EPRI Demonstration of an Autonomous Site Characterization Vehicle - 20523
A substantial effort is applied in performing radiological characterization of structures and land areas during decommissioning of a nuclear facility. This includes multiple surveys of land areas and large structures to support eventual site release under the Multi Agency Survey and Site Investigation Manual (MARSSIM, Reference 1). These surveys are typically performed using manually delivered systems, which is time consuming and labor intensive. Radiological surveys intentionally follow a prescribed protocol with respect to areas covered, scan speeds, responses to elevated readings, required detector offsets, the need for repeat measurements, etc. Based on these attributes, combined with the repetitive effort of performing surveys over large areas, automation of radiological characterization techniques has a high potential to be successful and promises substantial benefit. EPRI has performed a project that resulted in the development and demonstration of an autonomous site characterization system. This EPRI project focused on building surfaces and the surfaces of large land areas as these configurations lend themselves more readily to automated survey. The project included: - Identification of the requirements for an autonomous site characterization system; - A survey of existing control systems that use automation to conduct characterization of structures and land areas. - As no fully adequate systems were identified, a complete system was developed that utilized commercially available detection and analysis systems and a self driving vehicle owned by EPRI. The system was demonstrated at the Kewaunee nuclear power plant site in the fall of 2019. The demonstration included: - Autonomous surveys of floor areas inside the Auxiliary Building at Kewaunee after manually controlled mapping of the survey areas. - For land areas, the vehicle autonomously surveyed areas using travel paths had been preprogrammed onto an internet available map of area. In this case, GPS coordinates from the preprogramming were used for navigation by the vehicles guidance system. This paper summarizes the characterization system development and system demonstration which will also be published in an EPRI report in the first half of 2020. (authors)