Download or read book Mobile Worksystem for Decontamination and Decommissioning Operations written by W. L. Whittaker and published by . This book was released on 1993 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mobile Workstation for Decontamination and Decommissioning Operations written by and published by . This book was released on 1993 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D & D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D & D work by evolving the design through a series of technological developments, performance tests and evaluations. The project has three phases. In this the first phase, an existing teleoperated worksystem, the Remote Work Vehicle (developed for use in the Three Mile Island Unit 2 Reactor Building basement), was enhanced for telerobotic performance of several D & D operations. Its ability to perform these operations was then assessed through a series of tests in a mockup facility that contained generic structures and equipment similar to those that D & D work machines will encounter in DOE facilities. Building upon the knowledge gained through those tests and evaluations, a next generation mobile worksystem, the RWV II, and a more advanced controller will be designed, integrated and tested in the second phase, which is scheduled for completion in January 1995. The third phase of the project will involve testing of the RWV II in the real DOE facility.
Download or read book Mobile Worksystems for Decontamination and Decommissioning Operations Final Report written by and published by . This book was released on 1997 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D & D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D & D work by evolving the design through a series of technological developments, performance tests and evaluations. The Phase I effort was based on a robot called the Remote Work Vehicle (RWV) that was previously developed by CMU for use in D & D operations at the Three Mile Island Unit 2 Reactor Building basement. During Phase I of this program, the RWV was rehabilitated and upgraded with contemporary control and user interface technologies and used as a testbed for remote D & D operations. We established a close working relationship with the DOE Robotics Technology Development Program (RTDP). In the second phase, we designed and developed a next generation mobile worksystem, called Rosie, and a semi-automatic task space scene analysis system, called Artisan, using guidance from RTDP. Both systems are designed to work with and complement other RTDP D & D technologies to execute selective equipment removal scenarios in which some part of an apparatus is extricated while minimally disturbing the surrounding objects. RTDP has identified selective equipment removal as a timely D & D mission, one that is particularly relevant during the de-activation and de-inventory stages of facility transitioning as a means to reduce the costs and risks associated with subsequent surveillance and monitoring. In the third phase, we tested and demonstrated core capabilities of Rosie and Artisan; we also implemented modifications and enhancements that improve their relevance to DOE's facility transitioning mission.
Download or read book Mobile Workstation for Decontamination and Decommissioning Operations written by William L. Whittaker and published by . This book was released on 1993 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Rosie written by and published by . This book was released on 1996 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are closing the second phase of this three phase effort and have completed the design and fabrication of the worksystem: Rosie. Rosie includes a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system intended to deploy tools into the work area. The heavy manipulator is capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie is telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center.
Download or read book Innovation Investment Area written by United States. Department of Energy and published by . This book was released on 1994 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Office of Environmental Management Technical Reports written by and published by . This book was released on 1997 with total page 972 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Radioactive Waste Management written by and published by . This book was released on 1981 with total page 726 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book New at the Energy Library written by Energy Library and published by . This book was released on 1991 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Annual Research Review written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1993 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control in Robotics and Automation written by Bhaskar Kumar Ghosh and published by Academic Press. This book was released on 1999 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control in Robotics and Automation has been written to meet the rapidly growing need for sensor-based integration to solve problems in the control and planning of robotic systems. Applications of these control methods range from assembly tasks in industrial automation to material handling in hazardous environments and servicing tasks in space. Many advances in a wide range of new applications in robotics and automation will depend on methods presented in this book, including robot-assisted surgery, space exploration, and micro-fabrication.
Download or read book Rosie written by and published by . This book was released on 1994 with total page 11 pages. Available in PDF, EPUB and Kindle. Book excerpt: RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are in the second phase of this three phase effort and are completing the design of the worksystem. Within this project RedZone is designing and fabricating a worksystem: Rosie. Rosie will include a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system to deploy tools into the work area. The heavy manipulator will be capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie will be telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center. This report describes the design of the systems. In phase three Rosie will be radiation-hardened and perform a demonstration in a contaminated facility.
Download or read book Nuclear Decommissioning written by Michele Laraia and published by Elsevier. This book was released on 2012-02-21 with total page 857 pages. Available in PDF, EPUB and Kindle. Book excerpt: Once a nuclear installation has reached the end of its safe and economical operational lifetime, the need for its decommissioning arises. Different strategies can be employed for nuclear decommissioning, based on the evaluation of particular hazards and their attendant risks, as well as on the analysis of costs of clean-up and waste management. This allows for decommissioning either soon after permanent shutdown, or perhaps a long time later, the latter course allowing for radioactivity levels to drop in any activated or contaminated components. It is crucial for clear processes and best practices to be applied in decommissioning such installations and sites, particular where any significant health and environmental risks exist.This book critically reviews the nuclear decommissioning processes and technologies applicable to nuclear power plants and other civilian nuclear facilities. Part one focuses on the fundamental planning issues in starting a nuclear decommissioning process, from principles and safety regulations, to financing and project management. Part two covers the execution phase of nuclear decommissioning projects, detailing processes and technologies such as dismantling, decontamination, and radioactive waste management, as well as environmental remediation, site clearance and reuse. Finally, part three details international experience in the decommissioning of nuclear applications, including the main nuclear reactor types and nuclear fuel cycle facilities, as well as small nuclear facilities and legacy nuclear waste sites. - Critically reviews nuclear decommissioning processes and technologies applicable to nuclear power plants and other civilian nuclear facilities - Discusses the fundamental planning issues in starting a nuclear decommissioning process - Considers the execution phase of nuclear decommissioning projects, including dismantling, decontamination, and radioactive waste management, as well as environmental remediation, site clearance and reuse
Download or read book Affordable Cleanup written by National Research Council and published by National Academies Press. This book was released on 1996-04-08 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Energy Policy Act of 1992 called on the National Academy of Sciences to conduct a study and provide recommendations for reducing the costs of decontaminating and decommissioning (D&D) the nation's uranium enrichment facilities located at Oak Ridge, Tennessee; Raducah, Kentucky; and Portsmouth, Ohio. This volume examines the existing plans and cost estimates for the D&D of these facilities, including such elements as technologies, planning and management, and identifies approaches that could reduce D&D costs. It also assesses options for disposition of the large quantities of depleted uranium hexafluoride that are stored at these sites.
Download or read book Energy Research Abstracts written by and published by . This book was released on 1995 with total page 782 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book West Valley Demonstration Project for Completion and Western New York Nuclear Service Center Closure Or Long term Management Appalachian Plateau City of Buffalo written by and published by . This book was released on 2010 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Rosie Mobile Robot Worksystem for Decommissioning and Dismantling Operations Final Report April 1 1996 January 31 1997 written by and published by . This book was released on 1998 with total page 57 pages. Available in PDF, EPUB and Kindle. Book excerpt: RedZone Robotics, Inc. has undertaken development of an advanced remote worksystem - Rosie - specifically designed to meet the challenges of performing a wide range of decontamination and dismantlement (D & D) operations in nuclear environments. The Rosie worksystem includes a locomotor, heavy manipulator, operator console, and control system for remote operations. The locomotor is a highly mobile platform with tether management and hydraulic power onboard. The heavy manipulator is a high-payload, long-reach boom used to deploy a wide variety of tools and/or sensors into the work area. Rosie's advanced control system, broad work capabilities, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout the Department of Energy (DOE) and private sector. Endurance testing of the first Rosie system from September 1995 to March 1996 has proven its capabilities and appropriateness for D & D applications. Design enhancements were incorporated into the second Rosie system to improve and add features necessary for deployment at a DOE facility decommissioning. This second Rosie unit was deployed to the Argonne National Laboratory's CP-5 reactor facility in early December 1996, and it is currently being used in the decommissioning of the reactor there. This report will overview this second Rosie system and the design enhancements made to it based on the lessons learned during the design, fabrication, and testing of the first Rosie system. The Rosie system has been designed to be a versatile and adaptable tool that can be used in many different applications in D & D work at nuclear facilities. It can carry a wide variety of tooling, sensors, and other robotic equipment at the tip of its heavy manipulator, and it can deploy those items to many different hazardous work areas. Rosie's capabilities and system design address the need for durability and reliability in these environments.
