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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.

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At least 541 records · Page 30
All sourcesNASA NTRSDOE OSTI
DOE OSTI2013

Life Extension Program for the Modular Caustic Side Solvent Extraction Unit at Savannah River Site - 13179

Caustic Side Solvent Extraction (CSSX) is currently used at the U.S. Department of Energy (DOE) Savannah River Site (SRS) for removal of cesium from the high-level salt-wastes stored in underground tanks. Currently, the Actinide Removal Process (ARP) and the CSSX process are deployed in the (ARP)/Modular CSSX Unit (MCU), to process salt waste for permanent disposition. The CSSX technology utilizes a multi-component organic solvent and annular centrifugal contactors to extract cesium from alkaline salt waste. The original plant was permitted for a three year design life; however, given the successful operation of the plant, a life extension program was completed to continue operations. The program included detailed engineering analyses of the life-expectancy of passive and active components, resulting in component replacement and/or maintenance and monitoring program improvements. The program also included a review of the operations and resulted in a series of operational improvements. Since the improvements have been made, an accelerated processing rate has been demonstrated. In addition, plans for instituting a next-generation solvent are in place and will enhance the decontamination factors. (author)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Thermal Removal of Tritium from Concrete and Soil to Reduce Groundwater Impacts - 13197

Legacy heavy-water moderator operations at the Savannah River Site (SRS) have resulted in the contamination of equipment pads, building slabs, and surrounding soil with tritium. At the time of discovery the tritium had impacted the shallow (< 3-m) groundwater at the facility. While tritium was present in the groundwater, characterization efforts determined that a significant source remained in a concrete slab at the surface and within the associated vadose zone soils. To prevent continued long-term impacts to the shallow groundwater a CERCLA non-time critical removal action for these source materials was conducted to reduce the leaching of tritium from the vadose zone soils and concrete slabs. In order to minimize transportation and disposal costs, an on-site thermal treatment process was designed, tested, and implemented. The on-site treatment consisted of thermal detritiation of the concrete rubble and soil. During this process concrete rubble was heated to a temperature of 815 deg. C (1,500 deg. F) resulting in the dehydration and removal of water bound tritium. During heating, tritium contaminated soil was used to provide thermal insulation during which it's temperature exceeded 100 deg. C (212 deg. F), causing drying and removal of tritium. The thermal treatment process volatiles the water bound tritium and releases it to the atmosphere. The released tritium was considered insignificant based upon Clean Air Act Compliance Package (CAP88) analysis and did not exceed exposure thresholds. A treatability study evaluated the effectiveness of this thermal configuration and viability as a decontamination method for tritium in concrete and soil materials. Post treatment sampling confirmed the effectiveness at reducing tritium to acceptable waste site specific levels. With American Recovery and Reinvestment Act (ARRA) funding three additional treatment cells were assembled utilizing commercial heating equipment and common construction materials. This provided a total of four units to batch treat concrete rubble and soil. Post treatment sampling verified that the activity in the treated soil and concrete met the treatment standards for each medium which allowed the treated concrete rubble and soil to be disposed of on-site as backfill. During testing and operations a total of 1,261-m{sup 3} (1,650-yd{sup 3}) of contaminated concrete and soils were treated with an actual incurred cost of $3,980,000. This represents a unit treatment cost of $3,156/m{sup 3} ($2,412/yd{sup 3}). In 2011 the project was recognized with an e-Star Sustainability Award by DOE's Office of Environmental Management. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Development of Zeolite Nonwoven for the Adsorption of Radioactive Cesium - 13288

The zeolite nonwoven fabric produced by TDS (Totally Dry System) process has some advantages such as the control of zeolite content, flexibility, strength and water-resistant property depending on the purpose. Hence the zeolite nonwoven fabric is expected for the application in various fields of the decontamination of Cs-contaminated water. In this study, Cs adsorption properties of zeolite nonwoven fabrics were examined by batch experiments, and the radiation stability, thermal stability and chemical durability were evaluated. As for batch adsorption properties, relatively large uptake rate of Cs{sup +} was obtained; the uptake equilibrium attained within 20 min and the uptake (%) was above 95%. The differences in zeolite content had no effects on the Cs{sup +} uptake (%). The uptake (%) of Cs{sup +} in seawater was slightly lowered compared to that in the presence of HNO{sub 3}. The uptake (%) of Cs{sup +} in seawater was estimated to be above 90% after 2 h-shaking, indicating the considerable enhancement of uptake rate compared to the conventional granular zeolites. The uptake (%) of Cs{sup +} for the zeolite high content type was estimated to be above 99% by using {sup 137}Cs tracer. As for the comparison of sealing treatment, the uptake (%) for the zeolite sheet treated with edge sealing was larger than that with rapping treatment. The uptake (%) for the zeolite sheet (zeolite high content type) was estimated to be about 95%, which is independent of sealing treatment and NaOH concentration. As for the stability, the surface morphology and the structure of zeolite sheet were not altered by the treatment with acid and alkaline solutions under the experimental conditions. The zeolite sheets were also stable after {sup 60}Co-γ ray irradiation up to 7.01x10{sup 6} R. On the other hand, color change for both fiber and zeolite and the shrinkage of the fiber were observed after heat treatment at 150 deg. C for 2 h. Thus the considerable enhancement of adsorption properties was observed by using zeolite nonwoven fabrics compared to the conventional granular zeolites. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Unique Chernobyl Cranes for Deconstruction Activities in the New Safe Confinement - 13542

The devastation left behind from the Chernobyl nuclear power plant (ChNPP) Unit 4 accident which occurred on April 26, 1986 presented unparalleled technical challenges to the world engineering and scientific community. One of the largest tasks that are in progress is the design and construction of the New Safe Confinement (NSC). The NSC is an engineered enclosure for the entire object shelter (OS) that includes a suite of process equipment. The process equipment will be used for the dismantling of the destroyed Chernobyl Nuclear Power Plant (ChNPP) Unit. One of the major mechanical handling systems to be installed in the NSC is the Main Cranes System (MCS). The planned decontamination and decommissioning or dismantling (D and D) activities will require the handling of heavily shielded waste disposal casks containing nuclear fuel as well as lifting and transporting extremely large structural elements. These activities, to be performed within the NSC, will require large and sophisticated cranes. The article will focus on the unique design features of the MCS for the D and D activities. (authors)

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DOE OSTI2013

Comparative Evaluation of Cutting Methods of Activated Concrete from Nuclear Power Plant Decommissioning - 13548

The amount of radioactive wastes from decommissioning of a nuclear power plant varies greatly depending on factors such as type and size of the plant, operation history, decommissioning options, and waste treatment and volume reduction methods. There are many methods to decrease the amount of decommissioning radioactive wastes including minimization of waste generation, waste reclassification through decontamination and cutting methods to remove the contaminated areas. According to OECD/NEA, it is known that the radioactive waste treatment and disposal cost accounts for about 40 percentage of the total decommissioning cost. In Korea, it is needed to reduce amount of decommissioning radioactive waste due to high disposal cost, about $7,000 (as of 2010) per a 200 liter drum for the low- and intermediate-level radioactive waste (LILW). In this paper, cutting methods to minimize the radioactive waste of activated concrete were investigated and associated decommissioning cost impact was assessed. The cutting methods considered are cylindrical and volume reductive cuttings. The study showed that the volume reductive cutting is more cost-effective than the cylindrical cutting. Therefore, the volume reductive cutting method can be effectively applied to the activated bio-shield concrete. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Lessons-Learned from D and D Activities at the Five Gaseous Diffusion Buildings (K-25, K- 27, K-29, K-31 and K-33) East Tennessee Technology Park, Oak Ridge, TN - 13574

The East Tennessee Technology Park (ETTP) is the site of five former gaseous diffusion plant (GDP) process buildings that were used to enrich uranium from 1945 to 1985. The process equipment in the original two buildings (K-25 and K-27) was used for the production of highly enriched uranium (HEU), while that in the three later buildings (K-29, K-31 and K-33) produced low enriched uranium (LEU). Equipment was contaminated primarily with uranium and to a lesser extent technetium (Tc). Decommissioning of the GDP process buildings has presented several unique challenges and produced many lessons-learned. Among these is the importance of good, up-front characterization in developing the best demolition approach. Also, chemical cleaning of process gas equipment and piping (PGE) prior to shutdown should be considered to minimize the amount of hold-up material that must be removed by demolition crews. Another lesson learned is to maintain shutdown buildings in a dry state to minimize structural degradation which can significantly complicate characterization, deactivation and demolition efforts. Perhaps the most important lesson learned is that decommissioning GDP process buildings is first and foremost a waste logistics challenge. Innovative solutions are required to effectively manage the sheer volume of waste generated from decontamination and demolition (D and D) of these enormous facilities. Finally, close coordination with Security is mandatory to effectively manage Special Nuclear Material (SNM) and classified equipment issues. (authors)

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2013

Peculiarities of highly burned-up NPP SNF reprocessing and new approach to simulation of solvent extraction processes

Substantiation, general description and performance characteristics of a reprocessing flowsheet for WWER-1000 spent fuel with burn-up >60 GW*day/t U is given. Pu and U losses were <0.1%, separation factor > 10{sup 4}; their decontamination factor from γ-emitting fission products was 4*10{sup 4} and 3*10{sup 7}, respectively. Zr, Tc, Np removal was >98% at U and Pu losses <0.05%. A new approach to simulation of extraction equilibrium has been developed. It is based on a set of simultaneous chemical reactions characterized by apparent concentration constants. A software package was created for simulation of spent fuel component distribution in multistage countercurrent extraction processes in the presence of salting out agents. (authors)

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2013

Activities for the remediation of TEPCO's Fukushima Daiichi nuclear power plant

With the aim of fulfilling recovery work for the Fukushima Daiichi NPP, technological efforts have been made for the development of a survey robot system, adequate communication infrastructure technologies, high radiation environment compatible gamma cameras, heavy machinery-type robots (ASTACO-SoRa), remote decontamination devices (AROUNDER), and contaminated waste water treatment system. We have developed a new type of absorbents which remove cesium (Cs) and strontium (Sr) simultaneously at a high removal rate of 99 % or more. We will provide valuable solutions and rational systems for waste water treatment using this developed adsorbent as well as other various adsorbents for the recovery of Fukushima Daiichi NPP.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2015

Novel HPGe Probe solution for Harsh Environments

In situ measurement is a privileged way of monitoring radioactive contamination compared to analyzing samples in a distant, specialized laboratory. Scintillators based spectrometers offer small footprints and are easy to easy to use, however they do not provide an accurate nuclide identification capability and activities measurement because notably of their limited energy resolution, for instance when low minimum detectable activity (MDA) are required, or in complex mixture of sources. On the other hand, High Purity Germanium (HPGe) detectors provide unmatched nuclide identification capability with the lowest MDA but they are not always of practical use on the field because the crystal needs to be cooled down to liquid nitrogen temperature, increasing the overall weight, bulkiness and complexity of the measurement. This paper presents the configuration and performance of a novel turnkey and compact HPGe solution developed by Canberra for radionuclide identification under harsh environments. Radio-contaminations surveys now can be undertaken outdoor under various weather conditions, in contaminated areas, underground or underwater locations (including under sea water), with fast on site deployment. The spectrometer is also designed in a small diameter tubular shape to offer minimal footprint for an operation in narrow and confined spaces. Besides, this innovative design does not mitigate the performances nor the reliability experienced with standard laboratory-grade HPGe spectrometers. This achievement relies on advanced technologies such as the encapsulation of the crystal in ultra-high vacuum (UHV) which provides higher robustness and does not requires thermal cycles faced with regular HPGe equipment. It also relies on a low vibration, low consumption electrical cooler so that no liquid nitrogen is being used. The detector is connected to a state-of-the-art digital spectroscopy suite embedded in an autonomous acquisition station monitoring the cryo-cooler and including the spectroscopy software. This system presented is therefore a new solution to perform high resolution spectroscopy where no current products are compact or robust enough to be installed, for instance for soil and water decontamination measurement when anthropogenic radioactive sources must be identified from natural ones or when low contamination levels are expected, the MDA being 3 to 5 times higher than scintillator-based detectors of similar sizes. Environmental inspection such as well logging for geophysics and mining, water contamination monitoring, or decommissioning works can thus benefits from both ruggedness, mobility without compromise on the nuclide identification or activity measurement capability. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2015

Characterizations of the radioactive waste by the remotely-controlled collimated spectrometric system

Decontamination and decommissioning of the research reactors MR (Testing Reactor) and RFT (Reactor of Physics and Technology) has recently been initiated in the National Research Center (NRC) 'Kurchatov institute', Moscow. In the building, neighboring to the reactor, the storage of HLRW is located. The storage is made of monolithic concrete in which steel cells depth 4 m are located. In cells of storage the HLRW packed into cases are placed. These the radioactive waste are also subject to export on long storage in the specialized organization. For characterization of the radioactive waste in cases the remote-controlled collimated spectrometer system was used. The system consists of a spectrometric collimated gamma-ray detector, a color video camera and a control unit, mounted on a rotator, which are mounted on a tripod with the host computer. For determination of specific activity of radionuclides in cases, it is developed programs of calculation of coefficients of proportionality of specific activity to the corresponding speeds of the account in peaks of full absorption at single specific activity of radionuclides in cases. For determination of these coefficients the mathematical model of spectrometer system based on the Monte-Carlo method was used. Dependences of calibration coefficients for various radionuclides from distance between the detector and a case at various values of the radioactive waste density in cases are given. Measurements of specific activity in cases are taken and are discussed. By results of measurements decisions on the appeal of the radioactive waste being in cases are made. (authors)

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DOE OSTI2015

Novel real-time 3D radiological mapping solution for ALARA maximization, D and D assessments and radiological management

Good management of dismantling and decontamination (D and D) operations and activities is requiring safety, time saving and perfect radiological knowledge of the contaminated environment as well as optimization for personnel dose and minimization of waste volume. In the same time, Fukushima accident has imposed a stretch to the nuclear measurement operational approach requiring in such emergency situation: fast deployment and intervention, quick analysis and fast scenario definition. AREVA, as return of experience from his activities carried out at Fukushima and D and D sites has developed a novel multi-sensor solution as part of his D and D research, approach and method, a system with real-time 3D photo-realistic spatial radiation distribution cartography of contaminated premises. The system may be hand-held or mounted on a mobile device (robot, drone, e.g). In this paper, we will present our current development based on a SLAM technology (Simultaneous Localization And Mapping) and integrated sensors and detectors allowing simultaneous topographic and radiological (dose rate and/or spectroscopy) data acquisitions. This enabling technology permits 3D gamma activity cartography in real-time. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Decommissioning of the TRIGA mark II and III and radioactive waste management

KAERI has carried out decommissioning projects for two research reactors (KRR-1 and 2). The decommissioning project of KRR-1 (TRIGA Mark II) and 2 (TRIGA Mark III) was launched in 1997 with a total budget of 23.25 million US dollars. KRR-2 and all auxiliary facilities were already decommissioned, and KRR-1 is being decommissioned now. Much more dismantled waste is generated than in any other operations of nuclear facilities. Thus, the waste needs to be reduced and stabilized through decontamination or treatment before disposal. This paper introduces the current status of the decommissioning projects and describes the volume reduction and conditioning of decommissioning waste for final disposal. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

LaserSnake2: An Innovative Approach to Nuclear Decommissioning - 17080

Nuclear decommissioning challenges exist the world over and require innovative approaches to ensure safe and cost effective dismantling of high hazard nuclear facilities. LaserSnake technology makes use of the flexibility and dexterity of snake arm robots to deploy high-powered laser cutting, lifting and manipulation tools. This paper describes the development and use of the system to achieve the successful size reduction and removal of a substantial stainless steel vessel within the First Generation Reprocessing Plant (FGRP) at Sellafield in the UK. Due to the environment, nuclear decommissioning is an extremely challenging activity. High ambient radiation levels often preclude entry to the areas involved, and as industry tries to minimise dose uptake, even moderate radiation levels now require remote solutions. 'In-situ' size reduction of process plant, including vessels and pipework, will allow the removal of the nuclear inventory from a building prior to further decontamination and demolition. The term 'in situ' is in this case used to mean work done on plant items within their existing cells as opposed to moving items from their original location to a dedicated size reduction facility. Traditional size reduction cutting methods, such as reciprocating saws or grinders, pose a significant challenge for remote deployment platforms. This includes the loss of haptic feedback and the length of time taken to perform the task, and difficulty dealing with the reaction forces. Although remote engineered solutions for these tools are possible, they are are typically complicated, unreliable and expensive. Robot deployed laser cutting is widely used in non-nuclear industrial sectors, and offers a simpler method for size reduction. LaserSnake2 is a UK collaborative project, co-funded by the Nuclear Decommissioning Authority, Innovate UK and the Department of Energy and Climate Change. The project combined the skills of robotic experts and laser and optic specialists, to develop a remote handling technology suited for deployment within active nuclear environments. As well as meeting strict safety case requirements, the system provides a safe and cost effective method for decommissioning of complex nuclear spaces. An overview of the system development and deployment is presented in this paper. In July 2016, a successful decommissioning campaign was conducted in the FGRP at Sellafield. The LaserSnake2 system was used to size reduce a double-skinned dissolver vessel within a radiologically active nuclear cell. Planning of the size reduction method and processes, as well as results of the campaign itself are described in this paper. The containment procedures and radiological considerations for the system are presented along with the effects of operations on the cell and ventilation systems. LaserSnake, developed as a modular arm system with up to 4.5 m of articulation, carries an integrated tool comprising a high power, decommissioning specific, laser cutting head, high definition cameras and high powered illumination LEDs. It is designed for precise dismantling work within confined and hazardous environments. The tool can be interchanged, allowing the snake-arm robot also to carry grippers, environmental mapping sensors and other tools which may prove advantageous during a decommissioning campaign. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Performance of Zeolite, Silicotitanate, CsTreat{sup R} and SrTreat{sup R} Ion Exchange Materials in Fukushima Clean-up - 17114

The performance of the major facilities used in Fukushima for the treatment of {sup 137}Cs-bearing waters is reviewed. The facilities include Kurion zeolite system, SARRY and the ALPS systems. These utilize chabazite zeolite, silico-titanate CST and hexacyanoferrate based CsTreat{sup R} materials, respectively. The average processing capacity of chabazite is 0.41 m{sup 3}/kg and that of silico-titanate 2.81 m{sup 3}/kg. CsTreat{sup R} material has shown a processing capacity > 38.6 m{sup 3}/kg during its initial operation.A theoretical analysis shows that the selectivity of the materials for cesium over sodium, measured in terms of selectivity coefficient kCs/Na, largely determines their processing capacities. There is a increasing linear relationship between the processing capacity and kCs/Na in logarithmic scales. Also, the decontamination factors obtained with the material for {sup 137}Cs increase with increasing kCs/Na. (authors)

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DOE OSTI2017

Use of Uncertainty in Modeling DFLAW Treatment at Hanford - 17115

Average or mean is understood by most; standard deviation (SD) is understood by few. Certainty is easy to model; uncertainty is not. The flowsheet simulation, described in this paper, placed uncertainties in the G2 model of the Hanford Tank Waste Treatment and Immobilization Plant's (WTP) Direct Feed Low-Activity Waste (DFLAW) process for performance and sensitivity evaluations. G2 is a dynamic material balance model that starts and proceeds with operating logic until all the feed is processed. Dynamic material balance is achieved by tracking the flows, storage, and change of all materials within the plant as time increments. Processing equipment and limitations of the flowsheet are modeled (e.g., equipment types, piping, volumes, flowrates, efficiencies, and physical and chemical environments that impact separations, phase equilibriums, and chemical reactions). Operating logic represents the rules and strategies of a running plant. The G2 model simulated both certainty and uncertainty scenarios for comparison purposes. For the uncertainty scenarios, process decisions were made using presumed values to simulate various operational measurement errors and process variabilities. Presumed means that the known G2 values are adjusted to replicate measurement errors and variabilities. These include: 1) volume measurement, 2) sample analysis, 3) melter decontamination factor (DF), 4) glass former weighing, and 5) glass former composition variations. The errors were randomly generated in accordance with SD values of measurement devices, laboratory methods, and glass former composition ranges. The G2 model runs give insight on the DFLAW process' controllability and the expected range of glass properties. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Application of Robotics Technology to D and D - 17249

The Knowledge Management Information Tool (KM-IT) is a web-based system developed to maintain and preserve the deactivation and decommissioning (D and D) knowledge base across the Department of Energy (DOE) complex. The system was developed by the Applied Research Center (ARC) at Florida International University (FIU) with the support of the D and D community, including the DOE Office of Environmental Management (DOE EM), and with the active collaboration and support of the DOE's Energy Facility Contractors Group (EFCOG). The KM-IT system is a D and D community driven system tailored to serve the technical issues faced by the D and D workforce across the DOE Complex. As part of the D and D KM-IT, FIU has developed a robotics database in collaboration with DOE EM and Nuvision/Cogentus which currently contains over 500 robotics technologies along with information about the robotics technology vendors. This information is aggregated in real time and presented as a robotics technology fact sheet to the end user based on the selected technology. FIU is researching these technologies and studying their capabilities and application to D and D. As part of the research, FIU is categorizing each technology into specific application areas: characterization, decontamination, inspection, and demolition. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Use of Ductile Iron for Radioactive Waste Packaging and Shielding in the United States - 17278

Ductile Cast Iron (DCI) has been used for packaging radioactive waste in Europe and the United Kingdom for many years. The ductile iron provides many favorable properties when compared with steel and offers many advantages including: - Monolithic structure increasing overall strength; - No welding required; no tempering or maintenance/inspection of the weld area is required; - Fast, serial production of similar containers reducing manufacturing costs; - Lower cost compared to steel or steel/lead composites; - Good corrosion resistance even when uncoated; - Can be coated or plated to provide suitable surface for decontamination; - Flexibility in design due to the manufacturing process permits a variety of shapes and very large size container possibilities; - Hazardous materials not needed or used for shielding. The flexibility in design will help generators find viable and more cost effective packaging options for radioactive waste. The package is conformed to the waste instead of conforming waste to the package. Commercial utilities often replace radioactive components which are too large for conventional packaging and have dose rates too high for flexible wraps while plant schedule and physical configuration won't allow for component segmentation. This is one situation where the use of ductile iron can be used to provide a packaging solution. By assessing the radiological characterization and component size and weight, ductile iron can be cast into certified containers to easily package, ship and dispose of the waste in a cost effective manner. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Advanced Tele-operation and Shared Autonomy for Nuclearized Robotic Systems - 17333

Remotely-initiated operations have existed for more than 50 years in the nuclear weapons complex, as the environments are far too extreme for humans. We introduce the scope of the nuclear waste cleanup effort and describe some existing applications of robotics technology at specific sites. We offer summaries of both the technology that is currently used, as well as a discussion of the types of problems that the technology is applied to. We contrast this with the current state of practice in other areas where robots are deployed in the real world, such as with military infantry units. We then go on to summarize and discuss the current state of the art in advanced tele-operation research and in shared autonomy, where humans collaborate with closed-loop automation to complete tasks. Our discussion focuses on areas with particular relevance to nuclear waste management, such as remote inspection and manipulation. Armed with this background, we then identify specific technology gaps that must be closed in order to successfully bring advanced tele-operation and shared autonomy technologies to bear on problems in nuclear waste management, such as (1) environmental remediation; (2) sampling, characterization, and disposition of tanks with hazardous and highly radioactive waste and (3) decontamination and decommissioning of facilities with gloveboxes and hot cells. We propose a roadmap for how to transition the current state of the art approaches in advanced robotics and shared autonomy to practice in the nuclear industry and how to close the technology gaps previously identified. This roadmap covers not only the technical advances that need to be made, but also considers the social and societal aspects. Drawing parallels with the adoption of similar technologies in the military and other areas, we offer concrete suggestions for how to deploy these new technologies effectively into the nuclear industry from a human-centered perspective. (authors)

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