Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “remote handling”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 37 records · Page 2

A study to identify research issues in the area of electromagnetic measurements and signal handling of remotely sensed data

Research issues in the area of electromagnetic measurements and signal handling of remotely sensed data are identified. The following seven issues are discussed; platform/sensor system position and velocity, platform/sensor attitudes and attitude rates, optics and antennas, detectors and associated electronics, sensor calibration, signal handling, and system design.

Source record↗

The Maintainable Fusion Pilot Plant

The US fusion community has coalesced around the goal of building an FPP as described by the National Academies of Science, Engineering, and Medicine (NASEM). In addition to demonstrating the viability of the technologies necessary to operate such a plant, including demonstration of net energy and electricity production, NASEM found that a “fusion pilot plant will need to demonstrate the ability to efficiently perform remote maintenance and replacement in support of the design of a power plant, taking into account details of the consequences of the fusion environment, such as material activation and tritium retention in components.” Current designs of fusion demonstration reactors do usually foresee a regular exchange of their first wall modules, including the tritium breeding blankets. In the European Power Plant Conceptual Studies, it is assumed that a fusion reactor will need to change its divertor every 2 years and its first wall blanket module every 5 to 6 years to reach acceptable availability. Underlying this capability are remote-handling technologies to keep the outage for the exchange of these components short. There are many uncertainties in the remote-handling schemes, and most schemes are at a preconceptual level at best. In addition, the exchange of these components would either produce an enormous rad-waste stream or would require an enormous refurbishment activity with huge cost-prohibitive hot-cells. Past Fusion Nuclear Science Facility (FNSF) preconceptual studies have led to hot cell dimensions of an unbelievable size, likely costing tens of billions of dollars. Already at The Way (previously International Thermonuclear Experimental Reactor, ITER), hot-cells have become cost-prohibitive, demanding redesigns of the ITER first wall to reduce the toxic rad-waste/inventory. In this in-situ PFC repair project, a concept for a long-life, maintainable first wall module concept is developed and tested. This first wall concept relies on innovative remote handling to repair the first wall modules in-situ, avoiding costly refurbishments outside of the tokamak vessel. This approach was highlighted in the Fusion Energy Sciences Advisory Committee (FESAC) report on Transformative Enabling Capabilities for Efficient Advance Toward Fusion Energy. In general, the damage of the first wall armor is due to particle and radiation exposures. Load conditions vary from one fusion reactor design to another. In tokamaks, first wall Plasma Facing Components (PFCs) are exposed to far-Scrape-Off-Layer plasma fluxes, electromagnetic radiation, energetic CX neutrals, and potentially runaway electron beams. Protecting the first wall to the worst-case load conditions would require the design of a very thick first wall armor. Transient heat and particle fluxes due to disruptions or edge localized modes can lead to excessive heat loads resulting potentially in melting PFCs down to the cooling channel. Catastrophic events like these need to be avoided by appropriate disruption mitigation systems. However, failure of these systems will still put a first wall at an unacceptable risk. Hence, a first wall design needs to accommodate the occasional transient heat loads by introducing sacrificial limiters, which will absorb these transients.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Analysis of Second Target Station Target Segment Removal Dose Rates

This report documents the analysis of the dose rate fields in two configurations of the target system of the Second Target Station (STS) at the Spallation Neutron Source (SNS) at Oak Ridge National Laboratory (ORNL) in support of the remote handling target segment removal operation. The two configurations detailed in this report are both assuming 8 hours since beam was incident on the target. The first configuration assumes all shielding is in place just as it was during operation and allows for confirmation of hands-on maintenance capability of the target drive components. The second configuration assumes that a hatch in the target drive room ceiling has been opened to the high bay, the target segment removable core vessel shield block has been removed, and there is a direct line-of-sight to the target segment some 5 m below the target drive room elevation. Dose rate fields in both configurations are documented in this report along with details of the methods of computation. The dose rate fields included in this report are intended to support the engineering of remote handling special equipment and the planning of remote handing operations. The models and analysis detailed in this report are in support of the preliminary design of the STS and future analysis is needed to support the final design of the STS.

61 RADIATION PROTECTION AND DOSIMETRY↗

Decay Dose Shielding Analysis with Hybrid Unstructured Mesh/Constructive Solid Geometry Monte Carlo Calculation and ADVANTG Acceleration

Here, the target segments of the Oak Ridge National Laboratory Second Target Station (STS) neutron production facility become highly activated due to spallation reactions or nuclei transmutation by primary protons and emitted neutrons. Once the target segments are removed from their location within the core vessel, decay dose rates must be accurately quantified to determine the shielding configurations of remote-handling tools and transport casks and to aid in planning maintenance activities. For this analysis, we utilized a hybrid unstructured mesh (UM)/constructive solid geometry approach for calculating spallation products and neutron fluxes, activation calculations using the AARE package that includes the CINDER2008 activation code to calculate the decay photon source at different cooling times, and the ADVANTG code to accelerate the final decay photon transport calculation. Both Type 316 stainless steel (SS-316) and lead were investigated as candidates for shielding materials. The decay photon transport calculation through the thick SS-316 or lead shields exhibited between 25 and 30 orders-of-magnitude attenuations in the radial direction, depending on the shield. Such a difficult shielding calculation required advanced variance reduction. ADVANTG has some missing features, which limits its usability in spallation neutron source applications. It does not support volumetric sources created for MCNP6.2 UM capability. An approximate source was created for this problem. Not only was this approximate source needed for running the ADVANTG calculation to generate the weight windows, but also it was essential to develop source biasing (SB) parameters that were crucial for dramatically accelerating the decay photon transport in this problem. With this approximate source, the analysis was completed in a very reasonable computational time, and the design of the STS remote-handling equipment was finalized. This paper compares the efficiency of Monte Carlo simulations with different weight window and SB parameters calculated using different approximate ADVANTG calculations.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Diagnostics for Burning Plasmas

Here, recent progress in the design and manufacturing development of in-vessel diagnostic components by the U.S. ITER team is reported. Design and manufacturing choices are driven by engineering challenges stemming from ITER’s burning plasma mission, which entails levels of plasma neutron emission, pulse lengths, and size scales well beyond the existing database. Challenges include port access limitations, neutron irradiation and activation risks, nuclear heating of components, complex interfaces, remote handling compatibility, and constraints on component and processing materials. Responses to these challenges are presented using examples from the low field side reflectometer, toroidal interferometer polarimeter, and electron cyclotron emission diagnostics. Relevance of the experience from ITER diagnostics engineering to the design of future integrated fusion facilities based on burning plasmas is addressed.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Design of a Loss of Coolant Blowdown Capsule for Remote Assembly with High Burnup Fuel

The Transient Water Irradiation System is an enhanced capability capsule type irradiation vehicle designed to support fuel safety research for light water reactor specimens in the Transient Reactor Test Facility and is designed to simulate loss of coolant and reactivity-initiated accidents. The capsule was designed, deployed, and commissioned with fresh fuel specimens to validate instrumentation and prepare for previously irradiated high burnup specimens. The irradiation system features an extensive in-situ instrumentation package to detect phenomena typical to light water reactor fuels. To accommodate the assembly with high burnup specimens inside the Hot Fuel Examination Facility, and to ensure instrumentation integrity is maintained throughout assembly, the design was updated to support remote handling. The updated design features a hinge mechanism which allows for remote pre-irradiated specimen loading and assembly while protecting sensitive instrumentation by relocating during loading. Fixtures and equipment have been developed to handle the experiment capsule and components in cell, and to support remote assembly. The experiment module also includes radiation shielding and contamination control to support operations after removal from the hot cell.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

The importance of delayed neutron precursors in gamma dose calculations for activated primary heat exchanger components in the Molten Salt Breeder Reactor

The Molten Salt Reactor (MSR) Multiphysics Applications technical area in the Nuclear Energy Advanced Modeling and Simulation program has supported the development of 3D Monte Carlo models of the Molten Salt Breeder Reactor (MSBR) over the last couple of years. This MSBR model was previously run with the Shift Monte Carlo code to perform radiation shielding calculations in the reactor cell area. The MSBR is a 2250 MWth (1000 MWe) liquid-fueled molten salt reactor design developed at Oak Ridge National Laboratory in the 1970s. Determining the source terms from activated primary heat exchanger (HX) components is important because delayed and prompt neutron fluxes incident on these components affect the dose rate in the primary HX maintenance areas. This information can be used in the development of remote handling procedures required during shutdown for maintenance. A methodology has been developed and is proposed in this paper to quantify the activated source term from the primary HX components as a result of the movement of the delayed neutron precursors in flowing primary fuel salt through the primary HXs in the MSBR. The goal of this research is to evaluate the gamma dose rates in the maintenance hatches above the primary HX using the activated HX source terms. The study showed that the gamma dose rates are approximately two orders of magnitudes higher when accounting for the neutron activation from the movement of delayed neutron precursors through the HXs than when flowing fuel is not considered. Thus, the movement of delayed neutron precursors must be taken into account for accurately predicting the neutron activation of primary loop components.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Technological developments and accelerator improvements for the FRIB beam power ramp-up

The Facility for Rare Isotope Beams (FRIB) began operation with 1 kW beam power for scientific users in May 2022 upon completion of 8 years of project construction. The ramp-up to the ultimate beam power of 400 kW, planned over a 6-year period, will enable the facility to reach its full potential for scientific discovery in isotope science and applications. In December 2023, a record-high beam power of 10.4 kW uranium was delivered to the target. Technological developments and accelerator improvements are being made over the entire facility and are key to completion of the power ramp-up. Major technological developments entail the phased deployment of high-power beam-intercepting systems, including the charge strippers, the charge selection systems, the production target, and the beam dump, along with support systems, including non-conventional utilities (NCU) and remote handling facilities. Major accelerator improvements include renovations to aging legacy systems associated with experimental beam lines and system automation for improved operational efficiency and better machine availability. Experience must be gained to safely handle the increased radiological impacts associated with high beam power; extensive machine studies and advanced beam tuning procedures are needed to minimize uncontrolled beam losses for the desired operating conditions. This paper discusses the technological developments and accelerator improvements with emphasis on major R&D efforts.

43 PARTICLE ACCELERATORS↗

Advanced Design for the WIQ Magnet With Steering Corrector Function

The Facility for Rare Isotopes Beams (FRIB) delivers heavy-ion primary beams at energies of up to 300 MeV/u at 10 kW of beam power to generate rare isotope beams for experiments and will eventually operate at beam power of 400 kW. The preseprator of the Advanced Rare Isotope Separator (ARIS) is equipped with six warm-iron quadrupole (WIQ) singlets and two dipoles integrated right after the production target. They have a compact structure and operate in a high radiation vacuum environment within a hot cell having remote handling capabilities for installation and maintenance. Due to asymmetry with respect to the quadrupole poles, nested sextupole excitations in WIQs induce vertical dipoles that offset the centroid trajectory; Magnet misalignments also result in trajectory offsets. Such offsets degrade separator performance but can be minimized by changing the current distribution on sextupole and octupole coils. In this work, we show how modifications to the WIQ coil design can allow superimposed dipole fields to be included to the octupole and sextupole windings, as well as addition of dipole components by splitting coil currents over groups with separator power supplies. Adjusting the group currents can cancel the sextupole-induced vertical dipole component which can be as high as 0.012 Tm. Octupole coil changes may superimpose a horizontal dipole integrated strength as high as 0.0332 Tm. Unwanted higher harmonics induced as a side effect of the new design are kept to a minimum such that separator performance is preserved as much as possible.

Accelerator magnets↗

Decay Dose Shielding Analysis with Hybrid Unstructured Mesh/Constructive Solid Geometry Monte Carlo Calculation and ADVANTG Acceleration

The Oak Ridge National Laboratory (ORNL) Second Target Station (STS) neutron production facility is an accelerator driven pulsed neutron source that is currently being actively developed at ORNL. The neutrons are produced by proton-induced spallation reactions. A proton beam of 700 kW power is delivered to a spallation target in short, less than 1 µs long pulses, with 15 Hz repetition rate. The spallation target of ORNL STS is a rotating water-cooled tungsten target with tantalum cladding housed in a stainless-steel shroud. It is divided into 21 segments. These segments become highly activated due to spallation reactions or nuclei transmutation by the emitted neutrons. The radioactive nuclides continue to decay after ceasing operation. The decay dose rates generated from the target segments once they are removed from their operational location within the core vessel must be accurately quantified to determine the shielding configurations of remote handling tools and transport casks and to aid in planning maintenance events. To determine the shielding configurations needed for an activated target segment after ceasing operation, both the hybrid unstructured mesh (UM)/constructive solid geometry (CSG) approach that was previously utilized for STS analyses [1] and the ADVANTG code [2] were used. Even though the ADVANTG code does not include UM capability, the utilization of its advanced variance reduction technique was crucial to accelerate the extremely difficult final photon transport calculation in this analysis. This paper also describes the procedures taken to mitigate the convergence issues that occur when ADVANTG uses a source definition that does not match the source of the final Monte Carlo (MC) calculation. These convergence issues often occur because of inconsistencies between source and transport biasing parameters.

Ibrahim, Ahmad↗

An Assessment of Potential Dose Impacts from External Contamination on Naval Reactors Facility Waste Canisters (Special Analysis)

This Special Analysis (SA) was performed to address a request by Naval Reactors Facility (NRF) Waste Programs for a permanent exception to limits of removable surface contamination on the exterior of waste canisters shipped to the Remote-Handled Low-Level Waste (RHLLW) Disposal Facility as specified in the waste acceptance criteria (WAC) (PLN-5446). The purpose of this SA is to determine if the NRF-requested levels for removable surface contamination on the exterior of all NRF waste canisters is within the bounds of the current performance assessment (PA). This was done by calculating the groundwater all-pathways dose contribution from surface contamination on the exterior of NRF canisters for the following cases: (1) the exteriors of all NRF waste canisters are contaminated to the 10 CFR 835 Appendix D allowable limits in the current WAC, and (2) the exteriors of all NRF waste canisters are contaminated to the limits requested by NRF Waste Programs. Dose impacts for each case were compared to each other and to the all pathways dose for the PA base case. Dose impacts were also compared to the all pathways dose limit specified in DOE O 435.1. A simple assessment of the potential impacts of the increase in surface contamination using the NRF-requested limits on the biotic, air, and inadvertent intruder pathways was also performed. Based on the results of this SA, the increase in canister exterior contamination limits requested by NRF are well within the bounds of the current PA and will not result in a violation of performance objectives. The results also show the increased limits do not reflect or necessitate a fundamental change to the PA conceptual model, nor a change to the way exterior contamination is not included in PA dose calculations. Therefore, it is recommended the NRF request for an exception to the current limits for external surface contamination be accepted and the revised limits for NRF-generated waste canisters be added to the WAC. The monitoring plan will also be revised to identify external canister contamination as a potential mobile source term that may be detected by monitoring earlier than potential releases from waste. The PA, composite analysis (CA), closure plan, and PA/CA maintenance plan do not require revision. Recommendations are also included for inclusion of NRF procedures used to limit water pool radionuclide variability (and thus canister surface contamination variability) to the waste generator certification process.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

High Dose Rate Irradiations of Enduray Vision System for Nuclear Inspections

Higher radiation-hardened video cameras are needed in the operation and remote handling of equipment in nuclear reactor inspection and refueling applications. Vega Wave Systems, Inc. has developed a radiation-hardened vision system for nuclear energy applications. This vision system has been developed under several small business innovative research programs (SBIRs) from the U.S. Department of Energy, and the previous GAIN voucher program at Argonne National Laboratory (ANL) was successful in demonstrating that a prototype of the camera is radiation-hard up to at least 525 kGy (5.25 × 106 rad, Si equivalent) at dose rates of 10 kGy/hr with no measurable degradation in image quality and no measurable radiation-induced noise (RIN). Vega Wave Systems has developed a new version of the camera with more than 3X the resolution using a new design and new components, and this new design requires radiation-hardness qualification for marketplace acceptance. The program described in this report provided high radiation-hardness testing of this redesigned high-resolution vision system using the Argonne Low-Energy Accelerator Facility (LEAF). This report presents the results of irradiation tests performed on Vega Wave System’s redesigned high resolution vision system at a dose rate of 9.3 kGy/hr and up to total doses of 1823 kGy. This was an accumulation of 197 hours of irradiation. The results were excellent, providing proof of the redesigned high-resolution vision system’s immunity to high levels of radiation.

42 ENGINEERING↗

Exploring the Nature of f-Element Soft Donor Interactions Using Electronically Tunable Azolate Ionic Liquids

This project was undertaken to advance the understanding of how f-elements interact with moderately soft donors, a heavily investigated yet open question which is of prime importance in spent nuclear fuel processing and fundamental inorganic chemistry. During the course of the project, based on exciting results, a stretch goal was developed to study the hydrolysis products of transuranic actinide metals, a somewhat understudied field even with its significance in nuclear fuel cycle and impacts in environmental chemistry. The stretch goal was to take our serendipitous discovery of an easy route to isolation of crystalline multinuclear ƒ-element hydrolysis products, and apply it to gaining a mechanistic understanding of Pu(III/IV) colloid formation. The simplicity of our techniques should lend themselves to the remote handling required for study of many transuranic elements. We developed several methodologies using azolium azolate chemistry to overcome ƒ-element hydrolysis problems that prohibit the isolation of ƒ-element soft donor complexes and to build a crystallographic library of ƒ-element N-donor complexes as a means to understand the fundamental differences between actinide and lanthanide interactions with moderately soft donor ligands. Our next major endeavor will be to transfer this chemistry from 4ƒ elements to transuranic elements, particularly in the study of hydrolysis of Pu(III/IV). While our work is fundamental in nature, applications of the knowledge we are generating should be felt in such diverse fields as catalysis, separations in general, nuclear waste remediation specifically, and many other applications in f-element magnetic and luminescent properties. The potential ramifications of the consistent and robust formation of hydrolysis controlled hexanuclear lanthanide structures are enormous, with future uses being catalyst formation, higher-nuclearity structure synthesis using our hexanuclear motif as a fundamental building block, Pu waste remediation, separations, and many other potential applications resulting from characteristic magnetic and luminescent properties of lanthanide polynuclear structures. Three synthetic methodologies (direct mixing with variable stoichiometries, use of volatile solvent, metathesis) were developed starting with 7 acidic and 6 basic azoles to obtain ionic liquids suitable for f-element coordination. Proton transfer by acidic/basic azole combination led to suitable low melting salts and two cocrystals. Acid/base reaction of azoles with soft-donor permanent cations of ([X 4444 ][OH] (where [X 4444 ] + = tetrabutylammonium [N 4444 ] + or tetrabutylphosphonium [P 4444 ] + ) with weakly acidic azoles including imidazole, 1,2,3-triazole, 1,2,4-triazole, 5-aminotetrazole, 4,5-dicyanoimidazole, and 2-amino-4,5-dicyanoimidazole) revealed several suitable low-melting salts. Metathesis reactions of Na(azolate) were conducted by first using weakly acidic azoles including 4,5-dicyanoimidazole, 2-amino-4,5-dicyanoimidazole, 5-aminotetrazole, and 1,2,4-triazole to form sodium or lithium salts using group(I) hydroxides in methanolic solutions. The best results were obtained by reacting the basic and acidic azoles directly in 1:1 or 3:1 ratios at elevated temperatures. Twenty-two azole mixtures were identified which are either low melting solids or room temperature liquids. Each of the low melting solids was confirmed to be a new solid phase, each of which is being further characterized. The liquids and solids are anticipated to be ILs, eutectics, or partially ionized systems, all of which will be suitable for the dissolution of f-element salts. Five new synthetic methodologies were developed to finding suitable crystallization conditions for f-element complexation with the goal of finding simple one pot reaction syntheses and crystallization strategies that could be used under the demanding conditions of transuranic chemistries. These synthetic methods yield many new crystalline phases which were studied by single crystal X-ray diffraction.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Proton Beam Window In Situ Neutronics Analysis for the Preliminary Design for the Second Target Station

These analyses provide estimates for the residual dose rates for various geometric configurations related to proton beam window (PBW) removal and replacement maintenance events. This information will be used to plan a remote handling strategy for the replacement and maintenance of the PBW. The 5 and 100 mrem/h dose rate contour lines are of specific interest as they classify radiation areas (between 5 and 100 mrem/h) and high radiation areas (>100 mrem/h).

43 PARTICLE ACCELERATORS↗

Investigation of Anion-Exchange Method for Purification of Fission-Produced 99 Mo

The LEU-Modified Cintichem (LMC) process is a small-scale (50- to 100-mL) method for purifying fission-produced 99 Mo. Traditionally, the process utilizes custom-made glassware and requires significant manual operations with hot cell manipulators. As an alternative to the LMC process, there is great interest in developing a 99 Mo purification method that could be automated to minimize remote handling while achieving the same purity specifications for the 99 Mo product. This report explores an ion-exchange approach to purifying fission-produced 99 Mo and discusses the decontamination factors for various fission products that are present after initial recovery of Mo on a titania column from a sulfate-based and uranium-containing solution.

07 ISOTOPE AND RADIATION SOURCES↗

Improbability of Post-Closure Criticality in Array of Transuranic Waste Containers after Compaction by Salt Creep at Waste Isolation Pilot Plant

Based on the rationale presented, post-closure nuclear criticality is improbable when room closure compacts containers disposing transuranic (TRU) waste emplaced at the Waste Isolation Pilot Plant (WIPP), an operating repository in bedded salt in southeastern New Mexico. As described in the original WIPP certification, a qualitative estimate of the probability of post-closure criticality in TRU waste produced from atomic energy defense activities has been low either because remote-handled TRU waste canisters are neutronically isolated by the bedded salt or because the low fissile mass in an array of contact-handled TRU waste drums cannot be compacted sufficiently by room closure from salt creep. These situations are still valid for the majority of TRU waste that is disposed at WIPP without any disposal constraints, as updated herein. This report also qualitatively evaluates the probability of criticality after disposal of TRU waste in pipe overpack containers (POC) where every POC in a shipment may have the maximum 200 fissile gram equivalent of 239Pu content. The probability of criticality for a disposal room filled with POCs is estimated during four representative phases of repository evolution: (1) a large salt block falls onto POCs in the first 20 years, (2) salt creep closes a disposal room in the first 1000 years without brine seepage and subsequent gas generation, which permits maximum compaction, (3) some brine seepage occurs into the closed room, which initiates consumption of the fiberboard (cellulose) impact absorber in the POC in the second 1000 years, and (4) full brine inundation of a room and consumption of all fiberboard thereafter. Salt-block fall in the first phase does not greatly disrupt three tiers of POCs. The compacted spacing of POCs in the later three repository conditions is calculated through high-fidelity, geomechanical modeling. Criticality evaluation of compacted 200-g 239 Pu spheres at the compacted spacing shows that neither 12-inch nor 6-inch POCs are critical after the first 1000 years, the second 1000 years, or thereafter as the sea of reflector material changes to represent the three repository conditions. Specifically, fiberboard and iron isolates 239 Pu while dry, and brine reduces the reactivity when a room is partially and fully inundated. Because POC behavior bounds behavior of other standard TRU waste containers, post-closure criticality caused by room closure compacting containers is omitted in the performance assessments for the 2019 and 2026 WIPP compliance re-certification applications to the US Environmental Protection Agency.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Neutronics Evaluation of the Preliminary Design of the Service Cell Door for the Second Target Station

The service cell door needs to provide sufficient shielding to achieve 0.25 mrem/h dose rates in the adjacent room while remote handling operations of waste materials are going on within the service cell for the Second Target Station (STS). This analysis provides a neutronics evaluation of the preliminary design of the service cell door to evaluate the required thickness and the effect of streaming gaps around the door. As radiation source, we use the decay gamma source of the moderator reflector assembly (MRA) of the STS with a decay time of either two days or six months. As the MRA contains a significant amount of beryllium, photonuclear reactions induce a neutron source, which dictates the required door thickness in certain situations. Four scenarios with different MRA positions and decay times have been analyzed. The required thickness differs drastically depending on the chosen scenario and on the material of the door. The streaming through the gaps around the door is relatively small with high dose rates limited to small sections of the geometry.

43 PARTICLE ACCELERATORS↗

Improved head-controlled TV system produces high-quality remote image

Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

Goertz, R.↗