An underwater running device for an underwater inspection device for detecting inner surfaces of a reactor or a water vessel has an outer frame and an inner frame, and both of them are connected slidably by an air cylinder and connected rotatably by a shaft. The outer frame has four outer frame legs, and each of the outer frame legs is equipped with a sucker at the top end. The inner frame has four inner frame legs each equipped with a sucker at the top end. The outer frame legs and the inner frame legs are each connected with the outer frame and the inner frame by the air cylinder. The outer and the inner frame legs can be elevated or lowered (or extended or contracted) by the air cylinder. The sucker is connected with a jet pump-type negative pressure generator. The device can run and move by repeating attraction and releasing of the outer frame legs and the inner frame legs alternately while maintaining the posture of the inspection device stably. (I.N.)

  8. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

  9. Notification: EPA Progress on Meeting Resource Conservation and Recovery Act Statutory Mandate for Minimum Frequency of Inspections at Hazardous Waste Disposal Facilities

    Science.gov (United States)

    Project #OPE-FY15-0018, January 20, 2015. The EPA OIG plans to begin preliminary research on EPA’s progress in meeting minimum inspection requirements under the RCRA at treatment, storage and disposal facilities (TSDFs).

  10. JOINT STUDY OF IMPROVED SAFEGUARDS METHODOLOGY USING NO-NOTICE RANDOMIZED INSPECTION AT JNC'S Pu HANDLING FACILITIES

    International Nuclear Information System (INIS)

    LU, M.S.; SANBORN, J.B.

    2000-01-01

    After the Iraq war, the International Atomic Energy Agency (IAEA) 93+2 Program was developed to strengthen and improve the cost-effectiveness of the existing safeguards system. In particular, the Program aims to enhance the IAEA ability to detect undeclared nuclear activities and materials. The IAEA 93+2 Program includes: (1) Increased access to information and its effective use; (2) Increased physical access; (3) Optimum use of the existing system. The measures considered are divided in two parts: measures in Part 1 are those, which may be implemented within the existing IAEA authority; Part 2 measures require complementary legal authority, in the form of an additional Protocol, INFCIRC/540. A description of the status of its implementation can be found in ''Implementation of the Additional Protocol'' (Cooley, 1999). In particular, increased physical access includes access beyond locations requiring additional authorities derived from the INFCIRC/540 and no-notice randomized inspections. No-notice randomized inspections could enhance the inspection effectiveness and efficiency by increasing the coverage of the material involved, providing better confirmation of the operational status of the facilities and higher degree of confidence that no undeclared activities or materials existed at the facilities--including the detection of possible measures to conceal diversions

  11. Inspection experience with RA-3 spent nuclear fuel assemblies at CNEA's central storage facility

    International Nuclear Information System (INIS)

    Novara, Oscar; LaFuente, Jose; Large, Steve; Andes, Trent; Messick, Charles

    2000-01-01

    Aluminum-based spent nuclear fuel from Argentina's RA-3 research reactor is to be shipped to the Savannah River Site near Aiken, South Carolina, USA. The spent nuclear fuel contains highly enriched uranium of U.S. origin and is being returned under the US Department of Energy's Foreign Research Reactor/Domestic Research Reactor (FRR/DRR) Receipt Program. An intensive inspection of 207 stored fuel assemblies was conducted to assess shipping cask containment limitations and assembly handling considerations. The inspection was performed with video equipment designed for remote operation, high portability, easy setup and usage. Fuel assemblies were raised from their vertical storage tubes, inspected by remote video, and then returned to their original storage tube or transferred to an alternate location. The inspections were made with three simultaneous video systems, each with dedicated viewing, digital recording, and tele-operated control from a shielded location. All 207 fuel assemblies were safely and successfully inspected in fifteen working days. Total dose to personnel was about one-half of anticipated dose. (author)

  12. First regulatory inspections measuring adherence to Good Pharmacy Practices in the public sector in Uganda: a cross-sectional comparison of performance between supervised and unsupervised facilities.

    Science.gov (United States)

    Trap, Birna; Kikule, Kate; Vialle-Valentin, Catherine; Musoke, Richard; Lajul, Grace Otto; Hoppenworth, Kim; Konradsen, Dorthe

    2016-01-01

    Since its inception, the Uganda National Drug Authority (NDA) has regularly inspected private sector pharmacies to monitor adherence to Good Pharmacy Practices (GPP). This study reports findings from the first public facility inspections following an intervention (SPARS: Supervision, Performance Assessment, and Recognition Strategy) to build GPP and medicines management capacity in the public sector. The study includes 455 public facilities: 417 facilities were inspected after at least four SPARS visits by trained managerial district staff (SPARS group), 38 before any exposure to SPARS. NDA inspectors measured 10 critical, 20 major, and 37 minor GPP indicators in every facility and only accredited facilities that passed all 10 critical and failed no more than 7 major indicators. Lack of compliance for a given indicator was defined as less than 75 % facilities passing that indicator. We assessed factors associated with certification using logistic regression analysis and compared number of failed indicators between the SPARS and comparative groups using two sample t-tests with equal or unequal variance. 57.4 % of inspected facilities obtained GPP certification: 57.1 % in the SPARS and 60.5 % in the comparative group (Adj. OR = 0.91, 95 % CI 0.45-1.85, p = 0.802). Overall, facilities failed an average of 10 indicators. SPARS facilities performed better than comparative facilities (9 (SD 6.1) vs. 13 (SD 7.7) failed indicators respectively; p = 0.017), and SPARS supported facilities scored better on indicators covered by SPARS. For all indicators but one minor, performance in the SPARS group was equal to or significantly better than in unsupervised facilities. Within the SPARS (intervention) group, certified facilities had practices and behavioral changes; some require infrastructure investments. We conclude that regular NDA inspections of public sector pharmacies in conjunction with interventions to improve GPP adherence can revolutionize patient

  13. Inspector Perceptions of the Food and Drug Administration's Newest Recommended Food Facility Inspection Format: Training Matters.

    Science.gov (United States)

    Ma, Jing; Kim, Jooho; Almanza, Barbara

    2017-06-01

    The Food and Drug Administration publishes the Food Code to guide restaurant inspections. The most recent version proposes a three-tier system categorizing violations as priority, priority foundation, and core. This study used a scenario-based questionnaire to examine inspector perceptions and preferences for inspection formats. Results suggest that inspectors would be able to maintain consistent evaluations when changing to the three-tier system, although the classifying terms under the three-tier system were confusing. Additionally, inspectors were not very positive about the new system; they were concerned that the new system would not be easy to understand and use, inspections would take a longer time, it would not accurately reflect the amount of risk associated with violations, and it would not be easy for consumers and managers to understand and use. The results suggest the need for additional training for inspectors before adoption, especially on the rationale and benefits of changing to a three-tier system.

  14. Facility Response Plan (FRP) Inspected Points, Region 9, 2014, US EPA Region 9

    Data.gov (United States)

    U.S. Environmental Protection Agency — A Facility Response Plan (FRP) demonstrates a facility's preparedness to respond to a worst case oil discharge. Under the Clean Water Act, as amended by the Oil...

  15. POST-CLOSURE INSPECTION REPORT FOR CORRECTIVE ACTION UNIT 92: AREA 6 DECON POND FACILITY, NEVADA TEST SITE, NEVADA FOR CALENDAR YEAR 2005

    International Nuclear Information System (INIS)

    2006-01-01

    This Post-Closure Inspection Report provides an analysis and summary of inspections for Corrective Action Unit (CAU) 92, Area 6 Decon Pond Facility, Nevada Test Site, Nevada. CAU 92 was closed in accordance with the Resource Conservation and Recovery Act (RCRA) Part B Operational Permit (Nevada Division of Environmental Protection (NDEP), 1995) and the Federal Facility Agreement and Consent Order of 1996. Closure activities were completed on February 16, 1999, and the Closure Report (U.S. Department of Energy, Nevada Operations Office, 1999) was approved and a Notice of Completion issued by the NDEP on May 11, 1999. CAU 92 consists of two Corrective Action Sites (CASs): CAS 06-04-01, Decon Pad Oil/Water Separator; and CAS 06-05-02, Decontamination Pond (RCRA). Both CASs have use restrictions; however, only CAS 06-05-02 requires post-closure inspections. Visual inspections of the cover and fencing at CAS 06-05-02 are performed quarterly. Additional inspections are conducted if precipitation occurs in excess of 1.28 centimeters (cm) (0.50 inches [in]) in a 24-hour period. This report covers calendar year 2005. Quarterly site inspections were performed in March, June, September, and December of 2005. All observations indicated the continued integrity of the unit. No issues or concerns were noted, and no corrective actions were necessary. Copies of the inspection checklists and field notes completed during each inspection are included in Appendix A. Five additional inspections were performed after precipitation events that exceeded 1.28 cm (0.50 in) within a 24-hour period during 2005. No significant changes in site conditions were noted during these inspections, and no corrective actions were necessary. Copies of the inspection checklists and field notes completed during each inspection are included in Appendix A. Precipitation records for 2005 are included in Appendix C

  16. Underwater television camera for monitoring inner side of pressure vessel

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

    An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

  17. Inspection planning

    International Nuclear Information System (INIS)

    Korosec, D.; Levstek, M.F.

    2001-01-01

    Slovenian Nuclear Safety Administration (SNSA) division of nuclear and radiological safety inspection has developed systematic approach to their inspections. To be efficient in their efforts regarding regular and other types of inspections, in past years, the inspection plan has been developed. It is yearly based and organized on a such systematic way, that all areas of nuclear safety important activities of the licensee are covered. The inspection plan assures appropriate preparation for conducting the inspections, allows the overview of the progress regarding the areas to be covered during the year. Depending on the licensee activities and nature of facility (nuclear power plant, research reactor, radioactive waste storage, others), the plan has different levels of intensity of inspections and also their frequency. One of the basic approaches of the plan is to cover all nuclear and radiological important activities on such way, that all regulatory requests are fulfilled. In addition, the inspection plan is a good tool to improve inspection effectiveness based on previous experience and allows to have the oversight of the current status of fulfillment of planned inspections. Future improvement of the plan is necessary in the light of newest achievements on this field in the nuclear world, that means, new types of inspections are planned and will be incorporated into plan in next year.(author)

  18. The international inspection of a US excess fissile material storage facility with and without remote monitoring: A cost comparison

    International Nuclear Information System (INIS)

    Abrams, M.; Nilsen, C.; Tolk, K.M.; McGilvary, R.C. III

    1996-01-01

    This study estimates the DOE-incurred costs in preparing for and hosting potential IAEA inspections of an excess pit storage facility at the Pantex Site with and without the aid of remote monitoring. Focus was on whether an investment in remote monitoring is recoverable, ie, whether the costs for installing, operating, and maintaining a remote monitoring system (RMS) are overcome by the costs that would be incurred without its use. A baseline RMS incorporating demonstrated technologies is defined and its cost estimated. This estimate and several multiples of it, together with estimates of labor and operational costs incurred under a postulated inspection regime serve as the bases of this study. A key finding is that, for the range of parameters considered, the times for investment recovery are reached relatively quickly, ie, within a decade after the inspection regime's onset. Investment recovery times, expenditures in reaching them, and average annual cost accrual rates are provided as function of RMS initial cost. A guideline indicating when investment recovery is theoretically possible is also provided

  19. 40 CFR 63.11089 - What requirements must I meet for equipment leak inspections if my facility is a bulk gasoline...

    Science.gov (United States)

    2010-07-01

    ... equipment leak inspections if my facility is a bulk gasoline terminal, bulk plant, pipeline breakout station... gasoline service at the facility. (c) Each detection of a liquid or vapor leak shall be recorded in the log... shall be completed within 15 calendar days after detection of each leak, except as provided in paragraph...

  20. The conceptual design of the sensing system for patrolling and inspecting a nuclear facility by the intelligent robot

    International Nuclear Information System (INIS)

    Ebihara, Ken-ichi

    1993-11-01

    Supposing that an intelligent robot, instead of a human worker, patrols and inspects nuclear facilities, it is indispensable for such robot to be capable of moving with avoiding obstacles and recognizing various abnormal conditions, carrying out some ordered works based on information from sensors mounted on the robot. The present robots being practically used in nuclear facilities, however, have the limited capability such as identifying a few specific abnormal conditions using data detected by specific sensors on them. Hence, a conceptual design of a sensor-fusion-based system, which is named 'sensing system', has been performed to collect various kinds of information required for patrol and inspection. This sensing system combines a visual sensor, which consists of a monocular camera and a range finder by the active stereopsis method, an olfactory, acoustic and dose sensors. This report describes the hardware configuration and the software function for processing sensed data. An idea of sensor fusion and the preliminary consideration in respect of applying the neural network to image data processing are also described. (author)

  1. Innovative inspection system for reactor pressure vessels

    International Nuclear Information System (INIS)

    Mertens, K.; Trautmann, H.

    1999-01-01

    The versatile, compact and modern underwater systems described, the DELPHIN manipulators and MIDAS submarines, are innovative systems enabling RPV inspections at considerably reduced efforts and time, thus reducing the total time required for ISI of reactors. (orig./CB) [de

  2. A review of existing model of no-notice randomized inspection and their potential application to model Pu handling facilities

    International Nuclear Information System (INIS)

    Sanborn, J.; Lu, M.S.

    1997-01-01

    Literature regarding two alternative safeguards concepts--randomization and zones--is reviewed. The concepts were introduced in the early 1980's to address the need to make safeguards more efficient in the light of the increasing number of facilities under safeguards and a fixed IAEA inspection budget. The paper discusses literature broadly relating these approaches to IAEA needs and objectives, reports from IAEA consultants meetings, reports of field trials, and other technical papers. The review suggests that the approaches have been extensively considered on a theoretical and practical level, and that the safeguards community endorses them on a conceptual level as potentially valid ways of achieving safeguards objectives. Actual utilization of the ideas in safeguards practice has to proceed on a case-by-case basis, but progress is being made

  3. X-ray radiography inspection of core model of the CODEX AIT-2 facility

    International Nuclear Information System (INIS)

    Balasko, M.; Hozer, Z.; Maroti, L.; Windberg, P

    1999-01-01

    X-ray radiography is an advanced non-destructive technique to visualize and analyze the different damages of the investigated objects. An oxidation phenomena in severe accident was simulated by the CODEX AIT-2 test facility. The placement, the extension and features of the damages were discovered by radioscopy and film technique before cutting into slices the AIT-2 boundle. (author)

  4. Post-Closure Inspection Report for Corrective Action Unit 92: Area 6 Decon Pond Facility, Nevada Test Site, Nevada, for Calendar Year 2006

    International Nuclear Information System (INIS)

    NSTec Environmental Restoration

    2007-01-01

    This Post-Closure Inspection Report provides an analysis and summary of inspections for Corrective Action Unit (CAU) 92, Area 6 Decon Pond Facility. CAU 92 was closed according to the ''Resource Conservation and Recovery Act'' (RCRA) Part B Operational Permit (Nevada Division of Environmental Protection [NDEP], 1995) and the ''Federal Facility Agreement and Consent Order'' (FFACO) of 1996 (FFACO, 1996). Closure activities were completed on February 16, 1999, and the Closure Report (U.S. Department of Energy, Nevada Operations Office, 1999) was approved and a Notice of Completion issued by NDEP on May 11, 1999. CAU 92 consists of two Corrective Action Sites (CASs), CAS 06-04-01, Decon Pad Oil/Water Separator; and CAS 06-05-02, Decontamination Pond (RCRA). Both CASs have use restrictions; however, only CAS 06-05-02 requires post-closure inspections. Visual inspections of the cover and fencing at CAS 06-05-02 are performed quarterly. Additional inspections are conducted if precipitation occurs in excess of 1.28 centimeters (cm) (0.50 inches [in.]) in a 24-hour period. This report covers calendar year 2006. Quarterly site inspections were performed in March, June, September, and December of 2006. All observations indicated the continued integrity of the unit. No issues or concerns were noted, and no corrective actions were necessary. Copies of the inspection checklists and field notes completed during each inspection are included in Appendix A of this report, and photographs taken during the site inspections are included in Appendix B of this report. One additional inspection was performed after a precipitation event that exceeded 1.28 cm (0.50 in.) within a 24-hour period during 2006. No significant changes in site conditions were noted during this inspection, and no corrective actions were necessary. A copy of the inspection checklist and field notes completed during this additional inspection is included in Appendix A of this report. Precipitation records for 2006

  5. Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness

    OpenAIRE

    Urbahs, A; Carjova, K; Vulans, P; Straume, R

    2012-01-01

    Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...

  6. POST-CLOSURE INSPECTION REPORT FOR CORRECTIVE ACTION UNIT 92: AREA 6 DECON PAD FACILITY, NEVADA. TEST SITE NEVADA, FOR THE PERIOD JANUARY 2004 - DECEMBER 2004

    International Nuclear Information System (INIS)

    BECHTEL NEVADA

    2005-01-01

    This Post-Closure Inspection Report provides an analysis and summary of inspections for Corrective Action Unit (CAU) 92, Area 6 Decon Pond Facility, Nevada Test Site, Nevada. CAU 92 was closed in accordance with the Resource Conservation and Recovery Act (RCRA) Part B Operational Permit (Nevada Division of Environmental Protection, 1995) and the Federal Facility Agreement and Consent Order of 1996 on May 11, 1999. CAU 92 consists of two Corrective Action Sites (CASs): CAS 06-04-01, Decon Pad oil/Water Separator; and CAS 06-05-02, Decontamination Pond (RCRA). Both CASs have use restrictions; however, only CAS 06-05-02, Decontamination Pond (RCRA), requires post-closure inspections. CAS 06-04-01, Decon Pad Oil/Water Separator, is located inside the fence at the Building 6-605 compound. This report covers the annual period January 2004 through December 2004

  7. Proposal of a radiological protection inspection technique for nuclear medicine facilities

    International Nuclear Information System (INIS)

    Mendes, Leopoldino da Cruz Gouveia; Fonseca, Lea Mirian Barbosa da; Carvalho, Antonio Carlos Pires

    2004-01-01

    The main objective of this study is to implement an impartial and efficient inspection method for a correct and secure use of ionizing radiation in nuclear medicine. The radiological protection model was tested in 113 nuclear medicine services (NMS) all over Brazil, following a biannual analysis schedule (1996, 1998, 2000 and 2002). In the analytical process, we adopted the methodology of assigning different importance levels to each of 82 features, based on the risk factors established by the 'Comissao Nacional de Energia Nuclear' (CNEN) and on the International Atomic Energy Agency (IAEA) recommendations. A feature was considered a radioprotection fault when in nonconformity with the rules mentioned above, and was imparted a grade. The sum of those grades, classified the NMS in one of the three different ranges, as follows: operating without restriction - 100 points and below; operating with restriction - between 100 and 300 points; temporary shutdown - above 300 points. Permission for the second group to carry on operation should be attached to a defined and restricted period of time (6 to 12 months), considered enough for the NMS to solve the problems and submit to a new evaluation. The NMS's classified in the third group are supposed to go back into operation only after compliance with all the pending radioprotection requirements. Until the next regular evaluation, a multiplication factor 2 n was applied to the recalcitrant NMS's, where n is the number of unwilling occurrences. The previous establishment of those items of radioprotection, with their respective grades, excluded subjective and personal values in the judgement and technical evaluation of the institutions. (author)

  8. Underwater Calibration of Dome Port Pressure Housings

    Science.gov (United States)

    Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

    2016-03-01

    Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

  9. Regulatory inspection practices for radioactive and non-radioactive waste management facilities

    International Nuclear Information System (INIS)

    Roy, Amitava

    2017-01-01

    Management of nuclear waste plays an important role in the nuclear energy programme of the country. India has adopted the Closed Fuel Cycle option, where the spent nuclear fuel is treated as a material of resource and the nuclear waste is wealth. Closed fuel cycle aims at recovery and recycle of valuable nuclear materials in to reactors as fuel and also separation of useful radio isotopes for the use in health care, agriculture and industry. India has taken a lead role in the waste management activities and has reached a level of maturity over a period of more than forty decades. The nuclear waste management primarily comprises of waste characterization, segregation, conditioning, treatment, immobilization of radionuclides in stable and solid matrices and interim retrievable storage of conditioned solid waste under surveillance. The waste generated in a nuclear facility is in the form of liquid and solid, and it's classification depends on the content of radioactivity. The liquid waste is characterized as Low level (LLW), Intermediate level (ILW) and High Level (HLW). The LLW is relatively large in volume and much lesser radioactive. The LLW is subjected to chemical precipitation using various chemicals based on the radionuclides present, followed by filtration, settling, ion exchange and cement fixation. The conditioning and treatment processes of ILW uses ion exchange, alkali hydrolysis for spent solvent, phase separation and immobilization in cement matrix. The High Level Waste (HLW), generated during spent fuel reprocessing and containing more than 99 percent of the total radioactivity is first subjected to volume reduction/concentration by evaporation and then vitrified in a meIter using borosilicate glass. Presently, Joule Heated Ceramic Meter is used in India for Vitrification process. Vitrified waste products (VWP) are stored for interim period in a multibarrier, air cooled facility under surveillance

  10. Blind equalization for underwater communications

    NARCIS (Netherlands)

    Blom, K.C.H.

    2014-01-01

    Underwater wireless (sensor) networks would vastly improve man's ability to explore and exploit remote aquatic environments. Despite underwater sensor and vehicle technology being relatively mature, underwater communications is still a major challenge. The most challenging characteristics of the

  11. 32 CFR 644.560 - Inspections of civilian component training facilities and other properties conveyed subject to...

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 4 2010-07-01 2010-07-01 true Inspections of civilian component training... Disposal Inspections to Insure Compliance with Disposal Conditions § 644.560 Inspections of civilian... responsibility of the Secretary of Transportation; for property conveyed for purposes of health and education...

  12. 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

  13. The management of mechanical integrity inspections at small-sized 'Seveso' facilities

    International Nuclear Information System (INIS)

    Bragatto, Paolo A.; Pittiglio, Paolo; Ansaldi, Silvia

    2009-01-01

    The mechanical integrity (MI) of equipment has been controlled at all industrial facilities for many decades. Control methods and intervals are regulated by laws or codes and best practices. In European countries, the legislations implementing the Seveso Directives on the control of major accident hazards require the owner of establishments where hazardous chemicals are handled, to implement a safety management system (SMS). MI controls should be an integral part of the SMS. At large establishments this goal is achieved by adopting the RBI method, but in small-sized establishments with a limited budget and scanty personnel, a heuristic approach is more suitable. This paper demonstrates the feasibility and advantages of integrating SMS and MI by means of a simple method that includes a few basic concepts of RBI without additional costs for operator. This method, supported by a software tool, is resilient as it functions effectively in spite of eventual budget reductions and personnel turnover. The results of MI controls can also be exploited to monitor equipment condition and demonstrate the adequacy of technical systems to the Competent Authorities (CA). Furthermore, the SMS can 'capture' knowledge resulting from MI experience and exploit it for a better understanding of risk

  14. A retrospective review of how nonconformities are expressed and finalized in external inspections of health-care facilities.

    Science.gov (United States)

    Hovlid, Einar; Høifødt, Helge; Smedbråten, Bente; Braut, Geir Sverre

    2015-09-23

    External inspections are widely used in health care as a means of improving the quality of care. However, the way external inspections affect the involved organization is poorly understood. A better understanding of these processes is important to improve our understanding of the varying effects of external inspections in different organizations. In turn, this can contribute to the development of more effective ways of conducting inspections. The way the inspecting organization states their grounds for noncompliant behavior and subsequently follows up to enforce the necessary changes can have implications for the inspected organization's change process. We explore how inspecting organizations express and state their grounds for noncompliant behavior and how they follow up to enforce improvements. We conducted a retrospective review, in which we performed a content analysis of the documents from 36 external inspections in Norway. Our analysis was guided by Donabedian's structure, process, and outcome model. Deficiencies in the management system in combination with clinical work processes was considered as nonconformity by the inspecting organizations. Two characteristic patterns were identified in the way observations led to a statement of nonconformity: one in which it was clearly demonstrated how deficiencies in the management system could affect clinical processes, and one in which this connection was not demonstrated. Two characteristic patterns were also identified in the way the inspecting organization followed up and finalized their inspection: one in which the inspection was finalized solely based on the documented changes in structural deficiencies addressed in the nonconformity statement, and one based on the documented changes in structural and process deficiencies addressed in the nonconformity statement. External inspections are performed to improve the quality of care. To accomplish this aim, we suggest that nonconformities should be grounded by

  15. The development of controller and navigation algorithm for underwater wall crawler

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Hyung Suck; Kim, Kyung Hoon; Kim, Min Young [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-01-01

    In this project, the control system of a underwater robotic vehicle(URV) for underwater wall inspection in the nuclear reactor pool or the related facilities has been developed. The following 4-sub projects have been studied for this project: (1) Development of the controller and motor driver for the URV (2) Development of the control algorithm for the tracking control of the URV (3) Development of the localization system (4) Underwater experiments of the developed system. First, the dynamic characteristic of thruster with the DC servo-motor was analyzed experimentally. Second the controller board using the INTEL 80C196 was designed and constructed, and the software for the communication and motor control is developed. Third the PWM motor-driver was developed. Fourth the localization system using the laser scanner and inclinometer was developed and tested in the pool. Fifth the dynamics of the URV was studied and the proper control algorithms for the URV was proposed. Lastly the validation of the integrated system was experimentally performed. (author). 27 refs., 51 figs., 8 tabs.

  16. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

  17. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  18. Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

    DEFF Research Database (Denmark)

    Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

    2015-01-01

    This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...

  19. The Support of Underwater Works with the Use of Remotely Operated Vehicles On the Example of Works Conducted On the Wreck of the Fishing Boat WŁA-127

    Directory of Open Access Journals (Sweden)

    Dawidziuk Marek

    2017-03-01

    Full Text Available The article demonstrates use of underwater remotely operated vehicles during an underwater visual inspection of a sunken vessel. The presented tasks were carried out in the course of underwater works performed from a Polish navy rescue vessel on the fishing boat WŁA-127. The discussed examples include a visual inspection of the sunken vessel and the support offered to Polish Navy rescue divers as they carried out underwater works.

  20. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

    A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)

  1. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  2. Underwater Acoustic Networking Techniques

    CERN Document Server

    Otnes, Roald; Casari, Paolo; Goetz, Michael; Husøy, Thor; Nissen, Ivor; Rimstad, Knut; van Walree, Paul; Zorzi, Michele

    2012-01-01

    This literature study presents an overview of underwater acoustic networking. It provides a background and describes the state of the art of all networking facets that are relevant for underwater applications. This report serves both as an introduction to the subject and as a summary of existing protocols, providing support and inspiration for the development of network architectures.

  3. Underwater Acoustic Tracer System

    Science.gov (United States)

    2009-03-13

    for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable

  4. Subsea Infrastructure Inspection

    DEFF Research Database (Denmark)

    Mai, Christian; Pedersen, Simon; Hansen, Leif

    2016-01-01

    Due to the increasing energy demands, the offshore energy business has boomed in recent decades. Sub-sea pipeline and power transmission cable installations are commonly applied worldwide. Any potential breakages can cause equipment damage and also damage the environment. The majority...... (S-AUVs) can significantly change the inspections of infrastructure, as these vehicles could be much cheaper to deploy. S-AUVs can potentially conduct faster data collection and provide higher inspection data quality. However, there are still some technical challenges related to: underwater wireless...

  5. Randomization of inspections

    International Nuclear Information System (INIS)

    Markin, J.T.

    1989-01-01

    As the numbers and complexity of nuclear facilities increase, limitations on resources for international safeguards may restrict attainment of safeguards goals. One option for improving the efficiency of limited resources is to expand the current inspection regime to include random allocation of the amount and frequency of inspection effort to material strata or to facilities. This paper identifies the changes in safeguards policy, administrative procedures, and operational procedures that would be necessary to accommodate randomized inspections and identifies those situations where randomization can improve inspection efficiency and those situations where the current nonrandom inspections should be maintained. 9 refs., 1 tab

  6. Technology Assessment of the Inspection Readiness Plan in Chemical Weapons Convention Challenge Inspections

    National Research Council Canada - National Science Library

    Woodley, Anthony

    1998-01-01

    ...) Challenge Inspections. The CWC is an intrusive inspection. The Challenge Inspection allows for a team of international inspectors to inspect on very short notice a naval facility suspected of violating the CWC...

  7. Process Improvement to the Inspection Readiness Plan in Chemical Weapons Convention Challenge Inspections

    National Research Council Canada - National Science Library

    Triplett, William

    1997-01-01

    ...) Challenge Inspection. The CWC is an intensive inspection. The Challenge Inspection allows for a team of international inspectors to inspect a naval facility suspected of violating the CWC on very short notice...

  8. Underwater radiation measuring device

    International Nuclear Information System (INIS)

    Seki, Noriyuki; Suzuki, Yasuo

    1998-01-01

    The present invention provides a device for measuring, under water, radiation from spent fuels (long members to be detected) of nuclear power plants and reprocessing facilities. Namely, a detecting insertion tube (insertion tube) is disposed so as to be in parallel with axial direction of the long member to be detected stored underwater. A γ-ray detector is inserted to the inside of the insertion tube. A driving mechanism is disposed for moving the γ-ray detector in axial direction inside of the insertion tube. The driving mechanism preferably has a system that it moves the γ-ray detector by winding a detection signal cable around a driving drum. The driving mechanism is formed by inserting and securing a driving tube having screws formed on the side surface and inserting it into the insertion tube. It may have a system of moving the γ-ray detector together with the driving tube while engaging the teeth of a driving transfer mechanism with the screws of the driving tube. (I.S.)

  9. Experimental and inspection facilities in post-irradiation of spent fuel pools for the analysis of the behaviour of nuclear fuels in power reactors

    International Nuclear Information System (INIS)

    Ruggirello, G.; Zawerucha, A.

    1992-01-01

    Since the beginning of the Atomic Nuclear Reactors (PHWR) Atucha I and Embalse in Argentine are employed different techniques for the knowing of the fuel bundles performances. It is detailed the facilities on post-irradiation examination. The techniques described are: online measurements, visual inspections, identifications of defective fuels and rods assemblies in spent fuel pools. This controls have made possible the feed-back to the manufactory process and the changes in the manufactory quality controls. (author)

  10. 9 CFR 130.11 - User fees for inspecting and approving import/export facilities and establishments.

    Science.gov (United States)

    2010-01-01

    ... hourly user fee rate in § 130.30(2) applies to biosecurity level two laboratories. (b) [Reserved] [65 FR... approval) Per year $537.00 $553.00 $570.00 $587.00 $604.00 Inspection for approval of biosecurity level three labs (all inspections related to approving the laboratory for handling one defined set of...

  11. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

    Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

  12. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  13. Incore inspection device

    International Nuclear Information System (INIS)

    Ogisu, Tatsuki; Taguchi, Kosei.

    1995-01-01

    The device of the present invention can inspect surfaces of equipments in reactor water in a nuclear reactor in a state of atmospheric air. Namely, an inspection device is movable forwardly and backwardly in a water-proof vessel. An annular sucker with pleats is disposed to the outer side of a lid of the water-proof vessel. A television camera for an under water monitoring is disposed to the inner side of the lid of the water-proof vessel by way of a partitioning wall with lid. Transferring screws are disposed at the back and on the side of the water-proof vessel. In the device having such a constitution, (1) the inside of the water-proof vessel is at first made water-tight by closing the partitioning wall with lid, (2) the back and the side screws are operated by the guide of the underwater monitoring television camera, to transfer the water-proof vessel to the surface of the reactor core to be inspected, (3) the annular sucker with pleats is urged on the surface to be inspected by the back screw, to fix the water-proof vessel, (4) reactor water in a space of the annular sucker with pleats is discharged and replaced with air, and (5) the lid of the partition wall with lid is opened and the inspection device is disposed at a position of the underwater monitoring television camera, to inspect the surface to be inspected in a state of atmospheric air. (I.S.)

  14. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

    Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...

  15. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  16. Underwater wireless communication system

    International Nuclear Information System (INIS)

    Goh, J H; Shaw, A; Al-Shamma'a, A I

    2009-01-01

    Underwater communication has a range of applications including remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) communication and docking in the offshore industry. Current underwater transmission techniques is primarily utilise sound waves for large distance at lower frequencies and the velocity of sound in water is approximately 1500m/s the resultant communications have problems with multi-path propagation and low bandwidth problems. The use of electromagnetic (EM) techniques underwater has largely been overlooked because of the attenuation due to the conductivity of seawater. However, for short range applications, the higher frequencies and much higher velocity can prove advantageous. This paper will outline a project which will utilise recent investigations that demonstrate EM wave propagation up to the MHz frequency range is possible in seawater.

  17. Smelling and Tasting Underwater.

    Science.gov (United States)

    Atema, Jelle

    1980-01-01

    Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

  18. Visual inspection. Better than your eyes

    International Nuclear Information System (INIS)

    Jakobs, N.; Baumgartl, R.

    2005-01-01

    Ongoing improvements in the development of camera technologies and manipulator techniques permit an enhanced performance of inspection tasks in nuclear services. In areas of reduced dose rate it's possible to use small size high resolution CCD cameras instead of tube cameras. Underwater inspections may be performed by submarine instead of rigid manipulator systems. This allows the enlargement of inspection areas and the performance at reduced time and personnel dose rate. (author)

  19. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

    Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...

  20. Underwater Gliders: A Review

    OpenAIRE

    Javaid Muhammad Yasar; Ovinis Mark; Nagarajan T; Hashim Fakhruldin B M

    2014-01-01

    Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no ...

  1. Applicability evaluation of eddy current testing for underwater laser beam welding

    International Nuclear Information System (INIS)

    Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro

    2010-01-01

    We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)

  2. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

    Yada, Toshio; Nakamura, Uhachiro; Tomidokoro, Sakae; Fukuzawa, Mitsuo

    1980-01-01

    The zirconium alloy tube of the impile creep test facility had been subjected to inner pressure in the Japan Material Testing Reactor (JMTR) environment. In the near future, it will be necessary to dismantle the facility and to take out the tube for such examinations as irradiation effects on material properties. In order to establish the dismantling technology for the radioactive facility, a study on underwater plasma arc cutting has been carried out since 1977. Primarily, optimum underwater cutting sequence and conditions were studied in details for developing the remote control handling and the cutting system. Further, the amounts of particles suspended in water as well as those contained in bubbled gas were quantitatively analyzed for developing a safe removal system for contaminants which were produced by cutting the radioactive material. As a result of this study, it has been concluded that the underwater plasma arc cutting method is generally suitable and effective for dismantling such radioactive material as the impile creep test facility of the JMTR. (author)

  3. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

    Full Text Available We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV. To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  4. Fuel inspection device

    International Nuclear Information System (INIS)

    Tsuji, Tadashi.

    1990-01-01

    The fuel inspection device of the present invention has a feature of obtaining an optimum illumination upon fuel rod interval inspection operation in a fuel pool. That is, an illumination main body used underwater is connected to a cable which is led out on a floor. A light control device is attached to the other end of the cable and an electric power cable is connected to the light control device. A light source (for example, incandescent lamp) is incorporated in the casing of the illumination main body, and a diffusion plate is disposed at the front to provide a plane light source. The light control device has a light control knob capable of remote-controlling the brightness of the light of the illumination main body. In the fuel inspection device thus constituted, halation is scarcely caused on the image screen upon inspection of fuels by a submerged type television camera to facilitate control upon inspection. Accordingly, efficiency of the fuel inspection can be improved to shorten the operation time. (I.S.)

  5. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  6. Defect detectability of eddy current testing for underwater laser beam welding

    International Nuclear Information System (INIS)

    Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro

    2011-01-01

    We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)

  7. Underwater 3D filming

    OpenAIRE

    Rinaldi, Roberto

    2014-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” ) and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Unde...

  8. A newly developed technique of wireless remote controlled visual inspection system for neutron guides of cold neutron research facilities at HANARO

    International Nuclear Information System (INIS)

    Huh, Hyung; Cho, Yeong Garp; Kim, Jong In

    2012-01-01

    KAERI developed a neutron guide system for cold neutron research facilities at HANARO from 2003 to 2010. In 2008, the old plug shutter and instruments were removed, and a new plug and primary shutter were installed as the first cold neutron delivery system at HANARO. At the beginning of 2010, all the neutron guides and accessories had been successfully installed as well. The neutron guide system of HANARO consists of the in pile plug assembly with in pile guides, the primary shutter with in shutter guides, the neutron guides in the guide shielding room with secondary shutter, and the neutron guides in the neutron guide hall. Three kinds of glass materials were selected with optimum lengths by considering their lifetime, shielding, maintainability and cost as well. Radiation damage of the guides can occur on the coating and glass by neutron capturing in the glass. It is a big challenge to inspect a guide failure because of the difficult surrounding environment, such as high level radiation, limited working space, and massive hard work for removing and reinstalling the shielding blocks as shown in Fig 1. Therefore, KAERI has developed a wireless remote controlled visual inspection system for neutron guides using an infrared light camera mounted on the vehicle moving in the guide

  9. Development of an automatic reactor inspection system

    International Nuclear Information System (INIS)

    Kim, Jae Hee; Eom, Heung Seop; Lee, Jae Cheol; Choi, Yoo Raek; Moon, Soon Seung

    2002-02-01

    Using recent technologies on a mobile robot computer science, we developed an automatic inspection system for weld lines of the reactor vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new automatic inspection system using a small mobile robot crawling on the vertical wall of the reactor vessel. According to our conceptual design, we developed the reactor inspection system including an underwater inspection robot, a laser position control subsystem, an ultrasonic data acquisition/analysis subsystem and a main control subsystem. We successfully carried out underwater experiments on the reactor vessel mockup, and real reactor ready for Ulchine nuclear power plant unit 6 at Dusan Heavy Industry in Korea. After this project, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 4 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants

  10. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

    Objects look very different in the underwater environment compared to their appearance in sunlight. Images with correct colouring simplify the detection of underwater objects and may allow the use of visual SLAM algorithms developed for land-based robots underwater. Hence, image processing is required. Current algorithms focus on the colour reconstruction of scenery at diving depth where different colours can still be distinguished. At greater depth this is not the case. In this study it is i...

  11. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

    Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...

  12. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

    Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

  13. State of the art report: Underwater examination techniques for spent nuclear fuels

    International Nuclear Information System (INIS)

    Chun, Yong Bum

    1997-06-01

    In these days, much efforts are being put to increase the final discharge burnup of PWR fuels. Therefore, the necessity of the inspection of irradiated nuclear fuels assembly during the the refueling outage is greatly increased to evaluate the safe operation and soundness of fuel assemblies in their next cycles in core, and apply the results for safe operation and effective core management. The necessity to evaluate the irradiation performance of indigenous nuclear fuels pushes the relative researchers to the development of on-site fuel inspection techniques and devices which can perform the underwater inspection and measurement of irradiated nuclear fuels during refueling outage. To ensure the technologies, the status of in situ underwater fuel inspection techniques and equipment were investigated and reviewed. Those information provides the fuel inspection capability to evaluate and certificate the performance and integrity of nuclear fuels which leads to the safe operation of NPP. (author). 49 refs., 52 figs

  14. Results of special security inspection on improvement of security management setup in Head Office and Tsuruga Nuclear Power Station of the Japan Atomic Power Company and improvement of facilities in Tsuruga Nuclear Power Station

    International Nuclear Information System (INIS)

    1982-01-01

    In connection with the series of accidents in the Tsuruga Nuclear Power Station, the Agency of Natural Resources and Energy had instructed JAPC to make comprehensive inspection on the security management setup and to take improvement measures in the nuclear power station. The results of the subsequent inspection by ANRE confirmed that the improvements made by JAPC are adequate, and the following items are described: improvement of security management setup - communication and reporting in emergency, the management of inspection and maintenance records, work control and supervision in repair, improvement, etc., functional authority and responsibility in maintenance management, operation management, radiation control, personnel education; improvement of facilities - feed water heaters, laundry waste-water filter room, radioactive waste treatment facility, general drainage, concentrated waste liquid storage tanks in newly-built waste treatment building, etc. (J.P.N.)

  15. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

    Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.

    1998-01-01

    At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)

  16. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

    Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

  17. An Overview of the Cooperative Effort between the United States Department of Energy and the China Atomic Energy Authority to Enhance MPC and A Inspections for Civil Nuclear Facilities in China

    International Nuclear Information System (INIS)

    Ahern, Keith; Daming, Liu; Hanley, Tim; Livingston, Linwood; McAninch, Connie; McGinnis, Brent R.; Ning, Shen; Qun, Yang; Roback, Jason William; Tuttle, Glenn; Xuemei, Gao; Galer, Regina; Peterson, Nancy; Jia, Jinlie

    2011-01-01

    The United States Department of Energy, National Nuclear Security Administration (DOE/NNSA) and the China Atomic Energy Authority (CAEA) are cooperating to enhance the domestic regulatory inspections capacity for special nuclear material protection, control and accounting (MPC and A) requirements for civil nuclear facilities in China. This cooperation is conducted under the auspices of the Agreement between the Department of Energy of the United States of America and the State Development and Planning Commission of the People s Republic of China on Cooperation Concerning Peaceful Uses of Nuclear Technology. This initial successful effort was conducted in three phases. Phase I focused on introducing CAEA personnel to DOE and U. S. Nuclear Regulatory Commission inspection methods for U. S. facilities. This phase was completed in January 2008 during meetings in Beijing. Phase II focused on developing physical protection and material control and accounting inspection exercises that enforced U. S. inspection methods identified during Phase 1. Hands on inspection activities were conducted in the United States over a two week period in July 2009. Simulated deficiencies were integrated into the inspection exercises. The U. S. and Chinese participants actively identified and discussed deficiencies noted during the two week training course. The material control and accounting inspection exercises were conducted at the Paducah Gaseous Diffusion Plant (PGDP) in Paducah, KY. The physical protection inspection exercises were conducted at the Oak Ridge National Laboratory (ORNL) in Oak Ridge, TN. Phase III leveraged information provided under Phase I and experience gained under Phase II to develop a formal inspection guide that incorporates a systematic approach to training for Chinese MPC and A field inspectors. Additional hands on exercises that are applicable to Chinese regulations were incorporated into the Phase III training material. Phase III was completed in May 2010 at

  18. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

    A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

  19. A trend of robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi

    1993-01-01

    In order to operate stably nuclear power stations, the periodic inspection determined by the law has been carried out once every year in Japan. For reducing the radiation exposure of workers and improving work efficiency and work quality, the automation and the use of robots have been promoted. Also in fuel reprocessing plants and the facilities for storing radioactive wastes, the remotely operated devices for handling uranium and plutonium are indispensable. The course of the development of the robots for nuclear power plants classified by ages is shown. The research and development have been advanced from special automatic machines of first generation since 1965, through versatile robots of second generation since 1980 to intellectual robots of third generation since 1985. Automatic fuel exchanger, control rod moving mechanism and the ultrasonic flaw detector for pipings are those of first generation. As those of second generation, various movable inspection robots and the manipulators for them were developed. The ultimate working robot completed in 1990 is that of third generation. As the trend of the practical use, monorail type inspection robots and underwater inspection robots and various manipulators are reported. (K.I.)

  20. Inspection Database

    Data.gov (United States)

    U.S. Department of Health & Human Services — FDA is disclosing the final inspection classification for inspections related to currently marketed FDA-regulated products. The disclosure of this information is not...

  1. Visual examination program of the TRIGA Mark II reactor Vienna with the nuclear underwater telescope

    International Nuclear Information System (INIS)

    Boeck, H.; Hammer, J.; Varga, K.

    1985-12-01

    The visual inspection programm carried out during a three month shut-period at the TRIGA Mark II reactor Vienna is described. Optical inspection of all welds inside the reactor tank was carried out with an underwater telescope developed by the Central Research Institute of Physics, Budapest, Hungary. It is shown that even after 23 years of reactor operation all tank internals were found to be in good condition and minor defects can be easily repaired by remote handling tools. (Author)

  2. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

    This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting

  3. ROV90 - A prototype autonomous inspection vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Roedseth, Oe.J.; Hallset, J.O.

    1991-04-01

    Simple autonomous inspection vehicles are suitable for operations where the cost, danger to humans, or area of operation prohibits the use of conventional underwater technology. Autonomous vehicles are, however, in their infancy and few such vehicles are available. There are still some problems to be overcome before this technology becomes useful in commercial applications. We have built ROV90 to investigate these problems. It is a test bed for experimenting with the different parts of an autonomous underwater vehicle. ROV90 will be able to autonomously follow prominent features in the real world, man made or natural. Examples are pipelines or walls in tunnels. ROV90 is tethered, but we are planning to use experience and results from ROV90 to develop av ''real'' autonomous underwater vehicle (AUV) called PISCIS. 11 refs., 8 figs.

  4. 46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Alternative Hull Examination Program options: Divers or...) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.650 Alternative Hull Examination Program options: Divers or underwater ROV. To complete the...

  5. Autonomous underwater vehicle motion tracking using a Kalman Filter for sensor fusion

    CSIR Research Space (South Africa)

    Holtzhausen, S

    2008-01-01

    Full Text Available AUVs are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures. In this paper...

  6. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

    instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1], etc. The ultimate aim in all autonomous platforms research and development is to reach the stage of unescorted missions with minimum failures...

  7. Advanced inspection technology for non intrusive inspection (NII) program

    International Nuclear Information System (INIS)

    Zamir Mohamed Daud

    2003-01-01

    In the current economic environment, plants and facilities are under pressure to introduced cost saving as well as profit maximising measures. Among the many changes in the way things are run is a move towards Risk Based Inspection (RBI), with an emphasis on longer operating periods between shutdowns as well as to utilise components to their maximum capability. Underpinning and RBI program requires good data from an effective online inspections program, which would not require the shutdown of critical components. One methodology of online inspection is known as Non Intrusive Inspection (NII), an inspection philosophy with the objective of replacing internal inspection of a vessel by doing Non Destructive Testing (NDT) and inspections externally. To this end, a variety of advanced NDT techniques are needed to provide accurate online measurements. (Author)

  8. Packaging supplier inspection guide

    International Nuclear Information System (INIS)

    Stromberg, H.M.; Gregg, R.E.; Kido, C.; Boyle, C.D.

    1991-05-01

    This is document is a guide for conducting quality assurance inspections of transportations packaging suppliers, where suppliers are defined as designers, fabricators, distributors, users, or owners of transportation packaging. This document can be used during an inspection to determine regulatory compliance within the requirements of 10 Code of Federal Regulations, Part 71, Subpart H (10 CFR 71.101--71.135). The guidance described in this document provides a framework for an inspection. It provides the inspector with the flexibility to adapt the methods and concepts presented here to meet the needs of the particular facility being inspected. The guide was developed to ensure a structured and consistent approach for inspections. The method treats each activity at a supplier facility as a separate entity (or functional element), and combines the activities within the framework of an ''inspection tree.'' The method separates each functional element into several areas of performance and then identifies guidelines, based on regulatory requirements, to be used to qualitatively rate each area. This document was developed to serve as a field manual to facilitate the work of inspectors. 1 ref., 1 fig., 5 tabs

  9. Development of underwater camera using high-definition camera

    International Nuclear Information System (INIS)

    Tsuji, Kenji; Watanabe, Masato; Takashima, Masanobu; Kawamura, Shingo; Tanaka, Hiroyuki

    2012-01-01

    In order to reduce the time for core verification or visual inspection of BWR fuels, the underwater camera using a High-Definition camera has been developed. As a result of this development, the underwater camera has 2 lights and 370 x 400 x 328mm dimensions and 20.5kg weight. Using the camera, 6 or so spent-fuel IDs are identified at 1 or 1.5m distance at a time, and 0.3mmφ pin-hole is recognized at 1.5m distance and 20 times zoom-up. Noises caused by radiation less than 15 Gy/h are not affected the images. (author)

  10. 9 CFR 307.5 - Overtime and holiday inspection service.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Overtime and holiday inspection... INSPECTION AND CERTIFICATION FACILITIES FOR INSPECTION § 307.5 Overtime and holiday inspection service. (a..., at the rate specified in § 391.3, for the cost of the inspection service furnished on any holiday as...

  11. INSPECT: a package of computer programs for planning safeguards inspections

    International Nuclear Information System (INIS)

    Wincek, M.A.; Mullen, M.F.

    1979-04-01

    As part of the U.S. program to provide technical assistance to the International Atomic Energy Agency, a package of computer programs was developed for use in planning safeguards inspections of various types of nuclear facilities. The INSPECT software package is a set of five interactive FORTRAN programs which can be used to calculate the variance components of the MUF (Material Unaccounted For) statistic, the variance components of the D (difference) statistic, attribute and variables sampling plans, a measure of the effectiveness of the inspection, and a measurement of the cost of implementing the inspection plan. This report describes the programs and explains how to use them

  12. An underwater shear compactor

    International Nuclear Information System (INIS)

    Biver, E.; Sims, J.

    1997-01-01

    This paper, originally presented at the WM'96 Conference in Tucson Arizona, describes a concept of a specialised decommissioning tool designed to operate underwater and to reduce the volume of radioactive components by shearing and compacting. The shear compactor was originally conceived to manage the size reduction of a variety of decommissioned stainless steel tubes stored within a reactor fuel cooling pond and which were consuming a substantial volume of the pond. The main objective of this tool was to cut the long tubes into shorter lengths and to compact them into a flat rectangular form which could be stacked on the pond floor, thus saving valuable space. The development programme, undertaken on this project, investigated a wide range of factors which could contribute to an extended cutting blade performance, ie: materials of construction, cutting blade shape and cutting loads required, shock effects, etc. The second phase was to review other aspects of the design, such as radiological protection, cutting blade replacement, maintenance, pond installation and resultant wall loads, water hydraulics, collection of products of shearing/compacting operations, corrosion of the equipment, control system, operational safety and the ability of the equipment to operate in dry environments. The paper summarises the extended work programme involved with this shear compactor tool. (author)

  13. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

    The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)

  14. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

    Sato, Seiichi; Inaba, Takanori; Inose, Koutarou; Matsumoto, Naoyuki; Sakakibara, Yuji

    2015-01-01

    In is desirable to use remote underwater device for the decommissioning work of highly radioactive components such as the nuclear internals from a view point of reducing the ranitidine exposure to the worker. Underwater laser cutting technology has advantages. First advantage in underwater laser cutting technology is that low reaction force during cutting, namely, remote operability is superior. Second point is that underwater laser cutting generates a little amount of secondary waste, because cutting kerf size is very small. Third point is that underwater laser cutting has low risk of the process delay, because device trouble is hard to happen. While underwater laser cutting has many advantages, the careful consideration in the safe treatment of the offgas which underwater laser cutting generates is necessary. This paper describes outline of underwater laser cutting technology developed by IHI Corporation (IHI) and that this technology is effective in various dismantling works in water. (author)

  15. Inspection vehicle

    International Nuclear Information System (INIS)

    Takahashi, Masaki; Omote, Tatsuyuki; Yoneya, Yutaka; Tanaka, Keiji; Waki, Tetsuro; Yoshida, Tomiji; Kido, Tsuyoshi.

    1993-01-01

    An inspection vehicle comprises a small-sized battery directly connected with a power motor or a direct power source from trolly lines and a switching circuit operated by external signals. The switch judges advance or retreat by two kinds of signals and the inspection vehicle is recovered by self-running. In order to recover the abnormally stopped inspection vehicle to the targeted place, the inspection vehicle is made in a free-running state by using a clutch mechanism and is pushed by an other vehicle. (T.M.)

  16. Experience on inspection at PFPF

    International Nuclear Information System (INIS)

    Aoki, I.; Yamamoto, Y.; Takahashi, Saburo; Ooshima, Hirofumi; Kuniyasu, Kazufusa.

    1993-01-01

    In order to reduce a personal radiation exposure, Plutonium Fuel Production Facility (PFPF) introduced an automated MOX fabrication technology. Safeguards system for the PFPF was designed and installed so as to be compatible with automated process operation as much as possible. Introduction of these system in PFPF made possible to do the inspection measurements with unattended mode and Near Real Time Material Accountancy (NRTA), consequently inspection has been carrying out effectively and efficiently. This paper describes the new Inspection activities as a comparison with old Inspection activities based on our experience. (author)

  17. Discussion on unpacking inspection of imported civil nuclear safety equipment

    International Nuclear Information System (INIS)

    Li Chan; Zhang Wenguang; Li Maolin; Li Shixin; Jin Gang; Yao Yuan

    2014-01-01

    This paper introduces the purpose, contents, process and requirements of unpacking inspection which is the second stage of safety inspection of imported civil nuclear safety equipment, expresses review key points on application documents of unpacking inspection, processes of witness on-the-spot before unpacking inspection outside the civil nuclear facilities by the test agency, discusses understanding of unpacking inspection, supervision of manufacture, inspection prior to shipment, supervision of loading and acceptance by the unit operating civil nuclear facilities, reports on unpacking inspection. Some suggestions on reinforcing the unpacking inspection in China are concerned. (authors)

  18. Underwater Gliders by Dr. Kevin Smith [video

    OpenAIRE

    Naval Postgraduate School Physics

    2015-01-01

    NPS Physics NPS Physics Research Projects Underwater glider research is currently underway in the physics department at the naval postgraduate in Monterey Ca. Dr. Kevin Smith is a specialist in underwater acoustics and sonar systems. He and his team are currently focused on autonomous underwater gliders and developing systems capable of detecting parameters in the ocean and listening for various sources of sound.

  19. Calculation of frequency of optimal inspection in non-notice inspection game

    International Nuclear Information System (INIS)

    Kumakura, Shinichi; Gotoh, Yoshiki; Kikuchi, Masahiro

    2011-01-01

    We consider a non-notice inspection game between an inspection party, who verifies absence of diversion of nuclear materials and misuse of nuclear facility, and a facility operator, who tries them in a nuclear facility. In the game, the payoff for each player, inspection party and facility operator, is composed of various elements (parameters) such as facility type, a type of nuclear material, number of inspection and others. Their payoffs consist of profits and costs (minus profit). Because of random nature by non-notice inspection, its deterrence effect and inspection number could have the potential to affect their payoffs. In this paper, their payoffs taking into consideration of the inspection environment above are represented as a function of inspection number. Then, the optimal number is calculated from a condition on their payoffs for number of inspection. Comparable statics analysis is performed in order to observe the change of inspection number which is equilibrium point by changing these parameters including deterrence effect, because the number derived depends on each parameter within the inspection environment. Based on the analysis results, necessary conditions to reduce the inspection number keeping inspection effect are pointed out. (author)

  20. Estimation of inspection effort

    International Nuclear Information System (INIS)

    Mullen, M.F.; Wincek, M.A.

    1979-06-01

    An overview of IAEA inspection activities is presented, and the problem of evaluating the effectiveness of an inspection is discussed. Two models are described - an effort model and an effectiveness model. The effort model breaks the IAEA's inspection effort into components; the amount of effort required for each component is estimated; and the total effort is determined by summing the effort for each component. The effectiveness model quantifies the effectiveness of inspections in terms of probabilities of detection and quantities of material to be detected, if diverted over a specific period. The method is applied to a 200 metric ton per year low-enriched uranium fuel fabrication facility. A description of the model plant is presented, a safeguards approach is outlined, and sampling plans are calculated. The required inspection effort is estimated and the results are compared to IAEA estimates. Some other applications of the method are discussed briefly. Examples are presented which demonstrate how the method might be useful in formulating guidelines for inspection planning and in establishing technical criteria for safeguards implementation

  1. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  2. Underwater Inspection of Navigation Structures with an Acoustic Camera

    Science.gov (United States)

    2013-08-01

    the camera with a slow angular speed while recording the images. 5. After the scanning has been performed, review recorded data to determine the...Core x86) or newer  2GB RAM  120GB disc space Operating system requirements  Windows XP, Vista, Windows 7, 32/64 bit Java requirements  Sun... Java JDK, Version 1.6, Update 16 or newer, for installation Limitations and tips for proper scanning  Best results are achieved when scanning in

  3. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases

  4. Ultrasonic inspection

    International Nuclear Information System (INIS)

    Satittada, Gannaga

    1984-01-01

    Ultrasonic inspection is one of the most widely used methods for nondestructive inspection. The beam of high-frequency sound wave, ultrasonic wave, is introduced into the material. It travels through the material with some attendant loss of energy and can be reflected at interfaces. The reflected beam is detected and analyzed. Ultrasonic inspection is used to detect flaws in metal parts as well as in welded, brazed and bonded joints during research work and developing production and service. It is also used to detect and locate porosity, pipe, and flakes. In addition, it can be used for the measurement of metal thickness. Ultrasonic inspection is therefore used for quality control and material inspection in all major industries

  5. Inspection technologies -Development of national safeguards technology-

    International Nuclear Information System (INIS)

    Hong, J. S.; Kim, B. K.; Kwack, E. H.

    1996-12-01

    17 facility regulations prepared by nuclear facilities according to the Ministerial Notices were evaluated. Safeguards inspection activities under Safeguards are described. Safeguards inspection equipments and operation manuals to be used for national inspection are also described. Safeguards report are produced and submitted to MOST by using the computerized nuclear material accounting system at state level. National inspection support system are developed to produce the on-site information for domestic inspection. Planning and establishment of policy for nuclear control of nuclear materials, international cooperation for nuclear control, CTBT, strengthening of international safeguards system, and the supply of PWRs to North Korea are also described. (author). 43 tabs., 39 figs

  6. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

    DeLong, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  7. Information-Driven Inspections

    International Nuclear Information System (INIS)

    Laughter, Mark D.; Whitaker, J. Michael; Lockwood, Dunbar

    2010-01-01

    New uranium enrichment capacity is being built worldwide in response to perceived shortfalls in future supply. To meet increasing safeguards responsibilities with limited resources, the nonproliferation community is exploring next-generation concepts to increase the effectiveness and efficiency of safeguards, such as advanced technologies to enable unattended monitoring of nuclear material. These include attribute measurement technologies, data authentication tools, and transmission and security methods. However, there are several conceptual issues with how such data would be used to improve the ability of a safeguards inspectorate such as the International Atomic Energy Agency (IAEA) to reach better safeguards conclusions regarding the activities of a State. The IAEA is pursuing the implementation of information-driven safeguards, whereby all available sources of information are used to make the application of safeguards more effective and efficient. Data from continuous, unattended monitoring systems can be used to optimize on-site inspection scheduling and activities at declared facilities, resulting in fewer, better inspections. Such information-driven inspections are the logical evolution of inspection planning - making use of all available information to enhance scheduled and randomized inspections. Data collection and analysis approaches for unattended monitoring systems can be designed to protect sensitive information while enabling information-driven inspections. A number of such inspections within a predetermined range could reduce inspection frequency while providing an equal or greater level of deterrence against illicit activity, all while meeting operator and technology holder requirements and reducing inspector and operator burden. Three options for using unattended monitoring data to determine an information-driven inspection schedule are to (1) send all unattended monitoring data off-site, which will require advances in data analysis techniques to

  8. Underwater noise due to precipitation

    DEFF Research Database (Denmark)

    Crum, Lawrence A.; Pumphrey, Hugh C.; Prosperetti, Andrea

    1989-01-01

    In 1959, G. Franz published a thorough investigation of the underwater sound produced by liquid drop impacts [G. Franz, J. Acoust. Soc. Am. 31, 1080 (1959)]. He discovered that, under certain conditions, a gas bubble was entrained by the impacting droplet, and the subsequent oscillation of this b...

  9. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

    A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

  10. Underwater Robots Surface in Utah

    Science.gov (United States)

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  11. Hospital Inspections

    Data.gov (United States)

    U.S. Department of Health & Human Services — Welcome to hospitalinspections.org, a website run by the Association of Health Care Journalists (AHCJ) that aims to make federal hospital inspection reports easier...

  12. Optimal allocation of international atomic energy agency inspection resources

    International Nuclear Information System (INIS)

    Markin, J.T.

    1987-01-01

    Each year the Department of Safeguards of the International Atomic Energy Agency (IAEA) conducts inspections to confirm that nuclear materials and facilities are employed for peaceful purposes. Because of limited inspection resources, however, the IAEA cannot fully attain its safeguards goals either quantitatively as measured by the inspection effort negotiated in the facility attachments or qualitatively as measured by the IAEA criteria for evaluating attainment of safeguards goals. Under current IAEA procedures the allocation of inspection resources assigns essentially equal inspection effort to facilities of the same type. An alternative approach would incorporate consideration of all material categories and facilities to be assigned inspection resources when allocating effort to a particular facility. One such method for allocating inspection resources is based on the IAEA criteria. The criteria provide a framework for allocating inspection effort that includes a ranking of material types according to their safeguards importance, an implicit definition of inspection activities for each material and facility type, and criteria for judging the attainment of safeguards goals in terms of the quality and frequency of these inspection activities. This framework is applicable to resource allocation for an arbitrary group of facilities such as a state's fuel cycle, the facilities inspected by an operations division, or all of the facilities inspected by the IAEA

  13. Optimizing the design of international safeguards inspection systems

    International Nuclear Information System (INIS)

    Markin, J.T.; Coulter, C.A.; Gutmacher, R.G.; Whitty, W.J.

    1983-01-01

    Efficient implementation of international inspections for verifying the operation of a nuclear facility requires that available resources be allocated among inspection activities to maximize detection of misoperation. This report describes a design and evaluation method for selecting an inspection system that is optimal for accomplishing inspection objectives. The discussion includes methods for identifying system objectives, defining performance measures, and choosing between candidate systems. Optimization theory is applied in selecting the most preferred inspection design for a single nuclear facility, and an extension to optimal allocation of inspection resources among States containing multiple facilities is outlined. 3 figures, 5 tables

  14. Development of an amphibious robot for visual inspection of APR1400 Npp IRWST strainer

    International Nuclear Information System (INIS)

    Jang, You Hyun; Kim, Jong Seog

    2014-01-01

    cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

  15. Development of an amphibious robot for visual inspection of APR1400 Npp IRWST strainer

    Energy Technology Data Exchange (ETDEWEB)

    Jang, You Hyun; Kim, Jong Seog [Korea Hydro Nuclear Power Central Research Institute, Daejeon (Korea, Republic of)

    2014-06-15

    cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

  16. DEVELOPMENT OF AN AMPHIBIOUS ROBOT FOR VISUAL INSPECTION OF APR1400 NPP IRWST STRAINER ASSEMBLY

    Directory of Open Access Journals (Sweden)

    YOU HYUN JANG

    2014-06-01

    installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

  17. Quality assurance for IAEA inspection planning

    International Nuclear Information System (INIS)

    Markin, J.T.

    1986-01-01

    Under the provisions of the Treaty on Nonproliferation of Nuclear Weapons and other agreements with states, the International Atomic Energy Agency (IAEA) conducts inspections at nuclear facilities to confirm that their operation is consistent with the peaceful use of nuclear material. The Department of Safeguards at the IAEA is considering a quality assurance program for activities related to the planning of these facility inspections. In this report, we summarize recent work in writing standards for planning inspections at the types of facilities inspected by the IAEA. The standards specify the sequence of steps in planning inspections, which are: (1) administrative functions, such as arrangements for visas and travel, and communications with the state to confirm facility operating schedules and the state's acceptance of the assigned inspectors; (2) technical functions including a specification of the required inspection activities, determination of personnel and equipment resources, and a schedule for implementing the inspection activities at the facility; and (3) management functions, such as pre- and post-inspection briefings, where the planned and implemented inspection activities are reviewed

  18. Optimal allocation of International Atomic Energy Agency inspection resources

    International Nuclear Information System (INIS)

    Markin, J.T.

    1987-12-01

    The Safeguards Department of the International Atomic Energy Agency (IAEA) conducts inspections to assure the peaceful use of a state's nuclear materials and facilities. Because of limited resources for conducting inspections, the careful disposition of inspection effort among these facilities is essential if the IAEA is to attain its safeguards goals. This report describes an optimization procedure for assigning an inspection effort to maximize attainment of IAEA goals. The procedure does not require quantitative estimates of safeguards effectiveness, material value, or facility importance. Instead, the optimization is based on qualitative, relative prioritizations of inspection activities and materials to be safeguarded. This allocation framework is applicable to an arbitrary group of facilities such as a state's fuel cycle, the facilities inspected by an operations division, or all of the facilities inspected by the IAEA

  19. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

    Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

  20. International Conference on Underwater Environment

    CERN Document Server

    Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

    2016-01-01

    This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

  1. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

    A place of material to be cut is surrounded by an openable/closable box. The material to be cut is cut underwater, and materials generated in this case are removed from the cut portion by a pressurized water jet. The removed materials are sucked and recovered together with water in the box. Among the materials caused by the cutting underwater, solid materials not floating on water are caused to stay in the midway of a sucking and recovering channel. A large sucking force might be required for the entire region of the sucking and recovering channel when sucking and recovering large sized solid materials not floating on water, but even large sized materials can be recovered easily according to the present invention since they are recovered after being sucked and stayed in the midway of the sucking and recovering channel. (N.H.)

  2. Operational inspections

    International Nuclear Information System (INIS)

    Bystersky, M.

    1997-01-01

    Special equipment is described, designed for inspection of reactor pressure vessels performed from the inside. Central shaft manipulator ZMM-5 is available for crack detection control using ultrasound and eddy currents, for visual check of surfaces, repair works at the reactor pressure vessel, and hardness measurements. The manipulator consists of the manipulator bridge, a cable container, shaft segments, a control mechanism and auxiliary parts. Eight inspections were performed at the Bohunice nuclear power plant and two at the Paks nuclear power plant. (M.D.)

  3. Taiwan's underwater cultural heritage documentation management

    Science.gov (United States)

    Tung, Y.-Y.

    2015-09-01

    Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.

  4. Defense Treaty Inspection Readiness Program

    International Nuclear Information System (INIS)

    Cronin, J.J.; Kohen, M.D.; Rivers, J.D.

    1996-01-01

    The Defense Treaty Inspection Readiness Program (DTIRP) was established by the Department of Defense in 1990 to assist defense facilities in preparing for treaty verification activities. Led by the On-Site Inspection Agency (OSIA), an element of the Department of Defense, DTIRP''s membership includes representatives from other Department of Defense agencies, the Department of Energy (DOE), the Central Intelligence Agency, the Federal Bureau of Investigation, the Department of Commerce, and others. The Office of Safeguards and Security has a significant interest in this program, due to the number of national defense facilities within its purview that are candidates for future inspections. As a result, the Office of Safeguards and Security has taken a very active role in DTIRP. This paper discusses the Office of Safeguards and Security''s increasing involvement in various elements of the DTIRP, ranging from facility assessments to training development and implementation

  5. NRC program of inspection and enforcement

    International Nuclear Information System (INIS)

    LeDoux, J.C.; Rehfuss, C.

    1978-01-01

    The Nuclear Regulatory Commission (NRC) regulates civilian uses of nuclear materials to ensure the protection of the public health and safety and the environment. The Office of Inspection and Enforcement (IE) develops and implements the inspection, investigation, and enforcement programs for the NRC. The IE conducts inspection programs for reactors under construction and in operation, nuclear industry vendors, fuel facilities and users of nuclear materials, and all aspects of the safeguarding of facilities and materials. Recently the IE began implementing a program that will place inspectors on site at nuclear power reactors and will provide for national appraisal of licensee performance and for an evaluation of the effectiveness of the inspection programs

  6. 75 FR 38765 - Domestic Origin Verification System Questionnaire and Regulations Governing Inspection and...

    Science.gov (United States)

    2010-07-06

    ..., facility assessment services, certifications of quantity and quality, import product inspections, and... control number. These include export certification, inspection of section 8e import products, and...] Domestic Origin Verification System Questionnaire and Regulations Governing Inspection and Certification of...

  7. Evaluation of inservice inspection examinatiions

    International Nuclear Information System (INIS)

    Aldrich, D.A.; Cook, J.F.

    1990-05-01

    In order to evaluate the effectiveness of Section 11, Division 1, ''Rules for Inservice Inspection of Nuclear Power Plant Components,'' of the American Society of Mechanical Engineers (ASME) Boiler and Pressure Vessel Code examinations, 26 inservice inspection (ISI) summary reports from 24 facilities were reviewed. It was found that these ASME Code examinations and tests are instrumental in revealing indications and defects in welds and plant components. In addition, this study uncovered that fact that some of the Section 11 requirements are apparently not clear and are misunderstood by some of the facilities. Also, the need for more stringent requirements was evaluated and some Code changes are recommended

  8. Status on underwater plasma arc cutting in KHI, 3

    International Nuclear Information System (INIS)

    Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji

    1983-01-01

    In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)

  9. Investigation of the Propagation Characteristics of Underwater Shock Waves in Underwater Drilling Blasting

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

    Full Text Available During the first-stage project of the main channel of Ningbo-Zhoushan Port’s Shipu Harbor, underwater shock waves were monitored. By analyzing a typical measured pressure time history curve, the characteristics of underwater shock waves in an engineering context were obtained. We obtained a traditional exponential attenuation formula for underwater shock waves based on the measured data, simplified the model of underwater drilling blasting based on engineering practice, deduced a revised formula for underwater shock wave peak overpressure on the basis of dimensional analysis, established a linear fitting model, and obtained the undetermined coefficients of the revised formula using a linear regression analysis. In addition, the accuracies of the two formulas used to predict underwater shock wave peak overpressure and the significance order of influence and influence mechanism of factors included in the revised formula on the underwater shock wave peak overpressure were discussed.

  10. Underwater EVA training in the WETF with astronaut Robert L. Stewart

    Science.gov (United States)

    1983-01-01

    Underwater extravehicular activity (EVA) training in the weightless environment training facility (WETF) with astronaut Robert L. Stewart. Stewart is simulating a planned EVA using the mobile foot restraint device and a one-G version of the Canadian-built remote manipulator system.

  11. In-service inspection of pressurized water reactors

    International Nuclear Information System (INIS)

    Rapin, M.; Saglio, R.

    1983-01-01

    French legislation, which is more demanding than in other countries, had led Electricite de France, the State-owned utility, to acquire better performance in-service inspection facilities than those which existed previously. This fact has spurred the industrial development of the new technical facilities which are used worldwide today. This article presents the ''in-service inspection machine'' (MIS) for the inspection of the welds of a PWR vessel, and the inspection device of steam generator tubes; the MIS allow a remote-viewing, ultrasonic and gamma-graphic inspection; Foucault currents are the only one method adapted to the inspection steam generator tubes [fr

  12. ROV Based Underwater Blurred Image Restoration

    Institute of Scientific and Technical Information of China (English)

    LIU Zhishen; DING Tianfu; WANG Gang

    2003-01-01

    In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV's detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.

  13. Quantum imaging for underwater arctic navigation

    Science.gov (United States)

    Lanzagorta, Marco

    2017-05-01

    The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

  14. Annotated Bibliography of Underwater Acoustic Research, 1942-1945.

    Science.gov (United States)

    1983-11-02

    easily be produced in underwater-telephony adapter was quantities by existing facilities at sea-tested on USS LIONFISH . The New the Submarine Base...including 7500 lacquering, waxing, making and yd, with the LIONFISH operating fitting pointers, and maintenance, underway at periscope deptn and the Two...R61 1-452 D24/R62i -462 * USS PERCH (SS-313) USS JORDAN (DE204) D24/R736-564 P42 /R75 9-584 D16/R1388-i 152 D24/R780-603 054 /R992-783 USS LIONFISH (SS

  15. LAKE BAIKAL: Underwater neutrino detector

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

    A new underwater detector soon to be deployed in Lake Baikal in Siberia, the world's deepest lake with depths down to 1.7 kilometres, could help probe the deepest mysteries of physics. One of the big unsolved problems of astrophysics is the origin of very energetic cosmic rays. However there are many ideas on how particles could be accelerated by exotic concentrations of matter and provide the majority of the Galaxy's high energy particles. Clarification would come from new detectors picking up the energetic photons and neutrinos from these sources

  16. Inspection of Emergency Arrangements

    International Nuclear Information System (INIS)

    2013-01-01

    The Working Group on Inspection Practices (WGIP) was tasked by the NEA CNRA to examine and evaluate the extent to which emergency arrangements are inspected and to identify areas of importance for the development of good inspection practices. WGIP members shared their approaches to the inspection of emergency arrangements by the use of questionnaires, which were developed from the requirements set out in IAEA Safety Standards. Detailed responses to the questionnaires from WGIP member countries have been compiled and are presented in the appendix to this report. The following commendable practices have been drawn from the completed questionnaires and views provided by WGIP members: - RBs and their Inspectors have sufficient knowledge and information regarding operator's arrangements for the preparedness and response to nuclear emergencies, to enable authoritative advice to be given to the national coordinating authority, where necessary. - Inspectors check that the operator's response to a nuclear emergency is adequately integrated with relevant response organisations. - Inspectors pay attention to consider the integration of the operator's response to safety and security threats. - The efficiency of international relations is checked in depth during some exercises (e.g. early warning, assistance and technical information), especially for near-border facilities that could lead to an emergency response abroad. - RB inspection programmes consider the adequacy of arrangements for emergency preparedness and response to multi-unit accidents. - RBs assess the adequacy of arrangements to respond to accidents in other countries. - The RB's role is adequately documented and communicated to all agencies taking part in the response to a nuclear or radiological emergency. - Inspectors check that threat assessments for NPPs have been undertaken in accordance with national requirements and that up-to-date assessments have been used as the basis for developing emergency plans for

  17. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  18. Inspections talks with IAEA again broken off

    International Nuclear Information System (INIS)

    Anon.

    1993-01-01

    North Korea again appears likely to resist more detailed safeguards inspections of its disputed nuclear facilities by the International Atomic Energy Agency. The country's loner status was reinforced during the IAEA General Conference in September, when no other nation joined North Korea in voting against the placement of the inspection issue on the conference's agenda

  19. 15 CFR 717.2 - Challenge inspections.

    Science.gov (United States)

    2010-01-01

    .... Government for costs associated with these activities. If a facility does not agree to provide consent to an... measures, and administrative and logistical arrangements necessary for the inspection, which may be aided...

  20. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...techniques to determine the distances from each pixel to the camera. 14. SUBJECT TERMS unmanned undersea vehicles (UUVs), autonomous ... AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING Jake A. Jones Lieutenant Commander, United States Navy B.S

  1. Dynamics and Control of Underwater Gliders I: Steady Motions

    OpenAIRE

    Mahmoudian, N.; Geisbert, J.; Woolsey, C.

    2007-01-01

    This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...

  2. Development of maintenance technology with underwater TIG welding for spent fuel storage pool

    International Nuclear Information System (INIS)

    Obana, Takeshi; Hamada, Yasumitsu; Ooeda, Kaoru; Katou, Masahide; Ootsuka, Toshihiro; Toyoda, Seiichi; Hosogane, Atsushi

    2007-01-01

    The core technology of underwater TIG welding process has been developed and welding equipment system has been manufactured, for application to the maintenance of the spent fuel storage pool of Rokkasho reprocessing plant. Basic experiments for understanding the conditions of dry area and the range of welding conditions was performed, and mock examination for simulation of real environment by using the developed welding equipment was also carried out to judge the applicability of the system. For the purpose that can be selected water removing method for different spatial conditions of the parts to be maintained in underwater, two kinds of welding equipment systems of Chamber type and Partition type were developed and manufactured. On the basis of fundamental experiments, the conditions of dry area formation and welding parameters range for high-reliability weld were discussed. Thus the proper condition in this process was able to be established. With the welding equipment systems of the Chamber type and Partition type, the practical use examination of underwater TIG welding process was executed by mock examination for simulating the real environment. As a result, it was confirmed that the underwater TIG welding could obtain the same reliability as a usual in-air TIG welding, and the operation and the control at remote distance were also possible. And the reliability of the patch-plate fillet weld could be evaluated by remote inspection with the expansion visual test. (author)

  3. On site PWR fuel inspection measurements for operational and design verification

    International Nuclear Information System (INIS)

    1996-01-01

    The on-site inspection of irradiated Pressurized Water Reactor (PWR) fuel and Non-Fuel Bearing Components (NFBC) is typically limited to visual inspections during refuelings using underwater TV cameras and is intended primarily to confirm whether the components will continue in operation. These inspections do not normally provide data for design verification nor information to benefit future fuel designs. Japanese PWR utilities and Nuclear Fuel Industries Ltd. designed, built, and performed demonstration tests of on-site inspection equipment that confirms operational readiness of PWR fuel and NFBC and also gathers data for design verification of these components. 4 figs, 3 tabs

  4. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

    These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

  5. Preventive and Predictive Maintenance, Warehousing of Spares, Periodic Testing and In-Service Inspection Activities at the Nigerian Research Reactor-1 Facility

    Energy Technology Data Exchange (ETDEWEB)

    Yusuf, I.; Mati, A. A.; Dewu, B. B.M., [Centre for Energy Research and Training, Ahmadu Bello University, Zaria (Nigeria)

    2014-08-15

    The Nigerian Research Reactor–1, or NIRR-1, is sited at Centre for Energy Research and Training, Ahmadu Bello University, Zaria, Nigeria. Activities on preventive or routine maintenance have been institutionalized since the commissioning of the reactor in February 2004. This has grossly reduced the rates of corrective maintenance activities and helped the reactor management a great deal in predicting failure rates of reactor components and other auxiliary units. Routine maintenance of systems and components are being carried out on a weekly, quarterly and annual basis based on manufacturer’s recommendations, which have been reviewed and improved over the years. The paper presents the implementation of maintenance activities in NIRR-1 from its initial criticality in 2004 till today and the new scheme for periodic testing and in-service-inspection developed after an IAEA Integrated Safety Assessment of Research Reactors mission. The measures put in place are envisaged to reduce the negative impact of ageing on NIRR-1 and its auxiliary systems. (author)

  6. Laser Safety Inspection Criteria

    International Nuclear Information System (INIS)

    Barat, K.

    2005-01-01

    A responsibility of the Laser Safety Officer (LSO) is to perform laser audits. The American National Standard Z136.1 Safe Use of Lasers references this requirement through several sections. One such reference is Section 1.3.2.8, Safety Features Audits, ''The LSO shall ensure that the safety features of the laser installation facilities and laser equipment are audited periodically to assure proper operation''. The composition, frequency and rigor of that inspection/audit rests in the hands of the LSO. A common practice for institutions is to develop laser audit checklists or survey forms It is common for audit findings from one inspector or inspection to the next to vary even when reviewing the same material. How often has one heard a comment, ''well this area has been inspected several times over the years and no one ever said this or that was a problem before''. A great number of audit items, and therefore findings, are subjective because they are based on the experience and interest of the auditor to particular items on the checklist. Beam block usage, to one set of eyes might be completely adequate, while to another, inadequate. In order to provide consistency, the Laser Safety Office of the National Ignition Facility Directorate has established criteria for a number of items found on the typical laser safety audit form. The criteria are distributed to laser users. It serves two broad purposes; first, it gives the user an expectation of what will be reviewed by an auditor. Second, it is an opportunity to explain audit items to the laser user and thus the reasons for some of these items, such as labelling of beam blocks

  7. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

    Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

  8. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

    Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

  9. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

    2018-04-04

    Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

  10. Regulatory inspection of the egyptian gamma irradiator using a proposed inspection checklist

    International Nuclear Information System (INIS)

    Abdel-Ghani, A.H.

    2000-01-01

    Regulatory inspections are one of the most important elements of a regulatory programme. It shall be performed in all areas of the regulatory responsibility and during all phases of siting, design, construction, commissioning, operation, maintenance and decommissioning of an irradiator facility. The egyptian mega gamma irradiator operating since december 1979 has a Co-60 source of about 400 kilo curies and is used mainly for sterilization of medical supplies and pharmaceuticals and for preservation of some food stuffs. The constructor (Nordion international Inc.) recommended an extensive inspection programme. In accordance with the international and national (2.3) regulations as well as the licensing conditions, the competent authority (NCNSRC) shall perform regulatory inspections both announced and unannounced. In order to facilitate the inspection task and to harmonize the inspection reports a checklist for inspection is proposed which can be used also as an inspection report form

  11. Underwater welding and repair technologies applied in PWR environment

    International Nuclear Information System (INIS)

    Scandella, Fabrice; Carpreau, Jean-Michel

    2012-01-01

    The authors describe several welding processes and technologies which have been used for underwater applications and which can be applied when repairing components of a PWR type reactor. They address, describe and discuss wet arc welding processes, the peculiarities of underwater welding, and the use of various processes such as 111, 114 and 135 processes, underwater welding with the hybrid plasma MIG-MAG process, underwater welding with the laser wire process, underwater welding with the FSW, FSP or UWFSW processes, underwater welding with variants of the friction welding process (friction surfacing, taper stitch welding, hydro-pillar processing

  12. OSE inspection of protection program operations field perspective of inspections

    International Nuclear Information System (INIS)

    Brown, R.W.; Martin, H.R.

    1987-01-01

    Protection Program Operations includes three functional areas: Physical Protection Systems, Protective Forces, and System Performance Testing. The Office of Security Evaluations (OSE) inspects field offices in these areas by evaluating programs relative to Standards and Criteria and by performing a variety of exercises and other types of tests to assure protective systems are effective and maintained at a proper level to meet the defined threat. Their perception of the OSE inspections has been positive. The approach taken by ID, with key areas/activities emphasized, during each phase of the field inspection process is described in this report. The most important areas for field offices to concentrate are: inspection preparations through self-evaluation, improving communications, assigning knowledgeable trusted agents, increasing awareness of facility procedures and operations, and assuring daily validations of inspected areas. Emphasis is placed on striving for a balance in reporting both positive and negative findings, and for consistency between ratings and the importance of report findings. OSE efforts to develop improved rating methodologies are encouraged

  13. Laser Safety Inspection Criteria

    International Nuclear Information System (INIS)

    Barat, K

    2005-01-01

    A responsibility of the Laser Safety Officer (LSO) is to perform laser safety audits. The American National Standard Z136.1 Safe use of Lasers references this requirement in several sections: (1) Section 1.3.2 LSO Specific Responsibilities states under Hazard Evaluation, ''The LSO shall be responsible for hazards evaluation of laser work areas''; (2) Section 1.3.2.8, Safety Features Audits, ''The LSO shall ensure that the safety features of the laser installation facilities and laser equipment are audited periodically to assure proper operation''; and (3) Appendix D, under Survey and Inspections, it states, ''the LSO will survey by inspection, as considered necessary, all areas where laser equipment is used''. Therefore, for facilities using Class 3B and or Class 4 lasers, audits for laser safety compliance are expected to be conducted. The composition, frequency and rigueur of that inspection/audit rests in the hands of the LSO. A common practice for institutions is to develop laser audit checklists or survey forms. In many institutions, a sole Laser Safety Officer (LSO) or a number of Deputy LSO's perform these audits. For that matter, there are institutions that request users to perform a self-assessment audit. Many items on the common audit list and the associated findings are subjective because they are based on the experience and interest of the LSO or auditor in particular items on the checklist. Beam block usage is an example; to one set of eyes a particular arrangement might be completely adequate, while to another the installation may be inadequate. In order to provide more consistency, the National Ignition Facility Directorate at Lawrence Livermore National Laboratory (NIF-LLNL) has established criteria for a number of items found on the typical laser safety audit form. These criteria are distributed to laser users, and they serve two broad purposes: first, it gives the user an expectation of what will be reviewed by an auditor, and second, it is an

  14. Human Injury Criteria for Underwater Blasts.

    Directory of Open Access Journals (Sweden)

    Rachel M Lance

    Full Text Available Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study.

  15. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.; Shihada, Basem; Jamshaid, K.

    2013-01-01

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance

  16. Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

    NARCIS (Netherlands)

    Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

    2012-01-01

    The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

  17. Underwater Coatings Testing for INEEL Fuel Basin Applications

    International Nuclear Information System (INIS)

    Julia L. Tripp

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature

  18. Underwater Coatings Testing for INEEL Fuel Basin Applications

    Energy Technology Data Exchange (ETDEWEB)

    Julia L. Tripp

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature.

  19. Underwater Leidenfrost nanochemistry for creation of size-tailored zinc peroxide cancer nanotherapeutics

    Science.gov (United States)

    Elbahri, Mady; Abdelaziz, Ramzy; Disci-Zayed, Duygu; Homaeigohar, Shahin; Sosna, Justyna; Adam, Dieter; Kienle, Lorenz; Dankwort, Torben; Abdelaziz, Moheb

    2017-05-01

    The dynamic underwater chemistry seen in nature is inspiring for the next generation of eco-friendly nanochemistry. In this context, green synthesis of size-tailored nanoparticles in a facile and scalable manner via a dynamic process is an interesting challenge. Simulating the volcano-induced dynamic chemistry of the deep ocean, here we demonstrate the Leidenfrost dynamic chemistry occurring in an underwater overheated confined zone as a new tool for customized creation of nanoclusters of zinc peroxide. The hydrodynamic nature of the phenomenon ensures eruption of the nanoclusters towards a much colder region, giving rise to growth of monodisperse, size-tailored nanoclusters. Such nanoparticles are investigated in terms of their cytotoxicity on suspension and adherent cells to prove their applicability as cancer nanotherapeutics. Our research can pave the way for employment of the dynamic green nanochemistry in facile, scalable fabrication of size-tailored nanoparticles for biomedical applications.

  20. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation an...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....

  1. Mobile inspection and repackaging unit

    International Nuclear Information System (INIS)

    Whitney, G.A.; Roberts, R.J.

    1992-12-01

    Storage of large volumes of radioactive mixed waste (RMW) and transuranic waste generated over the past 20 years at the Hanford Site has resulted in various waste management challenges. Presently disposal capacity for this waste type does not exist. The waste wail be stored until processing facilities can be completed to provide treatment and final disposed. Because of the complexity of these wastes, special projects have been initiated to properly manage them. This paper addresses one such project. The goal of this project is to develop a mobile solid waste inspection and repackaging facility for solid RMW and transuranic waste

  2. 48 CFR 552.246-70 - Source Inspection by Quality Approved Manufacturer.

    Science.gov (United States)

    2010-10-01

    ...) Inspection system and inspection of facilities. (1) The inspection system maintained by the Contractor under... Federal Standard 368 or the International Organization for Standardization (ISO) Standard 9001:2000 (Quality Management Systems—Requirements). A documented description of the inspection system shall be made...

  3. Additive Manufacturing Infrared Inspection

    Science.gov (United States)

    Gaddy, Darrell; Nettles, Mindy

    2015-01-01

    The Additive Manufacturing Infrared Inspection Task started the development of a real-time dimensional inspection technique and digital quality record for the additive manufacturing process using infrared camera imaging and processing techniques. This project will benefit additive manufacturing by providing real-time inspection of internal geometry that is not currently possible and reduce the time and cost of additive manufactured parts with automated real-time dimensional inspections which deletes post-production inspections.

  4. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  5. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-01-01

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

  6. Application of underwater radon measurements in geology

    Energy Technology Data Exchange (ETDEWEB)

    Varhegyi, A.; Baranyi, I.; Gerzson, I. (Mecsek Ore Mining Enterprise, Pecs (Hungary)); Somogyi, G.; Hakl, J.; Hunyadi, I. (Magyar Tudomanyos Akademia, Debrecen (Hungary). Atommag Kutato Intezete)

    1988-01-01

    Based on the observed phenomenon of geogas migration in microbubble form from deeper regions, the authors have developed a new model for the vertical transport of radon released from deeper sources. The physical properties of the rock relating to the upflow of microbubbles below the groundwater level are considered and the radon transport parameter of rocks is introduced. The vertical distribution of radon concentration in the case of a multi-layered geological model is given and the penetration depth of underwater radon measurements is examined. Aspects of underwater radon detection by the nuclear track detector technique are analyzed. The radon transport model gives a new theoretical basis for several applications of radon measurements in geology. The advantages of underwater radon detection have already been proved in uranium exploration. Further geological applications are proposed in earthquake prediction, in volcanology, in the survey of active faults and thermal waters. (author).

  7. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

    It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

  8. Turning inspection regulations into training tools

    International Nuclear Information System (INIS)

    Finley, D.; Wheatcraft, D.

    1996-01-01

    In response to suggestions from internal and State of California auditors, the Hazardous Waste Management Division (HWM) at Lawrence Livermore National Laboratory prepared an Inspection Schedule and Guidance Document that summarizes the Laboratory's inspection schedule and procedures for waste treatment, storage, and disposal facilities (TSDFs). Because it explains and comments in detail on the inspection schedule, forms, and procedures, this document is a centralized reference for HWM managers and personnel performing TSDF inspections at the Laboratory. It is also a training tool for experienced and new inspectors, standardizing the inspections of personnel with experience and explaining to novices what to look for and why. This poster presentation traces the team effort that created this document and provides specific examples of how the document was developed and how it is used

  9. Licensee contractor and vendor inspection status report

    International Nuclear Information System (INIS)

    1990-10-01

    A fundamental premise of the Nuclear Regulatory Commission's (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The total government-industry system for the inspection of commercial nuclear facilities has been designed to provide for multiple levels of inspection and verification. Licensees, contractors, and vendors each participate in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 Code of Federal Regulations). The NRC performs an overview of the commercial nuclear industry by inspection to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of ongoing quality verification programs

  10. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

    Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

    1993-01-01

    In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

  11. Typical IAEA inspection procedures for model plant

    International Nuclear Information System (INIS)

    Theis, W.

    1984-01-01

    This session briefly refers to the legal basis for IAEA inspections and to their objectives. It describes in detail the planning and performance of IAEA inspections, including the examination of records, the comparison of facility records with State reports, flow and inventory verifications, the design of statistical sampling plans, and Agency's independent verification measurements. In addition, the session addresses the principles of Material Balance and MUF evaluation, as well as the content and format of summary statements and related problems

  12. ACEC: remote inspection, remote intervention, autonomous vehicle

    International Nuclear Information System (INIS)

    Anon.

    1986-01-01

    Early in 1979, the accident at the TMI-2 nuclear power station focused attention on the lack of inspection and intervention means in containments where high radiation levels do not allow the entrance of humans. Recent years have seen a trend towards significant developments in the application of robotic technology to maintenance and inspection in nuclear facilities. This paper presents the general development concept and the technical specifications of a mobile robot [fr

  13. Advancement of safeguards inspection technology for CANDU nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jae Sung; Park, W S; Cha, H R; Ham, Y S; Lee, Y G; Kim, K P; Hong, Y D

    1999-04-01

    The objectives of this project are to develop both inspection technology and safeguards instruments, related to CANDU safeguards inspection, through international cooperation, so that those outcomes are to be applied in field inspections of national safeguards. Furthermore, those could contribute to the improvement of verification correctness of IAEA inspections. Considering the level of national inspection technology, it looked not possible to perform national inspections without the joint use of containment and surveillance equipment conjunction with the IAEA. In this connection, basic studies for the successful implementation of national inspections was performed, optimal structure of safeguards inspection was attained, and advancement of safeguards inspection technology was forwarded. The successful implementation of this project contributed to both the improvement of inspection technology on CANDU reactors and the implementation of national inspection to be performed according to the legal framework. In addition, it would be an opportunity to improve the ability of negotiating in equal shares in relation to the IAEA on the occasion of discussing or negotiating the safeguards issues concerned. Now that the national safeguards technology for CANDU reactors was developed, the safeguards criteria, procedure and instruments as to the other item facilities and fabrication facilities should be developed for the perfection of national inspections. It would be desirable that the recommendations proposed and concreted in this study, so as to both cope with the strengthened international safeguards and detect the undeclared nuclear activities, could be applied to national safeguards scheme. (author)

  14. 9 CFR 149.6 - Slaughter facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 1 2010-01-01 2010-01-01 false Slaughter facilities. 149.6 Section... AGRICULTURE LIVESTOCK IMPROVEMENT VOLUNTARY TRICHINAE CERTIFICATION PROGRAM § 149.6 Slaughter facilities. Only slaughter facilities that are under continuous inspection by the Food Safety and Inspection Service or under...

  15. Human Factors Issues When Operating Underwater Remotely Operated Vehicles and Autonomous Underwater Vehicles

    Science.gov (United States)

    2011-03-01

    etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater

  16. IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

    Energy Technology Data Exchange (ETDEWEB)

    Klingstedt, G.; Leisio, C. [ed.

    1998-07-01

    A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

  17. A Register of Underwater Acoustic Facilities. Volume 1. Western Europe

    Science.gov (United States)

    1987-03-01

    trolleys for the rotatable shafts are temporary installa- tions, fixed in position. They are to be replaced during the summer and fall of 1985 with...Frequency Oscillator, Type 1013 Venner Electronics, Ltd., Digital Counter, Type TSA 6636/2 Briiel S Kjaer Measuring Amplifier, Type 2636 (with IEEE Bus... composite scientific/technical library and classified document section, and the generating activity is coordinated by the electronic publications and

  18. B Plant treatment, storage, and disposal (TSD) units inspection plan

    International Nuclear Information System (INIS)

    Beam, T.G.

    1996-01-01

    This inspection plan is written to meet the requirements of WAC 173-303 for operations of a TSD facility. Owners/operators of TSD facilities are required to inspection their facility and active waste management units to prevent and/or detect malfunctions, discharges and other conditions potentially hazardous to human health and the environment. A written plan detailing these inspection efforts must be maintained at the facility in accordance with Washington Administrative Code (WAC), Chapter 173-303, ''Dangerous Waste Regulations'' (WAC 173-303), a written inspection plan is required for the operation of a treatment, storage and disposal (TSD) facility and individual TSD units. B Plant is a permitted TSD facility currently operating under interim status with an approved Part A Permit. Various operational systems and locations within or under the control of B Plant have been permitted for waste management activities. Included are the following TSD units: Cell 4 Container Storage Area; B Plant Containment Building; Low Level Waste Tank System; Organic Waste Tank System; Neutralized Current Acid Waste (NCAW) Tank System; Low Level Waste Concentrator Tank System. This inspection plan complies with the requirements of WAC 173-303. It addresses both general TSD facility and TSD unit-specific inspection requirements. Sections on each of the TSD units provide a brief description of the system configuration and the permitted waste management activity, a summary of the inspection requirements, and details on the activities B Plant uses to maintain compliance with those requirements

  19. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

    Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly

  20. Underwater image mosaicking and visual odometry

    Science.gov (United States)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

    This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

  1. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). Th...

  2. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  3. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

    The TNO underwater warfare (UWW) research programme results in a large number of models used in operational research projects. To enhance the accessibility and re-use of these models for new projects, TNO-FEL has developed the modelling environment ‘MOSES - Maritime Operations Simulation and

  4. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

    further underscored the need for this new guideline based on injury data. Conference Name: Personal Armour Systems Symposium Conference Date...29.  Cole, R., Underwater Explosion. (Dover Publications, Inc ., New York, N.Y., 1948) 30.  Nakahara, M., Nagayama, K, Mori, Y, Japanese Journal...Abstract of the Undersea and Hyperbaric Medical Society, Inc . Annual Scientific Meeting, (1976).

  5. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

    Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula

    2016-01-01

    The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise

  6. Communication and cooperation in underwater acoustic networks

    Science.gov (United States)

    Yerramalli, Srinivas

    In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of

  7. Environmental Compliance Inspection Checklist for Shipbuilding Facilities

    Science.gov (United States)

    1992-04-01

    Pollution Discharge Elimination System Small Quantity Generator 94 TBT Tributyltin TCLP Toxicity Characteristic Leaching Procedure TPQ Threshold...regulations will most likely apply to the mixing and application of tributyltin ( TBT )-based and other anti-fouling paints, as well as routine...sulfur dioxide, carbon monoxide, NOx, and lead), emission of volatile organic compounds from solvents and coatings, fuel storage or sources of toxic

  8. Long Endurance Underwater Power System

    Science.gov (United States)

    1989-09-01

    such a prograz and facility into place over five years. Much of this framwork is borrowed froc Arthur Young and Coapany’s National Director of...currently "fix it when it breaks" prevails. - Total quality control program conceptually aware, but tools need to be put into place to implecent same. - The

  9. Integration of design and inspection

    Science.gov (United States)

    Simmonds, William H.

    1990-08-01

    Developments in advanced computer integrated manufacturing technology, coupled with the emphasis on Total Quality Management, are exposing needs for new techniques to integrate all functions from design through to support of the delivered product. One critical functional area that must be integrated into design is that embracing the measurement, inspection and test activities necessary for validation of the delivered product. This area is being tackled by a collaborative project supported by the UK Government Department of Trade and Industry. The project is aimed at developing techniques for analysing validation needs and for planning validation methods. Within the project an experimental Computer Aided Validation Expert system (CAVE) is being constructed. This operates with a generalised model of the validation process and helps with all design stages: specification of product requirements; analysis of the assurance provided by a proposed design and method of manufacture; development of the inspection and test strategy; and analysis of feedback data. The kernel of the system is a knowledge base containing knowledge of the manufacturing process capabilities and of the available inspection and test facilities. The CAVE system is being integrated into a real life advanced computer integrated manufacturing facility for demonstration and evaluation.

  10. Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

    Science.gov (United States)

    Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

    2016-08-20

    The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

  11. Automated Inspection of Aircraft

    Science.gov (United States)

    1998-04-01

    This report summarizes the development of a robotic system designed to assist aircraft inspectors by remotely deploying non-destructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon University studie...

  12. Optimising import phytosanitary inspection

    NARCIS (Netherlands)

    Surkov, I.

    2007-01-01

    Keywords: quarantine pest, plant health policy, optimization, import phytosanitary inspection, ‘reduced checks’, optimal allocation of resources, multinomial logistic regression, the Netherlands World trade is a major vector of spread of quarantine plant pests. Border phytosanitary inspection

  13. Non-Federal Facilities National Application -

    Data.gov (United States)

    Department of Transportation — Navigation and Administrative tool to monitor Air Traffic Facilities from inception to commissioning. Ability to track field inspections and analysis. It influences...

  14. Technical objectives of inspection

    International Nuclear Information System (INIS)

    Sorenson, R.J.; Stewart, K.B.; Schneider, R.A.

    1976-01-01

    The various technical objectives of inspection are discussed in a very general manner. The discussion includes how the inspection function is related to the assumed threat, the various degrees of assurance and reliance on criteria, and the hierarchy of assurance which is obtained from the various types or levels of inspection

  15. Software Formal Inspections Guidebook

    Science.gov (United States)

    1993-01-01

    The Software Formal Inspections Guidebook is designed to support the inspection process of software developed by and for NASA. This document provides information on how to implement a recommended and proven method for conducting formal inspections of NASA software. This Guidebook is a companion document to NASA Standard 2202-93, Software Formal Inspections Standard, approved April 1993, which provides the rules, procedures, and specific requirements for conducting software formal inspections. Application of the Formal Inspections Standard is optional to NASA program or project management. In cases where program or project management decide to use the formal inspections method, this Guidebook provides additional information on how to establish and implement the process. The goal of the formal inspections process as documented in the above-mentioned Standard and this Guidebook is to provide a framework and model for an inspection process that will enable the detection and elimination of defects as early as possible in the software life cycle. An ancillary aspect of the formal inspection process incorporates the collection and analysis of inspection data to effect continual improvement in the inspection process and the quality of the software subjected to the process.

  16. Promoting transparency: The Korean national inspection experience

    International Nuclear Information System (INIS)

    Kim, B.K.

    1999-01-01

    The Republic of Korea started the LAMA full-scope safeguards inspection with the TRIGA research reactor in 1976 when the nuclear industry was at its infancy. Over two decades of rapid economic growth was propelled by stable supply of electricity, substantially from nuclear energy. Today nearly half of the nations electricity comes from sixteen operating nuclear power plants (12 LWRs + 4 OLRs). Total number of facilities under IAEA inspection reaches 30 where the Agency conducts about 400 PDIs annually. Within the last decade, nuclear transparency in Korea has transformed into the international norm primarily from the needs of rapidly expanding domestic nuclear program. In addition, possibility of North/South mutual inspection helped initiate the national inspection regime in addition to the IAEA inspection. The Technology Center for Nuclear Control was established at KAERI in 1994 in order to maintain the nation's nuclear verification expertise in support of the Korean government. National inspections have been carried out simultaneously with the IAEA inspection since 1997 with trial facilities, and all domestic facilities are being inspected from this year. Necessary legal framework and working procedures were developed and field-tried for LWRs, OLRs, fuel fabrication plants and research reactor facilities. Although the inspection equipment and technology along with the safeguards criteria are quite similar to those of the Agency, it is essential to maintain the independent conclusion capabilities between IAEA and the national authority. Substantial improvements in the IAEA safeguards inspection goal attainments since 1997 are credited to the increasing safeguards awareness among operators and SSAC. Further work is necessary to develop the evaluation criteria based on the field inspection results to meet the national inspection goals. The Korean Government signed the Additional Protocol with IAEA on June, 1999 after much deliberation since it involves facilities

  17. 'Surveyor': An Underwater System for Threat Material Detection

    International Nuclear Information System (INIS)

    Valkovic, Vladivoj; Sudac, Davorin; Nad, Karlo; Obhodas, Jasmina; Matika, Dario; Kollar, Robert

    2010-01-01

    The bottoms of the coastal seas, and oceans as well, are contaminated by many man-made objects including a variety of ammunition. This contamination is world wide spread with some areas being highly polluted presenting a serious threat to local population and to visitors as well. All littoral nations are investing lots of effort into the remediation of their coastal areas. Once the presence of the anomaly on the bottom of the shallow coastal sea water is confirmed (by visual identification and by using one or several sensors, namely magnetometer, sonar and optical cameras) it is necessary to establish if it contains explosive/chemical warfare charge. In our work we propose this to be performed by using neutron sensor installed within an underwater vessel - 'Surveyor'. When positioned above the object, or to its side, the system inspects the object for the presence of the threat material by using alpha particle tagged neutrons from the sealed tube d+t neutron generator. (author)

  18. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

    Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

    2017-10-01

    Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

  19. Advanced Approach of Reactor Pressure Vessel In-service Inspection

    International Nuclear Information System (INIS)

    Matokovic, A.; Picek, E.; Pajnic, M.

    2006-01-01

    The most important task of every utility operating a nuclear power plant is the continuously keeping of the desired safety and reliability level. This is achieved by the performance of numerous inspections of the components, equipment and system of the nuclear power plant in operation and in particular during the scheduled maintenance periods at re-fueling time. Periodic non-destructive in-service inspections provide most relevant criteria of the integrity of primary circuit pressure components. The task is to reliably detect defects and realistically size and characterize them. One of most important and the most extensive examination is a reactor pressure vessel in-service inspection. That inspection demand high standards of technology and quality and continual innovation in the field of non-destructive testing (NDT) advanced technology as well as regarding reactor pressure vessel tool and control systems. A remote underwater contact ultrasonic technique is employed for the examination of the defined sections (reactor welds), whence eddy current method is applied for clad surface examinations. Visual inspection is used for examination of the vessel inner surface. The movement of probes and data positioning are assured by using new reactor pressure vessel tool concept that is fully integrated with NDT systems. The successful performance is attributed thorough pre-outage planning, training and successful performance demonstration qualification of chosen NDT techniques on the specimens with artificial and/or real defects. Furthermore, use of advanced approach of inspection through implementation the state of the art examination equipment significantly reduced the inspection time, radiation exposure to examination personnel, shortening nuclear power plant outage and cutting the total inspection costs. The advanced approach as presented in this paper offer more flexibility of application (non-destructive tests, local grinding action as well as taking of boat samples

  20. Admixture enhanced controlled low-strength material for direct underwater injection with minimal cross-contamination

    International Nuclear Information System (INIS)

    Hepworth, H.K.; Davidson, J.S.; Hooyman, J.L.

    1997-01-01

    Commercially available admixtures have been developed for placing traditional concrete products under water. This paper evaluates adapting anti-washout admixture (AWA) and high range water reducing admixture (HRWRA) products to enhance controlled low-strength materials (CLSMs) for underwater placement. A simple experimental scale model (based on dynamic and geometric similitude) of typical grout pump emplacement equipment has been developed to determine the percentage of cementing material washed out. The objective of this study was to identify proportions of admixtures and underwater CLSM emplacement procedures which would minimize the cross-contamination of the displaced water while maintaining the advantages of CLSM. Since the displaced water from radioactively contaminated systems must be subsequently treated prior to release to the environment, the amount of cross-contamination is important for cases in which cementing material could form hard sludges in a water treatment facility and contaminate the in-place CLSM stabilization medium

  1. Remote inspection system for hazardous sites

    International Nuclear Information System (INIS)

    Redd, J.; Borst, C.; Volz, R.A.; Everett, L.J.

    1999-04-01

    Long term storage of special nuclear materials poses a number of problems. One of these is a need to inspect the items being stored from time to time. Yet the environment is hostile to man, with significant radiation exposure resulting from prolonged presence in the storage facility. This paper describes research to provide a remote inspection capability, which could lead to eliminating the need for humans to enter a nuclear storage facility. While there are many ways in which an RI system might be created, this paper describes the development of a prototype remote inspection system, which utilizes virtual reality technology along with robotics. The purpose of this system is to allow the operator to establish a safe and realistic telepresence in a remote environment. In addition, it was desired that the user interface for the system be as intuitive to use as possible, thus eliminating the need for extensive training. The goal of this system is to provide a robotic platform with two cameras, which are capable of providing accurate and reliable stereographic images of the remote environment. One application for the system is that it might be driven down the corridors of a nuclear storage facility and utilized to inspect the drums inside, all without the need for physical human presence. Thus, it is not a true virtual reality system providing simulated graphics, but rather an augmented reality system, which performs remote inspection of an existing, real environment

  2. A development methodology for a remote inspection system with JAVA and socket

    International Nuclear Information System (INIS)

    Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

    2004-01-01

    We have developed RISYS (Reactor Inspection System) which inspects reactor vessel welds by an underwater mobile robot. The system consists of a main control computer and an inspection robot which is controlled by the main control computer. Since the environments of the inspection tasks in a nuclear plant, like in other industrial fields, is very poor, serious accidents often happen. Therefore the necessity for remote inspection and control system has increased more and more. We have carried out the research for a remote inspection model for RISYS, and have adopted the world wide web, java, and socket technologies for it. Client interface to access the main control computer that controls the inspection equipment is essential for the development of a remote inspection system. It has been developed with a traditional programming language, for example, Visual C++, Visual Basic and X-Window. However, it is too expensive to vend and maintain the version of a interface program because of the different computer O/S. Nevertheless web and java technologies come to the fore to solve the problems but the java interpreting typed language could incur a performance problem in operating the remote inspection system. We suggest a methodology for developing a remote inspection system with java, a traditional programming language, and a socket programming that solves the java performance problem in this paper

  3. Pumps for nuclear facilities

    International Nuclear Information System (INIS)

    1999-01-01

    The guide describes how the Finnish Radiation and Nuclear Safety Authority (STUK) controls pumps and their motors at nuclear power plants and other nuclear facilities. The scope of the control is determined by the Safety Class of the pump in question. The various phases of the control are: (1) review of construction plan, (2) control of manufacturing, and construction inspection, (3) commissioning inspection, and (4) control during operation. STUK controls Safety Class 1, 2 and 3 pumps at nuclear facilities as described in this guide. STUK inspects Class EYT (non-nuclear) pumps separately or in connection with the commissioning inspections of the systems. This guide gives the control procedure and related requirements primarily for centrifugal pumps. However, it is also applied to the control of piston pumps and other pump types not mentioned in this guide

  4. Inspection of licensee activities in emergency planning

    International Nuclear Information System (INIS)

    Van Binnebeek, J.J.; Gutierrez Ruiz, Luis Miguel; Bouvrie, E. des; Aro, Ilari; Gil, J.; Balloffet, Yves; Forsberg, Staffan; Klonk, H.; Lang, Hans-Guenter; Fichtinger, G.; Warren, T.; Manzella, P.; Gallo, R.; Koizumi, Hiroyoshi; Johnson, M.; Pittermann, P.

    1998-01-01

    The CNRA believes that safety inspections are a major element in the regulatory authority's efforts to ensure the safe operation of nuclear facilities. Considering the importance of these issues, the Committee has established a special Working Group on Inspection Practices (WGIP). The purpose of WGIP, is to facilitate the exchange of information and experience related to regulatory safety inspections between CNRA Member countries Following discussions at several meetings on the topic of what is expected by the regulatory body regarding inspection criteria, WGIP proposed putting together a compilation of Member countries practices on regulatory inspection practices with respect to licensee emergency planning. CNRA approved this task and this report. Information was collected from a questionnaire which was issued in 1996. The report presents information on regulatory inspection activities with respect to emergency planning in NEA Member countries. The focus of the report is on the third section. It reviews the similarities and differences in inspection practices to evaluate compliance with the requirements over which the regulatory body (RB) has jurisdiction

  5. Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

    Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

  6. Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

    Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

  7. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.; Zedini, Emna; Elafandy, Rami T.; Kammoun, Abla; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.

    2017-01-01

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels

  8. MACS as a tool for international inspections

    International Nuclear Information System (INIS)

    Curtiss, J.A.; Indusi, J.P.

    1995-01-01

    The MACS/ACRS (Managed Access by Controlled Sensing/Access by Controlled Remote Sensing) system is a collection of communication devices, video capability, and distance-measuring equipment which can effectively substitute for the physical presence of a challenge inspector within a facility. The MACS design allows growth of the prototype, developed in response to the Chemical Weapons Convention (CWC), into a versatile device for inspection of sensitive nuclear facilities under other international arrangements, for example the proposed Fissile Material Cutoff Convention. A MACS/ACRS-type system in a standard, international-recognized configuration could resolve sensitive information and safety concerns through providing a means of achieving the goals of an inspection while excluding the inspector. We believe the technology used to develop MACS for the Defense Nuclear Agency, followed by ACRS for the Department of Energy, is universally adaptable for minimally-intrusive managed-access international inspections of sensitive sites

  9. MACS as a tool for international inspections

    Energy Technology Data Exchange (ETDEWEB)

    Curtiss, J.A.; Indusi, J.P.

    1995-08-01

    The MACS/ACRS (Managed Access by Controlled Sensing/Access by Controlled Remote Sensing) system is a collection of communication devices, video capability, and distance-measuring equipment which can effectively substitute for the physical presence of a challenge inspector within a facility. The MACS design allows growth of the prototype, developed in response to the Chemical Weapons Convention (CWC), into a versatile device for inspection of sensitive nuclear facilities under other international arrangements, for example the proposed Fissile Material Cutoff Convention. A MACS/ACRS-type system in a standard, international-recognized configuration could resolve sensitive information and safety concerns through providing a means of achieving the goals of an inspection while excluding the inspector. We believe the technology used to develop MACS for the Defense Nuclear Agency, followed by ACRS for the Department of Energy, is universally adaptable for minimally-intrusive managed-access international inspections of sensitive sites.

  10. Inspections Report 2002 - 2003; Tillsynsrapport 2002 - 2003

    Energy Technology Data Exchange (ETDEWEB)

    Viidas, Josefin

    2004-10-01

    The report summarises primarily the supervision of waste management and environmental protection at the nuclear facilities that was carried out by the Swedish Radiation Protection Authority in 2002 and 2003. A summary of the inspections and a description of important issues connected with the supervision of nuclear facilities are given. The inspections during 2002 focused on the investigation and coverage of the mishap related to the transport of iridium from Studsvik. The Studsvik project was initiated and the remaining supervision was temporarily given lower priority. In 2003 SSI performed two theme inspections. One focused on the handling of waste management and the other on the limitation of the effluent. Extensive supervision efforts concentrated also on Ranstad Mineral inc.

  11. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki

    2009-01-01

    Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)

  12. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

    Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)

    2002-09-01

    The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)

  13. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  14. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

    Farcas, Adrian; Thompson, Paul M.; Merchant, Nathan D.

    2016-01-01

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  15. Ocean Research Enabled by Underwater Gliders.

    Science.gov (United States)

    Rudnick, Daniel L

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  16. 49 CFR 193.2623 - Inspecting LNG storage tanks.

    Science.gov (United States)

    2010-10-01

    ... MATERIALS SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) PIPELINE SAFETY LIQUEFIED NATURAL GAS FACILITIES: FEDERAL SAFETY STANDARDS Maintenance § 193.2623 Inspecting LNG storage tanks. Each LNG... 49 Transportation 3 2010-10-01 2010-10-01 false Inspecting LNG storage tanks. 193.2623 Section 193...

  17. 49 CFR 1549.3 - TSA inspection authority.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false TSA inspection authority. 1549.3 Section 1549.3... TSA inspection authority. (a) Each certified cargo screening facility must allow TSA, at any time or....S.C. 114 and Subtitle VII, as amended; or (2) Carry out TSA's statutory or regulatory authorities...

  18. INSPECT: a package of computer programs for planning and evaluating safeguards inspections

    International Nuclear Information System (INIS)

    Mullen, M.F.

    1980-01-01

    As part of the US Program of Technical Assistance to IAEA Safeguards, PNL has developed a package of computer programs, called INSPECT, that can be used in planning and evaluating safeguards inspections of various types of nuclear facilities. The programs are based on the statistical methods described in Part F of the IAEA Safeguards Technical Manual and can be used to calculate the variance components of the MUF (Material Unaccounted For) statistic, the variance components of the D (difference) statistic, attribute and variables sampling plans, and a measure of the effectiveness of the inspection plan. The paper describes the programs, reviews a number of applications, and indicates areas for future work

  19. Underwater coating repair cuts nuclear maintenance costs

    International Nuclear Information System (INIS)

    Stuart, C.O.

    1993-01-01

    This article discusses the cleaning and recoating/repair of condensate tanks or other vessels in a nuclear power plant. The topics of the article include the safety and regulatory need for this system of repair, a description of the work done on the Brown's Ferry MK-1 suppression chamber, coating failure mechanisms, qualitative inspection, quantitative inspection, quantitative inspection results, spot repairs, and economic considerations

  20. Equipment and appliances for underwater operations. Pt. 2

    International Nuclear Information System (INIS)

    Krueger, P.

    1976-01-01

    The 6/75 edition of 'mt' reported on the 'ARGE underwater appliances' and the study on 'design development of appliances and equipment for underwater use' in a brief summary. One of these designs, the 'unmanned DSWS underwater appliance' was described in detail. The present article describes three further design developments mentioned in the above study and which are based on unmanned appliances connected to the mother-ship. These designs were developed by Preussag-Meerestechnik. (orig.) [de

  1. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos

  2. Underwater bipedal locomotion by octopuses in disguise.

    Science.gov (United States)

    Huffard, Christine L; Boneka, Farnis; Full, Robert J

    2005-03-25

    Here we report bipedal movement with a hydrostatic skeleton. Two species of octopus walk on two alternating arms using a rolling gait and appear to use the remaining six arms for camouflage. Octopus marginatus resembles a coconut, and Octopus (Abdopus) aculeatus, a clump of floating algae. Using underwater video, we analyzed the kinematics of their strides. Each arm was on the sand for more than half of the stride, qualifying this behavior as a form of walking.

  3. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

    Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.

  4. Quality assurance inspections for shipping and storage containers

    Energy Technology Data Exchange (ETDEWEB)

    Stromberg, H.M.; Roberts, G.D.; Bryce, J.H. [Lockheed Idaho Technologies Co., Idaho Falls, ID (United States)

    1996-04-01

    This is a guide for conducting quality assurance inspections of transportation packaging and dry spent fuel storage system suppliers. (Suppliers are defined as designers, fabricators, distributors, users or owners of those packaging and storage systems.) This guide may be used during inspection to determine regulatory compliance with 10 CFR, Part 71, Subpart H; 10 CFR, Part 72, Subpart G; 10 CFR, Part 21; and supplier`s quality assurance program commitments. It was developed to provide a structured, consistent approach to inspections. The guidance therein provides a framework for evaluation of transportation packaging and dry spent fuel storage systems quality assurance programs. Inspectors are provided with the flexibility to adapt the methods and concepts to meet inspection requirements for the particular facility. The method used in the guide treats each activity at a facility as a separate performance element and combines the activities within the framework of an ``inspection tree.``The method separates each performance element into several areas for inspection and identifies guidelines, based on regulatory requirements, to qualitatively evaluate each area. This guide also serves as a field manual to facilitate quality assurance inspection activities. This guide replaces an earlier one, NUREG/CR-5717 (Packing Supplier Inspection Guide). This replacement guide enhances the inspection activities for transportation packagings and adds the dry spent fuel storage system quality assurance inspection activities.

  5. Quality assurance inspections for shipping and storage containers

    International Nuclear Information System (INIS)

    Stromberg, H.M.; Roberts, G.D.; Bryce, J.H.

    1996-04-01

    This is a guide for conducting quality assurance inspections of transportation packaging and dry spent fuel storage system suppliers. (Suppliers are defined as designers, fabricators, distributors, users or owners of those packaging and storage systems.) This guide may be used during inspection to determine regulatory compliance with 10 CFR, Part 71, Subpart H; 10 CFR, Part 72, Subpart G; 10 CFR, Part 21; and supplier's quality assurance program commitments. It was developed to provide a structured, consistent approach to inspections. The guidance therein provides a framework for evaluation of transportation packaging and dry spent fuel storage systems quality assurance programs. Inspectors are provided with the flexibility to adapt the methods and concepts to meet inspection requirements for the particular facility. The method used in the guide treats each activity at a facility as a separate performance element and combines the activities within the framework of an ''inspection tree.''The method separates each performance element into several areas for inspection and identifies guidelines, based on regulatory requirements, to qualitatively evaluate each area. This guide also serves as a field manual to facilitate quality assurance inspection activities. This guide replaces an earlier one, NUREG/CR-5717 (Packing Supplier Inspection Guide). This replacement guide enhances the inspection activities for transportation packagings and adds the dry spent fuel storage system quality assurance inspection activities

  6. Allegheny County Public Swimming Pool, Hot Tub, and Spa Inspections

    Data.gov (United States)

    Allegheny County / City of Pittsburgh / Western PA Regional Data Center — Public swimming pool, hot tub, and spa facilities are licensed and inspected once each year to assure proper water quality, sanitation, lifeguard coverage and...

  7. Underwater Acoustic Target Tracking: A Review

    Science.gov (United States)

    Han, Ying; Fan, Liying

    2018-01-01

    Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

  8. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

    Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

    2017-09-01

    This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

  9. Afocal viewport optics for underwater imaging

    Science.gov (United States)

    Slater, Dan

    2014-09-01

    A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.

  10. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  11. Environmental effects on underwater optical transmission

    Science.gov (United States)

    Chu, Peter C.; Breshears, Brian F.; Cullen, Alexander J.; Hammerer, Ross F.; Martinez, Ramon P.; Phung, Thai Q.; Margolina, Tetyana; Fan, Chenwu

    2017-05-01

    Optical communication/detection systems have potential to get around some limitations of current acoustic communications and detection systems especially increased fleet and port security in noisy littoral waters. Identification of environmental effects on underwater optical transmission is the key to the success of using optics for underwater communication and detection. This paper is to answer the question "What are the transfer and correlation functions that relate measurements of hydrographic to optical parameters?" Hydrographic and optical data have been collected from the Naval Oceanographic Office survey ships with the High Intake Defined Excitation (HIDEX) photometer and sea gliders with optical back scattering sensor in various Navy interested areas such as the Arabian Gulf, Gulf of Oman, east Asian marginal seas, and Adriatic Sea. The data include temperature, salinity, bioluminescence, chlorophyll-a fluorescence, transmissivity at two different wavelengths (TRed at 670 nm, TBlue at 490 nm), and back scattering coefficient (bRed at 700 nm, bBlue at 470 nm). Transfer and correlation functions between the hydrographic and optical parameters are obtained. Bioluminescence and fluorescence maxima, transmissivity minimum with their corresponding depths, red and blue laser beam peak attenuation coefficients are identified from the optical profiles. Evident correlations are found between the ocean mixed layer depth and the blue and red laser beam peak attenuation coefficients, bioluminescence and fluorescence maxima in the Adriatic Sea, Arabian Gulf, Gulf of Oman, and Philippine Sea. Based on the observational data, an effective algorithm is recommended for solving the radiative transfer equation (RTE) for predicting underwater laser radiance.

  12. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  13. Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

    DEFF Research Database (Denmark)

    Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

    2016-01-01

    The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

  14. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  15. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

    .... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...

  16. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  17. Evaluation of Underwater Adhesives and Friction Coatings for In Situ Attachment of Fiber Optic Sensor System for Subsea Applications

    Science.gov (United States)

    Tang, Henry H.; Le, Suy Q.; Orndoff, Evelyne S.; Smith, Frederick D.; Tapia, Alma S.; Brower, David V.

    2012-01-01

    Integrity and performance monitoring of subsea pipelines and structures provides critical information for managing offshore oil and gas production operation and preventing environmentally damaging and costly catastrophic failure. Currently pipeline monitoring devices require ground assembly and installation prior to the underwater deployment of the pipeline. A monitoring device that could be installed in situ on the operating underwater structures could enhance the productivity and improve the safety of current offshore operation. Through a Space Act Agreement (SAA) between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) and Astro Technology, Inc. (ATI), JSC provides technical expertise and testing facilities to support the development of fiber optic sensor technologies by ATI. This paper details the first collaboration effort between NASA JSC and ATI in evaluating underwater applicable adhesives and friction coatings for attaching fiber optic sensor system to subsea pipeline. A market survey was conducted to examine different commercial ]off ]the ]shelf (COTS) underwater adhesive systems and to select adhesive candidates for testing and evaluation. Four COTS epoxy based underwater adhesives were selected and evaluated. The adhesives were applied and cured in simulated seawater conditions and then evaluated for application characteristics and adhesive strength. The adhesive that demonstrated the best underwater application characteristics and highest adhesive strength were identified for further evaluation in developing an attachment system that could be deployed in the harsh subsea environment. Various friction coatings were also tested in this study to measure their shear strengths for a mechanical clamping design concept for attaching fiber optic sensor system. A COTS carbide alloy coating was found to increase the shear strength of metal to metal clamping interface by up to 46 percent. This study provides valuable data for

  18. Pre-service inspection and in-service inspection in Japan

    International Nuclear Information System (INIS)

    Uebayashi, T.; Miyake, Y.

    1985-01-01

    To ensure the safety of nuclear power plant, pre-service inspection/in-service inspection (PSI/ISI) has an important role, and informations obtained from various inspections during plant shut-down period are contributing to establish effective preventive maintenance activities for plant facilities. It might be said that the high level of availability of Japanese light-water nuclear power plants in these two or three years has been achieved by those efforts. In case of Japan, inspections to be carried out during scheduled plant shut-down period are not limited to code requirements but include many other inspections which are mostly reflected from troubles experienced in both domestic and overseas plants. Usually, those additional inspections are performed by Ministry of Trade and Industries' (MITI's) regulator and/or tentative requirement and considered as ISI in broad meaning. To achieve high availability of plant, it is essential to avoid unscheduled shut-down and to shorten inspection period. The developments of new technology to perform effective ISI for operating plants are continued, but on the other hand it is also very important to pay a great consideration to inspectability of the plants at the stage of plant engineering. With the leadership of MITI, improvement and standardization of light-water nuclear power plant has been proceeded and newly constructed plants have great advantage from the point of view on ISI

  19. Cargo container inspection test program at ARPA's Nonintrusive Inspection Technology Testbed

    Science.gov (United States)

    Volberding, Roy W.; Khan, Siraj M.

    1994-10-01

    An x-ray-based cargo inspection system test program is being conducted at the Advanced Research Project Agency (ARPA)-sponsored Nonintrusive Inspection Technology Testbed (NITT) located in the Port of Tacoma, Washington. The test program seeks to determine the performance that can be expected from a dual, high-energy x-ray cargo inspection system when inspecting ISO cargo containers. This paper describes an intensive, three-month, system test involving two independent test groups, one representing the criminal smuggling element and the other representing the law enforcement community. The first group, the `Red Team', prepares ISO containers for inspection at an off-site facility. An algorithm randomly selects and indicates the positions and preparation of cargoes within a container. The prepared container is dispatched to the NITT for inspection by the `Blue Team'. After in-gate processing, it is queued for examination. The Blue Team inspects the container and decides whether or not to pass the container. The shipment undergoes out-gate processing and returns to the Red Team. The results of the inspection are recorded for subsequent analysis. The test process, including its governing protocol, the cargoes, container preparation, the examination and results available at the time of submission are presented.

  20. Innovative inspection system for reactor pressure vessels; Innovative Pruefsysteme fuer Reaktordruckbehaelter

    Energy Technology Data Exchange (ETDEWEB)

    Mertens, K.; Trautmann, H.

    1999-08-01

    The versatile, compact and modern underwater systems described, the DELPHIN manipulators and MIDAS submarines, are innovative systems enabling RPV inspections at considerably reduced efforts and time, thus reducing the total time required for ISI of reactors. (orig./CB) [Deutsch] Die vorgestellten kleinen, flexiblen und modernen Schwimmsysteme (DELPHIN-Manipulatoren und MIDAS-U-Boote) sind innovative Systeme fuer die Reduzierung der Aufwaende und Zeit zur Pruefung des Reaktordruckbehaelters und damit zur Reduktion der Revisionszeiten der Reaktoranlagen. (orig.)

  1. Safety inspections to TRIGA reactors

    International Nuclear Information System (INIS)

    Byszewski, W.

    1988-01-01

    The operational safety advisory programme was created to provide useful assistance and advice from an international perspective to research reactor operators and regulators on how to enhance operational safety and radiation protection on their reactors. Safety missions cover not only the operational safety of reactors themselves, but also the safety of associated experimental loops, isotope laboratories and other experimental facilities. Safety missions are also performed on request in other Member States which are interested in receiving impartial advice and assistance in order to enhance the safety of research reactors. The results of the inspections have shown that in some countries there are problems with radiation protection practices and nuclear safety. Very often the Safety Analysis Report is not updated, regulatory supervision needs clarification and improvement, maintenance procedures should be more formalised and records and reports are not maintained properly. In many cases population density around the facility has increased affecting the validity of the original safety analysis

  2. Optical fiber inspection system

    Science.gov (United States)

    Moore, Francis W.

    1987-01-01

    A remote optical inspection system including an inspection head. The inspection head has a passageway through which pellets or other objects are passed. A window is provided along the passageway through which light is beamed against the objects being inspected. A plurality of lens assemblies are arranged about the window so that reflected light can be gathered and transferred to a plurality of coherent optical fiber light guides. The light guides transfer the light images to a television or other image transducer which converts the optical images into a representative electronic signal. The electronic signal can then be displayed on a signal viewer such as a television monitor for inspection by a person. A staging means can be used to support the objects for viewing through the window. Routing means can be used to direct inspected objects into appropriate exit passages for accepted or rejected objects. The inspected objects are advantageously fed in a singular manner to the staging means and routing means. The inspection system is advantageously used in an enclosure when toxic or hazardous materials are being inspected.

  3. 46 CFR 153.812 - Inspection for Certificate of Inspection.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Inspection for Certificate of Inspection. 153.812... CARGOES SHIPS CARRYING BULK LIQUID, LIQUEFIED GAS, OR COMPRESSED GAS HAZARDOUS MATERIALS Design and Equipment Testing and Inspection § 153.812 Inspection for Certificate of Inspection. The rules governing the...

  4. OSE inspection of materials control and accountability: Review

    International Nuclear Information System (INIS)

    Coady, K.J.

    1987-01-01

    As part of its task to confirm that Department of Energy (DOE) field offices provide levels of security and safeguards commensurate with defined threats, the DOE Office of Security Evaluations (OSE) conducts inspections of the nuclear materials control and accountability (MC and A) systems at DOE facilities throughout the United States. Inspections are based on the DOE Safeguards and Security Standards and Criteria, tailored to the specific aspects at and threats to each individual site. This paper reviews the process of inspecting MC and A systems during the planning, preinspection, and inspection/reporting phases

  5. Hanford site post-NPH building inspection plan

    International Nuclear Information System (INIS)

    Wagenblast, G.R. Westinghouse Hanford

    1996-01-01

    This plan establishes consistent post-NPH building inspection procedures and defines a procedure for prioritization of buildings for inspection to ensure the safety of facilities prior to reentry. Qualification of systems for restart of operation is not included. This plan takes advantage, where possible, of existing national procedures for post-NPH inspection of buildings, of existing structural design and evaluation documentation of Hanford facilities, and current and proposed seismic instrumentation located throughout the Hanford site. A list of buildings, prioritized according to current building safety function and building vulnerability (without regard for or information about a damaging natural forces event) is provided

  6. International Nuclear Safeguards Inspection Support Tool (INSIST)

    International Nuclear Information System (INIS)

    St. Pierre, D.E.; Steinmaus, K.L.; Moon, B.D.

    1994-07-01

    DOE is committed to providing technologies to the International Atomic Energy Agency (IAEA) to meet escalating monitoring and inspection requirements associated with the Non-Proliferation Treaty (NPT). One example of technology provided to the IAEA is the information management and remote monitoring capabilities being customized for the IAEA by the International Safeguards Division of the Office of Non-Proliferation and National Security. The ongoing Safeguards Information Management Systems (SIMS) program is an interlaboratory effort providing the IAEA with a range of information management capabilities designed to enhance the effectiveness of their nuclear inspection activities. The initial commitment involved the customization of computer capabilities to provide IAEA with the basic capability to geographically organize, store, and retrieve the large quantity of information involved in their nuclear on site inspection activities in Iraq. This initial system, the International Nuclear Safeguards Inspection Support Tool (INSIST), was developed by DOE's Pacific Northwest Laboratory (PNL). To date, two INSIST workstations have been deployed at the IAEA. The first has been used to support the IAEA Action Team in the inspection of Iraqi nuclear facilities since August 1993. A second, and similar, workstation has been deployed to support environmental monitoring under the IAEA 93+2 Programme. Both INSIST workstations geographically integrate analog (video) and digital data to provide an easy to use and effective tool for storing retrieving and displaying multimedia site and facility information including world-wide maps, satellite and aerial imagery, on site photography, live inspection videos, and treaty and inspection textual information. The interactive, UNIX-based workstations have a variety of peripheral devices for information input and output. INSIST software includes commercial-off-the-shelf (COTS) modules and application-specific code developed at PNL

  7. Revised inspection program for nuclear power plants

    International Nuclear Information System (INIS)

    1978-01-01

    The United States Nuclear Regulatory Commission (NRC) regulates nuclear power plants to assure adequate protection of the public and the environment from the dangers associated with nuclear materials. NRC fulfills this responsibility through comprehensive safety reviews of nuclear facilities, licensing of organizations that use nuclear materials, and continuing inspection. The NRC inspection program is currently conducted from the five regional offices in or near Philadelphia, Atlanta, Chicago, Dallas and San Francisco. Inspectors travel from the regional offices to nuclear power plants in various phases of construction, test and operation in order to conduct inspections. However, in June 1977 the Commission approved a revision to the inspection program that will include stationing inspectors at selected plants under construction and at all plants in operation. In addition, the revised program provides for appraising the performance of licensees on a national basis and involves more direct measurement and observation by NRC inspectors of work and tests in progress. The program also includes enhanced career management consisting of improved training and career development for inspectors and other professionals. The report was requested in the Conference Report on the NRC Authorization for Appropriations for Fiscal Year 1978. The report provides a discussion of the basis for both the current and revised inspection programs, describes these programs, and shows how the NRC inspection force will be trained and utilized. In addition, the report includes a discussion of the actions that will be taken to assure the objectivity of inspectors

  8. Inspection program for U.S. research reactors

    International Nuclear Information System (INIS)

    Isaac, Patrick J.

    2010-01-01

    This paper presents an established program for inspection of nuclear research reactors to ensure that systems and techniques are in accordance with regulatory requirements and to provide protection for the health and safety of the public. The inspection program, implemented from the time a facility gets licensed, remains in effect through operations, shutdown, decommissioning, and until the license is terminated. The program establishes inspection methodology for operating, safeguards, and decommissioning activities. Using a performance- based approach, inspectors focus their attention on activities important to safety. Inspection procedures allow the inspectors to assess facility safety and compliance to applicable requirements. A well designed inspection program is an integral part of the mechanism to ensure that the level of performance in the strategic areas of reactor safety, radiation safety, and safeguards is acceptable and provides adequate protection of public health and safety. (author)

  9. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

  10. Evaluating the SCC resistance of underwater welds in sodium tetrathionate

    International Nuclear Information System (INIS)

    White, R.A.; Angeliu, T.M.

    1997-01-01

    The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA) and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H 2 SO 4 . The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process

  11. Remarks on the observability of single beacon underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Ross, Andrew

    This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...

  12. Underwater laser cladding and seal welding for INCONEL 52

    International Nuclear Information System (INIS)

    Tamura, Masataka; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Yoda, Masaki

    2007-01-01

    Recently, stress corrosion cracking (SCC) has been observed at aged components of nuclear power plants under water environment and high exposure of radiation. Toshiba has been developing both an underwater laser welding directly onto surface of the aged components as maintenance and repair techniques. This paper reports underwater laser cladding and seal welding for INCONEL 52. (author)

  13. Underwater methods for study of salmonids in the Intermountain West

    Science.gov (United States)

    Russell F. Thurow

    1994-01-01

    This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.

  14. The WODA guidance paper on underwater sound from dredging (abstract)

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

    2013-01-01

    The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

  15. Technical regulation of nondestructive inspection

    International Nuclear Information System (INIS)

    1995-01-01

    It starts with the explanation of definition of nondestructive inspection and qualifications for a inspection. It lists the technical regulations of nondestructive inspections which are radiographic testing, ultrasonic flaw detecting test, liquid penetrant test, magnetic particle inspection, eddy current test visual inspection and leakage test.

  16. ALS insertion device block measurement and inspection

    International Nuclear Information System (INIS)

    Marks, S.; Carrieri, J.; Cook, C.; Hassenzahl, W.V.; Hoyer, E.; Plate, D.

    1991-05-01

    The performance specifications for ALS insertion devices require detailed knowledge and strict control of the Nd-Fe-B permanent magnet blocks incorporated in these devices. This paper describes the measurement and inspection apparatus and the procedures designed to qualify and characterize these blocks. A detailed description of a new, automated Helmholtz coil facility for measurement of the three components of magnetic moment is included. Physical block inspection and magnetic moment measurement procedures are described. Together they provide a basis for qualifying blocks and for specifying placement of blocks within an insertion devices' magnetic structures. 1 ref., 4 figs

  17. Mobile waste inspection real time radiography system

    International Nuclear Information System (INIS)

    Vigil, J.; Taggart, D.; Betts, S.; Rael, C.; Martinez, F.; Mendez, J.

    1995-01-01

    The 450-KeV Mobile Real Time Radiography System was designed and purchased to inspect containers of radioactive waste produced at Los Alamos National Laboratory (LANL). The Mobile Real Time Radiography System has the capability of inspecting waste containers of various sizes from 5-gal. buckets to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). The fact that this unit is mobile makes it an attractive alternative to the costly road closures associated with moving waste from the waste generator to storage or disposal facilities

  18. Development of the pellet grinding and inspection system

    International Nuclear Information System (INIS)

    Yamaguchi, Toshihiro; Kawasaki, Takao; Inui, Toshihiko; Yamada, Hiroyuki.

    1996-01-01

    The pellet grinding and inspection system is the facility of producing the MOX fuel for FBRs, and it was delivered in March, 1996 to the No. 3 Development Office of the plutonium fuel shop in Tokai of Power Reactor and Nuclear Fuel Development Corporation. This facility realized the high speed processing using the compact facility by combining the grinding of pellets, the inspection of outer density and appearance, the rationalization of the facility and the high performance automation equipment. The production processes of MOX comprise the processes of powder, sinter, finish and inspection, fabrication and assembling. The requirement for developing these facilities is shown. The features of this pellet grinding and inspection system are the compact facility by the combination of functions, high speed processing, the reduction of holdup in processes and the improvement of maintenance. These features are explained. The main components are simple sorting equipment, grinder, grinding dust recovering equipment, outside diameter and density sorting equipment and appearance inspection equipment. The constitution and the main functions of the control facility are described. The operational process is explained. (K.I.)

  19. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

    Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.

  20. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

    It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

  1. Health products inspection

    International Nuclear Information System (INIS)

    Stoltz, M.

    2009-01-01

    To protect public health, the Health Products Inspection is a public service mission where the application of regulations concerning activities on human health products and cosmetic products is verified. This mission permits a global approach to assess the health products risk-based benefit and, in monitoring by laboratory testing and by on site inspections, to verify their compliance with appropriate regulations. The seventy five inspectors perform about eight hundred inspections per year, in France and abroad. These inspections are related to data provided in the health products assessment and also to manufacturing and delivery practices. The French inspection body is also involved in the training of foreign inspectors and in the harmonization of national, European and international practices either for operators than for the competent authorities. (author)

  2. Acquisition and tracking for underwater optical communications

    Science.gov (United States)

    Williams, Andrew J.; Laycock, Leslie L.; Griffith, Michael S.; McCarthy, Andrew G.; Rowe, Duncan P.

    2017-10-01

    There is a growing requirement to transfer large volumes of data between underwater platforms. As seawater is transmissive in the visible band, underwater optical communications is an active area of interest since it offers the potential for power efficient, covert and high bandwidth datalinks at short to medium ranges. Short range systems have been successfully demonstrated using sources with low directionality. To realise higher data rates and/or longer ranges, the use of more efficient directional beams is required; by necessity, these must be sufficiently aligned to achieve the required link margin. For mobile platforms, the acquisition and tracking of each node is therefore critical in order to establish and maintain an optical datalink. This paper describes work undertaken to demonstrate acquisition and tracking in a 3D underwater environment. A range of optical sources, beam steering technologies, and tracking sensors have been assessed for suitability. A novel scanning strategy exploiting variable beam divergence was developed to provide robust acquisition whilst minimising acquisition time. A prototype system was assembled and demonstrated in a large water tank. This utilised custom quadrant detectors based on Silicon PhotoMultiplier (SiPM) arrays for fine tracking, and a Wide Field of View (WFoV) sCMOS camera for link acquisition. Fluidic lenses provided dynamic control of beam divergence, and AC modulation/filtering enabled background rejection. The system successfully demonstrated robust optical acquisition and tracking between two nodes with only nanowatt received optical powers. The acquisition time was shown to be dependent on the initial conditions and the transmitted optical power.

  3. High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

    Science.gov (United States)

    Pampalone, Vincenzo; Milici, Barbara

    2015-12-01

    The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

  4. Leakage warning system for flexible underwater pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Moeller, E; Bernstein, L

    1985-08-01

    Underwater pipelines for unloading oil tankers, e.g. in 30 km distance from the harbour site, are required to be flexible and require supervision. This is done by implementation of oil sensitive sensors between the inner rubber tube and the following impregnated textile layer. The generated sensor signals, influenced by leak oil, have to be wireless transmitted from 150 meters under water to the supervisory station at the coast. Sensor configurations are described, to derive the point of the leakage from the topologized warning signals.

  5. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

    Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.

  6. Underwater photography - A visual survey method

    Digital Repository Service at National Institute of Oceanography (India)

    Sharma, R.

    Content-Type text/plain; charset=UTF-8 173 Underwater photography - A visual survey method Rahul Sharma National Institute of Oceanography, Dona Paula, Goa-403004 rsharma@nio.org Introduction “Photography as a means of observing...-sea photographs were those made by Maurice Ewing and his co-workers during cruises on Atlantis in 1940-48. Their subject was the seafloor and their method of clicking was to trigger the camera mechanically when its mounting struck bottom. This is the only...

  7. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

    This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to

  8. Underwater Activities in the Soviet Union

    Science.gov (United States)

    1975-03-01

    morska , no. 12, 1967, 558-559. Eighty hours under the ice. Poseidon, no. 10 (70), 1967, inside front cover, 433-438, and 465. Fisera, M. A tent, a...Schiffbautechnik, no. 10, 1968. 568-574. 222. Kullnski, J. Meduza-2 underwater base for divers. Technika i gospodarka morska , no. 1, 1969, 44-46. 223...Technika i gospodarka morska , no. 4, 1973, 225-226. Baras, J., S. A. Guljar, and J. N. Kiklewitsch. The Ikhtiandr experiments. Poseidon, no. 4(136

  9. Hydraulic lifter for an underwater drilling rig

    Energy Technology Data Exchange (ETDEWEB)

    Garan' ko, Yu L

    1981-01-15

    A hydraulic lifter is suggested for an underwater drilling rig. It includes a base, hydraulic cylinders for lifting the drilling pipes connected to the clamp holder and hydraulic distributor. In order to simplify the design of the device, the base is made with a hollow chamber connected to the rod cavities and through the hydraulic distributor to the cavities of the hydraulic cylinders for lifting the drilling pipes. The hydraulic distributor is connected to the hydrosphere through the supply valve with control in time or by remote control. The base is equipped with reverse valves whose outlets are on the support surface of the base.

  10. Forecast of Remote Underwater Sensing Technology.

    Science.gov (United States)

    1980-07-01

    Ndgrt o oth NIA ye ’ Suite 709NrtFaothMAO5i Arligton VA 2202Attn: Dave Ho0soci, Chief Enginee~r Attn : Jay W. -arford, Manlager, (617) 563-59)17 (703...0,1305 Attn: Dr. A. Zielinski , Asst. Professor Attn: C. R. B. Lister Faculty of Engineering and (20t) 325-5497 Applied Science (709) 753-1200 Lockheed...157. Zielinski , A.; Barbour, L.; "Swept Carrier Acoustic Underwater Communica- tions," IEEE/MTS Oceans 󈨒, Washington, DC, Sept. 6-8, 1978. 158

  11. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

    Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens

    2014-01-01

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...

  12. Working underwater: deepwater drilling support by ROV

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

    Experience with the drill ships Discoverer Seven Seas and Penrod 78 explains some of the problems associated with the use of remotely operated vehicles (ROVs) for underwater operations. Support services are a bigger problem than depth. The author describes developments, such as the new guidewire methods, side launch A-frame davit, and top hat stabilizing frame. All parts of the ROV system must be of heavy duty design, and operative skill is of paramount importance. The major requirements for deep water ROVs are reliability, fail-safe redundancy, cage deployment, compact size, adequate power, and capacity for heavy intervention work. 8 figures.

  13. Determining spherical lens correction for astronaut training underwater.

    Science.gov (United States)

    Porter, Jason; Gibson, C Robert; Strauss, Samuel

    2011-09-01

    To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

  14. Licensee contractor and vendor inspection status report. Quarterly progress report, April 1996--June 1996

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-08-01

    The federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. The Vendor Inspection System (VIS) of the Special Inspection Branch reviews and inspects the quality and suitability of vendor products, licensee-vendor interface, environmental qualification of equipment, and review of equipment problems found during operation and their corrective action. This report contains copies of all vendor inspection reports issued during the calendar year for which it is published.

  15. Licensee contractor and vendor inspection status report. Quarterly progress report, April 1996--June 1996

    International Nuclear Information System (INIS)

    1996-08-01

    The federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. The Vendor Inspection System (VIS) of the Special Inspection Branch reviews and inspects the quality and suitability of vendor products, licensee-vendor interface, environmental qualification of equipment, and review of equipment problems found during operation and their corrective action. This report contains copies of all vendor inspection reports issued during the calendar year for which it is published

  16. Development of inspection safety evaluation technology

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Seok Chul; Yoon, Yeo Chang; Kim, Jong Soo; Lee, Tae Young; Kim, Chang Ryol; Lee, Hyung Sub; Kim, Jong Soo

    1995-12-01

    The purpose of this project is to protection nation inspector`s over exposure from radiation that can be occurred by inspection activity at nuclear facilities and its environment, and to ensure the safety of inspection activity at the nuclear facilities. To effectively carry out the domestic inspection task to be enforced from 1996, the evaluation for special radiation exposure rate of nuclear facilities, air and surface contamination level, and measurement and monitoring of water contamination level were made to determine whether these measured values exceeded permissible limitations, and to protect the inspector`s over exposure from radiation at domestic nuclear facilities. Management of inspector`s exposure was carried out under assistance of the Department of Health Physics. Performance tests of two gamma detectors, one neutron detector, alpha and beta detector, and gamma spectroscopy analyzer were carried out to control dose on extremity, the characteristic test for extremity dosimeter was carried out and the theoretical calculation of gamma dose conversion factors based on ANSI N13.32 standard was performed. Under the 93+2 program, IAEA began to recognize the necessity of environmental observation technology development of air-borne particulates travelled from long distance location. Associated with the necessity of this technology development, a proposal of international joint research for development of the special radiation measurement and analysis has been prepared. (author). 21 tabs., 24 figs., 20 refs.

  17. Laboratory Evaluation of Underwater Grouting of CPP-603 Basins

    International Nuclear Information System (INIS)

    Johnson, V.J.; Pao, J.H.; Demmer, R.L.; Tripp, J.L.

    2002-01-01

    A project is underway to deactivate a Fuel Storage Basin. The project specifies the requirements and identifies the tasks that will be performed for deactivation of the CPP- 603 building at the Idaho Nuclear Technology and Engineering Center of the Idaho National Engineering and Environmental Laboratory. The Fuel Receiving and Storage Building (CPP- 603) was originally used to receive and store spent nuclear fuel from various facilities. The area to undergo deactivation includes the three spent nuclear fuel storage basins and a transfer canal (1.5 million gallons of water storage). Deactivation operations at the task site include management of the hot storage boxes and generic fuel objects, removal of the fuel storage racks, basin sludge, water evaporation and basin grouting, and interior equipment, tanks, and associated components. This includes a study to develop a grout formulation and placement process for this deactivation project. Water will be allowed to passively evaporate to r educe the spread of contamination from the walls of the basin. The basins will be filled with grout, underwater, as the water evaporates to maintain the basin water at a safe level. The objective of the deactivation project is to eliminate potential exposure to hazardous and radioactive materials and eliminate potential safety hazards associated with the CPP-603 building

  18. Underwater sediment-contact radiation survey method

    International Nuclear Information System (INIS)

    Lee, D.R.; St. Aubin, M.; Welch, S.J.

    1991-01-01

    The authors are striving to produce a practical system for mapping lateral distributions in gamma activity on submerged sediments. This is in response to the need for quality control and interpretation of data obtainable by sediment sampling and analyses near nuclear utilities. A prototype gamma probe has been constructed and tested. The prototype is essentially a background survey meter packaged in a 53-cm-long x 5.4-cm-diam waterproof vehicle. This usage-shaped vehicle is connected to a cable for towing in contact with bottom sediments of lakes, rivers, and coastal waters. This vehicle, or sediment probe as it is called, was initially developed for measuring sediment electrical conductances, a parameter that can be used to locate underwater areas of groundwater and contaminant upwelling. During towing, the probe does not roll or twist around its longitudinal axis by more than 10 deg, so that sensors, which have been fixed within the vehicle, can be oriented to look up, down, or sideways. In over 450 lin-km of underwater survey, only a single sediment probe has been irretrievably snagged on sunken rocks or other debris. Work in the Ottawa River near the Chalk River Laboratories has shown good agreement among point measurements of river sediment with continuous measurements using the moving probe

  19. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

    A recent addition to the anthropogenic sources of underwater noise is offshore wave energy converters. Underwater noise was recorded from the Wavestar wave energy converter located at Hastholm, Denmark (57°7.73´N, 8°37.23´E). The Wavestar is a full-scale test and demonstration converter...... in full operation and start and stop of the converter. Median broad band (10 Hz – 20 kHz) sound pressure level (Leq) was 123 dB re. 1 Pa, irrespective of status of the wave energy converter (stopped, running or starting/stopping). The most pronounced peak in the third-octave spectrum was in the 160 Hz...... significant noise above ambient could be detected above the 250 Hz band. The absolute increase in noise above ambient was very small. L50 third-octave levels in the four bands with the converter running were thus only 1-2 dB above ambient L50 levels. The noise recorded 25 m from the wave energy converter...

  20. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

    Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

  1. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

    Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

  2. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

    Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.

  3. Runway Inspection by RPAS

    Directory of Open Access Journals (Sweden)

    Stanislav Absolon

    2015-10-01

    Full Text Available This article discusses the use of the RPAS for the inspection of the airport operating areas. The paper compares the current process of the inspection of the airport operating areas by the airport staff with the possibilities which are offered by the use of the modern technology RPAS. The following text also describes how to inspect airport operating areas by the RPAS, specific technical possibilities and the applicable technical solutions. Furthermore there are variants of piloting the RPAS, comparing usable equipment, equipment for video recording and the possibility of using thermal imaging camera in the article.

  4. Magnetic rubber inspection (MRI)

    International Nuclear Information System (INIS)

    Carro, L.

    1997-01-01

    Magnetic Rubber Inspection (MRI) was developed to inspect for small cracks and flaws encountered in high performance aircraft. A formula of very fine magnetic particles immersed in a room temperature curing rubber is catalysed and poured into dams (retainers) on the surface of the part to be inspected. Inducing a magnetic field then causes the particles to be drawn to discontinuities in the component under test. These indicating particles are held to the discontinuity by magnetic attraction, as the rubber cures. The solid rubber cast (Replica) is then removed and examined under a microscope for indicating lines of particle concentrations. 3 refs., 6 figs

  5. Automated PCB Inspection System

    Directory of Open Access Journals (Sweden)

    Syed Usama BUKHARI

    2017-05-01

    Full Text Available Development of an automated PCB inspection system as per the need of industry is a challenging task. In this paper a case study is presented, to exhibit, a proposed system for an immigration process of a manual PCB inspection system to an automated PCB inspection system, with a minimal intervention on the existing production flow, for a leading automotive manufacturing company. A detailed design of the system, based on computer vision followed by testing and analysis was proposed, in order to aid the manufacturer in the process of automation.

  6. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

    White, R.A.; Fusaro, R.; Jones, M.G.; Solomon, H.D.; Milian-Rodriguez, R.R.

    1997-01-01

    Two welding processes, plasma arc (transferred arc) (PTA) and laser beam, were investigated to apply cladding to austenitic stainless steels and Inconel 600. These processes have long been used to apply cladding layers , but the novel feature being reported here is that these cladding layers were applied underwater, with a water pressure equivalent to 24 m (80 ft). Being able to apply the cladding underwater is very important for many applications, including the construction of off-shore oil platforms and the repair of nuclear reactors. In the latter case, being able to weld underwater eliminates the need for draining the reactor and removing the fuel. Welding underwater in reactors presents numerous challenges, but the ability to weld without having to drain the reactor and remove the fuel provides a huge cost savings. Welding underwater in reactors must be done remotely, but because of the radioactive corrosion products and neutron activation of the steels, remote welding would also be required even if the reactor is drained and the fuel removed. In fact, without the shielding of the water, the remote welding required if the reactor is drained might be even more difficult than that required with underwater welds. Furthermore, as shall be shown, the underwater welds that the authors have made were of high quality and exhibit compressive rather than tensile residual stresses

  7. Underwater fiber-wireless communication with a passive front end

    Science.gov (United States)

    Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

    2017-11-01

    We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

  8. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

    Redding, Brandon; Davis, Allen; Kirkendall, Clay; Dandridge, Anthony

    2016-05-01

    Emerging underwater optical imaging and sensing applications rely on phase-sensitive detection to provide added functionality and improved sensitivity. However, underwater turbulence introduces spatio-temporal variations in the refractive index of water which can degrade the performance of these systems. Although the influence of turbulence on traditional, non-interferometric imaging has been investigated, its influence on the optical phase remains poorly understood. Nonetheless, a thorough understanding of the spatio-temporal dynamics of the optical phase of light passing through underwater turbulence are crucial to the design of phase-sensitive imaging and sensing systems. To address this concern, we combined underwater imaging with high speed holography to provide a calibrated characterization of the effects of turbulence on the optical phase. By measuring the modulation transfer function of an underwater imaging system, we were able to calibrate varying levels of optical turbulence intensity using the Simple Underwater Imaging Model (SUIM). We then used high speed holography to measure the temporal dynamics of the optical phase of light passing through varying levels of turbulence. Using this method, we measured the variance in the amplitude and phase of the beam, the temporal correlation of the optical phase, and recorded the turbulence induced phase noise as a function of frequency. By bench marking the effects of varying levels of turbulence on the optical phase, this work provides a basis to evaluate the real-world potential of emerging underwater interferometric sensing modalities.

  9. Optimizing and joining future safeguards efforts by 'remote inspections'

    International Nuclear Information System (INIS)

    Zendel, M.; Khlebnikov, N.

    2009-01-01

    Full-text: Remote inspections have a large potential to save inspection effort in future routine safeguards implementation. Such inspections involve remote activities based on the analysis of data acquired in the field without the physical presence of an inspector, shifting the inspectors' priorities further toward unannounced inspections, complementary access activities and data evaluation. Large, automated and complex facilities require facility resident and specific safeguards equipment systems with features for unattended and remotely controlled operation as well as being integrated in the nuclear process. In many instances the use of such equipment jointly with the SSAC/RSAC and the operator is foreseen to achieve affordable effectiveness with a minimum level of intrusiveness to the facility operation. Where it becomes possible to achieve independent conclusions by this approach, the IAEA would make full use of the SSAC/RSAC, involving State inspectors and/or facility operators to operate inspection systems under remotely controlled IAEA mechanisms. These mechanisms would include documented procedures for routine joint-use, defining arrangements for data sharing, physical security and authentication mechanisms, recalibration and use of standards and software, maintenance, repair, storage and transportation. The level of cooperation and willingness of a State to implement such measures requested and properly justified by the IAEA will demonstrate its commitment to full transparency in its nuclear activities. Examples of existing remote inspection activities, including joint-use activities will be discussed. The future potential of remote inspections will be assessed considering technical developments and increased needs for process monitoring. Enhanced cooperation with SSAC/RSAC within the framework of remote inspections could further optimize the IAEA's inspection efforts while at the same time maintaining effective safeguards implementation. (author)

  10. Wheel inspection system environment.

    Science.gov (United States)

    2008-11-18

    International Electronic Machines Corporation (IEM) has developed and is now marketing a state-of-the-art Wheel Inspection System Environment (WISE). WISE provides wheel profile and dimensional measurements, i.e. rim thickness, flange height, flange ...

  11. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  12. Summary of the guideline on underwater laser beam repair welding

    International Nuclear Information System (INIS)

    Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

    2013-01-01

    It is known that stress corrosion cracking (SCC) might occur at the weld of a reactor pressure vessel or core internals. Underwater laser beam clad welding for mitigation of SCC has been already established and the guideline 'Underwater laser beam clad welding' was published. Moreover, the guideline 'Seal welding' was also published as a repair method for SCC. In addition to these guidelines, the guideline 'Underwater laser beam repair welding' was newly published in November, 2012 for the repair welding after completely removing a SCC crack occurred in weld or base metal. This paper introduces the summary of this guideline. (author)

  13. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

    Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

  14. Application of YAG laser processing in underwater welding and cutting

    Energy Technology Data Exchange (ETDEWEB)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    2002-09-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  15. WODA Technical Guidance on Underwater Sound from Dredging.

    Science.gov (United States)

    Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.

  16. Development of underwater laser cladding and underwater laser seal welding techniques for reactor components

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Tanaka, Yoshimi; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Matsunaga, Keiji

    2009-01-01

    Stress corrosion cracking (SCC) has been reported at the aged components in many nuclear power plants. Toshiba has been developing the underwater laser welding. This welding technique can be conducted without draining the water in the reactor vessel. It is beneficial for workers not to exposure the radiation. The welding speed can be attaining twice as fast as that of Gas Tungsten Arc Welding (GTAW). The susceptibility of SCC can also be lower than the Alloy 600 base metal. (author)

  17. The Development of a Radiation Hardened Robot for Nuclear Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

    2007-04-15

    We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

  18. Testing lifting systems in nuclear facilities

    International Nuclear Information System (INIS)

    Kling, H.; Laug, R.

    1984-01-01

    Lifting systems in nuclear facilities must be inspected at regular intervals after having undergone their first acceptance test. These inspections are frequently carried out by service firms which not only employ the skilled personnel required for such jobs but also make available the necessary test equipment. The inspections in particular include a number of sophisticated load tests for which test load systems have been developed to allow lifting systems to be tested so that reactor specific boundary conditions are taken into account. In view of the large number of facilities to be inspected, the test load system is a modular system. (orig.) [de

  19. Steel structures for nuclear facilities

    International Nuclear Information System (INIS)

    1993-01-01

    In the guide the requirements concerning design and fabrication of steel structures for nuclear facilities and documents to be submitted to the Finnish Centre for Radiation and Nuclear Safety (STUK) are presented. Furthermore, regulations concerning inspection of steel structures during construction of nuclear facilities and during their operation are set forth

  20. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  1. APPLYING SIMPLE TECHNOLOGY ACCOMPLISHES VISUAL INSPECTION CHALLENGES

    International Nuclear Information System (INIS)

    Robinson, C

    2007-01-01

    This paper discusses the successful implementation of simple video technologies at the Savannah River Site (SRS) to perform complex visual inspection, monitoring, and surveillance tasks. Because SRS facilities are similar to those of an industrial plant, the environmental and accessibility considerations for remote viewing are the primary determining factors in the selection of technology. The constraints and challenges associated with remote viewing are discussed, and examples of applications are given

  2. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

    Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: rapidis@inp.demokritos.gr

    2009-04-11

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  3. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

    This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...

  4. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  5. Silent Localization of Underwater Sensors Using Magnetometers

    Directory of Open Access Journals (Sweden)

    Jonas Callmer

    2010-01-01

    Full Text Available Sensor localization is a central problem for sensor networks. If the sensor positions are uncertain, the target tracking ability of the sensor network is reduced. Sensor localization in underwater environments is traditionally addressed using acoustic range measurements involving known anchor or surface nodes. We explore the usage of triaxial magnetometers and a friendly vessel with known magnetic dipole to silently localize the sensors. The ferromagnetic field created by the dipole is measured by the magnetometers and is used to localize the sensors. The trajectory of the vessel and the sensor positions are estimated simultaneously using an Extended Kalman Filter (EKF. Simulations show that the sensors can be accurately positioned using magnetometers.

  6. A study on improvements of inspection efficiency with remote transmission of inspection data

    International Nuclear Information System (INIS)

    Kikuchi, Masahiro

    2010-01-01

    Current information networks technology brought secure and convenient condition of information transmission, so that inspectorates intend to apply such technology to optimize current inspection efforts. IAEA established the Remote Monitoring Project (RMP) in 1996 and started to draft safeguards concepts, and approaches to refer the implementation of remote monitoring technology and to compromise with relationship between current inspection activities and the remote monitoring technologies. Although communications costs and conditions of secured communication should be further investigated, the technologies would have a possibility to reduce current inspection efforts. We would face at the step to study on the several issues such as what measures could be candidate to use, how much cost we needs, what kind of technical risks would be concerned, further improvements could be achieved by comparison with current inspection costs and effectiveness. This paper reports on the expectation points and relevant technical attention points which are related to apply unattended inspection system with remote data transmission to the flows and inventory verification of item and bulk facility, respectively, in order to improve inspection efforts. (author)

  7. Underwater colorectal EMR: remodeling endoscopic mucosal resection.

    Science.gov (United States)

    Curcio, Gabriele; Granata, Antonino; Ligresti, Dario; Tarantino, Ilaria; Barresi, Luca; Liotta, Rosa; Traina, Mario

    2015-05-01

    Underwater EMR (UEMR) has been reported as a new technique for the removal of large sessile colorectal polyps without need for submucosal injection. To evaluate (1) outcomes of UEMR, (2) whether UEMR can be easily performed by an endoscopist skilled in traditional EMR without specific dedicated training in UEMR, and (3) whether EUS is required before UEMR. Prospective, observational study. Single, tertiary-care referral center. Underwater EMR. Complete resection and adverse events. A total of 72 consecutive patients underwent UEMR of 81 sessile colorectal polyps. EUS was performed before UEMR in 9 cases (11.1%) with a suspicious mucosal/vascular pattern. The mean polyp size was 18.7 mm (range 10-50 mm); the mean UEMR time was 11.8 minutes. Fifty-five polyps (68%) were removed en bloc, and 26 (32%) were removed with a piecemeal technique. Histopathology consisted of tubular adenomas (25.9%), tubulovillous adenomas (5%), adenomas with high-grade dysplasia (42%), serrated polyps (4.9%), carcinoma in situ (13.6%), and hyperplastic polyps (8.6%). Surveillance colonoscopy was scheduled at 3 months. Complete resection was successful in all patients. No adverse events or recurrence was recorded in any of the patients. Limited follow-up; single-center, uncontrolled study. Interventional endoscopists skilled in conventional EMR performed UEMR without specific dedicated training. EUS may not be required for lesions with no invasive features on high-definition narrow-band imaging. UEMR appears to be an effective and safe alternative to traditional EMR and could eventually improve the way in which we can effectively and safely treat colorectal lesions. Copyright © 2015 American Society for Gastrointestinal Endoscopy. Published by Elsevier Inc. All rights reserved.

  8. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

    Miller, Timothy F.; Gandhi, Farhan; Rufino, Russell J.

    2013-11-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations).

  9. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

    Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J

    2013-01-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)

  10. Inspection Strategies for Concrete Bridges

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Thoft-Christensen, Palle

    1989-01-01

    In this paper an optimal inspection strategy for concrete bridges based on periodic routine and detailed inspections is presented. The failure mode considered is corrosion of the reinforcement due to chlorides. A simple modelling of the corrosion and of the inspection strategy is presented....... The optimal inspection strategy is determined from an optimization problem, where the design variables are time intervals between detailed inspections and the concrete cover. The strategy is illustrated on a simple structure, namely a reinforced concrete beam....

  11. Event localization in underwater wireless sensor networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew John Robert; Jamshaid, Kamran; Shihada, Basem; Ho, Pin-Han

    2012-01-01

    We propose m-courses (Monitoring Courses), a novel solution to localize events in an underwater wireless sensor network. These networks consists of surface gateways and relay nodes. GPS can localize the position of surface gateways which can

  12. UTOFIA: an underwater time-of-flight image acquisition system

    Science.gov (United States)

    Driewer, Adrian; Abrosimov, Igor; Alexander, Jonathan; Benger, Marc; O'Farrell, Marion; Haugholt, Karl Henrik; Softley, Chris; Thielemann, Jens T.; Thorstensen, Jostein; Yates, Chris

    2017-10-01

    In this article the development of a newly designed Time-of-Flight (ToF) image sensor for underwater applications is described. The sensor is developed as part of the project UTOFIA (underwater time-of-flight image acquisition) funded by the EU within the Horizon 2020 framework. This project aims to develop a camera based on range gating that extends the visible range compared to conventional cameras by a factor of 2 to 3 and delivers real-time range information by means of a 3D video stream. The principle of underwater range gating as well as the concept of the image sensor are presented. Based on measurements on a test image sensor a pixel structure that suits best to the requirements has been selected. Within an extensive characterization underwater the capability of distance measurements in turbid environments is demonstrated.

  13. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

    "Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

  14. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

    In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

  15. Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

    KAUST Repository

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2017-01-01

    with insufficient battery, harvest the energy and starts communicating once it has sufficient energy storage. Network localization is carried out by measuring the RSSs of active nodes, which are modeled based on the underwater optical communication channel

  16. Study of archaeological underwater finds: deterioration and conservation

    Science.gov (United States)

    Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

    2010-09-01

    This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.

  17. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

    Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

  18. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

    David, M-S; Pascoal, A.M.; Joaquin, A.

    The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs...

  19. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  20. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    Directory of Open Access Journals (Sweden)

    R. Rinaldi

    2015-04-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity" and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  1. Multi-layer protective armour for underwater shock wave mitigation

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

    The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.

  2. Low-contrast underwater living fish recognition using PCANet

    Science.gov (United States)

    Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua

    2018-04-01

    Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.

  3. Euclidean reconstruction of natural underwater scenes using optic imagery sequence

    Science.gov (United States)

    Hu, Han

    The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.

  4. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

    Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

    2017-09-01

    Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

  5. Network lifetime-aware data collection in Underwater Sensor ...

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... existing models to assess their effectiveness and to investigate the trade-offs. Results show ... coverage drops below a predefined threshold and (vi) connectivity is .... Cost Clustering Protocol (MCCP), Distributed Underwater.

  6. In-field inspection support software: A status report on the Common Inspection On-site Software Package (CIOSP) project

    International Nuclear Information System (INIS)

    Novatchev, Dimitre; Titov, Pavel; Siradjov, Bakhtiiar; Vlad, Ioan; Xiao Jing

    2001-01-01

    Full text: IAEA has invested much thought and effort into developing software that can assist inspectors during their inspection work. Experience with such applications has been steadily growing and IAEA has recently commissioned a next-generation software package. This kind of software accommodates inspection tasks that can vary substantially in function depending on the type of installation being inspected as well as ensures that the resulting software package has a wide range of usability and can preclude excessive development of plant-specific applications. The Common Inspection On-site Software Package is being developed in the Department of Safeguards to address the limitations of the existing software and to expand its coverage of the inspection process. CIOSP is 'common' in that it is aimed at providing support for as many facilities as possible with the minimum re-configuration. At the same time it has to cater to varying needs of individual facilities, different instrumentation and verification methods used. A component-based approach was taken to successfully tackle the challenges that the development of this software presented. CIOSP consists of the following major components: A framework into which individual plug-ins supporting various inspection activities can integrate at run-time; A central data store containing all facility configuration data and all data collected during inspections; A local data store, which resides on the inspector's computer, where the current inspection's data is stored; A set of services used by all plug-ins (i.e. data transformation, authentication, replication services etc.). This architecture allows for incremental development and extension of the software with plug-ins that support individual inspection activities. The core set of components along with the framework, the Inventory Verification, Book Examination and Records and Reports Comparison plug-ins have been developed. The development of the Short Notice Random

  7. Multi-layer protective armour for underwater shock wave mitigation

    OpenAIRE

    Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

    2015-01-01

    The effect of underwater shock wave on different target plates has been studied. An underwater shock wave generator (shock tube) was used to study the interactions between water and different constructed targets which act as shock wave mitigation. Target plates, composed of sandwich of two aluminum sheets with rubber and foam in between, were prepared and studied. For comparison, the target plates composed of triple aluminum sheets were tested. The study includes the testing of the selected p...

  8. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    OpenAIRE

    R. Rinaldi; H. Hordosch

    2015-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Under...

  9. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Institute of Scientific and Technical Information of China (English)

    XIAO Kun; FANG Shao-ji; PANG Yong-jie

    2007-01-01

    To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  10. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    performance of UWSN. 5.1 Hardware and Software Details 5.1.1 Equipment Our experimental model consisted of an indoor swimming pool , two pairs...UWSN has many constraints mainly due to limited capacity, propagation loss, as well as power limitation since in underwater environment solar energy ...since in underwater environment solar energy cannot be used to recharge batteries. In our approach, we estimate the number of operating receivers

  11. The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

    Science.gov (United States)

    1997-04-01

    P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system

  12. Monterey Bay ambient noise profiles using underwater gliders

    OpenAIRE

    Chandrayadula, Tarun K.; Miller, Chris W.; Joseph, John

    2013-01-01

    The article of record as published may be found at http://dx.doi.org/10.1121/1.4799131 In 2012, during two separate week-long deployments, underwater gliders outfitted with external hydrophones profiled the upper 100-200 m of the Monterey Bay. The environment contained various noises made by marine mammals, ships, winds, and earthquakes. Unlike hydrophone receivers moored to a fixed location, moving gliders measure noise variability across a wide terrain. However, underwater mobile s...

  13. Determining prestressing forces for inspection of prestressed concrete containments

    International Nuclear Information System (INIS)

    1990-07-01

    General Design Criterion 53, ''Provisions for Containment Testing and Inspection,'' of Appendix A, ''General Design Criteria for Nuclear Power Plants,'' to 10 CFR Part 50, ''Domestic Licensing of Production and Utilization Facilities,'' requires, in part, that the reactor containment be designed to permit (1) periodic inspection of all important areas and (2) an appropriate surveillance program. Regulatory Guide 1.35, ''Inservice Inspection of Ungrouted Tendons in Prestressed Concrete Containment Structures,'' describes a basis acceptable to the NRC staff for developing an appropriate inservice inspection and surveillance program for ungrouted tendons in prestressed concrete containment structures of light-water-cooled reactors. This guide expands and clarifies the NRC staff position on determining prestressing forces to be used for inservice inspections of prestressed concrete containment structures

  14. Piping inspection round robin

    International Nuclear Information System (INIS)

    Heasler, P.G.; Doctor, S.R.

    1996-04-01

    The piping inspection round robin was conducted in 1981 at the Pacific Northwest National Laboratory (PNNL) to quantify the capability of ultrasonics for inservice inspection and to address some aspects of reliability for this type of nondestructive evaluation (NDE). The round robin measured the crack detection capabilities of seven field inspection teams who employed procedures that met or exceeded the 1977 edition through the 1978 addenda of the American Society of Mechanical Engineers (ASME) Section 11 Code requirements. Three different types of materials were employed in the study (cast stainless steel, clad ferritic, and wrought stainless steel), and two different types of flaws were implanted into the specimens (intergranular stress corrosion cracks (IGSCCs) and thermal fatigue cracks (TFCs)). When considering near-side inspection, far-side inspection, and false call rate, the overall performance was found to be best in clad ferritic, less effective in wrought stainless steel and the worst in cast stainless steel. Depth sizing performance showed little correlation with the true crack depths

  15. Inspection device in liquid

    International Nuclear Information System (INIS)

    Nagaoka, Etsuo.

    1996-01-01

    The present invention provides an inspection device in PWR reactor core in which inspection operations are made efficient by stabilizing a posture of the device in front-to-back, vertical and left-to-right directions by a simple structure. When the device conducts inspection while running in liquid, the front and the back directions of the device main body are inspected using a visual device while changing the posture by operating a front-to-back direction propulsion device and a right-to-left direction propulsion device, and a vertical direction propulsion device against to rolling, pitching and yawing of the device main body. In this case, a spherical magnet moves freely in the gravitational direction in a vibration-damping fluid in a non-magnetic spherical shell following the change of the posture of the device main body, in which the vibrations due to the movement of the spherical magnet is settled by the vibration-damping fluid thereby stabilizing the posture of the device main body. At a typical inspection posture, the settling effect is enhanced by the attraction force between the spherical magnets in the spherical shell and each of magnetic force-attracted magnetic members disposed to the outer circumference of the shell, and the posture of the device main body can be confirmed in front-to-back, right-to-left and vertical directions by each of the posture confirming magnetic sensors. (N.H.)

  16. DOE standard: Quality assurance inspection and testing of HEPA filters

    International Nuclear Information System (INIS)

    1999-02-01

    This standard establishes essential elements for the quality assurance inspection and testing of HEPA filters by US Department of Energy (DOE)-accepted Filter Test Facilities (FTF). The standard specifies HEPA filter quality assurance inspection and testing practices established in DOE-STD-3022-98, DOE HEPA Filter Test Program, and provides a basis for the preparation of written operating procedures for primary FTF functions

  17. Deep Learning Methods for Underwater Target Feature Extraction and Recognition

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

    Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

  18. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

    Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

  19. Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

    Science.gov (United States)

    Yoo, Jeehyun; Lim, Kil-Byung; Lee, Hong-Jae; Kwon, Yong-Geol

    2014-10-01

    To evaluate the cardiovascular response during head-out water immersion, underwater treadmill gait, and land treadmill gait in stroke patients. Ten stroke patients were recruited for underwater and land treadmill gait sessions. Each session was 40 minutes long; 5 minutes for standing rest on land, 5 minutes for standing rest in water or on treadmill, 20 minutes for treadmill walking in water or on land, 5 minutes for standing rest in water or on treadmill, and 5 minutes for standing rest on land. Blood pressure (BP) and heart rate (HR) were measured during each session. In order to estimate the cardiovascular workload and myocardial oxygen demand, the rate pressure product (RPP) value was calculated by multiplying systolic BP (SBP) by HR. SBP, DBP, mean BP (mBP), and RPP decreased significantly after water immersion, but HR was unchanged. During underwater and land treadmill gait, SBP, mBP, DBP, RPP, and HR increased. However, the mean maximum increases in BP, HR and RPP of underwater treadmill walking were significantly lower than that of land treadmill walking. Stroke patients showed different cardiovascular responses during water immersion and underwater gait as opposed to standing and treadmill-walking on land. Water immersion and aquatic treadmill gait may reduce the workload of the cardiovascular system. This study suggested that underwater treadmill may be a safe and useful option for cardiovascular fitness and early ambulation in stroke rehabilitation.

  20. Unannounced inspection for integrated safeguards: A theoretical perspective

    International Nuclear Information System (INIS)

    Canty, M.J.; Avenhaus, R.

    2001-01-01

    Full text: The application of a safeguards verification regime based on existing agreements under INFCIRC/153 and on the Additional Protocol, INFCIRC/540, has the potential to allow the International Atomic Energy Agency (IAEA) to relax its traditional facility and material-oriented inspection procedures. The relaxation will take into account the IAEA's enhanced access to information as well as complementary access to locations gained through the application of extended measures foreseen under the Additional Protocol. It will reflect the associated confidence achieved at the State level. It is generally agreed that such a trade-off between the new strengthening measures and the traditional measures is reasonable and desirable, both from the point of view of the inspected State, which would like to receive tangible credit for providing increased openness and transparency in its peaceful nuclear activities, and from the viewpoint of the IAEA, which must apportion its limited inspection resources efficiently. An often-discussed proposal to reduce routine inspection effort while maintaining safeguards effectiveness is to replace scheduled interim inspections with a smaller number of random, unannounced visits. Intuitively, the unpredictability aspect is appealing, as it places the potential diverter in a permanent state of uncertainty. There are also some disadvantages, however, such as the difficulty of planning and implementing truly random inspections and the burden experienced by facility operators obliged to accommodate them. An objective evaluation of a randomized inspection regime vis-a-vis conventional routine inspections requires an objective measure of effectiveness and a means of optimizing that measure - in other words a theoretical framework for analyzing verification problems. In our paper we provide such a framework by quantifying the notion of timely detection and by treating the problem consistently a strategic one. We present a series of models which

  1. Plant abnormality inspection device

    International Nuclear Information System (INIS)

    Takenaka, Toshio.

    1990-01-01

    The present invention concerns a plant abnormality inspection device for conducting remote or automatic patrolling inspection in a plant and, more particularly, relates to such a device as capable of detecting abnormal odors. That is, the device comprises a moving device for moving to a predetermined position in the plant, a plurality of gas sensors for different kind of gases to be inspected mounted thereon, a comparator for comparing the concentration of a gas detected by the gas sensor with the normal gas concentration at the predetermined position and a judging means for judging the absence or presence of abnormality depending on the combination of the result of the comparison and deliverying a signal if the state is abnormal. As a result, a slight amount of gas responsible to odors released upon abnormality of the plant can be detected by a plurality of gas sensors for different kinds gases to rapidly and easily find abnormal portions in the plant. (I.S.)

  2. Magnetic particle inspection

    Science.gov (United States)

    Sastri, Sankar

    1990-01-01

    The purpose of this experiment is to familiarize the student with magnetic particle inspection and relate it to classification of various defects. Magnetic particle inspection is a method of detecting the presence of cracks, laps, tears, inclusions, and similar discontinuities in ferromagnetic materials such as iron and steel. This method will most clearly show defects that are perpendicular to the magnetic field. The Magnaglo method uses a liquid which is sprayed on the workpiece to be inspected, and the part is magnetized at the same time. The workpiece is then viewed under a black light, and the presence of discontinuity is shown by the formation of a bright indication formed by the magnetic particles over the discontinuity. The equipment and experimental procedures are described.

  3. MACS as a tool for international inspections

    International Nuclear Information System (INIS)

    Curtiss, J.A.; Indusi, J.P.

    1995-01-01

    General acceptance of the challenge provision in the Chemical Weapons Convention has the potential for influence in other arms control areas. While most applications of the challenge inspection may be straightforward, there may be instances where access to the site by inspectors may be problematic. The MACS system described in this paper was developed to respond to these situations. Inspection and verification may be difficult when a host is unwilling,for valid reasons, to permit physical access to a site. We proposed a system of remote sensors which may be used to demonstrate compliance with Chemical Weapons Convention (CWC) challenge inspections even ff the inspector is physically excluded from a sensitive site. The system is based upon alternative-means-of-access provisions of the CWC. The Defense Nuclear Agency (DNA) funded design and construction of a system prototype, designated as MACS for Managed Access by Controlled Sensing. Features of the MACS design allow growth of the prototype into a versatile device for international monitoring of production facilities and other sites. MACS consists of instrumentation and communication equipment allowing site personnel to conduct a facility tour and perform acceptable measurements, while physically excluding the inspector from the facility. MACS consists of a base station used by the inspector, and a mobile unit used within the facility and manipulated by the facility staff. The base station and the mobile unit are at sign ed by a communication system, currently realized as a fiber optic cable. The mobile unit is equipped with television cameras and remote-reading distance-measuring equipment (DME) for use in verifying locations and dimensions. Global Positioning System receivers on the mobile unit provide both precise location and dead reckoning, suitable for tracking the mobile unit's position while within a building when satellite signals are not available

  4. New initiatives in the U.S. Reactor Inspection Program

    International Nuclear Information System (INIS)

    Volgenau, Ernst.

    1977-01-01

    Recently, the United States Nuclear Regulatory Commission (NRC) has initiated a revised inspection approach that will involve placing inspectors full time onsite at all reactor sites. These resident inspectors will be supplemented by a performance appraisal inspection program that will incorporate thorough critical reviews of licensee facilities and an increased program of specific technical measurements to independently verify the accuracy and completeness of licensee work. To complement the inspection initiatives, the NRC is examining ways to expand its enforcement sanctions and to motivate safe licensee performance. (Auth.) [fr

  5. Federal environmental inspections handbook

    International Nuclear Information System (INIS)

    1991-10-01

    This Federal Environmental Inspection Handbook has been prepared by the Department of Energy (DOE), Office of Environmental Guidance, RCRA/CERCLA Division (EH-231). It is designed to provide DOE personnel with an easily accessible compilation of the environmental inspection requirements under Federal environmental statutes which may impact DOE operations and activities. DOE personnel are reminded that this Handbook is intended to be used in concert with, and not as a substitute for, the Code of Federal Regulations (CFR). Federal Register (FR), and other applicable regulatory documents

  6. Inspection and test planning

    International Nuclear Information System (INIS)

    Miller, T.

    1980-01-01

    Purpose of Quality Plan - arrangement of all necessary tests or inspections as far as possible filted to certain components or systems. Subject of Quality Plan - precise determination of tests or inspections and - according to the actual safety significance - the certificates to be done. Disposition of Quality Plan - accommodation of tests to the actual state of fabrication. Application of Quality Plan - to any component or system that is regarded. Supervision of Employment - by authorized personnel of manufacturer, customer or authority providing exact employment of quality plan. Overservance of Instructions - certificates given by authorized personnel. (orig./RW)

  7. Nuclear Regulatory Commission inspection program and the Oyster Creek, N.J., nuclear facility. Hearings before a Subcommittee of the Committee on Government Operations, House of Representatives, Ninety-Sixth Congress, second session

    International Nuclear Information System (INIS)

    Anon.

    1980-01-01

    One of the most significant, but little noticed conclusions of the studies of the Three Mile Island accident-including both the Kemeny and Rogovin studies- is that the nuclear industry is just the same. In fact, those groups found that the NRC and the industry have long been aware that there are poor performances and weak utilities in the nuclear power business, just as there are comparatively stronger nuclear licensees. The distressing fact, however, is that the NRC has never yet been able to come to grips with the implications of that raw observation. The agency has been reluctant for years to arrive at any system of grading or ranking utilities to reflect their competence and quality of management. The NRC program being examined in these hearings is an effort to strengthen the regulatory process by at least identifying the consistently weaker utilities in an objective fashion and accelerating the enforcement and regulatory attention to those utilities. It is an important effort and one that deserves congressional support. The subcommittee will actually be examining two programs that the NRC plans to mesh. First, there is the overall effort to objectively assess the performances of licensees. This is called the systematic assessment of licensee performance, which NRC witnesses will describe. Second, there is the new group within the Inspection and Enforcement Division of NRC, called the Performance Appraisal Branch. This group, from which there are two representatives, is a new specialized team with veteran NRC inspectors. This PAB team performs indepth inspections at selected sites to assess the licensee's overall management strengths and weaknesses

  8. 9 CFR 590.534 - Freezing facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Freezing facilities. 590.534 Section 590.534 Animals and Animal Products FOOD SAFETY AND INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE EGG..., and Facility Requirements § 590.534 Freezing facilities. (a) Freezing rooms, either on or off the...

  9. 7 CFR 51.57 - Facilities.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Facilities. 51.57 Section 51.57 Agriculture... Requirements for Plants Operating Under Continuous Inspection on A Contract Basis § 51.57 Facilities. Each packing plant shall be equipped with adequate sanitary facilities and accommodations, including but not...

  10. 9 CFR 117.2 - Animal facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 1 2010-01-01 2010-01-01 false Animal facilities. 117.2 Section 117.2 Animals and Animal Products ANIMAL AND PLANT HEALTH INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE VIRUSES... Animal facilities. Animal facilities shall comply with the requirements provided in part 108 of this...

  11. 9 CFR 590.538 - Defrosting facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Defrosting facilities. 590.538 Section 590.538 Animals and Animal Products FOOD SAFETY AND INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE EGG..., and Facility Requirements § 590.538 Defrosting facilities. (a) Approved metal defrosting tanks or vats...

  12. Non fuel bearing component(NFBC) inspection device

    International Nuclear Information System (INIS)

    Kurokawa, Hideyuki; Kosaka, Tatsuya.

    1994-01-01

    The device of the present invention continuously inspects the length and abrasion/corrosion states for a plurality of non-fuel bearing components (NFBC) under water in a pit. That is, the device comprises the following components. Two sets of frames are planted vertically on a pit wall. A support stand capable of opening and closing is disposed at the upper portion of the frame to sustain each control rods of the NFBC. An abrasion/corrosion measuring tool is disposed vertically movably on the frame at the lower portion of the support stand for detecting abrasion/corrosion states on the surface of each of the fuel rods. A lifting device is disposed outside of the pit for lifting the abrasion/corrosion measuring tools. The measuring tool is disposed vertically movably at a lower portion of the frame for measuring the length of each of the control rods. Then NFBCs are inserted and positioned reliably underwater in the pit, the length of the NFBCs and the abrasion/corrosion states on the surface of the control rod can be observed, the inspecting tools can be exchanged easily since the support stand is capable of opening and closing, and the inspection can be made continuously because of the dual structure according to the present invention. (I.S.)

  13. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

    Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing

  14. Application of corrosion screening tools for riser inspection

    International Nuclear Information System (INIS)

    Zamir Mohamed Daud; Vijayan, S.

    2003-01-01

    As offshore facilities approach the end of their design life, owners would like to assess the condition and integrity of plant and equipment. Detailed inspection, including non-destructive testing (NDT), are implemented and results are utilised for predictive maintenance and estimating useful remaining life. Except for risk based inspection, the extent of surface coverage required would be more compared to inspection of pre-determined spots. Risers, for example, usually have several layers of coating that prevent use of conventional techniques for inspection of corrosion. Complete coverage requires access (including removal coatings and insulation). Inspection utilising the conventional NDT tools can be very slow and expensive. However, recent advances have forwarded the use of specialised NDT techniques that were developed for inspection of corrosion under insulation (CUI). This paper details two screening inspection tools, LIXI Profiler and RTD-INCOTEST that have been applied to inspection of risers. LIXI Profiler is based on attenuation of penetrating radiation by materials, and RTD-INCOTEST is based on decay of pulsed eddy current in materials. (Author)

  15. Pipework inspection apparatus

    International Nuclear Information System (INIS)

    Wrigglesworth, K.J.; Knowles, J.F.

    1987-01-01

    The patent concerns a pipework inspection apparatus, which is capable of negotiating bends in pipework. The apparatus comprises a TV camera system, which contains an optical section and an electronics section, which are connected by a flexible coupling. The system can be pulled or pushed along the bore of the pipework. (U.K.)

  16. Fuel assembly inspection device

    International Nuclear Information System (INIS)

    Yaginuma, Yoshitaka

    1998-01-01

    The present invention provides a device suitable to inspect appearance of fuel assemblies by photographing the appearance of fuel assemblies. Namely, the inspection device of the present invention measures bowing of fuel assembly or each of fuel rods or both of them based on the partially photographed images of fuel assembly. In this case, there is disposed a means which flashily projects images in the form of horizontal line from a direction intersecting obliquely relative to a horizontal cross section of the fuel assembly. A first image processing means separates the projected image pictures including projected images and calculates bowing. A second image processing means replaces the projected image pictures of the projected images based on projected images just before and after the photographing. Then, images for the measurement of bowing and images for inspection can be obtained simultaneously. As a result, the time required for the photographing can be shortened, the time for inspection can be shortened and an effect of preventing deterioration of photographing means by radiation rays can be provided. (I.S.)

  17. Consideration regarding the scheduling of unannounced or randomized inspections

    International Nuclear Information System (INIS)

    Sanborn, J.

    2001-01-01

    Full text: Randomized inspection strategies, including unannounced, short notice, or randomly selected scheduled inspections can play an useful role in integrated safeguards by allowing a reduction in the number of inspections without sacrificing coverage of diversion scenarios. The Agency and member states have proposed such strategies as important elements of integrated safeguards proposals at reactors as well as bulk handling facilities. The Agency, however, has limited experience with such inspections, and a number of issues need to be addressed before effective implementation can occur; how these issues are resolved will determine how effective the inspections will be. This paper focuses on the question of how to determine the timing of such inspections. It is pointed out that there are a large number of variants of the idea of 'randomized inspection,' and that each option will have advantages and disadvantages from the points of view of the operator, the logistics of inspection scheduling, and the capabilities for detection. The method chosen should depend on the type of scenarios that the Agency wishes to detect. The mathematically purest form of randomized schedule will have broad theoretical applicability, but may prove more difficult to put into practice, and may be unnecessary, or even sub-optimal, depending on the inspection objective. On the other hand, each restriction on inspection that provides the operator with information on when the inspection will occur must be taken into account when assessing detection probability. The paper reviews a number of scheduling approaches in the context of different objectives and considers effectiveness, operational impact, and practicality. (author)

  18. Underwater cleaning techniqued used for removal of zebra mussels at the FitzPatrick Nuclear Power Plant

    International Nuclear Information System (INIS)

    Hobbs, B.; Kahabka, J.

    1995-01-01

    This paper discusses the use of a mechanical brush cleaning technology recently used to remove biofouling from the Circulating Water (CW) System at New York Power Authority's James A. FitzPatrick Nuclear Power Plant. The FitzPatrick plant had previously used chemical molluscicide to treat zebra mussels in the CW system. Full system treatment was performed in 1992 with limited forebay/screenwell treatment in 1993. The New York Power Authority (NYPA) decided to conduct a mechanical cleaning of the intake system in 1994. Specific project objectives included: (1) Achieve a level of surface cleaniness greater than 98%; (2) Remove 100% of debris, both existing sediment and debris generated as a result of cleaning; (3) Inspect all surfaces and components, identifying any problem areas; (4) Complete the task in a time frame within the 1994-95 refueling outage schedule window, and; (5) Determine if underwater mechanical cleaning is a cost-effective zebra mussel control method suitable for future application at FitzPatrick. A pre-cleaning inspection, including underwater video photography, was conducted of each area. Cleaning was accomplished using diver-controlled, multi-brush equipment included the electro-hydraulic powered Submersible Cleaning and Maintenance Platform (SCAMP), and several designs of hand-held machines. The brushes swept all zebra mussels off surfaces, restoring concrete and metal substrates to their original condition. Sensitive areas including pump housings, standpipes, sensor piping and chlorine injection tubing, were cleaned without degradation. Submersible vortex vacuum pumps were used to remove debris from the cavity. More than 46,000 ft 2 of surface area was cleaned and over 460 cubic yards of dewatered debris were removed. As each area was completed, a post-clean inspection with photos and video was performed

  19. Analysis of inservice inspection relief requests

    International Nuclear Information System (INIS)

    Aldrich, D.A.; Cook, J.F.

    1989-08-01

    Nuclear Regulatory Commission (NRC) regulations require inspection (ISI) of boiling or pressurized water-cooled nuclear power plants be performed in accordance with a referenced edition and addenda of Section XI, ''Rules for Inservice Inspection of Nuclear Power Plant components,'' of the American Society of Mechanical Engineers (ASME) Boiler and Pressure Vessel Code. The regulations permit licensees to request relief from the NRC from specific ASME Code requirements that are determined to be impractical for the specific licensee. The NRC evaluates these requests and may grant such relief, but the NRC may also impose alternative or augmented inspections to assure structural reliability. The purpose,of this task was to evaluate the basis for ISI nondestructive examination (NDE) relief requests and to evaluate the effect of proposed ASME Code changes that would reduce the need for such requests or provide for more complete information in relief requests. This report contains the results of an analysis of an ISI relief request data base that has been expanded to include 1195 ISI relief requests versus the 296 relief requests covered in the first report in April 1987, EGG-SD-7430. Also relief requests were added to the data base which came from both first and second 10-year inspection intervals for several facilities. This provided the means to analyze the effect of recently approved ASME Code cases and updated Code requirements, some of which have been published as a result of earlier work on this task

  20. P-scan, a new system for ultrasonic weld inspection

    International Nuclear Information System (INIS)

    Lund, S.A.; Iversen, S.E.; Holst, H.

    1978-01-01

    The P-scan method is explained. It is described how the new P-scan system improves the ultrasonic method by adding means for visualization, data storage and documentation. Three different scanners are described: One designed for manual operation, another for automatic operation and a third for semiautomatic operation. The p'scan image of an ultrasonically examined test plate is presented and discussed. The variable Display Level (i.e. the inspection sensitivity) facility is described. The main advantage of this facility is the fact that the level can be varied at any time after the inspection. (orig.) [de

  1. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

    Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

  2. Underwater hydraulic shock shovel control system

    Science.gov (United States)

    Liu, He-Ping; Luo, A.-Ni; Xiao, Hai-Yan

    2008-06-01

    The control system determines the effectiveness of an underwater hydraulic shock shovel. This paper begins by analyzing the working principles of these shovels and explains the importance of their control systems. A new type of control system’s mathematical model was built and analyzed according to those principles. Since the initial control system’s response time could not fulfill the design requirements, a PID controller was added to the control system. System response time was still slower than required, so a neural network was added to nonlinearly regulate the proportional element, integral element and derivative element coefficients of the PID controller. After these improvements to the control system, system parameters fulfilled the design requirements. The working performance of electrically-controlled parts such as the rapidly moving high speed switch valve is largely determined by the control system. Normal control methods generally can’t satisfy a shovel’s requirements, so advanced and normal control methods were combined to improve the control system, bringing good results.

  3. Data extraction system for underwater particle holography

    Science.gov (United States)

    Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

    2000-08-01

    Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

  4. Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

    A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...

  5. A Framework for Evaluating Advanced Search Concepts for Multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

    .... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...

  6. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-01-01

    design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current

  7. Durable underwater superoleophobic PDDA/halloysite nanotubes decorated stainless steel mesh for efficient oil-water separation

    Science.gov (United States)

    Hou, Kun; Zeng, Yicheng; Zhou, Cailong; Chen, Jiahui; Wen, Xiufang; Xu, Shouping; Cheng, Jiang; Lin, Yingguang; Pi, Pihui

    2017-09-01

    A durable underwater superoleophobic mesh was conveniently prepared by layer-by-layer (LBL) assembly of poly (diallyldimethylammonium chloride) (PDDA) and halloysite nanotubes (HNTs) on a stainless steel mesh. The hierarchical structure and roughness of the PDDA/HNTs coating surface were controlled by adjusting the number of layer deposition cycles. When the PDDA/HNTs coating with 10 deposition cycles was decorated on the mesh with pore size of about 54 μm, the underwater superoleophobic mesh was obtained. The as-prepared underwater superoleophobic PDDA/HNTs decorated mesh exhibits outstanding oil-water separation performance with a separation efficiency of over 97% for various oil/water mixtures, which allowed water to pass through while repelled oil completely. In addition, the as-prepared decorated mesh still maintained high separation efficiency above 97% after repeated 20 separation times for hexane/water mixture or chloroform/water mixture. More importantly, the as-prepared decorated mesh is durable enough to resist chemical and mechanical challenges, such as strong alkaline, salt aqueous and sand abrasion. Therefore, the as-prepared decorated mesh has practical utility in oil-water separation due to its stable oil-water performance, remarkable chemical and mechanical durability and the facile and eco-friendly preparation process.

  8. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  9. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  10. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1997-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  11. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

    Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

  12. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  13. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    Science.gov (United States)

    Takayama, K.; Yamamoto, H.; Shimokawa, H.

    2013-07-01

    The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.

  14. Experimental Study on the Measurement of Water Bottom Vibration Induced by Underwater Drilling Blasting

    OpenAIRE

    Wenbin, Gu; Jianghai, Chen; Zhenxiong, Wang; Zhihua, Wang; Jianqing, Liu; Ming, Lu

    2015-01-01

    Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater ...

  15. Radionuclides for process control and inspection

    International Nuclear Information System (INIS)

    Hadden, R.J.B.

    1987-01-01

    Radiation sources have been used in process control for over 40 years. Their use in inspection, implying visual examination, although of much earlier origin in the form of gamma radiography, is also of recent emergence in the form of tomographic methods. This paper firstly reviews the justification for the continued world-wide usage of isotopic methods. It then reviews a selection of innovative process control applications, based on radiation sources, as illustrations of the present state of the art and also describes recent progress in inspection methods including progress in the development of on-line facilities. For all applications involving radiation sources, careful selection of parameters is required to achieve the highest efficiency compatible with an integrity suitable for the intended application. The paper concludes with a brief discussion of the common principles on which the fabrication of sources is based in order to satisfy national and international safety legislation. (author)

  16. 9 CFR 590.546 - Albumen flake process drying facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Albumen flake process drying facilities. 590.546 Section 590.546 Animals and Animal Products FOOD SAFETY AND INSPECTION SERVICE... INSPECTION ACT) Sanitary, Processing, and Facility Requirements § 590.546 Albumen flake process drying...

  17. 9 CFR 305.3 - Sanitation and adequate facilities.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Sanitation and adequate facilities. 305.3 Section 305.3 Animals and Animal Products FOOD SAFETY AND INSPECTION SERVICE, DEPARTMENT OF... OF VIOLATION § 305.3 Sanitation and adequate facilities. Inspection shall not be inaugurated if an...

  18. Annual Report of Radioactive Waste Facilities Operation in 2013

    Institute of Scientific and Technical Information of China (English)

    DU; Hong-ming; GAO; Zhi-gang; LIU; Fu-guo

    2013-01-01

    301,a section of Department of Radiochemistry,which manages 15 facilities and undertakes the administrative tasks of radioactive waste,is the important guarantee of scientific research production and safety in CIAE.1 The safe operation of the radioactive waste management facilities In 2013,in order to ensure the operation safety,we formulated the inspection regulations,which included regular operation inspection,week safety inspection from the leaders of the section and

  19. Underwater wireless optical communications: From system-level demonstrations to channel modelling

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

    In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

  20. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.

    2017-12-13

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

  1. Overview of the software inspection process

    Energy Technology Data Exchange (ETDEWEB)

    Lane, G.L.; Dabbs, R. [Sandia National Labs., Albuquerque, NM (United States)

    1997-11-01

    This tutorial introduces attendees to the Inspection Process and teaches them how to organize and participate in a software inspection. The tutorial advocates the benefits of inspections and encourages attendees to socialize the inspection process in their organizations.

  2. Waste Inspection Tomography (WIT)

    International Nuclear Information System (INIS)

    Bernardi, R.T.

    1995-01-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU. The mobile feature of WIT allows inspection technologies to be brought to the nuclear waste drum storage site without the need to relocate drums for safe, rapid, and cost-effective characterization of regulated nuclear waste. The combination of these WIT characterization modalities provides the inspector with an unprecedented ability to non-invasively characterize the regulated contents of waste drums as large as 110 gallons, weighing up to 1,600 pounds. Any objects that fit within these size and weight restrictions can also be inspected on WIT, such as smaller waste bags and drums that are five and thirty-five gallons

  3. Recurrent inspection of tubes

    International Nuclear Information System (INIS)

    Andersson, S.

    1984-01-01

    Recommendations concerning the selection of areas for the inspection of tubes have been outlined. The aim is to focus the control on the regions which are important for the safety and where damage is supposed to take place. The number of zones will depend on the risk factors as judged by experts. The localizing will be based upon probable damaging mechanisms. A certain number of areas should be chosen at random. (G.B.)

  4. Regulatory inspection in Spain

    International Nuclear Information System (INIS)

    Alvarez de Buergo, L.

    1977-01-01

    The 1964 Act on Nuclear Energy lays down that the Junta de Energia Nuclear is responsible for assessing the hazards of and inspecting nuclear power plants as well as for the transport of nuclear fuel for these plants. The Junta de Energia Nuclear has a specialised service, the Nuclear Safety Department in charge of performing these duties. Experience acquired from work in this field is analysed in this paper. (NEA) [fr

  5. Infrared microscope inspection apparatus

    Science.gov (United States)

    Forman, Steven E.; Caunt, James W.

    1985-02-26

    Apparatus and system for inspecting infrared transparents, such as an array of photovoltaic modules containing silicon solar cells, includes an infrared microscope, at least three sources of infrared light placed around and having their axes intersect the center of the object field and means for sending the reflected light through the microscope. The apparatus is adapted to be mounted on an X-Y translator positioned adjacent the object surface.

  6. OSE inspections: A different perspective

    International Nuclear Information System (INIS)

    Ware, J.H.

    1987-01-01

    The Office of Security Evaluation (OSE) is a staff activity of the Assistant Secretary for Defense Programs (ASDP) and is responsible for the conduct of an inspection and evaluation program. The OSE Inspection Division conducts assessments of the effectiveness of Department of Energy (DOE) Safeguards and Security policies and protection programs. The inspections are conducted by OSE Inspectors and Support Specialists. Prior to the author's participation in the inspection of the San Francisco Operations Office, a DOE Field Office employee had never played an active role in an OSE Inspection of another field office. This paper discloses his experience as an OSE Inspector

  7. Terahertz Radome Inspection

    Directory of Open Access Journals (Sweden)

    Fabian Friederich

    2018-01-01

    Full Text Available Radomes protecting sensitive radar, navigational, and communications equipment of, e.g., aircraft, are strongly exposed to the environment and have to withstand harsh weather conditions and potential impacts. Besides their significance to the structural integrity of the radomes, it is often crucial to optimize the composite structures for best possible radio performance. Hence, there exists a significant interest in non-destructive testing techniques, which can be used for defect inspection of radomes in field use as well as for quality inspection during the manufacturing process. Contactless millimeter-wave and terahertz imaging techniques provide millimeter resolution and have the potential to address both application scenarios. We report on our development of a three-dimensional (3D terahertz imaging system for radome inspection during industrial manufacturing processes. The system was designed for operation within a machining center for radome manufacturing. It simultaneously gathers terahertz depth information in adjacent frequency ranges, from 70 to 110 GHz and from 110 to 170 GHz by combining two frequency modulated continuous-wave terahertz sensing units into a single measurement device. Results from spiraliform image acquisition of a radome test sample demonstrate the successful integration of the measurement system.

  8. Evaluation of five years of nursing home inspection forms: structural and hygiene-related violation trends.

    Science.gov (United States)

    Avery, Chris; Humphrey, Charles; Balany, Jo Anne

    2014-11-01

    Health inspections are performed at nursing homes to identify and reduce risk and to help maintain a safe environment for nursing home residents. The study described in this article aimed to identify the most frequent violations, types of violations (hygiene or structural), and repeat violations in nursing home facilities during health inspections; and to determine if the age of the facility influenced inspection scores. Nursing home health inspection forms (N = 131) completed between 2005 and 2011 in Pitt County, North Carolina, were analyzed. Results indicated that 60% of all violations were hygiene-related and could possibly be corrected without significant financial investments by management. Significant correlations occurred between the total number of violations and the facility age (p = .003) and between the number of repeat violations and total violations (p < .001). The average inspection score for nursing homes could be increased by more than three points if sanitation practices were improved.

  9. Licensee contractor and vendor inspection status report: Quarterly report, January--March 1996. Volume 20, Number 1

    International Nuclear Information System (INIS)

    1996-05-01

    A fundamental premise of the US Nuclear Regulatory Commission (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The Federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. Each licensee, contractor, and vendor participates in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 of the Code of Federal Regulations). The NRC does inspections to oversee the commercial nuclear industry to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of quality verification programs. This periodical covers the results of inspections performed by the NRC's Special Inspection Branch, Vendor Inspection Section, that have been distributed to the inspected organizations during the period from January 1996 through March 1996

  10. Licensee contractor and vendor inspection status report: Quarterly report, January--March 1997. Volume 21, Number 1

    International Nuclear Information System (INIS)

    1997-07-01

    A fundamental premise of the US Nuclear Regulatory Commission (NRC) licensing and inspection program is that licensees are responsible for the proper construction and safe and efficient operation of their nuclear power plants. The Federal government and nuclear industry have established a system for the inspection of commercial nuclear facilities to provide for multiple levels of inspection and verification. Each licensee, contractor, and vendor participates in a quality verification process in compliance with requirements prescribed by the NRC's rules and regulations (Title 10 of the Code of Federal Regulations). The NRC does inspections to oversee the commercial nuclear industry to determine whether its requirements are being met by licensees and their contractors, while the major inspection effort is performed by the industry within the framework of quality verification programs. This periodical covers the results of inspections performed by the NRC's Special Inspection Branch, Vendor Inspection Section, that have been distributed to the inspected organizations during the period from January 1997 through March 1997

  11. Experimental study on underwater electrical explosion of a copper wire

    International Nuclear Information System (INIS)

    Zhou Qing; Zhang Jun; Tan Xiangyu; Ren Baozhong; Zhang Qiaogen

    2010-01-01

    Through analyzing the physical process of underwater electrical wire explosion, electrical wire explosions with copper wires were investigated underwater using pulsed voltage in the time scale of a few microseconds. A self-integrating Rogowsky coil and a voltage divider were used for current and voltage at the wire load, respectively. The shock wave pressure is measured with a piezoelectric pressure probe at the same distance. The current rise rate was adjusted by changing the applied voltage, circuit inductance, length and diameter of copper wire. The change of the current rise rate had a great effect on the process of underwater electrical wire explosion with copper wires. At last, the effect of discharge voltage, circuit inductance, length and diameter of copper wire were obtained on the explosion voltage and current as well as shock wave pressure. (authors)

  12. The Research of Optical Turbulence Model in Underwater Imaging System

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

    Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.

  13. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

  14. Underwater video enhancement using multi-camera super-resolution

    Science.gov (United States)

    Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

    2017-12-01

    Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

  15. Underwater electric field detection system based on weakly electric fish

    Science.gov (United States)

    Xue, Wei; Wang, Tianyu; Wang, Qi

    2018-04-01

    Weakly electric fish sense their surroundings in complete darkness by their active electric field detection system. However, due to the insufficient detection capacity of the electric field, the detection distance is not enough, and the detection accuracy is not high. In this paper, a method of underwater detection based on rotating current field theory is proposed to improve the performance of underwater electric field detection system. First of all, we built underwater detection system based on the theory of the spin current field mathematical model with the help of the results of previous researchers. Then we completed the principle prototype and finished the metal objects in the water environment detection experiments, laid the foundation for the further experiments.

  16. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  17. Automated gravity gradient tensor inversion for underwater object detection

    International Nuclear Information System (INIS)

    Wu, Lin; Tian, Jinwen

    2010-01-01

    Underwater abnormal object detection is a current need for the navigation security of autonomous underwater vehicles (AUVs). In this paper, an automated gravity gradient tensor inversion algorithm is proposed for the purpose of passive underwater object detection. Full-tensor gravity gradient anomalies induced by an object in the partial area can be measured with the technique of gravity gradiometry on an AUV. Then the automated algorithm utilizes the anomalies, using the inverse method to estimate the mass and barycentre location of the arbitrary-shaped object. A few tests on simple synthetic models will be illustrated, in order to evaluate the feasibility and accuracy of the new algorithm. Moreover, the method is applied to a complicated model of an abnormal object with gradiometer and AUV noise, and interference from a neighbouring illusive smaller object. In all cases tested, the estimated mass and barycentre location parameters are found to be in good agreement with the actual values

  18. Cluster protocols in Underwater Sensor Networks: a Research Review

    Directory of Open Access Journals (Sweden)

    K. Ovaliadis

    2014-07-01

    Full Text Available Underwater Wireless Sensor Networks (UWSN have different characteristics in relation to terrestrial wireless sensor networks; such as limited bandwidth capacity, high propagation delays and limited battery power. Although there has been much work completed in developing protocols and models for terrestrial networks, these are rarely applicable for underwater sensor networks. Up to today major efforts have been made for designing efficient protocols while considering the underwater communication characteristics. An important issue on this research area is the construction of an efficient clustering algorithm. Clustering in the context of UWSN is important as it contributes a great deal towards the efficient use of energy resources. This paper reviews the most significant cluster based protocols proposed for UWSN. Major performance issues of these protocols with respect to the network conditions such as packet delivery ratio, average packet delay, node mobility effect and energy consumption are examined. The advantages and disadvantages of each protocol are also pointed out.

  19. Underwater Time Service and Synchronization Based on Time Reversal Technique

    Science.gov (United States)

    Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

    2010-09-01

    Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

  20. The Management Advisory Committee of the Inspection Validation Centre. 2nd report

    International Nuclear Information System (INIS)

    1985-06-01

    The document is the second report of the Management Advisory Committee of the Inspection Validation Centre (I.V.C.). The IVC is concerned with the ultrasonic inspection of the CEGB's proposed PWR reactor pressure vessel, and other components. The report deals with the technical progress since May 1984, and includes: interim validation, retrospective validation, examination of procedures, test assembly manufacture, interim validation of manual forging inspections, and validation facilities. (U.K.)

  1. Seed-a distributed data base architecture for global management of steam-generator inspection data

    International Nuclear Information System (INIS)

    Soon Ju Kang; Yu Rak Choi; Hee Gon Woo; Seong Su Choi

    1996-01-01

    This paper deals with a data management system - called SEED (Steam-generator Eddy-current Expert Database) for global handling of SG (steam generator) tube inspection data in nuclear power plants. The SEED integrates all stages in SG tube inspection process and supports all data such as raw eddy current data, inspection history data, SG tube information, etc. SEED implemented under client/server computing architecture for supporting LAN/WAN based graphical user interface facilities using WWW programming tools. (author)

  2. Pressurized water reactor inspection procedures

    International Nuclear Information System (INIS)

    Heinrich, D.; Mueller, G.; Otte, H.J.; Roth, W.

    1998-01-01

    Inspections of the reactor pressure vessels of pressurized water reactors (PWR) so far used to be carried out with different central mast manipulators. For technical reasons, parallel inspections of two manipulators alongside work on the refueling cavity, so as to reduce the time spent on the critical path in a revision outage, are not possible. Efforts made to minimize the inspection time required with one manipulator have been successful, but their effects are limited. Major reductions in inspection time can be achieved only if inspections are run with two manipulators in parallel. The decentralized manipulator built by GEC Alsthom Energie and so far emmployed in boiling water reactors in the USA, Spain, Switzerland and Japan allows two systems to be used in parallel, thus reducing the time required for standard inspection of a pressure vessel from some six days to three days. These savings of approximately three days are made possible without any compromises in terms of positioning by rail-bound systems. During inspection, the reactor refueling cavity is available for other revision work without any restrictions. The manipulator can be used equally well for inspecting standard PWR, PWR with a thermal shield, for inspecting the land between in-core instrumentation nozzles, BWR with and without jet pumps (complementary inspection), and for inspecting core support shrouds. (orig.) [de

  3. An Underwater Superoleophobic Sepiolite Fibrous Membrane (SFM) for Oil­‐in­‐water Emulsion Separation

    KAUST Repository

    Yao, Pinjiang

    2014-12-01

    Separating oil/water emulsions is significant for the ecosystem and the petroleum and processing industry. To this end, we prepared an underwater superoleophobic membrane inspired by unique wettability of the fish scales. This membrane was fabricated by a facile vacuum filtration process of sepiolite nanofibers and chitosan, and after the cross-linking via glutaraldehyde, a self-standing membrane was obtained. The as-prepared membrane exhibited excellent capability of separating both the surfactant-free and surfactant-stabilized oil-in-water emulsions with high efficiency. This sepiolite fibrous membrane offers a convenient, reliable and efficient way for the large-scale de-emulsification process.

  4. New tools for steel catenary risers inspection; Novas ferramentas para inspecao de risers tipo SCR

    Energy Technology Data Exchange (ETDEWEB)

    Camerini, Claudio Soligo; Marinho, Carla Alves; Raphael, Fabiana N.; Maia, Carlos [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil); Freitas, Miguel [Pontificia Univ. Catolica do Rio de Janeiro, RJ (Brazil); Lopes, Ricardo Tadeu; Rocha, Henrique [Universidade Federal, Rio de Janeiro, RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia

    2005-07-01

    The Research Center of PETROBRAS and two of the Federal Brazilian Universities, PUC-Rio and UFRJ, have been developing two new projects in order to inspect risers of petroleum production. The first tool is an instrumented pig for profiling internal corrosion, having flexibility under diameter variations and independence related to thickness wall pipeline. The second one is a gammagraphy system remotely operated by ROVs, to be employed in alveoli corrosion and fatigue cracks detection in underwater pipelines. This work shows the trajectory of these two tools, describing laboratory and field tests and the future activities. (author)

  5. Time-of-flight range imaging for underwater applications

    Science.gov (United States)

    Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias

    2018-02-01

    Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.

  6. Airborne lidar detection of an underwater thermal vent

    Science.gov (United States)

    Roddewig, Michael R.; Churnside, James H.; Shaw, Joseph A.

    2017-07-01

    We report the lidar detection of an underwater feature that appears to be a thermal vent in Yellowstone Lake, Yellowstone National Park, USA, with the Montana State University Fish Lidar. The location of the detected vent was 30 m from the closest vent identified in a United States Geological Survey of Yellowstone Lake in 2008. A second possible vent is also presented, and the appearance of both vents in the lidar data is compared to descriptions of underwater thermal vents in Yellowstone Lake from the geological literature.

  7. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

    Full Text Available This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.

  8. 3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

    Directory of Open Access Journals (Sweden)

    S. D’Amelio

    2015-04-01

    Full Text Available The survey in underwater environment has always presented considerable difficulties both operative and technical and this has sometimes made it difficult to use the techniques of survey commonly used for the documentation of Cultural Heritage in dry environment. The work of study concerns the evaluation in terms of capability and accuracy of the Autodesk123DCatch software for the reconstruction of a three-dimensional model of an object in underwater context. The subjects of the study are models generated from sets of photographs and sets of frames extracted from video sequence. The study is based on comparative method, using a reference model, obtained with laser scanner technique.

  9. Study of underwater laser propulsion using different target materials.

    Science.gov (United States)

    Qiang, Hao; Chen, Jun; Han, Bing; Shen, Zhong-Hua; Lu, Jian; Ni, Xiao-Wu

    2014-07-14

    In order to investigate the influence of target materials, including aluminum (Al), titanium (Ti) and copper (Cu), on underwater laser propulsion, the analytical formula of the target momentum IT is deduced from the enhanced coupling theory of laser propulsion in atmosphere with transparent overlay metal target. The high-speed photography method and numerical simulation are employed to verify the IT model. It is shown that the enhanced coupling theory, which was developed originally for laser propulsion in atmosphere, is also applicable to underwater laser propulsion with metal targets.

  10. Pressure vessel made by free forming using underwater explosion

    Directory of Open Access Journals (Sweden)

    H Iyama

    2016-03-01

    Full Text Available Explosive forming is one particular forming technique, in which, mostcommonly, water is used as the pressure transmission medium. In recentyears, we have done the development of the method which obtains anecessary form of the metal by the control of underwater shock wave actson the metal plate, without a metal die. On the other hand, the pressurevessel is required in various fields, but we think that the free forming usingthe underwater shock wave is advantageous in the production of pressurevessel of a simple spherical, ellipse, parabola shape. In this paper, we willintroduce an experiment and several numerical simulations that we carriedout for this technical development.

  11. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

    Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

  12. A 20 MW podded ship underwater electromagnetic signature - the alternative electric field; Signature electromagnetique sous-marine d'un paquebot de 20 MW a pods - le champ electrique alternatif

    Energy Technology Data Exchange (ETDEWEB)

    Lucas, B.; Henocq, H.; Rannou, C. [Delegation Generale pour l' Armement, DET/GESMA, 75 - Paris (France); Albert, Th.; Harpin, D. [ALSTOM Marine (France); Bourguet, S.; Guerin, P. [Institut de Recherche en Electrotechnique et Electronique de Nantes Atlantique, 44 (France)

    2006-03-15

    Today, electric podded propulsion is used for many ships, cruise liners and Navy vessels.This propulsion uses high currents in extremely low frequencies (ELFE); currents flow through electrical network, equipment and pods. These alternative currents could generate important underwater electromagnetic field. GESMA has to quantify the level of this field and its impact on the signature of this kind of ship. Then, GESMA carried out electromagnetic measurements using a multi-sensors underwater and autonomous facility named AMI. It was placed on the route of a 20 MW podded ship, at one hundred meters depth from the surface. Especially, AMI observed an alternative radiated electric field... (authors)

  13. Nuclear facilities

    International Nuclear Information System (INIS)

    Anon.

    2002-01-01

    During September and October 2001, 15 events were recorded on the first grade and 1 on the second grade of the INES scale. The second grade event is in fact a re-classification of an incident that occurred on the second april 2001 at Dampierre power plant. This event happened during core refueling, a shift in the operation sequence led to the wrong positioning of 113 assemblies. A preliminary study of this event shows that this wrong positioning could have led, in other circumstances, to the ignition of nuclear reactions. Even in that case, the analysis made by EDF shows that the consequences on the staff would have been limited. Nevertheless a further study has shown that the existing measuring instruments could not have detected the power increase announcing the beginning of the chain reaction. The investigation has shown that there were deficiencies in the control of the successive operations involved in refueling. EDF has proposed a series of corrective measures to be implemented in all nuclear power plants. The other 15 events are described in the article. During this period 121 inspections have been made in nuclear facilities. (A.C.)

  14. A self-cleaning underwater superoleophobic mesh for oil-water separation

    KAUST Repository

    Zhang, Lianbin

    2013-07-31

    Oil-water separation has recently become a global challenging task because of the frequent occurrence of oil spill accidents due to the offshore oil production and transportation, and there is an increasing demand for the development of effective and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate and TiO2 nanoparticles on the stainless steel mesh. The integration of the self-cleaning property into the all-inorganic separation mesh by using TiO2 enables the convenient removal of the contaminants by ultraviolet (UV) illumination, and allows for the facile recovery of the separation ability of the contaminated mesh, making it promising for practial oil-water separation applications.

  15. Control of radioactive sources in industry through regulatory inspections

    International Nuclear Information System (INIS)

    Leocadio, J.C.; Ramalho, A.T.; Pinho, A.S.; Lourenco, M.M.J.; Nicola, M.S.; D'Avila, R.L.; Melo, I.F.; Cucco, A.C.S.

    2005-01-01

    In Brazil, the applications of ionizing radiation in industry are accomplished about 900 radioactive facilities, which handle approximately 3.000 radiation sources. The control of radioactive sources used in industrial installations authorized by the Brazilian Nuclear Energy Commission (CNEN) is accomplished by Servico de Radioprotecao na Industria Radiativa (SERIR) of the Instituto de Radioprotecao e Dosimetria (IRD), Rio de Janeiro, RJ, Brazil. This service carries out regulatory inspections in the practices of industrial radiography, nuclear gauges, industrial irradiators and oil wells logging. The frequency of inspections depends on the type of practice, ranging from a year to 5 years, depending on the risk involved. This paper presents a brief description of the situation of radiation safety in the use of radioactive sources in the industries of the country. The results obtained with regulatory inspections at industrial installations demonstrate that the conditions of safety and radiation protection in these facilities are satisfactory when compared with the technical regulations, both national and international

  16. Development of wall ranging radiation inspection robot

    International Nuclear Information System (INIS)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

  17. Development of wall ranging radiation inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall.

  18. Development of a fiber-coupled laser-induced breakdown spectroscopy instrument for analysis of underwater debris in a nuclear reactor core

    International Nuclear Information System (INIS)

    Saeki, Morihisa; Iwanade, Akio; Ohba, Hironori; Ito, Chikara; Wakaida, Ikuo; Thornton, Blair; Sakka, Tetsuo

    2014-01-01

    To inspect the post-accident nuclear core reactor of the TEPCO Fukushima Daiichi nuclear power plant (F1-NPP), a transportable fiber-coupled laser-induced breakdown spectroscopy (LIBS) instrument has been developed. The developed LIBS instrument was designed to analyze underwater samples in a high-radiation field by single-pulse breakdown with gas flow or double-pulse breakdown. To check the feasibility of the assembled fiber-coupled LIBS instrument for the analysis of debris material (mixture of the fuel core, fuel cladding, construction material and so on) in the F1-NPP, we investigated the influence of the radiation dose on the optical transmittance of the laser delivery fiber, compared data quality among various LIBS techniques for an underwater sample and studied the feasibility of the fiber-coupled LIBS system in an analysis of the underwater sample of the simulated debris in F1-NPP. In a feasible study conducted by using simulated debris, which was a mixture of CeO 2 (surrogate of UO 2 ), ZrO 2 and Fe, we selected atomic lines suitable for the analysis of materials, and prepared calibration curves for the component elements. The feasible study has guaranteed that the developed fiber-coupled LIBS system is applicable for analyzing the debris materials in the F1-NPP. (author)

  19. 9 CFR 310.17 - Inspection of mammary glands.

    Science.gov (United States)

    2010-01-01

    ..., swine, and goats shall not be saved for edible purposes. (d) The udders from cows officially designated as “Brucellosis reactors” or as “Mastitis elimination cows” shall be condemned. ...) Nonlactating cow udders may be saved for food purposes provided suitable facilities for handling and inspecting...

  20. 29 CFR 1960.26 - Conduct of inspections.

    Science.gov (United States)

    2010-07-01

    ... information which pertains to the occupational safety and health of the workplace to be inspected, including..., installation, facility, construction site, or other area, workplace, or environment where work is performed by... times, and within reasonable limits and in a reasonable manner, any such place of employment and all...

  1. Real-Time X-Ray Inspection of Composite Aircraft Structures

    National Research Council Canada - National Science Library

    Patricelli, F

    1978-01-01

    ...) for detection of defects, damage, and repair verification. The program included inspection of composite aircraft structural samples in the laboratory and an on site demonstration of RTR at the Naval Air Rework Facility (NARF...

  2. 15 CFR 716.5 - Notification, duration and frequency of inspections.

    Science.gov (United States)

    2010-01-01

    ..., facilities that request advance team assistance are not required to reimburse the U.S. Government for costs... inspected 1-2 days after OPCW notification for logistical and administrative preparations If advance team...

  3. SmartInspect: Smart Contract Inspection Technical Report

    OpenAIRE

    Bragagnolo , Santiago; Rocha , Henrique ,; Denker , Marcus; Ducasse , Stéphane

    2017-01-01

    Smart contracts are embedded procedures stored with the data they act upon. Debugging deployed Smart Contracts is a difficult task since once deployed, the code cannot be reexecuted and inspecting a simple attribute is not easily possible because data is encoded. In this technical report, we present SmartInspect to address the lack of inspectability of a deployed contract. Our solution analyses the contract state by using decompilation techniques and a mirror-based architecture to represent t...

  4. Shell Inspection History and Current CMM Inspection Efforts

    Energy Technology Data Exchange (ETDEWEB)

    Montano, Joshua Daniel [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2017-01-26

    The following report provides a review of past and current CMM Shell Inspection efforts. Calibration of the Sheffield rotary contour gauge has expired and the primary inspector, Matthew Naranjo, has retired. Efforts within the Inspection team are transitioning from maintaining and training new inspectors on Sheffield to off-the-shelf CMM technology. Although inspection of a shell has many requirements, the scope of the data presented in this report focuses on the inner contour, outer contour, radial wall thickness and mass comparisons.

  5. Safeguards management inspection procedures

    International Nuclear Information System (INIS)

    Barth, M.J.; Dunn, D.R.

    1984-08-01

    The objective of this inspection module is to independently assess the contributions of licensee management to overall safeguards systems performance. The inspector accomplishes this objective by comparing the licensee's safeguards management to both the 10 CFR, parts 70 and 73, requirements and to generally accepted management practices. The vehicle by which this comparison is to be made consists of assessment questions and key issues which point the inspector to areas of primary concern to the NRC and which raise additional issues for the purpose of exposing management ineffectiveness. Further insight into management effectiveness is obtained through those assessment questions specifically directed toward the licensee's safeguards system performance. If the quality of the safeguards is poor, then the inspector should strongly suspect that management's role is ineffective and should attempt to determine management's influence (or lack thereof) on the underlying safeguards deficiencies. (The converse is not necessarily true, however.) The assessment questions in essence provide an opportunity for the inspector to identify, to single out, and to probe further, questionable management practices. Specific issues, circumstances, and concerns which point to questionable or inappropriate practices should be explicitly identified and referenced against the CFR and the assessment questions. The inspection report should also explain why the inspector feels certain management practices are poor, counter to the CFR, and/or point to ineffecive management. Concurrent with documenting the inspection results, the inspector should provide recommendations for alleviating observed management practices that are detrimental to effective safeguards. The recommendations could include: specific changes in the practices of the licensee, followup procedures on the part of NRC, and proposed license changes

  6. The design and performance evaluation of the ultrasonic random coil identity-integrity element for underwater safeguards seals

    International Nuclear Information System (INIS)

    Allen, V.H.; Backer, S.; Smith, M.T.

    1983-06-01

    Irradiated fuel discharged from CANDU power reactors is stored underwater and, in order to comply with the requirements of International Safe-guards, the fuel is stacked in sealed containers which are examined at intervals by IAEA inspectors. The seals are verified for identity and integrity and this report describes the design of an identity/integrity element for the seals. The element is in the form of a random coil of wire which is interrogated by ultrasonic methods. An evaluation of thirty-six seals is reported. The application of seals to stacks of fuel was simulated in a water-filled bay at CRNL and repetitive verification measurements were made which simulated inspection procedures. The seal identity signatures were compared using cross-correlation methods and the results show that a broken or tampered seal can be identified with a high level of confidence

  7. Facility safeguards at an LEU fuel fabrication facility in Japan

    International Nuclear Information System (INIS)

    Kuroi, H.; Osabe, T.

    1984-01-01

    A facility description of a Japanese LEU BWR-type fuel fabrication plant focusing on safeguards viewpoints is presented. Procedures and practices of MC and A plan, measurement program, inventory taking, and the report and record system are described. Procedures and practices of safeguards inspection are discussed and lessons learned from past experiences are reviewed

  8. Acoustic inspection device

    Energy Technology Data Exchange (ETDEWEB)

    Diaz, Aaron A.; Burghard, Brion J.; Skorpik, James R.; Pappas, Richard A.; Mullen, O. Dennis; Samuel, Todd J.; Reid, Larry D.; Harris, Joe C.; Valencia, Juan D.; Smalley, Jonathan T.; Shepard, Chester L.; Taylor, Theodore T.

    2005-09-06

    An ultrasound inspection apparatus particularly adapted to examine containers (sealed or unsealed) containing a liquid or solid bulk material. The apparatus has an overall configuration of a hand held pistol with a front transducer contact surface that is positioned against a front wall of the container. An ultrasound pulse is transmitted from the apparatus to be reflected from a back wall of a container being investigated. The received echo pulse is converted to a digital waveform. The waveform is analyzed relative to temperature, travel distance of the pulse(s), and time of travel to ascertain characteristics of the liquid or other materials and to provide identification of the same.

  9. Inspection of internal tank welds using the ACFM inspection method

    International Nuclear Information System (INIS)

    Topp, D.A.; Lugg, M.C.

    2009-01-01

    The paper describes recent developments of the ACFM technique and describes several case studies where ACFM has been used to inspect the internal plate welds on large steel storage tanks in refineries. For weld inspection, conventional methods such as magnetic particle inspection or vacuum box testing are generally used. This paper presents comparisons of the results from ACFM with those from the conventional methods, from which conclusions are drawn as to the benefits this technique offers in terms of cost, time savings and inspection reliability. (author)

  10. An Underwater Image Enhancement Algorithm for Environment Recognition and Robot Navigation

    Directory of Open Access Journals (Sweden)

    Kun Xie

    2018-03-01

    Full Text Available There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.

  11. Single underwater image enhancement based on color cast removal and visibility restoration

    Science.gov (United States)

    Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

    2016-05-01

    Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

  12. Underwater characterization of control rods for waste disposal using SMOPY

    Energy Technology Data Exchange (ETDEWEB)

    Gallozzi-Ulmann, A.; Couturier, P.; Amgarou, K.; Rothan, D.; Menaa, N. [CANBERRA France,1 rue des Herons, 78182 ST Quentin Yvelines Cedex (France); Chard, P. [CANBERRA UK, Lower Dunbeath House, Forss Business Park, Thurso, Caithness KW14 7UZ (United Kingdom)

    2015-07-01

    Storage of spent fuel assemblies in cooling ponds requires careful control of the geometry and proximity of adjacent assemblies. Measurement of the fuel burnup makes it possible to optimise the storage arrangement of assemblies taking into account the effect of the burnup on the criticality safety margins ('burnup credit'). Canberra has developed a measurement system for underwater measurement of spent fuel assemblies. This system, known as 'SMOPY', performs burnup measurements based on gamma spectroscopy (collimated CZT detector) and neutron counting (fission chamber). The SMOPY system offers a robust and waterproof detection system as well as the needed capability of performing radiometric measurements in the harsh high dose - rate environments of the cooling ponds. The gamma spectroscopy functionality allows powerful characterization measurements to be performed, in addition to burnup measurement. Canberra has recently performed waste characterisation measurements at a Nuclear Power Plant. Waste activity assessment is important to control costs and risks of shipment and storage, to ensure that the activity level remains in the range allowed by the facility, and to declare activity data to authorities. This paper describes the methodology used for the SMOPY measurements and some preliminary results of a radiological characterisation of AIC control rods. After describing the features and normal operation of the SMOPY system, we describe the approach used for establishing an optimum control rod geometric scanning approach (optimum count time and speed) and the method of the gamma spectrometry measurements as well as neutron check measurements used to verify the absence of neutron sources in the waste. We discuss the results obtained including {sup 60}Co, {sup 110m}Ag and {sup 108m}Ag activity profiles (along the length of the control rods) and neutron results including Total Measurement Uncertainty evaluations. Full self-consistency checks were

  13. Endoscopic inspection of steam turbines

    International Nuclear Information System (INIS)

    Maliniemi, H.; Muukka, E.

    1990-01-01

    For over ten years, Imatran Voima Oy (IVO) has developed, complementary inspection methods for steam turbine condition monitoring, which can be applied both during operation and shutdown. One important method used periodically during outages is endoscopic inspection. The inspection is based on the method where the internal parts of the turbine is inspected through access borings with endoscope and where the magnified figures of the internal parts is seen on video screen. To improve inspection assurance, an image-processing based pattern recognition method for cracks has been developed for the endoscopic inspection of turbine blades. It is based on the deduction conditions derived from the crack shape. The computer gives an alarm of a crack detection and prints a simulated image of the crack, which is then checked manually

  14. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

    Nielsen, Morten Holtegaard; Bach, Lis; Bollwerk, Sandra

    2015-01-01

    out in connection with the construction of a new quay at the existing harbour of Sisimiut, Greenland. Subsequent to the largest of a series of underwater blasts, the distribution of suspended sediment in the water column at and around the construction site was observed using a CTD (Conductivity...

  15. Submerged Pagodas of Mahabalipuram - Study based on underwater investigations

    Digital Repository Service at National Institute of Oceanography (India)

    Sundaresh; Gaur, A.S.; Tripati, S.; Vora, K.H.; Rao, K.M.

    damaged and scattered due to underwater strong currents and swells. Though thick biological growth cover the details, if any, on the stone blocks, based on the structural alignment and form, they are considered to be man made structures. The available data...

  16. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

    Pumphrey, Hugh C.; Crum, L. A.; Jensen, Leif Bjørnø

    1989-01-01

    An experimental study of the underwater sound produced by water drop impacts on the surface is described. It is found that sound may be produced in two ways: first when the drop strikes the surface and, second, when a bubble is created in the water. The first process occurs for every drop...

  17. Sources of underwater sound and their characterisation (abstract)

    NARCIS (Netherlands)

    Ainslie, M.A.; Jong, C.A.F. de

    2013-01-01

    After centuries of speculation, punctuated by occasional theoretical or experimental advances, the first intensive research into underwater sound took place 100 years ago, applied initially to provide advance warning of icebergs after the loss of RMS Titanic in 1912, and later to counter the U-boat

  18. ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

    Science.gov (United States)

    Huntsberger, Terrance L.

    2013-01-01

    This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

  19. Underwater Munitions Expert System to Predict Mobility and Burial

    Science.gov (United States)

    2017-11-14

    for predicting the location and possible burial of underwater munitions is required to advise site managers as they plan...that region above the given UXO relative density, which is defined as the UXO density divided by the sand grain density, ( nominally 2650 g...0.0 + 2.5*dsed ; % nominal bed roughness if no burial % (Potentially in future version, ripple height

  20. Underwater sound and vibrations due to oil & gas activities

    NARCIS (Netherlands)

    Beek, P.J.G. van; Binnerts, B.; Nennie, E.D.; Benda-Beckmann, A.M. von

    2014-01-01

    In the oil & gas industry there is a trend towards more subsea activities. To improve gas recovery from existing and new fields at greater depths, the produced gas will be compressed, processed and transported via subsea templates and underwater networks (pipelines, flexible risers, etc.). Besides